+ python -m lidar_slam --no-model /working/cd0f6d16-5d9f-424f-8917-df007eb4756f Lidar SLAM 0.0.9 ===================================================== The recording path: /working/cd0f6d16-5d9f-424f-8917-df007eb4756f 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 0.025769231 Adjusted end_distance from 9.223372036854776e+18 to 449.975769231 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025769231 meters 0.788639212851726 Centerline is valid? [0, False] SLAMing on 0.085769231 meters 0.8456902065611938 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:0.00 [[ 9.99999732e-01 7.31669079e-04 3.27535153e-05 -2.48223621e-04] [-7.31709005e-04 9.99998968e-01 1.23606177e-03 -7.86881068e-03] [-3.18490934e-05 -1.23608540e-03 9.99999236e-01 2.38766045e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145769231 meters 0.8525236143493338 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99997232e-01 2.24540630e-03 -7.03412273e-04 5.39122506e-03] [-2.24371827e-03 9.99994623e-01 2.39143738e-03 -1.13336503e-02] [ 7.08778240e-04 -2.38985250e-03 9.99996893e-01 -3.28193386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.205769231 meters 0.8695301308060887 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99993421e-01 3.57547618e-03 -6.11884678e-04 4.87858979e-03] [-3.57353111e-03 9.99988651e-01 3.15091799e-03 -1.37601818e-02] [ 6.23143765e-04 -3.14871067e-03 9.99994849e-01 -2.46204993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.265769231 meters 0.8684594007265466 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99989789e-01 4.47012718e-03 -6.63303449e-04 5.75163926e-03] [-4.46801913e-03 9.99985069e-01 3.14626980e-03 -1.09225806e-02] [ 6.77357771e-04 -3.14327402e-03 9.99994830e-01 -3.53846433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.325769231 meters 0.8491534683230775 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 0.9999883 0.0047276 -0.00102569 0.00839735] [-0.00472469 0.99998486 0.00282109 -0.00828412] [ 0.00103902 -0.00281621 0.99999549 -0.00581932] [ 0. 0. 0. 1. ]] SLAMing on 0.385769231 meters 0.8614281744798179 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99990205e-01 4.33157020e-03 -9.09295270e-04 7.79397019e-03] [-4.32975430e-03 9.99988647e-01 1.98959909e-03 -2.93182437e-03] [ 9.17903035e-04 -1.98564258e-03 9.99997607e-01 -5.76184822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.445769231 meters 0.82434366397077 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99988967e-01 4.69569163e-03 -1.24925563e-04 -6.30955724e-04] [-4.69552263e-03 9.99988104e-01 1.32031763e-03 4.59974103e-03] [ 1.31123882e-04 -1.31971648e-03 9.99999121e-01 8.67690561e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5057692309999999 meters 0.8537989457798284 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99989746e-01 4.46826110e-03 -7.36285990e-04 8.25484609e-03] [-4.46809377e-03 9.99989992e-01 2.28738896e-04 1.45469550e-02] [ 7.37300686e-04 -2.25446756e-04 9.99999703e-01 -6.91511520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.565769231 meters 0.8051206347665897 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.02, Z:0.02 [[ 9.99922654e-01 1.53682547e-03 -1.23419796e-02 -1.08942143e-02] [-1.54792070e-03 9.99998406e-01 -8.89480465e-04 2.04528810e-02] [ 1.23405930e-02 9.08516073e-04 9.99923439e-01 2.35491059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6257692309999999 meters 0.8396731455798273 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:0.00 [[ 9.99976124e-01 -5.77044568e-03 -3.80187299e-03 2.52651421e-02] [ 5.76914733e-03 9.99983296e-01 -3.52380490e-04 2.20537097e-02] [ 3.80384288e-03 3.30438511e-04 9.99992711e-01 2.60399416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6857692309999999 meters 0.8383177993227229 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:0.00 [[ 9.99972853e-01 -6.27013688e-03 -3.87032759e-03 2.57247103e-02] [ 6.26965858e-03 9.99980336e-01 -1.35701748e-04 1.94910519e-02] [ 3.87110235e-03 1.11432432e-04 9.99992501e-01 2.46380272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7457692309999999 meters 0.8439103824828671 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:0.00 [[ 9.99973993e-01 -5.91439965e-03 -4.12706281e-03 2.74580160e-02] [ 5.91756302e-03 9.99982206e-01 7.54704580e-04 1.35932906e-02] [ 4.12252575e-03 -7.79107107e-04 9.99991199e-01 1.58672429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.805769231 meters 0.8262965103016907 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:0.00 [[ 0.99997565 -0.00556495 -0.00421195 0.02793293] [ 0.00557214 0.99998304 0.00169706 0.00694201] [ 0.00420243 -0.00172049 0.99998969 0.0014061 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8657692309999999 meters 0.8317784200745084 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:0.00 [[ 0.9999764 -0.00543445 -0.00420411 0.02785805] [ 0.00544252 0.99998336 0.00191129 0.00563126] [ 0.00419365 -0.00193412 0.99998934 0.00151061] [ 0. 0. 0. 1. ]] SLAMing on 0.9257692309999999 meters 0.7967081387168391 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:0.00 [[ 0.99997701 -0.00528543 -0.00424813 0.02839583] [ 0.00529458 0.99998368 0.00214672 0.00417162] [ 0.00423672 -0.00216916 0.99998867 0.00116813] [ 0. 0. 0. 1. ]] SLAMing on 0.9857692309999999 meters 0.8913979971144125 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:0.00 [[ 0.99997783 -0.0051626 -0.00420532 0.0279276 ] [ 0.00517237 0.99998394 0.0023173 0.00292966] [ 0.00419329 -0.002339 0.99998847 0.00154149] [ 0. 0. 0. 1. ]] SLAMing on 1.045769231 meters 0.7922708661481057 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:0.00 [[ 0.99997865 -0.00500437 -0.00420113 0.02753441] [ 0.0050142 0.99998471 0.00233194 0.00301276] [ 0.00418939 -0.00235296 0.99998846 0.00223688] [ 0. 0. 0. 1. ]] SLAMing on 1.105769231 meters 0.9525826944342379 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 9.99979932e-01 -4.64698565e-03 -4.30601015e-03 2.83748604e-02] [ 4.65948936e-03 9.99984944e-01 2.89831265e-03 -8.93567334e-04] [ 4.29247690e-03 -2.91831829e-03 9.99986529e-01 1.75000923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1657692309999999 meters 0.9441930376986174 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 9.99979621e-01 -4.68078501e-03 -4.34137125e-03 2.86265830e-02] [ 4.69316395e-03 9.99984938e-01 2.84559814e-03 -5.41884176e-04] [ 4.32798622e-03 -2.86591492e-03 9.99986527e-01 1.75270830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.225769231 meters 1.060932885800368 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.00 [[ 9.99978446e-01 -4.57747882e-03 -4.70680102e-03 3.15450936e-02] [ 4.59262976e-03 9.99984291e-01 3.21319170e-03 -3.14932315e-03] [ 4.69201876e-03 -3.23473904e-03 9.99983761e-01 -1.70931799e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.285769231 meters 0.46797074845192627 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.00 [[ 9.99976820e-01 -4.82155127e-03 -4.80751587e-03 3.22507930e-02] [ 4.83843021e-03 9.99982150e-01 3.50552064e-03 -5.74413072e-03] [ 4.79052801e-03 -3.52870021e-03 9.99982299e-01 -4.23255762e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3457692309999998 meters 0.49402296017430447 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.01 [[ 9.99968580e-01 -7.86741816e-03 9.70700614e-04 8.08754408e-02] [ 7.86632615e-03 9.99968429e-01 1.12370630e-03 -6.41036619e-03] [-9.79510635e-04 -1.11603515e-03 9.99998898e-01 -8.81474739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4057692309999998 meters 0.5019232939973655 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.01 [[ 9.99969557e-01 -7.76350614e-03 7.82564158e-04 8.24896430e-02] [ 7.76241247e-03 9.99968905e-01 1.39103606e-03 -8.11627517e-03] [-7.93339141e-04 -1.38491913e-03 9.99998726e-01 -9.72419092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.465769231 meters 0.4913545946612081 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.01 [[ 9.99968715e-01 -7.88135923e-03 6.72823306e-04 8.30718246e-02] [ 7.87988075e-03 9.99966593e-01 2.17250180e-03 -1.50741907e-02] [-6.89923096e-04 -2.16713206e-03 9.99997414e-01 -9.72168142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.525769231 meters 0.4744984222653015 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.01 [[ 9.99929436e-01 -1.18720200e-02 4.21339534e-04 8.49686994e-02] [ 1.18725101e-02 9.99928822e-01 -1.18053901e-03 -2.17233673e-02] [-4.07294161e-04 1.18545807e-03 9.99999214e-01 -1.07127201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.585769231 meters 0.5151823707915542 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.03, Z:-0.02 [[ 0.99982732 -0.01733844 0.00668582 0.13144744] [ 0.01737364 0.99983532 -0.00524251 -0.02941273] [-0.00659382 0.00535776 0.99996391 -0.01769954] [ 0. 0. 0. 1. ]] SLAMing on 1.6457692309999998 meters 0.7435178844862491 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.02 [[ 0.99984431 -0.01640345 0.00650273 0.13229855] [ 0.01642592 0.99985925 -0.00341708 -0.0422003 ] [-0.00644577 0.00352336 0.99997302 -0.01763016] [ 0. 0. 0. 1. ]] SLAMing on 1.7057692309999999 meters SLAMing on 1.765769231 meters 0.9546107945149495 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.06, Z:-0.02 [[ 0.99997688 -0.00637504 0.00236506 0.15870511] [ 0.00637137 0.99997849 0.00155519 -0.05835959] [-0.00237492 -0.00154008 0.99999599 -0.01651931] [ 0. 0. 0. 1. ]] SLAMing on 1.8257692309999998 meters 0.8520694559275812 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:-0.02 [[ 0.99999634 -0.00150032 0.00225281 0.159285 ] [ 0.0014848 0.99997528 0.00687317 -0.0655185 ] [-0.00226307 -0.0068698 0.99997384 -0.01636993] [ 0. 0. 0. 1. ]] SLAMing on 1.8857692309999998 meters 0.8591330619527353 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:-0.01 [[ 9.99970039e-01 7.74066058e-03 -6.07878057e-05 1.84893871e-01] [-7.74005528e-03 9.99946141e-01 6.91419679e-03 -6.70091825e-02] [ 1.14304982e-04 -6.91351913e-03 9.99976095e-01 -1.31719806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9457692309999999 meters 0.8613708806085228 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:-0.01 [[ 9.99985180e-01 5.43205894e-03 3.63690674e-04 1.80107096e-01] [-5.43331334e-03 9.99978967e-01 3.54184554e-03 -6.55527089e-02] [-3.44443511e-04 -3.54376909e-03 9.99993662e-01 -9.51587607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.005769231 meters 0.5130883830954748 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:-0.01 [[ 9.99984701e-01 5.52882839e-03 1.72830044e-04 1.81604000e-01] [-5.52940911e-03 9.99978366e-01 3.56262314e-03 -6.53917898e-02] [-1.53129173e-04 -3.56352428e-03 9.99993639e-01 -1.04789431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.065769231 meters 0.5642248915757607 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:-0.02 [[ 0.99995173 0.00740462 0.0064577 0.22652133] [-0.00743862 0.99995852 0.00525675 -0.06579809] [-0.0064185 -0.00530454 0.99996533 -0.01619707] [ 0. 0. 0. 1. ]] SLAMing on 2.125769231 meters 0.5541102337389601 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:-0.02 [[ 9.99975232e-01 3.12626960e-03 6.30564747e-03 2.27244993e-01] [-3.13150490e-03 9.99994760e-01 8.20552491e-04 -6.45954864e-02] [-6.30304916e-03 -8.40278334e-04 9.99979783e-01 -1.63120218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.185769231 meters 0.5598898874103913 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:-0.02 [[ 0.99997774 0.00284533 0.00603514 0.2288799 ] [-0.00285474 0.99999472 0.00155018 -0.07105041] [-0.0060307 -0.00156738 0.99998059 -0.01704959] [ 0. 0. 0. 1. ]] SLAMing on 2.2457692309999997 meters 0.5573850295265328 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.08, Z:-0.01 [[ 0.99997456 -0.00262993 0.00663082 0.22340646] [ 0.0026487 0.99999251 -0.00282324 -0.07535468] [-0.00662334 0.00284073 0.99997403 -0.01268462] [ 0. 0. 0. 1. ]] SLAMing on 2.3057692309999998 meters 0.586111921364894 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:-0.00 [[ 9.99981075e-01 -5.60548939e-03 -2.53528619e-03 2.78363418e-01] [ 5.60481718e-03 9.99984256e-01 -2.72168011e-04 -8.89514524e-02] [ 2.53677191e-03 2.57953045e-04 9.99996749e-01 -4.48188360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.365769231 meters 0.5784664305419693 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:-0.00 [[ 9.99982593e-01 -5.24912438e-03 -2.69437924e-03 2.79310887e-01] [ 5.25068643e-03 9.99986051e-01 5.72997042e-04 -9.44775731e-02] [ 2.69133392e-03 -5.87134408e-04 9.99996206e-01 -4.81778390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.425769231 meters 0.5819601398539039 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.10, Z:-0.00 [[ 0.99998467 -0.00480034 -0.00276076 0.27933795] [ 0.00480439 0.99998739 0.00146106 -0.10030781] [ 0.00275371 -0.00147431 0.99999512 -0.00419448] [ 0. 0. 0. 1. ]] SLAMing on 2.485769231 meters 0.6031190069508511 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.11, Z:-0.00 [[ 0.99998627 -0.00436768 -0.00289475 0.28003549] [ 0.00437426 0.99998785 0.00227102 -0.1055025 ] [ 0.00288479 -0.00228365 0.99999323 -0.00418514] [ 0. 0. 0. 1. ]] SLAMing on 2.545769231 meters 0.5989348053749051 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.00 [[ 9.99983821e-01 -5.23996355e-03 -2.21377414e-03 2.74134851e-01] [ 5.24522080e-03 9.99983422e-01 2.37569868e-03 -1.10702516e-01] [ 2.20128887e-03 -2.38727197e-03 9.99994728e-01 1.92591452e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.605769231 meters 0.6066223192529304 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.12, Z:0.00 [[ 0.99999658 -0.00196823 0.00172494 0.24948715] [ 0.00196474 0.99999602 0.0020258 -0.12173475] [-0.00172892 -0.0020224 0.99999646 0.00274377] [ 0. 0. 0. 1. ]] SLAMing on 2.6657692309999996 meters 0.6040457570611825 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.13, Z:0.00 [[ 0.99999751 -0.00151107 0.00164126 0.24991699] [ 0.00150619 0.99999446 0.0029699 -0.12760472] [-0.00164574 -0.00296742 0.99999424 0.00272806] [ 0. 0. 0. 1. ]] SLAMing on 2.7257692309999997 meters 0.6140464381804854 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.13, Z:0.00 [[ 0.99999816 -0.00116379 0.00152754 0.2502692 ] [ 0.00115819 0.9999926 0.00366754 -0.13191826] [-0.0015318 -0.00366577 0.99999211 0.0030695 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7857692309999997 meters 0.641853519909044 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.14, Z:-0.00 [[ 9.99993986e-01 1.80818714e-03 -2.95937796e-03 2.82548334e-01] [-1.81295170e-03 9.99997064e-01 -1.60809884e-03 -1.35449382e-01] [ 2.95646152e-03 1.61345438e-03 9.99994328e-01 -2.80744688e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.845769231 meters 0.6658224526453778 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.14, Z:0.01 [[ 0.99999684 0.00114285 -0.00223904 0.2753175 ] [-0.00114569 0.99999854 -0.00126754 -0.14193184] [ 0.00223758 0.0012701 0.99999669 0.00566563] [ 0. 0. 0. 1. ]] SLAMing on 2.905769231 meters 0.6849176389888236 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.15, Z:0.01 [[ 9.99996127e-01 1.48594926e-03 -2.35332962e-03 2.75766243e-01] [-1.48709371e-03 9.99998777e-01 -4.84634445e-04 -1.46704211e-01] [ 2.35260660e-03 4.88132190e-04 9.99997113e-01 5.77276934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.965769231 meters 1.0493660946189654 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.15, Z:0.01 [[ 9.99993722e-01 3.10096427e-03 -1.71451166e-03 2.69838372e-01] [-3.09953279e-03 9.99994846e-01 8.36946836e-04 -1.49597118e-01] [ 1.71709816e-03 -8.31627397e-04 9.99998180e-01 1.10754178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.025769231 meters 1.0487139159226215 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.15, Z:0.02 [[ 0.99998687 0.00497671 -0.00122064 0.26508609] [-0.00497435 0.99998577 0.00192968 -0.14957861] [ 0.00123023 -0.00192358 0.99999739 0.01537685] [ 0. 0. 0. 1. ]] SLAMing on 3.085769231 meters 1.088371457412914 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.15, Z:0.02 [[ 0.99998725 0.00488601 -0.00127583 0.26527648] [-0.00488403 0.99998688 0.00154605 -0.14730082] [ 0.00128337 -0.0015398 0.99999799 0.01557323] [ 0. 0. 0. 1. ]] SLAMing on 3.145769231 meters 0.683597279385153 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.15, Z:0.02 [[ 0.99998773 0.0047777 -0.00130687 0.26518666] [-0.0047761 0.99998784 0.00122437 -0.14534873] [ 0.0013127 -0.00121811 0.9999984 0.01609652] [ 0. 0. 0. 1. ]] SLAMing on 3.2057692309999997 meters 1.1136346451942158 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.14, Z:0.02 [[ 9.99988273e-01 4.64972178e-03 -1.35410891e-03 2.65587935e-01] [-4.64841705e-03 9.99988730e-01 9.65097792e-04 -1.43959825e-01] [ 1.35858108e-03 -9.58792012e-04 9.99998617e-01 1.57527503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2657692309999997 meters 1.1018331189090331 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.14, Z:0.02 [[ 9.99982137e-01 5.94812302e-03 -5.88471204e-04 2.59505325e-01] [-5.94720186e-03 9.99981106e-01 1.55489523e-03 -1.40876827e-01] [ 5.97708794e-04 -1.55136770e-03 9.99998618e-01 2.04866862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3257692309999998 meters 1.0875175983459977 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.14, Z:0.02 [[ 9.99982413e-01 5.89870530e-03 -6.15255131e-04 2.59385949e-01] [-5.89781719e-03 9.99981577e-01 1.43544464e-03 -1.40199707e-01] [ 6.23711061e-04 -1.43179074e-03 9.99998780e-01 2.09047963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.385769231 meters 1.0826942279568132 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.14, Z:0.02 [[ 9.99998642e-01 1.53060857e-03 -6.10159950e-04 2.59273148e-01] [-1.53243638e-03 9.99994306e-01 -3.00649275e-03 -1.39531533e-01] [ 6.05554713e-04 3.00742370e-03 9.99995294e-01 2.09397855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.445769231 meters 1.1267433634255486 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.14, Z:0.02 [[ 0.99999331 -0.00328978 0.00160051 0.27864905] [ 0.0032861 0.99999197 0.00229424 -0.14130985] [-0.00160805 -0.00228896 0.99999609 0.02171535] [ 0. 0. 0. 1. ]] SLAMing on 3.505769231 meters 1.134631443953785 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.14, Z:0.02 [[ 0.99999324 -0.00333871 0.00153796 0.27891405] [ 0.00333535 0.99999204 0.00218802 -0.14070956] [-0.00154526 -0.00218288 0.99999642 0.02162684] [ 0. 0. 0. 1. ]] SLAMing on 3.565769231 meters 1.1323888672717672 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.14, Z:0.02 [[ 0.99999308 -0.00339617 0.00151562 0.27917673] [ 0.00339305 0.99999212 0.00205866 -0.14004927] [-0.0015226 -0.00205351 0.99999673 0.02125259] [ 0. 0. 0. 1. ]] SLAMing on 3.6257692309999996 meters 0.7926396446508197 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.14, Z:0.03 [[ 0.99999562 -0.00162136 0.00247758 0.272675 ] [ 0.0016125 0.99999231 0.00357466 -0.13917515] [-0.00248335 -0.00357065 0.99999054 0.02605287] [ 0. 0. 0. 1. ]] SLAMing on 3.6857692309999996 meters 0.7927459102575151 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.14, Z:0.03 [[ 9.99994753e-01 -2.11261347e-05 3.23931184e-03 2.66713100e-01] [ 5.14661397e-06 9.99987833e-01 4.93292757e-03 -1.38938614e-01] [-3.23937664e-03 -4.93288502e-03 9.99982586e-01 3.12487120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7457692309999997 meters 0.7884951951521904 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.14, Z:0.04 [[ 0.99998925 0.00176393 0.00428838 0.2603857 ] [-0.00179155 0.99997763 0.00644462 -0.13727743] [-0.00427691 -0.00645224 0.99997004 0.03555532] [ 0. 0. 0. 1. ]] SLAMing on 3.8057692309999998 meters 0.7940845807711008 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.13, Z:0.04 [[ 0.99998934 0.00161055 0.00432709 0.26015309] [-0.00163586 0.99998153 0.0058533 -0.13417653] [-0.00431758 -0.00586032 0.99997351 0.03578304] [ 0. 0. 0. 1. ]] SLAMing on 3.865769231 meters 0.8044544560226824 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.13, Z:0.04 [[ 9.99985976e-01 -2.85591221e-03 4.45998248e-03 2.59733293e-01] [ 2.85242492e-03 9.99995621e-01 7.88072541e-04 -1.30229192e-01] [-4.46221361e-03 -7.75339724e-04 9.99989744e-01 3.59798786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.925769231 meters 0.7615102842607344 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:0.04 [[ 0.99996131 -0.00727973 -0.00493704 0.21727167] [ 0.00726466 0.99996892 -0.00306181 -0.13269807] [ 0.00495917 0.00302582 0.99998313 0.04231252] [ 0. 0. 0. 1. ]] SLAMing on 3.985769231 meters 0.7843814506637106 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.13, Z:0.04 [[ 0.9999729 -0.00724665 -0.00129783 0.23445242] [ 0.00722833 0.99988131 -0.01360595 -0.13270767] [ 0.00139627 0.0135962 0.99990659 0.04286595] [ 0. 0. 0. 1. ]] SLAMing on 4.0457692309999995 meters 0.7624412792960394 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.04 [[ 0.99997993 -0.00612074 0.00163786 0.1871632 ] [ 0.00613818 0.99992214 -0.01086434 -0.13556321] [-0.00157123 0.01087418 0.99993964 0.04242056] [ 0. 0. 0. 1. ]] SLAMing on 4.105769231 meters 0.7410633671715192 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.04 [[ 0.99999755 -0.00161164 0.00151757 0.18747932] [ 0.00162074 0.99998058 -0.00601738 -0.1380161 ] [-0.00150785 0.00601983 0.99998074 0.04237721] [ 0. 0. 0. 1. ]] SLAMing on 4.165769231 meters 0.7334935944259294 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.04 [[ 0.99999569 0.00255115 0.00145206 0.18762387] [-0.00254807 0.99999451 -0.00211675 -0.1359246 ] [-0.00145745 0.00211304 0.99999671 0.04250685] [ 0. 0. 0. 1. ]] SLAMing on 4.225769231 meters 0.6826692191005849 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.14, Z:0.04 [[ 0.99998245 0.00231808 0.00545171 0.13624042] [-0.00230967 0.99999614 -0.00154697 -0.13562067] [-0.00545527 0.00153435 0.99998394 0.04495051] [ 0. 0. 0. 1. ]] SLAMing on 4.285769231 meters 0.6592247328840629 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.05 [[ 9.99977462e-01 -1.12770501e-04 6.71280693e-03 1.29510090e-01] [ 1.41948703e-04 9.99990545e-01 -4.34632920e-03 -1.31597298e-01] [-6.71225332e-03 4.34718412e-03 9.99968023e-01 4.96813396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.345769231 meters 0.6895259897827773 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.13, Z:0.05 [[ 9.99991559e-01 8.14343932e-04 4.02737696e-03 1.78779026e-01] [-7.93669400e-04 9.99986514e-01 -5.13243492e-03 -1.25195281e-01] [-4.03150221e-03 5.12919519e-03 9.99978719e-01 4.73005292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.405769231 meters 0.652903433079499 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.12, Z:0.05 [[ 9.99998112e-01 -9.31269741e-04 1.70557779e-03 1.56546040e-01] [ 9.25755531e-04 9.99994352e-01 3.23098588e-03 -1.21683607e-01] [-1.70857708e-03 -3.22940083e-03 9.99993326e-01 5.01887214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4657692309999995 meters 0.5917682303542058 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.05 [[ 0.99999386 0.00315773 -0.00152006 0.13783781] [-0.00316308 0.99998876 -0.00353076 -0.11474728] [ 0.0015089 0.00353555 0.99999261 0.05040397] [ 0. 0. 0. 1. ]] SLAMing on 4.525769231 meters 0.5764610616802167 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.11, Z:0.05 [[ 0.99999512 0.00274831 -0.0014865 0.13781598] [-0.00275505 0.99998585 -0.00454971 -0.10999628] [ 0.00147398 0.00455378 0.99998855 0.05024182] [ 0. 0. 0. 1. ]] SLAMing on 4.585769231 meters 0.5858506282531922 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:0.05 [[ 0.99999432 -0.00190987 -0.00277879 0.11960678] [ 0.00191403 0.99999705 0.00149449 -0.10971994] [ 0.00277592 -0.0014998 0.99999502 0.04763051] [ 0. 0. 0. 1. ]] SLAMing on 4.645769231 meters 0.4332195180799988 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:0.05 [[ 9.99993732e-01 -2.17974821e-03 -2.79014600e-03 1.19928157e-01] [ 2.18201997e-03 9.99997290e-01 8.11422097e-04 -1.06600776e-01] [ 2.78836974e-03 -8.17505165e-04 9.99995778e-01 4.69627330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.705769231 meters 0.4643352530170514 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:0.05 [[ 9.99993585e-01 -2.24889833e-03 -2.78786124e-03 1.19899535e-01] [ 2.25066837e-03 9.99997268e-01 6.31935572e-04 -1.05771135e-01] [ 2.78643247e-03 -6.38206069e-04 9.99995914e-01 4.70084459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.765769231 meters 0.4637768676744748 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.10, Z:0.05 [[ 9.99993284e-01 -2.41373142e-03 -2.75803106e-03 1.19906028e-01] [ 2.41430614e-03 9.99997065e-01 2.05069733e-04 -1.03800502e-01] [ 2.75752798e-03 -2.11727087e-04 9.99996176e-01 4.67455984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.825769231 meters 0.4549516701690274 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.10, Z:0.04 [[ 9.99992070e-01 -2.77169591e-04 -3.97269202e-03 1.26534145e-01] [ 2.85712423e-04 9.99997648e-01 2.14998240e-03 -1.02573207e-01] [ 3.97208676e-03 -2.15110040e-03 9.99989798e-01 4.24871542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.885769230999999 meters 0.03839972055709653 Centerline is valid? [False, True] Translation: X:0.13, Y:-0.10, Z:0.04 [[ 9.99991994e-01 -2.30340464e-04 -3.99474521e-03 1.26679091e-01] [ 2.39403285e-04 9.99997399e-01 2.26835590e-03 -1.03129811e-01] [ 3.99421232e-03 -2.26929410e-03 9.99989448e-01 4.22900986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.945769231 meters 0.03714796712978478 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.11, Z:0.04 [[ 9.99965671e-01 -6.30462740e-03 -5.37670916e-03 1.85063781e-01] [ 6.30457894e-03 9.99980126e-01 -2.59616694e-05 -1.14459466e-01] [ 5.37676598e-03 -7.93710914e-06 9.99985545e-01 3.77159249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0057692309999995 meters 0.03295345544457867 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.12, Z:0.04 [[ 9.99955985e-01 -8.08241240e-03 -4.76478443e-03 2.42889399e-01] [ 8.08239244e-03 9.99967337e-01 -2.34447628e-05 -1.18518311e-01] [ 4.76481829e-03 -1.50671267e-05 9.99988648e-01 3.85898442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.065769231 meters 0.02334752357880279 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.12, Z:0.04 [[ 9.99936655e-01 -1.11551956e-02 -1.49942561e-03 3.02126251e-01] [ 1.11551953e-02 9.99937779e-01 -8.61143700e-06 -1.24243867e-01] [ 1.49942837e-03 -8.11549393e-06 9.99998876e-01 4.25924739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.125769231 meters 0.023193845144833792 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.14, Z:0.04 [[ 9.99880901e-01 -1.53916613e-02 -1.13186169e-03 3.61229571e-01] [ 1.53916632e-02 9.99881541e-01 -6.95148295e-06 -1.37924322e-01] [ 1.13183461e-03 -1.04705790e-05 9.99999359e-01 4.11192008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.185769231 meters 0.026705288946706703 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.15, Z:0.04 [[ 9.99855919e-01 -1.67815834e-02 -2.55330985e-03 4.19025535e-01] [ 1.67816031e-02 9.99859179e-01 -1.37042638e-05 -1.47372354e-01] [ 2.55318026e-03 -2.91463432e-05 9.99996740e-01 3.90440543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.245769231 meters 0.020878074368226553 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.15, Z:0.04 [[ 9.99899285e-01 -1.41901057e-02 2.47496305e-04 4.78254535e-01] [ 1.41901059e-02 9.99899315e-01 7.39733345e-07 -1.47403334e-01] [-2.47481883e-04 2.77233993e-06 9.99999969e-01 4.30472008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.305769230999999 meters 0.015112787494391286 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.14, Z:0.05 [[ 9.99968669e-01 -6.59753664e-03 4.37413998e-03 5.37971317e-01] [ 6.59749872e-03 9.99978236e-01 2.30991033e-05 -1.35848664e-01] [-4.37419718e-03 5.76000337e-06 9.99990433e-01 4.73264281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.365769231 meters 0.015140004445993355 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.13, Z:0.04 [[ 9.99989076e-01 -2.48764165e-03 3.95715296e-03 5.98733363e-01] [ 2.48757743e-03 9.99996906e-01 2.11521909e-05 -1.27513221e-01] [-3.95719333e-03 -1.13082355e-05 9.99992170e-01 4.43952721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.425769230999999 meters 0.01808550710345132 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.12, Z:0.04 [[ 9.99995048e-01 3.00145709e-03 9.45857142e-04 6.60349491e-01] [-3.00146328e-03 9.99995496e-01 5.13101648e-06 -1.15211442e-01] [-9.45837481e-04 -7.96994656e-06 9.99999553e-01 3.89001423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.485769231 meters 0.023470991997060126 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.10, Z:0.04 [[ 9.99937348e-01 1.03663427e-02 4.22365510e-03 7.21000830e-01] [-1.03665290e-02 9.99946266e-01 2.22100595e-05 -9.59745897e-02] [-4.22319790e-03 -6.59933109e-05 9.99991080e-01 4.47195556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5457692309999995 meters 0.031099519471843542 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.08, Z:0.05 [[ 9.99832393e-01 1.75517347e-02 5.20786137e-03 7.80510242e-01] [-1.75521153e-02 9.99845949e-01 2.73855010e-05 -7.59854717e-02] [-5.20657843e-03 -1.18789894e-04 9.99986439e-01 4.58001296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.605769231 meters 0.03388875417995613 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.06, Z:0.04 [[ 9.99801517e-01 1.96861865e-02 3.06262937e-03 8.42713647e-01] [-1.96863287e-02 9.99806205e-01 1.62832092e-05 -6.34024764e-02] [-3.06171530e-03 -7.65719058e-05 9.99995310e-01 4.08979571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.665769231 meters 0.03511461776299542 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.06, Z:0.04 [[ 9.99790549e-01 2.03407452e-02 2.26114930e-03 9.04227244e-01] [-2.03408241e-02 9.99793104e-01 1.18946351e-05 -5.80451402e-02] [-2.26043953e-03 -5.78857841e-05 9.99997444e-01 3.93520039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.725769231 meters 0.037769206182002545 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.05, Z:0.04 [[ 9.99792943e-01 1.98894006e-02 4.29915831e-03 9.64155220e-01] [-1.98896805e-02 9.99802180e-01 2.23477096e-05 -4.51251577e-02] [-4.29786337e-03 -1.07851968e-04 9.99990758e-01 4.28792498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.785769231 meters 0.032821476748294595 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.04, Z:0.04 [[ 9.99833391e-01 1.77162925e-02 4.39575977e-03 1.02596710e+00] [-1.77165641e-02 9.99843049e-01 2.28573630e-05 -4.48156340e-02] [-4.39466491e-03 -1.00731314e-04 9.99990338e-01 4.11085422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.845769230999999 meters 0.03043438578595597 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.04, Z:0.04 [[ 9.99881649e-01 1.51940992e-02 2.41384795e-03 1.08791881e+00] [-1.51941752e-02 9.99884562e-01 1.31267163e-05 -4.48399891e-02] [-2.41336985e-03 -4.98015912e-05 9.99997087e-01 3.54767807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.905769231 meters 0.023940366961031422 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.05, Z:0.03 [[ 9.99957814e-01 9.07226824e-03 1.43661474e-03 1.14730959e+00] [-9.07228782e-03 9.99958846e-01 7.11527632e-06 -5.07473676e-02] [-1.43649107e-03 -2.01483586e-05 9.99998968e-01 3.29830410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9657692309999995 meters 0.021384428265755602 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.05, Z:0.03 [[ 9.99968859e-01 7.86765908e-03 6.17479835e-04 1.20844655e+00] [-7.86766258e-03 9.99969049e-01 3.23693046e-06 -5.27018318e-02] [-6.17435257e-04 -8.09495265e-06 9.99999809e-01 3.22709384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.025769231 meters 0.020765041280485525 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.05, Z:0.04 [[ 9.99953957e-01 9.04731931e-03 3.19832923e-03 1.26872744e+00] [-9.04741655e-03 9.99959071e-01 1.59374163e-05 -4.85356379e-02] [-3.19805413e-03 -4.48732993e-05 9.99994885e-01 3.72995541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.085769231 meters 0.0217437063763618 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.04, Z:0.03 [[ 9.99940789e-01 1.06219655e-02 2.36461728e-03 1.33011537e+00] [-1.06220233e-02 9.99943585e-01 1.18974078e-05 -4.13367314e-02] [-2.36435750e-03 -3.70137233e-05 9.99997204e-01 3.44504367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.145769231 meters 0.02002202455039878 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.04, Z:0.04 [[ 9.99962223e-01 7.93418700e-03 3.54969769e-03 1.39042685e+00] [-7.93429961e-03 9.99968523e-01 1.76433088e-05 -3.96065725e-02] [-3.54944597e-03 -4.58070073e-05 9.99993700e-01 3.64318792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.205769231 meters 0.02058870729127347 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.03, Z:0.03 [[ 9.99979189e-01 5.59445404e-03 3.21295773e-03 1.45125932e+00] [-5.59453587e-03 9.99984350e-01 1.64801949e-05 -3.46140452e-02] [-3.21281525e-03 -3.44548591e-05 9.99994838e-01 3.48799837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.265769231 meters 0.01817077530178709 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.03, Z:0.04 [[ 9.99975357e-01 5.49005731e-03 4.37537441e-03 1.51241063e+00] [-5.49020188e-03 9.99984929e-01 2.10305365e-05 -3.39524313e-02] [-4.37519300e-03 -4.50517071e-05 9.99990428e-01 3.81179354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.325769231 meters 0.023055863159027776 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.02, Z:0.04 [[ 9.99931321e-01 1.11525531e-02 3.60187333e-03 1.57357192e+00] [-1.11526876e-02 9.99937807e-01 1.72559555e-05 -1.99510387e-02] [-3.60145687e-03 -5.74253384e-05 9.99993513e-01 3.60406884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.385769230999999 meters 0.027502908036763064 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.00, Z:0.03 [[ 9.99870689e-01 1.59924995e-02 1.68683359e-03 1.63452307e+00] [-1.59925359e-02 9.99872111e-01 8.06709126e-06 -2.92612202e-03] [-1.68648885e-03 -3.50427948e-05 9.99998577e-01 3.19688543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.445769231 meters 0.031474601001250116 Centerline is valid? [True, True] Translation: X:1.69, Y:0.01, Z:0.04 [[ 9.99831843e-01 1.76857537e-02 4.84756368e-03 1.69370889e+00] [-1.76860726e-02 9.99843589e-01 2.29182322e-05 1.29763254e-02] [-4.84640014e-03 -1.08648742e-04 9.99988250e-01 3.76182019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5057692309999995 meters 0.025794110890551267 Centerline is valid? [True, True] Translation: X:1.76, Y:0.01, Z:0.03 [[ 9.99899551e-01 1.38336355e-02 3.08520524e-03 1.75513751e+00] [-1.38337468e-02 9.99904309e-01 1.47313904e-05 1.44300673e-02] [-3.08470623e-03 -5.74098587e-05 9.99995241e-01 3.18926873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.565769231 meters 0.022463107964471356 Centerline is valid? [True, True] Translation: X:1.82, Y:0.01, Z:0.03 [[ 9.99944765e-01 1.02714653e-02 2.22808361e-03 1.81611615e+00] [-1.02715145e-02 9.99947247e-01 1.06324854e-05 1.06849408e-02] [-2.22785686e-03 -3.35176912e-05 9.99997518e-01 2.89792128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.625769231 meters 0.013762475598947043 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.01, Z:0.03 [[ 9.99983650e-01 -3.23974682e-03 4.71202287e-03 1.87750536e+00] [ 3.23967833e-03 9.99994752e-01 2.21687687e-05 -6.27855652e-03] [-4.71206997e-03 -6.90296784e-06 9.99988898e-01 3.35800091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.685769231 meters 0.016088074648976155 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.01, Z:0.03 [[ 9.99928433e-01 -1.18440731e-02 1.68699365e-03 1.94000349e+00] [ 1.18440751e-02 9.99929856e-01 8.79298438e-06 -1.46357241e-02] [-1.68697946e-03 1.11885245e-05 9.99998577e-01 2.75998304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.745769231 meters 0.02241712280433553 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.03, Z:0.03 [[ 9.99809514e-01 -1.93748249e-02 2.35635895e-03 2.00065486e+00] [ 1.93748532e-02 9.99812290e-01 1.08254289e-05 -3.03480787e-02] [-2.35612638e-03 3.48307419e-05 9.99997224e-01 2.69593395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.805769230999999 meters 0.029071324997694607 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.05, Z:0.03 [[ 9.99621990e-01 -2.72736108e-02 3.46796324e-03 2.06175936e+00] [ 2.72737208e-02 9.99628003e-01 1.55553779e-05 -5.02394291e-02] [-3.46709742e-03 7.90347635e-05 9.99993986e-01 2.93022044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.865769231 meters 0.034485137810835245 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.07, Z:0.03 [[ 9.99467523e-01 -3.25304901e-02 2.53738549e-03 2.12154607e+00] [ 3.25305662e-02 9.99470741e-01 1.12801461e-05 -6.68957086e-02] [-2.53640951e-03 7.12684471e-05 9.99996781e-01 2.71012331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.925769230999999 meters 0.035670621121043446 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.08, Z:0.03 [[ 9.99456354e-01 -3.29460519e-02 1.24636348e-03 2.18013664e+00] [ 3.29460709e-02 9.99457131e-01 5.32965793e-06 -7.93056399e-02] [-1.24586246e-03 3.57360192e-05 9.99999223e-01 2.58349566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.985769231 meters 0.028141252616415428 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.08, Z:0.03 [[ 9.99688513e-01 -2.49424039e-02 8.68132896e-04 2.23925903e+00] [ 2.49424100e-02 9.99688890e-01 3.84358179e-06 -8.01398170e-02] [-8.67958679e-04 1.78109420e-05 9.99999623e-01 2.51792710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0457692309999995 meters 0.024397302213243235 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.08, Z:0.03 [[ 9.99782086e-01 -2.08443954e-02 1.13675320e-03 2.29870206e+00] [ 2.08444032e-02 9.99782732e-01 5.02232306e-06 -8.40460557e-02] [-1.13661091e-03 1.86737135e-05 9.99999354e-01 2.51336326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.105769231 meters 0.02129726609696278 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.09, Z:0.03 [[ 9.99778321e-01 -2.10195220e-02 1.22011187e-03 2.35823641e+00] [ 2.10195310e-02 9.99779065e-01 5.41358288e-06 -8.98836891e-02] [-1.21995610e-03 2.02337965e-05 9.99999256e-01 2.60241363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.165769231 meters 0.02222397924089427 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.10, Z:0.03 [[ 9.99766249e-01 -2.10998026e-02 4.71652862e-03 2.41806886e+00] [ 2.10999356e-02 9.99777371e-01 2.15820842e-05 -9.92509303e-02] [-4.71593396e-03 7.79414105e-05 9.99988877e-01 3.08890880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.225769230999999 meters 0.017554037793718953 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.10, Z:0.03 [[ 9.99874180e-01 -1.53662033e-02 3.93742795e-03 2.47853485e+00] [ 1.53662512e-02 9.99881932e-01 1.80898965e-05 -9.91726069e-02] [-3.93724104e-03 4.24158866e-05 9.99992248e-01 3.01072481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.285769231 meters 0.014669841657970233 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.08, Z:0.02 [[ 9.99999618e-01 -7.27332109e-04 4.85366539e-04 2.53763410e+00] [ 7.27331151e-04 9.99999735e-01 2.15100243e-06 -8.11269340e-02] [-4.85367975e-04 -1.79797940e-06 9.99999882e-01 2.31726294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.345769230999999 meters 0.023423548281848644 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.06, Z:0.03 [[ 9.99911052e-01 1.30841948e-02 2.58689577e-03 2.59734065e+00] [-1.30842692e-02 9.99914397e-01 1.18405233e-05 -6.19109989e-02] [-2.58651940e-03 -4.56871107e-05 9.99996654e-01 2.65863241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.405769231 meters 0.03138778716762935 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.05, Z:0.02 [[ 9.99793118e-01 2.02399369e-02 -2.01661541e-03 2.65725941e+00] [-2.02399967e-02 9.99795150e-01 -9.21601441e-06 -4.59588183e-02] [ 2.01601578e-03 5.00303970e-05 9.99997967e-01 1.82835729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4657692309999995 meters 0.03246085072998088 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.04, Z:0.02 [[ 9.99769744e-01 2.14032995e-02 -1.53580398e-03 2.71669796e+00] [-2.14033359e-02 9.99770922e-01 -7.28576226e-06 -3.88398135e-02] [ 1.53529622e-03 4.01554132e-05 9.99998821e-01 1.93729388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.525769231 meters 0.033089266269560436 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.03, Z:0.03 [[ 9.99759577e-01 2.16971578e-02 3.16563089e-03 2.77639257e+00] [-2.16973128e-02 9.99764585e-01 1.46283839e-05 -2.66175820e-02] [-3.16456826e-03 -8.33105506e-05 9.99994989e-01 2.63919143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.585769231 meters 0.02826877999853914 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.03, Z:0.03 [[ 9.99838549e-01 1.77032142e-02 3.07753006e-03 2.83715338e+00] [-1.77033422e-02 9.99843283e-01 1.43483248e-05 -2.51320639e-02] [-3.07679375e-03 -6.88285760e-05 9.99995264e-01 2.54961473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.645769231 meters 0.026165534375898997 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.02, Z:0.02 [[ 9.99946966e-01 1.02847667e-02 5.37053644e-04 2.89705701e+00] [-1.02847695e-02 9.99947110e-01 2.48934547e-06 -1.93508073e-02] [-5.36999637e-04 -8.01268640e-06 9.99999856e-01 1.78707128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.705769231 meters 0.014766029426252958 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.03, Z:0.03 [[ 9.99991695e-01 1.19094428e-03 3.89757907e-03 2.95816361e+00] [-1.19102389e-03 9.99999291e-01 1.81031061e-05 -3.33125312e-02] [-3.89755474e-03 -2.27450655e-05 9.99992404e-01 2.75395458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.765769230999999 meters 0.014447650019082764 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.04, Z:0.02 [[ 9.99950692e-01 -9.43447499e-03 3.09905745e-03 3.01901330e+00] [ 9.43447477e-03 9.99955494e-01 1.46911445e-05 -4.48165808e-02] [-3.09905812e-03 1.45475591e-05 9.99995198e-01 2.42511722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.825769231 meters 0.018798918984862047 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.05, Z:0.02 [[ 9.99878208e-01 -1.54750920e-02 2.02269239e-03 3.08034852e+00] [ 1.54751036e-02 9.99880253e-01 9.91693351e-06 -5.31917555e-02] [-2.02260364e-03 2.13856485e-05 9.99997954e-01 2.30368017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.885769230999999 meters 0.01907002193802261 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.05, Z:0.02 [[ 9.99872904e-01 -1.57215936e-02 2.64716941e-03 3.14147582e+00] [ 1.57216177e-02 9.99876408e-01 1.16958784e-05 -5.16929301e-02] [-2.64702612e-03 2.99233936e-05 9.99996496e-01 2.40607979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.945769231 meters 0.018171399986857267 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.05, Z:0.02 [[ 9.99886797e-01 -1.49169678e-02 1.96888175e-03 3.20223606e+00] [ 1.49169798e-02 9.99888736e-01 8.57942366e-06 -4.66881348e-02] [-1.96879066e-03 2.07913169e-05 9.99998062e-01 2.21150562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.005769231 meters 0.017972998501478554 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.04, Z:0.02 [[ 9.99901755e-01 -1.38733739e-02 2.00237965e-03 3.26222399e+00] [ 1.38733842e-02 9.99903760e-01 8.72539111e-06 -4.44863540e-02] [-2.00230799e-03 1.90552483e-05 9.99997995e-01 2.00982191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065769230999999 meters 0.024031683155450515 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.06, Z:0.02 [[ 9.99799802e-01 -2.00031982e-02 4.78326222e-04 3.32302451e+00] [ 2.00031994e-02 9.99799916e-01 2.08431172e-06 -5.72525309e-02] [-4.78272210e-04 7.48416038e-06 9.99999886e-01 1.62668853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125769231 meters 0.02556743513610501 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.06, Z:0.02 [[ 9.99691917e-01 -2.47104369e-02 2.33783735e-03 3.38297811e+00] [ 2.47104809e-02 9.99694649e-01 1.00738254e-05 -6.21176425e-02] [-2.33737241e-03 4.76983632e-05 9.99997267e-01 2.10398242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.185769231 meters 0.02632271488937506 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.07, Z:0.02 [[ 9.99680791e-01 -2.49338793e-02 4.07643026e-03 3.44264500e+00] [ 2.49340138e-02 9.99689099e-01 1.78265514e-05 -6.55615816e-02] [-4.07560738e-03 8.38209073e-05 9.99991691e-01 2.41604862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245769230999999 meters 0.028146847625711385 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.07, Z:0.02 [[ 9.99690635e-01 -2.45501771e-02 3.99035005e-03 3.50203605e+00] [ 2.45503025e-02 9.99698596e-01 1.75437887e-05 -6.79083307e-02] [-3.98957805e-03 8.04259397e-05 9.99992038e-01 2.34290357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305769231 meters 0.026690623381939445 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.06, Z:0.02 [[ 9.99673071e-01 -2.51784952e-02 4.44907953e-03 3.56235692e+00] [ 2.51786575e-02 9.99682967e-01 1.95301082e-05 -6.47646154e-02] [-4.44816077e-03 9.24981267e-05 9.99990103e-01 2.42431883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.365769231 meters 0.027038174338455418 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.06, Z:0.02 [[ 9.99668328e-01 -2.55028171e-02 3.58334493e-03 3.62265846e+00] [ 2.55029245e-02 9.99674747e-01 1.57297962e-05 -6.30017711e-02] [-3.58258060e-03 7.56611963e-05 9.99993580e-01 2.38594224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425769231 meters 0.026911564214794223 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.06, Z:0.03 [[ 9.99597900e-01 -2.78876747e-02 5.12990980e-03 3.68354885e+00] [ 2.78879262e-02 9.99611056e-01 2.25187463e-05 -6.21148483e-02] [-5.12854255e-03 1.20552854e-04 9.99986842e-01 2.50765130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485769230999999 meters 0.037409952433018125 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.08, Z:0.02 [[ 9.99554563e-01 -2.94014233e-02 5.12162615e-03 3.74330486e+00] [ 2.94016939e-02 9.99567676e-01 2.24591634e-05 -7.75653920e-02] [-5.12007228e-03 1.28135325e-04 9.99986884e-01 2.40117599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545769231 meters 0.04060401276754488 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.08, Z:0.02 [[ 9.99505152e-01 -3.12744306e-02 3.37068274e-03 3.80347376e+00] [ 3.12745584e-02 9.99510831e-01 1.48056003e-05 -8.45714365e-02] [-3.36949695e-03 9.06183405e-05 9.99994319e-01 2.09886757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.605769231 meters 0.029322476037840255 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.07, Z:0.03 [[ 9.99605361e-01 -2.75206313e-02 5.63364259e-03 3.86294603e+00] [ 2.75209283e-02 9.99621227e-01 2.48153682e-05 -7.26930839e-02] [-5.63219165e-03 1.30237499e-04 9.99984131e-01 2.58304210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665769231 meters 0.022552564303599577 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.06, Z:0.02 [[ 9.99762587e-01 -2.15399022e-02 3.28662103e-03 3.92348157e+00] [ 2.15399707e-02 9.99767988e-01 1.45723559e-05 -6.17181696e-02] [-3.28617238e-03 5.62248243e-05 9.99994599e-01 2.23403149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725769231 meters 0.019537922167995235 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.06, Z:0.02 [[ 9.99852180e-01 -1.71263431e-02 1.51850143e-03 3.98354340e+00] [ 1.71263526e-02 9.99853333e-01 6.73279430e-06 -5.73524913e-02] [-1.51839402e-03 1.92745919e-05 9.99998847e-01 1.81509418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785769231 meters 0.015861530041873524 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.05, Z:0.02 [[ 9.99928208e-01 -1.18344499e-02 1.87756970e-03 4.04380721e+00] [ 1.18344552e-02 9.99929970e-01 8.32484603e-06 -4.94571373e-02] [-1.87753674e-03 1.38957661e-05 9.99998237e-01 1.85954746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.845769231 meters 0.013921549698542418 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.04, Z:0.02 [[ 9.99955033e-01 -8.72370480e-03 3.71859594e-03 4.10437056e+00] [ 8.72370380e-03 9.99961948e-01 1.64876641e-05 -4.41512615e-02] [-3.71859827e-03 1.59530068e-05 9.99993086e-01 2.08259649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905769230999999 meters 0.013314931186089963 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.04, Z:0.02 [[ 9.99981942e-01 -5.50428212e-03 2.41234300e-03 4.16583098e+00] [ 5.50427207e-03 9.99984851e-01 1.08048676e-05 -3.73773178e-02] [-2.41236593e-03 2.47351969e-06 9.99997090e-01 1.72706327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965769231 meters 0.013389618779792462 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.04, Z:0.02 [[ 9.99986805e-01 -4.93879028e-03 1.41345908e-03 4.22669196e+00] [ 4.93878621e-03 9.99987804e-01 6.36523514e-06 -3.50317833e-02] [-1.41347328e-03 6.15621060e-07 9.99999001e-01 1.54345965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.025769231 meters 0.013091934480385802 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.03, Z:0.02 [[ 9.99979522e-01 -5.27580924e-03 3.62222199e-03 4.28735123e+00] [ 5.27578615e-03 9.99986083e-01 1.59295021e-05 -3.35065889e-02] [-3.62225562e-03 3.18089269e-06 9.99993440e-01 1.94881496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085769231 meters 0.013440743169428887 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.04, Z:0.02 [[ 9.99968074e-01 -7.29648363e-03 3.25772035e-03 4.34934304e+00] [ 7.29647533e-03 9.99973380e-01 1.44317928e-05 -3.61352930e-02] [-3.25773893e-03 9.33854407e-06 9.99994694e-01 1.73302523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145769231 meters 0.01589981016888689 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.04, Z:0.02 [[ 9.99919065e-01 -1.16895073e-02 5.02181877e-03 4.41067066e+00] [ 1.16895441e-02 9.99931675e-01 2.20365441e-05 -4.33872192e-02] [-5.02173325e-03 3.66680113e-05 9.99987390e-01 2.11448398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205769231 meters 0.017198793872549568 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.05, Z:0.02 [[ 9.99881415e-01 -1.49111178e-02 3.84883749e-03 4.47287389e+00] [ 1.49111658e-02 9.99888822e-01 1.62286652e-05 -4.70487429e-02] [-3.84865158e-03 4.11639133e-05 9.99992593e-01 1.77795926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.265769231 meters 0.022078530341044164 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.06, Z:0.01 [[ 9.99793053e-01 -2.02270427e-02 2.17213320e-03 4.53295222e+00] [ 2.02270709e-02 9.99795412e-01 8.96468721e-06 -5.97157447e-02] [-2.17187014e-03 3.49730603e-05 9.99997641e-01 1.43773653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325769230999999 meters 0.03123146082463358 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.08, Z:0.02 [[ 9.99612437e-01 -2.75873867e-02 3.72990737e-03 4.59203871e+00] [ 2.75875213e-02 9.99619392e-01 1.53790302e-05 -8.23801334e-02] [-3.72891200e-03 8.75258290e-05 9.99993044e-01 1.70862737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385769231 meters 0.02424815065538057 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.08, Z:0.02 [[ 9.99737148e-01 -2.25740730e-02 4.00564023e-03 4.65234209e+00] [ 2.25741879e-02 9.99745170e-01 1.65143953e-05 -7.58193679e-02] [-4.00499227e-03 7.39140208e-05 9.99991977e-01 1.90949157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.445769231 meters 0.01833218313296948 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.06, Z:0.01 [[ 9.99884901e-01 -1.50947642e-02 1.52715143e-03 4.71166994e+00] [ 1.50947723e-02 9.99886067e-01 6.26349051e-06 -6.48149180e-02] [-1.52707198e-03 1.67892335e-05 9.99998834e-01 1.36788038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505769231 meters 0.014165874565966229 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.06, Z:0.02 [[ 9.99954722e-01 -9.13688160e-03 2.65916986e-03 4.77205454e+00] [ 9.13688453e-03 9.99958258e-01 1.10488635e-05 -5.66326383e-02] [-2.65915982e-03 1.32481647e-05 9.99996464e-01 1.57110921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565769230999999 meters 0.016637423999481937 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.06, Z:0.01 [[ 9.99911856e-01 -1.30923695e-02 2.20685835e-03 4.83302886e+00] [ 1.30923809e-02 9.99914291e-01 9.28382810e-06 -6.30622252e-02] [-2.20679075e-03 1.96100204e-05 9.99997565e-01 1.41892730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625769231 meters 0.02000332872616794 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.07, Z:0.02 [[ 9.99821071e-01 -1.83341252e-02 4.65670743e-03 4.89367761e+00] [ 1.83342344e-02 9.99831914e-01 1.92381519e-05 -7.33131583e-02] [-4.65627742e-03 6.61424559e-05 9.99989157e-01 1.97184342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.685769231 meters 0.021183469215439666 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.08, Z:0.02 [[ 9.99819125e-01 -1.84576628e-02 4.58610219e-03 4.95371450e+00] [ 1.84577699e-02 9.99829641e-01 1.89754811e-05 -7.88452158e-02] [-4.58567115e-03 6.56771700e-05 9.99989484e-01 1.80337788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745769230999999 meters 0.021170791248674502 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.09, Z:0.01 [[ 9.99796066e-01 -2.00009682e-02 2.79059684e-03 5.01482519e+00] [ 2.00010137e-02 9.99799960e-01 1.15996434e-05 -8.62881955e-02] [-2.79027062e-03 4.42174879e-05 9.99996106e-01 1.45446216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805769231 meters 0.021534177227411206 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.09, Z:0.01 [[ 9.99806396e-01 -1.95205917e-02 2.47340512e-03 5.07409026e+00] [ 1.95206265e-02 9.99809454e-01 1.00725752e-05 -9.00779789e-02] [-2.47313045e-03 3.82117926e-05 9.99996941e-01 1.45815189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865769231 meters 0.020169945801509277 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.09, Z:0.02 [[ 9.99844782e-01 -1.72421391e-02 3.62209800e-03 5.13263026e+00] [ 1.72421988e-02 9.99851342e-01 1.47546907e-05 -9.08750059e-02] [-3.62181395e-03 4.77005332e-05 9.99993440e-01 1.59955965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925769231 meters 0.018204803833390522 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.09, Z:0.02 [[ 9.99874741e-01 -1.51678554e-02 4.52100127e-03 5.19369863e+00] [ 1.51679257e-02 9.99884960e-01 1.87580152e-05 -9.11239952e-02] [-4.52076569e-03 4.98185455e-05 9.99989780e-01 1.63586279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985769230999999 meters 0.019348059592643147 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.10, Z:0.01 [[ 9.99862157e-01 -1.64776533e-02 2.03819039e-03 5.25469995e+00] [ 1.64776702e-02 9.99864234e-01 8.53702846e-06 -9.94091770e-02] [-2.03805434e-03 2.50487772e-05 9.99997923e-01 1.11197892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045769231 meters 0.021084082328016715 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.11, Z:0.01 [[ 9.99831556e-01 -1.82369221e-02 2.06740622e-03 5.31374726e+00] [ 1.82369437e-02 9.99833693e-01 8.37554541e-06 -1.11836180e-01] [-2.06721514e-03 2.93290364e-05 9.99997863e-01 1.18088895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.105769231 meters 0.020072825560679474 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.12, Z:0.01 [[ 9.99853001e-01 -1.68402429e-02 3.22223254e-03 5.37306976e+00] [ 1.68402876e-02 9.99858192e-01 1.32665947e-05 -1.15214150e-01] [-3.22199901e-03 4.09986780e-05 9.99994809e-01 1.33646372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165769230999999 meters 0.015434898816243206 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.12, Z:0.01 [[ 9.99941466e-01 -1.07495920e-02 1.22923583e-03 5.43321205e+00] [ 1.07495940e-02 9.99942221e-01 5.02513929e-06 -1.16501914e-01] [-1.22921883e-03 8.18894092e-06 9.99999244e-01 9.24395675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225769231 meters 0.01313106956364473 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.11, Z:0.01 [[ 9.99993606e-01 -3.09514885e-03 1.79105310e-03 5.49320368e+00] [ 3.09514071e-03 9.99995210e-01 7.31962117e-06 -1.12239624e-01] [-1.79106717e-03 -1.77601301e-06 9.99998396e-01 1.03143857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285769231 meters 0.015699733651288055 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.11, Z:0.01 [[ 9.99986730e-01 3.96574572e-03 3.28829063e-03 5.55399232e+00] [-3.96581273e-03 9.99992136e-01 1.38592098e-05 -1.05757119e-01] [-3.28820981e-03 -2.68997707e-05 9.99994593e-01 1.23694672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.345769231 meters 0.01959618858748813 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.10, Z:0.01 [[ 9.99967069e-01 7.74086266e-03 2.43718998e-03 5.61490547e+00] [-7.74091066e-03 9.99970039e-01 1.02595782e-05 -9.96948432e-02] [-2.43703754e-03 -2.91253102e-05 9.99997030e-01 1.03722237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405769230999999 meters 0.020257734142493957 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.10, Z:0.01 [[ 9.99953388e-01 9.54078580e-03 1.48157284e-03 5.67664016e+00] [-9.54080663e-03 9.99954485e-01 6.99432035e-06 -9.84891819e-02] [-1.48143867e-03 -2.11293943e-05 9.99998902e-01 7.32714437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465769231 meters 0.01989863982438128 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.10, Z:0.00 [[ 9.99972333e-01 7.40519967e-03 -7.04018948e-04 5.73733679e+00] [-7.40520264e-03 9.99972581e-01 -1.61655769e-06 -9.78550943e-02] [ 7.03987673e-04 6.82991593e-06 9.99999752e-01 1.92159721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.525769231 meters 0.01692400443730499 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.10, Z:0.01 [[ 9.99982735e-01 5.40060317e-03 2.31575481e-03 5.79839245e+00] [-5.40063812e-03 9.99985416e-01 8.84025181e-06 -9.88157244e-02] [-2.31567330e-03 -2.13466529e-05 9.99997319e-01 7.21301705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585769230999999 meters 0.013980731332782655 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.11, Z:0.01 [[ 9.99987153e-01 1.29123038e-03 4.90177257e-03 5.85966389e+00] [-1.29133702e-03 9.99999166e-01 1.85897866e-05 -1.06960144e-01] [-4.90174448e-03 -2.49193882e-05 9.99987986e-01 1.10906760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645769231 meters 0.013468149787677425 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.11, Z:0.00 [[ 9.99998027e-01 -1.37381072e-03 1.43465411e-03 5.92132616e+00] [ 1.37380303e-03 9.99999056e-01 6.34185092e-06 -1.14004591e-01] [-1.43466147e-03 -4.37090624e-06 9.99998971e-01 3.52122717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705769231 meters 0.013036013827981988 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.12, Z:0.01 [[ 9.99995226e-01 -1.84803360e-03 2.47625181e-03 5.98304984e+00] [ 1.84801699e-03 9.99998292e-01 8.99266535e-06 -1.15858602e-01] [-2.47626420e-03 -4.41646699e-06 9.99996934e-01 6.15414746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.765769231 meters 0.014230183836372281 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.11, Z:0.01 [[ 9.99991250e-01 1.59601957e-03 3.86692066e-03 6.04440932e+00] [-1.59608526e-03 9.99998726e-01 1.39024017e-05 -1.06943141e-01] [-3.86689354e-03 -2.00742152e-05 9.99992523e-01 8.98282651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825769230999999 meters 0.016408592033509792 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.10, Z:0.00 [[ 9.99987728e-01 4.26299578e-03 2.52398199e-03 6.10617173e+00] [-4.26303237e-03 9.99990913e-01 9.11797225e-06 -1.02108828e-01] [-2.52392018e-03 -1.98776773e-05 9.99996815e-01 4.98506689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885769231 meters 0.01628018480174052 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.10, Z:0.00 [[ 9.99992923e-01 3.65714312e-03 8.83027250e-04 6.16710699e+00] [-3.65714739e-03 9.99993313e-01 3.21536667e-06 -9.99275042e-02] [-8.83009586e-04 -6.44470472e-06 9.99999610e-01 2.16954481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945769231 meters 0.015380332702066887 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.10, Z:0.01 [[ 9.99983697e-01 4.26971934e-03 3.79157593e-03 6.22813624e+00] [-4.26980005e-03 9.99990884e-01 1.31909427e-05 -9.75110033e-02] [-3.79148504e-03 -2.93799987e-05 9.99992812e-01 9.19732234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005769231 meters 0.01880868222262088 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.09, Z:0.01 [[ 9.99959998e-01 8.10307810e-03 3.78726582e-03 6.28958870e+00] [-8.10318623e-03 9.99967169e-01 1.32069699e-05 -8.78642413e-02] [-3.78703447e-03 -4.38953619e-05 9.99992828e-01 7.99873725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065769230999999 meters 0.022448440698182873 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.08, Z:0.01 [[ 9.99916633e-01 1.23552790e-02 3.75142885e-03 6.35184787e+00] [-1.23554147e-02 9.99923669e-01 1.29895082e-05 -7.59925961e-02] [-3.75098201e-03 -5.93388845e-05 9.99992963e-01 6.93557036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125769231 meters 0.017657460474417543 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.08, Z:0.01 [[ 9.99964249e-01 7.66345357e-03 3.57390459e-03 6.41302205e+00] [-7.66354593e-03 9.99970635e-01 1.21469465e-05 -8.01812397e-02] [-3.57370656e-03 -3.95352942e-05 9.99993614e-01 6.47755467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.185769231 meters 0.0179581649036235 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.07, Z:0.01 [[ 9.99956311e-01 8.11065487e-03 4.64682058e-03 6.47521301e+00] [-8.11081664e-03 9.99967107e-01 1.59698192e-05 -7.30166963e-02] [-4.64653821e-03 -5.36586313e-05 9.99989203e-01 8.66392113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245769230999999 meters 0.02126072398516101 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.06, Z:0.01 [[ 9.99918822e-01 1.20613122e-02 4.10783233e-03 6.53690048e+00] [-1.20614696e-02 9.99927258e-01 1.35382152e-05 -6.11069532e-02] [-4.10737022e-03 -6.30836108e-05 9.99991563e-01 8.22511369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305769231 meters 0.02701985989872532 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.04, Z:0.01 [[ 9.99860557e-01 1.62934900e-02 3.65901189e-03 6.59771223e+00] [-1.62936407e-02 9.99867250e-01 1.13748570e-05 -4.10400527e-02] [-3.65834082e-03 -7.09918958e-05 9.99993306e-01 7.13990745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.365769231 meters 0.025278231645753838 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.04, Z:0.01 [[ 9.99860299e-01 1.64126869e-02 3.16322990e-03 6.65949362e+00] [-1.64128005e-02 9.99865301e-01 9.97199121e-06 -3.82195633e-02] [-3.16264015e-03 -6.18880595e-05 9.99994997e-01 5.94089439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425769231 meters 0.01847639045266003 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.04, Z:0.00 [[ 9.99950883e-01 9.14839059e-03 3.81281817e-03 6.72039473e+00] [-9.14849776e-03 9.99958152e-01 1.06678406e-05 -4.33386899e-02] [-3.81256101e-03 -4.55488751e-05 9.99992731e-01 4.39473059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485769230999999 meters 0.014724293174971205 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.05, Z:0.00 [[ 9.99985797e-01 3.41436020e-03 4.09251799e-03 6.78137764e+00] [-3.41443641e-03 9.99994171e-01 1.16370724e-05 -5.11748405e-02] [-4.09245440e-03 -2.56105496e-05 9.99991626e-01 4.66466887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545769231 meters 0.013428350023676853 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.07, Z:0.00 [[ 9.99974138e-01 -6.34784157e-03 3.38042852e-03 6.84400869e+00] [ 6.34784518e-03 9.99979852e-01 9.66147238e-06 -6.96650322e-02] [-3.38042174e-03 1.17972144e-05 9.99994286e-01 2.90403346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.605769231 meters 0.014419289386143414 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.08, Z:0.01 [[ 9.99951811e-01 -8.41147651e-03 5.06181940e-03 6.90501287e+00] [ 8.41151939e-03 9.99964622e-01 1.28183777e-05 -7.56432920e-02] [-5.06174815e-03 2.97598320e-05 9.99987189e-01 5.20912502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665769230999999 meters 0.012555777573177399 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.07, Z:0.01 [[ 9.99964282e-01 -4.77770153e-03 6.97199302e-03 6.96646668e+00] [ 4.77769688e-03 9.99988587e-01 1.73215473e-05 -7.18348181e-02] [-6.97199621e-03 1.59891408e-05 9.99975695e-01 8.16158773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725769231 meters 0.01235068537942928 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.07, Z:0.01 [[ 9.99974923e-01 -2.45676560e-03 6.64208341e-03 7.02813865e+00] [ 2.45671108e-03 9.99996982e-01 1.63665694e-05 -7.10479568e-02] [-6.64210357e-03 -4.84790532e-08 9.99977941e-01 6.91279909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785769231 meters 0.012450316388703381 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.07, Z:0.01 [[ 9.99974718e-01 -3.34184673e-03 6.27654062e-03 7.09003740e+00] [ 3.34181716e-03 9.99994416e-01 1.51993575e-05 -7.44629858e-02] [-6.27655637e-03 5.77607795e-06 9.99980302e-01 5.04981283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.845769231 meters 0.013480463143017892 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.09, Z:-0.00 [[ 9.99975048e-01 -5.68681487e-03 4.19082424e-03 7.15162478e+00] [ 5.68682144e-03 9.99983830e-01 1.03489772e-05 -8.50196616e-02] [-4.19081533e-03 1.34837502e-05 9.99991218e-01 -5.41068107e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905769230999999 meters 0.013274918062471153 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.09, Z:-0.01 [[ 9.99990114e-01 -4.11768656e-03 1.67850959e-03 7.21256726e+00] [ 4.11768589e-03 9.99991522e-01 3.85356027e-06 -8.74708734e-02] [-1.67851123e-03 3.05805309e-06 9.99998591e-01 -5.29326482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965769231 meters 0.012983466955213645 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.09, Z:-0.00 [[ 9.99995769e-01 -8.60009313e-04 2.77886940e-03 7.27407446e+00] [ 8.59995369e-04 9.99999630e-01 6.21270128e-06 -8.53865989e-02] [-2.77887372e-03 -3.82286018e-06 9.99996139e-01 -2.61612721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.025769231 meters 0.015013149579953398 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.08, Z:-0.00 [[ 9.99987450e-01 3.74027455e-03 3.33331485e-03 7.33478921e+00] [-3.74031997e-03 9.99993005e-01 7.39201729e-06 -7.87671573e-02] [-3.33326389e-03 -1.98595886e-05 9.99994444e-01 -2.60493933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085769230999999 meters 0.01518942031269544 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.08, Z:-0.01 [[ 9.99989022e-01 3.59139002e-03 3.00967520e-03 7.39562527e+00] [-3.59142741e-03 9.99993551e-01 7.01881657e-06 -8.32717834e-02] [-3.00963059e-03 -1.78277695e-05 9.99995471e-01 -5.54472504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145769231 meters 0.013600090826101526 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.09, Z:-0.01 [[ 9.99994291e-01 1.45947163e-03 3.04766340e-03 7.45774799e+00] [-1.45949897e-03 9.99998935e-01 6.74766097e-06 -9.05182723e-02] [-3.04765030e-03 -1.11956840e-05 9.99995356e-01 -5.43225875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205769231 meters 0.012844397802314821 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.10, Z:-0.00 [[ 9.99988204e-01 -3.36317997e-04 4.84557001e-03 7.51886337e+00] [ 3.36278616e-04 9.99999943e-01 8.94201951e-06 -9.59921451e-02] [-4.84557274e-03 -7.31245245e-06 9.99988260e-01 -1.34005771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.265769231 meters 0.013028385458764244 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.10, Z:-0.00 [[ 9.99989117e-01 2.93727857e-04 4.65612687e-03 7.58132855e+00] [-2.93770831e-04 9.99999957e-01 8.54568922e-06 -9.53734004e-02] [-4.65612416e-03 -9.91343048e-06 9.99989160e-01 -1.86183594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325769230999999 meters 0.014973059792747564 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.09, Z:-0.00 [[ 9.99979298e-01 4.97657238e-03 4.07877845e-03 7.64251676e+00] [-4.97664341e-03 9.99987616e-01 7.26532648e-06 -8.64076064e-02] [-4.07869178e-03 -2.75638020e-05 9.99991682e-01 -2.98483297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385769231 meters 0.019711932110078306 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.07, Z:-0.00 [[ 9.99930477e-01 1.11573067e-02 3.81513752e-03 7.70417094e+00] [-1.11574135e-02 9.99937754e-01 6.71605624e-06 -7.49279816e-02] [-3.81482511e-03 -4.92826562e-05 9.99992722e-01 -4.25255438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.445769231 meters 0.027266901541566423 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.05, Z:-0.01 [[ 9.99825111e-01 1.86083666e-02 1.86449452e-03 7.76434506e+00] [-1.86084053e-02 9.99826849e-01 3.40634326e-06 -5.28687170e-02] [-1.86410829e-03 -3.81010171e-05 9.99998262e-01 -6.82005201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505769231 meters 0.03177065637354252 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.04, Z:-0.01 [[ 9.99748503e-01 2.24251541e-02 2.05957283e-04 7.82531278e+00] [-2.24251547e-02 9.99748525e-01 5.85219829e-07 -3.77201446e-02] [-2.05892366e-04 -5.20369659e-06 9.99999979e-01 -1.12816686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565769230999999 meters 0.028409394324085777 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.03, Z:-0.01 [[ 9.99785864e-01 2.06373101e-02 1.52552613e-03 7.88556342e+00] [-2.06373379e-02 9.99787027e-01 2.50515859e-06 -2.65078481e-02] [-1.52514954e-03 -3.39874204e-05 9.99998836e-01 -8.56883689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625769231 meters 0.0213716489895516 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.02, Z:-0.01 [[ 9.99918778e-01 1.26425203e-02 1.61345592e-03 7.94521353e+00] [-1.26425410e-02 9.99920080e-01 2.64955340e-06 -2.42050788e-02] [-1.61329347e-03 -2.30475207e-05 9.99998698e-01 -9.76023154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.685769231 meters 0.015056958366413914 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.02, Z:-0.01 [[ 9.99990701e-01 3.86426366e-03 1.91441447e-03 8.00538503e+00] [-3.86427688e-03 9.99992534e-01 3.20375839e-06 -2.12955786e-02] [-1.91438780e-03 -1.06015562e-05 9.99998168e-01 -1.13499270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745769230999999 meters 0.013435572396936725 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.02, Z:-0.01 [[ 9.99997988e-01 -6.00872547e-04 1.91362894e-03 8.06708473e+00] [ 6.00867450e-04 9.99999819e-01 3.23847132e-06 -2.29552646e-02] [-1.91363054e-03 -2.08862747e-06 9.99998169e-01 -1.02594443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805769231 meters 0.01582881884716922 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.03, Z:-0.01 [[ 9.99954248e-01 -8.87395938e-03 3.57131686e-03 8.12734119e+00] [ 8.87399533e-03 9.99960625e-01 5.77958176e-06 -3.19547250e-02] [-3.57122753e-03 2.59125318e-05 9.99993623e-01 -6.57747503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865769231 meters 0.021958101699232426 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.04, Z:-0.01 [[ 9.99878874e-01 -1.54936245e-02 1.47835407e-03 8.18764984e+00] [ 1.54936379e-02 9.99879966e-01 2.42131328e-06 -4.47805560e-02] [-1.47821414e-03 2.04840627e-05 9.99998907e-01 -1.28577551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925769231 meters 0.02450365306644014 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.05, Z:-0.02 [[ 9.99840426e-01 -1.78628645e-02 2.00414333e-04 8.24850799e+00] [ 1.78628648e-02 9.99840446e-01 3.17573203e-07 -4.98508320e-02] [-2.00388029e-04 3.26245161e-06 9.99999980e-01 -1.50861445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985769230999999 meters 0.020626351322311113 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.05, Z:-0.01 [[ 9.99886334e-01 -1.46364293e-02 3.61843991e-03 8.30887055e+00] [ 1.46365045e-02 9.99892881e-01 5.69544260e-06 -4.63863508e-02] [-3.61813567e-03 4.72665167e-05 9.99993453e-01 -7.04803531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045769231 meters 0.014517686617295748 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.03, Z:-0.01 [[ 9.99981907e-01 -6.00703400e-03 3.18822106e-04 8.36944158e+00] [ 6.00703414e-03 9.99981958e-01 5.08782395e-07 -2.95287342e-02] [-3.18819410e-04 1.40640208e-06 9.99999949e-01 -1.42960263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105769231 meters 0.014094928939215929 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.03, Z:-0.02 [[ 9.99989804e-01 -4.47104285e-03 -6.33366733e-04 8.42960120e+00] [ 4.47104311e-03 9.99990005e-01 -1.01073871e-06 -2.78079974e-02] [ 6.33364922e-04 -1.82108156e-06 9.99999799e-01 -1.79521846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165769230999999 meters 0.01503305708037689 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.03, Z:-0.02 [[ 9.99974318e-01 -7.14943386e-03 -4.98233672e-04 8.48887226e+00] [ 7.14943430e-03 9.99974442e-01 -8.84529754e-07 -3.16837931e-02] [ 4.98227263e-04 -2.67758187e-06 9.99999876e-01 -1.87580569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225769231 meters 0.01593513162826504 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.03, Z:-0.02 [[ 9.99969686e-01 -7.65504725e-03 -1.42406619e-03 8.54854813e+00] [ 7.65505161e-03 9.99970700e-01 -2.38752266e-06 -3.42334832e-02] [ 1.42404274e-03 -8.51384991e-06 9.99998986e-01 -2.15593834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285769231 meters 0.015219603268382896 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.03, Z:-0.02 [[ 9.99976823e-01 -6.43845311e-03 -2.21367360e-03 8.60788693e+00] [ 6.43846048e-03 9.99979273e-01 -3.79819009e-06 -2.92068641e-02] [ 2.21365217e-03 -1.04545479e-05 9.99997550e-01 -2.17485007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.345769231 meters 0.014267238465203122 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.02, Z:-0.02 [[ 9.99992512e-01 -3.10831657e-03 -2.30534787e-03 8.66796842e+00] [ 3.10831560e-03 9.99995169e-01 -4.00288795e-06 -2.21550017e-02] [ 2.30534917e-03 -3.16289076e-06 9.99997343e-01 -2.29486339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405769230999999 meters 0.01402158960079846 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.03, Z:-0.02 [[ 9.99983896e-01 -5.46719837e-03 1.52259443e-03 8.72704146e+00] [ 5.46720114e-03 9.99985055e-01 2.34621946e-06 -2.74907553e-02] [-1.52258451e-03 5.97814835e-06 9.99998841e-01 -1.67567052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465769231 meters 0.019395064253584993 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.04, Z:-0.02 [[ 9.99919032e-01 -1.27236388e-02 -1.94981701e-04 8.78718822e+00] [ 1.27236390e-02 9.99919051e-01 -2.50273804e-07 -4.18800086e-02] [ 1.94969102e-04 -2.23062322e-06 9.99999981e-01 -2.11838791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525769231 meters 0.02284946858976365 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.05, Z:-0.02 [[ 9.99870332e-01 -1.60230643e-02 -1.60620055e-03 8.84661901e+00] [ 1.60230803e-02 9.99871622e-01 -2.90442980e-06 -4.88350403e-02] [ 1.60604088e-03 -2.28322272e-05 9.99998710e-01 -2.32233219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585769230999999 meters 0.021241977121136783 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.05, Z:-0.02 [[ 9.99866634e-01 -1.63308510e-02 -1.35052644e-04 8.90663173e+00] [ 1.63308511e-02 9.99866643e-01 -3.99988998e-07 -4.89375755e-02] [ 1.35041166e-04 -1.80558898e-06 9.99999991e-01 -1.73943416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645769231 meters 0.025260990723638625 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.06, Z:-0.01 [[ 9.99781155e-01 -2.06033826e-02 3.62530230e-03 8.96582165e+00] [ 2.06034950e-02 9.99787725e-01 6.33706592e-06 -6.22019286e-02] [-3.62466331e-03 6.83582189e-05 9.99993429e-01 -1.36297303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705769231 meters 0.02869490500563079 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.07, Z:-0.01 [[ 9.99683222e-01 -2.49539723e-02 3.27960201e-03 9.02650700e+00] [ 2.49540879e-02 9.99688598e-01 5.68681648e-06 -7.31609259e-02] [-3.27872264e-03 7.61544616e-05 9.99994622e-01 -1.39578011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.765769231 meters 0.033895876557563744 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.09, Z:-0.02 [[ 9.99573522e-01 -2.91944393e-02 6.77516856e-04 9.08549883e+00] [ 2.91944453e-02 9.99573751e-01 1.09721381e-06 -8.98024941e-02] [-6.77260098e-04 1.86829829e-05 9.99999770e-01 -1.87062485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825769230999999 meters 0.033201703158599695 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.10, Z:-0.02 [[ 9.99606746e-01 -2.80410699e-02 -2.27351166e-04 9.14456881e+00] [ 2.80410703e-02 9.99606772e-01 -1.56049298e-06 -9.96879271e-02] [ 2.27305523e-04 -4.81529071e-06 9.99999974e-01 -2.05845608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885769231 meters 0.027281848883161066 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.10, Z:-0.02 [[ 9.99784464e-01 -2.07537598e-02 -5.53898580e-04 9.20373906e+00] [ 2.07537623e-02 9.99784617e-01 -1.14858786e-06 -1.00042663e-01] [ 5.53803117e-04 -1.03471392e-05 9.99999847e-01 -2.25989136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945769231 meters 0.020021166890752656 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.09, Z:-0.02 [[ 9.99880677e-01 -1.54205193e-02 9.16009603e-04 9.26363337e+00] [ 1.54205242e-02 9.99881097e-01 1.66194220e-06 -9.48108061e-02] [-9.15926315e-04 1.24636044e-05 9.99999580e-01 -1.90107656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005769230999999 meters 0.018741002393710796 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.10, Z:-0.02 [[ 9.99905064e-01 -1.37736306e-02 3.88679562e-04 9.32304350e+00] [ 1.37736314e-02 9.99905139e-01 5.82649871e-07 -9.60779319e-02] [-3.88650716e-04 4.77093445e-06 9.99999924e-01 -2.05372115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065769230999999 meters 0.01633341658715742 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.09, Z:-0.02 [[ 9.99947180e-01 -1.02768871e-02 1.51162286e-04 9.38280626e+00] [ 1.02768872e-02 9.99947191e-01 1.29694873e-07 -9.48653638e-02] [-1.51155636e-04 1.42378974e-06 9.99999989e-01 -2.20307836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125769231 meters 0.01482810376027991 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.09, Z:-0.02 [[ 9.99969694e-01 -7.62761807e-03 1.55887730e-03 9.44194970e+00] [ 7.62762279e-03 9.99970909e-01 2.91656504e-06 -9.29975846e-02] [-1.55885419e-03 8.97405134e-06 9.99998785e-01 -2.05740809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185769231 meters 0.01433275772270569 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.10, Z:-0.02 [[ 9.99979865e-01 -6.32747446e-03 4.81428234e-04 9.50200549e+00] [ 6.32747473e-03 9.99979981e-01 9.51472073e-07 -9.58825855e-02] [-4.81424617e-04 2.09477207e-06 9.99999884e-01 -2.24206022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245769230999999 meters 0.014227856902703196 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.10, Z:-0.03 [[ 9.99983954e-01 -5.40602692e-03 -1.69306406e-03 9.56288212e+00] [ 5.40602900e-03 9.99985387e-01 -3.34609202e-06 -9.84993581e-02] [ 1.69305741e-03 -5.80671509e-06 9.99998567e-01 -2.73810886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305769231 meters 0.013407393524094851 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.10, Z:-0.02 [[ 9.99989628e-01 -4.54391366e-03 3.11675704e-04 9.62294340e+00] [ 4.54391374e-03 9.99989676e-01 4.58426728e-07 -1.00936193e-01] [-3.11674569e-04 9.57805541e-07 9.99999951e-01 -2.41684387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365769231 meters 0.013202612363157699 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.11, Z:-0.02 [[ 9.99988070e-01 -4.76503083e-03 1.07459767e-03 9.68306239e+00] [ 4.76503127e-03 9.99988647e-01 2.14900381e-06 -1.10495141e-01] [-1.07459571e-03 2.97151333e-06 9.99999423e-01 -2.13119265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425769230999999 meters 0.012914642651589123 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.11, Z:-0.02 [[ 9.99998676e-01 -5.65784473e-05 1.62631948e-03 9.74338183e+00] [ 5.65732328e-05 9.99999998e-01 3.25234909e-06 -1.05909206e-01] [-1.62631966e-03 -3.16033863e-06 9.99998678e-01 -2.12250419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485769230999999 meters 0.015873753822687513 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.09, Z:-0.02 [[ 9.99982554e-01 5.64929210e-03 1.72529976e-03 9.80323001e+00] [-5.64930700e-03 9.99984043e-01 3.76267829e-06 -9.49562062e-02] [-1.72525097e-03 -1.35093607e-05 9.99998512e-01 -2.22418922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545769231 meters 0.015942358687232826 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.09, Z:-0.02 [[ 9.99973601e-01 6.78300410e-03 2.60529993e-03 9.86486512e+00] [-6.78304056e-03 9.99976995e-01 5.16061790e-06 -9.37224014e-02] [-2.60520499e-03 -2.28323368e-05 9.99996606e-01 -1.87066300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605769231 meters 0.013728042248332614 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.09, Z:-0.02 [[ 9.99980703e-01 3.59831436e-03 5.06422175e-03 9.92596343e+00] [-3.59841061e-03 9.99993526e-01 9.89318916e-06 -9.03122029e-02] [-5.06415337e-03 -2.81161475e-05 9.99987177e-01 -1.52903185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665769230999999 meters 0.01248320119819319 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.09, Z:-0.02 [[ 9.99993283e-01 -1.64732710e-03 3.27430693e-03 9.98857411e+00] [ 1.64731565e-03 9.99998643e-01 6.19446507e-06 -9.45440890e-02] [-3.27431269e-03 -8.00606406e-07 9.99994639e-01 -2.06688982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725769231 meters 0.012986217237197466 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.09, Z:-0.03 [[ 9.99996617e-01 -2.56673390e-03 4.21577857e-04 1.00497657e+01] [ 2.56673375e-03 9.99996706e-01 9.00805753e-07 -9.12959397e-02] [-4.21578780e-04 1.81275407e-07 9.99999911e-01 -2.53590455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785769231 meters 0.013534264305828212 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.09, Z:-0.03 [[ 9.99995443e-01 -2.70956186e-03 -1.33090296e-03 1.01097535e+01] [ 2.70956131e-03 9.99996329e-01 -2.21816120e-06 -8.60381621e-02] [ 1.33090409e-03 -1.38801209e-06 9.99999114e-01 -3.00730664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845769231 meters 0.012650495208439349 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.08, Z:-0.02 [[ 9.99997104e-01 -9.98072628e-04 2.18992816e-03 1.01692937e+01] [ 9.98066979e-04 9.99999502e-01 3.67233176e-06 -8.29965442e-02] [-2.18993073e-03 -1.48662614e-06 9.99997602e-01 -2.37692046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905769230999999 meters 0.012370255684499855 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.08, Z:-0.02 [[ 9.99990816e-01 -8.80476889e-04 4.19441328e-03 1.02302964e+01] [ 8.80453523e-04 9.99999612e-01 7.41720900e-06 -8.18176948e-02] [-4.19441819e-03 -3.72415493e-06 9.99991203e-01 -2.03814953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965769231 meters 0.01273122024555179 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.09, Z:-0.03 [[ 9.99998628e-01 -1.35415926e-03 9.54224107e-04 1.02929022e+01] [ 1.35415803e-03 9.99999083e-01 1.93738377e-06 -9.04257813e-02] [-9.54225856e-04 -6.45210874e-07 9.99999545e-01 -2.68290316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025769231 meters 0.012536023055632896 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.09, Z:-0.03 [[ 9.99997602e-01 -9.33536772e-04 1.98099715e-03 1.03536965e+01] [ 9.33532006e-04 9.99999564e-01 3.33096002e-06 -9.32163115e-02] [-1.98099940e-03 -1.48162779e-06 9.99998038e-01 -2.57384937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085769230999999 meters 0.012240714143457378 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.10, Z:-0.02 [[ 9.99991542e-01 -5.22332601e-05 4.11254091e-03 1.04148054e+01] [ 5.22049825e-05 9.99999999e-01 6.98329349e-06 -1.01976455e-01] [-4.11254126e-03 -6.76853930e-06 9.99991543e-01 -2.09752882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145769231 meters 0.013677196427424779 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.10, Z:-0.02 [[ 9.99979441e-01 4.02586772e-03 4.99091046e-03 1.04762111e+01] [-4.02595952e-03 9.99991896e-01 8.34589853e-06 -1.01705707e-01] [-4.99083642e-03 -2.84389304e-05 9.99987545e-01 -1.93954967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205769231 meters 0.018560503030909947 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.09, Z:-0.02 [[ 9.99925081e-01 1.02278588e-02 6.72484915e-03 1.05386738e+01] [-1.02281636e-02 9.99947691e-01 1.09295587e-05 -9.44961693e-02] [-6.72438560e-03 -7.97115970e-05 9.99977388e-01 -1.66052485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265769231 meters 0.030259838519871973 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.07, Z:-0.02 [[ 9.99699073e-01 2.38506453e-02 5.73674969e-03 1.06000095e+01] [-2.38510898e-02 9.99715522e-01 9.07441975e-06 -7.40454640e-02] [-5.73490129e-03 -1.45899421e-04 9.99983545e-01 -1.85823736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325769230999999 meters 0.042057253835789635 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.05, Z:-0.02 [[ 9.99479814e-01 3.18794399e-02 4.87885131e-03 1.06602028e+01] [-3.18798565e-02 9.99491708e-01 7.61709584e-06 -5.02685111e-02] [-4.87612860e-03 -1.63150213e-04 9.99988098e-01 -2.00554452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385769231 meters 0.04509568412591509 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.04, Z:-0.02 [[ 9.99429117e-01 3.35614901e-02 3.88147416e-03 1.07216393e+01] [-3.35617680e-02 9.99436645e-01 6.47868625e-06 -4.09592788e-02] [-3.87907008e-03 -1.36744123e-04 9.99992467e-01 -2.25463914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445769231 meters 0.03967153990613205 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.04, Z:-0.02 [[ 9.99446989e-01 3.28348672e-02 5.25231332e-03 1.07827749e+01] [-3.28353591e-02 9.99460774e-01 7.44257845e-06 -3.64099416e-02] [-5.24923677e-03 -1.79900057e-04 9.99986206e-01 -1.97094507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505769230999999 meters 0.04248616731614654 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.02, Z:-0.02 [[ 9.99479971e-01 3.19838764e-02 4.10108359e-03 1.08434721e+01] [-3.19841690e-02 9.99488376e-01 5.75029860e-06 -2.02696715e-02] [-4.09880145e-03 -1.36917059e-04 9.99991591e-01 -2.43822748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565769230999999 meters 0.03504471017411977 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.02, Z:-0.03 [[ 9.99601748e-01 2.81409686e-02 2.10493782e-03 1.09037470e+01] [-2.81410370e-02 9.99603963e-01 2.86741955e-06 -2.01138614e-02] [-2.10402350e-03 -6.21014108e-05 9.99997785e-01 -2.63560652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625769231 meters 0.030278729255882028 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.02, Z:-0.02 [[ 9.99715303e-01 2.35156639e-02 4.04057706e-03 1.09645006e+01] [-2.35158782e-02 9.99723463e-01 5.53959728e-06 -1.69917227e-02] [-4.03932943e-03 -1.00555738e-04 9.99991837e-01 -2.38720860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685769231 meters 0.02968799216932201 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.01, Z:-0.02 [[ 9.99738783e-01 2.24562606e-02 4.25237884e-03 1.10261663e+01] [-2.24564883e-02 9.99747821e-01 5.80726757e-06 -1.03261437e-02] [-4.25117607e-03 -1.01299246e-04 9.99990959e-01 -2.44087814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745769230999999 meters 0.026818409523113148 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.01, Z:-0.03 [[ 9.99800660e-01 1.97653181e-02 2.82346002e-03 1.10876379e+01] [-1.97654077e-02 9.99804645e-01 3.84616753e-06 -8.35403706e-03] [-2.82283243e-03 -5.96522394e-05 9.99996014e-01 -2.81058414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805769231 meters 0.017561632357367903 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.02, Z:-0.02 [[ 9.99934697e-01 9.89654359e-03 5.71493353e-03 1.11484291e+01] [-9.89674782e-03 9.99951026e-01 7.45651187e-06 -2.26941052e-02] [-5.71457985e-03 -6.40152809e-05 9.99983670e-01 -2.43098892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865769231 meters 0.012376344661643671 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.04, Z:-0.03 [[ 9.99986218e-01 -1.42871862e-03 5.05207032e-03 1.12096029e+01] [ 1.42870351e-03 9.99998979e-01 6.59896284e-06 -4.11088440e-02] [-5.05207459e-03 6.19038720e-07 9.99987238e-01 -2.70134071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925769230999999 meters 0.015097194188684876 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.05, Z:-0.03 [[ 9.99959065e-01 -8.28770538e-03 3.63086964e-03 1.12709220e+01] [ 8.28774133e-03 9.99965656e-01 5.14350776e-06 -5.38955644e-02] [-3.63078757e-03 2.49484112e-05 9.99993408e-01 -3.01776871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985769230999999 meters 0.01736478642173923 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.06, Z:-0.03 [[ 9.99930794e-01 -1.15067845e-02 2.44955526e-03 1.13321019e+01] [ 1.15068120e-02 9.99933794e-01 2.84977949e-06 -6.14493777e-02] [-2.44942588e-03 2.53369897e-05 9.99997000e-01 -3.05897991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.045769231 meters 0.014352528645559123 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.06, Z:-0.03 [[ 9.99976801e-01 -6.52523347e-03 1.95441959e-03 1.13912531e+01] [ 6.52524187e-03 9.99978710e-01 2.08110179e-06 -5.83407997e-02] [-1.95439156e-03 1.06720070e-05 9.99998090e-01 -3.19293768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105769231 meters 0.01320519354108022 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.06, Z:-0.03 [[ 9.99987758e-01 -4.26330577e-03 2.51145358e-03 1.14526020e+01] [ 4.26331197e-03 9.99990912e-01 2.88540217e-06 -5.58125278e-02] [-2.51144306e-03 7.82174327e-06 9.99996846e-01 -3.20837770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.165769231000002 meters 0.013537168312125033 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.04, Z:-0.03 [[ 9.99988178e-01 3.54327791e-03 3.32996909e-03 1.15134156e+01] [-3.54330957e-03 9.99993722e-01 3.60878081e-06 -4.40960128e-02] [-3.32993539e-03 -1.54078495e-05 9.99994456e-01 -3.03770140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225769231 meters 0.02187929351273015 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.02, Z:-0.03 [[ 9.99877515e-01 1.47584005e-02 5.21012539e-03 1.15736855e+01] [-1.47586303e-02 9.99891085e-01 5.66825085e-06 -2.44527565e-02] [-5.20947428e-03 -8.25618713e-05 9.99986427e-01 -2.75903407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285769231 meters 0.028287043847404693 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.01, Z:-0.03 [[ 9.99766864e-01 2.11792149e-02 4.20222995e-03 1.16344763e+01] [-2.11794212e-02 9.99775691e-01 4.58277544e-06 -1.13481377e-02] [-4.20119029e-03 -9.35825049e-05 9.99991171e-01 -3.00927785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.345769231000002 meters 0.03192231605699475 Centerline is valid? [True, True] Translation: X:11.70, Y:0.00, Z:-0.03 [[ 9.99681603e-01 2.51232721e-02 2.34820476e-03 1.16953485e+01] [-2.51233472e-02 9.99684359e-01 2.50586486e-06 4.48496218e-04] [-2.34740061e-03 -6.14998304e-05 9.99997243e-01 -3.39502549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405769231 meters 0.03175394566795852 Centerline is valid? [True, True] Translation: X:11.76, Y:0.01, Z:-0.03 [[ 9.99682362e-01 2.49043588e-02 3.86639308e-03 1.17562428e+01] [-2.49045603e-02 9.99689833e-01 3.98894752e-06 7.44742968e-03] [-3.86509451e-03 -1.00278500e-04 9.99992525e-01 -3.18859799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465769231 meters 0.0238173626694479 Centerline is valid? [True, True] Translation: X:11.82, Y:0.00, Z:-0.04 [[ 9.99858603e-01 1.66582422e-02 2.29695939e-03 1.18166591e+01] [-1.66582916e-02 9.99861241e-01 2.38721322e-06 4.69933723e-04] [-2.29660090e-03 -4.06502951e-05 9.99997362e-01 -3.63938239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.525769231 meters 0.015868408265219 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.01, Z:-0.03 [[ 9.99965330e-01 7.52232759e-03 3.57131441e-03 1.18774573e+01] [-7.52238882e-03 9.99971706e-01 3.71249572e-06 -1.24689064e-02] [-3.57118544e-03 -3.05771826e-05 9.99993623e-01 -3.45600852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585769231 meters 0.01457064554881101 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.04, Z:-0.03 [[ 9.99962421e-01 -7.36325511e-03 4.57593631e-03 1.19384057e+01] [ 7.36330986e-03 9.99972890e-01 4.88233716e-06 -3.90511224e-02] [-4.57584820e-03 2.88118832e-05 9.99989530e-01 -3.30767002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.645769231000003 meters 0.022039443804997963 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.05, Z:-0.04 [[ 9.99861189e-01 -1.64205858e-02 2.82253169e-03 1.19993678e+01] [ 1.64206438e-02 9.99865172e-01 2.64847307e-06 -5.40909675e-02] [-2.82219463e-03 4.36996821e-05 9.99996017e-01 -3.61971536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.705769231 meters 0.023675532494933947 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.06, Z:-0.03 [[ 9.99802266e-01 -1.91134129e-02 5.48700494e-03 1.20595615e+01] [ 1.91136732e-02 9.99817317e-01 4.99013819e-06 -6.16090668e-02] [-5.48609794e-03 9.98876680e-05 9.99984946e-01 -3.14407488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765769231 meters 0.023270852916382874 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.06, Z:-0.03 [[ 9.99806321e-01 -1.83901509e-02 7.00877339e-03 1.21212643e+01] [ 1.83905580e-02 9.99830879e-01 6.37448856e-06 -6.20266508e-02] [-7.00770529e-03 1.22521999e-04 9.99975438e-01 -2.89372368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.825769231000002 meters 0.018624852059363213 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.06, Z:-0.03 [[ 9.99881157e-01 -1.36571220e-02 7.15221164e-03 1.21823601e+01] [ 1.36574260e-02 9.99906733e-01 6.33731619e-06 -5.72937256e-02] [-7.15163113e-03 9.13442380e-05 9.99974423e-01 -2.91371409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885769231 meters 0.015612784309783629 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.05, Z:-0.03 [[ 9.99941959e-01 -9.22095698e-03 5.57255335e-03 1.22436718e+01] [ 9.22107249e-03 9.99957485e-01 4.96510138e-06 -5.15936598e-02] [-5.57236222e-03 4.64201052e-05 9.99984473e-01 -3.20295726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945769231 meters 0.01418637820765977 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.05, Z:-0.03 [[ 9.99971823e-01 -5.89903318e-03 4.64269899e-03 1.23043301e+01] [ 5.89907807e-03 9.99982600e-01 4.02591144e-06 -4.81903623e-02] [-4.64264196e-03 2.33618458e-05 9.99989223e-01 -3.48688895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.005769231000002 meters 0.012709012415207282 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.04, Z:-0.03 [[ 9.99985926e-01 -2.57594731e-03 4.63806749e-03 1.23653716e+01] [ 2.57595649e-03 9.99996682e-01 3.99517922e-06 -4.29651267e-02] [-4.63806239e-03 7.95233706e-06 9.99989244e-01 -3.48682260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065769231 meters 0.013727962128392819 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.05, Z:-0.03 [[ 9.99969999e-01 -5.54874907e-03 5.40494529e-03 1.24279952e+01] [ 5.54880455e-03 9.99984605e-01 4.73030028e-06 -4.98045740e-02] [-5.40488833e-03 2.52608266e-05 9.99985393e-01 -3.47051028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125769231 meters 0.01869582034609313 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.07, Z:-0.04 [[ 9.99927989e-01 -1.16159274e-02 3.01460390e-03 1.24885571e+01] [ 1.16159739e-02 9.99932532e-01 2.08792861e-06 -6.56047644e-02] [-3.01442477e-03 3.29297821e-05 9.99995456e-01 -3.98080781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.185769231000002 meters 0.020763840350971903 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.07, Z:-0.04 [[ 9.99901718e-01 -1.37495005e-02 2.73979289e-03 1.25496721e+01] [ 1.37495470e-02 9.99905471e-01 1.84551018e-06 -7.11674628e-02] [-2.73955927e-03 3.58255823e-05 9.99996247e-01 -4.08865835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245769231 meters 0.01875185085761157 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.07, Z:-0.04 [[ 9.99926885e-01 -1.17585530e-02 2.82161464e-03 1.26101772e+01] [ 1.17585949e-02 9.99930865e-01 1.73772147e-06 -6.86944494e-02] [-2.82144001e-03 3.14406290e-05 9.99996019e-01 -3.94546628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.305769231000003 meters 0.013389196714556486 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.05, Z:-0.04 [[ 9.99993630e-01 -2.93319909e-03 2.03382875e-03 1.26706604e+01] [ 2.93320261e-03 9.99995698e-01 1.25255512e-06 -5.27536136e-02] [-2.03382368e-03 4.71308465e-06 9.99997932e-01 -4.33330499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.365769231 meters 0.019480236743515924 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.05, Z:-0.04 [[ 9.99994798e-01 -2.36522851e-03 2.19329988e-03 1.27321922e+01] [ 2.36523100e-03 9.99997203e-01 1.45924566e-06 -5.05281539e-02] [-2.19329720e-03 3.72842279e-06 9.99997595e-01 -3.96447215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425769231 meters 0.014022244553239964 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.05, Z:-0.05 [[ 9.99991623e-01 -4.02046046e-03 7.68462619e-04 1.27922960e+01] [ 4.02046125e-03 9.99991918e-01 5.25542455e-07 -5.20383093e-02] [-7.68458521e-04 2.56403613e-06 9.99999705e-01 -4.67201996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.485769231000003 meters 0.015261851199943447 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.06, Z:-0.04 [[ 9.99966447e-01 -7.01689472e-03 4.22713086e-03 1.28531589e+01] [ 7.01694701e-03 9.99975381e-01 2.46144431e-06 -5.79983786e-02] [-4.22704406e-03 2.72001915e-05 9.99991066e-01 -4.09861806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545769231 meters 0.018837944327883296 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.07, Z:-0.04 [[ 9.99913640e-01 -1.11245247e-02 6.99696658e-03 1.29141546e+01] [ 1.11247685e-02 9.99938118e-01 4.07491782e-06 -6.68925171e-02] [-6.99657892e-03 7.37650673e-05 9.99975521e-01 -3.66037919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605769231 meters 0.0288746710072942 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.09, Z:-0.04 [[ 9.99794889e-01 -1.97753737e-02 4.37194292e-03 1.29752786e+01] [ 1.97755519e-02 9.99804445e-01 2.47969114e-06 -9.20016071e-02] [-4.37113700e-03 8.39784013e-05 9.99990443e-01 -4.41327551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.665769231000002 meters 0.03653016687828763 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.12, Z:-0.05 [[ 9.99630073e-01 -2.70638342e-02 2.69545104e-03 1.30360516e+01] [ 2.70639285e-02 9.99633705e-01 1.46806876e-06 -1.15732006e-01] [-2.69450345e-03 7.14819688e-05 9.99996367e-01 -4.64279565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725769231 meters 0.03500507176788544 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.13, Z:-0.05 [[ 9.99571423e-01 -2.92021681e-02 2.05050534e-03 1.30957215e+01] [ 2.92022274e-02 9.99573524e-01 1.01928880e-06 -1.28944818e-01] [-2.04966062e-03 5.88604713e-05 9.99997898e-01 -4.77204059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785769231 meters 0.03377621924299123 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.14, Z:-0.05 [[ 9.99697541e-01 -2.44069241e-02 3.02120029e-03 1.31550806e+01] [ 2.44070305e-02 9.99702104e-01 1.65096996e-06 -1.37985691e-01] [-3.02034058e-03 7.20880569e-05 9.99995436e-01 -4.78170792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.845769231000002 meters 0.02823002628950673 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.14, Z:-0.05 [[ 9.99800014e-01 -1.97797923e-02 2.94805772e-03 1.32145548e+01] [ 1.97798733e-02 9.99804359e-01 1.67936812e-06 -1.39038072e-01] [-2.94751417e-03 5.66331760e-05 9.99995654e-01 -4.84916473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905769231 meters 0.024183651427474282 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.14, Z:-0.05 [[ 9.99872136e-01 -1.58034563e-02 2.44197932e-03 1.32731433e+01] [ 1.58035001e-02 9.99875117e-01 1.36929029e-06 -1.42683998e-01] [-2.44169600e-03 3.72227052e-05 9.99997018e-01 -4.95634102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965769231 meters 0.020126360310930264 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.14, Z:-0.04 [[ 9.99906892e-01 -1.23394835e-02 5.82611767e-03 1.33330501e+01] [ 1.23396708e-02 9.99923863e-01 3.78747230e-06 -1.44624546e-01] [-5.82572082e-03 6.81052546e-05 9.99983028e-01 -4.23513139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.025769231 meters 0.017079571724172658 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.14, Z:-0.04 [[ 9.99923884e-01 -1.06804486e-02 6.17697495e-03 1.33933916e+01] [ 1.06806266e-02 9.99942960e-01 4.17708341e-06 -1.42386068e-01] [-6.17666723e-03 6.17971972e-05 9.99980922e-01 -4.16727452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085769231 meters 0.015029539716010712 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.15, Z:-0.04 [[ 9.99959990e-01 -6.45236133e-03 6.19559022e-03 1.34535166e+01] [ 6.45245916e-03 9.99979183e-01 4.19934245e-06 -1.46305195e-01] [-6.19548834e-03 3.57776184e-05 9.99980807e-01 -4.19522691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.145769231000003 meters 0.01288752698940879 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.13, Z:-0.05 [[ 9.99992696e-01 4.47667203e-04 3.79566632e-03 1.35146940e+01] [-4.47680259e-04 9.99999900e-01 2.59009167e-06 -1.34014037e-01] [-3.79566478e-03 -4.28931763e-06 9.99992796e-01 -4.68532675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.205769231 meters 0.02054160664264918 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.11, Z:-0.05 [[ 9.99932044e-01 1.12471371e-02 3.06761783e-03 1.35762939e+01] [-1.12471963e-02 9.99936748e-01 2.05911676e-06 -1.11137781e-01] [-3.06740064e-03 -3.65610767e-05 9.99995295e-01 -4.79981524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265769231 meters 0.023038821028147798 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.10, Z:-0.04 [[ 9.99839302e-01 1.68575472e-02 6.09863589e-03 1.36380756e+01] [-1.68578847e-02 9.99857896e-01 3.93709865e-06 -1.01907208e-01] [-6.09770288e-03 -1.06746566e-04 9.99981403e-01 -4.24333431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.325769231000002 meters 0.025068263118057127 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.09, Z:-0.05 [[ 9.99819711e-01 1.86593466e-02 3.51782438e-03 1.37006110e+01] [-1.86594699e-02 9.99825897e-01 2.22231705e-06 -9.20611586e-02] [-3.51717045e-03 -6.78626545e-05 9.99993812e-01 -4.83940116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385769231 meters 0.023250509169860007 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.09, Z:-0.05 [[ 9.99858476e-01 1.66485977e-02 2.41927076e-03 1.37626796e+01] [-1.66486500e-02 9.99861402e-01 1.48882007e-06 -8.57607444e-02] [-2.41891067e-03 -4.17662016e-05 9.99997074e-01 -5.22249585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445769231 meters 0.021363483568367175 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.08, Z:-0.05 [[ 9.99893373e-01 1.41814185e-02 3.48289646e-03 1.38239118e+01] [-1.41815081e-02 9.99899437e-01 1.02897886e-06 -8.26530390e-02] [-3.48253162e-03 -5.04215936e-05 9.99993935e-01 -4.98747007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.505769231000002 meters 0.019996883902181704 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.08, Z:-0.05 [[ 9.99900700e-01 1.27165929e-02 6.07280753e-03 1.38850735e+01] [-1.27168280e-02 9.99919138e-01 9.47529790e-08 -7.93924192e-02] [-6.07231526e-03 -7.73215922e-05 9.99981560e-01 -4.58212688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565769231 meters 0.01756963358849072 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.08, Z:-0.04 [[ 9.99923438e-01 1.03363231e-02 6.80278455e-03 1.39468485e+01] [-1.03365554e-02 9.99946576e-01 -1.01441079e-06 -8.42584699e-02] [-6.80243161e-03 -6.93030260e-05 9.99976861e-01 -4.47318265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625769231 meters 0.012831082556881151 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.10, Z:-0.05 [[ 9.99977692e-01 2.71328031e-03 6.10360013e-03 1.40082397e+01] [-2.71332002e-03 9.99996319e-01 -1.77566648e-06 -9.71715413e-02] [-6.10358248e-03 -1.47853935e-05 9.99981373e-01 -4.62755850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.685769231000002 meters 0.012926875472915616 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.11, Z:-0.05 [[ 9.99992750e-01 1.80635455e-04 3.80355171e-03 1.40711041e+01] [-1.80632358e-04 9.99999984e-01 -1.15788032e-06 -1.06840651e-01] [-3.80355186e-03 4.70827411e-07 9.99992766e-01 -5.06741818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745769231 meters 0.013054176174304159 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.10, Z:-0.05 [[ 9.99980709e-01 2.88847466e-03 5.49899437e-03 1.41331376e+01] [-2.88849931e-03 9.99995828e-01 -3.45910249e-06 -9.92178667e-02] [-5.49898142e-03 -1.24248057e-05 9.99984880e-01 -4.81502430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805769231 meters 0.014225020770894709 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.09, Z:-0.05 [[ 9.99977721e-01 5.79088936e-03 3.32011721e-03 1.41948945e+01] [-5.79091425e-03 9.99983233e-01 -2.11520047e-06 -9.44104712e-02] [-3.32007379e-03 -1.71113607e-05 9.99994488e-01 -5.21280293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.865769231 meters 0.01858248581777471 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.08, Z:-0.06 [[ 9.99945054e-01 1.03710333e-02 -1.52687805e-03 1.42554788e+01] [-1.03710434e-02 9.99946219e-01 1.32689879e-06 -8.18485655e-02] [ 1.52680970e-03 1.45084927e-05 9.99998834e-01 -6.26127483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925769231 meters 0.01762400092553957 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.08, Z:-0.05 [[ 9.99938067e-01 1.05566917e-02 3.52388351e-03 1.43159226e+01] [-1.05567478e-02 9.99944276e-01 -2.68190349e-06 -8.10961926e-02] [-3.52371546e-03 -3.45190120e-05 9.99993791e-01 -5.36737291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985769231000003 meters 0.015257931662848096 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.08, Z:-0.06 [[ 9.99970155e-01 7.31279362e-03 2.49243797e-03 1.43777315e+01] [-7.31281341e-03 9.99973261e-01 -1.17448948e-06 -8.32755333e-02] [-2.49237991e-03 -1.70522794e-05 9.99996894e-01 -5.56485887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045769231 meters 0.0131793187038379 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.09, Z:-0.05 [[ 9.99981907e-01 3.52406808e-03 4.87512445e-03 1.44397554e+01] [-3.52408976e-03 9.99993790e-01 -4.14411269e-06 -9.05451009e-02] [-4.87510878e-03 -1.30363384e-05 9.99988117e-01 -5.17287233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105769231 meters 0.01259599877905351 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.09, Z:-0.05 [[ 9.99969092e-01 1.03438788e-03 7.79395867e-03 1.45019317e+01] [-1.03435274e-03 9.99999465e-01 -8.53940814e-06 -9.26493073e-02] [-7.79396333e-03 4.77441674e-07 9.99969627e-01 -4.58129253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.165769231000002 meters 0.013254990095888897 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.09, Z:-0.05 [[ 9.99992266e-01 -3.15520928e-04 3.92031302e-03 1.45646423e+01] [ 3.15540176e-04 9.99999950e-01 -4.29131577e-06 -9.19682534e-02] [-3.92031147e-03 5.52829884e-06 9.99992316e-01 -5.37840026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225769231 meters 0.013883184975740856 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.09, Z:-0.06 [[ 9.99993619e-01 -1.97611505e-03 2.97602498e-03 1.46267700e+01] [ 1.97613442e-03 9.99998047e-01 -3.56867605e-06 -8.98515147e-02] [-2.97601212e-03 9.44967867e-06 9.99995572e-01 -5.50029404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285769231 meters 0.013958961097823323 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.09, Z:-0.05 [[ 9.99991030e-01 -2.41972543e-03 3.47621743e-03 1.46881421e+01] [ 2.41975887e-03 9.99997072e-01 -5.41391046e-06 -8.87168650e-02] [-3.47619415e-03 1.38254698e-05 9.99993958e-01 -5.40798723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.345769231000002 meters 0.015438124321005041 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.09, Z:-0.06 [[ 9.99983544e-01 -4.79739030e-03 3.14606586e-03 1.47489266e+01] [ 4.79742810e-03 9.99988492e-01 -4.46900222e-06 -9.27568267e-02] [-3.14600821e-03 1.95619534e-05 9.99995051e-01 -5.54593993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405769231 meters 0.017614846989236422 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.10, Z:-0.05 [[ 9.99958896e-01 -7.97684881e-03 4.31003785e-03 1.48103051e+01] [ 7.97695519e-03 9.99968184e-01 -7.49288571e-06 -9.72114746e-02] [-4.30984095e-03 4.18735565e-05 9.99990712e-01 -5.33962263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465769231 meters 0.019703915350229025 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.10, Z:-0.06 [[ 9.99947715e-01 -9.98261517e-03 2.21671338e-03 1.48719384e+01] [ 9.98264806e-03 9.99950172e-01 -3.77162277e-06 -1.03050005e-01] [-2.21656527e-03 2.59000951e-05 9.99997543e-01 -5.78006154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.525769231 meters 0.020934168629479548 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.11, Z:-0.06 [[ 9.99927307e-01 -1.20278287e-02 8.44260744e-04 1.49328001e+01] [ 1.20278343e-02 9.99927663e-01 -1.45528878e-06 -1.06328024e-01] [-8.44182169e-04 1.16098113e-05 9.99999644e-01 -6.03931484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585769231 meters 0.023200952775581544 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.11, Z:-0.06 [[ 9.99901878e-01 -1.39997473e-02 4.91835545e-04 1.49925935e+01] [ 1.39997495e-02 9.99901999e-01 -9.72249198e-07 -1.12176313e-01] [-4.91773733e-04 7.85772822e-06 9.99999879e-01 -6.18762327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.645769231000003 meters 0.021118938351417215 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.11, Z:-0.06 [[ 9.99920998e-01 -1.20813244e-02 3.46990320e-03 1.50524120e+01] [ 1.20814192e-02 9.99927017e-01 -6.36277083e-06 -1.11340761e-01] [-3.46957308e-03 4.82836232e-05 9.99993980e-01 -5.56615279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705769231 meters 0.020336413898922833 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.12, Z:-0.06 [[ 9.99920953e-01 -1.22910482e-02 2.64907943e-03 1.51127574e+01] [ 1.22911039e-02 9.99924462e-01 -4.73385367e-06 -1.15462893e-01] [-2.64882113e-03 3.72935899e-05 9.99996491e-01 -5.66244196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765769231 meters 0.021824609145027322 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.12, Z:-0.06 [[ 9.99910659e-01 -1.27280453e-02 4.08311972e-03 1.51719567e+01] [ 1.27281814e-02 9.99918993e-01 -7.33125198e-06 -1.21101652e-01] [-4.08269564e-03 5.93012852e-05 9.99991664e-01 -5.55567693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.825769231000002 meters 0.02589090367775338 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.14, Z:-0.06 [[ 9.99850842e-01 -1.65816626e-02 4.83131525e-03 1.52323344e+01] [ 1.65818976e-02 9.99862511e-01 -8.57632553e-06 -1.38803151e-01] [-4.83050879e-03 8.86874209e-05 9.99988329e-01 -5.67658180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885769231 meters 0.029434989698321166 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.15, Z:-0.06 [[ 9.99800253e-01 -1.94483749e-02 4.60587302e-03 1.52923030e+01] [ 1.94486189e-02 9.99810858e-01 -8.20320332e-06 -1.48802069e-01] [-4.60484232e-03 9.77794340e-05 9.99989393e-01 -5.76440261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945769231 meters 0.03305962896926409 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.17, Z:-0.06 [[ 9.99672465e-01 -2.53441563e-02 3.55481479e-03 1.53520167e+01] [ 2.53443389e-02 9.99678781e-01 -6.31156937e-06 -1.68424718e-01] [-3.55351295e-03 9.64039327e-05 9.99993682e-01 -5.86937477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.005769231000002 meters 0.030147297555117792 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.18, Z:-0.06 [[ 9.99768219e-01 -2.13362916e-02 2.87608315e-03 1.54107139e+01] [ 2.13363947e-02 9.99772353e-01 -5.18451553e-06 -1.78145193e-01] [-2.87531780e-03 6.65485593e-05 9.99995864e-01 -5.94323382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065769231 meters 0.02553080646279556 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.18, Z:-0.06 [[ 9.99855140e-01 -1.67442372e-02 3.05443957e-03 1.54701894e+01] [ 1.67443316e-02 9.99859804e-01 -5.33683488e-06 -1.78301650e-01] [-3.05392199e-03 5.64806107e-05 9.99995335e-01 -6.12921780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125769231 meters 0.02274257394473707 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.19, Z:-0.06 [[ 9.99887191e-01 -1.49095220e-02 1.81999066e-03 1.55295326e+01] [ 1.49095525e-02 9.99888846e-01 -3.20819223e-06 -1.87639504e-01] [-1.81974053e-03 3.03430767e-05 9.99998344e-01 -6.25405175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.185769231000002 meters 0.021959308204881123 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.20, Z:-0.06 [[ 9.99903669e-01 -1.36666984e-02 2.42352235e-03 1.55880975e+01] [ 1.36667487e-02 9.99906606e-01 -4.21206040e-06 -1.95954746e-01] [-2.42323844e-03 3.73333256e-05 9.99997063e-01 -6.14069967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245769231 meters 0.0169898791804994 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.19, Z:-0.06 [[ 9.99970916e-01 -7.40376394e-03 1.83063529e-03 1.56470533e+01] [ 7.40378204e-03 9.99972592e-01 -3.11412165e-06 -1.93560052e-01] [-1.83056206e-03 1.66676557e-05 9.99998324e-01 -6.36751011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305769231 meters 0.013795156759628004 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.18, Z:-0.07 [[ 9.99995353e-01 3.04193646e-03 -2.01692504e-04 1.57054103e+01] [-3.04193651e-03 9.99995373e-01 7.39463596e-08 -1.83426365e-01] [ 2.01691795e-04 5.39589774e-07 9.99999980e-01 -6.72771260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.365769231 meters 0.016700022606257525 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.17, Z:-0.06 [[ 9.99944511e-01 1.04610722e-02 1.24158642e-03 1.57662238e+01] [-1.04610779e-02 9.99945281e-01 -1.88944204e-06 -1.74059811e-01] [-1.24153825e-03 -1.10989951e-05 9.99999229e-01 -6.47031740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425769231 meters 0.023794916662866712 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.16, Z:-0.06 [[ 9.99810323e-01 1.90990897e-02 3.81339840e-03 1.58277050e+01] [-1.90992058e-02 9.99817594e-01 -5.97918298e-06 -1.62434475e-01] [-3.81281700e-03 -6.68548319e-05 9.99992729e-01 -6.03838719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.485769231000003 meters 0.03151353205006419 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.15, Z:-0.06 [[ 9.99559776e-01 2.89916348e-02 6.30397995e-03 1.58886049e+01] [-2.89921469e-02 9.99579639e-01 -1.01525194e-05 -1.46763445e-01] [-6.30162435e-03 -1.72617863e-04 9.99980130e-01 -5.53762756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545769231 meters 0.04076385761732161 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.13, Z:-0.06 [[ 9.99287989e-01 3.75792964e-02 3.36329309e-03 1.59487298e+01] [-3.75794908e-02 9.99293641e-01 -5.38913099e-06 -1.26185602e-01] [-3.36111992e-03 -1.21005548e-04 9.99994344e-01 -6.16457103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605769231 meters 0.04465092157866941 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.11, Z:-0.06 [[ 9.99156164e-01 4.09949583e-02 2.52443252e-03 1.60095952e+01] [-4.09950787e-02 9.99159348e-01 -4.03496270e-06 -1.14387346e-01] [-2.52247577e-03 -9.94577521e-05 9.99996814e-01 -6.35112941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.665769231000002 meters 0.043488652410144886 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.11, Z:-0.07 [[ 9.99244358e-01 3.88413506e-02 1.43629852e-03 1.60699112e+01] [-3.88413878e-02 9.99245389e-01 -1.95516871e-06 -1.10330435e-01] [-1.43529061e-03 -5.38341364e-05 9.99998969e-01 -6.55709897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.725769231 meters 0.04208280720604936 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.10, Z:-0.06 [[ 9.99315047e-01 3.68561047e-02 3.32640509e-03 1.61306303e+01] [-3.68562901e-02 9.99320576e-01 -5.57020796e-06 -1.03655136e-01] [-3.32435034e-03 -1.17032558e-04 9.99994467e-01 -6.14492142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785769231 meters 0.043816851871127625 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.09, Z:-0.06 [[ 9.99224965e-01 3.90907076e-02 4.62451824e-03 1.61921664e+01] [-3.90910896e-02 9.99235651e-01 -7.78757460e-06 -9.38511575e-02] [-4.62128792e-03 -1.72995918e-04 9.99989307e-01 -5.99473690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.845769231000002 meters 0.04743126139001879 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.08, Z:-0.06 [[ 9.99200761e-01 3.98621741e-02 2.97430646e-03 1.62534942e+01] [-3.98623363e-02 9.99205181e-01 -4.74713245e-06 -7.81919563e-02] [-2.97213166e-03 -1.13819466e-04 9.99995577e-01 -6.43748492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.905769231 meters 0.04723212465482416 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.07, Z:-0.06 [[ 9.99200667e-01 3.98793115e-02 2.76915721e-03 1.63156390e+01] [-3.98794513e-02 9.99204498e-01 -4.72467806e-06 -7.35583523e-02] [-2.76714275e-03 -1.05711568e-04 9.99996166e-01 -6.41201934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965769231 meters 0.05045189426118935 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.05, Z:-0.07 [[ 9.99139966e-01 4.14516221e-02 1.04437687e-03 1.63763473e+01] [-4.14516425e-02 9.99140511e-01 -2.06278914e-06 -5.49856381e-02] [-1.04356475e-03 -4.12301218e-05 9.99999455e-01 -6.82899140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.025769231 meters 0.04924137627687976 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.05, Z:-0.06 [[ 9.99056226e-01 4.32376220e-02 4.14310791e-03 1.64377012e+01] [-4.32379569e-02 9.99064802e-01 -8.73786801e-06 -5.07823005e-02] [-4.13961109e-03 -1.70409900e-04 9.99991417e-01 -6.15622679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085769231 meters 0.054092274132719526 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.04, Z:-0.06 [[ 9.99056223e-01 4.32462879e-02 4.05237576e-03 1.64989726e+01] [-4.32466095e-02 9.99064428e-01 -8.26926993e-06 -3.76263412e-02] [-4.04894209e-03 -1.66990047e-04 9.99991789e-01 -6.24767042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145769231 meters 0.05170009431792188 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.03, Z:-0.07 [[ 9.99162548e-01 4.08051905e-02 3.02305528e-03 1.65607961e+01] [-4.08053564e-02 9.99167115e-01 -6.80472237e-06 -3.37081948e-02] [-3.02081509e-03 -1.16557824e-04 9.99995431e-01 -6.70030918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205769231 meters 0.051045465442007804 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.03, Z:-0.06 [[ 9.99203929e-01 3.96564665e-02 4.34434580e-03 1.66220118e+01] [-3.96567971e-02 9.99213360e-01 -1.00457493e-05 -2.66575568e-02] [-4.34132674e-03 -1.62245088e-04 9.99990563e-01 -6.30053969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265769231 meters 0.053080386284789366 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.02, Z:-0.07 [[ 9.99163585e-01 4.07367786e-02 3.55613492e-03 1.66834618e+01] [-4.07370068e-02 9.99169904e-01 -8.27248169e-06 -1.83368609e-02] [-3.55351998e-03 -1.36600730e-04 9.99993677e-01 -6.60684963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.325769231000002 meters 0.047306137965815814 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.02, Z:-0.06 [[ 9.99186931e-01 3.99495436e-02 5.43247472e-03 1.67451131e+01] [-3.99500635e-02 9.99201677e-01 -1.28286457e-05 -1.91981934e-02] [-5.42865035e-03 -2.04209495e-04 9.99985244e-01 -6.28760686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385769231 meters 0.04754769773586293 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.01, Z:-0.06 [[ 9.99381742e-01 3.48058827e-02 4.96839483e-03 1.68050963e+01] [-3.48062532e-02 9.99394079e-01 -1.18967781e-05 -1.25850130e-02] [-4.96579845e-03 -1.61041786e-04 9.99987657e-01 -6.40592553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445769231 meters 0.037017580888423704 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.02, Z:-0.07 [[ 9.99554700e-01 2.94190567e-02 4.99202864e-03 1.68659834e+01] [-2.94193641e-02 9.99567157e-01 -1.18718791e-05 -1.84731608e-02] [-4.99021714e-03 -1.34995716e-04 9.99987540e-01 -6.60521198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.505769231000002 meters 0.03325507848755032 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.02, Z:-0.07 [[ 9.99663570e-01 2.56487958e-02 3.85831796e-03 1.69265821e+01] [-2.56489515e-02 9.99671011e-01 -9.13507204e-06 -1.83454901e-02] [-3.85728292e-03 -8.98298116e-05 9.99992557e-01 -6.83557200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.565769231 meters 0.02772376300845328 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.02, Z:-0.07 [[ 9.99705084e-01 2.39262231e-02 4.15708068e-03 1.69878676e+01] [-2.39263886e-02 9.99713723e-01 -9.94036389e-06 -2.24899550e-02] [-4.15612844e-03 -8.95264954e-05 9.99991359e-01 -6.63330128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625769231 meters 0.026130594516500284 Centerline is valid? [True, True] Translation: X:17.05, Y:-0.02, Z:-0.06 [[ 9.99737518e-01 2.20909760e-02 6.07316645e-03 1.70492416e+01] [-2.20912947e-02 9.99755957e-01 -1.46198395e-05 -2.46677078e-02] [-6.07200730e-03 -1.19548108e-04 9.99981558e-01 -6.39516657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.685769231000002 meters 0.024404076843607264 Centerline is valid? [True, True] Translation: X:17.11, Y:-0.03, Z:-0.06 [[ 9.99793002e-01 1.91754954e-02 6.80103008e-03 1.71109534e+01] [-1.91758196e-02 9.99816127e-01 -1.75359140e-05 -2.62031226e-02] [-6.80011581e-03 -1.12883042e-04 9.99976873e-01 -6.27349019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745769231 meters 0.025649202722752073 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.02, Z:-0.07 [[ 9.99739262e-01 2.22478499e-02 5.14215738e-03 1.71731413e+01] [-2.22480719e-02 9.99752481e-01 -1.40291866e-05 -2.36400129e-02] [-5.14119672e-03 -1.00377558e-04 9.99986779e-01 -6.57957786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805769231 meters 0.026912536756451628 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.02, Z:-0.07 [[ 9.99700840e-01 2.38572235e-02 5.39107167e-03 1.72351933e+01] [-2.38574905e-02 9.99715369e-01 -1.47866999e-05 -2.03209890e-02] [-5.38988998e-03 -1.13835165e-04 9.99985468e-01 -6.56306455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865769231 meters 0.02953589540998813 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.01, Z:-0.06 [[ 9.99641736e-01 2.61117814e-02 5.87993325e-03 1.72963745e+01] [-2.61121310e-02 9.99659020e-01 -1.73057780e-05 -1.49544982e-02] [-5.87838020e-03 -1.36238010e-04 9.99982713e-01 -6.48205283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925769231 meters 0.029571567567383557 Centerline is valid? [True, True] Translation: X:17.36, Y:-0.01, Z:-0.07 [[ 9.99644188e-01 2.61450670e-02 5.28514236e-03 1.73584978e+01] [-2.61453486e-02 9.99658152e-01 -1.58094855e-05 -1.49776018e-02] [-5.28374899e-03 -1.22378029e-04 9.99986033e-01 -6.85900206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.985769231000003 meters 0.027286901323005906 Centerline is valid? [True, True] Translation: X:17.42, Y:-0.02, Z:-0.07 [[ 9.99711905e-01 2.36039412e-02 4.35452053e-03 1.74205854e+01] [-2.36041061e-02 9.99721384e-01 -1.35378872e-05 -1.97604286e-02] [-4.35362684e-03 -8.92505774e-05 9.99990519e-01 -7.20895272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045769231 meters 0.022891923387462723 Centerline is valid? [True, True] Translation: X:17.48, Y:-0.03, Z:-0.07 [[ 9.99804074e-01 1.91307651e-02 5.08215023e-03 1.74825121e+01] [-1.91309257e-02 9.99816987e-01 -1.70176154e-05 -2.55594544e-02] [-5.08154569e-03 -8.02119573e-05 9.99987086e-01 -6.97857956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105769231 meters 0.0221112035973253 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.03, Z:-0.06 [[ 9.99803612e-01 1.80236712e-02 8.23916743e-03 1.75432941e+01] [-1.80240491e-02 9.99837553e-01 -2.83883681e-05 -2.62818486e-02] [-8.23834067e-03 -1.20120365e-04 9.99966057e-01 -6.39359237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.165769231000002 meters 0.022045802886567257 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.03, Z:-0.06 [[ 9.99804376e-01 1.79734282e-02 8.25626717e-03 1.76058254e+01] [-1.79737955e-02 9.99838458e-01 -2.97153296e-05 -2.58590003e-02] [-8.25546752e-03 -1.18686941e-04 9.99965916e-01 -6.48896137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.225769231 meters 0.019815827172251974 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.03, Z:-0.07 [[ 9.99867470e-01 1.53869146e-02 5.31846389e-03 1.76676688e+01] [-1.53870275e-02 9.99881612e-01 -1.96895082e-05 -2.76987064e-02] [-5.31813721e-03 -6.21484514e-05 9.99985857e-01 -7.18269992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285769231 meters 0.016331730616102574 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.04, Z:-0.07 [[ 9.99917073e-01 1.12800562e-02 6.21353327e-03 1.77292731e+01] [-1.12801238e-02 9.99936377e-01 -2.41575416e-05 -3.71441529e-02] [-6.21341045e-03 -4.59338866e-05 9.99980696e-01 -6.90678946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.345769231000002 meters 0.014999135610529716 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.04, Z:-0.07 [[ 9.99938451e-01 1.01613921e-02 4.45431009e-03 1.77926393e+01] [-1.01614145e-02 9.99948371e-01 -1.76112561e-05 -4.17596887e-02] [-4.45425908e-03 -2.76519189e-05 9.99990079e-01 -7.28804112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.405769231 meters 0.016009415445541162 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.04, Z:-0.07 [[ 9.99927246e-01 1.10038655e-02 4.94150474e-03 1.78541524e+01] [-1.10038975e-02 9.99939455e-01 -2.06989916e-05 -3.98668595e-02] [-4.94143333e-03 -3.36783261e-05 9.99987790e-01 -7.24343570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465769231 meters 0.01861864361858871 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.04, Z:-0.07 [[ 9.99887193e-01 1.40501547e-02 5.30983497e-03 1.79165453e+01] [-1.40502300e-02 9.99901290e-01 -2.31333461e-05 -3.51186061e-02] [-5.30963587e-03 -5.14736659e-05 9.99985902e-01 -7.25502200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.525769231 meters 0.021186085389450063 Centerline is valid? [True, True] Translation: X:17.98, Y:-0.03, Z:-0.07 [[ 9.99848886e-01 1.65863730e-02 5.20542217e-03 1.79783160e+01] [-1.65864756e-02 9.99862435e-01 -2.34616015e-05 -2.93526124e-02] [-5.20509523e-03 -6.28815516e-05 9.99986451e-01 -7.15583592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585769231 meters 0.018684296436176313 Centerline is valid? [True, True] Translation: X:18.04, Y:-0.03, Z:-0.07 [[ 9.99816189e-01 1.69344871e-02 8.98949066e-03 1.80406066e+01] [-1.69347891e-02 9.99856595e-01 -4.25239871e-05 -2.88708024e-02] [-8.98892165e-03 -1.09718958e-04 9.99959593e-01 -6.63158376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645769231 meters 0.018891206417463016 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.03, Z:-0.07 [[ 9.99804537e-01 1.71978598e-02 9.75299401e-03 1.81040474e+01] [-1.71982104e-02 9.99852099e-01 -4.79288893e-05 -2.88015158e-02] [-9.75237580e-03 -1.19814522e-04 9.99952437e-01 -6.57730973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705769231 meters 0.019007603941797912 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.03, Z:-0.07 [[ 9.99846019e-01 1.63225371e-02 6.44304224e-03 1.81653175e+01] [-1.63226668e-02 9.99866776e-01 -3.24580538e-05 -2.81632320e-02] [-6.44271367e-03 -7.27145757e-05 9.99979243e-01 -7.17034282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765769231 meters 0.020490736800247402 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.02, Z:-0.07 [[ 9.99818019e-01 1.80802080e-02 6.08565582e-03 1.82271033e+01] [-1.80803509e-02 9.99836537e-01 -3.15347046e-05 -2.07267622e-02] [-6.08523119e-03 -7.85018270e-05 9.99981482e-01 -7.18875849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.825769231000002 meters 0.02476020694953874 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.01, Z:-0.07 [[ 9.99732094e-01 2.20978601e-02 6.88649818e-03 1.82879064e+01] [-2.20981305e-02 9.99755806e-01 -3.68401120e-05 -8.96040042e-03] [-6.88563063e-03 -1.15348493e-04 9.99976287e-01 -7.00861320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885769231 meters 0.024501406557155565 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.00, Z:-0.07 [[ 9.99688117e-01 2.38441358e-02 7.42473238e-03 1.83504424e+01] [-2.38444933e-02 9.99715679e-01 -4.03790290e-05 -4.61864098e-03] [-7.42358417e-03 -1.36672546e-04 9.99972435e-01 -6.90812950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945769231 meters 0.02060654727887665 Centerline is valid? [True, True] Translation: X:18.41, Y:-0.01, Z:-0.07 [[ 9.99774884e-01 2.04404920e-02 5.68920228e-03 1.84131035e+01] [-2.04406422e-02 9.99791068e-01 -3.17476189e-05 -6.30210660e-03] [-5.68866256e-03 -8.45504765e-05 9.99983816e-01 -7.27729245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.005769231000002 meters 0.016165816163451967 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.01, Z:-0.07 [[ 9.99875860e-01 1.39997639e-02 7.22985773e-03 1.84733860e+01] [-1.39998342e-02 9.99901997e-01 -4.08863896e-05 -9.75031878e-03] [-7.22972158e-03 -6.03354959e-05 9.99973863e-01 -6.94333526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.065769231 meters 0.015019822313987113 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.01, Z:-0.07 [[ 9.99881744e-01 1.24102135e-02 9.08215071e-03 1.85342500e+01] [-1.24102552e-02 9.99922988e-01 -5.17734022e-05 -1.08560059e-02] [-9.08209380e-03 -6.09445282e-05 9.99958755e-01 -6.72270734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125769231 meters 0.014971616921657625 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.01, Z:-0.07 [[ 9.99877709e-01 1.35671840e-02 7.77802617e-03 1.85974546e+01] [-1.35672415e-02 9.99907960e-01 -4.53778072e-05 -7.84460682e-03] [-7.77792593e-03 -6.01541013e-05 9.99969750e-01 -7.09534505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.185769231000002 meters 0.018318140274757352 Centerline is valid? [True, True] Translation: X:18.66, Y:0.00, Z:-0.07 [[ 9.99846412e-01 1.58934224e-02 7.38584295e-03 1.86588193e+01] [-1.58935276e-02 9.99873689e-01 -4.44635432e-05 1.42886088e-03] [-7.38561671e-03 -7.29303844e-05 9.99972723e-01 -7.14409161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245769231 meters 0.015229962389774823 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.00, Z:-0.07 [[ 9.99879620e-01 1.37267567e-02 7.23336908e-03 1.87210499e+01] [-1.37267927e-02 9.99905782e-01 -4.46728833e-05 -4.52393368e-03] [-7.23330078e-03 -5.46234520e-05 9.99973838e-01 -7.29637377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305769231 meters 0.014009540713070163 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.01, Z:-0.07 [[ 9.99887345e-01 1.16385786e-02 9.47839440e-03 1.87837383e+01] [-1.16385308e-02 9.99932268e-01 -6.02069434e-05 -1.04607302e-02] [-9.47845313e-03 -5.01144244e-05 9.99955077e-01 -6.85824951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365769231 meters 0.01647034346246462 Centerline is valid? [True, True] Translation: X:18.84, Y:-0.00, Z:-0.07 [[ 9.99854223e-01 1.53208440e-02 7.53687527e-03 1.88445355e+01] [-1.53209153e-02 9.99882627e-01 -4.82802281e-05 -2.15551733e-03] [-7.53673034e-03 -6.71986377e-05 9.99971596e-01 -7.18712554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425769231 meters 0.022592525884397325 Centerline is valid? [True, True] Translation: X:18.91, Y:0.02, Z:-0.07 [[ 9.99684926e-01 2.44032533e-02 5.87621848e-03 1.89057256e+01] [-2.44034487e-02 9.99702191e-01 -3.84568768e-05 1.65978531e-02] [-5.87540696e-03 -1.04955236e-04 9.99982734e-01 -7.44149882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.485769231000003 meters 0.026621699818589965 Centerline is valid? [True, True] Translation: X:18.97, Y:0.03, Z:-0.07 [[ 9.99602985e-01 2.70401484e-02 7.91856269e-03 1.89663087e+01] [-2.70405850e-02 9.99634335e-01 -5.19510640e-05 3.33743711e-02] [-7.91707191e-03 -1.62192129e-04 9.99968646e-01 -7.27646010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545769231 meters 0.023951832016286843 Centerline is valid? [True, True] Translation: X:19.03, Y:0.03, Z:-0.08 [[ 9.99695115e-01 2.41263712e-02 5.25314363e-03 1.90272834e+01] [-2.41265230e-02 9.99708912e-01 -3.44791635e-05 3.28867850e-02] [-5.25244636e-03 -9.22714394e-05 9.99986202e-01 -7.86063962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605769231 meters 0.015395932875557839 Centerline is valid? [True, True] Translation: X:19.09, Y:0.03, Z:-0.08 [[ 9.99881983e-01 1.46969848e-02 4.47428221e-03 1.90876542e+01] [-1.46969998e-02 9.99891993e-01 -2.95089399e-05 2.62065777e-02] [-4.47423265e-03 -3.62530676e-05 9.99989990e-01 -8.00906019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.665769231000002 meters 0.012515517947572557 Centerline is valid? [True, True] Translation: X:19.15, Y:0.01, Z:-0.07 [[ 9.99955752e-01 5.44126596e-03 7.67370083e-03 1.91488186e+01] [-5.44103701e-03 9.99985196e-01 -5.07119326e-05 1.43364298e-02] [-7.67386317e-03 8.95679843e-06 9.99970555e-01 -7.37820026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.725769231 meters 0.014327720266749791 Centerline is valid? [True, True] Translation: X:19.21, Y:0.01, Z:-0.07 [[ 9.99961539e-01 5.47004599e-04 8.75338110e-03 1.92110436e+01] [-5.46505640e-04 9.99999849e-01 -5.93936234e-05 6.63874096e-03] [-8.75341227e-03 5.46075669e-05 9.99961687e-01 -7.25153845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785769231 meters 0.017082603051775322 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.00, Z:-0.07 [[ 9.99945953e-01 -3.61043401e-03 9.74963648e-03 1.92730998e+01] [ 3.61126760e-03 9.99993477e-01 -6.78962307e-05 -2.54453778e-03] [-9.74932774e-03 1.03101107e-04 9.99952469e-01 -7.12580997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.845769231000002 meters 0.022553879229180004 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.02, Z:-0.08 [[ 9.99930120e-01 -9.49060189e-03 7.04859719e-03 1.93331646e+01] [ 9.49118955e-03 9.99954956e-01 -4.99257573e-05 -1.99277565e-02] [-7.04780587e-03 1.16821840e-04 9.99975157e-01 -7.65643812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.905769231 meters 0.025231936921526702 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.03, Z:-0.08 [[ 9.99881880e-01 -1.45251866e-02 5.02438515e-03 1.93940132e+01] [ 1.45255495e-02 9.99894498e-01 -3.57386877e-05 -3.15194166e-02] [-5.02333595e-03 1.08716422e-04 9.99987377e-01 -8.06839199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965769231 meters 0.029421487698220377 Centerline is valid? [True, True] Translation: X:19.45, Y:-0.04, Z:-0.09 [[ 9.99845820e-01 -1.74104819e-02 2.28288073e-03 1.94541145e+01] [ 1.74105643e-02 9.99848425e-01 -1.62198739e-05 -4.32000416e-02] [-2.28225231e-03 5.59636148e-05 9.99997394e-01 -8.60619561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025769231 meters 0.0314015565990241 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.06, Z:-0.09 [[ 9.99785708e-01 -2.05005221e-02 2.87519972e-03 1.95155608e+01] [ 2.05006656e-02 9.99789839e-01 -2.04357307e-05 -5.65800628e-02] [-2.87417652e-03 7.93748593e-05 9.99995866e-01 -8.50648542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085769231 meters 0.03522331812796034 Centerline is valid? [True, True] Translation: X:19.57, Y:-0.07, Z:-0.08 [[ 9.99748903e-01 -2.17706085e-02 5.30763738e-03 1.95748989e+01] [ 2.17711170e-02 9.99762980e-01 -3.80421133e-05 -7.39484583e-02] [-5.30555116e-03 1.53585755e-04 9.99985914e-01 -8.11816289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145769231 meters 0.032127021827179636 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.08, Z:-0.09 [[ 9.99818219e-01 -1.89074965e-02 2.45653031e-03 1.96357872e+01] [ 1.89075966e-02 9.99821235e-01 -1.75435310e-05 -8.09472371e-02] [-2.45575947e-03 6.39874262e-05 9.99996983e-01 -8.74305418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205769231 meters 0.021924259876635467 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.08, Z:-0.09 [[ 9.99951442e-01 -9.72181419e-03 1.61226352e-03 1.96964571e+01] [ 9.72184549e-03 9.99952742e-01 -1.15787433e-05 -7.62923447e-02] [-1.61207476e-03 2.72523579e-05 9.99998700e-01 -8.68938099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265769231 meters 0.018017954021767205 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.07, Z:-0.09 [[ 9.99994790e-01 -3.20402808e-03 -3.92150880e-04 1.97558364e+01] [ 3.20402940e-03 9.99994867e-01 2.72320354e-06 -7.31189142e-02] [ 3.92140142e-04 -3.97965230e-06 9.99999923e-01 -9.08766864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.325769231000002 meters 0.012774388986606116 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.06, Z:-0.08 [[ 9.99976748e-01 5.78077638e-03 3.61741908e-03 1.98157708e+01] [-5.78072021e-03 9.99983291e-01 -2.59831052e-05 -6.48386136e-02] [-3.61750884e-03 5.07121346e-06 9.99993457e-01 -8.37879181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385769231 meters 0.014790793532919936 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.05, Z:-0.08 [[ 9.99876252e-01 1.40338181e-02 7.10866588e-03 1.98775533e+01] [-1.40338121e-02 9.99901520e-01 -5.07385601e-05 -5.12426084e-02] [-7.10867787e-03 -4.90293997e-05 9.99974732e-01 -7.75055184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445769231 meters 0.014875015384712822 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.05, Z:-0.08 [[ 9.99883146e-01 1.43496986e-02 5.27073518e-03 1.99401292e+01] [-1.43497008e-02 9.99897037e-01 -3.74083837e-05 -5.13339209e-02] [-5.27072928e-03 -3.82294602e-05 9.99986109e-01 -8.29261419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.505769231000002 meters 0.01336416005721559 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.06, Z:-0.09 [[ 9.99949656e-01 9.94092894e-03 1.36538124e-03 2.00011251e+01] [-9.94092569e-03 9.99950588e-01 -9.17105951e-06 -6.04566987e-02] [-1.36540494e-03 -4.40255562e-06 9.99999068e-01 -8.99155726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.565769231 meters 0.012844828192497257 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.07, Z:-0.09 [[ 9.99962237e-01 8.31766343e-03 2.51812000e-03 2.00624267e+01] [-8.31764248e-03 9.99965408e-01 -1.87894442e-05 -6.69572710e-02] [-2.51818918e-03 -2.15608731e-06 9.99996829e-01 -8.82588859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625769231 meters 0.012921362160548332 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.07, Z:-0.09 [[ 9.99976988e-01 6.36144970e-03 2.35680417e-03 2.01233920e+01] [-6.36142581e-03 9.99979766e-01 -1.76305720e-05 -7.45942564e-02] [-2.35686864e-03 2.63753140e-06 9.99997223e-01 -9.00399007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685769231000002 meters 0.014509221272991039 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.09, Z:-0.09 [[ 9.99996829e-01 1.40249006e-03 2.09186434e-03 2.01849671e+01] [-1.40246034e-03 9.99999016e-01 -1.56754330e-05 -9.35333494e-02] [-2.09188427e-03 1.27416265e-05 9.99997812e-01 -8.97997465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745769231 meters 0.01661032110230364 Centerline is valid? [True, True] Translation: X:20.25, Y:-0.10, Z:-0.09 [[ 9.99999739e-01 -5.14323808e-04 5.07288735e-04 2.02460399e+01] [ 5.14325318e-04 9.99999868e-01 -2.84494534e-06 -1.03947672e-01] [-5.07287205e-04 3.10585604e-06 9.99999871e-01 -9.30117490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805769231 meters 0.014249157999997627 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.10, Z:-0.09 [[ 9.99993878e-01 3.49918129e-03 -2.18435556e-05 2.03068804e+01] [-3.49918129e-03 9.99993878e-01 1.68775129e-07 -1.04397451e-01] [ 2.18440124e-05 -9.23395348e-08 1.00000000e+00 -9.38918338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865769231 meters 0.013291986342880613 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.10, Z:-0.10 [[ 9.99976547e-01 6.84764513e-03 -1.21723359e-04 2.03676995e+01] [-6.84764506e-03 9.99976555e-01 9.40500533e-07 -1.03402542e-01] [ 1.21726946e-04 -1.06960116e-07 9.99999993e-01 -9.53767874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925769231 meters 0.013964502702534484 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.12, Z:-0.10 [[ 9.99988456e-01 4.61949036e-03 -1.32238646e-03 2.04284450e+01] [-4.61948076e-03 9.99989330e-01 1.03128823e-05 -1.15586576e-01] [ 1.32241999e-03 -4.20402438e-06 9.99999126e-01 -9.84585503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.985769231000003 meters 0.01533233001077086 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.12, Z:-0.10 [[ 9.99997298e-01 2.24171115e-03 -6.16179144e-04 2.04878749e+01] [-2.24170870e-03 9.99997487e-01 4.68125842e-06 -1.23058529e-01] [ 6.16188090e-04 -3.29995162e-06 9.99999810e-01 -9.79339096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045769231 meters 0.014645821728830676 Centerline is valid? [True, True] Translation: X:20.55, Y:-0.13, Z:-0.09 [[ 9.99997561e-01 2.04839392e-03 8.25777754e-04 2.05487328e+01] [-2.04838935e-03 9.99997902e-01 -6.38047264e-06 -1.27141788e-01] [-8.25789091e-04 4.68894273e-06 9.99999659e-01 -9.42794526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105769231 meters 0.014193018398156837 Centerline is valid? [True, True] Translation: X:20.61, Y:-0.13, Z:-0.09 [[ 9.99996343e-01 2.53643556e-03 9.38620106e-04 2.06105039e+01] [-2.53643000e-03 9.99996783e-01 -7.11052938e-06 -1.30614766e-01] [-9.38635122e-04 4.72975918e-06 9.99999559e-01 -9.40216163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.165769231000002 meters 0.013370451967619662 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.13, Z:-0.09 [[ 9.99990940e-01 4.19946201e-03 6.95449588e-04 2.06722830e+01] [-4.19945938e-03 9.99991182e-01 -5.24049749e-06 -1.33839587e-01] [-6.95465463e-04 2.31993772e-06 9.99999758e-01 -9.49258264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.225769231 meters 0.013390428009586508 Centerline is valid? [True, True] Translation: X:20.73, Y:-0.14, Z:-0.10 [[ 9.99985948e-01 5.26663825e-03 -6.05889172e-04 2.07328111e+01] [-5.26663630e-03 9.99986131e-01 4.79893954e-06 -1.37560290e-01] [ 6.05906043e-04 -1.60787420e-06 9.99999816e-01 -9.77405322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285769231 meters 0.014259699256724623 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.14, Z:-0.10 [[ 9.99989551e-01 4.25484811e-03 -1.67179066e-03 2.07931673e+01] [-4.25483152e-03 9.99990948e-01 1.34781533e-05 -1.43798227e-01] [ 1.67183287e-03 -6.36482489e-06 9.99998602e-01 -1.01712657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.345769231000002 meters 0.013226727069065653 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.15, Z:-0.10 [[ 9.99985999e-01 5.29110992e-03 -8.27695972e-05 2.08532082e+01] [-5.29110988e-03 9.99986002e-01 6.48781703e-07 -1.49247885e-01] [ 8.27718713e-05 -2.10829586e-07 9.99999997e-01 -9.74017628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.405769231 meters 0.01256679654718232 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.15, Z:-0.10 [[ 9.99966376e-01 8.09159049e-03 1.33139506e-03 2.09136156e+01] [-8.09158377e-03 9.99967263e-01 -1.04360150e-05 -1.49540882e-01] [-1.33143592e-03 -3.37430592e-07 9.99999114e-01 -9.50509116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465769231 meters 0.015280556825842711 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.14, Z:-0.09 [[ 9.99881987e-01 1.52402711e-02 1.93545100e-03 2.09743551e+01] [-1.52402711e-02 9.99883860e-01 -1.47460749e-05 -1.38441380e-01] [-1.93545095e-03 -1.47524632e-05 9.99998127e-01 -9.39883996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525769231 meters 0.01785335084815532 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.13, Z:-0.09 [[ 9.99803945e-01 1.94422706e-02 3.75092898e-03 2.10367929e+01] [-1.94422980e-02 9.99810980e-01 -2.91761404e-05 -1.31317771e-01] [-3.75078723e-03 -4.37562587e-05 9.99992965e-01 -9.11363780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585769231 meters 0.02124790427876039 Centerline is valid? [True, True] Translation: X:21.10, Y:-0.12, Z:-0.10 [[ 9.99731307e-01 2.31036898e-02 1.87979955e-03 2.10989599e+01] [-2.31037025e-02 9.99733074e-01 -1.49588486e-05 -1.24192005e-01] [-1.87964339e-03 -2.84755003e-05 9.99998233e-01 -9.54685739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645769231 meters 0.024018660156584166 Centerline is valid? [True, True] Translation: X:21.16, Y:-0.12, Z:-0.10 [[ 9.99712233e-01 2.39822916e-02 5.47892623e-04 2.11599450e+01] [-2.39822933e-02 9.99712383e-01 -3.47949560e-06 -1.20152783e-01] [-5.47818486e-04 -9.66122728e-06 9.99999850e-01 -9.91782399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705769231 meters 0.026369348827246154 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.11, Z:-0.10 [[ 9.99665725e-01 2.58371538e-02 9.37675366e-04 2.12203567e+01] [-2.58371579e-02 9.99666165e-01 -7.70119296e-06 -1.09948972e-01] [-9.37561314e-04 -1.65282479e-05 9.99999560e-01 -9.77036733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765769231 meters 0.03242779990325658 Centerline is valid? [True, True] Translation: X:21.28, Y:-0.09, Z:-0.10 [[ 9.99469137e-01 3.25791523e-02 2.07590010e-04 2.12817839e+01] [-3.25791527e-02 9.99469159e-01 -1.65285534e-06 -9.02593241e-02] [-2.07533662e-04 -5.11112874e-06 9.99999978e-01 -9.85888824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.825769231000002 meters 0.03571315425856035 Centerline is valid? [True, True] Translation: X:21.34, Y:-0.08, Z:-0.10 [[ 9.99245167e-01 3.88415793e-02 6.54071763e-04 2.13420891e+01] [-3.88415841e-02 9.99245381e-01 -5.42991852e-06 -7.59534911e-02] [-6.53789095e-04 -1.99793635e-05 9.99999786e-01 -9.65262817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885769231 meters 0.04175865065245114 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.05, Z:-0.10 [[ 9.99039717e-01 4.37643665e-02 2.07946987e-03 2.14019977e+01] [-4.37644252e-02 9.99041878e-01 -1.72991188e-05 -4.97112675e-02] [-2.07823457e-03 -7.37242966e-05 9.99997838e-01 -9.52242408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945769231 meters 0.03279908278807484 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.04, Z:-0.10 [[ 9.99288810e-01 3.77046151e-02 -4.85519705e-04 2.14622509e+01] [-3.77046176e-02 9.99288928e-01 4.05673062e-06 -4.36910997e-02] [ 4.85327423e-04 1.42524893e-05 9.99999882e-01 -9.92035691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.005769231000002 meters 0.027366113086971726 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.04, Z:-0.10 [[ 9.99587499e-01 2.87198680e-02 -8.87232279e-06 2.15221733e+01] [-2.87198680e-02 9.99587500e-01 6.60698029e-08 -3.58229460e-02] [ 8.87056046e-06 1.88769390e-07 1.00000000e+00 -1.00288758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.065769231 meters 0.019432076783399015 Centerline is valid? [True, True] Translation: X:21.58, Y:-0.04, Z:-0.10 [[ 9.99799350e-01 1.99903704e-02 1.28284107e-03 2.15823406e+01] [-1.99903732e-02 9.99800172e-01 -1.06504832e-05 -4.22059958e-02] [-1.28279763e-03 -1.49961255e-05 9.99999177e-01 -9.90129877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125769231 meters 0.015505321568755809 Centerline is valid? [True, True] Translation: X:21.64, Y:-0.05, Z:-0.10 [[ 9.99855093e-01 1.68282184e-02 2.56970609e-03 2.16429651e+01] [-1.68282192e-02 9.99858395e-01 -2.13343744e-05 -4.58990900e-02] [-2.56970123e-03 -2.19122944e-05 9.99996698e-01 -9.63071570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185769231000002 meters 0.016842310875037268 Centerline is valid? [True, True] Translation: X:21.70, Y:-0.04, Z:-0.10 [[ 9.99848962e-01 1.70909729e-02 3.15449965e-03 2.17029470e+01] [-1.70909755e-02 9.99853938e-01 -2.61420830e-05 -3.91962827e-02] [-3.15448570e-03 -2.77753416e-05 9.99995024e-01 -9.61332333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245769231 meters 0.017419112574727166 Centerline is valid? [True, True] Translation: X:21.76, Y:-0.04, Z:-0.09 [[ 9.99831015e-01 1.78336756e-02 4.46120229e-03 2.17637710e+01] [-1.78336882e-02 9.99840966e-01 -3.69541281e-05 -3.69432612e-02] [-4.46115184e-03 -4.26118073e-05 9.99990048e-01 -9.38887076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305769231 meters 0.015903267286462613 Centerline is valid? [True, True] Translation: X:21.83, Y:-0.04, Z:-0.09 [[ 9.99844878e-01 1.71309609e-02 4.09269925e-03 2.18254836e+01] [-1.71309645e-02 9.99853254e-01 -3.41801055e-05 -3.84898588e-02] [-4.09268420e-03 -3.59370820e-05 9.99991624e-01 -9.46583374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365769231 meters 0.014834960984658387 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.04, Z:-0.10 [[ 9.99897006e-01 1.43451600e-02 -4.39156908e-04 2.18863532e+01] [-1.43451597e-02 9.99897103e-01 3.86327167e-06 -4.37587117e-02] [ 4.39167139e-04 2.43690219e-06 9.99999904e-01 -1.04447529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425769231 meters 0.014344859232635003 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.05, Z:-0.10 [[ 9.99904462e-01 1.37425523e-02 1.48619302e-03 2.19454782e+01] [-1.37425487e-02 9.99905567e-01 -1.26383820e-05 -4.70105689e-02] [-1.48622635e-03 -7.78690533e-06 9.99998896e-01 -1.01415772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485769231 meters 0.013622442496208365 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.05, Z:-0.10 [[ 9.99922309e-01 1.22788168e-02 2.14641432e-03 2.20056517e+01] [-1.22788064e-02 9.99924612e-01 -1.80142003e-05 -5.19097933e-02] [-2.14647370e-03 -8.34260510e-06 9.99997696e-01 -1.01214544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545769231 meters 0.012765436257385711 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.07, Z:-0.10 [[ 9.99968554e-01 7.70692026e-03 1.86935968e-03 2.20659121e+01] [-7.70690450e-03 9.99970301e-01 -1.56306943e-05 -6.77884971e-02] [-1.86942463e-03 1.22322626e-06 9.99998253e-01 -1.02888252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605769231 meters 0.013601815710757784 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.08, Z:-0.11 [[ 9.99986749e-01 5.14600861e-03 1.43643045e-04 2.21271098e+01] [-5.14600852e-03 9.99986759e-01 -1.04699221e-06 -7.82301284e-02] [-1.43646531e-04 3.07790006e-07 9.99999990e-01 -1.06351294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.665769231000002 meters 0.013721513530530504 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.08, Z:-0.11 [[ 9.99978289e-01 6.42841247e-03 -1.44801352e-03 2.21878569e+01] [-6.42840154e-03 9.99979338e-01 1.22028100e-05 -8.01909254e-02] [ 1.44806205e-03 -2.89413268e-06 9.99998952e-01 -1.09278540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.725769231 meters 0.01370308787473725 Centerline is valid? [True, True] Translation: X:22.25, Y:-0.07, Z:-0.10 [[ 9.99910944e-01 1.31399186e-02 2.33372877e-03 2.22473364e+01] [-1.31399082e-02 9.99913667e-01 -1.97773460e-05 -7.33027553e-02] [-2.33378717e-03 -1.08893971e-05 9.99997277e-01 -1.00871145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785769231 meters 0.020563579330670823 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.06, Z:-0.10 [[ 9.99774439e-01 2.11477469e-02 1.96036922e-03 2.23073537e+01] [-2.11477552e-02 9.99776361e-01 -1.64744509e-05 -5.99955272e-02] [-1.96027920e-03 -2.49866735e-05 9.99998078e-01 -1.02714780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845769231000002 meters 0.02729610447739895 Centerline is valid? [True, True] Translation: X:22.37, Y:-0.05, Z:-0.10 [[ 9.99596733e-01 2.83217925e-02 2.06082983e-03 2.23679965e+01] [-2.83218169e-02 9.99598857e-01 -1.73186967e-05 -4.66799300e-02] [-2.06049364e-03 -4.10547326e-05 9.99997876e-01 -1.03341177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.905769231 meters 0.027449467075119093 Centerline is valid? [True, True] Translation: X:22.43, Y:-0.04, Z:-0.10 [[ 9.99591136e-01 2.84025319e-02 3.29508655e-03 2.24280715e+01] [-2.84025949e-02 9.99596565e-01 -2.76910804e-05 -4.16099004e-02] [-3.29454369e-03 -6.59092499e-05 9.99994571e-01 -1.01390287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965769231 meters 0.02214665836653724 Centerline is valid? [True, True] Translation: X:22.49, Y:-0.05, Z:-0.10 [[ 9.99704194e-01 2.40406799e-02 3.68390699e-03 2.24893100e+01] [-2.40407293e-02 9.99710979e-01 -3.08807108e-05 -4.85964070e-02] [-3.68358466e-03 -5.76922345e-05 9.99993214e-01 -1.01245863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025769231 meters 0.013846817435282835 Centerline is valid? [True, True] Translation: X:22.55, Y:-0.06, Z:-0.10 [[ 9.99895583e-01 1.36252430e-02 4.81413049e-03 2.25485286e+01] [-1.36252055e-02 9.99907172e-01 -4.05944572e-05 -6.25468889e-02] [-4.81423671e-03 -2.50032989e-05 9.99988411e-01 -9.96402759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085769231 meters 0.012246587408611651 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.07, Z:-0.10 [[ 9.99951062e-01 8.36403482e-03 5.28365388e-03 2.26105437e+01] [-8.36391816e-03 9.99965021e-01 -4.41745541e-05 -7.14090264e-02] [-5.28383854e-03 -1.96564339e-08 9.99986040e-01 -9.87142916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145769231 meters 0.012501350969875064 Centerline is valid? [True, True] Translation: X:22.67, Y:-0.08, Z:-0.10 [[ 9.99966738e-01 6.38795494e-03 5.07122456e-03 2.26728840e+01] [-6.38781801e-03 9.99979597e-01 -4.31984959e-05 -7.88443745e-02] [-5.07139704e-03 1.08029994e-05 9.99987140e-01 -9.90504567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205769231 meters 0.019697344861295915 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.11, Z:-0.10 [[ 9.99980180e-01 -4.75661739e-03 4.12488813e-03 2.27335413e+01] [ 4.75680656e-03 9.99988686e-01 -3.60517815e-05 -1.05468853e-01] [-4.12466997e-03 5.56723618e-05 9.99991492e-01 -1.01658214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265769231 meters 0.023560104145477143 Centerline is valid? [True, True] Translation: X:22.80, Y:-0.12, Z:-0.10 [[ 9.99956160e-01 -8.66378915e-03 3.55188953e-03 2.27951782e+01] [ 8.66395243e-03 9.99962467e-01 -3.05859884e-05 -1.20833683e-01] [-3.55149122e-03 6.13580494e-05 9.99993692e-01 -1.03903210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.325769231000002 meters 0.030076013066224906 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.14, Z:-0.11 [[ 9.99937661e-01 -1.09674950e-02 2.09462432e-03 2.28555207e+01] [ 1.09675580e-02 9.99939854e-01 -1.85671609e-05 -1.43303635e-01] [-2.09429471e-03 4.15389171e-05 9.99997806e-01 -1.07982103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385769231 meters 0.022447451982257387 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.14, Z:-0.11 [[ 9.99976793e-01 -6.15044268e-03 2.93014538e-03 2.29161089e+01] [ 6.15054578e-03 9.99981085e-01 -2.61757488e-05 -1.43165560e-01] [-2.92992896e-03 4.41971346e-05 9.99995707e-01 -1.05451433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445769231 meters 0.016491930917805712 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.14, Z:-0.11 [[ 9.99995717e-01 5.52131287e-04 2.87414733e-03 2.29772612e+01] [-5.52059905e-04 9.99999847e-01 -2.56290685e-05 -1.38125179e-01] [-2.87416104e-03 2.40422572e-05 9.99995869e-01 -1.06521927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.505769231000002 meters 0.014553798024873141 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.12, Z:-0.11 [[ 9.99896224e-01 1.43807455e-02 8.57521941e-04 2.30382125e+01] [-1.43807442e-02 9.99896592e-01 -7.67005938e-06 -1.21234505e-01] [-8.57543568e-04 -4.66254028e-06 9.99999632e-01 -1.10567765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.565769231 meters 0.016030341773904302 Centerline is valid? [True, True] Translation: X:23.10, Y:-0.12, Z:-0.11 [[ 9.99863254e-01 1.64954206e-02 1.17276472e-03 2.30981296e+01] [-1.64954200e-02 9.99863941e-01 -1.01982386e-05 -1.18767235e-01] [-1.17277338e-03 -9.14840266e-06 9.99999312e-01 -1.10451041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625769231 meters 0.01738700989666418 Centerline is valid? [True, True] Translation: X:23.16, Y:-0.12, Z:-0.10 [[ 9.99812970e-01 1.85892188e-02 5.33530949e-03 2.31594030e+01] [-1.85892276e-02 9.99827204e-01 -4.79497671e-05 -1.15106598e-01] [-5.33527892e-03 -5.12384833e-05 9.99985766e-01 -1.01548391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685769231000002 meters 0.016282830704108534 Centerline is valid? [True, True] Translation: X:23.22, Y:-0.12, Z:-0.10 [[ 9.99803702e-01 1.85731558e-02 6.89896851e-03 2.32219831e+01] [-1.85731689e-02 9.99827502e-01 -6.21801873e-05 -1.17217004e-01] [-6.89893333e-03 -6.59677259e-05 9.99976200e-01 -9.89600055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745769231 meters 0.016883716055436537 Centerline is valid? [True, True] Translation: X:23.28, Y:-0.11, Z:-0.10 [[ 9.99803990e-01 1.90769516e-02 5.29643302e-03 2.32842011e+01] [-1.90769627e-02 9.99818017e-01 -4.84447801e-05 -1.13725933e-01] [-5.29639334e-03 -5.26045705e-05 9.99985973e-01 -1.02771390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805769231 meters 0.01994823457890051 Centerline is valid? [True, True] Translation: X:23.34, Y:-0.11, Z:-0.11 [[ 9.99776815e-01 2.09317520e-02 2.86045652e-03 2.33449548e+01] [-2.09317619e-02 9.99780906e-01 -2.64899423e-05 -1.05620275e-01] [-2.86038430e-03 -3.33903647e-05 9.99995909e-01 -1.07148860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865769231 meters 0.021079420395993986 Centerline is valid? [True, True] Translation: X:23.41, Y:-0.10, Z:-0.10 [[ 9.99724948e-01 2.31098582e-02 3.99524527e-03 2.34062788e+01] [-2.31098920e-02 9.99732930e-01 -3.77153316e-05 -9.95510071e-02] [-3.99504986e-03 -5.46247289e-05 9.99992018e-01 -1.04858175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925769231 meters 0.018918646541562095 Centerline is valid? [True, True] Translation: X:23.47, Y:-0.10, Z:-0.11 [[ 9.99774894e-01 2.06704257e-02 4.78482901e-03 2.34680137e+01] [-2.06704470e-02 9.99786342e-01 -4.50086879e-05 -9.86426664e-02] [-4.78473704e-03 -5.39059981e-05 9.99988552e-01 -1.05788500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985769231 meters 0.016236460052988094 Centerline is valid? [True, True] Translation: X:23.53, Y:-0.10, Z:-0.10 [[ 9.99799974e-01 1.93844573e-02 4.92483034e-03 2.35297861e+01] [-1.93844605e-02 9.99812103e-01 -4.70996894e-05 -9.97178302e-02] [-4.92481798e-03 -4.83749108e-05 9.99987872e-01 -1.04744159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045769231 meters 0.014461106965712353 Centerline is valid? [True, True] Translation: X:23.59, Y:-0.10, Z:-0.11 [[ 9.99874732e-01 1.57654610e-02 1.40407737e-03 2.35909624e+01] [-1.57654584e-02 9.99875717e-01 -1.28920869e-05 -1.02799368e-01] [-1.40410612e-03 -9.24545147e-06 9.99999014e-01 -1.11644131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105769231 meters 0.013054047424029453 Centerline is valid? [True, True] Translation: X:23.65, Y:-0.11, Z:-0.11 [[ 9.99932169e-01 1.15890506e-02 1.16212192e-03 2.36523935e+01] [-1.15890451e-02 9.99932845e-01 -1.14365488e-05 -1.08162088e-01] [-1.16217642e-03 -2.03211041e-06 9.99999325e-01 -1.13194811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.165769231000002 meters 0.012801399099977611 Centerline is valid? [True, True] Translation: X:23.71, Y:-0.11, Z:-0.11 [[ 9.99943579e-01 1.03656660e-02 2.32188085e-03 2.37129027e+01] [-1.03656402e-02 9.99946275e-01 -2.31271019e-05 -1.10942856e-01] [-2.32199583e-03 -9.41984451e-07 9.99997304e-01 -1.11346740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.225769231 meters 0.013136533082648373 Centerline is valid? [True, True] Translation: X:23.77, Y:-0.11, Z:-0.11 [[ 9.99969405e-01 7.66826805e-03 1.54476082e-03 2.37743778e+01] [-7.66825354e-03 9.99970598e-01 -1.53121135e-05 -1.14095002e-01] [-1.54483282e-03 3.46602739e-06 9.99998807e-01 -1.13040521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285769231 meters 0.0132154899832096 Centerline is valid? [True, True] Translation: X:23.83, Y:-0.11, Z:-0.11 [[ 9.99971612e-01 7.30292218e-03 1.85535318e-03 2.38349231e+01] [-7.30290037e-03 9.99973333e-01 -1.85291336e-05 -1.12923736e-01] [-1.85543902e-03 4.97914815e-06 9.99998279e-01 -1.12640866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345769231000002 meters 0.01247982846724628 Centerline is valid? [True, True] Translation: X:23.90, Y:-0.11, Z:-0.11 [[ 9.99951136e-01 9.11604975e-03 3.82392099e-03 2.38964539e+01] [-9.11597001e-03 9.99958448e-01 -3.82818148e-05 -1.07206270e-01] [-3.82411108e-03 3.42119515e-06 9.99992688e-01 -1.08626633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.405769231 meters 0.012401182048732981 Centerline is valid? [True, True] Translation: X:23.96, Y:-0.11, Z:-0.11 [[ 9.99937993e-01 1.01396428e-02 4.60414681e-03 2.39579454e+01] [-1.01395381e-02 9.99948593e-01 -4.60711525e-05 -1.05152388e-01] [-4.60437727e-03 -6.15626350e-07 9.99989400e-01 -1.08475955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465769231 meters 0.012637412576822752 Centerline is valid? [True, True] Translation: X:24.02, Y:-0.10, Z:-0.11 [[ 9.99948144e-01 9.78682383e-03 2.81549490e-03 2.40199937e+01] [-9.78678412e-03 9.99952108e-01 -2.78818735e-05 -1.02684802e-01] [-2.81563294e-03 3.25786910e-07 9.99996036e-01 -1.14020537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525769231 meters 0.012928519830244727 Centerline is valid? [True, True] Translation: X:24.08, Y:-0.10, Z:-0.11 [[ 9.99966325e-01 8.06815748e-03 1.50096468e-03 2.40812258e+01] [-8.06814353e-03 9.99967452e-01 -1.53440313e-05 -1.00800971e-01] [-1.50103963e-03 3.23351609e-06 9.99998873e-01 -1.13975205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585769231 meters 0.014472191890028862 Centerline is valid? [True, True] Translation: X:24.14, Y:-0.11, Z:-0.11 [[ 9.99988975e-01 3.85279992e-03 2.68427501e-03 2.41422404e+01] [-3.85273963e-03 9.99992578e-01 -2.76340065e-05 -1.08476962e-01] [-2.68436156e-03 1.72918892e-05 9.99996397e-01 -1.11516341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645769231 meters 0.01863366710261765 Centerline is valid? [True, True] Translation: X:24.20, Y:-0.12, Z:-0.11 [[ 9.99993829e-01 -2.54876720e-03 2.41761385e-03 2.42035630e+01] [ 2.54883492e-03 9.99996751e-01 -2.49271587e-05 -1.21733315e-01] [-2.41754246e-03 3.10891035e-05 9.99997077e-01 -1.13319265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705769231 meters 0.019127460384641384 Centerline is valid? [True, True] Translation: X:24.26, Y:-0.13, Z:-0.11 [[ 9.99985259e-01 -3.50367613e-03 4.14800628e-03 2.42643919e+01] [ 3.50388460e-03 9.99993860e-01 -4.29916753e-05 -1.26726359e-01] [-4.14783018e-03 5.75251769e-05 9.99991396e-01 -1.10459480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765769231 meters 0.01729816503435282 Centerline is valid? [True, True] Translation: X:24.32, Y:-0.13, Z:-0.12 [[ 9.99997502e-01 9.70341945e-04 2.01377141e-03 2.43245240e+01] [-9.70301836e-04 9.99999529e-01 -2.08942495e-05 -1.26780684e-01] [-2.01379074e-03 1.89402312e-05 9.99997972e-01 -1.15002790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825769231 meters 0.013889886712392796 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.12, Z:-0.11 [[ 9.99981770e-01 4.77600521e-03 3.69462551e-03 2.43861696e+01] [-4.77589589e-03 9.99988595e-01 -3.84101285e-05 -1.21841508e-01] [-3.69476682e-03 2.07642815e-05 9.99993174e-01 -1.12278002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885769231 meters 0.012526560725695449 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.12, Z:-0.11 [[ 9.99959462e-01 7.62500773e-03 4.78894361e-03 2.44470214e+01] [-7.62485608e-03 9.99970929e-01 -4.99235363e-05 -1.23177948e-01] [-4.78918506e-03 1.34065067e-05 9.99988532e-01 -1.10988173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945769231 meters 0.012634019198615412 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.13, Z:-0.12 [[ 9.99940591e-01 1.08056037e-02 1.43265046e-03 2.45091314e+01] [-1.08055946e-02 9.99941618e-01 -1.40991818e-05 -1.25379040e-01] [-1.43271917e-03 -1.38229586e-06 9.99998974e-01 -1.18092762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005769231000002 meters 0.015108620363699622 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.12, Z:-0.12 [[ 9.99859012e-01 1.67657654e-02 -9.29903681e-04 2.45699649e+01] [-1.67657633e-02 9.99859445e-01 9.98617776e-06 -1.18478569e-01] [ 9.29940404e-04 5.60577522e-06 9.99999568e-01 -1.22454945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.065769231 meters 0.025948915609983157 Centerline is valid? [True, True] Translation: X:24.63, Y:-0.10, Z:-0.12 [[ 9.99554085e-01 2.98559263e-02 -5.05421349e-04 2.46308864e+01] [-2.98559275e-02 9.99554212e-01 5.29879223e-06 -9.51802086e-02] [ 5.05354239e-04 9.79339372e-06 9.99999872e-01 -1.20030431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125769231 meters 0.0372573418740537 Centerline is valid? [True, True] Translation: X:24.69, Y:-0.07, Z:-0.12 [[ 9.99266854e-01 3.82750251e-02 8.81976048e-04 2.46909700e+01] [-3.82750317e-02 9.99267242e-01 -9.46312978e-06 -7.45500903e-02] [-8.81691975e-04 -2.43014692e-05 9.99999611e-01 -1.20197911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185769231000002 meters 0.041897858624288006 Centerline is valid? [True, True] Translation: X:24.75, Y:-0.06, Z:-0.12 [[ 9.99102879e-01 4.23480092e-02 2.90142041e-04 2.47512686e+01] [-4.23480100e-02 9.99102921e-01 -3.15825710e-06 -6.39898353e-02] [-2.90015506e-04 -9.13151428e-06 9.99999958e-01 -1.22645468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245769231 meters 0.03538544831253324 Centerline is valid? [True, True] Translation: X:24.81, Y:-0.07, Z:-0.12 [[ 9.99298678e-01 3.74205962e-02 1.36065393e-03 2.48115139e+01] [-3.74206111e-02 9.99299604e-01 -1.44625640e-05 -6.71944069e-02] [-1.36024213e-03 -3.64640806e-05 9.99999074e-01 -1.20281862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305769231 meters 0.028916653558977875 Centerline is valid? [True, True] Translation: X:24.87, Y:-0.07, Z:-0.12 [[ 9.99514222e-01 3.11343418e-02 1.40489279e-03 2.48714012e+01] [-3.11343515e-02 9.99515208e-01 -1.49121083e-05 -7.32349593e-02] [-1.40467599e-03 -2.88355616e-05 9.99999013e-01 -1.21341950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365769231 meters 0.02235667269516692 Centerline is valid? [True, True] Translation: X:24.93, Y:-0.08, Z:-0.13 [[ 9.99694058e-01 2.47343746e-02 2.12430808e-05 2.49319810e+01] [-2.47343746e-02 9.99694059e-01 -1.47624572e-07 -8.33274686e-02] [-2.12402330e-05 -3.77854909e-07 1.00000000e+00 -1.25409424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425769231 meters 0.01557566667256599 Centerline is valid? [True, True] Translation: X:24.99, Y:-0.10, Z:-0.12 [[ 9.99845553e-01 1.75124516e-02 1.47816805e-03 2.49921779e+01] [-1.75124475e-02 9.99846645e-01 -1.57036328e-05 -9.91328856e-02] [-1.47821638e-03 -1.01851329e-05 9.99998907e-01 -1.23834763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485769231 meters 0.013606918175125497 Centerline is valid? [True, True] Translation: X:25.05, Y:-0.13, Z:-0.11 [[ 9.99968056e-01 5.06392397e-03 6.18419871e-03 2.50535380e+01] [-5.06361462e-03 9.99987178e-01 -6.56793837e-05 -1.27838453e-01] [-6.18445200e-03 3.43628867e-05 9.99980876e-01 -1.13781857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545769231 meters 0.022470831223888522 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.15, Z:-0.12 [[ 9.99986602e-01 -4.87900725e-03 1.72924203e-03 2.51136587e+01] [ 4.87904627e-03 9.99988097e-01 -1.83503556e-05 -1.53938603e-01] [-1.72913191e-03 2.67871616e-05 9.99998505e-01 -1.21530914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605769231 meters 0.0229741590424103 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.16, Z:-0.12 [[ 9.99981857e-01 -5.97909661e-03 7.32526119e-04 2.51740814e+01] [ 5.97910393e-03 9.99982125e-01 -7.80785029e-06 -1.61136285e-01] [-7.32466342e-04 1.21875584e-05 9.99999732e-01 -1.23137316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.665769231000002 meters 0.01850598482334505 Centerline is valid? [True, True] Translation: X:25.23, Y:-0.16, Z:-0.12 [[ 9.99996898e-01 -1.15352849e-03 2.20737266e-03 2.52345022e+01] [ 1.15358323e-03 9.99999334e-01 -2.35279464e-05 -1.62644374e-01] [-2.20734405e-03 2.60742615e-05 9.99997563e-01 -1.19996275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.725769231 meters 0.014562307722667478 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.16, Z:-0.12 [[ 9.99989947e-01 4.43724170e-03 6.45485291e-04 2.52961382e+01] [-4.43723828e-03 9.99990155e-01 -6.72990968e-06 -1.59054336e-01] [-6.45508798e-04 3.86566998e-06 9.99999792e-01 -1.23652816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785769231 meters 0.015660632020405504 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.16, Z:-0.12 [[ 9.99994174e-01 3.35284164e-03 6.40177489e-04 2.53562502e+01] [-3.35283800e-03 9.99994379e-01 -6.76398874e-06 -1.64797425e-01] [-6.40196569e-04 4.61753793e-06 9.99999795e-01 -1.24789715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845769231000002 meters 0.015981034166501394 Centerline is valid? [True, True] Translation: X:25.42, Y:-0.16, Z:-0.12 [[ 9.99995662e-01 2.69128382e-03 1.19682137e-03 2.54165862e+01] [-2.69127043e-03 9.99996378e-01 -1.27988448e-05 -1.64704425e-01] [-1.19685148e-03 9.57781929e-06 9.99999284e-01 -1.23430982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.905769231 meters 0.013643185388046881 Centerline is valid? [True, True] Translation: X:25.48, Y:-0.16, Z:-0.12 [[ 9.99978483e-01 5.75713859e-03 3.14455371e-03 2.54782131e+01] [-5.75706158e-03 9.99983427e-01 -3.35406067e-05 -1.58622261e-01] [-3.14469470e-03 1.54364956e-05 9.99995055e-01 -1.19293139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965769231 meters 0.012870356430948162 Centerline is valid? [True, True] Translation: X:25.54, Y:-0.15, Z:-0.12 [[ 9.99969545e-01 7.18688565e-03 3.04276418e-03 2.55404705e+01] [-7.18682169e-03 9.99974174e-01 -3.19531687e-05 -1.54799484e-01] [-3.04291524e-03 1.00843919e-05 9.99995370e-01 -1.19059847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025769231 meters 0.01235361788416038 Centerline is valid? [True, True] Translation: X:25.60, Y:-0.15, Z:-0.12 [[ 9.99943527e-01 1.05276624e-02 1.45287273e-03 2.56027583e+01] [-1.05276519e-02 9.99944583e-01 -1.49018613e-05 -1.50168107e-01] [-1.45294909e-03 -3.94318542e-07 9.99998944e-01 -1.22995651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085769231 meters 0.012400192264522877 Centerline is valid? [True, True] Translation: X:25.66, Y:-0.15, Z:-0.12 [[ 9.99916953e-01 1.28128501e-02 1.38498517e-03 2.56639932e+01] [-1.28128414e-02 9.99917912e-01 -1.51616919e-05 -1.45411923e-01] [-1.38506574e-03 -2.58516256e-06 9.99999041e-01 -1.22374597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145769231 meters 0.012030252917606647 Centerline is valid? [True, True] Translation: X:25.73, Y:-0.15, Z:-0.12 [[ 9.99924014e-01 1.20089272e-02 2.78431507e-03 2.57255890e+01] [-1.20088882e-02 9.99927890e-01 -3.07155107e-05 -1.48827122e-01] [-2.78448315e-03 -2.72335170e-06 9.99996123e-01 -1.20280359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205769231 meters 0.013903301018472529 Centerline is valid? [True, True] Translation: X:25.79, Y:-0.17, Z:-0.12 [[ 9.99979679e-01 5.84542871e-03 2.54429500e-03 2.57865181e+01] [-5.84537685e-03 9.99982915e-01 -2.78209511e-05 -1.68015280e-01] [-2.54441416e-03 1.29480227e-05 9.99996763e-01 -1.23717510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265769231 meters 0.016131473198598034 Centerline is valid? [True, True] Translation: X:25.85, Y:-0.18, Z:-0.12 [[ 9.99994268e-01 2.72830731e-03 2.00488612e-03 2.58484183e+01] [-2.72826948e-03 9.99996278e-01 -2.16062473e-05 -1.79778000e-01] [-2.00493760e-03 1.61362539e-05 9.99997990e-01 -1.23711613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325769231 meters 0.017374666418904013 Centerline is valid? [True, True] Translation: X:25.91, Y:-0.19, Z:-0.13 [[ 9.99997393e-01 1.69963423e-03 1.52467537e-03 2.59094813e+01] [-1.69961057e-03 9.99998556e-01 -1.68124082e-05 -1.93806531e-01] [-1.52470175e-03 1.42210100e-05 9.99998838e-01 -1.25280238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385769231 meters 0.015812429758914084 Centerline is valid? [True, True] Translation: X:25.97, Y:-0.20, Z:-0.13 [[ 9.99990997e-01 3.99929797e-03 1.41821280e-03 2.59708767e+01] [-3.99927918e-03 9.99992003e-01 -1.60808223e-05 -2.02906903e-01] [-1.41826577e-03 1.04088485e-05 9.99998994e-01 -1.26263145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445769231 meters 0.012894480346734962 Centerline is valid? [True, True] Translation: X:26.03, Y:-0.21, Z:-0.12 [[ 9.99957240e-01 9.04396609e-03 1.92982445e-03 2.60309307e+01] [-9.04394040e-03 9.99959102e-01 -2.20396521e-05 -2.05580055e-01] [-1.92994485e-03 4.58549237e-06 9.99998138e-01 -1.24718343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505769231000002 meters 0.012833608575450576 Centerline is valid? [True, True] Translation: X:26.09, Y:-0.20, Z:-0.12 [[ 9.99891643e-01 1.45527434e-02 2.21800202e-03 2.60919829e+01] [-1.45527231e-02 9.99894103e-01 -2.53095638e-05 -2.00003831e-01] [-2.21813546e-03 -6.97114780e-06 9.99997540e-01 -1.23882273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.565769231 meters 0.02232695108477052 Centerline is valid? [True, True] Translation: X:26.15, Y:-0.18, Z:-0.12 [[ 9.99639083e-01 2.68192067e-02 1.56029775e-03 2.61520318e+01] [-2.68192116e-02 9.99640300e-01 -1.77271927e-05 -1.80559257e-01] [-1.56021194e-03 -2.41251610e-05 9.99998783e-01 -1.24865903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625769231 meters 0.037774367849755054 Centerline is valid? [True, True] Translation: X:26.21, Y:-0.15, Z:-0.12 [[ 9.99259929e-01 3.83368090e-02 3.14363806e-03 2.62119085e+01] [-3.83368853e-02 9.99264871e-01 -3.60134404e-05 -1.51962819e-01] [-3.14270772e-03 -8.45305039e-05 9.99995058e-01 -1.22546314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685769231000002 meters 0.042579272440696696 Centerline is valid? [True, True] Translation: X:26.27, Y:-0.14, Z:-0.12 [[ 9.99009785e-01 4.44380632e-02 2.16956648e-03 2.62724416e+01] [-4.44381134e-02 9.99012139e-01 -2.50951104e-05 -1.38333107e-01] [-2.16853843e-03 -7.13411805e-05 9.99997646e-01 -1.23968083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745769231 meters 0.0465300670010805 Centerline is valid? [True, True] Translation: X:26.33, Y:-0.12, Z:-0.12 [[ 9.98883839e-01 4.70859918e-02 3.73985451e-03 2.63330256e+01] [-4.70861595e-02 9.98890831e-01 -4.32446010e-05 -1.19993022e-01] [-3.73774259e-03 -1.32899053e-04 9.99993006e-01 -1.20951228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805769231 meters 0.049186833388213363 Centerline is valid? [True, True] Translation: X:26.39, Y:-0.11, Z:-0.12 [[ 9.98802724e-01 4.87102225e-02 4.52024255e-03 2.63936123e+01] [-4.87104837e-02 9.98812938e-01 -5.23613910e-05 -1.08517586e-01] [-4.51742727e-03 -1.67884501e-04 9.99989782e-01 -1.19693422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865769231 meters 0.04891172260944152 Centerline is valid? [True, True] Translation: X:26.45, Y:-0.10, Z:-0.12 [[ 9.98857233e-01 4.77329789e-02 2.40654656e-03 2.64536013e+01] [-4.77330500e-02 9.98860128e-01 -2.79267275e-05 -9.53823368e-02] [-2.40513643e-03 -8.69769932e-05 9.99997104e-01 -1.24174122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925769231 meters 0.0419424894907021 Centerline is valid? [True, True] Translation: X:26.51, Y:-0.09, Z:-0.13 [[ 9.99150713e-01 4.11411045e-02 2.29376367e-03 2.65136636e+01] [-4.11411519e-02 9.99153344e-01 -2.65482453e-05 -9.31713420e-02] [-2.29291386e-03 -6.78423811e-05 9.99997369e-01 -1.25107354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985769231 meters 0.030971226974532997 Centerline is valid? [True, True] Translation: X:26.57, Y:-0.10, Z:-0.13 [[ 9.99481482e-01 3.21144225e-02 2.33030502e-03 2.65740624e+01] [-3.21144469e-02 9.99484198e-01 -2.69706981e-05 -1.00536624e-01] [-2.32996919e-03 -4.78797434e-05 9.99997284e-01 -1.25161764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045769231 meters 0.019470477132282147 Centerline is valid? [True, True] Translation: X:26.64, Y:-0.12, Z:-0.13 [[ 9.99664123e-01 2.59157262e-02 1.26620308e-04 2.66352584e+01] [-2.59157263e-02 9.99664131e-01 -1.29296933e-06 -1.16323093e-01] [-1.26611289e-04 -1.98892220e-06 9.99999992e-01 -1.27208124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105769231 meters 0.018457392884649253 Centerline is valid? [True, True] Translation: X:26.69, Y:-0.12, Z:-0.13 [[ 9.99728042e-01 2.33109336e-02 6.64536514e-04 2.66945670e+01] [-2.33109337e-02 9.99728263e-01 -7.56991679e-06 -1.16553120e-01] [-6.64532397e-04 -7.92310850e-06 9.99999779e-01 -1.26758772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165769231000002 meters 0.015926431637304304 Centerline is valid? [True, True] Translation: X:26.75, Y:-0.12, Z:-0.12 [[ 9.99780613e-01 2.07001136e-02 3.19866304e-03 2.67548709e+01] [-2.07001006e-02 9.99785729e-01 -3.71623590e-05 -1.22485425e-01] [-3.19874692e-03 -2.90584406e-05 9.99994884e-01 -1.22190439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.225769231 meters 0.01344558878827893 Centerline is valid? [True, True] Translation: X:26.82, Y:-0.13, Z:-0.12 [[ 9.99845543e-01 1.70442877e-02 4.28744919e-03 2.68158846e+01] [-1.70442311e-02 9.99854735e-01 -4.97470221e-05 -1.29922354e-01] [-4.28767428e-03 -2.33369364e-05 9.99990808e-01 -1.22540345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285769231 meters 0.01332593335281337 Centerline is valid? [True, True] Translation: X:26.88, Y:-0.13, Z:-0.12 [[ 9.99857903e-01 1.65775745e-02 3.05913581e-03 2.68783349e+01] [-1.65775452e-02 9.99862582e-01 -3.49607845e-05 -1.34881507e-01] [-3.05929500e-03 -1.57571455e-05 9.99995320e-01 -1.24419443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345769231000002 meters 0.013574201836768886 Centerline is valid? [True, True] Translation: X:26.94, Y:-0.14, Z:-0.13 [[ 9.99850084e-01 1.71905541e-02 2.07227730e-03 2.69397027e+01] [-1.71905406e-02 9.99852231e-01 -2.43483369e-05 -1.35272308e-01] [-2.07238964e-03 -1.12788803e-05 9.99997853e-01 -1.25199118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.405769231 meters 0.016923840299789526 Centerline is valid? [True, True] Translation: X:27.00, Y:-0.13, Z:-0.13 [[ 9.99764727e-01 2.16906478e-02 -8.32217751e-05 2.70009009e+01] [-2.16906478e-02 9.99764730e-01 1.15325681e-06 -1.29255126e-01] [ 8.32272104e-05 6.52148735e-07 9.99999997e-01 -1.29898028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465769231 meters 0.020844784157144185 Centerline is valid? [True, True] Translation: X:27.06, Y:-0.12, Z:-0.13 [[ 9.99672332e-01 2.54405699e-02 2.82954480e-03 2.70602102e+01] [-2.54405768e-02 9.99676336e-01 -3.35912034e-05 -1.24819401e-01] [-2.82948355e-03 -3.84050549e-05 9.99995996e-01 -1.26205684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525769231 meters 0.022540284394149575 Centerline is valid? [True, True] Translation: X:27.12, Y:-0.12, Z:-0.13 [[ 9.99596039e-01 2.83057355e-02 2.55818581e-03 2.71218551e+01] [-2.83057509e-02 9.99599312e-01 -3.01894847e-05 -1.23019865e-01] [-2.55801531e-03 -4.22340808e-05 9.99996727e-01 -1.26443350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585769231 meters 0.02605154863048786 Centerline is valid? [True, True] Translation: X:27.18, Y:-0.12, Z:-0.13 [[ 9.99489310e-01 3.19463658e-02 7.41416863e-04 2.71823606e+01] [-3.19463681e-02 9.99489584e-01 -8.79756082e-06 -1.17754956e-01] [-7.41319483e-04 -1.48925080e-05 9.99999725e-01 -1.29472086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645769231 meters 0.028623942170811566 Centerline is valid? [True, True] Translation: X:27.24, Y:-0.11, Z:-0.13 [[ 9.99426906e-01 3.37987731e-02 1.87151240e-03 2.72418747e+01] [-3.37987907e-02 9.99428657e-01 -2.22672008e-05 -1.11091609e-01] [-1.87119573e-03 -4.10004162e-05 9.99998248e-01 -1.29714994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705769231 meters 0.027426342396256576 Centerline is valid? [True, True] Translation: X:27.30, Y:-0.11, Z:-0.13 [[ 9.99428423e-01 3.37142401e-02 2.48535144e-03 2.73021344e+01] [-3.37142711e-02 9.99431512e-01 -2.94619027e-05 -1.09199395e-01] [-2.48493183e-03 -5.43467492e-05 9.99996911e-01 -1.27778009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765769231 meters 0.026428673930178323 Centerline is valid? [True, True] Translation: X:27.36, Y:-0.10, Z:-0.13 [[ 9.99485088e-01 3.19995220e-02 2.36419399e-03 2.73624312e+01] [-3.19995453e-02 9.99487883e-01 -2.79710179e-05 -1.03305718e-01] [-2.36387830e-03 -4.76965173e-05 9.99997205e-01 -1.29414060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825769231 meters 0.021797977847545166 Centerline is valid? [True, True] Translation: X:27.42, Y:-0.10, Z:-0.13 [[ 9.99632109e-01 2.71228207e-02 8.44595209e-06 2.74230585e+01] [-2.71228207e-02 9.99632109e-01 -1.00219229e-07 -1.04412472e-01] [-8.44556312e-06 -1.28895685e-07 1.00000000e+00 -1.34110783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885769231 meters 0.017945431082438842 Centerline is valid? [True, True] Translation: X:27.48, Y:-0.11, Z:-0.14 [[ 9.99735099e-01 2.30140648e-02 -2.91801565e-04 2.74831543e+01] [-2.30140647e-02 9.99735141e-01 3.46250221e-06 -1.08080117e-01] [ 2.91803965e-04 3.25395510e-06 9.99999957e-01 -1.35186651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945769231 meters 0.013908983685911081 Centerline is valid? [True, True] Translation: X:27.54, Y:-0.12, Z:-0.13 [[ 9.99828243e-01 1.84078992e-02 2.15256266e-03 2.75434291e+01] [-1.84078868e-02 9.99830560e-01 -2.55421967e-05 -1.15280216e-01] [-2.15266811e-03 -1.40863201e-05 9.99997683e-01 -1.30497647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.005769231 meters 0.012747846503142451 Centerline is valid? [True, True] Translation: X:27.60, Y:-0.13, Z:-0.13 [[ 9.99959958e-01 8.72156951e-03 2.00410836e-03 2.76034746e+01] [-8.72154003e-03 9.99961966e-01 -2.34517185e-05 -1.29959034e-01] [-2.00423667e-03 5.97186812e-06 9.99997991e-01 -1.32416970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.065769231 meters 0.0177286094608114 Centerline is valid? [True, True] Translation: X:27.66, Y:-0.15, Z:-0.13 [[ 9.99989164e-01 8.63830424e-04 4.57441095e-03 2.76638920e+01] [-8.63590049e-04 9.99999626e-01 -5.45226518e-05 -1.47756568e-01] [-4.57445633e-03 5.05716452e-05 9.99989536e-01 -1.28171605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.125769231 meters 0.019827517893339325 Centerline is valid? [True, True] Translation: X:27.73, Y:-0.16, Z:-0.13 [[ 9.99980396e-01 -3.40215839e-03 5.25678368e-03 2.77260055e+01] [ 3.40253529e-03 9.99994209e-01 -6.27554558e-05 -1.56451971e-01] [-5.25653974e-03 8.06406174e-05 9.99986181e-01 -1.27305525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185769230999995 meters 0.03305758935030051 Centerline is valid? [True, True] Translation: X:27.79, Y:-0.19, Z:-0.14 [[ 9.99906581e-01 -1.36683233e-02 7.41054734e-05 2.77853071e+01] [ 1.36683234e-02 9.99906584e-01 -9.61374755e-07 -1.89395458e-01] [-7.40854104e-05 1.97418252e-06 9.99999997e-01 -1.39137129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245769231 meters 0.03487610532877346 Centerline is valid? [True, True] Translation: X:27.85, Y:-0.20, Z:-0.14 [[ 9.99843935e-01 -1.76575304e-02 -5.63066104e-04 2.78453420e+01] [ 1.76575369e-02 9.99844094e-01 6.66332319e-06 -1.99965891e-01] [ 5.62860660e-04 -1.66046438e-05 9.99999841e-01 -1.39010287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.305769231 meters 0.03570137171094076 Centerline is valid? [True, True] Translation: X:27.90, Y:-0.21, Z:-0.14 [[ 9.99839655e-01 -1.78800247e-02 -9.84389949e-04 2.79039853e+01] [ 1.78800447e-02 9.99840139e-01 1.15127222e-05 -2.12032445e-01] [ 9.84026736e-04 -2.91118125e-05 9.99999515e-01 -1.40536994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365769230999994 meters 0.02633882614752273 Centerline is valid? [True, True] Translation: X:27.96, Y:-0.20, Z:-0.14 [[ 9.99963731e-01 -8.46350133e-03 -9.51981320e-04 2.79638767e+01] [ 8.46351586e-03 9.99964184e-01 1.12325541e-05 -2.03286481e-01] [ 9.51852157e-04 -1.92892557e-05 9.99999547e-01 -1.40365259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425769231 meters 0.017604914931845995 Centerline is valid? [True, True] Translation: X:28.02, Y:-0.19, Z:-0.14 [[ 9.99999002e-01 1.39892478e-03 1.98618253e-04 2.80230645e+01] [-1.39892432e-03 9.99999022e-01 -2.47151946e-06 -1.90987994e-01] [-1.98621517e-04 2.19366509e-06 9.99999980e-01 -1.39122395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.485769231 meters 0.014097773528416166 Centerline is valid? [True, True] Translation: X:28.08, Y:-0.18, Z:-0.14 [[ 9.99978307e-01 6.57613322e-03 3.73534520e-04 2.80833121e+01] [-6.57613202e-03 9.99978377e-01 -4.45033304e-06 -1.80593138e-01] [-3.73555709e-04 1.99382418e-06 9.99999930e-01 -1.39275914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545769230999994 meters 0.012399262168131637 Centerline is valid? [True, True] Translation: X:28.14, Y:-0.17, Z:-0.14 [[ 9.99941445e-01 1.06355969e-02 1.99756237e-03 2.81441458e+01] [-1.06355706e-02 9.99943440e-01 -2.37991867e-05 -1.72660450e-01] [-1.99770250e-03 2.55257769e-06 9.99998005e-01 -1.36462656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605769231 meters 0.013470903126358572 Centerline is valid? [True, True] Translation: X:28.20, Y:-0.16, Z:-0.14 [[ 9.99865634e-01 1.63158307e-02 1.58376299e-03 2.82042560e+01] [-1.63158214e-02 9.99866888e-01 -1.88053409e-05 -1.55295909e-01] [-1.58385900e-03 -7.03757997e-06 9.99998746e-01 -1.38061279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.665769231 meters 0.013739677782127672 Centerline is valid? [True, True] Translation: X:28.27, Y:-0.15, Z:-0.14 [[ 9.99833660e-01 1.81159494e-02 2.11320390e-03 2.82656989e+01] [-1.81159368e-02 9.99835893e-01 -2.50803508e-05 -1.51327909e-01] [-2.11331146e-03 -1.32064895e-05 9.99997767e-01 -1.35459810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725769230999994 meters 0.015290590605755069 Centerline is valid? [True, True] Translation: X:28.33, Y:-0.14, Z:-0.13 [[ 9.99785820e-01 2.03493688e-02 3.77068979e-03 2.83262843e+01] [-2.03493442e-02 9.99792930e-01 -4.48820390e-05 -1.41043410e-01] [-3.77082231e-03 -3.18586383e-05 9.99992890e-01 -1.33896780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785769230999996 meters 0.013941357935468307 Centerline is valid? [True, True] Translation: X:28.39, Y:-0.14, Z:-0.14 [[ 9.99834104e-01 1.80011780e-02 2.77878610e-03 2.83878722e+01] [-1.80011551e-02 9.99837966e-01 -3.32613312e-05 -1.39931603e-01] [-2.77893459e-03 -1.67655462e-05 9.99996139e-01 -1.36417608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.845769231 meters 0.0129898848335726 Centerline is valid? [True, True] Translation: X:28.45, Y:-0.14, Z:-0.14 [[ 9.99891944e-01 1.46999822e-02 -1.02693954e-04 2.84494455e+01] [-1.46999821e-02 9.99891949e-01 1.40191019e-06 -1.42129187e-01] [ 1.02703465e-04 1.07840572e-07 9.99999995e-01 -1.42300698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905769230999994 meters 0.013033154602683195 Centerline is valid? [True, True] Translation: X:28.51, Y:-0.15, Z:-0.14 [[ 9.99959847e-01 8.96119594e-03 -4.30258018e-05 2.85097749e+01] [-8.96119592e-03 9.99959848e-01 5.18580717e-07 -1.45237020e-01] [ 4.30287213e-05 -1.32997255e-07 9.99999999e-01 -1.42235320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965769230999996 meters 0.01549645684357149 Centerline is valid? [True, True] Translation: X:28.57, Y:-0.15, Z:-0.14 [[ 9.99989220e-01 4.18318406e-03 2.01540236e-03 2.85690529e+01] [-4.18314367e-03 9.99991250e-01 -2.42545197e-05 -1.46116302e-01] [-2.01548619e-03 1.58235406e-05 9.99997969e-01 -1.39842800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.025769231 meters 0.018849184282822316 Centerline is valid? [True, True] Translation: X:28.63, Y:-0.15, Z:-0.14 [[ 9.99998171e-01 1.27014425e-04 1.90844506e-03 2.86300308e+01] [-1.26970953e-04 9.99999992e-01 -2.29001524e-05 -1.47170183e-01] [-1.90844795e-03 2.26577935e-05 9.99998179e-01 -1.39357682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.085769231 meters 0.021011761309770883 Centerline is valid? [True, True] Translation: X:28.69, Y:-0.15, Z:-0.14 [[ 9.99992497e-01 -2.33421511e-03 3.09165288e-03 2.86915407e+01] [ 2.33434148e-03 9.99997275e-01 -3.72663267e-05 -1.45847516e-01] [-3.09155747e-03 4.44830206e-05 9.99995220e-01 -1.36370856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.145769230999996 meters 0.020568687974712833 Centerline is valid? [True, True] Translation: X:28.75, Y:-0.14, Z:-0.14 [[ 9.99999183e-01 -1.24848622e-03 2.74083347e-04 2.87522596e+01] [ 1.24848713e-03 9.99999221e-01 -3.16492910e-06 -1.39317617e-01] [-2.74079182e-04 3.50711605e-06 9.99999962e-01 -1.41455974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.205769231 meters 0.019624969695810693 Centerline is valid? [True, True] Translation: X:28.81, Y:-0.14, Z:-0.14 [[ 9.99999533e-01 -2.06277458e-04 9.44508629e-04 2.88125657e+01] [ 2.06288369e-04 9.99999979e-01 -1.14551459e-05 -1.35754602e-01] [-9.44506246e-04 1.16499817e-05 9.99999554e-01 -1.40312783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.265769231 meters 0.019360285507683872 Centerline is valid? [True, True] Translation: X:28.87, Y:-0.13, Z:-0.14 [[ 9.99997290e-01 -1.01539691e-03 2.09521894e-03 2.88729829e+01] [ 1.01545238e-03 9.99999484e-01 -2.54111376e-05 -1.34178595e-01] [-2.09519206e-03 2.75386638e-05 9.99997805e-01 -1.37667701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325769230999995 meters 0.022581117409749805 Centerline is valid? [True, True] Translation: X:28.93, Y:-0.14, Z:-0.14 [[ 9.99993841e-01 -2.92261110e-03 1.94323607e-03 2.89336108e+01] [ 2.92266231e-03 9.99995729e-01 -2.35093521e-05 -1.40352565e-01] [-1.94315906e-03 2.91886301e-05 9.99998112e-01 -1.39532755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.385769231 meters 0.02110930882713789 Centerline is valid? [True, True] Translation: X:29.00, Y:-0.14, Z:-0.14 [[ 9.99989944e-01 -3.17325222e-03 3.16896186e-03 2.89951335e+01] [ 3.17338978e-03 9.99994964e-01 -3.83803877e-05 -1.38784706e-01] [-3.16882411e-03 4.84363529e-05 9.99994978e-01 -1.36109233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.445769231 meters 0.0212069708422735 Centerline is valid? [True, True] Translation: X:29.06, Y:-0.14, Z:-0.14 [[ 9.99990601e-01 -3.35810667e-03 2.74241647e-03 2.90560913e+01] [ 3.35821049e-03 9.99994361e-01 -3.32554473e-05 -1.40774063e-01] [-2.74228932e-03 4.24647465e-05 9.99996239e-01 -1.36633358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505769230999995 meters 0.02188218785853358 Centerline is valid? [True, True] Translation: X:29.12, Y:-0.15, Z:-0.14 [[ 9.99978760e-01 -5.46686544e-03 3.54862603e-03 2.91174574e+01] [ 5.46705302e-03 9.99985055e-01 -4.31605615e-05 -1.50194624e-01] [-3.54833704e-03 6.25601714e-05 9.99993703e-01 -1.35865973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.565769231 meters 0.025575411479413408 Centerline is valid? [True, True] Translation: X:29.18, Y:-0.17, Z:-0.14 [[ 9.99957311e-01 -8.83206707e-03 2.71477822e-03 2.91780028e+01] [ 8.83218932e-03 9.99960995e-01 -3.30457224e-05 -1.65511345e-01] [-2.71438046e-03 5.70217469e-05 9.99996314e-01 -1.38446001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.625769231 meters 0.025142956879986873 Centerline is valid? [True, True] Translation: X:29.24, Y:-0.18, Z:-0.14 [[ 9.99971704e-01 -7.48368517e-03 7.64806974e-04 2.92383202e+01] [ 7.48369446e-03 9.99971997e-01 -9.28305265e-06 -1.75548459e-01] [-7.64716085e-04 1.50063717e-05 9.99999707e-01 -1.41532734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685769230999995 meters 0.021115596191329616 Centerline is valid? [True, True] Translation: X:29.30, Y:-0.18, Z:-0.15 [[ 9.99995101e-01 -2.65340497e-03 -1.66075555e-03 2.92985109e+01] [ 2.65344240e-03 9.99996479e-01 2.03385610e-05 -1.77883789e-01] [ 1.66069574e-03 -2.47451806e-05 9.99998621e-01 -1.45629610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745769231 meters 0.01730754975429842 Centerline is valid? [True, True] Translation: X:29.36, Y:-0.17, Z:-0.15 [[ 9.99996492e-01 2.05576587e-03 -1.67021934e-03 2.93583470e+01] [-2.05573491e-03 9.99997887e-01 2.02498273e-05 -1.74245672e-01] [ 1.67025744e-03 -1.68162280e-05 9.99998605e-01 -1.46578380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.805769231 meters 0.012481867417067463 Centerline is valid? [True, True] Translation: X:29.42, Y:-0.16, Z:-0.14 [[ 9.99929549e-01 1.18669690e-02 -2.68261715e-04 2.94182875e+01] [-1.18669685e-02 9.99929585e-01 3.40062844e-06 -1.62864661e-01] [ 2.68283181e-04 -2.16935537e-07 9.99999964e-01 -1.43938941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865769230999994 meters 0.0211354789512141 Centerline is valid? [True, True] Translation: X:29.48, Y:-0.13, Z:-0.14 [[ 9.99635126e-01 2.69795177e-02 1.31183207e-03 2.94784107e+01] [-2.69795197e-02 9.99635986e-01 -1.61904699e-05 -1.33552199e-01] [-1.31179136e-03 -1.92080369e-05 9.99999139e-01 -1.40194652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925769231 meters 0.026848075284365214 Centerline is valid? [True, True] Translation: X:29.54, Y:-0.12, Z:-0.13 [[ 9.99407006e-01 3.39269480e-02 5.88198408e-03 2.95389546e+01] [-3.39271123e-02 9.99424307e-01 -7.18695211e-05 -1.18980363e-01] [-5.88103618e-03 -1.27731831e-04 9.99982698e-01 -1.33686467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.985769231 meters 0.028119513774504102 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.11, Z:-0.14 [[ 9.99411614e-01 3.41072135e-02 3.62258129e-03 2.95991629e+01] [-3.41072773e-02 9.99418177e-01 -4.41708842e-05 -1.11968710e-01] [-3.62198013e-03 -7.94114900e-05 9.99993437e-01 -1.40112591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.045769230999994 meters 0.029587810867223802 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.10, Z:-0.14 [[ 9.99423066e-01 3.38943146e-02 2.17060165e-03 2.96586994e+01] [-3.38943368e-02 9.99425422e-01 -2.65726755e-05 -1.04818155e-01] [-2.17025513e-03 -4.70137587e-05 9.99997644e-01 -1.42948637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105769231 meters 0.031194007880289268 Centerline is valid? [True, True] Translation: X:29.72, Y:-0.09, Z:-0.14 [[ 9.99348962e-01 3.59784796e-02 2.68349070e-03 2.97185962e+01] [-3.59785211e-02 9.99352563e-01 -3.28504405e-05 -9.30315025e-02] [-2.68293521e-03 -6.37189729e-05 9.99996399e-01 -1.41815659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.165769231 meters 0.033327246158263386 Centerline is valid? [True, True] Translation: X:29.78, Y:-0.09, Z:-0.14 [[ 9.99293157e-01 3.73990507e-02 3.80759375e-03 2.97776804e+01] [-3.73991448e-02 9.99300406e-01 -4.64920911e-05 -8.54529004e-02] [-3.80666874e-03 -9.59415216e-05 9.99992750e-01 -1.40156052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225769230999994 meters 0.03168985447683811 Centerline is valid? [True, True] Translation: X:29.84, Y:-0.07, Z:-0.14 [[ 9.99369201e-01 3.54494362e-02 2.13013621e-03 2.98374118e+01] [-3.54494613e-02 9.99371470e-01 -2.59856595e-05 -7.18225702e-02] [-2.12971854e-03 -4.95429136e-05 9.99997731e-01 -1.44810355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285769230999996 meters 0.027252332881104905 Centerline is valid? [True, True] Translation: X:29.90, Y:-0.07, Z:-0.15 [[ 9.99500723e-01 3.15849470e-02 -8.33784144e-04 2.98967162e+01] [-3.15849497e-02 9.99501071e-01 9.92931107e-06 -7.36873557e-02] [ 8.33681761e-04 1.64106767e-05 9.99999652e-01 -1.50524390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.345769231 meters 0.017390155859635444 Centerline is valid? [True, True] Translation: X:29.96, Y:-0.08, Z:-0.15 [[ 9.99726165e-01 2.33790264e-02 -1.00825028e-03 2.99563858e+01] [-2.33790262e-02 9.99726673e-01 1.20011879e-05 -7.81916444e-02] [ 1.00825527e-03 1.15740081e-05 9.99999492e-01 -1.50983364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405769230999994 meters 0.011754306208106838 Centerline is valid? [True, True] Translation: X:30.02, Y:-0.09, Z:-0.14 [[ 9.99917969e-01 1.20431713e-02 4.36092390e-03 3.00152355e+01] [-1.20430558e-02 9.99927478e-01 -5.27313640e-05 -8.76180973e-02] [-4.36124269e-03 2.08188356e-07 9.99990490e-01 -1.44024881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465769230999996 meters 0.01928333659486765 Centerline is valid? [True, True] Translation: X:30.08, Y:-0.11, Z:-0.14 [[ 9.99988006e-01 -1.93842324e-03 4.49781709e-03 3.00764363e+01] [ 1.93868639e-03 9.99998119e-01 -5.41478222e-05 -1.09683654e-01] [-4.49770367e-03 6.28670295e-05 9.99989883e-01 -1.44135839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.525769231 meters 0.02951286711520617 Centerline is valid? [True, True] Translation: X:30.14, Y:-0.13, Z:-0.15 [[ 9.99909975e-01 -1.28819040e-02 3.75480262e-03 3.01364486e+01] [ 1.28821650e-02 9.99917020e-01 -4.53362262e-05 -1.33656396e-01] [-3.75390704e-03 9.37021319e-05 9.99992950e-01 -1.46421398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.585769231 meters 0.034044781408059596 Centerline is valid? [True, True] Translation: X:30.20, Y:-0.15, Z:-0.14 [[ 9.99855136e-01 -1.63155419e-02 4.84863376e-03 3.01960301e+01] [ 1.63160171e-02 9.99866883e-01 -5.84646610e-05 -1.46202904e-01] [-4.84703445e-03 1.37566583e-04 9.99988244e-01 -1.43446183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.645769230999996 meters 0.03257753562963794 Centerline is valid? [True, True] Translation: X:30.26, Y:-0.15, Z:-0.15 [[ 9.99866601e-01 -1.63123258e-02 8.29844142e-04 3.02575886e+01] [ 1.63123396e-02 9.99866945e-01 -9.83874014e-06 -1.53509644e-01] [-8.29573234e-04 2.33741271e-05 9.99999656e-01 -1.49923301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.705769231 meters 0.028875331901295334 Centerline is valid? [True, True] Translation: X:30.32, Y:-0.16, Z:-0.15 [[ 9.99927397e-01 -1.18849782e-02 1.98673104e-03 3.03177191e+01] [ 1.18850498e-02 9.99929370e-01 -2.42160610e-05 -1.61643617e-01] [-1.98630291e-03 4.78267001e-05 9.99998026e-01 -1.49507679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.765769231 meters 0.021280724912549925 Centerline is valid? [True, True] Translation: X:30.38, Y:-0.16, Z:-0.14 [[ 9.99979171e-01 -4.17546625e-03 4.92168505e-03 3.03786284e+01] [ 4.17581107e-03 9.99991279e-01 -5.97863460e-05 -1.58116992e-01] [-4.92139249e-03 8.03371277e-05 9.99987887e-01 -1.43030794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825769230999995 meters 0.013102587450914034 Centerline is valid? [True, True] Translation: X:30.44, Y:-0.14, Z:-0.15 [[ 9.99961836e-01 8.73442344e-03 -1.91034517e-04 3.04381296e+01] [-8.73442318e-03 9.99961854e-01 2.23538042e-06 -1.44496397e-01] [ 1.91046755e-04 -5.66718791e-07 9.99999982e-01 -1.52382749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.885769231 meters 0.01508476027152244 Centerline is valid? [True, True] Translation: X:30.50, Y:-0.13, Z:-0.15 [[ 9.99799007e-01 1.98766993e-02 2.61969462e-03 3.04979375e+01] [-1.98766840e-02 9.99802439e-01 -3.18929798e-05 -1.25845881e-01] [-2.61981099e-03 -2.01842725e-05 9.99996568e-01 -1.48656538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.945769231 meters 0.014571643865993225 Centerline is valid? [True, True] Translation: X:30.56, Y:-0.13, Z:-0.14 [[ 9.99780238e-01 1.99743823e-02 6.36398290e-03 3.05581559e+01] [-1.99742961e-02 9.99800491e-01 -7.70991475e-05 -1.26510324e-01] [-6.36425323e-03 -5.00338751e-05 9.99979747e-01 -1.41650148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005769230999995 meters 0.012361954188372706 Centerline is valid? [True, True] Translation: X:30.62, Y:-0.13, Z:-0.15 [[ 9.99859699e-01 1.58748270e-02 5.34538736e-03 3.06198866e+01] [-1.58747093e-02 9.99873987e-01 -6.44608637e-05 -1.32892030e-01] [-5.34573708e-03 -2.04046505e-05 9.99985711e-01 -1.45446058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065769231 meters 0.012385001696782453 Centerline is valid? [True, True] Translation: X:30.68, Y:-0.15, Z:-0.15 [[ 9.99953508e-01 9.24262200e-03 2.74879657e-03 3.06819815e+01] [-9.24256746e-03 9.99957286e-01 -3.25448991e-05 -1.48787942e-01] [-2.74897995e-03 7.13744828e-06 9.99996222e-01 -1.49961723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.125769231 meters 0.012828044204231108 Centerline is valid? [True, True] Translation: X:30.74, Y:-0.15, Z:-0.15 [[ 9.99966265e-01 7.46590884e-03 3.42481515e-03 3.07434196e+01] [-7.46580890e-03 9.99972130e-01 -4.19635532e-05 -1.54570540e-01] [-3.42503300e-03 1.63931220e-05 9.99994134e-01 -1.47422356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185769230999995 meters 0.012579691653981314 Centerline is valid? [True, True] Translation: X:30.80, Y:-0.16, Z:-0.15 [[ 9.99956740e-01 8.57014914e-03 3.61544339e-03 3.08040724e+01] [-8.57004551e-03 9.99963276e-01 -4.41567810e-05 -1.58777266e-01] [-3.61568905e-03 1.31703564e-05 9.99993463e-01 -1.48751759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245769231 meters 0.012830231042402019 Centerline is valid? [True, True] Translation: X:30.87, Y:-0.16, Z:-0.15 [[ 9.99958009e-01 8.80863017e-03 2.52758799e-03 3.08653785e+01] [-8.80857937e-03 9.99961203e-01 -3.12302478e-05 -1.60824912e-01] [-2.52776502e-03 8.96447700e-06 9.99996805e-01 -1.51858243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.305769231 meters 0.01343588032114226 Centerline is valid? [True, True] Translation: X:30.93, Y:-0.17, Z:-0.15 [[ 9.99968419e-01 7.64592373e-03 2.16837340e-03 3.09266756e+01] [-7.64588355e-03 9.99970769e-01 -2.68201946e-05 -1.65419673e-01] [-2.16851509e-03 1.02402171e-05 9.99997649e-01 -1.52903301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365769230999994 meters 0.014636869849067032 Centerline is valid? [True, True] Translation: X:30.99, Y:-0.17, Z:-0.16 [[ 9.99982629e-01 5.80067357e-03 1.04550108e-03 3.09883194e+01] [-5.80066328e-03 9.99983176e-01 -1.28701361e-05 -1.69110477e-01] [-1.04555815e-03 6.80531283e-06 9.99999453e-01 -1.56169892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425769231 meters 0.012722157483728232 Centerline is valid? [True, True] Translation: X:31.05, Y:-0.17, Z:-0.15 [[ 9.99952385e-01 9.59757082e-03 1.76488994e-03 3.10488754e+01] [-9.59754704e-03 9.99953942e-01 -2.19438166e-05 -1.66182553e-01] [-1.76501926e-03 5.00415755e-06 9.99998442e-01 -1.54311544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.485769231 meters 0.012738972256649245 Centerline is valid? [True, True] Translation: X:31.11, Y:-0.16, Z:-0.15 [[ 9.99871746e-01 1.57444048e-02 2.93340181e-03 3.11095599e+01] [-1.57443651e-02 9.99876049e-01 -3.66070776e-05 -1.55787340e-01] [-2.93361457e-03 -9.58216658e-06 9.99995697e-01 -1.52158887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545769230999994 meters 0.016574655509650354 Centerline is valid? [True, True] Translation: X:31.17, Y:-0.15, Z:-0.15 [[ 9.99751189e-01 2.19395079e-02 4.02728744e-03 3.11703690e+01] [-2.19394835e-02 9.99759299e-01 -5.02581075e-05 -1.45435834e-01] [-4.02742070e-03 -3.81110035e-05 9.99991889e-01 -1.50874062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605769231 meters 0.016598543769073423 Centerline is valid? [True, True] Translation: X:31.23, Y:-0.15, Z:-0.15 [[ 9.99757772e-01 2.15882959e-02 4.28288831e-03 3.12303361e+01] [-2.15882651e-02 9.99766945e-01 -5.34168620e-05 -1.46485825e-01] [-4.28304334e-03 -3.90562052e-05 9.99990827e-01 -1.52073017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.665769231 meters 0.01326130277906455 Centerline is valid? [True, True] Translation: X:31.29, Y:-0.16, Z:-0.16 [[ 9.99850420e-01 1.71747615e-02 2.04098815e-03 3.12913573e+01] [-1.71747455e-02 9.99852503e-01 -2.53711503e-05 -1.57958482e-01] [-2.04112286e-03 -9.68609679e-06 9.99997917e-01 -1.56633499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725769230999994 meters 0.012773698780278252 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.16, Z:-0.16 [[ 9.99882400e-01 1.52122848e-02 1.94243953e-03 3.13517589e+01] [-1.52122664e-02 9.99884286e-01 -2.42484648e-05 -1.63319734e-01] [-1.94258364e-03 -5.30329442e-06 9.99998113e-01 -1.57067063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785769230999996 meters 0.012057566057923273 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.17, Z:-0.15 [[ 9.99893036e-01 1.38875589e-02 4.58817969e-03 3.14129761e+01] [-1.38874416e-02 9.99903563e-01 -5.74201181e-05 -1.71420424e-01] [-4.58853464e-03 -6.30410120e-06 9.99989473e-01 -1.53376426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.845769231 meters 0.012160438360242418 Centerline is valid? [True, True] Translation: X:31.47, Y:-0.18, Z:-0.16 [[ 9.99888769e-01 1.43954563e-02 3.90133148e-03 3.14749998e+01] [-1.43953769e-02 9.99896380e-01 -4.84361751e-05 -1.77285296e-01] [-3.90162449e-03 -7.73034959e-06 9.99992389e-01 -1.55629627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905769230999994 meters 0.012705686506614241 Centerline is valid? [True, True] Translation: X:31.54, Y:-0.18, Z:-0.16 [[ 9.99882822e-01 1.52573547e-02 1.24689843e-03 3.15357783e+01] [-1.52573479e-02 9.99883600e-01 -1.49608604e-05 -1.79728018e-01] [-1.24698156e-03 -4.06525592e-06 9.99999223e-01 -1.60123760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965769230999996 meters 0.015339510083435178 Centerline is valid? [True, True] Translation: X:31.60, Y:-0.17, Z:-0.16 [[ 9.99806957e-01 1.94710957e-02 2.63173438e-03 3.15962820e+01] [-1.94710741e-02 9.99810420e-01 -3.38356937e-05 -1.73373495e-01] [-2.63189428e-03 -1.74135332e-05 9.99996536e-01 -1.58980512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.025769231 meters 0.01743682184989802 Centerline is valid? [True, True] Translation: X:31.66, Y:-0.17, Z:-0.16 [[ 9.99760940e-01 2.16639296e-02 2.95576411e-03 3.16570842e+01] [-2.16639118e-02 9.99765309e-01 -3.80505182e-05 -1.67615843e-01] [-2.95589474e-03 -2.59919909e-05 9.99995631e-01 -1.57886924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08576923099999 meters 0.013392004146474063 Centerline is valid? [True, True] Translation: X:31.72, Y:-0.18, Z:-0.16 [[ 9.99830859e-01 1.79830308e-02 3.85540564e-03 3.17182973e+01] [-1.79829730e-02 9.99838292e-01 -4.96541329e-05 -1.76534960e-01] [-3.85567512e-03 -1.96859214e-05 9.99992567e-01 -1.55741729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.145769230999996 meters 0.012340973065473224 Centerline is valid? [True, True] Translation: X:31.78, Y:-0.18, Z:-0.16 [[ 9.99878957e-01 1.49041746e-02 4.46514429e-03 3.17798116e+01] [-1.49040666e-02 9.99888927e-01 -5.74604353e-05 -1.82170996e-01] [-4.46550473e-03 -9.09532768e-06 9.99990030e-01 -1.56153006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.205769231 meters 0.01212779321708977 Centerline is valid? [True, True] Translation: X:31.84, Y:-0.19, Z:-0.16 [[ 9.99904665e-01 1.33760178e-02 3.42682210e-03 3.18419114e+01] [-1.33759455e-02 9.99910537e-01 -4.40141597e-05 -1.86028944e-01] [-3.42710426e-03 -1.82702202e-06 9.99994127e-01 -1.57804977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.265769231 meters 0.012932201160237005 Centerline is valid? [True, True] Translation: X:31.90, Y:-0.19, Z:-0.16 [[ 9.99940046e-01 1.09088546e-02 9.48894930e-04 3.19029010e+01] [-1.09088477e-02 9.99940497e-01 -1.23652279e-05 -1.92904099e-01] [-9.48973358e-04 2.01313623e-06 9.99999550e-01 -1.62787491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325769230999995 meters 0.012341221284426952 Centerline is valid? [True, True] Translation: X:31.96, Y:-0.19, Z:-0.16 [[ 9.99917934e-01 1.24745561e-02 2.91718148e-03 3.19634191e+01] [-1.24744976e-02 9.99922190e-01 -3.82669034e-05 -1.93768869e-01] [-2.91743185e-03 1.87338980e-06 9.99995744e-01 -1.61649488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.385769231 meters 0.012415324722151901 Centerline is valid? [True, True] Translation: X:32.02, Y:-0.19, Z:-0.15 [[ 9.99857932e-01 1.58116815e-02 5.84003776e-03 3.20246034e+01] [-1.58114990e-02 9.99874987e-01 -7.74225703e-05 -1.88118199e-01] [-5.84053186e-03 -1.49281799e-05 9.99982944e-01 -1.54679087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.445769231 meters 0.01276061168296843 Centerline is valid? [True, True] Translation: X:32.09, Y:-0.19, Z:-0.16 [[ 9.99844697e-01 1.68811480e-02 5.06050728e-03 3.20864716e+01] [-1.68810256e-02 9.99857503e-01 -6.69115396e-05 -1.90603308e-01] [-5.06091572e-03 -1.85254049e-05 9.99987193e-01 -1.55663272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505769230999995 meters 0.012952659093995865 Centerline is valid? [True, True] Translation: X:32.15, Y:-0.19, Z:-0.16 [[ 9.99840242e-01 1.72896172e-02 4.53429189e-03 3.21484611e+01] [-1.72895203e-02 9.99850523e-01 -6.05632133e-05 -1.93678918e-01] [-4.53466123e-03 -1.78421937e-05 9.99989718e-01 -1.58272331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565769231 meters 0.01486117367653499 Centerline is valid? [True, True] Translation: X:32.21, Y:-0.19, Z:-0.16 [[ 9.99767639e-01 2.11695957e-02 4.06412440e-03 3.22108059e+01] [-2.11695479e-02 9.99775899e-01 -5.47852249e-05 -1.89881293e-01] [-4.06437341e-03 -3.12631813e-05 9.99991740e-01 -1.58525626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.625769231 meters 0.02376834756796628 Centerline is valid? [True, True] Translation: X:32.27, Y:-0.17, Z:-0.16 [[ 9.99504726e-01 3.13717172e-02 2.47355040e-03 3.22723338e+01] [-3.13717291e-02 9.99507786e-01 -3.40035310e-05 -1.70056858e-01] [-2.47339963e-03 -4.36128632e-05 9.99996940e-01 -1.60199316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685769230999995 meters 0.038728202298785507 Centerline is valid? [True, True] Translation: X:32.33, Y:-0.14, Z:-0.16 [[ 9.99110538e-01 4.18083588e-02 5.49483193e-03 3.23322120e+01] [-4.18085741e-02 9.99125636e-01 -7.57246540e-05 -1.39838369e-01] [-5.49319337e-03 -1.54073788e-04 9.99984900e-01 -1.56485055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745769231 meters 0.043386491176653184 Centerline is valid? [True, True] Translation: X:32.39, Y:-0.12, Z:-0.16 [[ 9.99017823e-01 4.39945026e-02 5.27945038e-03 3.23920792e+01] [-4.39947319e-02 9.99031760e-01 -7.27391865e-05 -1.21121440e-01] [-5.27753874e-03 -1.59600261e-04 9.99986061e-01 -1.57322542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.805769231 meters 0.04245862889658869 Centerline is valid? [True, True] Translation: X:32.45, Y:-0.11, Z:-0.16 [[ 9.99031716e-01 4.38658548e-02 3.37903945e-03 3.24523017e+01] [-4.38659477e-02 9.99037425e-01 -4.66383946e-05 -1.13593875e-01] [-3.37783270e-03 -1.01631532e-04 9.99994290e-01 -1.61783835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865769230999994 meters 0.03148620163468873 Centerline is valid? [True, True] Translation: X:32.51, Y:-0.12, Z:-0.16 [[ 9.99254801e-01 3.83050850e-02 4.74999096e-03 3.25122210e+01] [-3.83052068e-02 9.99266084e-01 -6.53572568e-05 -1.17509332e-01] [-4.74900838e-03 -1.16640834e-04 9.99988717e-01 -1.59219351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925769231 meters 0.0176586544160296 Centerline is valid? [True, True] Translation: X:32.57, Y:-0.14, Z:-0.16 [[ 9.99742699e-01 2.24107597e-02 3.50628309e-03 3.25718106e+01] [-2.24107284e-02 9.99748847e-01 -4.82041075e-05 -1.37819712e-01] [-3.50648276e-03 -3.03866536e-05 9.99993852e-01 -1.64659799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.985769231 meters 0.01601369327711318 Centerline is valid? [True, True] Translation: X:32.63, Y:-0.17, Z:-0.16 [[ 9.99965061e-01 6.95456154e-03 4.63789753e-03 3.26335870e+01] [-6.95434196e-03 9.99975816e-01 -6.34709168e-05 -1.71026800e-01] [-4.63822678e-03 3.12151739e-05 9.99989243e-01 -1.61354069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045769230999994 meters 0.018127546665429695 Centerline is valid? [True, True] Translation: X:32.70, Y:-0.18, Z:-0.16 [[ 9.99979962e-01 3.36667841e-03 5.36113580e-03 3.26951760e+01] [-3.36632837e-03 9.99994331e-01 -7.43148915e-05 -1.78773572e-01] [-5.36135560e-03 5.62660588e-05 9.99985626e-01 -1.60143547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105769231 meters 0.022723630175634366 Centerline is valid? [True, True] Translation: X:32.76, Y:-0.19, Z:-0.16 [[ 9.99972208e-01 -3.61206816e-03 6.52202199e-03 3.27560516e+01] [ 3.61274266e-03 9.99993470e-01 -9.16410947e-05 -1.92126485e-01] [-6.52164839e-03 1.15200935e-04 9.99978727e-01 -1.56740185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.165769231 meters 0.024745464675875625 Centerline is valid? [True, True] Translation: X:32.82, Y:-0.20, Z:-0.16 [[ 9.99985485e-01 -4.52437596e-03 2.92554942e-03 3.28174678e+01] [ 4.52451526e-03 9.99989763e-01 -4.09997092e-05 -2.01681365e-01] [-2.92533398e-03 5.42358072e-05 9.99995720e-01 -1.63252910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225769230999994 meters 0.026120958835246448 Centerline is valid? [True, True] Translation: X:32.88, Y:-0.21, Z:-0.16 [[ 9.99976714e-01 -6.19779543e-03 2.85623147e-03 3.28788577e+01] [ 6.19793545e-03 9.99980792e-01 -4.01731236e-05 -2.11809787e-01] [-2.85592762e-03 5.78749264e-05 9.99995920e-01 -1.63550534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285769230999996 meters 0.022858593421157786 Centerline is valid? [True, True] Translation: X:32.94, Y:-0.21, Z:-0.16 [[ 9.99994762e-01 -1.98748812e-03 2.55451583e-03 3.29392435e+01] [ 1.98758663e-03 9.99998024e-01 -3.60239665e-05 -2.13125531e-01] [-2.55443918e-03 4.11010993e-05 9.99996737e-01 -1.63528604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.345769231 meters 0.015118469449336007 Centerline is valid? [True, True] Translation: X:33.00, Y:-0.20, Z:-0.16 [[ 9.99970669e-01 7.49376226e-03 1.58237332e-03 3.29996836e+01] [-7.49373625e-03 9.99971921e-01 -2.23653407e-05 -2.00416309e-01] [-1.58249649e-03 1.05067964e-05 9.99998748e-01 -1.64713386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405769230999994 meters 0.014706537830482815 Centerline is valid? [True, True] Translation: X:33.06, Y:-0.18, Z:-0.17 [[ 9.99810816e-01 1.94053473e-02 1.32867192e-03 3.30599705e+01] [-1.94053396e-02 9.99811698e-01 -1.87138275e-05 -1.80569195e-01] [-1.32878488e-03 -7.07304269e-06 9.99999117e-01 -1.65891774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465769230999996 meters 0.019971668116705598 Centerline is valid? [True, True] Translation: X:33.12, Y:-0.16, Z:-0.16 [[ 9.99653614e-01 2.61687548e-02 2.80133228e-03 3.31201718e+01] [-2.61687465e-02 9.99657539e-01 -3.96246588e-05 -1.62210211e-01] [-2.80140986e-03 -3.36964209e-05 9.99996075e-01 -1.64349564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.525769231 meters 0.01895815638087809 Centerline is valid? [True, True] Translation: X:33.18, Y:-0.16, Z:-0.17 [[ 9.99691080e-01 2.47627482e-02 2.13309519e-03 3.31809249e+01] [-2.47627402e-02 9.99693356e-01 -3.01747858e-05 -1.58986220e-01] [-2.13318830e-03 -2.26558180e-05 9.99997724e-01 -1.66612034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58576923099999 meters 0.013424628464862948 Centerline is valid? [True, True] Translation: X:33.24, Y:-0.17, Z:-0.17 [[ 9.99868375e-01 1.59946774e-02 2.72092260e-03 3.32417306e+01] [-1.59946321e-02 9.99872077e-01 -3.83941556e-05 -1.66337120e-01] [-2.72118863e-03 -5.13105404e-06 9.99996298e-01 -1.66491918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.645769230999996 meters 0.019558499441018312 Centerline is valid? [True, True] Translation: X:33.30, Y:-0.19, Z:-0.16 [[ 9.99986166e-01 3.07702731e-03 4.26606324e-03 3.33027772e+01] [-3.07679912e-03 9.99995265e-01 -6.00515114e-05 -1.88104497e-01] [-4.26622782e-03 4.69248610e-05 9.99990899e-01 -1.64212419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.705769231 meters 0.023502582352947405 Centerline is valid? [True, True] Translation: X:33.36, Y:-0.20, Z:-0.17 [[ 9.99993126e-01 -3.70669192e-03 8.67288880e-05 3.33636010e+01] [ 3.70669204e-03 9.99993130e-01 -1.15779616e-06 -1.95440152e-01] [-8.67240006e-05 1.47926548e-06 9.99999996e-01 -1.71369880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.765769231 meters 0.0259779036746026 Centerline is valid? [True, True] Translation: X:33.42, Y:-0.21, Z:-0.17 [[ 9.99982195e-01 -5.92811884e-03 6.83121392e-04 3.34235819e+01] [ 5.92812686e-03 9.99982428e-01 -9.70874586e-06 -2.05284456e-01] [-6.83051834e-04 1.37582033e-05 9.99999767e-01 -1.69197018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825769230999995 meters 0.028354473409432448 Centerline is valid? [True, True] Translation: X:33.48, Y:-0.22, Z:-0.17 [[ 9.99963119e-01 -8.54922545e-03 8.19967343e-04 3.34838910e+01] [ 8.54923796e-03 9.99963455e-01 -1.17534931e-05 -2.15103209e-01] [-8.19836893e-04 1.87631556e-05 9.99999664e-01 -1.69126125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.885769231 meters 0.03686132221523655 Centerline is valid? [True, True] Translation: X:33.54, Y:-0.25, Z:-0.17 [[ 9.99862829e-01 -1.62707087e-02 3.09629249e-03 3.35425442e+01] [ 1.62709236e-02 9.99867619e-01 -4.42352613e-05 -2.45416403e-01] [-3.09516286e-03 9.46087320e-05 9.99995205e-01 -1.66549033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.945769231 meters 0.03640813023823756 Centerline is valid? [True, True] Translation: X:33.60, Y:-0.25, Z:-0.17 [[ 9.99879370e-01 -1.54672874e-02 1.41718902e-03 3.36029999e+01] [ 1.54673318e-02 9.99880373e-01 -2.03672717e-05 -2.52146828e-01] [-1.41670446e-03 4.22849477e-05 9.99998996e-01 -1.68853362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005769230999995 meters 0.028826677119655638 Centerline is valid? [True, True] Translation: X:33.66, Y:-0.25, Z:-0.17 [[ 9.99974895e-01 -7.08326674e-03 -1.92064319e-04 3.36626560e+01] [ 7.08326738e-03 9.99974913e-01 2.66221007e-06 -2.46480370e-01] [ 1.92040644e-04 -4.02258616e-06 9.99999982e-01 -1.70756034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065769231 meters 0.01921870490598785 Centerline is valid? [True, True] Translation: X:33.72, Y:-0.23, Z:-0.17 [[ 9.99993999e-01 3.24252056e-03 1.21946801e-03 3.37218603e+01] [-3.24250152e-03 9.99994743e-01 -1.75883311e-05 -2.32466627e-01] [-1.21951862e-03 1.36340987e-05 9.99999256e-01 -1.69583109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.125769231 meters 0.015962642053777273 Centerline is valid? [True, True] Translation: X:33.78, Y:-0.22, Z:-0.17 [[ 9.99969845e-01 7.58825984e-03 1.65130566e-03 3.37828712e+01] [-7.58823104e-03 9.99971209e-01 -2.37037509e-05 -2.23933241e-01] [-1.65143799e-03 1.11725472e-05 9.99998636e-01 -1.69706704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185769230999995 meters 0.01517552068787125 Centerline is valid? [True, True] Translation: X:33.84, Y:-0.22, Z:-0.17 [[ 9.99957565e-01 8.85536284e-03 2.53992325e-03 3.38433825e+01] [-8.85529956e-03 9.99960790e-01 -3.61610666e-05 -2.18301534e-01] [-2.54014388e-03 1.36677509e-05 9.99996774e-01 -1.67120805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245769231 meters 0.015789112453855714 Centerline is valid? [True, True] Translation: X:33.90, Y:-0.22, Z:-0.17 [[ 9.99962306e-01 7.86698888e-03 3.67394427e-03 3.39048565e+01] [-7.86684787e-03 9.99969054e-01 -5.28316041e-05 -2.17546061e-01] [-3.67424620e-03 2.39272520e-05 9.99993250e-01 -1.65978716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.305769231 meters 0.017202096295430597 Centerline is valid? [True, True] Translation: X:33.97, Y:-0.22, Z:-0.17 [[ 9.99973387e-01 6.23281382e-03 3.79184519e-03 3.39669736e+01] [-6.23265314e-03 9.99980575e-01 -5.41908110e-05 -2.20632555e-01] [-3.79210929e-03 3.05561129e-05 9.99992809e-01 -1.65932629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365769230999994 meters 0.017830779391352514 Centerline is valid? [True, True] Translation: X:34.03, Y:-0.22, Z:-0.17 [[ 9.99977927e-01 5.86686361e-03 3.11851142e-03 3.40282339e+01] [-5.86675211e-03 9.99982789e-01 -4.49031407e-05 -2.19035314e-01] [-3.11872119e-03 2.66066162e-05 9.99995136e-01 -1.67469203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425769231 meters 0.015897229984880835 Centerline is valid? [True, True] Translation: X:34.09, Y:-0.21, Z:-0.18 [[ 9.99957896e-01 9.16382231e-03 -4.79406422e-04 3.40893859e+01] [-9.16381990e-03 9.99958011e-01 7.22180694e-06 -2.08944338e-01] [ 4.79452472e-04 -2.82830876e-06 9.99999885e-01 -1.75273143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.485769231 meters 0.01767588369646818 Centerline is valid? [True, True] Translation: X:34.15, Y:-0.21, Z:-0.17 [[ 9.99975938e-01 6.86929155e-03 9.67684926e-04 3.41491774e+01] [-6.86928129e-03 9.99976406e-01 -1.39291962e-05 -2.12900141e-01] [-9.67757778e-04 7.28156108e-06 9.99999532e-01 -1.74621269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545769230999994 meters 0.023846672373660772 Centerline is valid? [True, True] Translation: X:34.21, Y:-0.22, Z:-0.18 [[ 9.99999329e-01 -1.11181006e-03 -3.25638987e-04 3.42103520e+01] [ 1.11181174e-03 9.99999382e-01 4.98448698e-06 -2.24255730e-01] [ 3.25633244e-04 -5.34653288e-06 9.99999947e-01 -1.76342427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605769231 meters 0.0322281067799623 Centerline is valid? [True, True] Translation: X:34.27, Y:-0.24, Z:-0.18 [[ 9.99982163e-01 -5.94351645e-03 -5.90520496e-04 3.42694393e+01] [ 5.94352260e-03 9.99982337e-01 8.66462891e-06 -2.43557903e-01] [ 5.90458568e-04 -1.21742463e-05 9.99999826e-01 -1.77884467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.665769231 meters 0.03259824729482535 Centerline is valid? [True, True] Translation: X:34.33, Y:-0.26, Z:-0.17 [[ 9.99955518e-01 -9.29208112e-03 1.61867425e-03 3.43296308e+01] [ 9.29213209e-03 9.99956827e-01 -2.39661536e-05 -2.56263189e-01] [-1.61838167e-03 3.90060224e-05 9.99998690e-01 -1.72425537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725769230999994 meters 0.029802663456715683 Centerline is valid? [True, True] Translation: X:34.39, Y:-0.27, Z:-0.17 [[ 9.99970145e-01 -7.60779701e-03 1.35310576e-03 3.43899622e+01] [ 7.60783108e-03 9.99971060e-01 -2.00341363e-05 -2.67639255e-01] [-1.35291419e-03 3.03277383e-05 9.99999084e-01 -1.72099870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785769230999996 meters 0.02534579538657349 Centerline is valid? [True, True] Translation: X:34.45, Y:-0.27, Z:-0.17 [[ 9.99987386e-01 -3.92122334e-03 3.13885616e-03 3.44505905e+01] [ 3.92138853e-03 9.99992310e-01 -4.64740259e-05 -2.68995532e-01] [-3.13864979e-03 5.87821142e-05 9.99995073e-01 -1.68253841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.845769231 meters 0.017118837728959387 Centerline is valid? [True, True] Translation: X:34.51, Y:-0.27, Z:-0.17 [[ 9.99977350e-01 5.90918377e-03 3.22210912e-03 3.45102985e+01] [-5.90906072e-03 9.99982540e-01 -4.77066724e-05 -2.68337509e-01] [-3.22233477e-03 2.86659533e-05 9.99994808e-01 -1.69989724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905769230999994 meters 0.014973425101584188 Centerline is valid? [True, True] Translation: X:34.57, Y:-0.26, Z:-0.18 [[ 9.99838509e-01 1.78596374e-02 -1.99712519e-03 3.45708412e+01] [-1.78596137e-02 9.99840504e-01 2.96717511e-05 -2.55425773e-01] [ 1.99733659e-03 6.00092515e-06 9.99998005e-01 -1.78790538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965769230999996 meters 0.017069214611148846 Centerline is valid? [True, True] Translation: X:34.63, Y:-0.25, Z:-0.18 [[ 9.99752509e-01 2.22026170e-02 -1.40193240e-03 3.46309396e+01] [-2.22026100e-02 9.99753491e-01 2.05810106e-05 -2.49455202e-01] [ 1.40204376e-03 1.05506412e-05 9.99999017e-01 -1.77631019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.025769231 meters 0.0308067459119923 Centerline is valid? [True, True] Translation: X:34.69, Y:-0.22, Z:-0.17 [[ 9.99324996e-01 3.63879948e-02 5.04638981e-03 3.46911565e+01] [-3.63880814e-02 9.99337732e-01 -7.46858835e-05 -2.17720419e-01] [-5.04576542e-03 -1.08992973e-04 9.99987264e-01 -1.65625265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08576923099999 meters 0.03674602710599208 Centerline is valid? [True, True] Translation: X:34.75, Y:-0.21, Z:-0.17 [[ 9.99135581e-01 4.14917040e-02 2.55515043e-03 3.47523615e+01] [-4.14917431e-02 9.99138846e-01 -3.77187541e-05 -2.05225274e-01] [-2.55451507e-03 -6.83314960e-05 9.99996735e-01 -1.72040664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.145769230999996 meters 0.038337365280220206 Centerline is valid? [True, True] Translation: X:34.81, Y:-0.19, Z:-0.17 [[ 9.99102742e-01 4.23134559e-02 1.81163590e-03 3.48118755e+01] [-4.23134767e-02 9.99104383e-01 -2.68549884e-05 -1.88346501e-01] [-1.81114970e-03 -4.98257211e-05 9.99998359e-01 -1.73249062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.205769231 meters 0.032475261013420485 Centerline is valid? [True, True] Translation: X:34.87, Y:-0.18, Z:-0.17 [[ 9.99125946e-01 4.17304946e-02 2.43088775e-03 3.48712429e+01] [-4.17305304e-02 9.99128901e-01 -3.60413675e-05 -1.81222050e-01] [-2.43027423e-03 -6.54323696e-05 9.99997045e-01 -1.70322479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.265769231 meters 0.02813963965487445 Centerline is valid? [True, True] Translation: X:34.93, Y:-0.17, Z:-0.17 [[ 9.99321594e-01 3.66442809e-02 3.68073566e-03 3.49312280e+01] [-3.66443292e-02 9.99328370e-01 -5.43574964e-05 -1.70132762e-01] [-3.68025546e-03 -8.05574691e-05 9.99993225e-01 -1.70290180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325769230999995 meters 0.021665363597653513 Centerline is valid? [True, True] Translation: X:34.99, Y:-0.17, Z:-0.17 [[ 9.99602039e-01 2.81163766e-02 2.28773310e-03 3.49911908e+01] [-2.81163730e-02 9.99604656e-01 -3.37337098e-05 -1.70551868e-01] [-2.28777713e-03 -3.06024722e-05 9.99997383e-01 -1.74082109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385769231 meters 0.014413930550485624 Centerline is valid? [True, True] Translation: X:35.05, Y:-0.18, Z:-0.18 [[ 9.99835272e-01 1.81293596e-02 8.69057373e-04 3.50518563e+01] [-1.81293554e-02 9.99835650e-01 -1.27426099e-05 -1.78900609e-01] [-8.69145558e-04 -3.01493911e-06 9.99999622e-01 -1.76957032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.445769231 meters 0.01602477981529328 Centerline is valid? [True, True] Translation: X:35.11, Y:-0.19, Z:-0.18 [[ 9.99965823e-01 8.09495756e-03 1.68050371e-03 3.51116848e+01] [-8.09492742e-03 9.99967235e-01 -2.47376460e-05 -1.94901310e-01] [-1.68064889e-03 1.11332450e-05 9.99998588e-01 -1.76479489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505769230999995 meters 0.020307730509951324 Centerline is valid? [True, True] Translation: X:35.17, Y:-0.21, Z:-0.18 [[ 9.99997124e-01 1.96392471e-03 1.37655748e-03 3.51722948e+01] [-1.96389868e-03 9.99998071e-01 -2.02654922e-05 -2.06368336e-01] [-1.37659462e-03 1.75620145e-05 9.99999052e-01 -1.75684873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565769231 meters 0.02300251299664099 Centerline is valid? [True, True] Translation: X:35.23, Y:-0.21, Z:-0.17 [[ 9.99988549e-01 -8.35615584e-04 4.71215829e-03 3.52321952e+01] [ 8.35952926e-04 9.99999648e-01 -6.96205608e-05 -2.13407565e-01] [-4.71209846e-03 7.35589061e-05 9.99988895e-01 -1.70570037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.625769231 meters 0.02644679855478545 Centerline is valid? [True, True] Translation: X:35.29, Y:-0.23, Z:-0.17 [[ 9.99978552e-01 -5.57147139e-03 3.44313738e-03 3.52929870e+01] [ 5.57167962e-03 9.99984477e-01 -5.08871306e-05 -2.25615414e-01] [-3.44280041e-03 7.00700975e-05 9.99994071e-01 -1.74402973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685769230999995 meters 0.03170671951433799 Centerline is valid? [True, True] Translation: X:35.35, Y:-0.24, Z:-0.18 [[ 9.99968543e-01 -7.91358068e-03 5.35997540e-04 3.53540277e+01] [ 7.91358586e-03 9.99968687e-01 -7.55281378e-06 -2.41653407e-01] [-5.35920986e-04 1.17942387e-05 9.99999856e-01 -1.80241410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745769231 meters 0.03182801235646544 Centerline is valid? [True, True] Translation: X:35.41, Y:-0.25, Z:-0.18 [[ 9.99950671e-01 -9.69674374e-03 2.15152707e-03 3.54140452e+01] [ 9.69683497e-03 9.99952984e-01 -3.19758139e-05 -2.53405887e-01] [-2.15111585e-03 5.28372394e-05 9.99997685e-01 -1.77856366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.805769231 meters 0.037923391830967254 Centerline is valid? [True, True] Translation: X:35.47, Y:-0.27, Z:-0.18 [[ 9.99924640e-01 -1.22019839e-02 1.35160289e-03 3.54738529e+01] [ 1.22020221e-02 9.99925552e-01 -2.00237048e-05 -2.72946213e-01] [-1.35125794e-03 3.65144842e-05 9.99999086e-01 -1.81334519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865769230999994 meters 0.03304181328078834 Centerline is valid? [True, True] Translation: X:35.53, Y:-0.28, Z:-0.18 [[ 9.99941136e-01 -1.08159258e-02 8.60841841e-04 3.55343740e+01] [ 1.08159409e-02 9.99941506e-01 -1.28034260e-05 -2.77656117e-01] [-8.60653006e-04 2.21134868e-05 9.99999629e-01 -1.79697151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925769231 meters 0.02804737880316058 Centerline is valid? [True, True] Translation: X:35.59, Y:-0.28, Z:-0.18 [[ 9.99984150e-01 -5.50227705e-03 1.19395803e-03 3.55938050e+01] [ 5.50230225e-03 9.99984862e-01 -1.78237706e-05 -2.77602761e-01] [-1.19384189e-03 2.43930060e-05 9.99999287e-01 -1.78902472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.985769231 meters 0.020117062517330007 Centerline is valid? [True, True] Translation: X:35.65, Y:-0.27, Z:-0.18 [[ 9.99992872e-01 2.65257866e-03 2.68710936e-03 3.56545587e+01] [-2.65248084e-03 9.99996481e-01 -3.99683402e-05 -2.69244388e-01] [-2.68720592e-03 3.28405492e-05 9.99996389e-01 -1.76970932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045769230999994 meters 0.016492816801282627 Centerline is valid? [True, True] Translation: X:35.72, Y:-0.26, Z:-0.18 [[ 9.99969524e-01 6.93254950e-03 3.59049451e-03 3.57158805e+01] [-6.93240297e-03 9.99975969e-01 -5.32548896e-05 -2.63290382e-01] [-3.59077742e-03 2.83625117e-05 9.99993553e-01 -1.76902893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105769231 meters 0.017073360405001237 Centerline is valid? [True, True] Translation: X:35.78, Y:-0.27, Z:-0.18 [[ 9.99974984e-01 6.75695668e-03 2.09171202e-03 3.57768763e+01] [-6.75690728e-03 9.99977171e-01 -3.06831557e-05 -2.66744846e-01] [-2.09187159e-03 1.65488840e-05 9.99997812e-01 -1.79666174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.165769231 meters 0.0165592714557245 Centerline is valid? [True, True] Translation: X:35.84, Y:-0.27, Z:-0.17 [[ 9.99961326e-01 6.89577256e-03 5.45845880e-03 3.58378953e+01] [-6.89542947e-03 9.99976223e-01 -8.16718648e-05 -2.68352524e-01] [-5.45889220e-03 4.40302886e-05 9.99985099e-01 -1.73679032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225769230999994 meters 0.015070716789216534 Centerline is valid? [True, True] Translation: X:35.90, Y:-0.26, Z:-0.18 [[ 9.99941298e-01 9.96129061e-03 4.26306429e-03 3.58996549e+01] [-9.96111079e-03 9.99950385e-01 -6.34120814e-05 -2.63307835e-01] [-4.26348444e-03 2.09435033e-05 9.99990911e-01 -1.75828071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285769230999996 meters 0.01379009473247629 Centerline is valid? [True, True] Translation: X:35.96, Y:-0.25, Z:-0.18 [[ 9.99902815e-01 1.36492828e-02 2.83867056e-03 3.59617500e+01] [-1.36492178e-02 9.99906844e-01 -4.22420029e-05 -2.54013449e-01] [-2.83898269e-03 3.49226480e-06 9.99995970e-01 -1.78528743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.345769231 meters 0.01367358645237236 Centerline is valid? [True, True] Translation: X:36.02, Y:-0.25, Z:-0.17 [[ 9.99897191e-01 1.31783535e-02 5.65139427e-03 3.60226679e+01] [-1.31780758e-02 9.99913162e-01 -8.63756473e-05 -2.53040880e-01] [-5.65204180e-03 1.18922650e-05 9.99984027e-01 -1.74404006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405769230999994 meters 0.015637476185990092 Centerline is valid? [True, True] Translation: X:36.08, Y:-0.26, Z:-0.18 [[ 9.99947869e-01 9.61312713e-03 3.44194128e-03 3.60831864e+01] [-9.61300186e-03 9.99953793e-01 -5.29371318e-05 -2.61367653e-01] [-3.44229113e-03 1.98469842e-05 9.99994075e-01 -1.80387726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465769230999996 meters 0.017361098881887915 Centerline is valid? [True, True] Translation: X:36.15, Y:-0.27, Z:-0.17 [[ 9.99966575e-01 5.51530195e-03 6.03569350e-03 3.61451899e+01] [-5.51484131e-03 9.99984789e-01 -9.29594623e-05 -2.70232905e-01] [-6.03611439e-03 5.96704633e-05 9.99981781e-01 -1.74615937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.525769231 meters 0.027145698867069322 Centerline is valid? [True, True] Translation: X:36.20, Y:-0.30, Z:-0.18 [[ 9.99993164e-01 -1.85641749e-03 3.19789297e-03 3.62046732e+01] [ 1.85658647e-03 9.99998275e-01 -4.98752813e-05 -2.95727038e-01] [-3.19779487e-03 5.58121051e-05 9.99994885e-01 -1.82013159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58576923099999 meters 0.030451290998849332 Centerline is valid? [True, True] Translation: X:36.27, Y:-0.31, Z:-0.18 [[ 9.99956014e-01 -8.57055771e-03 3.81001077e-03 3.62653994e+01] [ 8.57084615e-03 9.99963268e-01 -5.93844043e-05 -3.12036557e-01] [-3.80936187e-03 9.20368084e-05 9.99992740e-01 -1.81240702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.645769230999996 meters 0.031817071418298926 Centerline is valid? [True, True] Translation: X:36.33, Y:-0.32, Z:-0.18 [[ 9.99945239e-01 -9.74750614e-03 3.80855882e-03 3.63267127e+01] [ 9.74780292e-03 9.99952487e-01 -5.93693462e-05 -3.21354213e-01] [-3.80779916e-03 9.64911758e-05 9.99992746e-01 -1.80677341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.705769231 meters 0.03151446032012296 Centerline is valid? [True, True] Translation: X:36.39, Y:-0.33, Z:-0.19 [[ 9.99961128e-01 -8.72861858e-03 1.24682654e-03 3.63872156e+01] [ 8.72864958e-03 9.99961904e-01 -1.94227569e-05 -3.31118139e-01] [-1.24660951e-03 3.03051138e-05 9.99999223e-01 -1.85414753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.765769231 meters 0.02951335291428843 Centerline is valid? [True, True] Translation: X:36.45, Y:-0.34, Z:-0.18 [[ 9.99965296e-01 -7.54792281e-03 3.52640165e-03 3.64476392e+01] [ 7.54816425e-03 9.99971511e-01 -5.51626771e-05 -3.41545284e-01] [-3.52588482e-03 8.17786216e-05 9.99993781e-01 -1.82262836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825769230999995 meters 0.027137560583878 Centerline is valid? [True, True] Translation: X:36.51, Y:-0.35, Z:-0.18 [[ 9.99967076e-01 -5.32699812e-03 6.12129967e-03 3.65090330e+01] [ 5.32768391e-03 9.99985803e-01 -9.57328207e-05 -3.50686832e-01] [-6.12070280e-03 1.28342019e-04 9.99981260e-01 -1.77462152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885769231 meters 0.027075847868478293 Centerline is valid? [True, True] Translation: X:36.57, Y:-0.35, Z:-0.18 [[ 9.99964773e-01 -5.21233008e-03 6.57903615e-03 3.65707665e+01] [ 5.21312083e-03 9.99986406e-01 -1.03048100e-04 -3.54850041e-01] [-6.57840960e-03 1.37341780e-04 9.99978353e-01 -1.77296372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.945769231 meters 0.02691286350791015 Centerline is valid? [True, True] Translation: X:36.63, Y:-0.37, Z:-0.18 [[ 9.99979981e-01 -3.81930762e-03 5.04493426e-03 3.66317691e+01] [ 3.81975579e-03 9.99992702e-01 -7.92037744e-05 -3.71847425e-01] [-5.04459493e-03 9.84726056e-05 9.99987271e-01 -1.82799127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005769230999995 meters 0.02533631713816267 Centerline is valid? [True, True] Translation: X:36.69, Y:-0.38, Z:-0.19 [[ 9.99990745e-01 -3.33933476e-03 2.71258137e-03 3.66942983e+01] [ 3.33946236e-03 9.99994423e-01 -4.25117355e-05 -3.78665301e-01] [-2.71242429e-03 5.15699054e-05 9.99996320e-01 -1.87341300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065769231 meters 0.021431333976907257 Centerline is valid? [True, True] Translation: X:36.76, Y:-0.38, Z:-0.19 [[ 9.99995948e-01 4.23344636e-04 2.81518284e-03 3.67555411e+01] [-4.23221413e-04 9.99999909e-01 -4.43665375e-05 -3.81881429e-01] [-2.81520136e-03 4.31749120e-05 9.99996036e-01 -1.86203504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.125769231 meters 0.014935328505107148 Centerline is valid? [True, True] Translation: X:36.82, Y:-0.37, Z:-0.18 [[ 9.99936727e-01 1.03280901e-02 4.45785415e-03 3.68156711e+01] [-1.03278783e-02 9.99946664e-01 -7.05271714e-05 -3.72406681e-01] [-4.45834480e-03 2.44825338e-05 9.99990061e-01 -1.84035348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185769230999995 meters 0.014061280417793358 Centerline is valid? [True, True] Translation: X:36.88, Y:-0.36, Z:-0.18 [[ 9.99767119e-01 2.04653737e-02 6.84665779e-03 3.68782306e+01] [-2.04651118e-02 9.99790562e-01 -1.08311409e-04 -3.58108227e-01] [-6.84744047e-03 -3.18314316e-05 9.99976555e-01 -1.79960927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245769231 meters 0.01746896366586723 Centerline is valid? [True, True] Translation: X:36.94, Y:-0.35, Z:-0.18 [[ 9.99637605e-01 2.64061531e-02 5.23208529e-03 3.69402389e+01] [-2.64060817e-02 9.99651295e-01 -8.27298558e-05 -3.47689222e-01] [-5.23244541e-03 -5.54589968e-05 9.99986309e-01 -1.83966880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.305769231 meters 0.020259278417973293 Centerline is valid? [True, True] Translation: X:37.00, Y:-0.34, Z:-0.18 [[ 9.99543560e-01 2.95519218e-02 6.27345331e-03 3.70019494e+01] [-2.95518729e-02 9.99563243e-01 -1.00506224e-04 -3.41066961e-01] [-6.27368349e-03 -8.49319460e-05 9.99980317e-01 -1.82505973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365769230999994 meters 0.023016848260345824 Centerline is valid? [True, True] Translation: X:37.06, Y:-0.33, Z:-0.18 [[ 9.99435381e-01 3.31870696e-02 5.24772154e-03 3.70644272e+01] [-3.31870811e-02 9.99449154e-01 -8.49011008e-05 -3.33344653e-01] [-5.24764847e-03 -8.93033965e-05 9.99986227e-01 -1.84733437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425769231 meters 0.03260187250952438 Centerline is valid? [True, True] Translation: X:37.12, Y:-0.31, Z:-0.19 [[ 9.99161300e-01 4.08199656e-02 3.22916515e-03 3.71247194e+01] [-4.08200090e-02 9.99166515e-01 -5.24858816e-05 -3.05613528e-01] [-3.22861616e-03 -7.93726889e-05 9.99994785e-01 -1.89092248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.485769231 meters 0.030412343142831665 Centerline is valid? [True, True] Translation: X:37.19, Y:-0.30, Z:-0.19 [[ 9.99158665e-01 4.06455949e-02 5.46796392e-03 3.71858671e+01] [-4.06457176e-02 9.99173617e-01 -8.87255135e-05 -3.03898979e-01] [-5.46705159e-03 -1.33598452e-04 9.99985047e-01 -1.85536824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545769230999994 meters 0.021561325444335595 Centerline is valid? [True, True] Translation: X:37.25, Y:-0.31, Z:-0.19 [[ 9.99532366e-01 3.04993349e-02 2.19981245e-03 3.72453638e+01] [-3.04993299e-02 9.99534787e-01 -3.58118310e-05 -3.13211357e-01] [-2.19988131e-03 -3.12977215e-05 9.99997580e-01 -1.92729743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605769231 meters 0.014128192550677116 Centerline is valid? [True, True] Translation: X:37.31, Y:-0.33, Z:-0.19 [[ 9.99797065e-01 1.96650486e-02 4.37208001e-03 3.73064267e+01] [-1.96649263e-02 9.99806624e-01 -7.09703168e-05 -3.27150524e-01] [-4.37263019e-03 -1.50207166e-05 9.99990440e-01 -1.89584243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.665769231 meters 0.013420383891468272 Centerline is valid? [True, True] Translation: X:37.37, Y:-0.33, Z:-0.18 [[ 9.99820570e-01 1.75875648e-02 7.03598246e-03 3.73683773e+01] [-1.75871947e-02 9.99845327e-01 -1.14473086e-04 -3.29030187e-01] [-7.03690749e-03 -9.29064803e-06 9.99975241e-01 -1.84531413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725769230999994 meters 0.013324271856968032 Centerline is valid? [True, True] Translation: X:37.43, Y:-0.33, Z:-0.18 [[ 9.99822114e-01 1.72862447e-02 7.54500200e-03 3.74310385e+01] [-1.72857999e-02 9.99850582e-01 -1.24174433e-04 -3.27525841e-01] [-7.54602115e-03 -6.26905098e-06 9.99971528e-01 -1.84618897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785769230999996 meters 0.01347380923392339 Centerline is valid? [True, True] Translation: X:37.49, Y:-0.33, Z:-0.19 [[ 9.99832575e-01 1.72587099e-02 6.07940334e-03 3.74929170e+01] [-1.72584147e-02 9.99851057e-01 -1.01018479e-04 -3.28085531e-01] [-6.08024130e-03 -3.91929743e-06 9.99981515e-01 -1.87844112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.845769231 meters 0.014038850166003076 Centerline is valid? [True, True] Translation: X:37.55, Y:-0.33, Z:-0.19 [[ 9.99885256e-01 1.48497820e-02 2.99311164e-03 3.75546772e+01] [-1.48496997e-02 9.99889736e-01 -4.97003064e-05 -3.27780792e-01] [-2.99351965e-03 5.24779438e-06 9.99995519e-01 -1.92499626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905769230999994 meters 0.0142627083264272 Centerline is valid? [True, True] Translation: X:37.62, Y:-0.33, Z:-0.19 [[ 9.99896512e-01 1.35718909e-02 4.77161722e-03 3.76157880e+01] [-1.35716594e-02 9.99907898e-01 -8.09075716e-05 -3.29717122e-01] [-4.77227581e-03 1.61404351e-05 9.99988612e-01 -1.89960500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965769230999996 meters 0.014499309081982983 Centerline is valid? [True, True] Translation: X:37.68, Y:-0.33, Z:-0.19 [[ 9.99899938e-01 1.31030914e-02 5.33126374e-03 3.76786866e+01] [-1.31027934e-02 9.99914151e-01 -9.08310138e-05 -3.26593140e-01] [-5.33199622e-03 2.09674780e-05 9.99985785e-01 -1.89175302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.025769231 meters 0.01565211071310232 Centerline is valid? [True, True] Translation: X:37.74, Y:-0.33, Z:-0.19 [[ 9.99921388e-01 1.14508659e-02 5.10838309e-03 3.77403168e+01] [-1.14505660e-02 9.99934436e-01 -8.79579512e-05 -3.27186338e-01] [-5.10905536e-03 2.94571591e-05 9.99986948e-01 -1.91073612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08576923099999 meters 0.015971466584788558 Centerline is valid? [True, True] Translation: X:37.80, Y:-0.33, Z:-0.19 [[ 9.99938684e-01 1.01583086e-02 4.40867142e-03 3.78028693e+01] [-1.01580708e-02 9.99948403e-01 -7.63418390e-05 -3.26939127e-01] [-4.40921944e-03 3.15535617e-05 9.99990279e-01 -1.91357684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.145769230999996 meters 0.014846204820268749 Centerline is valid? [True, True] Translation: X:37.87, Y:-0.32, Z:-0.19 [[ 9.99913383e-01 1.27259074e-02 3.35824879e-03 3.78653580e+01] [-1.27257829e-02 9.99919022e-01 -5.84362078e-05 -3.22573208e-01] [-3.35872050e-03 1.56948012e-05 9.99994359e-01 -1.93085631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205769231 meters 0.013973520622150556 Centerline is valid? [True, True] Translation: X:37.93, Y:-0.31, Z:-0.19 [[ 9.99878535e-01 1.49438547e-02 4.42672713e-03 3.79273803e+01] [-1.49436538e-02 9.99888334e-01 -7.84576131e-05 -3.13691028e-01] [-4.42740527e-03 1.22966057e-05 9.99990199e-01 -1.92069119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26576923099999 meters 0.01401558184097783 Centerline is valid? [True, True] Translation: X:37.99, Y:-0.31, Z:-0.19 [[ 9.99878694e-01 1.52606929e-02 3.11594676e-03 3.79892883e+01] [-1.52605965e-02 9.99883549e-01 -5.47247498e-05 -3.10694397e-01] [-3.11641904e-03 7.16690513e-06 9.99995144e-01 -1.94073107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325769230999995 meters 0.014121355762472953 Centerline is valid? [True, True] Translation: X:38.05, Y:-0.30, Z:-0.19 [[ 9.99882158e-01 1.43575137e-02 5.43434443e-03 3.80501136e+01] [-1.43571963e-02 9.99896925e-01 -9.74120198e-05 -3.04991552e-01] [-5.43518288e-03 1.93785909e-05 9.99985229e-01 -1.90844542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385769231 meters 0.014290295885075395 Centerline is valid? [True, True] Translation: X:38.11, Y:-0.30, Z:-0.20 [[ 9.99878528e-01 1.54535504e-02 2.02898548e-03 3.81118769e+01] [-1.54535094e-02 9.99880587e-01 -3.58734908e-05 -2.99063043e-01] [-2.02929757e-03 4.51418688e-06 9.99997941e-01 -1.97472241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.445769231 meters 0.013977346456730258 Centerline is valid? [True, True] Translation: X:38.17, Y:-0.29, Z:-0.20 [[ 9.99848023e-01 1.73653494e-02 1.54098845e-03 3.81733794e+01] [-1.73653271e-02 9.99849211e-01 -2.79037510e-05 -2.93936597e-01] [-1.54124064e-03 1.13974191e-06 9.99998812e-01 -1.98358957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505769230999995 meters 0.01345376409529156 Centerline is valid? [True, True] Translation: X:38.23, Y:-0.29, Z:-0.19 [[ 9.99842099e-01 1.73331373e-02 3.91664229e-03 3.82343007e+01] [-1.73329909e-02 9.99849770e-01 -7.13214852e-05 -2.89847906e-01] [-3.91729012e-03 3.42309810e-06 9.99992327e-01 -1.94487628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565769231 meters 0.014230504862122855 Centerline is valid? [True, True] Translation: X:38.30, Y:-0.29, Z:-0.20 [[ 9.99880883e-01 1.50450983e-02 3.44467726e-03 3.82951663e+01] [-1.50449733e-02 9.99886816e-01 -6.21788762e-05 -2.92567911e-01] [-3.44522286e-03 1.03463921e-05 9.99994065e-01 -1.97365234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.625769231 meters 0.014538163940725822 Centerline is valid? [True, True] Translation: X:38.36, Y:-0.29, Z:-0.19 [[ 9.99902334e-01 1.29981686e-02 5.13526971e-03 3.83562498e+01] [-1.29978560e-02 9.99915520e-01 -9.42520633e-05 -2.94291727e-01] [-5.13606099e-03 2.74953619e-05 9.99986810e-01 -1.93985959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685769230999995 meters 0.01411658476377348 Centerline is valid? [True, True] Translation: X:38.42, Y:-0.29, Z:-0.19 [[ 9.99880120e-01 1.42050881e-02 6.16126012e-03 3.84174773e+01] [-1.42046606e-02 9.99899102e-01 -1.13154652e-04 -2.92923228e-01] [-6.16224583e-03 2.56224780e-05 9.99981013e-01 -1.92924884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745769231 meters 0.014170108907045212 Centerline is valid? [True, True] Translation: X:38.48, Y:-0.29, Z:-0.20 [[ 9.99882347e-01 1.45936007e-02 4.72425550e-03 3.84795366e+01] [-1.45933516e-02 9.99893508e-01 -8.72109570e-05 -2.93151006e-01] [-4.72502513e-03 1.82579749e-05 9.99988837e-01 -1.96298424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.805769231 meters 0.016297144024909865 Centerline is valid? [True, True] Translation: X:38.54, Y:-0.30, Z:-0.20 [[ 9.99936272e-01 1.08343101e-02 3.17333830e-03 3.85413052e+01] [-1.08341781e-02 9.99941307e-01 -5.87877304e-05 -3.03201109e-01] [-3.17378897e-03 2.44034715e-05 9.99994963e-01 -1.99045959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865769230999994 meters 0.017696259528818047 Centerline is valid? [True, True] Translation: X:38.60, Y:-0.31, Z:-0.20 [[ 9.99948865e-01 9.37324497e-03 3.79611380e-03 3.86019762e+01] [-9.37304210e-03 9.99956070e-01 -7.12287015e-05 -3.10761841e-01] [-3.79661468e-03 3.56439247e-05 9.99992792e-01 -1.98757494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925769231 meters 0.020914462820397096 Centerline is valid? [True, True] Translation: X:38.66, Y:-0.32, Z:-0.20 [[ 9.99977225e-01 4.60200976e-03 4.93672614e-03 3.86637500e+01] [-4.60160214e-03 9.99989408e-01 -9.39239596e-05 -3.21669598e-01] [-4.93710609e-03 7.12049709e-05 9.99987810e-01 -1.96728507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.985769231 meters 0.022454914167964038 Centerline is valid? [True, True] Translation: X:38.73, Y:-0.33, Z:-0.20 [[ 9.99979030e-01 3.38403081e-03 5.52159237e-03 3.87250378e+01] [-3.38350152e-03 9.99994270e-01 -1.05196333e-04 -3.26776416e-01] [-5.52191673e-03 8.65118107e-05 9.99984750e-01 -1.96183063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045769230999994 meters 0.024463678928741878 Centerline is valid? [True, True] Translation: X:38.79, Y:-0.34, Z:-0.20 [[ 9.99990133e-01 1.53429488e-03 4.16880467e-03 3.87872377e+01] [-1.53397568e-03 9.99998820e-01 -7.97655683e-05 -3.35474784e-01] [-4.16892213e-03 7.33699364e-05 9.99991307e-01 -1.98773048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105769231 meters 0.02445627460700893 Centerline is valid? [True, True] Translation: X:38.85, Y:-0.34, Z:-0.20 [[ 9.99982052e-01 1.75632779e-03 5.72812392e-03 3.88498124e+01] [-1.75572093e-03 9.99998453e-01 -1.10970686e-04 -3.40561275e-01] [-5.72830995e-03 1.00911707e-04 9.99983588e-01 -1.96895933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.165769231 meters 0.024327689592204528 Centerline is valid? [True, True] Translation: X:38.91, Y:-0.35, Z:-0.20 [[ 9.99986110e-01 2.57212731e-03 4.60043632e-03 3.89106347e+01] [-2.57174129e-03 9.99996689e-01 -8.98245688e-05 -3.48038532e-01] [-4.60065213e-03 7.79921891e-05 9.99989414e-01 -1.99532667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225769230999994 meters 0.025501259476592895 Centerline is valid? [True, True] Translation: X:38.97, Y:-0.36, Z:-0.19 [[ 9.99966988e-01 1.92852883e-03 7.89326204e-03 3.89719614e+01] [-1.92736262e-03 9.99998131e-01 -1.55350867e-04 -3.57486021e-01] [-7.89354688e-03 1.40132560e-04 9.99968836e-01 -1.94383166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285769230999996 meters 0.02651135745827637 Centerline is valid? [True, True] Translation: X:39.03, Y:-0.37, Z:-0.20 [[ 9.99981287e-01 -3.94650472e-04 6.10483783e-03 3.90339563e+01] [ 3.95395326e-04 9.99999915e-01 -1.20803974e-04 -3.69064165e-01] [-6.10478963e-03 1.23215538e-04 9.99981358e-01 -1.98959361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.345769231 meters 0.029983424953230732 Centerline is valid? [True, True] Translation: X:39.09, Y:-0.39, Z:-0.20 [[ 9.99992783e-01 -1.33387358e-03 3.55723362e-03 3.90947425e+01] [ 1.33413293e-03 9.99999108e-01 -7.05362564e-05 -3.87027986e-01] [-3.55713636e-03 7.52815699e-05 9.99993671e-01 -2.04340749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405769230999994 meters 0.025034588881526654 Centerline is valid? [True, True] Translation: X:39.16, Y:-0.40, Z:-0.20 [[ 9.99970063e-01 1.44140550e-03 7.60233022e-03 3.91565132e+01] [-1.44028372e-03 9.99998951e-01 -1.53030467e-04 -3.97639212e-01] [-7.60254282e-03 1.42076373e-04 9.99971090e-01 -1.97583461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465769230999996 meters 0.023259660038651056 Centerline is valid? [True, True] Translation: X:39.22, Y:-0.41, Z:-0.20 [[ 9.99961953e-01 5.38265221e-03 6.86442228e-03 3.92164184e+01] [-5.38182888e-03 9.99985508e-01 -1.38408490e-04 -4.07123063e-01] [-6.86506781e-03 1.01460078e-04 9.99976430e-01 -1.99897361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.525769231 meters 0.01574118369602736 Centerline is valid? [True, True] Translation: X:39.28, Y:-0.41, Z:-0.21 [[ 9.99889689e-01 1.46565733e-02 2.40723143e-03 3.92770685e+01] [-1.46564991e-02 9.99892587e-01 -4.84643442e-05 -4.08069708e-01] [-2.40768318e-03 1.31774128e-05 9.99997101e-01 -2.10302801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58576923099999 meters 0.015102178421415592 Centerline is valid? [True, True] Translation: X:39.34, Y:-0.40, Z:-0.21 [[ 9.99674595e-01 2.53623772e-02 2.73014674e-03 3.93393684e+01] [-2.53623217e-02 9.99678323e-01 -5.49491544e-05 -4.01399853e-01] [-2.73066215e-03 -1.43115862e-05 9.99996272e-01 -2.09003142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.645769230999996 meters 0.022476085143130785 Centerline is valid? [True, True] Translation: X:39.40, Y:-0.39, Z:-0.20 [[ 9.99384157e-01 3.43802763e-02 7.02160866e-03 3.94010769e+01] [-3.43801261e-02 9.99408819e-01 -1.42130335e-04 -3.91855407e-01] [-7.02234410e-03 -9.93609856e-05 9.99975338e-01 -2.00484214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705769231 meters 0.03067842787231517 Centerline is valid? [True, True] Translation: X:39.46, Y:-0.38, Z:-0.21 [[ 9.99082002e-01 4.26289962e-02 4.23342926e-03 3.94620456e+01] [-4.26290131e-02 9.99090967e-01 -8.62895004e-05 -3.79845587e-01] [-4.23325937e-03 -9.42566247e-05 9.99991035e-01 -2.06171761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76576923099999 meters 0.041834466252419066 Centerline is valid? [True, True] Translation: X:39.52, Y:-0.36, Z:-0.20 [[ 9.98587713e-01 5.29419704e-02 4.44153121e-03 3.95232986e+01] [-5.29420908e-02 9.98597580e-01 -9.05437835e-05 -3.56851915e-01] [-4.44009588e-03 -1.44728039e-04 9.99990132e-01 -2.03993127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825769230999995 meters 0.0509968868677207 Centerline is valid? [True, True] Translation: X:39.58, Y:-0.33, Z:-0.20 [[ 9.98243617e-01 5.88400059e-02 6.89454038e-03 3.95833902e+01] [-5.88404362e-02 9.98267391e-01 -1.40588014e-04 -3.30869570e-01] [-6.89086704e-03 -2.65336675e-04 9.99976222e-01 -2.01214980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885769231 meters 0.051158061516698994 Centerline is valid? [True, True] Translation: X:39.64, Y:-0.32, Z:-0.20 [[ 9.98378327e-01 5.65562895e-02 6.48855981e-03 3.96437127e+01] [-5.65566226e-02 9.98399384e-01 -1.32297762e-04 -3.24385550e-01] [-6.48565639e-03 -2.34887810e-04 9.99978940e-01 -2.03338865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.945769231 meters 0.036331008995389574 Centerline is valid? [True, True] Translation: X:39.70, Y:-0.33, Z:-0.20 [[ 9.98857586e-01 4.73920346e-02 6.12518699e-03 3.97038997e+01] [-4.73921565e-02 9.98876353e-01 -1.25316525e-04 -3.34406993e-01] [-6.12424344e-03 -1.65112459e-04 9.99981233e-01 -2.04590704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005769230999995 meters 0.027617954930354644 Centerline is valid? [True, True] Translation: X:39.76, Y:-0.33, Z:-0.21 [[ 9.99130112e-01 4.15772537e-02 3.21741092e-03 3.97648308e+01] [-4.15772573e-02 9.99135290e-01 -6.57766742e-05 -3.33440522e-01] [-3.21736360e-03 -6.80516658e-05 9.99994822e-01 -2.08771628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065769231 meters 0.022377081126468586 Centerline is valid? [True, True] Translation: X:39.83, Y:-0.33, Z:-0.20 [[ 9.99298929e-01 3.66650404e-02 7.57129167e-03 3.98265230e+01] [-3.66649180e-02 9.99327604e-01 -1.55001893e-04 -3.30386404e-01] [-7.57188392e-03 -1.22707563e-04 9.99971325e-01 -2.03758526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.125769231 meters 0.014781426795334996 Centerline is valid? [True, True] Translation: X:39.89, Y:-0.34, Z:-0.21 [[ 9.99663126e-01 2.53147389e-02 5.72702443e-03 3.98857242e+01] [-2.53144818e-02 9.99679530e-01 -1.17377452e-04 -3.44313974e-01] [-5.72816047e-03 -2.76387455e-05 9.99983594e-01 -2.08230306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185769230999995 meters 0.019218860745705044 Centerline is valid? [True, True] Translation: X:39.95, Y:-0.37, Z:-0.22 [[ 9.99955156e-01 9.44511168e-03 6.90366786e-04 3.99472743e+01] [-9.44510434e-03 9.99955394e-01 -1.38897752e-05 -3.70523094e-01] [-6.90467182e-04 7.36856595e-06 9.99999762e-01 -2.16302570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245769231 meters 0.025791934023531915 Centerline is valid? [True, True] Translation: X:40.01, Y:-0.39, Z:-0.21 [[ 9.99990572e-01 8.53284761e-04 4.25758550e-03 4.00076893e+01] [-8.52919215e-04 9.99999632e-01 -8.76724691e-05 -3.88223405e-01] [-4.25765875e-03 8.40402661e-05 9.99990933e-01 -2.10085801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.305769231 meters 0.035406112073004745 Centerline is valid? [True, True] Translation: X:40.07, Y:-0.41, Z:-0.21 [[ 9.99964325e-01 -6.23365046e-03 5.70006447e-03 4.00670847e+01] [ 6.23442144e-03 9.99980559e-01 -1.17500673e-04 -4.12028136e-01] [-5.69922119e-03 1.53033085e-04 9.99983748e-01 -2.08807275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365769230999994 meters 0.03406229971435874 Centerline is valid? [True, True] Translation: X:40.13, Y:-0.42, Z:-0.21 [[ 9.99960161e-01 -7.77730606e-03 4.38067476e-03 4.01291719e+01] [ 7.77777547e-03 9.99969749e-01 -9.01282825e-05 -4.16666645e-01] [-4.37984128e-03 1.24196596e-04 9.99990401e-01 -2.11434333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425769231 meters 0.036211871634420106 Centerline is valid? [True, True] Translation: X:40.19, Y:-0.43, Z:-0.21 [[ 9.99958330e-01 -8.43918220e-03 3.48125970e-03 4.01897844e+01] [ 8.43948314e-03 9.99964384e-01 -7.17638363e-05 -4.28114438e-01] [-3.48053009e-03 1.01140878e-04 9.99993938e-01 -2.12720016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.485769231 meters 0.030109386157673727 Centerline is valid? [True, True] Translation: X:40.25, Y:-0.43, Z:-0.21 [[ 9.99984022e-01 -3.11697295e-03 4.71597726e-03 4.02506120e+01] [ 3.11746753e-03 9.99995136e-01 -9.75269830e-05 -4.27077903e-01] [-4.71565034e-03 1.12227331e-04 9.99988875e-01 -2.11561072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545769230999994 meters 0.023210486149059923 Centerline is valid? [True, True] Translation: X:40.31, Y:-0.42, Z:-0.21 [[ 9.99966504e-01 5.15437226e-03 6.35790543e-03 4.03107615e+01] [-5.15363970e-03 9.99986711e-01 -1.31597843e-04 -4.21426359e-01] [-6.35849924e-03 9.88270816e-05 9.99979780e-01 -2.09469453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605769231 meters 0.016884235525009172 Centerline is valid? [True, True] Translation: X:40.37, Y:-0.41, Z:-0.22 [[ 9.99909207e-01 1.29604519e-02 3.68848054e-03 4.03710400e+01] [-1.29602593e-02 9.99916009e-01 -7.61148763e-05 -4.13631172e-01] [-3.68915723e-03 2.83043014e-05 9.99993195e-01 -2.15863169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.665769231 meters 0.014419133837301102 Centerline is valid? [True, True] Translation: X:40.43, Y:-0.41, Z:-0.22 [[ 9.99825895e-01 1.84594563e-02 2.72555547e-03 4.04331105e+01] [-1.84593725e-02 9.99829610e-01 -5.58815175e-05 -4.07995723e-01] [-2.72612260e-03 5.55974459e-06 9.99996284e-01 -2.18203205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725769230999994 meters 0.014181606794206086 Centerline is valid? [True, True] Translation: X:40.50, Y:-0.40, Z:-0.22 [[ 9.99709615e-01 2.37363573e-02 4.15581134e-03 4.04952016e+01] [-2.37362031e-02 9.99718253e-01 -8.64431533e-05 -4.00617616e-01] [-4.15669230e-03 -1.22251304e-05 9.99991361e-01 -2.15296457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785769230999996 meters 0.01470799808932773 Centerline is valid? [True, True] Translation: X:40.56, Y:-0.40, Z:-0.22 [[ 9.99669645e-01 2.52293938e-02 4.90698258e-03 4.05572876e+01] [-2.52291914e-02 9.99681688e-01 -1.03154737e-04 -3.97922919e-01] [-4.90802316e-03 -2.06785434e-05 9.99987955e-01 -2.15432677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.845769231 meters 0.014412597471877139 Centerline is valid? [True, True] Translation: X:40.62, Y:-0.40, Z:-0.22 [[ 9.99698852e-01 2.42976500e-02 3.43954082e-03 4.06205493e+01] [-2.42975454e-02 9.99704768e-01 -7.21909828e-05 -3.99921699e-01] [-3.44027943e-03 -1.14031566e-05 9.99994082e-01 -2.19730706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905769230999994 meters 0.015048414509596946 Centerline is valid? [True, True] Translation: X:40.68, Y:-0.40, Z:-0.22 [[ 9.99666477e-01 2.55946908e-02 3.44201593e-03 4.06825959e+01] [-2.55945913e-02 9.99672402e-01 -7.29355306e-05 -3.95487809e-01] [-3.44275510e-03 -1.51857864e-05 9.99994074e-01 -2.20727740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965769230999996 meters 0.014741331906235462 Centerline is valid? [True, True] Translation: X:40.74, Y:-0.39, Z:-0.22 [[ 9.99681804e-01 2.50261412e-02 3.15969328e-03 4.07448640e+01] [-2.50260529e-02 9.99686797e-01 -6.74892258e-05 -3.94452110e-01] [-3.16039265e-03 -1.16069002e-05 9.99995006e-01 -2.20572749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.025769231 meters 0.013949247529976068 Centerline is valid? [True, True] Translation: X:40.81, Y:-0.40, Z:-0.22 [[ 9.99717871e-01 2.31190122e-02 5.44873925e-03 4.08070676e+01] [-2.31187126e-02 9.99732720e-01 -1.17975986e-04 -3.97809281e-01] [-5.45001039e-03 -8.02513508e-06 9.99985149e-01 -2.17713828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08576923099999 meters 0.013953940641583971 Centerline is valid? [True, True] Translation: X:40.87, Y:-0.40, Z:-0.22 [[ 9.99774920e-01 2.07868108e-02 4.24470889e-03 4.08698139e+01] [-2.07866066e-02 9.99783931e-01 -9.22273693e-05 -4.03880091e-01] [-4.24570885e-03 3.97351685e-06 9.99990987e-01 -2.20144285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.145769230999996 meters 0.013654020458787199 Centerline is valid? [True, True] Translation: X:40.93, Y:-0.41, Z:-0.22 [[ 9.99745571e-01 2.17567312e-02 5.95293147e-03 4.09313726e+01] [-2.17563371e-02 9.99763294e-01 -1.30959756e-04 -4.06562395e-01] [-5.95437163e-03 1.41245184e-06 9.99982273e-01 -2.16415707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205769231 meters 0.014056579465226702 Centerline is valid? [True, True] Translation: X:40.99, Y:-0.40, Z:-0.21 [[ 9.99646394e-01 2.55157662e-02 7.48543131e-03 4.09942457e+01] [-2.55152367e-02 9.99674420e-01 -1.66251834e-04 -4.00414377e-01] [-7.48723624e-03 -2.47995047e-05 9.99971970e-01 -2.14504421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26576923099999 meters 0.01569463075193018 Centerline is valid? [True, True] Translation: X:41.06, Y:-0.40, Z:-0.22 [[ 9.99563660e-01 2.91116898e-02 4.99995590e-03 4.10569767e+01] [-2.91114960e-02 9.99576164e-01 -1.11556234e-04 -3.95068346e-01] [-5.00108433e-03 -3.40486389e-05 9.99987494e-01 -2.19518749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325769230999995 meters 0.016112955380599772 Centerline is valid? [True, True] Translation: X:41.12, Y:-0.39, Z:-0.22 [[ 9.99567910e-01 2.91232323e-02 3.97877212e-03 4.11189878e+01] [-2.91231081e-02 9.99575828e-01 -8.91601726e-05 -3.91388041e-01] [-3.97968107e-03 -2.67525634e-05 9.99992081e-01 -2.23550110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385769231 meters 0.015923496894937366 Centerline is valid? [True, True] Translation: X:41.18, Y:-0.39, Z:-0.23 [[ 9.99613996e-01 2.77823499e-02 -2.61658407e-05 4.11813194e+01] [-2.77823499e-02 9.99613996e-01 1.70025345e-06 -3.90466082e-01] [ 2.62029776e-05 -9.72648604e-07 1.00000000e+00 -2.31822775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.445769231 meters 0.016185615718154557 Centerline is valid? [True, True] Translation: X:41.24, Y:-0.38, Z:-0.23 [[ 9.99588261e-01 2.85639807e-02 2.72151270e-03 4.12408511e+01] [-2.85639173e-02 9.99591966e-01 -6.21906886e-05 -3.81237415e-01] [-2.72217864e-03 -1.55719813e-05 9.99996295e-01 -2.26415065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505769230999995 meters 0.015552762231315272 Centerline is valid? [True, True] Translation: X:41.30, Y:-0.38, Z:-0.22 [[ 9.99575270e-01 2.87552212e-02 4.73455146e-03 4.13024972e+01] [-2.87550307e-02 9.99586483e-01 -1.08314350e-04 -3.81675112e-01] [-4.73570825e-03 -2.78738272e-05 9.99988786e-01 -2.22287114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565769231 meters 0.014132264606071655 Centerline is valid? [True, True] Translation: X:41.36, Y:-0.39, Z:-0.22 [[ 9.99658933e-01 2.56614926e-02 4.84834139e-03 4.13633705e+01] [-2.56612572e-02 9.99670690e-01 -1.10761275e-04 -3.86927090e-01] [-4.84958708e-03 -1.36910377e-05 9.99988241e-01 -2.22304029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.625769231 meters 0.013681816985611519 Centerline is valid? [True, True] Translation: X:41.43, Y:-0.40, Z:-0.22 [[ 9.99741709e-01 2.20423003e-02 5.53647159e-03 4.14261329e+01] [-2.20419328e-02 9.99757039e-01 -1.27388612e-04 -3.97547303e-01] [-5.53793439e-03 5.32117388e-06 9.99984666e-01 -2.21201000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685769230999995 meters 0.014008695035775079 Centerline is valid? [True, True] Translation: X:41.49, Y:-0.40, Z:-0.23 [[ 9.99691984e-01 2.45791211e-02 3.43557632e-03 4.14878460e+01] [-2.45789939e-02 9.99697888e-01 -7.92447837e-05 -3.98420524e-01] [-3.43648616e-03 -5.22263435e-06 9.99994095e-01 -2.26331571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745769231 meters 0.01573331382057285 Centerline is valid? [True, True] Translation: X:41.55, Y:-0.39, Z:-0.23 [[ 9.99545660e-01 2.99772975e-02 3.13615475e-03 4.15496933e+01] [-2.99772165e-02 9.99550580e-01 -7.28539462e-05 -3.93525991e-01] [-3.13692926e-03 -2.11923441e-05 9.99995080e-01 -2.26137125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.805769231 meters 0.02029349909673544 Centerline is valid? [True, True] Translation: X:41.61, Y:-0.38, Z:-0.22 [[ 9.99293098e-01 3.73853513e-02 3.95463737e-03 4.16113888e+01] [-3.73852753e-02 9.99300922e-01 -9.31653643e-05 -3.84427625e-01] [-3.95535579e-03 -5.47457011e-05 9.99992176e-01 -2.24444586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865769230999994 meters 0.027219277524436144 Centerline is valid? [True, True] Translation: X:41.67, Y:-0.37, Z:-0.23 [[ 9.99020039e-01 4.40767113e-02 4.02545460e-03 4.16717632e+01] [-4.40766862e-02 9.99028146e-01 -9.50087732e-05 -3.67384850e-01] [-4.02573012e-03 -8.25130310e-05 9.99991893e-01 -2.25127940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925769231 meters 0.031600957730440575 Centerline is valid? [True, True] Translation: X:41.73, Y:-0.36, Z:-0.23 [[ 9.98799771e-01 4.87850799e-02 4.36276901e-03 4.17330218e+01] [-4.87850954e-02 9.98809293e-01 -1.02938721e-04 -3.55051920e-01] [-4.36259611e-03 -1.10022931e-04 9.99990478e-01 -2.25527763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.985769231 meters 0.03178040732295003 Centerline is valid? [True, True] Translation: X:41.79, Y:-0.35, Z:-0.23 [[ 9.98788301e-01 4.90878421e-02 3.50908588e-03 4.17935324e+01] [-4.90878537e-02 9.98794461e-01 -8.28627853e-05 -3.47068312e-01] [-3.50892310e-03 -8.94911140e-05 9.99993840e-01 -2.26701111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045769230999994 meters 0.032454000438583853 Centerline is valid? [True, True] Translation: X:41.85, Y:-0.34, Z:-0.23 [[ 9.98802337e-01 4.88772994e-02 2.21407699e-03 4.18533309e+01] [-4.88773034e-02 9.98804789e-01 -5.23392458e-05 -3.39504178e-01] [-2.21398890e-03 -5.59415520e-05 9.99997548e-01 -2.28883709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105769231 meters 0.029912989889475192 Centerline is valid? [True, True] Translation: X:41.91, Y:-0.34, Z:-0.22 [[ 9.98911063e-01 4.63175197e-02 5.60134611e-03 4.19131571e+01] [-4.63175060e-02 9.98926760e-01 -1.32236244e-04 -3.37081735e-01] [-5.60145938e-03 -1.27348135e-04 9.99984304e-01 -2.23104170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.165769231 meters 0.029418998701340515 Centerline is valid? [True, True] Translation: X:41.97, Y:-0.34, Z:-0.22 [[ 9.98995866e-01 4.43008014e-02 6.68576993e-03 4.19728779e+01] [-4.43007380e-02 9.99018228e-01 -1.57645923e-04 -3.35464107e-01] [-6.68618987e-03 -1.38696918e-04 9.99977638e-01 -2.21407488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225769230999994 meters 0.023114451459708765 Centerline is valid? [True, True] Translation: X:42.03, Y:-0.34, Z:-0.22 [[ 9.99178487e-01 4.00247869e-02 6.35347165e-03 4.20339202e+01] [-4.00246438e-02 9.99198682e-01 -1.49725804e-04 -3.38002362e-01] [-6.35437324e-03 -1.04692636e-04 9.99979805e-01 -2.22426597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285769230999996 meters 0.023450626773135377 Centerline is valid? [True, True] Translation: X:42.09, Y:-0.33, Z:-0.22 [[ 9.99213503e-01 3.90979953e-02 6.61229073e-03 4.20942138e+01] [-3.90978195e-02 9.99235376e-01 -1.55906986e-04 -3.33890905e-01] [-6.61333046e-03 -1.02741783e-04 9.99978126e-01 -2.22345613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.345769231 meters 0.021936871584251373 Centerline is valid? [True, True] Translation: X:42.16, Y:-0.33, Z:-0.22 [[ 9.99273225e-01 3.74384956e-02 7.16807147e-03 4.21557062e+01] [-3.74382456e-02 9.99298929e-01 -1.69103996e-04 -3.29305274e-01] [-7.16937714e-03 -9.93789256e-05 9.99974295e-01 -2.20122023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405769230999994 meters 0.017846896667396348 Centerline is valid? [True, True] Translation: X:42.22, Y:-0.33, Z:-0.22 [[ 9.99412191e-01 3.37385929e-02 6.08105989e-03 4.22171760e+01] [-3.37383438e-02 9.99430690e-01 -1.43572291e-04 -3.29197419e-01] [-6.08244181e-03 -6.16769911e-05 9.99981500e-01 -2.23963440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465769230999996 meters 0.014376776765060204 Centerline is valid? [True, True] Translation: X:42.28, Y:-0.33, Z:-0.23 [[ 9.99598435e-01 2.77309581e-02 5.82770974e-03 4.22785272e+01] [-2.77306273e-02 9.99615423e-01 -1.37568437e-04 -3.32366340e-01] [-5.82928344e-03 -2.40928529e-05 9.99983009e-01 -2.26185073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525769231 meters 0.013798862671274784 Centerline is valid? [True, True] Translation: X:42.34, Y:-0.34, Z:-0.23 [[ 9.99734253e-01 2.26776079e-02 4.14128419e-03 4.23393394e+01] [-2.26773947e-02 9.99742830e-01 -9.84524078e-05 -3.35736031e-01] [-4.14245185e-03 4.51270816e-06 9.99991420e-01 -2.28521700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58576923099999 meters 0.014063116247695647 Centerline is valid? [True, True] Translation: X:42.40, Y:-0.34, Z:-0.23 [[ 9.99768680e-01 2.12294864e-02 3.44883559e-03 4.23994518e+01] [-2.12293294e-02 9.99774629e-01 -8.21274077e-05 -3.37558138e-01] [-3.44980185e-03 8.89194335e-06 9.99994049e-01 -2.30148251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.645769230999996 meters 0.01489807354287628 Centerline is valid? [True, True] Translation: X:42.46, Y:-0.34, Z:-0.23 [[ 9.99812408e-01 1.85555414e-02 5.55343876e-03 4.24596543e+01] [-1.85550931e-02 9.99827831e-01 -1.32227314e-04 -3.39102962e-01] [-5.55493618e-03 2.91579363e-05 9.99984571e-01 -2.27228703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705769231 meters 0.01554700834824092 Centerline is valid? [True, True] Translation: X:42.52, Y:-0.34, Z:-0.23 [[ 9.99831760e-01 1.73179164e-02 6.04496695e-03 4.25213175e+01] [-1.73173631e-02 9.99850033e-01 -1.43869597e-04 -3.40995780e-01] [-6.04655192e-03 3.91625044e-05 9.99981719e-01 -2.27006125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76576923099999 meters 0.016558803851798528 Centerline is valid? [True, True] Translation: X:42.58, Y:-0.35, Z:-0.23 [[ 9.99865602e-01 1.57169898e-02 4.66405406e-03 4.25829750e+01] [-1.57166409e-02 9.99876480e-01 -1.11445193e-04 -3.47163954e-01] [-4.66522953e-03 3.81269520e-05 9.99989117e-01 -2.28844887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825769230999995 meters 0.016040618693528238 Centerline is valid? [True, True] Translation: X:42.64, Y:-0.35, Z:-0.22 [[ 9.99838641e-01 1.64898117e-02 7.12591316e-03 4.26444147e+01] [-1.64890041e-02 9.99864032e-01 -1.72067992e-04 -3.47888083e-01] [-7.12778164e-03 5.45410160e-05 9.99974596e-01 -2.23852000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885769231 meters 0.014430710767828665 Centerline is valid? [True, True] Translation: X:42.71, Y:-0.34, Z:-0.22 [[ 9.99770549e-01 2.00035673e-02 7.66199963e-03 4.27056054e+01] [-2.00027272e-02 9.99799908e-01 -1.86262941e-04 -3.43514375e-01] [-7.66419245e-03 3.29593140e-05 9.99970629e-01 -2.23366308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.945769231 meters 0.014199710294050255 Centerline is valid? [True, True] Translation: X:42.77, Y:-0.34, Z:-0.23 [[ 9.99758402e-01 2.10967522e-02 6.16964260e-03 4.27676828e+01] [-2.10962240e-02 9.99777439e-01 -1.50691299e-04 -3.39562322e-01] [-6.17144858e-03 2.04987302e-05 9.99980956e-01 -2.27482744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005769230999995 meters 0.015277014710949732 Centerline is valid? [True, True] Translation: X:42.83, Y:-0.34, Z:-0.22 [[ 9.99787970e-01 1.81535007e-02 9.71935536e-03 4.28293402e+01] [-1.81520309e-02 9.99835210e-01 -2.39420813e-04 -3.42125478e-01] [-9.72210003e-03 6.29440097e-05 9.99952737e-01 -2.20946064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065769231 meters 0.017496391616948416 Centerline is valid? [True, True] Translation: X:42.89, Y:-0.35, Z:-0.23 [[ 9.99857104e-01 1.53202020e-02 7.14576899e-03 4.28906557e+01] [-1.53193318e-02 9.99882637e-01 -1.76494880e-04 -3.46130567e-01] [-7.14763427e-03 6.70012531e-05 9.99974453e-01 -2.27371844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.125769231 meters 0.026711388175456798 Centerline is valid? [True, True] Translation: X:42.95, Y:-0.37, Z:-0.23 [[ 9.99979338e-01 4.53462720e-03 4.55640992e-03 4.29509333e+01] [-4.53415850e-03 9.99989714e-01 -1.13190141e-04 -3.67825081e-01] [-4.55687632e-03 9.25283173e-05 9.99989613e-01 -2.31851633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185769230999995 meters 0.030549396435920816 Centerline is valid? [True, True] Translation: X:43.01, Y:-0.38, Z:-0.23 [[ 9.99986303e-01 2.95609786e-04 5.22557605e-03 4.30116296e+01] [-2.94935329e-04 9.99999948e-01 -1.29838532e-04 -3.80395337e-01] [-5.22561416e-03 1.28295547e-04 9.99986338e-01 -2.32149501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245769231 meters 0.03393505056183349 Centerline is valid? [True, True] Translation: X:43.07, Y:-0.40, Z:-0.23 [[ 9.99992663e-01 4.93974302e-05 3.83038097e-03 4.30720285e+01] [-4.90348414e-05 9.99999994e-01 -9.47551381e-05 -3.96347476e-01] [-3.83038563e-03 9.45666208e-05 9.99992660e-01 -2.34561835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.305769231 meters 0.031855649620079536 Centerline is valid? [True, True] Translation: X:43.13, Y:-0.40, Z:-0.24 [[ 9.99994538e-01 -2.53645378e-04 3.29550855e-03 4.31342986e+01] [ 2.53916401e-04 9.99999964e-01 -8.18221693e-05 -4.01129196e-01] [-3.29548768e-03 8.26585061e-05 9.99994566e-01 -2.35419603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365769230999994 meters 0.03195126402145197 Centerline is valid? [True, True] Translation: X:43.20, Y:-0.41, Z:-0.23 [[ 9.99992976e-01 -5.33006374e-04 3.71008346e-03 4.31954782e+01] [ 5.33356268e-04 9.99999853e-01 -9.33203137e-05 -4.10655437e-01] [-3.71003318e-03 9.52984544e-05 9.99993113e-01 -2.34520737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425769231 meters 0.02975847263615927 Centerline is valid? [True, True] Translation: X:43.26, Y:-0.41, Z:-0.23 [[ 9.99986580e-01 1.29145662e-03 5.01715209e-03 4.32573303e+01] [-1.29083892e-03 9.99999159e-01 -1.26353269e-04 -4.14405383e-01] [-5.01731105e-03 1.19875239e-04 9.99987406e-01 -2.31994644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.485769231 meters 0.023953124198588287 Centerline is valid? [True, True] Translation: X:43.32, Y:-0.41, Z:-0.23 [[ 9.99954393e-01 7.46796462e-03 5.95322246e-03 4.33180075e+01] [-7.46720273e-03 9.99972109e-01 -1.50196249e-04 -4.10348757e-01] [-5.95417808e-03 1.05735480e-04 9.99982268e-01 -2.31285861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545769230999994 meters 0.01800502691410382 Centerline is valid? [True, True] Translation: X:43.38, Y:-0.40, Z:-0.23 [[ 9.99866313e-01 1.43890122e-02 7.76607968e-03 4.33794894e+01] [-1.43879242e-02 9.99896469e-01 -1.95951178e-04 -4.04161617e-01] [-7.76809519e-03 8.41872163e-05 9.99969824e-01 -2.28971036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605769231 meters 0.0161337067663733 Centerline is valid? [True, True] Translation: X:43.44, Y:-0.40, Z:-0.23 [[ 9.99827045e-01 1.74699727e-02 6.37802785e-03 4.34412296e+01] [-1.74693013e-02 9.99847387e-01 -1.60959110e-04 -4.03688177e-01] [-6.37986643e-03 4.95115812e-05 9.99979647e-01 -2.31986795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.665769231 meters 0.015425923848739734 Centerline is valid? [True, True] Translation: X:43.50, Y:-0.41, Z:-0.24 [[ 9.99804244e-01 1.96255859e-02 2.51184215e-03 4.35024543e+01] [-1.96254885e-02 9.99807400e-01 -6.34318810e-05 -4.06227822e-01] [-2.51260325e-03 1.41233347e-05 9.99996843e-01 -2.39759459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725769230999994 meters 0.014645346653690614 Centerline is valid? [True, True] Translation: X:43.56, Y:-0.41, Z:-0.23 [[ 9.99772241e-01 2.06915856e-02 5.22731082e-03 4.35627192e+01] [-2.06911713e-02 9.99785906e-01 -1.33322673e-04 -4.07778422e-01] [-5.22895034e-03 2.51331242e-05 9.99986329e-01 -2.34839751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785769230999996 meters 0.013702944526939487 Centerline is valid? [True, True] Translation: X:43.62, Y:-0.40, Z:-0.24 [[ 9.99712374e-01 2.35604616e-02 4.48044369e-03 4.36244392e+01] [-2.35601874e-02 9.99722414e-01 -1.13967996e-04 -4.04995790e-01] [-4.48188512e-03 8.37512284e-06 9.99989956e-01 -2.37046870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.845769231 meters 0.013656404636888681 Centerline is valid? [True, True] Translation: X:43.69, Y:-0.40, Z:-0.24 [[ 9.99651907e-01 2.61145842e-02 3.75416152e-03 4.36858915e+01] [-2.61144067e-02 9.99658956e-01 -9.62863827e-05 -4.00360219e-01] [-3.75539566e-03 -1.78483473e-06 9.99992948e-01 -2.38195945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905769230999994 meters 0.013942875241784464 Centerline is valid? [True, True] Translation: X:43.75, Y:-0.40, Z:-0.24 [[ 9.99695800e-01 2.45153842e-02 2.70253459e-03 4.37477439e+01] [-2.45152864e-02 9.99699453e-01 -6.93305400e-05 -3.98821907e-01] [-2.70342202e-03 3.05604020e-06 9.99996346e-01 -2.41334821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965769230999996 meters 0.016148529479680943 Centerline is valid? [True, True] Translation: X:43.81, Y:-0.41, Z:-0.24 [[ 9.99818742e-01 1.88146846e-02 2.91393212e-03 4.38078190e+01] [-1.88145467e-02 9.99822988e-01 -7.47280326e-05 -4.08878191e-01] [-2.91482230e-03 1.98901755e-05 9.99995752e-01 -2.40943598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025769231 meters 0.019388579814382044 Centerline is valid? [True, True] Translation: X:43.87, Y:-0.42, Z:-0.24 [[ 9.99903721e-01 1.30850669e-02 4.61844177e-03 4.38692464e+01] [-1.30846586e-02 9.99914385e-01 -1.18609286e-04 -4.22372521e-01] [-4.61959838e-03 5.81671320e-05 9.99989328e-01 -2.37432625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08576923099999 meters 0.02414166691860902 Centerline is valid? [True, True] Translation: X:43.93, Y:-0.44, Z:-0.24 [[ 9.99951981e-01 8.03795092e-03 5.60595151e-03 4.39293200e+01] [-8.03726326e-03 9.99967690e-01 -1.45182673e-04 -4.41206905e-01] [-5.60693735e-03 1.00119194e-04 9.99984276e-01 -2.35576591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.145769230999996 meters 0.0254099082210163 Centerline is valid? [True, True] Translation: X:43.99, Y:-0.45, Z:-0.23 [[ 9.99939341e-01 6.53796418e-03 8.86391932e-03 4.39913836e+01] [-6.53617523e-03 9.99978612e-01 -2.30778319e-04 -4.53446805e-01] [-8.86523856e-03 1.72828190e-04 9.99960688e-01 -2.29206282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205769231 meters 0.023557935194710323 Centerline is valid? [True, True] Translation: X:44.05, Y:-0.47, Z:-0.24 [[ 9.99936871e-01 9.37126925e-03 6.19952855e-03 4.40525184e+01] [-9.37044404e-03 9.99956083e-01 -1.62141797e-04 -4.65273545e-01] [-6.20077576e-03 1.04039226e-04 9.99980770e-01 -2.35254587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26576923099999 meters 0.017325890752710963 Centerline is valid? [True, True] Translation: X:44.11, Y:-0.47, Z:-0.23 [[ 9.99839410e-01 1.69651685e-02 5.77391287e-03 4.41134968e+01] [-1.69645760e-02 9.99856080e-01 -1.51589820e-04 -4.67021715e-01] [-5.77565363e-03 5.36134927e-05 9.99983319e-01 -2.34238579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325769230999995 meters 0.013763057952440802 Centerline is valid? [True, True] Translation: X:44.18, Y:-0.45, Z:-0.24 [[ 9.99563130e-01 2.92197468e-02 4.44476462e-03 4.41756956e+01] [-2.92195168e-02 9.99573012e-01 -1.16699871e-04 -4.54386555e-01] [-4.44627670e-03 -1.32249856e-05 9.99990115e-01 -2.36532588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385769231 meters 0.020526562152898758 Centerline is valid? [True, True] Translation: X:44.24, Y:-0.44, Z:-0.24 [[ 9.99220771e-01 3.90852109e-02 5.49511711e-03 4.42361882e+01] [-3.90850063e-02 9.99235879e-01 -1.44658871e-04 -4.44403741e-01] [-5.49657219e-03 -7.02305378e-05 9.99984891e-01 -2.36268090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.445769231 meters 0.02748399396404437 Centerline is valid? [True, True] Translation: X:44.30, Y:-0.44, Z:-0.24 [[ 9.98828665e-01 4.81132975e-02 5.13883076e-03 4.42971111e+01] [-4.81132378e-02 9.98841878e-01 -1.35326902e-04 -4.36413189e-01] [-5.13939039e-03 -1.12077397e-04 9.99986787e-01 -2.37042208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505769230999995 meters 0.034049195095073335 Centerline is valid? [True, True] Translation: X:44.36, Y:-0.43, Z:-0.24 [[ 9.98628611e-01 5.22094103e-02 3.88264672e-03 4.43571446e+01] [-5.22094068e-02 9.98636154e-01 -1.02324410e-04 -4.27757171e-01] [-3.88269368e-03 -1.00526598e-04 9.99992457e-01 -2.39659748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565769231 meters 0.048183205575451124 Centerline is valid? [True, True] Translation: X:44.42, Y:-0.40, Z:-0.24 [[ 9.97944069e-01 6.40320726e-02 2.74373914e-03 4.44175700e+01] [-6.40321153e-02 9.97947836e-01 -7.23572250e-05 -4.01630747e-01] [-2.74274172e-03 -1.03478958e-04 9.99996233e-01 -2.41682543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.625769231 meters 0.052568498477653845 Centerline is valid? [True, True] Translation: X:44.48, Y:-0.39, Z:-0.24 [[ 9.97398130e-01 7.18686490e-02 5.64507837e-03 4.44781578e+01] [-7.18689560e-02 9.97414072e-01 -1.48726369e-04 -3.85886091e-01] [-5.64116937e-03 -2.57366486e-04 9.99984055e-01 -2.36732520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685769230999995 meters 0.05680815495338002 Centerline is valid? [True, True] Translation: X:44.54, Y:-0.37, Z:-0.24 [[ 9.97193772e-01 7.46352321e-02 5.84493263e-03 4.45373346e+01] [-7.46356089e-02 9.97210861e-01 -1.53926394e-04 -3.68901735e-01] [-5.84011863e-03 -2.82745664e-04 9.99982906e-01 -2.37481267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745769231 meters 0.05433573034694158 Centerline is valid? [True, True] Translation: X:44.60, Y:-0.36, Z:-0.24 [[ 9.97429380e-01 7.14159989e-02 5.86398206e-03 4.45974678e+01] [-7.14163236e-02 9.97446582e-01 -1.54279089e-04 -3.59868555e-01] [-5.86002686e-03 -2.64901544e-04 9.99982795e-01 -2.37699989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.805769231 meters 0.044572586919894144 Centerline is valid? [True, True] Translation: X:44.66, Y:-0.36, Z:-0.25 [[ 9.98156260e-01 6.06552800e-02 2.24022664e-03 4.46573321e+01] [-6.06553004e-02 9.98158770e-01 -5.89015142e-05 -3.62692694e-01] [-2.23967456e-03 -7.70887047e-05 9.99997489e-01 -2.46645357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865769230999994 meters 0.022572036640906824 Centerline is valid? [True, True] Translation: X:44.72, Y:-0.39, Z:-0.24 [[ 9.99146685e-01 4.09140031e-02 5.65206623e-03 4.47174249e+01] [-4.09138168e-02 9.99162668e-01 -1.48627937e-04 -3.93317816e-01] [-5.65341454e-03 -8.27464920e-05 9.99984016e-01 -2.40435470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925769231 meters 0.015806541837708465 Centerline is valid? [True, True] Translation: X:44.78, Y:-0.43, Z:-0.24 [[ 9.99784136e-01 1.94842916e-02 7.21410105e-03 4.47778589e+01] [-1.94834298e-02 9.99810162e-01 -1.89731879e-04 -4.34615317e-01] [-7.21642834e-03 4.91354915e-05 9.99973960e-01 -2.38461304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.985769231 meters 0.03250240275247523 Centerline is valid? [True, True] Translation: X:44.84, Y:-0.48, Z:-0.24 [[ 9.99975521e-01 3.23731443e-04 6.98948362e-03 4.48375448e+01] [-3.22453398e-04 9.99999931e-01 -1.83978779e-04 -4.75656467e-01] [-6.98954270e-03 1.81720493e-04 9.99975556e-01 -2.40104474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045769230999994 meters 0.04075417514187672 Centerline is valid? [True, True] Translation: X:44.90, Y:-0.51, Z:-0.24 [[ 9.99946709e-01 -8.47121628e-03 5.90057913e-03 4.48980827e+01] [ 8.47227993e-03 9.99964098e-01 -1.55289378e-04 -5.05356502e-01] [-5.89905179e-03 2.05272461e-04 9.99982579e-01 -2.39515316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105769231 meters 0.039394384983397666 Centerline is valid? [True, True] Translation: X:44.96, Y:-0.52, Z:-0.24 [[ 9.99951880e-01 -7.35152442e-03 6.49565196e-03 4.49588194e+01] [ 7.35279075e-03 9.99972953e-01 -1.71089587e-04 -5.15888392e-01] [-6.49421851e-03 2.18842524e-04 9.99978888e-01 -2.37959832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.165769231 meters 0.030101850062158025 Centerline is valid? [True, True] Translation: X:45.02, Y:-0.52, Z:-0.24 [[ 9.99974419e-01 3.50707395e-03 6.23394651e-03 4.50184912e+01] [-3.50611748e-03 9.99993840e-01 -1.64350713e-04 -5.20395097e-01] [-6.23448450e-03 1.42489560e-04 9.99980555e-01 -2.38200103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225769230999994 meters 0.016510550530758544 Centerline is valid? [True, True] Translation: X:45.08, Y:-0.51, Z:-0.24 [[ 9.99824339e-01 1.73687788e-02 7.04386155e-03 4.50793518e+01] [-1.73679013e-02 9.99849149e-01 -1.85731044e-04 -5.08575782e-01] [-7.04602490e-03 6.33613259e-05 9.99975174e-01 -2.37874631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285769230999996 meters 0.013783149001602298 Centerline is valid? [True, True] Translation: X:45.14, Y:-0.50, Z:-0.24 [[ 9.99567874e-01 2.89465561e-02 5.11486080e-03 4.51404977e+01] [-2.89462453e-02 9.99580961e-01 -1.34797318e-04 -5.02867772e-01] [-5.11661939e-03 -1.33169463e-05 9.99986910e-01 -2.41504409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345769231 meters 0.019669657136514376 Centerline is valid? [True, True] Translation: X:45.20, Y:-0.49, Z:-0.24 [[ 9.99225473e-01 3.91576333e-02 3.89034768e-03 4.52019678e+01] [-3.91575304e-02 9.99233045e-01 -1.02643785e-04 -4.90930866e-01] [-3.89138325e-03 -4.97721236e-05 9.99992427e-01 -2.44506699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405769230999994 meters 0.030131620618396908 Centerline is valid? [True, True] Translation: X:45.26, Y:-0.48, Z:-0.24 [[ 9.98828650e-01 4.81630989e-02 4.65220758e-03 4.52623406e+01] [-4.81630483e-02 9.98839479e-01 -1.22959663e-04 -4.75262347e-01] [-4.65273071e-03 -1.01248864e-04 9.99989171e-01 -2.43848400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465769230999996 meters 0.02824888244092824 Centerline is valid? [True, True] Translation: X:45.32, Y:-0.48, Z:-0.25 [[ 9.98809446e-01 4.86409526e-02 3.70774821e-03 4.53246776e+01] [-4.86409260e-02 9.98816325e-01 -9.74163528e-05 -4.80094654e-01] [-3.70809786e-03 -8.30479326e-05 9.99993122e-01 -2.46580933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525769231 meters 0.021990349192425578 Centerline is valid? [True, True] Translation: X:45.38, Y:-0.49, Z:-0.25 [[ 9.99132695e-01 4.15119190e-02 3.25860602e-03 4.53848123e+01] [-4.15118571e-02 9.99138008e-01 -8.66383411e-05 -4.92750305e-01] [-3.25939365e-03 -4.87075884e-05 9.99994687e-01 -2.47430362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58576923099999 meters 0.01724961052212331 Centerline is valid? [True, True] Translation: X:45.45, Y:-0.50, Z:-0.24 [[ 9.99345050e-01 3.58455187e-02 4.95679549e-03 4.54457011e+01] [-3.58453061e-02 9.99357342e-01 -1.31740288e-04 -5.02520806e-01] [-4.95833226e-03 -4.60238471e-05 9.99987706e-01 -2.43606458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.645769230999996 meters 0.014952838457204565 Centerline is valid? [True, True] Translation: X:45.51, Y:-0.51, Z:-0.24 [[ 9.99452849e-01 3.23183936e-02 7.03735395e-03 4.55067411e+01] [-3.23178761e-02 9.99477623e-01 -1.87274253e-04 -5.07100653e-01] [-7.03973021e-03 -4.02605474e-05 9.99975220e-01 -2.40620178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705769231 meters 0.014564444528063358 Centerline is valid? [True, True] Translation: X:45.57, Y:-0.53, Z:-0.25 [[ 9.99739199e-01 2.22651044e-02 5.07923982e-03 4.55696012e+01] [-2.22647030e-02 9.99752102e-01 -1.35561359e-04 -5.26761830e-01] [-5.08099898e-03 2.24382388e-05 9.99987091e-01 -2.46051496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76576923099999 meters 0.020644579819593726 Centerline is valid? [True, True] Translation: X:45.63, Y:-0.54, Z:-0.25 [[ 9.99897188e-01 1.36451507e-02 4.40710377e-03 4.56297214e+01] [-1.36447606e-02 9.99906899e-01 -1.18574367e-04 -5.44736130e-01] [-4.40831143e-03 5.84283005e-05 9.99990282e-01 -2.48388096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825769230999995 meters 0.0288223337451655 Centerline is valid? [True, True] Translation: X:45.69, Y:-0.57, Z:-0.25 [[ 9.99979528e-01 4.04019326e-03 4.96191701e-03 4.56901544e+01] [-4.03957734e-03 9.99991832e-01 -1.34145238e-04 -5.68285128e-01] [-4.96241846e-03 1.14098444e-04 9.99987681e-01 -2.47204218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885769231 meters 0.030383696538726607 Centerline is valid? [True, True] Translation: X:45.75, Y:-0.58, Z:-0.24 [[ 9.99977154e-01 2.89090198e-03 6.11018344e-03 4.57514634e+01] [-2.88994728e-03 9.99995810e-01 -1.65070713e-04 -5.82806675e-01] [-6.11063504e-03 1.47408834e-04 9.99981319e-01 -2.44697989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.945769231 meters 0.026764664707974 Centerline is valid? [True, True] Translation: X:45.81, Y:-0.59, Z:-0.25 [[ 9.99966251e-01 7.33807678e-03 3.69448394e-03 4.58115556e+01] [-7.33775654e-03 9.99973073e-01 -1.00228100e-04 -5.86161381e-01] [-3.69511994e-03 7.31154938e-05 9.99993170e-01 -2.49228001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005769230999995 meters 0.021292702771303487 Centerline is valid? [True, True] Translation: X:45.87, Y:-0.58, Z:-0.25 [[ 9.99890711e-01 1.43668128e-02 3.48730081e-03 4.58711107e+01] [-1.43665685e-02 9.99896791e-01 -9.51113975e-05 -5.80331283e-01] [-3.48830733e-03 4.50004570e-05 9.99993915e-01 -2.50731042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065769231 meters 0.01610979749541581 Centerline is valid? [True, True] Translation: X:45.93, Y:-0.57, Z:-0.25 [[ 9.99784220e-01 2.04591902e-02 3.59652961e-03 4.59324639e+01] [-2.04589703e-02 9.99790689e-01 -9.79273341e-05 -5.71136762e-01] [-3.59778033e-03 2.43249110e-05 9.99993528e-01 -2.49604457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.125769231 meters 0.01439919935313206 Centerline is valid? [True, True] Translation: X:45.99, Y:-0.56, Z:-0.25 [[ 9.99714845e-01 2.34276190e-02 4.62329556e-03 4.59944825e+01] [-2.34272881e-02 9.99725536e-01 -1.25704384e-04 -5.63836023e-01] [-4.62497158e-03 1.73572616e-05 9.99989305e-01 -2.49146717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185769230999995 meters 0.01498814547754605 Centerline is valid? [True, True] Translation: X:46.06, Y:-0.57, Z:-0.25 [[ 9.99742199e-01 2.19497518e-02 5.80902437e-03 4.60572518e+01] [-2.19491976e-02 9.99759075e-01 -1.59142474e-04 -5.72092405e-01] [-5.81111797e-03 3.15980233e-05 9.99983115e-01 -2.48548402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245769231 meters 0.015073241055286247 Centerline is valid? [True, True] Translation: X:46.12, Y:-0.58, Z:-0.25 [[ 9.99752735e-01 2.17572884e-02 4.59230892e-03 4.61199142e+01] [-2.17569373e-02 9.99763282e-01 -1.26387998e-04 -5.75405730e-01] [-4.59397170e-03 2.64421692e-05 9.99989447e-01 -2.49978105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.305769231 meters 0.013541775049138728 Centerline is valid? [True, True] Translation: X:46.18, Y:-0.57, Z:-0.25 [[ 9.99637055e-01 2.64109952e-02 5.31193466e-03 4.61816387e+01] [-2.64105844e-02 9.99651169e-01 -1.47488453e-04 -5.72732317e-01] [-5.31397701e-03 7.14362423e-06 9.99985881e-01 -2.49359937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365769230999994 meters 0.013653343740942936 Centerline is valid? [True, True] Translation: X:46.24, Y:-0.57, Z:-0.25 [[ 9.99544040e-01 2.97431442e-02 5.20162086e-03 4.62439394e+01] [-2.97427904e-02 9.99557575e-01 -1.45370770e-04 -5.68418324e-01] [-5.20364331e-03 -9.40623213e-06 9.99986461e-01 -2.50485993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425769231 meters 0.014613131275589435 Centerline is valid? [True, True] Translation: X:46.31, Y:-0.57, Z:-0.25 [[ 9.99448235e-01 3.29745357e-02 3.98817946e-03 4.63057488e+01] [-3.29743528e-02 9.99456192e-01 -1.11632373e-04 -5.65037763e-01] [-3.98969169e-03 -1.99368589e-05 9.99992041e-01 -2.52337969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.485769231 meters 0.014969408927839054 Centerline is valid? [True, True] Translation: X:46.37, Y:-0.56, Z:-0.25 [[ 9.99420657e-01 3.38220099e-02 3.79772756e-03 4.63692905e+01] [-3.38218486e-02 9.99427872e-01 -1.06720496e-04 -5.62411716e-01] [-3.79916428e-03 -2.17874987e-05 9.99992783e-01 -2.52964264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545769230999994 meters 0.014168816756713639 Centerline is valid? [True, True] Translation: X:46.43, Y:-0.56, Z:-0.25 [[ 9.99450508e-01 3.27312435e-02 5.22954773e-03 4.64316841e+01] [-3.27309147e-02 9.99464189e-01 -1.48475988e-04 -5.60576285e-01] [-5.23160549e-03 -2.27734793e-05 9.99986315e-01 -2.50455325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605769231 meters 0.013826998267882338 Centerline is valid? [True, True] Translation: X:46.49, Y:-0.56, Z:-0.25 [[ 9.99466896e-01 3.22576591e-02 5.03650846e-03 4.64942185e+01] [-3.22573444e-02 9.99479586e-01 -1.43712677e-04 -5.61750036e-01] [-5.03852322e-03 -1.88283248e-05 9.99987306e-01 -2.50805874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.665769231 meters 0.013391536543868219 Centerline is valid? [True, True] Translation: X:46.55, Y:-0.56, Z:-0.25 [[ 9.99555428e-01 2.92516726e-02 5.76944387e-03 4.65549933e+01] [-2.92512017e-02 9.99572078e-01 -1.66015334e-04 -5.64440108e-01] [-5.77183122e-03 -2.82163823e-06 9.99983343e-01 -2.50778109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725769230999994 meters 0.014159297387949224 Centerline is valid? [True, True] Translation: X:46.62, Y:-0.57, Z:-0.25 [[ 9.99676404e-01 2.47653401e-02 5.81083647e-03 4.66167511e+01] [-2.47647813e-02 9.99693292e-01 -1.68122487e-04 -5.73308805e-01] [-5.81321785e-03 2.41639892e-05 9.99983103e-01 -2.51493965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785769230999996 meters 0.020369102758192204 Centerline is valid? [True, True] Translation: X:46.68, Y:-0.59, Z:-0.25 [[ 9.99844311e-01 1.69343890e-02 4.95786354e-03 4.66772659e+01] [-1.69338825e-02 9.99856601e-01 -1.44139517e-04 -5.93022644e-01] [-4.95959351e-03 6.01611972e-05 9.99987699e-01 -2.53791152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845769231 meters 0.022706346227403622 Centerline is valid? [True, True] Translation: X:46.74, Y:-0.60, Z:-0.25 [[ 9.99891527e-01 1.34389729e-02 6.02736753e-03 4.67390766e+01] [-1.34381537e-02 9.99909688e-01 -1.76405137e-04 -6.04162726e-01] [-6.02919389e-03 9.53893107e-05 9.99981820e-01 -2.50716325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905769230999994 meters 0.019975872486750597 Centerline is valid? [True, True] Translation: X:46.80, Y:-0.60, Z:-0.25 [[ 9.99829802e-01 1.70345798e-02 7.08456246e-03 4.68003153e+01] [-1.70335288e-02 9.99854897e-01 -2.08672790e-04 -6.02230576e-01] [-7.08708912e-03 8.79621755e-05 9.99974882e-01 -2.49597761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965769230999996 meters 0.018957603076803466 Centerline is valid? [True, True] Translation: X:46.86, Y:-0.61, Z:-0.25 [[ 9.99815660e-01 1.79846600e-02 6.72290636e-03 4.68620513e+01] [-1.79837286e-02 9.99838260e-01 -1.98977975e-04 -6.06211701e-01] [-6.72539755e-03 7.80383718e-05 9.99977381e-01 -2.51873041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025769231 meters 0.024439821679588438 Centerline is valid? [True, True] Translation: X:46.92, Y:-0.62, Z:-0.26 [[ 9.99876497e-01 1.54847694e-02 2.68556537e-03 4.69229646e+01] [-1.54846123e-02 9.99880103e-01 -7.92877023e-05 -6.20801451e-01] [-2.68647113e-03 3.76929716e-05 9.99996391e-01 -2.61215913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08576923099999 meters 0.024952298584575722 Centerline is valid? [True, True] Translation: X:46.98, Y:-0.63, Z:-0.26 [[ 9.99918161e-01 1.13229722e-02 5.95492109e-03 4.69844966e+01] [-1.13221128e-02 9.99935887e-01 -1.78004884e-04 -6.25836964e-01] [-5.95655484e-03 1.10568027e-04 9.99982253e-01 -2.55095680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.145769230999996 meters 0.025250153981423454 Centerline is valid? [True, True] Translation: X:47.05, Y:-0.63, Z:-0.26 [[ 9.99932007e-01 1.00523533e-02 5.91024216e-03 4.70463649e+01] [-1.00514794e-02 9.99949467e-01 -1.77553331e-04 -6.32826807e-01] [-5.91172832e-03 1.18134581e-04 9.99982519e-01 -2.56176130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205769231 meters 0.028407407666184718 Centerline is valid? [True, True] Translation: X:47.11, Y:-0.64, Z:-0.26 [[ 9.99949502e-01 9.63352963e-03 2.86147422e-03 4.71070554e+01] [-9.63332326e-03 9.99953595e-01 -8.58916415e-05 -6.42730069e-01] [-2.86216887e-03 5.83217980e-05 9.99995902e-01 -2.62721282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26576923099999 meters 0.02910292767515683 Centerline is valid? [True, True] Translation: X:47.17, Y:-0.65, Z:-0.26 [[ 9.99955806e-01 9.18271043e-03 2.01578931e-03 4.71686146e+01] [-9.18260718e-03 9.99957837e-01 -6.04720168e-05 -6.49090454e-01] [-2.01625962e-03 4.19591429e-05 9.99997966e-01 -2.64599356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325769230999995 meters 0.025603681411653114 Centerline is valid? [True, True] Translation: X:47.23, Y:-0.65, Z:-0.26 [[ 9.99931648e-01 1.08110783e-02 4.45195301e-03 4.72308070e+01] [-1.08105816e-02 9.99941555e-01 -1.35623165e-04 -6.51189239e-01] [-4.45315905e-03 8.74856933e-05 9.99990081e-01 -2.60122738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385769231 meters 0.022516798828904578 Centerline is valid? [True, True] Translation: X:47.29, Y:-0.66, Z:-0.26 [[ 9.99892884e-01 1.37924803e-02 4.89778346e-03 4.72933664e+01] [-1.37919092e-02 9.99904876e-01 -1.50377459e-04 -6.57100930e-01] [-4.89939164e-03 8.28115660e-05 9.99987994e-01 -2.59516436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44576923099999 meters 0.02098000350819069 Centerline is valid? [True, True] Translation: X:47.35, Y:-0.67, Z:-0.26 [[ 9.99847263e-01 1.66498727e-02 5.31343834e-03 4.73548407e+01] [-1.66492399e-02 9.99861378e-01 -1.63315278e-04 -6.66131263e-01] [-5.31542096e-03 7.48256245e-05 9.99985870e-01 -2.58841658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505769230999995 meters 0.017810126779694863 Centerline is valid? [True, True] Translation: X:47.42, Y:-0.67, Z:-0.26 [[ 9.99772545e-01 2.05146510e-02 5.83151596e-03 4.74164839e+01] [-2.05139480e-02 9.99789551e-01 -1.80347709e-04 -6.72404028e-01] [-5.83398849e-03 6.06792734e-05 9.99982980e-01 -2.58436263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565769231 meters 0.014225531763118386 Centerline is valid? [True, True] Translation: X:47.48, Y:-0.67, Z:-0.26 [[ 9.99640925e-01 2.63308097e-02 4.97094411e-03 4.74779843e+01] [-2.63303675e-02 9.99653284e-01 -1.54390484e-04 -6.74377168e-01] [-4.97328583e-03 2.34482608e-05 9.99987633e-01 -2.61319776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.625769231 meters 0.012777637965868468 Centerline is valid? [True, True] Translation: X:47.54, Y:-0.68, Z:-0.26 [[ 9.99470013e-01 3.20202929e-02 5.86465557e-03 4.75397023e+01] [-3.20197684e-02 9.99487219e-01 -1.83317660e-04 -6.76323080e-01] [-5.86751817e-03 -4.56440943e-06 9.99982786e-01 -2.59021556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685769230999995 meters 0.016318960945522067 Centerline is valid? [True, True] Translation: X:47.60, Y:-0.67, Z:-0.26 [[ 9.99150077e-01 4.06739614e-02 6.68973265e-03 4.76017880e+01] [-4.06734645e-02 9.99172470e-01 -2.10377005e-04 -6.67972159e-01] [-6.69275357e-03 -6.18964029e-05 9.99977601e-01 -2.56884822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745769231 meters 0.024671199295605923 Centerline is valid? [True, True] Translation: X:47.66, Y:-0.65, Z:-0.26 [[ 9.98735544e-01 4.97188436e-02 7.43977521e-03 4.76625756e+01] [-4.97184708e-02 9.98763244e-01 -2.35170311e-04 -6.54059515e-01] [-7.44226642e-03 -1.35021298e-04 9.99972297e-01 -2.56763340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.805769231 meters 0.04121849856322418 Centerline is valid? [True, True] Translation: X:47.72, Y:-0.62, Z:-0.26 [[ 9.97892264e-01 6.46228527e-02 5.90908471e-03 4.77233330e+01] [-6.46228779e-02 9.97909740e-01 -1.86859938e-04 -6.21562183e-01] [-5.90880861e-03 -1.95395973e-04 9.99982524e-01 -2.60287391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865769230999994 meters 0.041423283588279645 Centerline is valid? [True, True] Translation: X:47.79, Y:-0.62, Z:-0.26 [[ 9.97826361e-01 6.54967716e-02 7.26130655e-03 4.77855094e+01] [-6.54968331e-02 9.97852751e-01 -2.29585007e-04 -6.15544547e-01] [-7.26075179e-03 -2.46506611e-04 9.99973610e-01 -2.57720791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925769231 meters 0.034976523747524906 Centerline is valid? [True, True] Translation: X:47.85, Y:-0.62, Z:-0.26 [[ 9.98056651e-01 6.18935855e-02 7.21844099e-03 4.78458155e+01] [-6.18935441e-02 9.98082730e-01 -2.29334359e-04 -6.21188858e-01] [-7.21879562e-03 -2.17886214e-04 9.99973920e-01 -2.58437572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.985769231 meters 0.031743815523283946 Centerline is valid? [True, True] Translation: X:47.91, Y:-0.62, Z:-0.26 [[ 9.98269506e-01 5.83208520e-02 7.52809506e-03 4.79073812e+01] [-5.83207054e-02 9.98297870e-01 -2.39184184e-04 -6.19279518e-01] [-7.52923070e-03 -2.00273537e-04 9.99971635e-01 -2.59121995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045769230999994 meters 0.03320441413118694 Centerline is valid? [True, True] Translation: X:47.97, Y:-0.62, Z:-0.26 [[ 9.98212507e-01 5.94961601e-02 5.65664838e-03 4.79692639e+01] [-5.94960968e-02 9.98228522e-01 -1.79625361e-04 -6.15883095e-01] [-5.65731477e-03 -1.57244217e-04 9.99983985e-01 -2.62648586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105769231 meters 0.033540823080830215 Centerline is valid? [True, True] Translation: X:48.03, Y:-0.61, Z:-0.26 [[ 9.98223058e-01 5.92778029e-02 6.07191599e-03 4.80309144e+01] [-5.92777189e-02 9.98241511e-01 -1.93955311e-04 -6.13506293e-01] [-6.07273584e-03 -1.66318666e-04 9.99981547e-01 -2.62411937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.165769231 meters 0.02992542689326953 Centerline is valid? [True, True] Translation: X:48.09, Y:-0.62, Z:-0.27 [[ 9.98351214e-01 5.72908841e-02 3.55073907e-03 4.80930028e+01] [-5.72908435e-02 9.98357524e-01 -1.13223751e-04 -6.20482922e-01] [-3.55139375e-03 -9.03877670e-05 9.99993690e-01 -2.67579203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225769230999994 meters 0.031378644146693946 Centerline is valid? [True, True] Translation: X:48.15, Y:-0.62, Z:-0.26 [[ 9.98382017e-01 5.64499454e-02 6.83755319e-03 4.81545876e+01] [-5.64497599e-02 9.98405417e-01 -2.20271850e-04 -6.18954195e-01] [-6.83908448e-03 -1.66062782e-04 9.99976599e-01 -2.61877294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285769230999996 meters 0.0319306853297746 Centerline is valid? [True, True] Translation: X:48.22, Y:-0.62, Z:-0.26 [[ 9.98341503e-01 5.71656767e-02 6.80646415e-03 4.82169790e+01] [-5.71655052e-02 9.98364691e-01 -2.19899963e-04 -6.20198282e-01] [-6.80790421e-03 -1.69559703e-04 9.99976812e-01 -2.62086324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345769231 meters 0.035659520805264994 Centerline is valid? [True, True] Translation: X:48.28, Y:-0.61, Z:-0.27 [[ 9.98189395e-01 6.00089996e-02 4.10517389e-03 4.82781576e+01] [-6.00089603e-02 9.98197830e-01 -1.32874159e-04 -6.14389320e-01] [-4.10574931e-03 -1.13713640e-04 9.99991565e-01 -2.68088006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405769230999994 meters 0.036126509790899174 Centerline is valid? [True, True] Translation: X:48.34, Y:-0.61, Z:-0.27 [[ 9.98206312e-01 5.95458406e-02 6.20088878e-03 4.83393180e+01] [-5.95457330e-02 9.98225558e-01 -2.02137476e-04 -6.13261457e-01] [-6.20192211e-03 -1.67461563e-04 9.99980754e-01 -2.65140110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465769230999996 meters 0.02545433072837257 Centerline is valid? [True, True] Translation: X:48.40, Y:-0.63, Z:-0.27 [[ 9.98624200e-01 5.21593557e-02 5.39516431e-03 4.83996200e+01] [-5.21591617e-02 9.98638769e-01 -1.76743093e-04 -6.33949801e-01] [-5.39703905e-03 -1.04907318e-04 9.99985430e-01 -2.67744871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525769231 meters 0.017384667952550954 Centerline is valid? [True, True] Translation: X:48.46, Y:-0.65, Z:-0.27 [[ 9.99024809e-01 4.39090192e-02 4.62922224e-03 4.84593871e+01] [-4.39087876e-02 9.99035533e-01 -1.51685486e-04 -6.54258193e-01] [-4.63141787e-03 -5.17259727e-05 9.99989274e-01 -2.69394960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58576923099999 meters 0.01522017297984676 Centerline is valid? [True, True] Translation: X:48.52, Y:-0.67, Z:-0.27 [[ 9.99186833e-01 4.00839972e-02 4.35263449e-03 4.85203321e+01] [-4.00837580e-02 9.99196313e-01 -1.42202937e-04 -6.65981700e-01] [-4.35483639e-03 -3.23826457e-05 9.99990517e-01 -2.70835385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.645769230999996 meters 0.01711080746949115 Centerline is valid? [True, True] Translation: X:48.58, Y:-0.67, Z:-0.27 [[ 9.99106932e-01 4.20598160e-02 4.03852383e-03 4.85813332e+01] [-4.20596240e-02 9.99115094e-01 -1.32502852e-04 -6.68737420e-01] [-4.04052316e-03 -3.74742763e-05 9.99991836e-01 -2.71805435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705769231 meters 0.019814361290142427 Centerline is valid? [True, True] Translation: X:48.64, Y:-0.67, Z:-0.27 [[ 9.98905004e-01 4.66179703e-02 3.94421551e-03 4.86435272e+01] [-4.66178190e-02 9.98912790e-01 -1.30324708e-04 -6.68855049e-01] [-3.94600280e-03 -5.36887222e-05 9.99992213e-01 -2.71241170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76576923099999 meters 0.02319994353979662 Centerline is valid? [True, True] Translation: X:48.70, Y:-0.66, Z:-0.26 [[ 9.98699265e-01 5.03937348e-02 7.76207968e-03 4.87045434e+01] [-5.03932575e-02 9.98729420e-01 -2.57193592e-04 -6.61351793e-01] [-7.76517828e-03 -1.34297429e-04 9.99969842e-01 -2.64786490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825769230999995 meters 0.02581055497041099 Centerline is valid? [True, True] Translation: X:48.77, Y:-0.66, Z:-0.27 [[ 9.98582330e-01 5.27073524e-02 7.43407403e-03 4.87657154e+01] [-5.27069740e-02 9.98609991e-01 -2.46939523e-04 -6.59720721e-01] [-7.43675613e-03 -1.45238103e-04 9.99972336e-01 -2.65757133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885769231 meters 0.027650218723593824 Centerline is valid? [True, True] Translation: X:48.83, Y:-0.66, Z:-0.27 [[ 9.98520767e-01 5.39591897e-02 6.68460389e-03 4.88271616e+01] [-5.39589056e-02 9.98543132e-01 -2.22964652e-04 -6.57439090e-01] [-6.68689630e-03 -1.38059075e-04 9.99977633e-01 -2.68022617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94576923099999 meters 0.0323944659059313 Centerline is valid? [True, True] Translation: X:48.89, Y:-0.65, Z:-0.27 [[ 9.98275834e-01 5.82424923e-02 7.29189788e-03 4.88884060e+01] [-5.82422636e-02 9.98302449e-01 -2.43884311e-04 -6.51753460e-01] [-7.29372394e-03 -1.81232825e-04 9.99973384e-01 -2.66735632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005769230999995 meters 0.035742547523898834 Centerline is valid? [True, True] Translation: X:48.95, Y:-0.64, Z:-0.27 [[ 9.98122784e-01 6.10091941e-02 5.36521676e-03 4.89510089e+01] [-6.10091103e-02 9.98137193e-01 -1.79429532e-04 -6.44482724e-01] [-5.36616924e-03 -1.48234397e-04 9.99985591e-01 -2.71499079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065769231 meters 0.03656635627688815 Centerline is valid? [True, True] Translation: X:49.01, Y:-0.64, Z:-0.27 [[ 9.98077116e-01 6.16996854e-02 5.93454113e-03 4.90132348e+01] [-6.16995940e-02 9.98094745e-01 -1.98646043e-04 -6.39677192e-01] [-5.93549071e-03 -1.67894709e-04 9.99982371e-01 -2.70291996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.125769231 meters 0.03551957055359798 Centerline is valid? [True, True] Translation: X:49.07, Y:-0.63, Z:-0.27 [[ 9.98215326e-01 5.95101266e-02 4.97062663e-03 4.90735626e+01] [-5.95100310e-02 9.98227694e-01 -1.67272487e-04 -6.34379370e-01] [-4.97177156e-03 -1.28828185e-04 9.99987632e-01 -2.73059884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185769230999995 meters 0.030162719307209342 Centerline is valid? [True, True] Translation: X:49.13, Y:-0.64, Z:-0.27 [[ 9.98487699e-01 5.47385721e-02 5.09934708e-03 4.91345292e+01] [-5.47384090e-02 9.98500715e-01 -1.71662540e-04 -6.37479038e-01] [-5.10109826e-03 -1.07727211e-04 9.99986984e-01 -2.73258252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245769231 meters 0.022509385362733114 Centerline is valid? [True, True] Translation: X:49.20, Y:-0.64, Z:-0.27 [[ 9.98749408e-01 4.97285001e-02 5.16677712e-03 4.91962921e+01] [-4.97282655e-02 9.98762769e-01 -1.73944915e-04 -6.44127183e-01] [-5.16903465e-03 -8.32074837e-05 9.99986637e-01 -2.73175769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.305769231 meters 0.020227223091192206 Centerline is valid? [True, True] Translation: X:49.26, Y:-0.65, Z:-0.28 [[ 9.98909529e-01 4.65868059e-02 3.06964706e-03 4.92576535e+01] [-4.65867096e-02 9.98914245e-01 -1.02894639e-04 -6.49124964e-01] [-3.07110771e-03 -4.02223210e-05 9.99995283e-01 -2.77606735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365769230999994 meters 0.016041634854892385 Centerline is valid? [True, True] Translation: X:49.32, Y:-0.66, Z:-0.28 [[ 9.99144457e-01 4.11507933e-02 4.11902078e-03 4.93174258e+01] [-4.11505681e-02 9.99152947e-01 -1.39453107e-04 -6.58194686e-01] [-4.12127036e-03 -3.01662463e-05 9.99991507e-01 -2.77062781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425769231 meters 0.014536121654076369 Centerline is valid? [True, True] Translation: X:49.38, Y:-0.67, Z:-0.27 [[ 9.99188762e-01 3.97164198e-02 6.66518191e-03 4.93798338e+01] [-3.97157976e-02 9.99210991e-01 -2.25724563e-04 -6.65931182e-01] [-6.66888799e-03 -3.91715696e-05 9.99977762e-01 -2.72100874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.485769231 meters 0.013887854388114972 Centerline is valid? [True, True] Translation: X:49.44, Y:-0.67, Z:-0.27 [[ 9.99208833e-01 3.87004717e-02 9.16419002e-03 4.94426874e+01] [-3.86992342e-02 9.99250855e-01 -3.12383294e-04 -6.67420690e-01] [-9.16941409e-03 -4.25109892e-05 9.99957959e-01 -2.67665053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545769230999994 meters 0.014026289011911478 Centerline is valid? [True, True] Translation: X:49.51, Y:-0.67, Z:-0.27 [[ 9.99209782e-01 3.90361087e-02 7.48284174e-03 4.95058708e+01] [-3.90352843e-02 9.99237800e-01 -2.56252689e-04 -6.68380332e-01] [-7.48714142e-03 -3.60446605e-05 9.99971970e-01 -2.71220780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605769231 meters 0.014147518756416034 Centerline is valid? [True, True] Translation: X:49.57, Y:-0.67, Z:-0.28 [[ 9.99233823e-01 3.89658543e-02 3.66445617e-03 4.95692517e+01] [-3.89656561e-02 9.99240543e-01 -1.25504198e-04 -6.67640540e-01] [-3.66656355e-03 -1.73798994e-05 9.99993278e-01 -2.78293000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.665769231 meters 0.012948058847062275 Centerline is valid? [True, True] Translation: X:49.63, Y:-0.68, Z:-0.27 [[ 9.99397816e-01 3.37126256e-02 8.21364201e-03 4.96301983e+01] [-3.37114261e-02 9.99431568e-01 -2.84479434e-04 -6.79270558e-01] [-8.21856366e-03 7.41453900e-06 9.99966227e-01 -2.71144900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725769230999994 meters 0.02012770646670587 Centerline is valid? [True, True] Translation: X:49.69, Y:-0.71, Z:-0.27 [[ 9.99734628e-01 2.15717194e-02 8.08297637e-03 4.96899723e+01] [-2.15701522e-02 9.99767298e-01 -2.81021706e-04 -7.05825931e-01] [-8.08715756e-03 1.06596101e-04 9.99967293e-01 -2.72941691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785769230999996 meters 0.029701799506913436 Centerline is valid? [True, True] Translation: X:49.75, Y:-0.74, Z:-0.28 [[ 9.99927756e-01 1.13801465e-02 3.86967426e-03 4.97499060e+01] [-1.13797109e-02 9.99935240e-01 -1.34570213e-04 -7.35102355e-01] [-3.87095509e-03 9.05247170e-05 9.99992504e-01 -2.81132793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845769231 meters 0.032052685033489625 Centerline is valid? [True, True] Translation: X:49.81, Y:-0.76, Z:-0.28 [[ 9.99957592e-01 8.38839841e-03 3.80115425e-03 4.98112790e+01] [-8.38795702e-03 9.99964812e-01 -1.32047490e-04 -7.57793815e-01] [-3.80212816e-03 1.00157972e-04 9.99992767e-01 -2.80196863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905769230999994 meters 0.02872970547996857 Centerline is valid? [True, True] Translation: X:49.87, Y:-0.77, Z:-0.28 [[ 9.99914065e-01 1.22870470e-02 4.57059783e-03 4.98719580e+01] [-1.22864480e-02 9.99924506e-01 -1.59122313e-04 -7.72403314e-01] [-4.57220792e-03 1.02952227e-04 9.99989542e-01 -2.79603704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965769230999996 meters 0.02304762179419878 Centerline is valid? [True, True] Translation: X:49.93, Y:-0.78, Z:-0.28 [[ 9.99812125e-01 1.86037761e-02 5.44195832e-03 4.99320540e+01] [-1.86030193e-02 9.99826931e-01 -1.89657246e-04 -7.75521981e-01] [-5.44454483e-03 8.83847578e-05 9.99985174e-01 -2.77734377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025769231 meters 0.013269210833941308 Centerline is valid? [True, True] Translation: X:49.99, Y:-0.77, Z:-0.28 [[ 9.99439012e-01 3.29414427e-02 6.04339390e-03 4.99929675e+01] [-3.29407714e-02 9.99457283e-01 -2.10617828e-04 -7.67099957e-01] [-6.04705210e-03 1.14256169e-05 9.99981716e-01 -2.75911360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08576923099999 meters 0.013380038625971473 Centerline is valid? [True, True] Translation: X:50.05, Y:-0.77, Z:-0.28 [[ 9.99289888e-01 3.72813753e-02 5.46066863e-03 5.00545976e+01] [-3.72808935e-02 9.99304808e-01 -1.90040864e-04 -7.65916439e-01] [-5.46395740e-03 -1.36726924e-05 9.99985072e-01 -2.78602773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.145769230999996 meters 0.017205296217874266 Centerline is valid? [True, True] Translation: X:50.12, Y:-0.76, Z:-0.28 [[ 9.98938464e-01 4.55456434e-02 6.89488794e-03 5.01166227e+01] [-4.55450615e-02 9.98962256e-01 -2.41468888e-04 -7.57248958e-01] [-6.89873067e-03 -7.28155350e-05 9.99976201e-01 -2.75371707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205769231 meters 0.01974003033567305 Centerline is valid? [True, True] Translation: X:50.18, Y:-0.75, Z:-0.27 [[ 9.98831962e-01 4.77326633e-02 7.50364517e-03 5.01777379e+01] [-4.77320304e-02 9.98860142e-01 -2.63507008e-04 -7.53577131e-01] [-7.50766998e-03 -9.49649975e-05 9.99971813e-01 -2.74944578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26576923099999 meters 0.023338669934923444 Centerline is valid? [True, True] Translation: X:50.24, Y:-0.74, Z:-0.28 [[ 9.98661527e-01 5.13353301e-02 6.31181047e-03 5.02402587e+01] [-5.13349488e-02 9.98681467e-01 -2.22522286e-04 -7.44809669e-01] [-6.31491140e-03 -1.01792022e-04 9.99980056e-01 -2.78567459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325769230999995 meters 0.023129216105437264 Centerline is valid? [True, True] Translation: X:50.30, Y:-0.74, Z:-0.28 [[ 9.98633034e-01 5.21907558e-02 2.86163061e-03 5.03028678e+01] [-5.21906825e-02 9.98637133e-01 -1.00347672e-04 -7.43793246e-01] [-2.86296781e-03 -4.91399549e-05 9.99995900e-01 -2.84846059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385769231 meters 0.022254064445015466 Centerline is valid? [True, True] Translation: X:50.36, Y:-0.74, Z:-0.28 [[ 9.98711554e-01 5.06217031e-02 3.56034571e-03 5.03646269e+01] [-5.06215765e-02 9.98717898e-01 -1.25718169e-04 -7.43498284e-01] [-3.56214506e-03 -5.46741245e-05 9.99993654e-01 -2.83717727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44576923099999 meters 0.020564403373393603 Centerline is valid? [True, True] Translation: X:50.43, Y:-0.74, Z:-0.28 [[ 9.98822457e-01 4.83321842e-02 4.20699665e-03 5.04260538e+01] [-4.83319831e-02 9.98831316e-01 -1.49496140e-04 -7.39363054e-01] [-4.20930548e-03 -5.40123897e-05 9.99991139e-01 -2.83560486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505769230999995 meters 0.016414181033821734 Centerline is valid? [True, True] Translation: X:50.49, Y:-0.74, Z:-0.28 [[ 9.98984859e-01 4.46408838e-02 6.03675289e-03 5.04881803e+01] [-4.46403946e-02 9.99003097e-01 -2.15827833e-04 -7.40300167e-01] [-6.04036958e-03 -5.38742931e-05 9.99981755e-01 -2.80553948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565769231 meters 0.013628913653844318 Centerline is valid? [True, True] Translation: X:50.55, Y:-0.75, Z:-0.29 [[ 9.99263141e-01 3.81793549e-02 3.93847847e-03 5.05507079e+01] [-3.81790943e-02 9.99270903e-01 -1.41378031e-04 -7.45906904e-01] [-3.94100466e-03 -9.09368534e-06 9.99992234e-01 -2.85221243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.625769231 meters 0.01522889597156343 Centerline is valid? [True, True] Translation: X:50.61, Y:-0.76, Z:-0.28 [[ 9.99545610e-01 2.97987886e-02 4.53940117e-03 5.06109958e+01] [-2.97983547e-02 9.99555917e-01 -1.63194707e-04 -7.59591051e-01] [-4.54224830e-03 2.78538667e-05 9.99989684e-01 -2.84049646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685769230999995 meters 0.020228085761895973 Centerline is valid? [True, True] Translation: X:50.67, Y:-0.77, Z:-0.28 [[ 9.99701577e-01 2.34062342e-02 6.99318090e-03 5.06730280e+01] [-2.34050413e-02 9.99726033e-01 -2.52383745e-04 -7.73119867e-01] [-6.99717235e-03 8.86327398e-05 9.99975516e-01 -2.79981044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745769231 meters 0.020659736262263237 Centerline is valid? [True, True] Translation: X:50.73, Y:-0.78, Z:-0.29 [[ 9.99710157e-01 2.39239298e-02 2.69205750e-03 5.07348729e+01] [-2.39237559e-02 9.99713781e-01 -9.67858667e-05 -7.76575597e-01] [-2.69360249e-03 3.23536875e-05 9.99996372e-01 -2.88415201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.805769231 meters 0.01750285716368425 Centerline is valid? [True, True] Translation: X:50.80, Y:-0.77, Z:-0.29 [[ 9.99612978e-01 2.77213318e-02 2.32858889e-03 5.07969405e+01] [-2.77212121e-02 9.99615690e-01 -8.36742892e-05 -7.72809043e-01] [-2.33001356e-03 1.90905989e-05 9.99997285e-01 -2.89348661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865769230999994 meters 0.014963950409831207 Centerline is valid? [True, True] Translation: X:50.86, Y:-0.77, Z:-0.29 [[ 9.99519292e-01 3.07681800e-02 3.80844059e-03 5.08592901e+01] [-3.07678770e-02 9.99526547e-01 -1.38128003e-04 -7.70533913e-01] [-3.81088742e-03 2.08839716e-05 9.99992738e-01 -2.86849752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925769231 meters 0.015254713633853867 Centerline is valid? [True, True] Translation: X:50.92, Y:-0.78, Z:-0.29 [[ 9.99519108e-01 3.06348511e-02 4.80188076e-03 5.09209753e+01] [-3.06343628e-02 9.99530642e-01 -1.75231634e-04 -7.77648513e-01] [-4.80499516e-03 2.80448095e-05 9.99988456e-01 -2.86481333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.985769231 meters 0.013797071512974324 Centerline is valid? [True, True] Translation: X:50.98, Y:-0.78, Z:-0.29 [[ 9.99433165e-01 3.33294916e-02 4.74271772e-03 5.09831174e+01] [-3.33290416e-02 9.99444418e-01 -1.73907007e-04 -7.79569877e-01] [-4.74587899e-03 1.57381942e-05 9.99988738e-01 -2.86406781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045769230999994 meters 0.013659750204561148 Centerline is valid? [True, True] Translation: X:51.05, Y:-0.78, Z:-0.29 [[ 9.99208998e-01 3.96600030e-02 2.90912132e-03 5.10452727e+01] [-3.96598605e-02 9.99213233e-01 -1.06665861e-04 -7.78575210e-01] [-2.91106288e-03 -8.79385751e-06 9.99995763e-01 -2.90046456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105769231 meters 0.016641525924552404 Centerline is valid? [True, True] Translation: X:51.11, Y:-0.78, Z:-0.29 [[ 9.98918718e-01 4.61710135e-02 5.44363600e-03 5.11074139e+01] [-4.61706001e-02 9.98933549e-01 -2.01659635e-04 -7.77129668e-01] [-5.44714146e-03 -4.98943573e-05 9.99985163e-01 -2.85658212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.165769231 meters 0.02363677117954961 Centerline is valid? [True, True] Translation: X:51.17, Y:-0.77, Z:-0.28 [[ 9.98508098e-01 5.42423472e-02 6.27265753e-03 5.11685924e+01] [-5.42419492e-02 9.98527794e-01 -2.33680730e-04 -7.69974496e-01] [-6.27609828e-03 -1.06909070e-04 9.99980299e-01 -2.83438539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225769230999994 meters 0.03876719057648087 Centerline is valid? [True, True] Translation: X:51.23, Y:-0.74, Z:-0.29 [[ 9.97636446e-01 6.85782337e-02 4.30668527e-03 5.12300904e+01] [-6.85781792e-02 9.97645733e-01 -1.60485015e-04 -7.42499926e-01] [-4.30755196e-03 -1.35238935e-04 9.99990713e-01 -2.88154461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285769230999996 meters 0.04750155152528171 Centerline is valid? [True, True] Translation: X:51.29, Y:-0.72, Z:-0.29 [[ 9.96847137e-01 7.91283453e-02 5.87288829e-03 5.12911387e+01] [-7.91284265e-02 9.96864406e-01 -2.18885183e-04 -7.20790380e-01] [-5.87179332e-03 -2.46517342e-04 9.99982730e-01 -2.86327517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345769231 meters 0.04802792149420857 Centerline is valid? [True, True] Translation: X:51.35, Y:-0.71, Z:-0.29 [[ 9.96843597e-01 7.92775552e-02 4.23231729e-03 5.13536502e+01] [-7.92776006e-02 9.96852565e-01 -1.57300623e-04 -7.13991176e-01] [-4.23146676e-03 -1.78723841e-04 9.99991031e-01 -2.88864428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405769230999994 meters 0.051298246345458445 Centerline is valid? [True, True] Translation: X:51.42, Y:-0.69, Z:-0.29 [[ 9.96977640e-01 7.76089419e-02 3.52663780e-03 5.14151613e+01] [-7.76089600e-02 9.96983867e-01 -1.31942317e-04 -6.92956673e-01] [-3.52624090e-03 -1.42155152e-04 9.99993773e-01 -2.90682342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465769230999996 meters 0.04111252067294475 Centerline is valid? [True, True] Translation: X:51.48, Y:-0.69, Z:-0.28 [[ 9.97315583e-01 7.27309994e-02 8.47529550e-03 5.14756649e+01] [-7.27309243e-02 9.97351549e-01 -3.17478361e-04 -6.88011750e-01] [-8.47593962e-03 -2.99789959e-04 9.99964034e-01 -2.82536469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525769231 meters 0.03340030467773757 Centerline is valid? [True, True] Translation: X:51.54, Y:-0.69, Z:-0.29 [[ 9.97989914e-01 6.31700920e-02 5.06664649e-03 5.15354392e+01] [-6.31699421e-02 9.98002767e-01 -1.89776565e-04 -6.87221645e-01] [-5.06851542e-03 -1.30664668e-04 9.99987146e-01 -2.90146313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58576923099999 meters 0.020644746216443948 Centerline is valid? [True, True] Translation: X:51.60, Y:-0.70, Z:-0.29 [[ 9.98670161e-01 5.13901427e-02 4.11862541e-03 5.15953661e+01] [-5.13899432e-02 9.98678652e-01 -1.54328358e-04 -6.98952197e-01] [-4.12111423e-03 -5.75327994e-05 9.99991507e-01 -2.89192861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.645769230999996 meters 0.014503411298467633 Centerline is valid? [True, True] Translation: X:51.66, Y:-0.71, Z:-0.28 [[ 9.99050698e-01 4.25470375e-02 9.35160683e-03 5.16552557e+01] [-4.25456211e-02 9.99094464e-01 -3.50433531e-04 -7.06348037e-01] [-9.35804852e-03 -4.77690569e-05 9.99956211e-01 -2.80087951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705769231 meters 0.013353957960475315 Centerline is valid? [True, True] Translation: X:51.72, Y:-0.72, Z:-0.29 [[ 9.99322293e-01 3.62985354e-02 6.11314723e-03 5.17169566e+01] [-3.62978138e-02 9.99340991e-01 -2.28982004e-04 -7.17958261e-01] [-6.11743032e-03 6.93294198e-06 9.99981288e-01 -2.88375692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76576923099999 meters 0.015285373806524517 Centerline is valid? [True, True] Translation: X:51.78, Y:-0.73, Z:-0.29 [[ 9.99497891e-01 3.13476490e-02 4.61419182e-03 5.17778269e+01] [-3.13471828e-02 9.99508541e-01 -1.73348662e-04 -7.29348376e-01] [-4.61735821e-03 2.86197073e-05 9.99989340e-01 -2.90871117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825769230999995 meters 0.01685666980253884 Centerline is valid? [True, True] Translation: X:51.84, Y:-0.74, Z:-0.29 [[ 9.99563564e-01 2.91177315e-02 4.98398988e-03 5.18393828e+01] [-2.91171557e-02 9.99575988e-01 -1.88062993e-04 -7.37007291e-01] [-4.98735257e-03 4.28613062e-05 9.99987562e-01 -2.91272224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885769231 meters 0.017076179421669318 Centerline is valid? [True, True] Translation: X:51.90, Y:-0.75, Z:-0.29 [[ 9.99556566e-01 2.92079788e-02 5.79357898e-03 5.19015235e+01] [-2.92071954e-02 9.99573355e-01 -2.19802040e-04 -7.47757106e-01] [-5.79752715e-03 5.04903790e-05 9.99983193e-01 -2.90511791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94576923099999 meters 0.015988340663566348 Centerline is valid? [True, True] Translation: X:51.96, Y:-0.76, Z:-0.29 [[ 9.99524696e-01 3.03615188e-02 5.34418874e-03 5.19635008e+01] [-3.03608662e-02 9.99538982e-01 -2.03223340e-04 -7.55816421e-01] [-5.34789515e-03 4.08725477e-05 9.99985699e-01 -2.92132703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005769230999995 meters 0.013832228648246323 Centerline is valid? [True, True] Translation: X:52.03, Y:-0.76, Z:-0.29 [[ 9.99357485e-01 3.56500802e-02 3.69999089e-03 5.20255949e+01] [-3.56498026e-02 9.99364334e-01 -1.40955293e-04 -7.58759650e-01] [-3.70266400e-03 8.96078204e-06 9.99993145e-01 -2.94587150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065769231 meters 0.014650791690115414 Centerline is valid? [True, True] Translation: X:52.09, Y:-0.75, Z:-0.29 [[ 9.99033024e-01 4.37581114e-02 4.27137730e-03 5.20881506e+01] [-4.37578118e-02 9.99042155e-01 -1.63611216e-04 -7.53456168e-01] [-4.27444530e-03 -2.34531162e-05 9.99990864e-01 -2.93133727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.125769231 meters 0.016455823347766955 Centerline is valid? [True, True] Translation: X:52.15, Y:-0.75, Z:-0.29 [[ 9.98928893e-01 4.60791578e-02 4.21629942e-03 5.21496462e+01] [-4.60788828e-02 9.98937791e-01 -1.62408657e-04 -7.52200626e-01] [-4.21930449e-03 -3.20476673e-05 9.99991098e-01 -2.94421124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185769230999995 meters 0.019649530664601983 Centerline is valid? [True, True] Translation: X:52.21, Y:-0.75, Z:-0.30 [[ 9.98667802e-01 5.15036709e-02 3.16121612e-03 5.22119964e+01] [-5.15035425e-02 9.98672804e-01 -1.22058579e-04 -7.50953555e-01] [-3.16330703e-03 -4.09178566e-05 9.99994996e-01 -2.97329243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245769231 meters 0.017658876136688116 Centerline is valid? [True, True] Translation: X:52.27, Y:-0.76, Z:-0.30 [[ 9.98755719e-01 4.97027379e-02 4.08060488e-03 5.22744222e+01] [-4.97025079e-02 9.98764054e-01 -1.57809274e-04 -7.59226818e-01] [-4.08340503e-03 -4.52033810e-05 9.99991662e-01 -2.96365873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.305769231 meters 0.015699057990615866 Centerline is valid? [True, True] Translation: X:52.34, Y:-0.77, Z:-0.29 [[ 9.98938828e-01 4.57538821e-02 5.27259029e-03 5.23352406e+01] [-4.57534416e-02 9.98952742e-01 -2.04190308e-04 -7.71601617e-01] [-5.27641102e-03 -3.72655249e-05 9.99986079e-01 -2.94717800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365769230999994 meters 0.016347880401455347 Centerline is valid? [True, True] Translation: X:52.40, Y:-0.78, Z:-0.29 [[ 9.98841378e-01 4.77375550e-02 6.08501515e-03 5.23976411e+01] [-4.77369983e-02 9.98859912e-01 -2.36787328e-04 -7.76211880e-01] [-6.08938135e-03 -5.39673768e-05 9.99981458e-01 -2.94109661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425769231 meters 0.019605886600553953 Centerline is valid? [True, True] Translation: X:52.46, Y:-0.77, Z:-0.30 [[ 9.98647431e-01 5.17270479e-02 5.25552270e-03 5.24588243e+01] [-5.17266839e-02 9.98661258e-01 -2.05253426e-04 -7.74748168e-01] [-5.25910406e-03 -6.68749551e-05 9.99986169e-01 -2.95507988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.485769231 meters 0.019718248156979545 Centerline is valid? [True, True] Translation: X:52.52, Y:-0.78, Z:-0.29 [[ 9.98599473e-01 5.25636478e-02 6.01289575e-03 5.25221747e+01] [-5.25631803e-02 9.98617573e-01 -2.35871187e-04 -7.79158150e-01] [-6.01698161e-03 -8.05160798e-05 9.99981895e-01 -2.94484126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545769230999994 meters 0.017033476736440453 Centerline is valid? [True, True] Translation: X:52.58, Y:-0.79, Z:-0.30 [[ 9.98775214e-01 4.90413323e-02 6.55900502e-03 5.25825473e+01] [-4.90406909e-02 9.98796748e-01 -2.58680275e-04 -7.90999574e-01] [-6.56379891e-03 -6.32946910e-05 9.99978456e-01 -2.95655427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605769231 meters 0.013567245899345487 Centerline is valid? [True, True] Translation: X:52.64, Y:-0.81, Z:-0.30 [[ 9.99095334e-01 4.22518026e-02 4.82693510e-03 5.26427170e+01] [-4.22513738e-02 9.99106994e-01 -1.90827356e-04 -8.14265286e-01] [-4.83068741e-03 -1.32899179e-05 9.99988332e-01 -2.99628205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.665769231 meters 0.013116873122078787 Centerline is valid? [True, True] Translation: X:52.70, Y:-0.83, Z:-0.30 [[ 9.99199233e-01 3.96890148e-02 5.06707085e-03 5.27048584e+01] [-3.96885056e-02 9.99212081e-01 -2.01052229e-04 -8.28646574e-01] [-5.07105798e-03 -2.13236971e-07 9.99987142e-01 -2.97627376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725769230999994 meters 0.014098651097591947 Centerline is valid? [True, True] Translation: X:52.77, Y:-0.83, Z:-0.30 [[ 9.99007501e-01 4.43228216e-02 4.41595830e-03 5.27656505e+01] [-4.43224766e-02 9.99017261e-01 -1.76000201e-04 -8.32535928e-01] [-4.41941939e-03 -1.99006877e-05 9.99990234e-01 -2.99934827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785769230999996 meters 0.02232125052444548 Centerline is valid? [True, True] Translation: X:52.83, Y:-0.82, Z:-0.30 [[ 9.98479348e-01 5.48561192e-02 5.45875990e-03 5.28264936e+01] [-5.48557421e-02 9.98494266e-01 -2.18900176e-04 -8.22103848e-01] [-5.46254847e-03 -8.08770196e-05 9.99985077e-01 -2.97793877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845769231 meters 0.031715698968301176 Centerline is valid? [True, True] Translation: X:52.89, Y:-0.81, Z:-0.30 [[ 9.97844664e-01 6.54598882e-02 4.58570743e-03 5.28872893e+01] [-6.54597336e-02 9.97855195e-01 -1.83957140e-04 -8.12954655e-01] [-4.58791380e-03 -1.16618537e-04 9.99989469e-01 -2.99694279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905769230999994 meters 0.04097093380514871 Centerline is valid? [True, True] Translation: X:52.95, Y:-0.80, Z:-0.30 [[ 9.97240751e-01 7.40316309e-02 5.49563740e-03 5.29489883e+01] [-7.40315390e-02 9.97255876e-01 -2.20426433e-04 -7.98948363e-01] [-5.49687522e-03 -1.87032273e-04 9.99984875e-01 -2.99126177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965769230999996 meters 0.04598468074153596 Centerline is valid? [True, True] Translation: X:53.01, Y:-0.79, Z:-0.30 [[ 9.96942457e-01 7.78104106e-02 7.16085935e-03 5.30093353e+01] [-7.78103506e-02 9.96968137e-01 -2.87410683e-04 -7.88183562e-01] [-7.16151215e-03 -2.70657064e-04 9.99974319e-01 -2.96770741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025769231 meters 0.04603803474225586 Centerline is valid? [True, True] Translation: X:53.07, Y:-0.79, Z:-0.30 [[ 9.96970572e-01 7.75471976e-02 6.00923234e-03 5.30712127e+01] [-7.75471514e-02 9.96988657e-01 -2.41030205e-04 -7.85830625e-01] [-6.00982770e-03 -2.25698829e-04 9.99981915e-01 -2.99630793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08576923099999 meters 0.044197252909612565 Centerline is valid? [True, True] Translation: X:53.13, Y:-0.78, Z:-0.30 [[ 9.97183734e-01 7.48196046e-02 5.16026912e-03 5.31323205e+01] [-7.48195294e-02 9.97197069e-01 -2.07882105e-04 -7.82862269e-01] [-5.16135890e-03 -1.78792254e-04 9.99986664e-01 -3.02348537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.145769230999996 meters 0.037056464992993775 Centerline is valid? [True, True] Translation: X:53.19, Y:-0.79, Z:-0.30 [[ 9.97444508e-01 7.12573788e-02 5.18073088e-03 5.31933887e+01] [-7.12572543e-02 9.97457949e-01 -2.08841229e-04 -7.85833640e-01] [-5.18244267e-03 -1.60857120e-04 9.99986558e-01 -3.02369845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205769231 meters 0.03342435564883667 Centerline is valid? [True, True] Translation: X:53.25, Y:-0.78, Z:-0.30 [[ 9.97665665e-01 6.80124413e-02 6.12610675e-03 5.32547502e+01] [-6.80122057e-02 9.97684459e-01 -2.47025944e-04 -7.84924664e-01] [-6.12872233e-03 -1.70200729e-04 9.99981205e-01 -3.01337005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26576923099999 meters 0.03006578357250846 Centerline is valid? [True, True] Translation: X:53.32, Y:-0.79, Z:-0.30 [[ 9.97918311e-01 6.42038452e-02 6.07534797e-03 5.33160858e+01] [-6.42035420e-02 9.97936794e-01 -2.45120569e-04 -7.85321085e-01] [-6.07855096e-03 -1.45448555e-04 9.99981515e-01 -3.00338702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325769230999995 meters 0.025763821342297356 Centerline is valid? [True, True] Translation: X:53.38, Y:-0.78, Z:-0.30 [[ 9.98174186e-01 6.00122942e-02 6.84247728e-03 5.33774157e+01] [-6.00118100e-02 9.98197629e-01 -2.76252140e-04 -7.84438413e-01] [-6.84672313e-03 -1.34881692e-04 9.99976552e-01 -2.99611548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385769231 meters 0.023135139261039685 Centerline is valid? [True, True] Translation: X:53.44, Y:-0.78, Z:-0.30 [[ 9.98296456e-01 5.78629965e-02 7.48725981e-03 5.34399638e+01] [-5.78623543e-02 9.98324525e-01 -3.02542440e-04 -7.84616440e-01] [-7.49222110e-03 -1.31203433e-04 9.99971924e-01 -2.98055823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44576923099999 meters 0.021504274285061808 Centerline is valid? [True, True] Translation: X:53.50, Y:-0.78, Z:-0.30 [[ 9.98508697e-01 5.43403396e-02 5.24498673e-03 5.35015860e+01] [-5.43399731e-02 9.98522470e-01 -2.12463297e-04 -7.84231662e-01] [-5.24878243e-03 -7.28659881e-05 9.99986222e-01 -3.03247058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505769230999995 meters 0.01640315860376978 Centerline is valid? [True, True] Translation: X:53.56, Y:-0.79, Z:-0.30 [[ 9.98783144e-01 4.90671029e-02 4.96485030e-03 5.35633124e+01] [-4.90667043e-02 9.98795483e-01 -2.02139612e-04 -7.88758320e-01] [-4.96878846e-03 -4.17152043e-05 9.99987655e-01 -3.03047545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565769231 meters 0.013073311952949154 Centerline is valid? [True, True] Translation: X:53.63, Y:-0.80, Z:-0.30 [[ 9.99090715e-01 4.21500018e-02 6.41248473e-03 5.36256996e+01] [-4.21491924e-02 9.99111294e-01 -2.61362418e-04 -7.96882041e-01] [-6.41780234e-03 -9.15628777e-06 9.99979406e-01 -3.00844207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62576923099999 meters 0.014466665741781475 Centerline is valid? [True, True] Translation: X:53.69, Y:-0.80, Z:-0.30 [[ 9.99348969e-01 3.56018987e-02 5.84320891e-03 5.36871865e+01] [-3.56011137e-02 9.99366051e-01 -2.38338113e-04 -8.04374563e-01] [-5.84798990e-03 3.01582024e-05 9.99982900e-01 -3.02549084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685769230999995 meters 0.02260156100573139 Centerline is valid? [True, True] Translation: X:53.75, Y:-0.82, Z:-0.31 [[ 9.99650648e-01 2.60171252e-02 4.65736533e-03 5.37465890e+01] [-2.60165187e-02 9.99661495e-01 -1.90766966e-04 -8.23388701e-01] [-4.66075200e-03 6.95318891e-05 9.99989136e-01 -3.06324603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745769231 meters 0.03266339902021535 Centerline is valid? [True, True] Translation: X:53.81, Y:-0.84, Z:-0.31 [[ 9.99851373e-01 1.68226445e-02 3.77231083e-03 5.38052383e+01] [-1.68221800e-02 9.99858485e-01 -1.54853449e-04 -8.43395406e-01] [-3.77438204e-03 9.13719418e-05 9.99992873e-01 -3.07667258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.805769231 meters 0.03536522645290477 Centerline is valid? [True, True] Translation: X:53.87, Y:-0.85, Z:-0.31 [[ 9.99890266e-01 1.43917588e-02 3.51192613e-03 5.38669825e+01] [-1.43913419e-02 9.99896429e-01 -1.43947066e-04 -8.52607093e-01] [-3.51363405e-03 9.33899403e-05 9.99993823e-01 -3.09074459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865769230999994 meters 0.03554475132094955 Centerline is valid? [True, True] Translation: X:53.93, Y:-0.86, Z:-0.31 [[ 9.99889774e-01 1.44161862e-02 3.55140957e-03 5.39299362e+01] [-1.44157611e-02 9.99896077e-01 -1.45262297e-04 -8.62071693e-01] [-3.55313463e-03 9.40500137e-05 9.99993683e-01 -3.10346035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925769231 meters 0.035278914482009684 Centerline is valid? [True, True] Translation: X:53.99, Y:-0.88, Z:-0.31 [[ 9.99918724e-01 1.25472906e-02 2.26076885e-03 5.39910581e+01] [-1.25471134e-02 9.99921278e-01 -9.25494004e-05 -8.75238174e-01] [-2.26175212e-03 6.41757553e-05 9.99997440e-01 -3.12976934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.985769231 meters 0.037060158573330636 Centerline is valid? [True, True] Translation: X:54.05, Y:-0.88, Z:-0.31 [[ 9.99932646e-01 1.12530414e-02 2.84139339e-03 5.40527413e+01] [-1.12527544e-02 9.99936679e-01 -1.16979510e-04 -8.84064892e-01] [-2.84252985e-03 8.49981286e-05 9.99995956e-01 -3.12070840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045769230999994 meters 0.04420978464927205 Centerline is valid? [True, True] Translation: X:54.11, Y:-0.91, Z:-0.31 [[ 9.99966294e-01 5.72217499e-03 5.88799324e-03 5.41109426e+01] [-5.72083271e-03 9.99983606e-01 -2.44785832e-04 -9.08042175e-01] [-5.88929742e-03 2.11093356e-04 9.99982636e-01 -3.06826905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105769231 meters 0.048529527009230654 Centerline is valid? [True, True] Translation: X:54.17, Y:-0.93, Z:-0.31 [[ 9.99981932e-01 2.39063101e-03 5.51554294e-03 5.41711560e+01] [-2.38940301e-03 9.99997119e-01 -2.29222666e-04 -9.29403472e-01] [-5.51607504e-03 2.16039670e-04 9.99984763e-01 -3.08634890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.165769231 meters 0.046511598587543966 Centerline is valid? [True, True] Translation: X:54.23, Y:-0.94, Z:-0.31 [[ 9.99973914e-01 5.59808532e-03 4.56421503e-03 5.42308615e+01] [-5.59727747e-03 9.99984317e-01 -1.89751598e-04 -9.42467960e-01] [-4.56520569e-03 1.64199470e-04 9.99989566e-01 -3.11168167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225769230999994 meters 0.03264951006435523 Centerline is valid? [True, True] Translation: X:54.29, Y:-0.94, Z:-0.31 [[ 9.99886649e-01 1.44190349e-02 4.33361445e-03 5.42918210e+01] [-1.44183895e-02 9.99896033e-01 -1.80143417e-04 -9.36570543e-01] [-4.33576139e-03 1.17639257e-04 9.99990594e-01 -3.12099961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285769230999996 meters 0.029603027491542575 Centerline is valid? [True, True] Translation: X:54.35, Y:-0.94, Z:-0.31 [[ 9.99770230e-01 2.07894070e-02 5.22369723e-03 5.43514034e+01] [-2.07885558e-02 9.99783871e-01 -2.17210137e-04 -9.40084045e-01] [-5.22708391e-03 1.08567108e-04 9.99986333e-01 -3.11043801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345769231 meters 0.019093615418881573 Centerline is valid? [True, True] Translation: X:54.41, Y:-0.93, Z:-0.31 [[ 9.99553902e-01 2.95767786e-02 4.14870812e-03 5.44129522e+01] [-2.95763175e-02 9.99562510e-01 -1.72476166e-04 -9.32782747e-01] [-4.15199439e-03 4.96957166e-05 9.99991379e-01 -3.13579255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405769230999994 meters 0.015443243905843252 Centerline is valid? [True, True] Translation: X:54.47, Y:-0.93, Z:-0.31 [[ 9.99385629e-01 3.49131999e-02 3.07117576e-03 5.44744513e+01] [-3.49129734e-02 9.99390348e-01 -1.27369397e-04 -9.29053228e-01] [-3.07375028e-03 2.00672675e-05 9.99995276e-01 -3.14960554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465769230999996 meters 0.015234764930291415 Centerline is valid? [True, True] Translation: X:54.54, Y:-0.93, Z:-0.31 [[ 9.99364744e-01 3.54157891e-02 3.97871793e-03 5.45370774e+01] [-3.54154117e-02 9.99372664e-01 -1.65299007e-04 -9.34394346e-01] [-3.98207613e-03 2.42860659e-05 9.99992071e-01 -3.14780160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525769231 meters 0.018141364937585596 Centerline is valid? [True, True] Translation: X:54.60, Y:-0.95, Z:-0.32 [[ 9.99485175e-01 3.18144458e-02 4.15048599e-03 5.45975551e+01] [-3.18140002e-02 9.99493792e-01 -1.73366523e-04 -9.49849248e-01] [-4.15390054e-03 4.12337076e-05 9.99991372e-01 -3.15358963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58576923099999 meters 0.022097630376492473 Centerline is valid? [True, True] Translation: X:54.66, Y:-0.97, Z:-0.31 [[ 9.99604738e-01 2.76783067e-02 4.92735030e-03 5.46585333e+01] [-2.76776231e-02 9.99616880e-01 -2.06889310e-04 -9.67511162e-01] [-4.93118888e-03 7.04301898e-05 9.99987839e-01 -3.13037578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.645769230999996 meters 0.02280453234887914 Centerline is valid? [True, True] Translation: X:54.72, Y:-0.98, Z:-0.31 [[ 9.99607680e-01 2.72850044e-02 6.32573140e-03 5.47210073e+01] [-2.72838660e-02 9.99627691e-01 -2.66201688e-04 -9.78977447e-01] [-6.33063959e-03 9.35068432e-05 9.99979957e-01 -3.10324164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705769231 meters 0.018950203270252416 Centerline is valid? [True, True] Translation: X:54.78, Y:-0.98, Z:-0.31 [[ 9.99481191e-01 3.13809336e-02 7.25163924e-03 5.47831707e+01] [-3.13795345e-02 9.99507494e-01 -3.06662655e-04 -9.79253533e-01] [-7.25769112e-03 7.89504919e-05 9.99973659e-01 -3.09051808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76576923099999 meters 0.013004020961909031 Centerline is valid? [True, True] Translation: X:54.84, Y:-0.97, Z:-0.31 [[ 9.99174923e-01 4.00499856e-02 6.74322818e-03 5.48445792e+01] [-4.00489663e-02 9.99197677e-01 -2.86182505e-04 -9.67948844e-01] [-6.74927954e-03 1.58870650e-05 9.99977223e-01 -3.09451858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825769230999995 meters 0.013693143254540857 Centerline is valid? [True, True] Translation: X:54.91, Y:-0.96, Z:-0.31 [[ 9.98914245e-01 4.63131780e-02 5.04182759e-03 5.49075203e+01] [-4.63126891e-02 9.98926969e-01 -2.13746005e-04 -9.62067003e-01] [-5.04631681e-03 -1.99866642e-05 9.99987267e-01 -3.13929105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885769231 meters 0.015859214438151456 Centerline is valid? [True, True] Translation: X:54.97, Y:-0.96, Z:-0.31 [[ 9.98742320e-01 4.99001665e-02 4.87358492e-03 5.49697168e+01] [-4.98997482e-02 9.98754210e-01 -2.07475301e-04 -9.55981736e-01] [-4.87786651e-03 -3.59762971e-05 9.99988102e-01 -3.14304178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94576923099999 meters 0.021060056742342438 Centerline is valid? [True, True] Translation: X:55.03, Y:-0.95, Z:-0.31 [[ 9.98437029e-01 5.54889325e-02 6.66916197e-03 5.50319251e+01] [-5.54882642e-02 9.98459299e-01 -2.85345133e-04 -9.45309474e-01] [-6.67472028e-03 -8.51610751e-05 9.99977720e-01 -3.10573700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005769230999995 meters 0.031617687797727584 Centerline is valid? [True, True] Translation: X:55.09, Y:-0.92, Z:-0.32 [[ 9.97943689e-01 6.39911282e-02 3.67823045e-03 5.50928023e+01] [-6.39909817e-02 9.97950464e-01 -1.57613134e-04 -9.23732658e-01] [-3.68077763e-03 -7.80845446e-05 9.99993223e-01 -3.17685136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065769231 meters 0.039443922589157576 Centerline is valid? [True, True] Translation: X:55.15, Y:-0.91, Z:-0.32 [[ 9.97557638e-01 6.98443678e-02 7.22844188e-04 5.51536966e+01] [-6.98443637e-02 9.97557900e-01 -3.09812917e-05 -9.07122127e-01] [-7.23242799e-04 -1.95809682e-05 9.99999738e-01 -3.23700840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12576923099999 meters 0.03694847125175934 Centerline is valid? [True, True] Translation: X:55.22, Y:-0.91, Z:-0.32 [[ 9.97392829e-01 7.20786092e-02 3.49551152e-03 5.52157582e+01] [-7.20785281e-02 9.97398949e-01 -1.49333589e-04 -9.07536763e-01] [-3.49718327e-03 -1.03007074e-04 9.99993880e-01 -3.18183849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185769230999995 meters 0.034763957326799766 Centerline is valid? [True, True] Translation: X:55.28, Y:-0.91, Z:-0.32 [[ 9.97406199e-01 7.19377840e-02 2.41428244e-03 5.52791716e+01] [-7.19377451e-02 9.97409119e-01 -1.03050994e-04 -9.06135881e-01] [-2.41544058e-03 -7.08943350e-05 9.99997080e-01 -3.21104643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245769231 meters 0.03395092136068406 Centerline is valid? [True, True] Translation: X:55.34, Y:-0.90, Z:-0.32 [[ 9.97521588e-01 7.03577323e-02 6.85800738e-04 5.53403783e+01] [-7.03577292e-02 9.97521824e-01 -2.86975141e-05 -9.03888594e-01] [-6.86120295e-04 -1.96249928e-05 9.99999764e-01 -3.24631858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.305769231 meters 0.03924402413317016 Centerline is valid? [True, True] Translation: X:55.40, Y:-0.89, Z:-0.32 [[ 9.97662563e-01 6.82566712e-02 3.23061479e-03 5.54017133e+01] [-6.82565754e-02 9.97667791e-01 -1.40038403e-04 -8.94351480e-01] [-3.23263887e-03 -8.07996293e-05 9.99994772e-01 -3.20678389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365769230999994 meters 0.0305344120976034 Centerline is valid? [True, True] Translation: X:55.46, Y:-0.90, Z:-0.32 [[ 9.97774996e-01 6.64308160e-02 5.65725743e-03 5.54637546e+01] [-6.64304924e-02 9.97791025e-01 -2.45292691e-04 -9.03225992e-01] [-5.66105568e-03 -1.31067483e-04 9.99983968e-01 -3.16038851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425769231 meters 0.029105872044740858 Centerline is valid? [True, True] Translation: X:55.53, Y:-0.90, Z:-0.31 [[ 9.97750065e-01 6.67536805e-02 6.22521586e-03 5.55271391e+01] [-6.67532883e-02 9.97769475e-01 -2.70987577e-04 -9.04069604e-01] [-6.22941978e-03 -1.45175757e-04 9.99980586e-01 -3.14972855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.485769231 meters 0.028417771735054834 Centerline is valid? [True, True] Translation: X:55.59, Y:-0.90, Z:-0.31 [[ 9.97796733e-01 6.59856471e-02 6.89745826e-03 5.55899600e+01] [-6.59851374e-02 9.97820560e-01 -3.01692469e-04 -9.01296839e-01] [-6.90233304e-03 -1.54101972e-04 9.99976167e-01 -3.13835369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545769230999994 meters 0.033562613545320204 Centerline is valid? [True, True] Translation: X:55.65, Y:-0.89, Z:-0.32 [[ 9.97963527e-01 6.35908620e-02 5.00014946e-03 5.56511752e+01] [-6.35905641e-02 9.97976048e-01 -2.18699275e-04 -8.93849062e-01] [-5.00393667e-03 -9.97084254e-05 9.99987475e-01 -3.19481648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605769231 meters 0.025157056708558848 Centerline is valid? [True, True] Translation: X:55.71, Y:-0.91, Z:-0.32 [[ 9.98154471e-01 6.05121552e-02 5.09233212e-03 5.57122863e+01] [-6.05118010e-02 9.98167457e-01 -2.23735207e-04 -9.08498119e-01] [-5.09653890e-03 -8.48238906e-05 9.99987009e-01 -3.19976066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.665769231 meters 0.028065467992915833 Centerline is valid? [True, True] Translation: X:55.77, Y:-0.91, Z:-0.32 [[ 9.97831836e-01 6.55551448e-02 5.84375674e-03 5.57733181e+01] [-6.55547635e-02 9.97848940e-01 -2.56972649e-04 -9.08280356e-01] [-5.84803235e-03 -1.26670601e-04 9.99982892e-01 -3.16678237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725769230999994 meters 0.03649241880885367 Centerline is valid? [True, True] Translation: X:55.83, Y:-0.90, Z:-0.32 [[ 9.97443484e-01 7.12797164e-02 5.06942435e-03 5.58336978e+01] [-7.12795027e-02 9.97456356e-01 -2.23043614e-04 -8.97168266e-01] [-5.07242802e-03 -1.38872647e-04 9.99987126e-01 -3.19380176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785769230999996 meters 0.03188274157716268 Centerline is valid? [True, True] Translation: X:55.90, Y:-0.91, Z:-0.32 [[ 9.97584986e-01 6.93219343e-02 4.32031378e-03 5.58958947e+01] [-6.93217604e-02 9.97594335e-01 -1.90171061e-04 -9.07398271e-01] [-4.32310358e-03 -1.09779962e-04 9.99990649e-01 -3.21361533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845769231 meters 0.029154591864064657 Centerline is valid? [True, True] Translation: X:55.96, Y:-0.92, Z:-0.32 [[ 9.97742399e-01 6.70983006e-02 2.81477619e-03 5.59577702e+01] [-6.70982191e-02 9.97746367e-01 -1.23483198e-04 -9.17056992e-01] [-2.81671823e-03 -6.56620472e-05 9.99996031e-01 -3.23902917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905769230999994 meters 0.027268707444032803 Centerline is valid? [True, True] Translation: X:56.02, Y:-0.92, Z:-0.33 [[ 9.97788454e-01 6.64617114e-02 1.02107736e-03 5.60199902e+01] [-6.64617009e-02 9.97788976e-01 -4.42066835e-05 -9.23699297e-01] [-1.02175778e-03 -2.37536197e-05 9.99999478e-01 -3.26523164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965769230999996 meters 0.03487732059732459 Centerline is valid? [True, True] Translation: X:56.08, Y:-0.91, Z:-0.33 [[ 9.97488795e-01 7.07736550e-02 2.68221467e-03 5.60809080e+01] [-7.07735906e-02 9.97492398e-01 -1.19043730e-04 -9.13299168e-01] [-2.68391390e-03 -7.10851757e-05 9.99996396e-01 -3.26135947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025769231 meters 0.04101430582340777 Centerline is valid? [True, True] Translation: X:56.14, Y:-0.91, Z:-0.32 [[ 9.97039460e-01 7.67587178e-02 4.51825649e-03 5.61414508e+01] [-7.67585945e-02 9.97049687e-01 -2.00948541e-04 -9.08664151e-01] [-4.52035077e-03 -1.46461393e-04 9.99989772e-01 -3.23134997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08576923099999 meters 0.034431517679775286 Centerline is valid? [True, True] Translation: X:56.20, Y:-0.92, Z:-0.32 [[ 9.97214124e-01 7.44470878e-02 4.64987377e-03 5.62028560e+01] [-7.44469326e-02 9.97224955e-01 -2.06694817e-04 -9.20268096e-01] [-4.65235799e-03 -1.40049848e-04 9.99989168e-01 -3.22787840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.145769230999996 meters 0.03007083513908548 Centerline is valid? [True, True] Translation: X:56.26, Y:-0.93, Z:-0.33 [[ 9.97539675e-01 7.00394584e-02 3.01174773e-03 5.62633392e+01] [-7.00393727e-02 9.97544219e-01 -1.34055411e-04 -9.30369779e-01] [-3.01374070e-03 -7.72153306e-05 9.99995456e-01 -3.26079495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205769231 meters 0.03205504938117623 Centerline is valid? [True, True] Translation: X:56.32, Y:-0.93, Z:-0.33 [[ 9.97469570e-01 7.10254992e-02 3.13620030e-03 5.63244200e+01] [-7.10254119e-02 9.97474497e-01 -1.39350391e-04 -9.28262681e-01] [-3.13817724e-03 -8.37521434e-05 9.99995072e-01 -3.25443398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26576923099999 meters 0.038168098237413337 Centerline is valid? [True, True] Translation: X:56.39, Y:-0.92, Z:-0.32 [[ 9.97039116e-01 7.66809607e-02 5.74732694e-03 5.63857794e+01] [-7.66807546e-02 9.97055663e-01 -2.56521982e-04 -9.16029650e-01] [-5.75007523e-03 -1.84946917e-04 9.99983451e-01 -3.21459682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325769230999995 meters 0.043190468619349456 Centerline is valid? [True, True] Translation: X:56.45, Y:-0.90, Z:-0.33 [[ 9.96856351e-01 7.91091462e-02 4.37708113e-03 5.64462131e+01] [-7.91090507e-02 9.96865949e-01 -1.95228145e-04 -9.04797811e-01] [-4.37880747e-03 -1.51652317e-04 9.99990401e-01 -3.26479982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385769231 meters 0.03490928750032361 Centerline is valid? [True, True] Translation: X:56.51, Y:-0.91, Z:-0.33 [[ 9.97321673e-01 7.30334615e-02 3.94892282e-03 5.65069233e+01] [-7.30333348e-02 9.97329485e-01 -1.76459175e-04 -9.12998730e-01] [-3.95126458e-03 -1.12416442e-04 9.99992187e-01 -3.26237474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44576923099999 meters 0.024238787632495103 Centerline is valid? [True, True] Translation: X:56.57, Y:-0.93, Z:-0.32 [[ 9.97991276e-01 6.30624882e-02 6.04449765e-03 5.65667534e+01] [-6.30620078e-02 9.98009574e-01 -2.70229786e-04 -9.26365697e-01] [-6.04950789e-03 -1.11491189e-04 9.99981695e-01 -3.24212845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505769230999995 meters 0.01981257933666059 Centerline is valid? [True, True] Translation: X:56.63, Y:-0.94, Z:-0.33 [[ 9.98305778e-01 5.80518421e-02 3.94432780e-03 5.66280022e+01] [-5.80515987e-02 9.98313568e-01 -1.76250806e-04 -9.36132109e-01] [-3.94790765e-03 -5.30223366e-05 9.99992206e-01 -3.29783345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565769231 meters 0.016207058164161285 Centerline is valid? [True, True] Translation: X:56.69, Y:-0.95, Z:-0.33 [[ 9.98528313e-01 5.41914203e-02 2.12067709e-03 5.66892767e+01] [-5.41913428e-02 9.98530565e-01 -9.40588639e-05 -9.48463138e-01] [-2.12265807e-03 -2.10019003e-05 9.99997747e-01 -3.32367720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62576923099999 meters 0.016056041431551798 Centerline is valid? [True, True] Translation: X:56.75, Y:-0.96, Z:-0.33 [[ 9.98560304e-01 5.35812773e-02 2.52314897e-03 5.67499054e+01] [-5.35811631e-02 9.98563491e-01 -1.12903648e-04 -9.55087535e-01] [-2.52557396e-03 -2.24521550e-05 9.99996810e-01 -3.31590798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685769230999995 meters 0.017246934890263504 Centerline is valid? [True, True] Translation: X:56.81, Y:-0.96, Z:-0.33 [[ 9.98485563e-01 5.48592022e-02 4.12892183e-03 5.68107331e+01] [-5.48589045e-02 9.98494099e-01 -1.85418357e-04 -9.56591992e-01] [-4.13287599e-03 -4.13705757e-05 9.99991459e-01 -3.30097781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745769231 meters 0.0207984884091494 Centerline is valid? [True, True] Translation: X:56.87, Y:-0.95, Z:-0.33 [[ 9.98196674e-01 5.99167040e-02 3.65892296e-03 5.68734098e+01] [-5.99165013e-02 9.98203379e-01 -1.65098928e-04 -9.52515299e-01] [-3.66224145e-03 -5.44286621e-05 9.99993292e-01 -3.29219159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.805769231 meters 0.027541776638869635 Centerline is valid? [True, True] Translation: X:56.94, Y:-0.94, Z:-0.33 [[ 9.97753990e-01 6.68896298e-02 3.57110390e-03 5.69355595e+01] [-6.68894804e-02 9.97760378e-01 -1.61381440e-04 -9.38442960e-01] [-3.57390072e-03 -7.78503091e-05 9.99993611e-01 -3.29153573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865769230999994 meters 0.033398367916108083 Centerline is valid? [True, True] Translation: X:57.00, Y:-0.92, Z:-0.33 [[ 9.97396843e-01 7.19646375e-02 4.54180244e-03 5.69960253e+01] [-7.19644475e-02 9.97407177e-01 -2.05459763e-04 -9.24635190e-01] [-4.54481218e-03 -1.21923384e-04 9.99989665e-01 -3.27691731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925769231 meters 0.037228865767936145 Centerline is valid? [True, True] Translation: X:57.06, Y:-0.91, Z:-0.33 [[ 9.97169570e-01 7.51035163e-02 3.50868549e-03 5.70567650e+01] [-7.51034222e-02 9.97175737e-01 -1.58764385e-04 -9.13518956e-01] [-3.51069981e-03 -1.05199274e-04 9.99993832e-01 -3.29208600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.985769231 meters 0.04158657397407654 Centerline is valid? [True, True] Translation: X:57.12, Y:-0.89, Z:-0.32 [[ 9.96661455e-01 8.13811236e-02 6.56177302e-03 5.71185924e+01] [-8.13809312e-02 9.96683027e-01 -2.96763127e-04 -8.94094263e-01] [-6.56415872e-03 -2.38230829e-04 9.99978427e-01 -3.24062330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045769230999994 meters 0.04661109561054391 Centerline is valid? [True, True] Translation: X:57.18, Y:-0.87, Z:-0.32 [[ 9.96367446e-01 8.48900324e-02 6.75241403e-03 5.71788714e+01] [-8.48899091e-02 9.96390290e-01 -3.05383853e-04 -8.72656383e-01] [-6.75396382e-03 -2.68937283e-04 9.99977156e-01 -3.22548543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105769231 meters 0.046473675478610164 Centerline is valid? [True, True] Translation: X:57.24, Y:-0.86, Z:-0.32 [[ 9.96332392e-01 8.53162721e-02 6.54960957e-03 5.72384766e+01] [-8.53161655e-02 9.96353885e-01 -2.96181250e-04 -8.58265975e-01] [-6.55099802e-03 -2.63692600e-04 9.99978507e-01 -3.24135926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.165769231 meters 0.04637617829344772 Centerline is valid? [True, True] Translation: X:57.30, Y:-0.85, Z:-0.32 [[ 9.96384515e-01 8.46289661e-02 7.47239314e-03 5.72976197e+01] [-8.46288110e-02 9.96412490e-01 -3.37515174e-04 -8.45120570e-01] [-7.47414942e-03 -2.96084854e-04 9.99972024e-01 -3.22808885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225769230999994 meters 0.044927430348783756 Centerline is valid? [True, True] Translation: X:57.36, Y:-0.84, Z:-0.33 [[ 9.96460198e-01 8.38799644e-02 5.58790931e-03 5.73571135e+01] [-8.38798669e-02 9.96475842e-01 -2.52219692e-04 -8.37478177e-01] [-5.58937281e-03 -2.17386205e-04 9.99984356e-01 -3.27393005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285769230999996 meters 0.03822604169481921 Centerline is valid? [True, True] Translation: X:57.42, Y:-0.84, Z:-0.33 [[ 9.96884397e-01 7.85762203e-02 6.87577703e-03 5.74172152e+01] [-7.85759494e-02 9.96908082e-01 -3.09943906e-04 -8.39848676e-01] [-6.87887191e-03 -2.31292465e-04 9.99976314e-01 -3.25800912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345769231 meters 0.030539291093687578 Centerline is valid? [True, True] Translation: X:57.48, Y:-0.85, Z:-0.33 [[ 9.97559530e-01 6.94534347e-02 7.15573794e-03 5.74757934e+01] [-6.94529069e-02 9.97585179e-01 -3.22542744e-04 -8.45924956e-01] [-7.16085982e-03 -1.75231212e-04 9.99974345e-01 -3.26982387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405769230999994 meters 0.021685734546171842 Centerline is valid? [True, True] Translation: X:57.54, Y:-0.86, Z:-0.33 [[ 9.98156116e-01 6.04913598e-02 5.01625390e-03 5.75360095e+01] [-6.04909880e-02 9.98168718e-01 -2.25959721e-04 -8.56709307e-01] [-5.02073633e-03 -7.78950770e-05 9.99987393e-01 -3.30569300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465769230999996 meters 0.017077056203624194 Centerline is valid? [True, True] Translation: X:57.60, Y:-0.86, Z:-0.33 [[ 9.98458867e-01 5.53006631e-02 4.66129647e-03 5.75953498e+01] [-5.53002853e-02 9.98469746e-01 -2.09998939e-04 -8.63105615e-01] [-4.66577658e-03 -4.80957216e-05 9.99989114e-01 -3.31131294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525769231 meters 0.01253586214535725 Centerline is valid? [True, True] Translation: X:57.65, Y:-0.87, Z:-0.33 [[ 9.98807696e-01 4.82083551e-02 7.69030725e-03 5.76543753e+01] [-4.82071187e-02 9.98837301e-01 -3.46171845e-04 -8.72196631e-01] [-7.69805412e-03 -2.49684520e-05 9.99970369e-01 -3.26924785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58576923099999 meters 0.01233213727650733 Centerline is valid? [True, True] Translation: X:57.71, Y:-0.88, Z:-0.33 [[ 9.99050158e-01 4.31741181e-02 5.89715774e-03 5.77143763e+01] [-4.31733041e-02 9.99067563e-01 -2.65328338e-04 -8.78139711e-01] [-5.90311433e-03 1.04765341e-05 9.99982576e-01 -3.30847754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.645769230999996 meters 0.014944487368468816 Centerline is valid? [True, True] Translation: X:57.77, Y:-0.89, Z:-0.33 [[ 9.99264342e-01 3.81157645e-02 4.23826365e-03 5.77739472e+01] [-3.81152986e-02 9.99273330e-01 -1.90674770e-04 -8.85613643e-01] [-4.24245154e-03 2.89918144e-05 9.99991000e-01 -3.33897472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.705769231 meters 0.01892969957189222 Centerline is valid? [True, True] Translation: X:57.83, Y:-0.90, Z:-0.33 [[ 9.99470587e-01 3.17153993e-02 7.25798396e-03 5.78338106e+01] [-3.17138637e-02 9.99496936e-01 -3.26596266e-04 -8.96462267e-01] [-7.26469085e-03 9.62446483e-05 9.99973607e-01 -3.29196129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76576923099999 meters 0.022376367009850726 Centerline is valid? [True, True] Translation: X:57.89, Y:-0.91, Z:-0.33 [[ 9.99575234e-01 2.82196168e-02 7.28049724e-03 5.78949663e+01] [-2.82179786e-02 9.99601740e-01 -3.27649437e-04 -9.07880802e-01] [-7.28684385e-03 1.22069347e-04 9.99973443e-01 -3.30509196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825769230999995 meters 0.02546407354023698 Centerline is valid? [True, True] Translation: X:57.96, Y:-0.92, Z:-0.34 [[ 9.99664109e-01 2.55393918e-02 4.40543918e-03 5.79558877e+01] [-2.55387648e-02 9.99673813e-01 -1.98516087e-04 -9.17081897e-01] [-4.40907217e-03 8.59399324e-05 9.99990276e-01 -3.36002602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.885769231 meters 0.026356232265852753 Centerline is valid? [True, True] Translation: X:58.02, Y:-0.92, Z:-0.34 [[ 9.99693105e-01 2.45570532e-02 3.26293757e-03 5.80172016e+01] [-2.45567018e-02 9.99698428e-01 -1.47730129e-04 -9.24582097e-01] [-3.26558138e-03 6.75578068e-05 9.99994666e-01 -3.37735375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94576923099999 meters 0.027061877052927466 Centerline is valid? [True, True] Translation: X:58.08, Y:-0.93, Z:-0.34 [[ 9.99689583e-01 2.47913224e-02 2.47561126e-03 5.80766362e+01] [-2.47911207e-02 9.99692647e-01 -1.12155009e-04 -9.34776040e-01] [-2.47763085e-03 5.07470163e-05 9.99996929e-01 -3.39661688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005769230999995 meters 0.030975115079678015 Centerline is valid? [True, True] Translation: X:58.14, Y:-0.95, Z:-0.34 [[ 9.99754675e-01 2.17290642e-02 4.29381587e-03 5.81365161e+01] [-2.17284285e-02 9.99763891e-01 -1.94636634e-04 -9.50153829e-01] [-4.29703133e-03 1.01291013e-04 9.99990763e-01 -3.37487411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.065769231 meters 0.03679849507599242 Centerline is valid? [True, True] Translation: X:58.20, Y:-0.97, Z:-0.33 [[ 9.99848741e-01 1.66190425e-02 5.12868224e-03 5.81956351e+01] [-1.66180680e-02 9.99861883e-01 -2.32575167e-04 -9.68983777e-01] [-5.13183906e-03 1.47311198e-04 9.99986821e-01 -3.34619164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12576923099999 meters 0.040375724637510144 Centerline is valid? [True, True] Translation: X:58.26, Y:-0.98, Z:-0.33 [[ 9.99881702e-01 1.43155230e-02 5.62558573e-03 5.82564046e+01] [-1.43143152e-02 9.99897512e-01 -2.54909776e-04 -9.84127349e-01] [-5.62865834e-03 1.74353214e-04 9.99984144e-01 -3.34127357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185769230999995 meters 0.03817307307674937 Centerline is valid? [True, True] Translation: X:58.32, Y:-0.99, Z:-0.33 [[ 9.99855444e-01 1.59541543e-02 5.87843830e-03 5.83188639e+01] [-1.59528579e-02 9.99872709e-01 -2.67351820e-04 -9.88606509e-01] [-5.88195540e-03 1.73535281e-04 9.99982686e-01 -3.34649452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.245769231 meters 0.03353733232347257 Centerline is valid? [True, True] Translation: X:58.38, Y:-0.99, Z:-0.33 [[ 9.99776520e-01 1.99508771e-02 6.99086562e-03 5.83792257e+01] [-1.99491381e-02 9.99800945e-01 -3.18407662e-04 -9.92773874e-01] [-6.99582657e-03 1.78874761e-04 9.99975513e-01 -3.32407787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.305769231 meters 0.026746327670477178 Centerline is valid? [True, True] Translation: X:58.44, Y:-0.99, Z:-0.34 [[ 9.99639698e-01 2.62686596e-02 5.51641442e-03 5.84398900e+01] [-2.62676730e-02 9.99654914e-01 -2.51235370e-04 -9.92865627e-01] [-5.52111040e-03 1.06241479e-04 9.99984753e-01 -3.35552638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.365769230999994 meters 0.01879785877653643 Centerline is valid? [True, True] Translation: X:58.50, Y:-0.99, Z:-0.34 [[ 9.99392865e-01 3.44535524e-02 5.18205967e-03 5.84996506e+01] [-3.44527912e-02 9.99406298e-01 -2.36100698e-04 -9.88448887e-01] [-5.18711758e-03 5.74209328e-05 9.99986545e-01 -3.36496639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.425769231 meters 0.012692348485808193 Centerline is valid? [True, True] Translation: X:58.56, Y:-0.98, Z:-0.34 [[ 9.99072231e-01 4.28054049e-02 4.73018584e-03 5.85602893e+01] [-4.28048648e-02 9.99083429e-01 -2.15417895e-04 -9.81052148e-01] [-4.73507134e-03 1.27430715e-05 9.99988789e-01 -3.38287446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.485769231 meters 0.013589363310075438 Centerline is valid? [True, True] Translation: X:58.62, Y:-0.97, Z:-0.34 [[ 9.98735616e-01 5.00815244e-02 4.35998131e-03 5.86211572e+01] [-5.00811345e-02 9.98745133e-01 -1.98628137e-04 -9.72142310e-01] [-4.36445771e-03 -1.99758157e-05 9.99990476e-01 -3.38692758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.545769230999994 meters 0.017275067832592424 Centerline is valid? [True, True] Translation: X:58.68, Y:-0.97, Z:-0.34 [[ 9.98374991e-01 5.68033954e-02 4.55550038e-03 5.86822485e+01] [-5.68030397e-02 9.98385382e-01 -2.07535420e-04 -9.66233789e-01] [-4.55993371e-03 -5.15680959e-05 9.99989602e-01 -3.37956800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.605769231 meters 0.020592123784264883 Centerline is valid? [True, True] Translation: X:58.74, Y:-0.96, Z:-0.34 [[ 9.98161522e-01 6.05082899e-02 3.51032707e-03 5.87425285e+01] [-6.05081016e-02 9.98167693e-01 -1.59917228e-04 -9.60781259e-01] [-3.51357140e-03 -5.27800040e-05 9.99993826e-01 -3.40363148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.665769231 meters 0.023514421466894003 Centerline is valid? [True, True] Translation: X:58.80, Y:-0.96, Z:-0.34 [[ 9.98196268e-01 5.99667437e-02 2.86351130e-03 5.88012047e+01] [-5.99666159e-02 9.98200375e-01 -1.30552432e-04 -9.55941530e-01] [-2.86618686e-03 -4.13981318e-05 9.99995892e-01 -3.43805335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.725769230999994 meters 0.018191223157874817 Centerline is valid? [True, True] Translation: X:58.86, Y:-0.97, Z:-0.34 [[ 9.98456306e-01 5.54321985e-02 3.50388840e-03 5.88602887e+01] [-5.54319796e-02 9.98462453e-01 -1.59625647e-04 -9.65162461e-01] [-3.50734940e-03 -3.48482368e-05 9.99993849e-01 -3.43483257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.785769230999996 meters 0.012569358219420528 Centerline is valid? [True, True] Translation: X:58.92, Y:-0.98, Z:-0.34 [[ 9.98850163e-01 4.77437306e-02 4.34604801e-03 5.89204667e+01] [-4.77433219e-02 9.98859618e-01 -1.97800981e-04 -9.80583541e-01] [-4.35053561e-03 -9.92122668e-06 9.99990536e-01 -3.41885710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.845769231 meters 0.01242516453140156 Centerline is valid? [True, True] Translation: X:58.98, Y:-0.99, Z:-0.34 [[ 9.99035082e-01 4.37613536e-02 3.72143676e-03 5.89815603e+01] [-4.37610266e-02 9.99042013e-01 -1.69294660e-04 -9.89759295e-01] [-3.72528024e-03 6.27741205e-06 9.99993061e-01 -3.44329857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.905769230999994 meters 0.012720161881257271 Centerline is valid? [True, True] Translation: X:59.04, Y:-1.00, Z:-0.35 [[ 9.99086398e-01 4.26286300e-02 3.02819062e-03 5.90430656e+01] [-4.26284081e-02 9.99090987e-01 -1.37799258e-04 -9.95563524e-01] [-3.03131215e-03 8.58641832e-06 9.99995406e-01 -3.45272777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.965769230999996 meters 0.012516940129656847 Centerline is valid? [True, True] Translation: X:59.10, Y:-1.00, Z:-0.34 [[ 9.99048766e-01 4.34761508e-02 3.37448753e-03 5.91030794e+01] [-4.34758797e-02 9.99054465e-01 -1.53700099e-04 -9.99474623e-01] [-3.37797912e-03 6.84508051e-06 9.99994295e-01 -3.43889455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.025769231 meters 0.012067215609884146 Centerline is valid? [True, True] Translation: X:59.16, Y:-1.00, Z:-0.34 [[ 9.98915552e-01 4.61866682e-02 5.87472284e-03 5.91638335e+01] [-4.61858925e-02 9.98932826e-01 -2.67709789e-04 -9.98729766e-01] [-5.88081811e-03 -3.90984542e-06 9.99982708e-01 -3.40595239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08576923099999 meters 0.012828328868653491 Centerline is valid? [True, True] Translation: X:59.23, Y:-1.00, Z:-0.34 [[ 9.98797621e-01 4.87810865e-02 4.87001877e-03 5.92255522e+01] [-4.87805842e-02 9.98809494e-01 -2.21942829e-04 -9.96585149e-01] [-4.87504760e-03 -1.58863910e-05 9.99988117e-01 -3.42530140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.145769230999996 meters 0.013478980281604536 Centerline is valid? [True, True] Translation: X:59.29, Y:-1.00, Z:-0.34 [[ 9.98740211e-01 4.99495190e-02 4.79971871e-03 5.92865658e+01] [-4.99490438e-02 9.98751743e-01 -2.18898221e-04 -9.97166169e-01] [-4.80466129e-03 -2.11189047e-05 9.99988457e-01 -3.43761684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.205769231 meters 0.012836749461533735 Centerline is valid? [True, True] Translation: X:59.35, Y:-1.00, Z:-0.35 [[ 9.98852588e-01 4.77515238e-02 3.64675163e-03 5.93465406e+01] [-4.77512350e-02 9.98859245e-01 -1.66277265e-04 -1.00476818e+00] [-3.65053158e-03 -8.05041749e-06 9.99993337e-01 -3.46001365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26576923099999 meters 0.012361647582153062 Centerline is valid? [True, True] Translation: X:59.41, Y:-1.01, Z:-0.34 [[ 9.98944934e-01 4.57112321e-02 4.41603075e-03 5.94071796e+01] [-4.57107882e-02 9.98954695e-01 -2.01449609e-04 -1.01113963e+00] [-4.42062316e-03 -6.23180174e-07 9.99990229e-01 -3.43862027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325769230999995 meters 0.012492685947907088 Centerline is valid? [True, True] Translation: X:59.47, Y:-1.01, Z:-0.34 [[ 9.98896797e-01 4.67481307e-02 4.44977857e-03 5.94678717e+01] [-4.67476903e-02 9.98906708e-01 -2.02989110e-04 -1.01139454e+00] [-4.45440303e-03 -5.25169890e-06 9.99990079e-01 -3.44035665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.385769231 meters 0.01730139865210356 Centerline is valid? [True, True] Translation: X:59.53, Y:-0.99, Z:-0.34 [[ 9.98439424e-01 5.56329479e-02 4.86751095e-03 5.95293062e+01] [-5.56325265e-02 9.98451287e-01 -2.22045142e-04 -9.94257342e-01] [-4.87232560e-03 -4.90933081e-05 9.99988129e-01 -3.42494492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44576923099999 meters 0.027082614872679763 Centerline is valid? [True, True] Translation: X:59.59, Y:-0.97, Z:-0.35 [[ 9.97872057e-01 6.51661628e-02 2.17473743e-03 5.95902162e+01] [-6.51661012e-02 9.97874426e-01 -9.92617688e-05 -9.69948520e-01] [-2.17658337e-03 -4.26686141e-05 9.99997630e-01 -3.48156918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505769230999995 meters 0.029016942602794443 Centerline is valid? [True, True] Translation: X:59.65, Y:-0.96, Z:-0.34 [[ 9.97675401e-01 6.79849947e-02 4.67279067e-03 5.96498764e+01] [-6.79847415e-02 9.97686338e-01 -2.13191870e-04 -9.58401528e-01] [-4.67647326e-03 -1.04982181e-04 9.99989060e-01 -3.44632792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.565769231 meters 0.024218051675649752 Centerline is valid? [True, True] Translation: X:59.71, Y:-0.96, Z:-0.34 [[ 9.97950526e-01 6.36465264e-02 6.62329532e-03 5.97094511e+01] [-6.36459244e-02 9.97972497e-01 -3.01841106e-04 -9.57255993e-01] [-6.62907770e-03 -1.20323262e-04 9.99978020e-01 -3.41416679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62576923099999 meters 0.020645955894512968 Centerline is valid? [True, True] Translation: X:59.77, Y:-0.96, Z:-0.35 [[ 9.98296072e-01 5.81872389e-02 4.38146051e-03 5.97679724e+01] [-5.81869230e-02 9.98305686e-01 -1.99657657e-04 -9.57141252e-01] [-4.38565447e-03 -5.56262502e-05 9.99990381e-01 -3.47796371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685769230999995 meters 0.019851313400206478 Centerline is valid? [True, True] Translation: X:59.83, Y:-0.95, Z:-0.35 [[ 9.98261580e-01 5.88851112e-02 2.52231870e-03 5.98270635e+01] [-5.88850086e-02 9.98264766e-01 -1.15009479e-04 -9.53046530e-01] [-2.52471423e-03 -3.37172142e-05 9.99996812e-01 -3.48915125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.745769231 meters 0.023725993001165575 Centerline is valid? [True, True] Translation: X:59.89, Y:-0.95, Z:-0.35 [[ 9.98185272e-01 6.01701896e-02 2.38995444e-03 5.98854040e+01] [-6.01701013e-02 9.98188132e-01 -1.08931709e-04 -9.46563206e-01] [-2.39217860e-03 -3.50697729e-05 9.99997138e-01 -3.50694577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.805769231 meters 0.024667369613120087 Centerline is valid? [True, True] Translation: X:59.94, Y:-0.94, Z:-0.35 [[ 9.97976026e-01 6.34245659e-02 4.60164351e-03 5.99448264e+01] [-6.34242759e-02 9.97986632e-01 -2.09058255e-04 -9.37709501e-01] [-4.60563814e-03 -8.32207818e-05 9.99989391e-01 -3.46256622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.865769230999994 meters 0.028613602072307592 Centerline is valid? [True, True] Translation: X:60.00, Y:-0.92, Z:-0.35 [[ 9.97828565e-01 6.57021762e-02 4.62382570e-03 6.00031961e+01] [-6.57019087e-02 9.97839273e-01 -2.09874413e-04 -9.21283037e-01] [-4.62762408e-03 -9.43754901e-05 9.99989288e-01 -3.47295754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.925769231 meters 0.025233643450761817 Centerline is valid? [True, True] Translation: X:60.06, Y:-0.92, Z:-0.35 [[ 9.98052076e-01 6.22457183e-02 4.18621936e-03 6.00616926e+01] [-6.22454697e-02 9.98060853e-01 -1.89768705e-04 -9.17720968e-01] [-4.18991395e-03 -7.11741403e-05 9.99991220e-01 -3.49604760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.985769231 meters 0.01848683302763777 Centerline is valid? [True, True] Translation: X:60.12, Y:-0.93, Z:-0.35 [[ 9.98411476e-01 5.60619328e-02 5.62006102e-03 6.01216528e+01] [-5.60613891e-02 9.98427291e-01 -2.54363510e-04 -9.25352086e-01] [-5.62548241e-03 -6.11089802e-05 9.99984175e-01 -3.47948363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.045769231 meters 0.01713026366994688 Centerline is valid? [True, True] Translation: X:60.18, Y:-0.96, Z:-0.34 [[ 9.99299219e-01 3.66703898e-02 7.50689244e-03 6.01798129e+01] [-3.66688728e-02 9.99327413e-01 -3.39666224e-04 -9.59078061e-01] [-7.51429910e-03 6.41589080e-05 9.99971765e-01 -3.44547813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.105769231 meters 0.021626903567855967 Centerline is valid? [True, True] Translation: X:60.24, Y:-0.97, Z:-0.35 [[ 9.99551840e-01 2.90285369e-02 7.31181084e-03 6.02401561e+01] [-2.90268924e-02 9.99578576e-01 -3.30961009e-04 -9.72737143e-01] [-7.31833678e-03 1.18573539e-04 9.99973214e-01 -3.45515241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.165769231 meters 0.03187221773396364 Centerline is valid? [True, True] Translation: X:60.30, Y:-1.00, Z:-0.35 [[ 9.99738390e-01 2.18131704e-02 6.88018191e-03 6.02988187e+01] [-2.18115430e-02 9.99762051e-01 -3.11500500e-04 -1.00000961e+00] [-6.88533959e-03 1.61351625e-04 9.99976283e-01 -3.47194492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.225769231 meters 0.026487785965560128 Centerline is valid? [True, True] Translation: X:60.36, Y:-1.00, Z:-0.35 [[ 9.99716486e-01 2.35827240e-02 3.28683151e-03 6.03596941e+01] [-2.35823624e-02 9.99721886e-01 -1.48722920e-04 -1.00497686e+00] [-3.28942469e-03 7.11695030e-05 9.99994587e-01 -3.51039021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28576923099999 meters 0.018004574452507877 Centerline is valid? [True, True] Translation: X:60.42, Y:-1.00, Z:-0.36 [[ 9.99442670e-01 3.33818403e-02 -3.76293361e-05 6.04203302e+01] [-3.33818403e-02 9.99442671e-01 1.62476474e-06 -9.97164516e-01] [ 3.76626018e-05 -3.67722724e-07 9.99999999e-01 -3.56661118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34576923099999 meters 0.012326304687124725 Centerline is valid? [True, True] Translation: X:60.48, Y:-0.98, Z:-0.35 [[ 9.98998163e-01 4.46414122e-02 3.13281201e-03 6.04811169e+01] [-4.46411867e-02 9.99003075e-01 -1.41921714e-04 -9.83200212e-01] [-3.13602442e-03 1.92708607e-06 9.99995083e-01 -3.52130864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.405769231 meters 0.014072762174121537 Centerline is valid? [True, True] Translation: X:60.54, Y:-0.98, Z:-0.35 [[ 9.98666272e-01 5.14807551e-02 3.92545132e-03 6.05406231e+01] [-5.14804536e-02 9.98673986e-01 -1.77873272e-04 -9.75559355e-01] [-3.92940316e-03 -2.44479772e-05 9.99992280e-01 -3.51825004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.465769231 meters 0.018556491275686336 Centerline is valid? [True, True] Translation: X:60.60, Y:-0.97, Z:-0.35 [[ 9.98360414e-01 5.70801938e-02 4.28186595e-03 6.05993743e+01] [-5.70798880e-02 9.98369595e-01 -1.93685647e-04 -9.65433129e-01] [-4.28594039e-03 -5.10403461e-05 9.99990814e-01 -3.52843317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.525769231 meters 0.0192118533025134 Centerline is valid? [True, True] Translation: X:60.66, Y:-0.97, Z:-0.35 [[ 9.98311309e-01 5.78952620e-02 4.76110676e-03 6.06579279e+01] [-5.78948930e-02 9.98322661e-01 -2.15386744e-04 -9.65443412e-01] [-4.76559064e-03 -6.06207441e-05 9.99988643e-01 -3.51868981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.585769231 meters 0.01828611657251221 Centerline is valid? [True, True] Translation: X:60.72, Y:-0.97, Z:-0.36 [[ 9.98437892e-01 5.58210997e-02 2.40423233e-03 6.07159082e+01] [-5.58209995e-02 9.98440787e-01 -1.08811658e-04 -9.72510485e-01] [-2.40655760e-03 -2.55649697e-05 9.99997104e-01 -3.58507854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.645769231 meters 0.015411726667731718 Centerline is valid? [True, True] Translation: X:60.77, Y:-0.98, Z:-0.35 [[ 9.98564881e-01 5.34386164e-02 3.53460021e-03 6.07747570e+01] [-5.34383861e-02 9.98571136e-01 -1.59618524e-04 -9.84147234e-01] [-3.53807954e-03 -2.94938788e-05 9.99993741e-01 -3.54816067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70576923099999 meters 0.015199528083787134 Centerline is valid? [True, True] Translation: X:60.83, Y:-0.99, Z:-0.36 [[ 9.98621600e-01 5.24385443e-02 2.25789779e-03 6.08320493e+01] [-5.24384475e-02 9.98624153e-01 -1.02104372e-04 -9.93553575e-01] [-2.26014548e-03 -1.64370232e-05 9.99997446e-01 -3.57463317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.765769231 meters 0.016356301017204755 Centerline is valid? [True, True] Translation: X:60.89, Y:-1.00, Z:-0.36 [[ 9.98552894e-01 5.37286734e-02 2.31265055e-03 6.08893987e+01] [-5.37285756e-02 9.98555571e-01 -1.04424600e-04 -9.97833636e-01] [-2.31492068e-03 -1.99819329e-05 9.99997320e-01 -3.57828472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.825769231 meters 0.020305189450488155 Centerline is valid? [True, True] Translation: X:60.95, Y:-0.99, Z:-0.35 [[ 9.98324965e-01 5.76094742e-02 5.33041269e-03 6.09471758e+01] [-5.76090151e-02 9.98339193e-01 -2.39756521e-04 -9.93609128e-01] [-5.33537215e-03 -6.77249054e-05 9.99985765e-01 -3.51244871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.885769231 meters 0.02277249139834194 Centerline is valid? [True, True] Translation: X:61.01, Y:-0.99, Z:-0.35 [[ 9.98185054e-01 6.00542228e-02 4.48207534e-03 6.10062234e+01] [-6.00539239e-02 9.98195114e-01 -2.01378416e-04 -9.92178797e-01] [-4.48607933e-03 -6.81532864e-05 9.99989935e-01 -3.54527730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.945769231 meters 0.022521062161055882 Centerline is valid? [True, True] Translation: X:61.07, Y:-0.99, Z:-0.36 [[ 9.98178629e-01 6.02271829e-02 3.48001677e-03 6.10654444e+01] [-6.02270040e-02 9.98184694e-01 -1.56272498e-04 -9.91905140e-01] [-3.48311133e-03 -5.36031159e-05 9.99993933e-01 -3.56767690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.005769231 meters 0.025944047131305038 Centerline is valid? [True, True] Translation: X:61.12, Y:-0.98, Z:-0.36 [[ 9.98064799e-01 6.21031653e-02 3.13900155e-03 6.11238935e+01] [-6.21030292e-02 9.98069734e-01 -1.40888563e-04 -9.81678251e-01] [-3.14169207e-03 -5.43255898e-05 9.99995063e-01 -3.57142031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06576923099999 meters 0.03318653516050992 Centerline is valid? [True, True] Translation: X:61.18, Y:-0.96, Z:-0.36 [[ 9.97700884e-01 6.77429645e-02 1.95858069e-03 6.11848007e+01] [-6.77429228e-02 9.97702806e-01 -8.77288955e-05 -9.59191100e-01] [-1.96002447e-03 -4.51527842e-05 9.99998078e-01 -3.60856899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12576923099999 meters 0.03252591571789355 Centerline is valid? [True, True] Translation: X:61.25, Y:-0.95, Z:-0.36 [[ 9.97463902e-01 7.11376105e-02 2.28127164e-03 6.12452457e+01] [-7.11375628e-02 9.97466509e-01 -1.02183138e-04 -9.45612722e-01] [-2.28276112e-03 -6.03601126e-05 9.99997393e-01 -3.59377431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.185769231 meters 0.03389554782759987 Centerline is valid? [True, True] Translation: X:61.30, Y:-0.94, Z:-0.36 [[ 9.97627023e-01 6.88393460e-02 1.21097737e-03 6.13041068e+01] [-6.88393306e-02 9.97627758e-01 -5.44287801e-05 -9.36520465e-01] [-1.21185148e-03 -2.90632495e-05 9.99999265e-01 -3.63185472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.245769231 meters 0.020339771774874362 Centerline is valid? [True, True] Translation: X:61.36, Y:-0.95, Z:-0.36 [[ 9.98269097e-01 5.86703708e-02 4.07405041e-03 6.13637325e+01] [-5.86701166e-02 9.98277408e-01 -1.81996892e-04 -9.48523640e-01] [-4.07771031e-03 -5.73431391e-05 9.99991684e-01 -3.57365142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.305769231 meters 0.01233456352473513 Centerline is valid? [True, True] Translation: X:61.42, Y:-0.96, Z:-0.35 [[ 9.98834582e-01 4.78880972e-02 6.01727306e-03 6.14227783e+01] [-4.78873468e-02 9.98852707e-01 -2.68808377e-04 -9.61892207e-01] [-6.02324221e-03 -1.96561386e-05 9.99981860e-01 -3.54481901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.365769231 meters 0.013099201109504474 Centerline is valid? [True, True] Translation: X:61.48, Y:-0.98, Z:-0.36 [[ 9.99191970e-01 3.98890530e-02 4.92648655e-03 6.14813304e+01] [-3.98884531e-02 9.99204115e-01 -2.19995123e-04 -9.77553840e-01] [-4.93134103e-03 2.33074328e-05 9.99987841e-01 -3.57116548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42576923099999 meters 0.015460233773600594 Centerline is valid? [True, True] Translation: X:61.54, Y:-0.99, Z:-0.36 [[ 9.99300460e-01 3.71205995e-02 4.54434582e-03 6.15397272e+01] [-3.71200608e-02 9.99310792e-01 -2.02849754e-04 -9.87591138e-01] [-4.54874372e-03 3.40214597e-05 9.99989654e-01 -3.57471399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48576923099999 meters 0.015909660563944925 Centerline is valid? [True, True] Translation: X:61.60, Y:-1.00, Z:-0.35 [[ 9.99327045e-01 3.59256438e-02 7.40310868e-03 6.15981370e+01] [-3.59241838e-02 9.99354464e-01 -3.30134624e-04 -9.99399903e-01] [-7.41019000e-03 6.39618213e-05 9.99972542e-01 -3.52243318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.545769231 meters 0.017529169554915198 Centerline is valid? [True, True] Translation: X:61.66, Y:-1.01, Z:-0.35 [[ 9.99393627e-01 3.36644799e-02 8.89280898e-03 6.16573432e+01] [-3.36622874e-02 9.99433186e-01 -3.96156106e-04 -1.00998752e+00] [-8.90110480e-03 9.65635962e-05 9.99960380e-01 -3.50762993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.605769231 meters 0.019261330664621712 Centerline is valid? [True, True] Translation: X:61.72, Y:-1.02, Z:-0.36 [[ 9.99466813e-01 3.19892801e-02 6.54036952e-03 6.17174447e+01] [-3.19880590e-02 9.99488209e-01 -2.91244814e-04 -1.02040224e+00] [-6.54633892e-03 8.18758001e-05 9.99978569e-01 -3.55241201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.665769231 meters 0.018055493462246226 Centerline is valid? [True, True] Translation: X:61.78, Y:-1.03, Z:-0.36 [[ 9.99428769e-01 3.36288694e-02 3.35197486e-03 6.17772246e+01] [-3.36285579e-02 9.99434389e-01 -1.49264547e-04 -1.02715780e+00] [-3.35509854e-03 3.64572023e-05 9.99994371e-01 -3.61498702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.725769231 meters 0.01420418487313264 Centerline is valid? [True, True] Translation: X:61.84, Y:-1.03, Z:-0.36 [[ 9.99250575e-01 3.86301991e-02 2.44869703e-03 6.18359891e+01] [-3.86300476e-02 9.99253575e-01 -1.09190230e-04 -1.02853449e+00] [-2.45108731e-03 1.45151174e-05 9.99996996e-01 -3.63504137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78576923099999 meters 0.01216748342805973 Centerline is valid? [True, True] Translation: X:61.89, Y:-1.03, Z:-0.36 [[ 9.98969540e-01 4.53365117e-02 2.11183551e-03 6.18947492e+01] [-4.53364139e-02 9.98971772e-01 -9.41844832e-05 -1.02506179e+00] [-2.11393406e-03 -1.65561887e-06 9.99997766e-01 -3.64921145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84576923099999 meters 0.014673633456918066 Centerline is valid? [True, True] Translation: X:61.95, Y:-1.02, Z:-0.36 [[ 9.98712605e-01 5.06288837e-02 3.13812545e-03 6.19542084e+01] [-5.06286948e-02 9.98717536e-01 -1.39670559e-04 -1.02181131e+00] [-3.14117228e-03 -1.93884477e-05 9.99995066e-01 -3.62327877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.905769231 meters 0.016264791672387688 Centerline is valid? [True, True] Translation: X:62.01, Y:-1.03, Z:-0.36 [[ 9.98570690e-01 5.33784363e-02 2.70535471e-03 6.20128660e+01] [-5.33783061e-02 9.98574355e-01 -1.20346205e-04 -1.02545669e+00] [-2.70792172e-03 -2.42330589e-05 9.99996333e-01 -3.63514705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.965769231 meters 0.01819993883625626 Centerline is valid? [True, True] Translation: X:62.07, Y:-1.03, Z:-0.36 [[ 9.98525654e-01 5.41034516e-02 4.39720778e-03 6.20708677e+01] [-5.41031163e-02 9.98535335e-01 -1.95245392e-04 -1.02715483e+00] [-4.40133079e-03 -4.29451118e-05 9.99990313e-01 -3.61251333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.025769231 meters 0.01928304083638749 Centerline is valid? [True, True] Translation: X:62.13, Y:-1.03, Z:-0.36 [[ 9.98482032e-01 5.49014046e-02 4.41215752e-03 6.21293301e+01] [-5.49010763e-02 9.98491779e-01 -1.95585304e-04 -1.02869615e+00] [-4.41624092e-03 -4.69437853e-05 9.99990247e-01 -3.61512799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.085769231 meters 0.01892140544388717 Centerline is valid? [True, True] Translation: X:62.19, Y:-1.03, Z:-0.36 [[ 9.98509245e-01 5.44050524e-02 4.40198682e-03 6.21884899e+01] [-5.44047217e-02 9.98518947e-01 -1.94923850e-04 -1.03388897e+00] [-4.40607209e-03 -4.48556013e-05 9.99990292e-01 -3.62074552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.145769231 meters 0.013047099142769131 Centerline is valid? [True, True] Translation: X:62.25, Y:-1.05, Z:-0.36 [[ 9.98790533e-01 4.88525059e-02 5.55906668e-03 6.22479941e+01] [-4.88518939e-02 9.98806003e-01 -2.45898787e-04 -1.05278023e+00] [-5.56444195e-03 -2.59695549e-05 9.99984518e-01 -3.60140878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20576923099999 meters 0.011739032629899879 Centerline is valid? [True, True] Translation: X:62.31, Y:-1.06, Z:-0.36 [[ 9.98954024e-01 4.53966968e-02 5.47697375e-03 6.23062520e+01] [-4.53960509e-02 9.98969038e-01 -2.42241385e-04 -1.06407851e+00] [-5.48232416e-03 -6.64497303e-06 9.99984972e-01 -3.60623595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.265769231 meters 0.012325282809545497 Centerline is valid? [True, True] Translation: X:62.36, Y:-1.08, Z:-0.36 [[ 9.99130461e-01 4.15121094e-02 3.88146827e-03 6.23649978e+01] [-4.15117561e-02 9.99138001e-01 -1.71577922e-04 -1.07868781e+00] [-3.88524501e-03 1.03021642e-05 9.99992452e-01 -3.64268382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.325769231 meters 0.013707703940301397 Centerline is valid? [True, True] Translation: X:62.42, Y:-1.09, Z:-0.36 [[ 9.99286700e-01 3.76039656e-02 3.46887764e-03 6.24246592e+01] [-3.76036603e-02 9.99292721e-01 -1.53204840e-04 -1.09496577e+00] [-3.47218528e-03 2.26530627e-05 9.99993972e-01 -3.64646777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.385769231 meters 0.01455749011788303 Centerline is valid? [True, True] Translation: X:62.48, Y:-1.11, Z:-0.36 [[ 9.99356684e-01 3.56788167e-02 3.63880174e-03 6.24843338e+01] [-3.56784680e-02 9.99363308e-01 -1.60709629e-04 -1.10649129e+00] [-3.64221887e-03 3.07793703e-05 9.99993367e-01 -3.63724987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.445769231 meters 0.016747782975201637 Centerline is valid? [True, True] Translation: X:62.54, Y:-1.13, Z:-0.37 [[ 9.99352775e-01 3.57513402e-02 3.98410407e-03 6.25441412e+01] [-3.57509229e-02 9.99360716e-01 -1.75923114e-04 -1.12830647e+00] [-3.98784658e-03 3.33738550e-05 9.99992048e-01 -3.65628903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.505769231 meters 0.013288280113440895 Centerline is valid? [True, True] Translation: X:62.60, Y:-1.13, Z:-0.36 [[ 9.99243441e-01 3.86217716e-02 4.57220070e-03 6.26048009e+01] [-3.86212517e-02 9.99253901e-01 -2.01989415e-04 -1.13014945e+00] [-4.57659057e-03 2.52524840e-05 9.99989527e-01 -3.63742573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56576923099999 meters 0.012204910696926601 Centerline is valid? [True, True] Translation: X:62.66, Y:-1.14, Z:-0.36 [[ 9.99124974e-01 4.15578840e-02 4.71481336e-03 6.26644927e+01] [-4.15573640e-02 9.99136098e-01 -2.08262870e-04 -1.13825393e+00] [-4.71939519e-03 1.21454193e-05 9.99988864e-01 -3.64389877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62576923099999 meters 0.012024373855165445 Centerline is valid? [True, True] Translation: X:62.72, Y:-1.15, Z:-0.37 [[ 9.99055196e-01 4.33511333e-02 3.06498218e-03 6.27249515e+01] [-4.33509221e-02 9.99059898e-01 -1.35348405e-04 -1.14827874e+00] [-3.06796829e-03 2.35072341e-06 9.99995294e-01 -3.67033132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.685769231 meters 0.012911539581898565 Centerline is valid? [True, True] Translation: X:62.78, Y:-1.15, Z:-0.37 [[ 9.98839157e-01 4.79954002e-02 4.09628736e-03 6.27845936e+01] [-4.79950609e-02 9.98847557e-01 -1.81140469e-04 -1.15109176e+00] [-4.10026053e-03 -1.56713684e-05 9.99991594e-01 -3.65850329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.745769231 meters 0.018929130342518995 Centerline is valid? [True, True] Translation: X:62.85, Y:-1.14, Z:-0.37 [[ 9.98426222e-01 5.59226428e-02 4.21156321e-03 6.28455641e+01] [-5.59223551e-02 9.98435103e-01 -1.86155253e-04 -1.14350290e+00] [-4.21538284e-03 -4.96582472e-05 9.99991114e-01 -3.65160710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.805769231 meters 0.022261443776207285 Centerline is valid? [True, True] Translation: X:62.91, Y:-1.14, Z:-0.37 [[ 9.98191966e-01 6.00722478e-02 2.03056640e-03 6.29057690e+01] [-6.00721894e-02 9.98194031e-01 -8.98119693e-05 -1.14336091e+00] [-2.03229447e-03 -3.23309830e-05 9.99997934e-01 -3.70025702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.865769231 meters 0.026766922967489275 Centerline is valid? [True, True] Translation: X:62.97, Y:-1.14, Z:-0.37 [[ 9.97918602e-01 6.44725391e-02 1.32459679e-03 6.29657794e+01] [-6.44725180e-02 9.97919481e-01 -5.86674803e-05 -1.13863020e+00] [-1.32562338e-03 -2.68547206e-05 9.99999121e-01 -3.71310950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92576923099999 meters 0.029756791780909484 Centerline is valid? [True, True] Translation: X:63.03, Y:-1.13, Z:-0.37 [[ 9.97747661e-01 6.70461499e-02 2.10225156e-03 6.30253510e+01] [-6.70461027e-02 9.97749874e-01 -9.30192713e-05 -1.12867769e+00] [-2.10375782e-03 -4.81380139e-05 9.99997786e-01 -3.69867605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98576923099999 meters 0.030570331945788884 Centerline is valid? [True, True] Translation: X:63.08, Y:-1.12, Z:-0.37 [[ 9.97733711e-01 6.71632205e-02 4.06748831e-03 6.30839445e+01] [-6.71630459e-02 9.97741997e-01 -1.79670226e-04 -1.12395716e+00] [-4.07037115e-03 -9.39218631e-05 9.99991712e-01 -3.67189030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.045769231 meters 0.02793087811428936 Centerline is valid? [True, True] Translation: X:63.14, Y:-1.12, Z:-0.37 [[ 9.97933199e-01 6.42007174e-02 2.75648234e-03 6.31433984e+01] [-6.42006264e-02 9.97937004e-01 -1.21582385e-04 -1.12359027e+00] [-2.75860141e-03 -5.56367949e-05 9.99996194e-01 -3.70798665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.105769231 meters 0.022542629542465487 Centerline is valid? [True, True] Translation: X:63.20, Y:-1.13, Z:-0.37 [[ 9.98258368e-01 5.89207097e-02 2.92917932e-03 6.32029618e+01] [-5.89205844e-02 9.98262665e-01 -1.29123371e-04 -1.12886826e+00] [-2.93169839e-03 -4.36904714e-05 9.99995702e-01 -3.70716584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.165769231 meters 0.01388622818175081 Centerline is valid? [True, True] Translation: X:63.26, Y:-1.14, Z:-0.37 [[ 9.98753432e-01 4.95962536e-02 5.63850818e-03 6.32623857e+01] [-4.95956423e-02 9.98769348e-01 -2.48266387e-04 -1.14499815e+00] [-5.64388222e-03 -3.16885288e-05 9.99984073e-01 -3.65181357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.225769231 meters 0.012247187358625447 Centerline is valid? [True, True] Translation: X:63.32, Y:-1.17, Z:-0.36 [[ 9.99143069e-01 4.07222964e-02 7.40424524e-03 6.33224982e+01] [-4.07209993e-02 9.99170503e-01 -3.25918697e-04 -1.16534579e+00] [-7.41137560e-03 2.41311412e-05 9.99972535e-01 -3.63051395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28576923099999 meters 0.025301266514617057 Centerline is valid? [True, True] Translation: X:63.38, Y:-1.20, Z:-0.37 [[ 9.99625453e-01 2.67449773e-02 5.80178797e-03 6.33814154e+01] [-2.67439448e-02 9.99642284e-01 -2.55483993e-04 -1.20026138e+00] [-5.80654549e-03 1.00225604e-04 9.99983137e-01 -3.65829733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34576923099999 meters 0.036986838478785915 Centerline is valid? [True, True] Translation: X:63.44, Y:-1.23, Z:-0.36 [[ 9.99832170e-01 1.71843090e-02 6.35072405e-03 6.34410435e+01] [-1.71828780e-02 9.99852324e-01 -2.79836987e-04 -1.23133967e+00] [-6.35459501e-03 1.70666305e-04 9.99979795e-01 -3.64522976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.405769231 meters 0.039570374806350755 Centerline is valid? [True, True] Translation: X:63.50, Y:-1.25, Z:-0.37 [[ 9.99866491e-01 1.56713568e-02 4.62703118e-03 6.35023105e+01] [-1.56705814e-02 9.99877188e-01 -2.03792404e-04 -1.24769336e+00] [-4.62965663e-03 1.31256927e-04 9.99989274e-01 -3.68720954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.465769231 meters 0.038489146008184344 Centerline is valid? [True, True] Translation: X:63.56, Y:-1.26, Z:-0.37 [[ 9.99844869e-01 1.74484958e-02 2.40583533e-03 6.35635639e+01] [-1.74482926e-02 9.99847761e-01 -1.05438427e-04 -1.25854325e+00] [-2.40730881e-03 6.34443512e-05 9.99997100e-01 -3.73932968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.525769231 meters 0.032462831993019456 Centerline is valid? [True, True] Translation: X:63.63, Y:-1.26, Z:-0.37 [[ 9.99833221e-01 1.79318128e-02 3.46118490e-03 6.36255550e+01] [-1.79313904e-02 9.99839208e-01 -1.53053724e-04 -1.25625200e+00] [-3.46337290e-03 9.09643406e-05 9.99993998e-01 -3.70619457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.585769231 meters 0.02730123082330786 Centerline is valid? [True, True] Translation: X:63.69, Y:-1.26, Z:-0.37 [[ 9.99769644e-01 2.10574617e-02 4.15241132e-03 6.36868351e+01] [-2.10568796e-02 9.99778262e-01 -1.83842425e-04 -1.26164373e+00] [-4.15536183e-03 9.63632503e-05 9.99991362e-01 -3.69908970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.645769231 meters 0.0301534195281615 Centerline is valid? [True, True] Translation: X:63.75, Y:-1.28, Z:-0.38 [[ 9.99680867e-01 2.51868369e-02 1.94621013e-03 6.37462135e+01] [-2.51867168e-02 9.99682761e-01 -8.61843877e-05 -1.27837569e+00] [-1.94776343e-03 3.71382399e-05 9.99998102e-01 -3.77223774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70576923099999 meters 0.020930858675875567 Centerline is valid? [True, True] Translation: X:63.81, Y:-1.28, Z:-0.38 [[ 9.99458390e-01 3.28463334e-02 2.01144574e-03 6.38075031e+01] [-3.28462207e-02 9.99460413e-01 -8.90908201e-05 -1.27765792e+00] [-2.01328670e-03 2.29741769e-05 9.99997973e-01 -3.75970070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.765769231 meters 0.013384612175887788 Centerline is valid? [True, True] Translation: X:63.87, Y:-1.27, Z:-0.38 [[ 9.99224490e-01 3.93566592e-02 1.21335571e-03 6.38694930e+01] [-3.93566231e-02 9.99225227e-01 -5.36632927e-05 -1.27171988e+00] [-1.21452765e-03 5.86809278e-06 9.99999262e-01 -3.75773386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.825769231 meters 0.013381969814667709 Centerline is valid? [True, True] Translation: X:63.93, Y:-1.26, Z:-0.37 [[ 9.98723597e-01 5.02820038e-02 4.78516747e-03 6.39305975e+01] [-5.02815638e-02 9.98735060e-01 -2.12289634e-04 -1.26455290e+00] [-4.78978886e-03 -2.85870365e-05 9.99988528e-01 -3.69542245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.885769231 meters 0.020931435677067144 Centerline is valid? [True, True] Translation: X:63.99, Y:-1.25, Z:-0.37 [[ 9.98263397e-01 5.85431180e-02 6.54924479e-03 6.39915809e+01] [-5.85424715e-02 9.98284876e-01 -2.90545806e-04 -1.25223882e+00] [-6.55502148e-03 -9.33677337e-05 9.99978511e-01 -3.67084923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.945769231 meters 0.02380518257492628 Centerline is valid? [True, True] Translation: X:64.05, Y:-1.25, Z:-0.37 [[ 9.98087890e-01 6.15480736e-02 5.69203380e-03 6.40543753e+01] [-6.15476349e-02 9.98104115e-01 -2.52377398e-04 -1.24542710e+00] [-5.69677570e-03 -9.84363934e-05 9.99983768e-01 -3.70815873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.005769231 meters 0.019449618889215134 Centerline is valid? [True, True] Translation: X:64.12, Y:-1.25, Z:-0.37 [[ 9.98273657e-01 5.85077528e-02 5.15258881e-03 6.41162065e+01] [-5.85073492e-02 9.98286952e-01 -2.29163000e-04 -1.24817756e+00] [-5.15716999e-03 -7.26969271e-05 9.99986699e-01 -3.70484397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06576923099999 meters 0.017664893276319666 Centerline is valid? [True, True] Translation: X:64.18, Y:-1.25, Z:-0.37 [[ 9.98445290e-01 5.55540656e-02 4.55509954e-03 6.41772323e+01] [-5.55537164e-02 9.98455679e-01 -2.03244228e-04 -1.24619968e+00] [-4.55935604e-03 -5.01244663e-05 9.99989605e-01 -3.72400578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12576923099999 meters 0.014089538146428774 Centerline is valid? [True, True] Translation: X:64.24, Y:-1.25, Z:-0.37 [[ 9.98660277e-01 5.15010625e-02 5.02913703e-03 6.42391709e+01] [-5.15005811e-02 9.98672939e-01 -2.25257633e-04 -1.25236149e+00] [-5.03406406e-03 -3.40476295e-05 9.99987328e-01 -3.72169661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.185769231 meters 0.012465431829457582 Centerline is valid? [True, True] Translation: X:64.30, Y:-1.27, Z:-0.38 [[ 9.99112927e-01 4.20282039e-02 2.64368855e-03 6.43008641e+01] [-4.20280380e-02 9.99116425e-01 -1.18278099e-04 -1.27146119e+00] [-2.64632367e-03 7.06413473e-06 9.99996498e-01 -3.76621907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.245769231 meters 0.018063350192259155 Centerline is valid? [True, True] Translation: X:64.36, Y:-1.29, Z:-0.38 [[ 9.99448746e-01 3.30665905e-02 2.96716187e-03 6.43623069e+01] [-3.30663388e-02 9.99453150e-01 -1.33862993e-04 -1.28977454e+00] [-2.96996567e-03 3.56760213e-05 9.99995589e-01 -3.76761628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.305769231 meters 0.019176685184136396 Centerline is valid? [True, True] Translation: X:64.42, Y:-1.30, Z:-0.37 [[ 9.99473792e-01 3.21551392e-02 4.26457981e-03 6.44227766e+01] [-3.21546107e-02 9.99482888e-01 -1.92457042e-04 -1.29701150e+00] [-4.26856303e-03 5.52298662e-05 9.99990888e-01 -3.74010909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.365769231 meters 0.019298885645185265 Centerline is valid? [True, True] Translation: X:64.49, Y:-1.30, Z:-0.38 [[ 9.99468677e-01 3.24327273e-02 3.23761096e-03 6.44860708e+01] [-3.24324238e-02 9.99473920e-01 -1.46220028e-04 -1.30001764e+00] [-3.24065003e-03 4.11387674e-05 9.99994748e-01 -3.76967135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42576923099999 meters 0.021275892245284107 Centerline is valid? [True, True] Translation: X:64.55, Y:-1.31, Z:-0.38 [[ 9.99521849e-01 3.06783023e-02 3.86206433e-03 6.45475320e+01] [-3.06778533e-02 9.99529308e-01 -1.75477061e-04 -1.30812020e+00] [-3.86562983e-03 5.69133138e-05 9.99992527e-01 -3.76460082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48576923099999 meters 0.024927953819348907 Centerline is valid? [True, True] Translation: X:64.61, Y:-1.31, Z:-0.38 [[ 9.99616303e-01 2.74955452e-02 3.35281139e-03 6.46091963e+01] [-2.74951861e-02 9.99621924e-01 -1.53157272e-04 -1.31364811e+00] [-3.35575492e-03 6.09123329e-05 9.99994368e-01 -3.77410211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.545769231 meters 0.024772001055436685 Centerline is valid? [True, True] Translation: X:64.67, Y:-1.32, Z:-0.38 [[ 9.99639405e-01 2.64896490e-02 4.39990762e-03 6.46710742e+01] [-2.64890209e-02 9.99649084e-01 -2.00977186e-04 -1.31550762e+00] [-4.40368744e-03 8.43554700e-05 9.99990300e-01 -3.75669237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.605769231 meters 0.02878204924004167 Centerline is valid? [True, True] Translation: X:64.73, Y:-1.33, Z:-0.37 [[ 9.99722688e-01 2.28399465e-02 5.73440898e-03 6.47322880e+01] [-2.28388120e-02 9.99739126e-01 -2.63255951e-04 -1.32722148e+00] [-5.73892577e-03 1.32215858e-04 9.99983523e-01 -3.73519450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.665769231 meters 0.03672306189262383 Centerline is valid? [True, True] Translation: X:64.79, Y:-1.35, Z:-0.38 [[ 9.99818321e-01 1.86505719e-02 3.93454000e-03 6.47915972e+01] [-1.86500027e-02 9.99826057e-01 -1.81327164e-04 -1.34920266e+00] [-3.93723747e-03 1.07915039e-04 9.99992243e-01 -3.78189517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.725769231 meters 0.03837521689563369 Centerline is valid? [True, True] Translation: X:64.85, Y:-1.36, Z:-0.38 [[ 9.99828075e-01 1.77645080e-02 5.31432569e-03 6.48536227e+01] [-1.77634577e-02 9.99842187e-01 -2.44765308e-04 -1.36228471e+00] [-5.31783516e-03 1.50322427e-04 9.99985849e-01 -3.75751751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78576923099999 meters 0.03172790865403254 Centerline is valid? [True, True] Translation: X:64.92, Y:-1.37, Z:-0.38 [[ 9.99794715e-01 1.99271963e-02 3.66522685e-03 6.49162764e+01] [-1.99267097e-02 9.99801429e-01 -1.69246525e-04 -1.36545865e+00] [-3.66787165e-03 9.61758703e-05 9.99993269e-01 -3.79488650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84576923099999 meters 0.029039546961892065 Centerline is valid? [True, True] Translation: X:64.98, Y:-1.37, Z:-0.39 [[ 9.99731095e-01 2.31555922e-02 1.24786918e-03 6.49770799e+01] [-2.31555383e-02 9.99731873e-01 -5.77035901e-05 -1.37025174e+00] [-1.24887075e-03 2.87929908e-05 9.99999220e-01 -3.85699692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.905769231 meters 0.02500856791871765 Centerline is valid? [True, True] Translation: X:65.04, Y:-1.37, Z:-0.39 [[ 9.99591374e-01 2.85712367e-02 8.77682316e-04 6.50370404e+01] [-2.85712120e-02 9.99591759e-01 -4.07021268e-05 -1.37459430e+00] [-8.78486920e-04 1.56090474e-05 9.99999614e-01 -3.86215175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.965769231 meters 0.020093602225353745 Centerline is valid? [True, True] Translation: X:65.10, Y:-1.38, Z:-0.38 [[ 9.99434266e-01 3.34791662e-02 3.20831977e-03 6.50979179e+01] [-3.34788613e-02 9.99439415e-01 -1.48697740e-04 -1.37791709e+00] [-3.21149951e-03 4.12027242e-05 9.99994842e-01 -3.83685275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.025769231 meters 0.014869076189813847 Centerline is valid? [True, True] Translation: X:65.16, Y:-1.38, Z:-0.38 [[ 9.99224760e-01 3.90274542e-02 5.17072137e-03 6.51588987e+01] [-3.90267354e-02 9.99238138e-01 -2.39865885e-04 -1.37619490e+00] [-5.17614335e-03 3.78835566e-05 9.99986603e-01 -3.79315310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.085769231 meters 0.011840294419103765 Centerline is valid? [True, True] Translation: X:65.22, Y:-1.37, Z:-0.38 [[ 9.98854025e-01 4.76559908e-02 4.42080163e-03 6.52211087e+01] [-4.76555511e-02 9.98863808e-01 -2.04809505e-04 -1.36521662e+00] [-4.42553915e-03 -6.10093917e-06 9.99990207e-01 -3.81567291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.145769231 meters 0.014755594021543868 Centerline is valid? [True, True] Translation: X:65.28, Y:-1.36, Z:-0.38 [[ 9.98548203e-01 5.37302368e-02 3.81418205e-03 6.52841898e+01] [-5.37299521e-02 9.98555487e-01 -1.77141651e-04 -1.35613414e+00] [-3.81819028e-03 -2.80513415e-05 9.99992710e-01 -3.82841458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20576923099999 meters 0.016109560810628018 Centerline is valid? [True, True] Translation: X:65.35, Y:-1.35, Z:-0.38 [[ 9.98396891e-01 5.63941490e-02 4.83195791e-03 6.53462553e+01] [-5.63937183e-02 9.98408583e-01 -2.25451699e-04 -1.35271641e+00] [-4.83698241e-03 -4.74017976e-05 9.99988301e-01 -3.80673500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.265769231 meters 0.01906814096258484 Centerline is valid? [True, True] Translation: X:65.41, Y:-1.34, Z:-0.38 [[ 9.98187419e-01 5.99533325e-02 5.24161967e-03 6.54092842e+01] [-5.99528697e-02 9.98201179e-01 -2.45526465e-04 -1.34289141e+00] [-5.24691107e-03 -6.91687125e-05 9.99986232e-01 -3.80724832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.325769231 meters 0.022018754422423712 Centerline is valid? [True, True] Translation: X:65.47, Y:-1.33, Z:-0.38 [[ 9.97999026e-01 6.30122600e-02 5.23448834e-03 6.54716672e+01] [-6.30118359e-02 9.98012749e-01 -2.46071247e-04 -1.32957800e+00] [-5.23959161e-03 -8.42558560e-05 9.99986270e-01 -3.81284747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.385769231 meters 0.02243686653007963 Centerline is valid? [True, True] Translation: X:65.53, Y:-1.32, Z:-0.38 [[ 9.97894948e-01 6.47043522e-02 4.36119558e-03 6.55338968e+01] [-6.47040704e-02 9.97904475e-01 -2.05836891e-04 -1.31883890e+00] [-4.36537512e-03 -7.67835123e-05 9.99990469e-01 -3.81839288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.445769231 meters 0.024522652997050746 Centerline is valid? [True, True] Translation: X:65.59, Y:-1.31, Z:-0.38 [[ 9.97916861e-01 6.43323398e-02 4.82579044e-03 6.55943903e+01] [-6.43319896e-02 9.97928526e-01 -2.27925307e-04 -1.31421494e+00] [-4.83045691e-03 -8.30021932e-05 9.99988330e-01 -3.82338508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.505769231 meters 0.01914634384376448 Centerline is valid? [True, True] Translation: X:65.66, Y:-1.31, Z:-0.38 [[ 9.98157930e-01 6.03295182e-02 6.41061393e-03 6.56559899e+01] [-6.03288170e-02 9.98178512e-01 -3.02874291e-04 -1.31390861e+00] [-6.41720933e-03 -8.44283792e-05 9.99979406e-01 -3.80438148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56576923099999 meters 0.012158579352542227 Centerline is valid? [True, True] Translation: X:65.72, Y:-1.33, Z:-0.38 [[ 9.98792317e-01 4.88300492e-02 5.43440955e-03 6.57161497e+01] [-4.88293744e-02 9.98807102e-01 -2.56856862e-04 -1.32748980e+00] [-5.44046919e-03 -8.81215854e-06 9.99985200e-01 -3.83408991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62576923099999 meters 0.01870460620835644 Centerline is valid? [True, True] Translation: X:65.78, Y:-1.35, Z:-0.39 [[ 9.99375982e-01 3.50234504e-02 4.58296953e-03 6.57770422e+01] [-3.50228255e-02 9.99386489e-01 -2.16555355e-04 -1.34819369e+00] [-4.58774234e-03 5.59116784e-05 9.99989475e-01 -3.85353693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.685769231 meters 0.027235591756250524 Centerline is valid? [True, True] Translation: X:65.84, Y:-1.37, Z:-0.38 [[ 9.99679580e-01 2.44426192e-02 6.57989106e-03 6.58365250e+01] [-2.44410966e-02 9.99701223e-01 -3.11734342e-04 -1.36522777e+00] [-6.58554475e-03 1.50814703e-04 9.99978304e-01 -3.81969380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.745769231 meters 0.03288577217432024 Centerline is valid? [True, True] Translation: X:65.90, Y:-1.38, Z:-0.38 [[ 9.99789438e-01 1.94094214e-02 6.65993906e-03 6.58957047e+01] [-1.94077498e-02 9.99811602e-01 -3.15525811e-04 -1.38007518e+00] [-6.66480851e-03 1.86204942e-04 9.99977773e-01 -3.82311838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.805769231 meters 0.03766266791724555 Centerline is valid? [True, True] Translation: X:65.96, Y:-1.40, Z:-0.38 [[ 9.99860973e-01 1.55337004e-02 6.06119019e-03 6.59564638e+01] [-1.55322430e-02 9.99879326e-01 -2.87440602e-04 -1.39714179e+00] [-6.06492378e-03 1.93256761e-04 9.99981590e-01 -3.83582602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.865769231 meters 0.03106066819070373 Centerline is valid? [True, True] Translation: X:66.02, Y:-1.40, Z:-0.39 [[ 9.99742791e-01 2.24661937e-02 3.10193927e-03 6.60173538e+01] [-2.24658451e-02 9.99747600e-01 -1.47184624e-04 -1.39752469e+00] [-3.10446302e-03 7.74590796e-05 9.99995178e-01 -3.88698093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92576923099999 meters 0.01819040196912664 Centerline is valid? [True, True] Translation: X:66.08, Y:-1.38, Z:-0.39 [[ 9.99338400e-01 3.62531638e-02 2.91035842e-03 6.60779496e+01] [-3.62529153e-02 9.99342637e-01 -1.38102306e-04 -1.38176227e+00] [-2.91345190e-03 3.25019606e-05 9.99995755e-01 -3.87670437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98576923099999 meters 0.012405439779590948 Centerline is valid? [True, True] Translation: X:66.14, Y:-1.36, Z:-0.39 [[ 9.98735193e-01 5.00043884e-02 5.25122714e-03 6.61400027e+01] [-5.00037696e-02 9.98748998e-01 -2.49151507e-04 -1.36164957e+00] [-5.25711651e-03 -1.37447739e-05 9.99986181e-01 -3.85142208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.045769231 meters 0.01620661354467975 Centerline is valid? [True, True] Translation: X:66.20, Y:-1.35, Z:-0.39 [[ 9.98409108e-01 5.62532584e-02 3.85027977e-03 6.62025751e+01] [-5.62529740e-02 9.98416531e-01 -1.82231051e-04 -1.35145839e+00] [-3.85443407e-03 -3.46485467e-05 9.99992571e-01 -3.88390499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.105769231 meters 0.019829480508521787 Centerline is valid? [True, True] Translation: X:66.26, Y:-1.34, Z:-0.38 [[ 9.98166389e-01 6.01874313e-02 6.42909395e-03 6.62629812e+01] [-6.01867075e-02 9.98187090e-01 -3.06170446e-04 -1.34170760e+00] [-6.43586620e-03 -8.13369489e-05 9.99979286e-01 -3.83950404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.165769231 meters 0.01745613356567201 Centerline is valid? [True, True] Translation: X:66.33, Y:-1.35, Z:-0.39 [[ 9.98322433e-01 5.76420084e-02 5.45144435e-03 6.63252342e+01] [-5.76414514e-02 9.98337316e-01 -2.59366976e-04 -1.34800999e+00] [-5.45733075e-03 -5.52972938e-05 9.99985107e-01 -3.87607418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.225769231 meters 0.012411024339783167 Centerline is valid? [True, True] Translation: X:66.39, Y:-1.37, Z:-0.39 [[ 9.98727925e-01 5.01725895e-02 5.02429120e-03 6.63865329e+01] [-5.01720184e-02 9.98740562e-01 -2.39727899e-04 -1.36973317e+00] [-5.02999119e-03 -1.26558838e-05 9.99987349e-01 -3.89926715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28576923099999 meters 0.012322176432637633 Centerline is valid? [True, True] Translation: X:66.45, Y:-1.39, Z:-0.39 [[ 9.98920032e-01 4.61788612e-02 5.12666972e-03 6.64479819e+01] [-4.61782096e-02 9.98933187e-01 -2.45462598e-04 -1.38703417e+00] [-5.13253571e-03 8.45707750e-06 9.99986828e-01 -3.87793640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34576923099999 meters 0.012067923988313712 Centerline is valid? [True, True] Translation: X:66.51, Y:-1.39, Z:-0.39 [[ 9.98764760e-01 4.93659737e-02 5.65288758e-03 6.65100676e+01] [-4.93652261e-02 9.98780757e-01 -2.71787152e-04 -1.39215224e+00] [-5.65941237e-03 -7.60464385e-06 9.99983985e-01 -3.87378372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.405769231 meters 0.01827786366460231 Centerline is valid? [True, True] Translation: X:66.57, Y:-1.38, Z:-0.39 [[ 9.98272155e-01 5.84957552e-02 5.56330587e-03 6.65719628e+01] [-5.84951676e-02 9.98287656e-01 -2.68418472e-04 -1.38360238e+00] [-5.56948091e-03 -5.74718225e-05 9.99984489e-01 -3.88165596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.465769231 meters 0.021831970779889447 Centerline is valid? [True, True] Translation: X:66.63, Y:-1.38, Z:-0.39 [[ 9.97934440e-01 6.41486015e-02 3.43650796e-03 6.66334916e+01] [-6.41484088e-02 9.97940356e-01 -1.66395188e-04 -1.38039478e+00] [-3.44010399e-03 -5.43950281e-05 9.99994081e-01 -3.91578653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.525769231 meters 0.03089366943722246 Centerline is valid? [True, True] Translation: X:66.69, Y:-1.37, Z:-0.39 [[ 9.97645772e-01 6.83970586e-02 4.97553767e-03 6.66939962e+01] [-6.83967060e-02 9.97658174e-01 -2.41177785e-04 -1.36739051e+00] [-4.98038168e-03 -9.97003902e-05 9.99987593e-01 -3.89881060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.585769231 meters 0.024574477291024882 Centerline is valid? [True, True] Translation: X:66.75, Y:-1.38, Z:-0.39 [[ 9.97640110e-01 6.83072100e-02 6.95237793e-03 6.67547231e+01] [-6.83065203e-02 9.97664325e-01 -3.36884787e-04 -1.37636463e+00] [-6.95915110e-03 -1.38802969e-04 9.99975775e-01 -3.86817812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64576923099999 meters 0.023752129470693984 Centerline is valid? [True, True] Translation: X:66.82, Y:-1.38, Z:-0.39 [[ 9.97697158e-01 6.75609215e-02 5.99191800e-03 6.68167031e+01] [-6.75603959e-02 9.97715144e-01 -2.90316338e-04 -1.37930968e+00] [-5.99784137e-03 -1.15168567e-04 9.99982006e-01 -3.88639179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70576923099999 meters 0.02640062318039255 Centerline is valid? [True, True] Translation: X:66.88, Y:-1.38, Z:-0.39 [[ 9.97687705e-01 6.76933533e-02 6.07072908e-03 6.68776305e+01] [-6.76928092e-02 9.97706167e-01 -2.95289997e-04 -1.37599214e+00] [-6.07679302e-03 -1.16337507e-04 9.99981529e-01 -3.89563032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.765769231 meters 0.025215603638285764 Centerline is valid? [True, True] Translation: X:66.94, Y:-1.38, Z:-0.39 [[ 9.97638512e-01 6.82604368e-02 7.61006409e-03 6.69391011e+01] [-6.82595944e-02 9.97667525e-01 -3.70669898e-04 -1.37761253e+00] [-7.61761590e-03 -1.49665323e-04 9.99970974e-01 -3.87017725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.825769231 meters 0.02368874124892871 Centerline is valid? [True, True] Translation: X:67.00, Y:-1.38, Z:-0.39 [[ 9.97792804e-01 6.62235408e-02 4.89522877e-03 6.70002030e+01] [-6.62231682e-02 9.97804808e-01 -2.38343648e-04 -1.38134202e+00] [-4.90026676e-03 -8.63599810e-05 9.99987990e-01 -3.92732415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.885769231 meters 0.019720049847390144 Centerline is valid? [True, True] Translation: X:67.06, Y:-1.39, Z:-0.39 [[ 9.98038732e-01 6.24024258e-02 4.96245885e-03 6.70608227e+01] [-6.24019926e-02 9.98051067e-01 -2.42236518e-04 -1.39064323e+00] [-4.96790350e-03 -6.79058934e-05 9.99987658e-01 -3.93081770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.945769231 meters 0.015051505978187751 Centerline is valid? [True, True] Translation: X:67.12, Y:-1.40, Z:-0.39 [[ 9.98383616e-01 5.65127582e-02 6.03849258e-03 6.71207299e+01] [-5.65120082e-02 9.98401876e-01 -2.94896841e-04 -1.40279799e+00] [-6.04550775e-03 -4.68271678e-05 9.99981725e-01 -3.90764820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.005769231 meters 0.012914361837193503 Centerline is valid? [True, True] Translation: X:67.18, Y:-1.41, Z:-0.39 [[ 9.98591720e-01 5.28229237e-02 4.93103059e-03 6.71823158e+01] [-5.28223783e-02 9.98603895e-01 -2.40870331e-04 -1.41311110e+00] [-4.93686983e-03 -1.99376451e-05 9.99987813e-01 -3.93610571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06576923099999 meters 0.012107898847210556 Centerline is valid? [True, True] Translation: X:67.24, Y:-1.43, Z:-0.39 [[ 9.98826751e-01 4.80957908e-02 5.64947539e-03 6.72443764e+01] [-4.80949922e-02 9.98842728e-01 -2.77212923e-04 -1.42696987e+00] [-5.65627019e-03 5.17620784e-06 9.99984003e-01 -3.93140018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12576923099999 meters 0.013593025595346739 Centerline is valid? [True, True] Translation: X:67.31, Y:-1.44, Z:-0.39 [[ 9.99034178e-01 4.36443340e-02 5.08749873e-03 6.73059627e+01] [-4.36436284e-02 9.99047132e-01 -2.49692328e-04 -1.44153958e+00] [-5.09354867e-03 2.74142663e-05 9.99987027e-01 -3.92699457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.185769231 meters 0.013272006792688262 Centerline is valid? [True, True] Translation: X:67.37, Y:-1.44, Z:-0.39 [[ 9.98994092e-01 4.45598538e-02 5.02234280e-03 6.73686831e+01] [-4.45591738e-02 9.99006716e-01 -2.47273461e-04 -1.44430503e+00] [-5.02837266e-03 2.32332814e-05 9.99987357e-01 -3.93220087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.245769231 meters 0.012135155808733809 Centerline is valid? [True, True] Translation: X:67.43, Y:-1.44, Z:-0.39 [[ 9.98847839e-01 4.73468621e-02 7.82746106e-03 6.74307975e+01] [-4.73452786e-02 9.98878508e-01 -3.87583479e-04 -1.44208843e+00] [-7.83703349e-03 1.65435953e-05 9.99969290e-01 -3.89453088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.305769231 meters 0.012055568609717363 Centerline is valid? [True, True] Translation: X:67.49, Y:-1.44, Z:-0.39 [[ 9.98807719e-01 4.81328803e-02 8.14649712e-03 6.74923959e+01] [-4.81311798e-02 9.98840941e-01 -4.04783452e-04 -1.44285281e+00] [-8.15653824e-03 1.22003194e-05 9.99966735e-01 -3.88795522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.365769231 meters 0.011982190749970312 Centerline is valid? [True, True] Translation: X:67.56, Y:-1.44, Z:-0.39 [[ 9.98776577e-01 4.88714587e-02 7.54512962e-03 6.75557710e+01] [-4.88700117e-02 9.98805076e-01 -3.76140982e-04 -1.44464138e+00] [-7.55449633e-03 6.95022913e-06 9.99971464e-01 -3.90187032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42576923099999 meters 0.012162682036789928 Centerline is valid? [True, True] Translation: X:67.62, Y:-1.45, Z:-0.40 [[ 9.98790375e-01 4.88892254e-02 5.25641990e-03 6.76182646e+01] [-4.88885202e-02 9.98804207e-01 -2.62636366e-04 -1.44784162e+00] [-5.26297440e-03 5.34008419e-06 9.99986150e-01 -3.95566761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48576923099999 meters 0.012225820650660763 Centerline is valid? [True, True] Translation: X:67.68, Y:-1.45, Z:-0.39 [[ 9.98792722e-01 4.87634238e-02 5.93524190e-03 6.76804604e+01] [-4.87625148e-02 9.98810357e-01 -2.97858498e-04 -1.45128342e+00] [-5.94270567e-03 8.08157936e-06 9.99982342e-01 -3.94679334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.545769231 meters 0.01191284262039062 Centerline is valid? [True, True] Translation: X:67.74, Y:-1.45, Z:-0.39 [[ 9.98702311e-01 5.05217679e-02 6.42216294e-03 6.77427903e+01] [-5.05207326e-02 9.98722960e-01 -3.23428017e-04 -1.45223805e+00] [-6.43030174e-03 -1.44406859e-06 9.99979325e-01 -3.94175172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.605769231 meters 0.0132775633690687 Centerline is valid? [True, True] Translation: X:67.81, Y:-1.45, Z:-0.40 [[ 9.98499870e-01 5.46030018e-02 4.06471983e-03 6.78053528e+01] [-5.46026199e-02 9.98508143e-01 -2.04950229e-04 -1.44548817e+00] [-4.06984674e-03 -1.73015749e-05 9.99991718e-01 -3.99217522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.665769231 meters 0.013557385877103707 Centerline is valid? [True, True] Translation: X:67.87, Y:-1.44, Z:-0.39 [[ 9.98427377e-01 5.55447253e-02 7.58657242e-03 6.78665144e+01] [-5.55434062e-02 9.98456199e-01 -3.84613708e-04 -1.44276221e+00] [-7.59622353e-03 -3.73752184e-05 9.99971148e-01 -3.92581300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.725769231 meters 0.012605349605058633 Centerline is valid? [True, True] Translation: X:67.93, Y:-1.45, Z:-0.40 [[ 9.98545480e-01 5.35179840e-02 6.53827176e-03 6.79285550e+01] [-5.35169604e-02 9.98566886e-01 -3.31530408e-04 -1.44608761e+00] [-6.54664451e-03 -1.88602401e-05 9.99978570e-01 -3.95934192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78576923099999 meters 0.012154476445208163 Centerline is valid? [True, True] Translation: X:67.99, Y:-1.45, Z:-0.40 [[ 9.98671672e-01 5.12115616e-02 5.68046375e-03 6.79908442e+01] [-5.12107476e-02 9.98687827e-01 -2.88751882e-04 -1.45182547e+00] [-5.68779744e-03 -2.53247082e-06 9.99983824e-01 -3.97727237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84576923099999 meters 0.012762225655639226 Centerline is valid? [True, True] Translation: X:68.05, Y:-1.46, Z:-0.40 [[ 9.98809208e-01 4.84683631e-02 5.56628991e-03 6.80536025e+01] [-4.84675335e-02 9.98824718e-01 -2.83914161e-04 -1.45746977e+00] [-5.57350881e-03 1.37917362e-05 9.99984468e-01 -3.98207446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.905769231 meters 0.013189215482519221 Centerline is valid? [True, True] Translation: X:68.12, Y:-1.46, Z:-0.40 [[ 9.98841646e-01 4.77382207e-02 6.03556300e-03 6.81155885e+01] [-4.77372248e-02 9.98859881e-01 -3.09031671e-04 -1.46092503e+00] [-6.04343436e-03 2.05526750e-05 9.99981738e-01 -3.98754585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.965769231 meters 0.01499262642748986 Centerline is valid? [True, True] Translation: X:68.18, Y:-1.47, Z:-0.40 [[ 9.98955469e-01 4.51311477e-02 7.15200614e-03 6.81775717e+01] [-4.51296727e-02 9.98981070e-01 -3.67571888e-04 -1.46921649e+00] [-7.16130768e-03 4.44202518e-05 9.99974357e-01 -3.96975342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.025769231 meters 0.017701456392886113 Centerline is valid? [True, True] Translation: X:68.24, Y:-1.48, Z:-0.40 [[ 9.99142431e-01 4.09300127e-02 6.25588884e-03 6.82393417e+01] [-4.09287968e-02 9.99162014e-01 -3.22320812e-04 -1.48214373e+00] [-6.26383908e-03 6.59983968e-05 9.99980380e-01 -3.99015265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.085769231 meters 0.019806667099060173 Centerline is valid? [True, True] Translation: X:68.30, Y:-1.49, Z:-0.41 [[ 9.99151670e-01 4.10431718e-02 3.37613317e-03 6.83013030e+01] [-4.10428184e-02 9.99157373e-01 -1.73935099e-04 -1.49111438e+00] [-3.38042720e-03 3.52215239e-05 9.99994286e-01 -4.05651877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14576923099999 meters 0.013808163938766577 Centerline is valid? [True, True] Translation: X:68.36, Y:-1.48, Z:-0.40 [[ 9.98854044e-01 4.76913004e-02 4.01719915e-03 6.83632099e+01] [-4.76908483e-02 9.98862122e-01 -2.08326540e-04 -1.48352481e+00] [-4.02256343e-03 1.65041722e-05 9.99991909e-01 -4.03663473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20576923099999 meters 0.013118677525720317 Centerline is valid? [True, True] Translation: X:68.42, Y:-1.47, Z:-0.40 [[ 9.98460093e-01 5.53449643e-02 3.79188171e-03 6.84249951e+01] [-5.53446163e-02 9.98467293e-01 -1.96707937e-04 -1.47455191e+00] [-3.79695666e-03 -1.34552134e-05 9.99992791e-01 -4.04546037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.265769231 meters 0.014261852898942544 Centerline is valid? [True, True] Translation: X:68.49, Y:-1.48, Z:-0.41 [[ 9.98346066e-01 5.73871008e-02 3.44295757e-03 6.84859755e+01] [-5.73868274e-02 9.98352002e-01 -1.78229370e-04 -1.47672011e+00] [-3.44751165e-03 -1.96458218e-05 9.99994057e-01 -4.06362293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.325769231 meters 0.019886443196568623 Centerline is valid? [True, True] Translation: X:68.55, Y:-1.47, Z:-0.41 [[ 9.97920696e-01 6.44173335e-02 2.16617945e-03 6.85469179e+01] [-6.44172404e-02 9.97923046e-01 -1.12780730e-04 -1.46892821e+00] [-2.16894543e-03 -2.69930777e-05 9.99997647e-01 -4.08152347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.385769231 meters 0.02697178743923023 Centerline is valid? [True, True] Translation: X:68.61, Y:-1.46, Z:-0.41 [[ 9.97466046e-01 7.11008039e-02 2.48240237e-03 6.86078946e+01] [-7.11007022e-02 9.97469134e-01 -1.29295958e-04 -1.45771873e+00] [-2.48531279e-03 -4.75322235e-05 9.99996910e-01 -4.08577626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.445769231 meters 0.03566106331809107 Centerline is valid? [True, True] Translation: X:68.67, Y:-1.44, Z:-0.41 [[ 9.96866516e-01 7.89535596e-02 4.84616367e-03 6.86693784e+01] [-7.89532655e-02 9.96878287e-01 -2.52261540e-04 -1.44022452e+00] [-4.85095229e-03 -1.31149365e-04 9.99988225e-01 -4.05260272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.505769231 meters 0.03383860424673334 Centerline is valid? [True, True] Translation: X:68.73, Y:-1.44, Z:-0.41 [[ 9.96865004e-01 7.89659787e-02 4.95353168e-03 6.87292146e+01] [-7.89656715e-02 9.96877302e-01 -2.57885180e-04 -1.43938599e+00] [-4.95842745e-03 -1.34082244e-04 9.99987698e-01 -4.06062964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56576923099999 meters 0.030050639910791783 Centerline is valid? [True, True] Translation: X:68.79, Y:-1.44, Z:-0.41 [[ 9.97139420e-01 7.54622754e-02 4.29208408e-03 6.87886298e+01] [-7.54620126e-02 9.97148652e-01 -2.23371852e-04 -1.44371981e+00] [-4.29670200e-03 -1.01156424e-04 9.99990764e-01 -4.08196614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62576923099999 meters 0.023632587542729164 Centerline is valid? [True, True] Translation: X:68.85, Y:-1.45, Z:-0.41 [[ 9.97663726e-01 6.82089356e-02 3.82507706e-03 6.88475933e+01] [-6.82086740e-02 9.97671057e-01 -1.98958480e-04 -1.45333045e+00] [-3.82973942e-03 -6.24097764e-05 9.99992665e-01 -4.08760226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.685769231 meters 0.02239766851775821 Centerline is valid? [True, True] Translation: X:68.91, Y:-1.46, Z:-0.41 [[ 9.97758729e-01 6.67980323e-02 3.94229133e-03 6.89084810e+01] [-6.67977437e-02 9.97766515e-01 -2.04972119e-04 -1.45541033e+00] [-3.94717802e-03 -5.88234444e-05 9.99992208e-01 -4.08342090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.745769231 meters 0.02556124254794092 Centerline is valid? [True, True] Translation: X:68.97, Y:-1.45, Z:-0.41 [[ 9.97585621e-01 6.93597453e-02 3.48629065e-03 6.89684142e+01] [-6.93595350e-02 9.97591711e-01 -1.81342273e-04 -1.44858034e+00] [-3.49047251e-03 -6.09030546e-05 9.99993906e-01 -4.08607508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.805769231 meters 0.028160625537158868 Centerline is valid? [True, True] Translation: X:69.03, Y:-1.44, Z:-0.41 [[ 9.97294465e-01 7.34610613e-02 2.68759319e-03 6.90283906e+01] [-7.34609511e-02 9.97298084e-01 -1.39829225e-04 -1.43885915e+00] [-2.69060355e-03 -5.79822397e-05 9.99996379e-01 -4.10571704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.865769231 meters 0.030136219757841143 Centerline is valid? [True, True] Translation: X:69.09, Y:-1.43, Z:-0.42 [[ 9.97341669e-01 7.28650990e-02 5.22803413e-04 6.90862456e+01] [-7.28650946e-02 9.97341806e-01 -2.75586151e-05 -1.43314490e+00] [-5.23421762e-04 -1.06087650e-05 9.99999863e-01 -4.16390951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92576923099999 meters 0.023725693653405558 Centerline is valid? [True, True] Translation: X:69.15, Y:-1.43, Z:-0.41 [[ 9.97617745e-01 6.88827020e-02 3.74278629e-03 6.91464564e+01] [-6.88824578e-02 9.97624764e-01 -1.94240660e-04 -1.43445990e+00] [-3.74727611e-03 -6.40343896e-05 9.99992977e-01 -4.10673603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98576923099999 meters 0.0161282564675579 Centerline is valid? [True, True] Translation: X:69.21, Y:-1.44, Z:-0.41 [[ 9.98148978e-01 6.06059541e-02 5.05340041e-03 6.92059245e+01] [-6.06054041e-02 9.98161769e-01 -2.62038332e-04 -1.43999215e+00] [-5.05999218e-03 -4.47100806e-05 9.99987197e-01 -4.08796537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.045769231 meters 0.012642440488072228 Centerline is valid? [True, True] Translation: X:69.27, Y:-1.45, Z:-0.41 [[ 9.98736648e-01 5.00672115e-02 4.28746736e-03 6.92662024e+01] [-5.00667190e-02 9.98745851e-01 -2.22180574e-04 -1.45230350e+00] [-4.29321419e-03 7.24045885e-06 9.99990784e-01 -4.11039160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.105769231 meters 0.017294272716656074 Centerline is valid? [True, True] Translation: X:69.33, Y:-1.47, Z:-0.41 [[ 9.99144916e-01 4.11625597e-02 3.88328658e-03 6.93263577e+01] [-4.11620886e-02 9.99152462e-01 -2.01198684e-04 -1.46785355e+00] [-3.88827720e-03 4.11824563e-05 9.99992440e-01 -4.12246447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.165769231 meters 0.022671183675768498 Centerline is valid? [True, True] Translation: X:69.39, Y:-1.49, Z:-0.41 [[ 9.99381507e-01 3.49919283e-02 3.48841715e-03 6.93863530e+01] [-3.49915107e-02 9.99387593e-01 -1.80696327e-04 -1.48526381e+00] [-3.49260373e-03 5.85195814e-05 9.99993899e-01 -4.11190964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.225769231 meters 0.02453580478588953 Centerline is valid? [True, True] Translation: X:69.45, Y:-1.49, Z:-0.41 [[ 9.99432345e-01 3.34907790e-02 3.65453055e-03 6.94461418e+01] [-3.34903099e-02 9.99439024e-01 -1.89507250e-04 -1.49331632e+00] [-3.65882720e-03 6.70083142e-05 9.99993304e-01 -4.11817805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28576923099999 meters 0.02321504665703018 Centerline is valid? [True, True] Translation: X:69.51, Y:-1.50, Z:-0.41 [[ 9.99468529e-01 3.24654462e-02 2.94183123e-03 6.95068493e+01] [-3.24651378e-02 9.99472857e-01 -1.52514654e-04 -1.50183979e+00] [-2.94523192e-03 5.69266402e-05 9.99995661e-01 -4.13359530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34576923099999 meters 0.023551651107759728 Centerline is valid? [True, True] Translation: X:69.57, Y:-1.51, Z:-0.41 [[ 9.99365679e-01 3.54964335e-02 2.87112355e-03 6.95667245e+01] [-3.54961520e-02 9.99369802e-01 -1.48967516e-04 -1.50887785e+00] [-2.87460199e-03 4.69591844e-05 9.99995867e-01 -4.13701312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.405769231 meters 0.013705280865808482 Centerline is valid? [True, True] Translation: X:69.63, Y:-1.49, Z:-0.41 [[ 9.98886515e-01 4.70718795e-02 3.15740770e-03 6.96279377e+01] [-4.70715964e-02 9.98891505e-01 -1.63961103e-04 -1.49279117e+00] [-3.16162569e-03 1.51543136e-05 9.99995002e-01 -4.13429539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.465769231 meters 0.012779904660881547 Centerline is valid? [True, True] Translation: X:69.69, Y:-1.48, Z:-0.41 [[ 9.98649613e-01 5.18448775e-02 3.32551165e-03 6.96884939e+01] [-5.18445899e-02 9.98655150e-01 -1.72690512e-04 -1.48472358e+00] [-3.32999246e-03 4.75249837e-08 9.99994456e-01 -4.13521507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.525769231 meters 0.012627973418374166 Centerline is valid? [True, True] Translation: X:69.75, Y:-1.48, Z:-0.41 [[ 9.98614481e-01 5.24232730e-02 4.57365301e-03 6.97479629e+01] [-5.24227360e-02 9.98624955e-01 -2.37306860e-04 -1.47935846e+00] [-4.57980443e-03 -2.78533666e-06 9.99989513e-01 -4.12488161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.585769231 meters 0.014136436867385254 Centerline is valid? [True, True] Translation: X:69.81, Y:-1.49, Z:-0.41 [[ 9.98907487e-01 4.62458059e-02 6.71992484e-03 6.98077146e+01] [-4.62445075e-02 9.98930090e-01 -3.48550734e-04 -1.48652684e+00] [-6.72885413e-03 3.74103235e-05 9.99977360e-01 -4.10256271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64576923099999 meters 0.015121058770068441 Centerline is valid? [True, True] Translation: X:69.87, Y:-1.49, Z:-0.41 [[ 9.99007938e-01 4.41609535e-02 5.74018763e-03 6.98690782e+01] [-4.41599723e-02 9.99024428e-01 -2.97635637e-04 -1.48563309e+00] [-5.74773154e-03 4.38538371e-05 9.99983481e-01 -4.10921817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70576923099999 meters 0.014876723205961244 Centerline is valid? [True, True] Translation: X:69.93, Y:-1.48, Z:-0.41 [[ 9.98995832e-01 4.45023059e-02 5.18381345e-03 6.99296468e+01] [-4.45015095e-02 9.99009281e-01 -2.68935889e-04 -1.48467280e+00] [-5.19064601e-03 3.79783090e-05 9.99986528e-01 -4.11355421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.765769231 meters 0.01631282028661087 Centerline is valid? [True, True] Translation: X:69.99, Y:-1.49, Z:-0.41 [[ 9.99078258e-01 4.26744036e-02 4.64010626e-03 6.99892201e+01] [-4.26737464e-02 9.99089032e-01 -2.40588624e-04 -1.49045529e+00] [-4.64614624e-03 4.23561458e-05 9.99989206e-01 -4.14105608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.825769231 meters 0.016125677116166522 Centerline is valid? [True, True] Translation: X:70.05, Y:-1.50, Z:-0.41 [[ 9.99063227e-01 4.28728144e-02 5.88139800e-03 7.00495961e+01] [-4.28717590e-02 9.99080537e-01 -3.05472572e-04 -1.49632050e+00] [-5.88908674e-03 5.30405362e-05 9.99982658e-01 -4.10606145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.885769231 meters 0.013896301777620681 Centerline is valid? [True, True] Translation: X:70.11, Y:-1.49, Z:-0.41 [[ 9.98891386e-01 4.67424349e-02 5.58060020e-03 7.01101524e+01] [-4.67415450e-02 9.98906975e-01 -2.89849505e-04 -1.49223725e+00] [-5.58804874e-03 2.86822983e-05 9.99984386e-01 -4.12415654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.945769231 meters 0.012963199080650923 Centerline is valid? [True, True] Translation: X:70.17, Y:-1.49, Z:-0.42 [[ 9.98690935e-01 5.10792235e-02 2.70744110e-03 7.01702508e+01] [-5.10790297e-02 9.98694604e-01 -1.40721466e-04 -1.48622959e+00] [-2.71109476e-03 2.24378813e-06 9.99996325e-01 -4.17279033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.005769231 meters 0.013449733334143793 Centerline is valid? [True, True] Translation: X:70.23, Y:-1.48, Z:-0.42 [[ 9.98544412e-01 5.39042407e-02 1.84099883e-03 7.02285520e+01] [-5.39041555e-02 9.98546110e-01 -9.58750065e-05 -1.47784191e+00] [-1.84349029e-03 -3.50203546e-06 9.99998301e-01 -4.19936997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06576923099999 meters 0.012977585477711256 Centerline is valid? [True, True] Translation: X:70.29, Y:-1.48, Z:-0.42 [[ 9.98587721e-01 5.29965271e-02 3.73260703e-03 7.02880673e+01] [-5.29961734e-02 9.98594697e-01 -1.93675746e-04 -1.47605266e+00] [-3.73762573e-03 -4.41166818e-06 9.99993015e-01 -4.16828422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12576923099999 meters 0.012837981142780829 Centerline is valid? [True, True] Translation: X:70.35, Y:-1.48, Z:-0.42 [[ 9.98693639e-01 5.08951349e-02 4.54982945e-03 7.03477246e+01] [-5.08945886e-02 9.98704003e-01 -2.35845399e-04 -1.47528094e+00] [-4.55593626e-03 3.97560227e-06 9.99989622e-01 -4.16178572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.185769231 meters 0.013649189234564712 Centerline is valid? [True, True] Translation: X:70.41, Y:-1.48, Z:-0.42 [[ 9.98836023e-01 4.80419409e-02 4.30932874e-03 7.04060436e+01] [-4.80414245e-02 9.98845319e-01 -2.23319822e-04 -1.47944543e+00] [-4.31508156e-03 1.60335911e-05 9.99990690e-01 -4.18183348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.245769231 meters 0.01495905755510916 Centerline is valid? [True, True] Translation: X:70.47, Y:-1.49, Z:-0.42 [[ 9.98948067e-01 4.55785651e-02 5.03526874e-03 7.04650790e+01] [-4.55778299e-02 9.98960757e-01 -2.60709843e-04 -1.48669209e+00] [-5.04191865e-03 3.09389711e-05 9.99987289e-01 -4.16465271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.305769231 meters 0.020505516940542333 Centerline is valid? [True, True] Translation: X:70.52, Y:-1.50, Z:-0.41 [[ 9.99199011e-01 3.94406735e-02 6.76532273e-03 7.05248631e+01] [-3.94392070e-02 9.99221910e-01 -3.50081941e-04 -1.50120056e+00] [-6.77386618e-03 8.29825655e-05 9.99977054e-01 -4.13777684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.365769231 meters 0.022870373790791383 Centerline is valid? [True, True] Translation: X:70.59, Y:-1.51, Z:-0.42 [[ 9.99286635e-01 3.74068632e-02 5.19104466e-03 7.05861023e+01] [-3.74059726e-02 9.99300116e-01 -2.68579411e-04 -1.50822611e+00] [-5.19745824e-03 7.42117421e-05 9.99986490e-01 -4.16667959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42576923099999 meters 0.020281480379540823 Centerline is valid? [True, True] Translation: X:70.65, Y:-1.51, Z:-0.42 [[ 9.99268051e-01 3.80814951e-02 3.62805135e-03 7.06469761e+01] [-3.80810641e-02 9.99274636e-01 -1.87816812e-04 -1.50538203e+00] [-3.63257203e-03 4.95192834e-05 9.99993401e-01 -4.19042184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48576923099999 meters 0.02024456514676103 Centerline is valid? [True, True] Translation: X:70.71, Y:-1.51, Z:-0.42 [[ 9.99297808e-01 3.71685554e-02 4.73166175e-03 7.07061366e+01] [-3.71678119e-02 9.99309008e-01 -2.45003198e-04 -1.50835306e+00] [-4.73749862e-03 6.89656455e-05 9.99988776e-01 -4.17160706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.545769231 meters 0.02574044751369605 Centerline is valid? [True, True] Translation: X:70.77, Y:-1.52, Z:-0.42 [[ 9.99344579e-01 3.60434318e-02 3.35919332e-03 7.07655676e+01] [-3.60430511e-02 9.99350223e-01 -1.73818090e-04 -1.51722284e+00] [-3.36327559e-03 5.26285894e-05 9.99994343e-01 -4.20448017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.605769231 meters 0.021889326319634098 Centerline is valid? [True, True] Translation: X:70.83, Y:-1.51, Z:-0.42 [[ 9.99314885e-01 3.68595032e-02 3.33730467e-03 7.08261034e+01] [-3.68591317e-02 9.99320456e-01 -1.72768924e-04 -1.50696359e+00] [-3.34140500e-03 4.96404050e-05 9.99994416e-01 -4.21250669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.665769231 meters 0.02301933699529613 Centerline is valid? [True, True] Translation: X:70.89, Y:-1.51, Z:-0.42 [[ 9.99350561e-01 3.58246224e-02 3.87979640e-03 7.08860811e+01] [-3.58241130e-02 9.99358090e-01 -2.00738817e-04 -1.50925443e+00] [-3.88449732e-03 6.16181844e-05 9.99992453e-01 -4.20593653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.725769231 meters 0.028940216729954935 Centerline is valid? [True, True] Translation: X:70.95, Y:-1.52, Z:-0.42 [[ 9.99565253e-01 2.89673259e-02 5.49535132e-03 7.09462937e+01] [-2.89662016e-02 9.99580351e-01 -2.84085495e-04 -1.52339370e+00] [-5.50127440e-03 1.24782535e-04 9.99984860e-01 -4.18431057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78576923099999 meters 0.03351603002938687 Centerline is valid? [True, True] Translation: X:71.01, Y:-1.53, Z:-0.42 [[ 9.99690714e-01 2.43295638e-02 5.15251352e-03 7.10073103e+01] [-2.43285136e-02 9.99703982e-01 -2.66395054e-04 -1.53459258e+00] [-5.15746956e-03 1.40959666e-04 9.99986690e-01 -4.20112396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84576923099999 meters 0.03200286865445448 Centerline is valid? [True, True] Translation: X:71.07, Y:-1.54, Z:-0.42 [[ 9.99668441e-01 2.53248823e-02 4.65380326e-03 7.10687394e+01] [-2.53240360e-02 9.99679266e-01 -2.40701882e-04 -1.53813482e+00] [-4.65840638e-03 1.22768993e-04 9.99989142e-01 -4.19435314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.905769231 meters 0.031211897903155355 Centerline is valid? [True, True] Translation: X:71.13, Y:-1.55, Z:-0.42 [[ 9.99700788e-01 2.42703008e-02 3.04744625e-03 7.11295942e+01] [-2.42699329e-02 9.99705429e-01 -1.57629837e-04 -1.54594454e+00] [-3.05037429e-03 8.36213563e-05 9.99995344e-01 -4.22007576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.965769231 meters 0.036032386397205164 Centerline is valid? [True, True] Translation: X:71.19, Y:-1.56, Z:-0.42 [[ 9.99761366e-01 2.15714595e-02 3.44725266e-03 7.11891273e+01] [-2.15709723e-02 9.99767304e-01 -1.78457832e-04 -1.56248415e+00] [-3.45030009e-03 1.04054655e-04 9.99994042e-01 -4.22493858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.025769231 meters 0.042179243853649136 Centerline is valid? [True, True] Translation: X:71.25, Y:-1.58, Z:-0.42 [[ 9.99834053e-01 1.76586837e-02 4.47621664e-03 7.12483421e+01] [-1.76578230e-02 9.99844062e-01 -2.31716888e-04 -1.58396734e+00] [-4.47961044e-03 1.52638194e-04 9.99989955e-01 -4.20305741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.085769231 meters 0.0422564840836413 Centerline is valid? [True, True] Translation: X:71.31, Y:-1.60, Z:-0.42 [[ 9.99808169e-01 1.93441868e-02 3.07037983e-03 7.13086243e+01] [-1.93437909e-02 9.99812879e-01 -1.58595208e-04 -1.59771052e+00] [-3.07287319e-03 9.91719994e-05 9.99995274e-01 -4.22310294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14576923099999 meters 0.03675249043956149 Centerline is valid? [True, True] Translation: X:71.37, Y:-1.60, Z:-0.42 [[ 9.99774965e-01 2.10074929e-02 2.95032289e-03 7.13702220e+01] [-2.10071320e-02 9.99779314e-01 -1.53270533e-04 -1.59745158e+00] [-2.95289163e-03 9.12582190e-05 9.99995636e-01 -4.22174549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20576923099999 meters 0.03360631731533019 Centerline is valid? [True, True] Translation: X:71.43, Y:-1.61, Z:-0.42 [[ 9.99628822e-01 2.69569850e-02 3.94189736e-03 7.14296968e+01] [-2.69563860e-02 9.99636590e-01 -2.05028699e-04 -1.60802778e+00] [-3.94599179e-03 9.86932902e-05 9.99992210e-01 -4.21867708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.265769231 meters 0.02703590527267648 Centerline is valid? [True, True] Translation: X:71.49, Y:-1.61, Z:-0.42 [[ 9.99506826e-01 3.09218651e-02 5.47201380e-03 7.14912078e+01] [-3.09207707e-02 9.99521798e-01 -2.84495991e-04 -1.60823321e+00] [-5.47819422e-03 1.15156801e-04 9.99984988e-01 -4.18862424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.325769231 meters 0.018716318951839454 Centerline is valid? [True, True] Translation: X:71.55, Y:-1.61, Z:-0.42 [[ 9.99191388e-01 3.98735796e-02 5.16399815e-03 7.15520380e+01] [-3.98727238e-02 9.99204731e-01 -2.68613833e-04 -1.60659918e+00] [-5.17060198e-03 6.24939563e-05 9.99986630e-01 -4.19759149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.385769231 meters 0.01513784268110036 Centerline is valid? [True, True] Translation: X:71.61, Y:-1.60, Z:-0.42 [[ 9.98976663e-01 4.50864189e-02 3.58357548e-03 7.16128984e+01] [-4.50860401e-02 9.98983090e-01 -1.86462214e-04 -1.60404845e+00] [-3.58833822e-03 2.47021718e-05 9.99993562e-01 -4.22819212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.445769231 meters 0.013321065423366347 Centerline is valid? [True, True] Translation: X:71.67, Y:-1.59, Z:-0.42 [[ 9.98536704e-01 5.40338192e-02 2.19002858e-03 7.16729603e+01] [-5.40336990e-02 9.98539106e-01 -1.14063463e-04 -1.59119985e+00] [-2.19299246e-03 -4.43879046e-06 9.99997595e-01 -4.24852821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.505769231 meters 0.01682226056683006 Centerline is valid? [True, True] Translation: X:71.73, Y:-1.58, Z:-0.43 [[ 9.98146809e-01 6.08002485e-02 2.50564868e-03 7.17333511e+01] [-6.08001126e-02 9.98149953e-01 -1.30423136e-04 -1.57678646e+00] [-2.50894287e-03 -2.21622850e-05 9.99996852e-01 -4.25751624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56576923099999 meters 0.016612396441583847 Centerline is valid? [True, True] Translation: X:71.79, Y:-1.57, Z:-0.42 [[ 9.98123462e-01 6.11157560e-02 3.79711870e-03 7.17932702e+01] [-6.11154469e-02 9.98130684e-01 -1.97474947e-04 -1.57400629e+00] [-3.80208952e-03 -3.49582281e-05 9.99992771e-01 -4.23235011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62576923099999 meters 0.014208558738973535 Centerline is valid? [True, True] Translation: X:71.85, Y:-1.58, Z:-0.43 [[ 9.98407752e-01 5.63267808e-02 3.04198700e-03 7.18513597e+01] [-5.63265602e-02 9.98412387e-01 -1.58209735e-04 -1.58004883e+00] [-3.04606894e-03 -1.33868377e-05 9.99995361e-01 -4.26560195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.685769231 meters 0.015569950280791715 Centerline is valid? [True, True] Translation: X:71.91, Y:-1.60, Z:-0.43 [[ 9.98976159e-01 4.52046381e-02 1.78143634e-03 7.19104561e+01] [-4.52045450e-02 9.98977748e-01 -9.25028826e-05 -1.60036734e+00] [-1.78379683e-03 1.18791549e-05 9.99998409e-01 -4.30125410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.745769231 meters 0.024938695775669234 Centerline is valid? [True, True] Translation: X:71.97, Y:-1.63, Z:-0.42 [[ 9.99392814e-01 3.45386693e-02 4.59177606e-03 7.19701474e+01] [-3.45379386e-02 9.99403359e-01 -2.38357986e-04 -1.62528424e+00] [-4.59726899e-03 7.96227790e-05 9.99989429e-01 -4.22958753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.805769231 meters 0.027248544837445512 Centerline is valid? [True, True] Translation: X:72.03, Y:-1.64, Z:-0.42 [[ 9.99454361e-01 3.27496265e-02 4.29450598e-03 7.20303639e+01] [-3.27489702e-02 9.99463584e-01 -2.23068160e-04 -1.63585660e+00] [-4.29950773e-03 8.23057973e-05 9.99990754e-01 -4.24487623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.865769231 meters 0.02594341764980206 Centerline is valid? [True, True] Translation: X:72.09, Y:-1.64, Z:-0.43 [[ 9.99400050e-01 3.45313411e-02 2.66945687e-03 7.20902439e+01] [-3.45310937e-02 9.99403614e-01 -1.38708450e-04 -1.64081002e+00] [-2.67265463e-03 4.64459669e-05 9.99996427e-01 -4.27489305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92576923099999 meters 0.02271747478764767 Centerline is valid? [True, True] Translation: X:72.15, Y:-1.64, Z:-0.43 [[ 9.99341855e-01 3.61865453e-02 2.52790734e-03 7.21520314e+01] [-3.61863290e-02 9.99345052e-01 -1.31271095e-04 -1.64189363e+00] [-2.53100194e-03 3.97090134e-05 9.99996796e-01 -4.26830339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98576923099999 meters 0.020917230142808167 Centerline is valid? [True, True] Translation: X:72.21, Y:-1.64, Z:-0.43 [[ 9.99279286e-01 3.78803383e-02 2.44712354e-03 7.22129480e+01] [-3.78801404e-02 9.99282282e-01 -1.27203976e-04 -1.64424037e+00] [-2.45018573e-03 3.44149151e-05 9.99996998e-01 -4.27697493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.045769231 meters 0.020988683042806554 Centerline is valid? [True, True] Translation: X:72.27, Y:-1.65, Z:-0.43 [[ 9.99269297e-01 3.82022327e-02 1.20921783e-03 7.22740076e+01] [-3.82021846e-02 9.99270028e-01 -6.28030000e-05 -1.64786806e+00] [-1.21073435e-03 1.65623466e-05 9.99999267e-01 -4.30483172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.105769231 meters 0.019636381663122714 Centerline is valid? [True, True] Translation: X:72.33, Y:-1.65, Z:-0.43 [[ 9.99199766e-01 3.99348911e-02 2.24306060e-03 7.23347407e+01] [-3.99347295e-02 9.99202284e-01 -1.16798099e-04 -1.65278315e+00] [-2.24593559e-03 2.71286149e-05 9.99997478e-01 -4.29214111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.165769231 meters 0.01656828631177431 Centerline is valid? [True, True] Translation: X:72.40, Y:-1.65, Z:-0.43 [[ 9.99045506e-01 4.35528843e-02 3.35022624e-03 7.23950861e+01] [-4.35525444e-02 9.99051123e-01 -1.74407597e-04 -1.64839455e+00] [-3.35464324e-03 2.83302488e-05 9.99994373e-01 -4.26661281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.225769231 meters 0.013836566222667093 Centerline is valid? [True, True] Translation: X:72.46, Y:-1.64, Z:-0.43 [[ 9.98822998e-01 4.84375077e-02 2.53519132e-03 7.24557027e+01] [-4.84373285e-02 9.98826215e-01 -1.32038351e-04 -1.64288584e+00] [-2.53861116e-03 9.08504631e-06 9.99996778e-01 -4.30381555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28576923099999 meters 0.01326936077876167 Centerline is valid? [True, True] Translation: X:72.51, Y:-1.64, Z:-0.43 [[ 9.98651346e-01 5.18944268e-02 1.56754575e-03 7.25146159e+01] [-5.18943623e-02 9.98652576e-01 -8.18220451e-05 -1.63680832e+00] [-1.56967971e-03 3.64908592e-07 9.99998768e-01 -4.31273460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34576923099999 meters 0.013636400790761354 Centerline is valid? [True, True] Translation: X:72.57, Y:-1.63, Z:-0.43 [[ 9.98545721e-01 5.38994930e-02 1.13474001e-03 7.25746787e+01] [-5.38994606e-02 9.98546366e-01 -5.91910872e-05 -1.63434939e+00] [-1.13628088e-03 -2.05686757e-06 9.99999354e-01 -4.32606002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.405769231 meters 0.013878270494013694 Centerline is valid? [True, True] Translation: X:72.63, Y:-1.63, Z:-0.43 [[ 9.98435645e-01 5.58394889e-02 2.86600058e-03 7.26342030e+01] [-5.58392903e-02 9.98439759e-01 -1.49307434e-04 -1.63098311e+00] [-2.86986618e-03 -1.09615741e-05 9.99995882e-01 -4.29844932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.465769231 meters 0.013633751957025847 Centerline is valid? [True, True] Translation: X:72.69, Y:-1.63, Z:-0.43 [[ 9.98513512e-01 5.44294735e-02 2.86323868e-03 7.26925835e+01] [-5.44292701e-02 9.98517617e-01 -1.48975888e-04 -1.63386831e+00] [-2.86710295e-03 -7.08955402e-06 9.99995890e-01 -4.31698344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.525769231 meters 0.013521881085878394 Centerline is valid? [True, True] Translation: X:72.75, Y:-1.64, Z:-0.44 [[ 9.98607759e-01 5.27302560e-02 1.43670796e-03 7.27524167e+01] [-5.27302031e-02 9.98608792e-01 -7.47484462e-05 -1.63908973e+00] [-1.43865070e-03 -1.11352403e-06 9.99998965e-01 -4.35349294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.585769231 meters 0.01335728691515016 Centerline is valid? [True, True] Translation: X:72.81, Y:-1.64, Z:-0.43 [[ 9.98629467e-01 5.23137075e-02 1.56935699e-03 7.28119684e+01] [-5.23136439e-02 9.98630701e-01 -8.16012358e-05 -1.64134437e+00] [-1.57147693e-03 -6.09383984e-07 9.99998765e-01 -4.34651601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64576923099999 meters 0.01311882034554529 Centerline is valid? [True, True] Translation: X:72.87, Y:-1.64, Z:-0.43 [[ 9.98646009e-01 5.19242888e-02 3.16490325e-03 7.28712754e+01] [-5.19240287e-02 9.98651024e-01 -1.64350076e-04 -1.64397275e+00] [-3.16916764e-03 -2.06979701e-07 9.99994978e-01 -4.31882643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70576923099999 meters 0.013356731549314741 Centerline is valid? [True, True] Translation: X:72.93, Y:-1.66, Z:-0.43 [[ 9.98785570e-01 4.91681313e-02 3.14317266e-03 7.29310480e+01] [-4.91678616e-02 9.98790516e-01 -1.63063746e-04 -1.65616553e+00] [-3.14738858e-03 8.32263853e-06 9.99995047e-01 -4.31226127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.765769231 meters 0.014553786094343909 Centerline is valid? [True, True] Translation: X:72.99, Y:-1.67, Z:-0.43 [[ 9.98944774e-01 4.58013420e-02 3.40243184e-03 7.29909662e+01] [-4.58010065e-02 9.98950568e-01 -1.76513779e-04 -1.66939548e+00] [-3.40694579e-03 2.04927139e-05 9.99994196e-01 -4.30940456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.825769231 meters 0.017454388225002542 Centerline is valid? [True, True] Translation: X:73.05, Y:-1.69, Z:-0.43 [[ 9.99134352e-01 4.13966515e-02 4.10651962e-03 7.30517031e+01] [-4.13961273e-02 9.99142790e-01 -2.12592438e-04 -1.69068118e+00] [-4.11180009e-03 4.24143987e-05 9.99991546e-01 -4.30286880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.885769231 meters 0.016240667392405584 Centerline is valid? [True, True] Translation: X:73.11, Y:-1.70, Z:-0.43 [[ 9.99057254e-01 4.32759297e-02 3.43482534e-03 7.31119440e+01] [-4.32755711e-02 9.99063158e-01 -1.78681753e-04 -1.69699236e+00] [-3.43934006e-03 2.98692735e-05 9.99994085e-01 -4.30943065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.945769231 meters 0.013344464271462998 Centerline is valid? [True, True] Translation: X:73.17, Y:-1.69, Z:-0.43 [[ 9.98731361e-01 5.03233965e-02 1.79559128e-03 7.31725962e+01] [-5.03233105e-02 9.98732975e-01 -9.31175721e-05 -1.69230565e+00] [-1.79800222e-03 2.63934193e-06 9.99998384e-01 -4.34914528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.005769231 meters 0.0148714167329162 Centerline is valid? [True, True] Translation: X:73.23, Y:-1.69, Z:-0.43 [[ 9.98283122e-01 5.84356379e-02 4.01046419e-03 7.32331663e+01] [-5.84352696e-02 9.98291178e-01 -2.09049854e-04 -1.68523622e+00] [-4.01582698e-03 -2.56616151e-05 9.99991936e-01 -4.30566088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06576923099999 meters 0.01616385226988397 Centerline is valid? [True, True] Translation: X:73.29, Y:-1.69, Z:-0.43 [[ 9.98155821e-01 6.05496552e-02 4.32396499e-03 7.32940352e+01] [-6.05492477e-02 9.98165186e-01 -2.25213746e-04 -1.68557349e+00] [-4.32966793e-03 -3.70144152e-05 9.99990626e-01 -4.30262794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12576923099999 meters 0.020384994127384762 Centerline is valid? [True, True] Translation: X:73.35, Y:-1.68, Z:-0.43 [[ 9.97912740e-01 6.45002614e-02 3.14318505e-03 7.33536584e+01] [-6.45000655e-02 9.97917689e-01 -1.63758353e-04 -1.68199818e+00] [-3.14720242e-03 -3.93190946e-05 9.99995047e-01 -4.33736106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.185769231 meters 0.01936731223068177 Centerline is valid? [True, True] Translation: X:73.41, Y:-1.69, Z:-0.44 [[ 9.97858799e-01 6.53571202e-02 2.50264076e-03 7.34134003e+01] [-6.53569986e-02 9.97861937e-01 -1.30432477e-04 -1.68653984e+00] [-2.50581465e-03 -3.34118933e-05 9.99996860e-01 -4.35066677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.245769231 meters 0.019179484414887017 Centerline is valid? [True, True] Translation: X:73.47, Y:-1.69, Z:-0.44 [[ 9.98020764e-01 6.28671950e-02 1.50660871e-03 7.34731519e+01] [-6.28671481e-02 9.98021901e-01 -7.84842414e-05 -1.69044799e+00] [-1.50856258e-03 -1.63872905e-05 9.99998862e-01 -4.38573862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.305769231 meters 0.016437101435438254 Centerline is valid? [True, True] Translation: X:73.53, Y:-1.70, Z:-0.44 [[ 9.98203577e-01 5.98634704e-02 2.44623044e-03 7.35321494e+01] [-5.98633379e-02 9.98206574e-01 -1.27396544e-04 -1.69988421e+00] [-2.44946971e-03 -1.92718334e-05 9.99997000e-01 -4.36882637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.365769231 meters 0.012984348322007714 Centerline is valid? [True, True] Translation: X:73.59, Y:-1.72, Z:-0.43 [[ 9.98529891e-01 5.40057660e-02 4.62964298e-03 7.35923583e+01] [-5.40052301e-02 9.98540624e-01 -2.40776229e-04 -1.71583678e+00] [-4.63588990e-03 -9.60267332e-06 9.99989254e-01 -4.33768475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42576923099999 meters 0.014013026395918336 Centerline is valid? [True, True] Translation: X:73.65, Y:-1.74, Z:-0.44 [[ 9.98871685e-01 4.73899971e-02 3.08953348e-03 7.36529385e+01] [-4.73897285e-02 9.98876463e-01 -1.60127986e-04 -1.73779599e+00] [-3.09365074e-03 1.35351581e-05 9.99995215e-01 -4.37182488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48576923099999 meters 0.016608922535076814 Centerline is valid? [True, True] Translation: X:73.71, Y:-1.76, Z:-0.44 [[ 9.99027992e-01 4.39917199e-02 2.79290234e-03 7.37127816e+01] [-4.39914846e-02 9.99031895e-01 -1.45631693e-04 -1.75619579e+00] [-2.79660511e-03 2.26262168e-05 9.99996089e-01 -4.38989287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.545769231 meters 0.015567683329176081 Centerline is valid? [True, True] Translation: X:73.77, Y:-1.77, Z:-0.44 [[ 9.98953559e-01 4.55094742e-02 4.54686073e-03 7.37737767e+01] [-4.55088669e-02 9.98963907e-01 -2.36999563e-04 -1.76620707e+00] [-4.55293548e-03 2.98290770e-05 9.99989635e-01 -4.35268522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.605769231 meters 0.013599867918569935 Centerline is valid? [True, True] Translation: X:73.84, Y:-1.77, Z:-0.43 [[ 9.98813671e-01 4.84306642e-02 5.07162996e-03 7.38356599e+01] [-4.84299421e-02 9.98826547e-01 -2.65166263e-04 -1.76850621e+00] [-5.07852082e-03 1.92329436e-05 9.99987104e-01 -4.33944318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.665769231 meters 0.012841134667937761 Centerline is valid? [True, True] Translation: X:73.90, Y:-1.77, Z:-0.44 [[ 9.98573480e-01 5.32409986e-02 4.04972922e-03 7.38976280e+01] [-5.32405759e-02 9.98581692e-01 -2.12171662e-04 -1.76918163e+00] [-4.05528169e-03 -3.74092101e-06 9.99991777e-01 -4.36575320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.725769231 meters 0.013435828933018007 Centerline is valid? [True, True] Translation: X:73.96, Y:-1.77, Z:-0.44 [[ 9.98473615e-01 5.51404475e-02 3.15780827e-03 7.39597756e+01] [-5.51401992e-02 9.98478608e-01 -1.65711261e-04 -1.77175384e+00] [-3.16214140e-03 -8.66385472e-06 9.99995000e-01 -4.38464487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78576923099999 meters 0.013429611366361326 Centerline is valid? [True, True] Translation: X:74.02, Y:-1.78, Z:-0.44 [[ 9.98402385e-01 5.62692971e-02 5.14227832e-03 7.40214940e+01] [-5.62686456e-02 9.98415628e-01 -2.71396737e-04 -1.77568557e+00] [-5.14940234e-03 -1.83858865e-05 9.99986742e-01 -4.35375766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84576923099999 meters 0.013128237042722935 Centerline is valid? [True, True] Translation: X:74.08, Y:-1.78, Z:-0.43 [[ 9.98435199e-01 5.56073768e-02 5.91388267e-03 7.40847295e+01] [-5.56064968e-02 9.98452713e-01 -3.13255375e-04 -1.78120159e+00] [-5.92215150e-03 -1.60851055e-05 9.99982464e-01 -4.34670383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.905769231 meters 0.012856128519888708 Centerline is valid? [True, True] Translation: X:74.15, Y:-1.79, Z:-0.44 [[ 9.98511990e-01 5.42547970e-02 5.49745210e-03 7.41470828e+01] [-5.42540109e-02 9.98527124e-01 -2.92134247e-04 -1.78823588e+00] [-5.50520472e-03 -6.55927796e-06 9.99984846e-01 -4.36158736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.965769231 meters 0.013218877073837412 Centerline is valid? [True, True] Translation: X:74.21, Y:-1.80, Z:-0.44 [[ 9.98696695e-01 5.07252380e-02 5.64457199e-03 7.42083248e+01] [-5.07243465e-02 9.98712646e-01 -3.01079305e-04 -1.79990627e+00] [-5.65257775e-03 1.43696817e-05 9.99984024e-01 -4.35880237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.025769231 meters 0.015860802432120742 Centerline is valid? [True, True] Translation: X:74.27, Y:-1.81, Z:-0.44 [[ 9.98946365e-01 4.56763106e-02 4.45349446e-03 7.42701007e+01] [-4.56757030e-02 9.98956292e-01 -2.38097623e-04 -1.81471429e+00] [-4.45972173e-03 3.44302653e-05 9.99990055e-01 -4.39940609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.085769231 meters 0.01976900615525116 Centerline is valid? [True, True] Translation: X:74.33, Y:-1.83, Z:-0.44 [[ 9.99237108e-01 3.88200235e-02 4.26698204e-03 7.43311799e+01] [-3.88193990e-02 9.99246217e-01 -2.29097033e-04 -1.83349450e+00] [-4.27265921e-03 6.32805784e-05 9.99990870e-01 -4.40066098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14576923099999 meters 0.02171816674620571 Centerline is valid? [True, True] Translation: X:74.39, Y:-1.84, Z:-0.44 [[ 9.99198780e-01 3.99100195e-02 2.99822282e-03 7.43921174e+01] [-3.99097173e-02 9.99203277e-01 -1.60576238e-04 -1.84412997e+00] [-3.00224267e-03 4.07893552e-05 9.99995492e-01 -4.43203410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20576923099999 meters 0.01671062624373202 Centerline is valid? [True, True] Translation: X:74.45, Y:-1.84, Z:-0.44 [[ 9.98926110e-01 4.62373240e-02 2.95561028e-03 7.44534586e+01] [-4.62370550e-02 9.98930483e-01 -1.59320383e-04 -1.83743670e+00] [-2.95981575e-03 2.24905757e-05 9.99995619e-01 -4.44028186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.265769231 meters 0.01321663547783291 Centerline is valid? [True, True] Translation: X:74.52, Y:-1.82, Z:-0.44 [[ 9.98437177e-01 5.57809104e-02 3.41955944e-03 7.45162775e+01] [-5.57806059e-02 9.98443033e-01 -1.84425082e-04 -1.81682095e+00] [-3.42452270e-03 -6.60823981e-06 9.99994136e-01 -4.41704646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.325769231 meters 0.015141435396910099 Centerline is valid? [True, True] Translation: X:74.58, Y:-1.80, Z:-0.44 [[ 9.98121919e-01 6.11113982e-02 4.24642530e-03 7.45794159e+01] [-6.11109779e-02 9.98130951e-01 -2.28762710e-04 -1.80442286e+00] [-4.25246853e-03 -3.11701275e-05 9.99990958e-01 -4.40773953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.385769231 meters 0.01530435436938352 Centerline is valid? [True, True] Translation: X:74.64, Y:-1.80, Z:-0.44 [[ 9.98118515e-01 6.11814219e-02 4.03284809e-03 7.46411745e+01] [-6.11810407e-02 9.98126662e-01 -2.17923297e-04 -1.79994905e+00] [-4.03862606e-03 -2.92205653e-05 9.99991844e-01 -4.41579732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.445769231 meters 0.014674124417818903 Centerline is valid? [True, True] Translation: X:74.70, Y:-1.79, Z:-0.44 [[ 9.98173715e-01 6.02217024e-02 4.75196521e-03 7.47031753e+01] [-6.02211565e-02 9.98185026e-01 -2.58016516e-04 -1.79449454e+00] [-4.75887871e-03 -2.86235366e-05 9.99988676e-01 -4.40177728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.505769231 meters 0.014453287460966868 Centerline is valid? [True, True] Translation: X:74.76, Y:-1.79, Z:-0.44 [[ 9.98206141e-01 5.95701702e-02 5.99123732e-03 7.47641777e+01] [-5.95692895e-02 9.98224120e-01 -3.25502331e-04 -1.78897660e+00] [-5.99998783e-03 -3.19753246e-05 9.99981999e-01 -4.38978252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56576923099999 meters 0.014892911794929171 Centerline is valid? [True, True] Translation: X:74.83, Y:-1.78, Z:-0.44 [[ 9.98153506e-01 6.05172293e-02 5.21961562e-03 7.48262370e+01] [-6.05165736e-02 9.98167152e-01 -2.83609969e-04 -1.78213692e+00] [-5.22721215e-03 -3.27869676e-05 9.99986337e-01 -4.41149433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62576923099999 meters 0.015648626251767526 Centerline is valid? [True, True] Translation: X:74.89, Y:-1.77, Z:-0.44 [[ 9.98121982e-01 6.10150285e-02 5.44753079e-03 7.48862860e+01] [-6.10143209e-02 9.98136847e-01 -2.96148480e-04 -1.77411136e+00] [-5.45545071e-03 -3.67850842e-05 9.99985118e-01 -4.41298843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.685769231 meters 0.01288575683798579 Centerline is valid? [True, True] Translation: X:74.95, Y:-1.78, Z:-0.44 [[ 9.98490897e-01 5.46230872e-02 5.67865111e-03 7.49479705e+01] [-5.46222147e-02 9.98507045e-01 -3.08749311e-04 -1.77898829e+00] [-5.68703798e-03 -1.89712358e-06 9.99983829e-01 -4.41873230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.745769231 meters 0.017363648682869333 Centerline is valid? [True, True] Translation: X:75.01, Y:-1.79, Z:-0.45 [[ 9.98985452e-01 4.48519484e-02 4.04583133e-03 7.50098096e+01] [-4.48514252e-02 9.98993644e-01 -2.20000607e-04 -1.79286449e+00] [-4.05162724e-03 3.83161041e-05 9.99991791e-01 -4.46184834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.805769231 meters 0.025869835136820597 Centerline is valid? [True, True] Translation: X:75.07, Y:-1.81, Z:-0.45 [[ 9.99334662e-01 3.61483107e-02 4.85101510e-03 7.50695177e+01] [-3.61474544e-02 9.99346432e-01 -2.64113901e-04 -1.80824881e+00] [-4.85739191e-03 8.85863287e-05 9.99988199e-01 -4.45387894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.865769231 meters 0.03306002780489502 Centerline is valid? [True, True] Translation: X:75.13, Y:-1.82, Z:-0.44 [[ 9.99533235e-01 2.99515827e-02 6.01793312e-03 7.51302827e+01] [-2.99501513e-02 9.99551340e-01 -3.27850098e-04 -1.82110359e+00] [-6.02505274e-03 1.47459061e-04 9.99981838e-01 -4.42871595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92576923099999 meters 0.03209381121887955 Centerline is valid? [True, True] Translation: X:75.19, Y:-1.82, Z:-0.44 [[ 9.99511820e-01 3.03611047e-02 7.37060864e-03 7.51929048e+01] [-3.03589669e-02 9.99538980e-01 -4.01788123e-04 -1.82161940e+00] [-7.37940937e-03 1.77827914e-04 9.99972756e-01 -4.41308737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98576923099999 meters 0.028717643757154875 Centerline is valid? [True, True] Translation: X:75.26, Y:-1.82, Z:-0.45 [[ 9.99488039e-01 3.17475810e-02 3.96865255e-03 7.52557171e+01] [-3.17469717e-02 9.99495914e-01 -2.16431402e-04 -1.81771364e+00] [-3.97352318e-03 9.03278975e-05 9.99992101e-01 -4.48010548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.045769231 meters 0.027554124669447247 Centerline is valid? [True, True] Translation: X:75.32, Y:-1.82, Z:-0.45 [[ 9.99436115e-01 3.34748195e-02 2.62465998e-03 7.53172500e+01] [-3.34745573e-02 9.99439560e-01 -1.43794600e-04 -1.81626924e+00] [-2.62800252e-03 5.58541857e-05 9.99996545e-01 -4.51190370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.105769231 meters 0.029146708531034276 Centerline is valid? [True, True] Translation: X:75.38, Y:-1.82, Z:-0.45 [[ 9.99483203e-01 3.19890727e-02 3.16634821e-03 7.53785089e+01] [-3.19886832e-02 9.99488216e-01 -1.73579829e-04 -1.82244738e+00] [-3.17028038e-03 7.22028140e-05 9.99994972e-01 -4.51434879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.165769231 meters 0.03083764421093839 Centerline is valid? [True, True] Translation: X:75.44, Y:-1.83, Z:-0.45 [[ 9.99553673e-01 2.97068669e-02 3.15551861e-03 7.54397263e+01] [-2.97064700e-02 9.99558651e-01 -1.72559544e-04 -1.83103579e+00] [-3.15925212e-03 7.87432069e-05 9.99995006e-01 -4.51160126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.225769231 meters 0.029184894068643056 Centerline is valid? [True, True] Translation: X:75.50, Y:-1.84, Z:-0.45 [[ 9.99484328e-01 3.19126937e-02 3.55768826e-03 7.55006438e+01] [-3.19121992e-02 9.99490657e-01 -1.95679171e-04 -1.83646199e+00] [-3.56212082e-03 8.20446079e-05 9.99993652e-01 -4.50761244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28576923099999 meters 0.025967579007688615 Centerline is valid? [True, True] Translation: X:75.56, Y:-1.84, Z:-0.45 [[ 9.99357831e-01 3.56351967e-02 3.74944822e-03 7.55621688e+01] [-3.56346733e-02 9.99364862e-01 -2.06323124e-04 -1.83720139e+00] [-3.75441917e-03 7.25802673e-05 9.99992950e-01 -4.51556054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34576923099999 meters 0.021886733186486467 Centerline is valid? [True, True] Translation: X:75.62, Y:-1.84, Z:-0.46 [[ 9.99178412e-01 4.05080645e-02 1.26411120e-03 7.56233660e+01] [-4.05080090e-02 9.99179211e-01 -6.94835217e-05 -1.83665716e+00] [-1.26588827e-03 1.82198070e-05 9.99999199e-01 -4.56393071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.405769231 meters 0.020807994511908873 Centerline is valid? [True, True] Translation: X:75.68, Y:-1.84, Z:-0.45 [[ 9.99117136e-01 4.17435661e-02 4.73536804e-03 7.56836635e+01] [-4.17427990e-02 9.99128355e-01 -2.60747461e-04 -1.84013407e+00] [-4.74212501e-03 6.28497403e-05 9.99988754e-01 -4.49966151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.465769231 meters 0.019917024674147802 Centerline is valid? [True, True] Translation: X:75.74, Y:-1.84, Z:-0.44 [[ 9.99044887e-01 4.29710599e-02 7.92479233e-03 7.57448105e+01] [-4.29689432e-02 9.99076313e-01 -4.37237949e-04 -1.84299652e+00] [-7.93626088e-03 9.63003853e-05 9.99968503e-01 -4.44322077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.525769231 meters 0.019077961892964956 Centerline is valid? [True, True] Translation: X:75.81, Y:-1.85, Z:-0.45 [[ 9.98997167e-01 4.42914097e-02 6.55220111e-03 7.58066492e+01] [-4.42899861e-02 9.99018651e-01 -3.62282456e-04 -1.84520513e+00] [-6.56181712e-03 7.17222510e-05 9.99978468e-01 -4.46739393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.585769231 meters 0.015751974350688966 Centerline is valid? [True, True] Translation: X:75.87, Y:-1.84, Z:-0.45 [[ 9.98835561e-01 4.78432435e-02 6.20856263e-03 7.58682936e+01] [-4.78420276e-02 9.98854855e-01 -3.44297655e-04 -1.84043657e+00] [-6.21792524e-03 4.68665170e-05 9.99980667e-01 -4.47600628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64576923099999 meters 0.015479459866122508 Centerline is valid? [True, True] Translation: X:75.93, Y:-1.84, Z:-0.45 [[ 9.98777988e-01 4.92080150e-02 4.59357801e-03 7.59296400e+01] [-4.92073649e-02 9.98788551e-01 -2.54500571e-04 -1.84499288e+00] [-4.60053660e-03 2.81516994e-05 9.99989417e-01 -4.52136382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70576923099999 meters 0.017016726452727577 Centerline is valid? [True, True] Translation: X:75.99, Y:-1.85, Z:-0.45 [[ 9.98864851e-01 4.74715669e-02 3.93198971e-03 7.59907362e+01] [-4.74710739e-02 9.98872589e-01 -2.18665027e-04 -1.85264226e+00] [-3.93793711e-03 3.17610357e-05 9.99992246e-01 -4.53541568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.765769231 meters 0.01662475149982833 Centerline is valid? [True, True] Translation: X:76.05, Y:-1.86, Z:-0.45 [[ 9.98863084e-01 4.74653406e-02 4.42503537e-03 7.60517825e+01] [-4.74647156e-02 9.98872885e-01 -2.46197314e-04 -1.85556725e+00] [-4.43173369e-03 3.58843629e-05 9.99990179e-01 -4.52918775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.825769231 meters 0.015516249653685206 Centerline is valid? [True, True] Translation: X:76.11, Y:-1.86, Z:-0.45 [[ 9.98830094e-01 4.80887828e-02 5.09034048e-03 7.61129152e+01] [-4.80879632e-02 9.98843065e-01 -2.83347060e-04 -1.85579123e+00] [-5.09807710e-03 3.82314650e-05 9.99987004e-01 -4.52201251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.885769231 meters 0.01391402019402763 Centerline is valid? [True, True] Translation: X:76.17, Y:-1.85, Z:-0.45 [[ 9.98696019e-01 5.07792623e-02 5.26570883e-03 7.61748244e+01] [-5.07784220e-02 9.98709901e-01 -2.93238062e-04 -1.85484965e+00] [-5.27380596e-03 2.54712998e-05 9.99986093e-01 -4.51595377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.945769231 meters 0.01322214515777551 Centerline is valid? [True, True] Translation: X:76.24, Y:-1.85, Z:-0.45 [[ 9.98547261e-01 5.36857702e-02 4.60488081e-03 7.62354016e+01] [-5.36851579e-02 9.98557879e-01 -2.56556959e-04 -1.85073743e+00] [-4.61201347e-03 8.97049580e-06 9.99989365e-01 -4.53766382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.005769231 meters 0.013359995518805224 Centerline is valid? [True, True] Translation: X:76.30, Y:-1.85, Z:-0.45 [[ 9.98583512e-01 5.28947180e-02 5.75493058e-03 7.62954361e+01] [-5.28937480e-02 9.98600094e-01 -3.20735610e-04 -1.85342599e+00] [-5.76383944e-03 1.58814437e-05 9.99983389e-01 -4.53814295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06576923099999 meters 0.016266328664073466 Centerline is valid? [True, True] Translation: X:76.36, Y:-1.87, Z:-0.45 [[ 9.98846457e-01 4.76317757e-02 6.08030113e-03 7.63560775e+01] [-4.76305962e-02 9.98864962e-01 -3.38726849e-04 -1.86800546e+00] [-6.08953392e-03 4.87277446e-05 9.99981457e-01 -4.53353464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12576923099999 meters 0.019850445351752784 Centerline is valid? [True, True] Translation: X:76.42, Y:-1.88, Z:-0.45 [[ 9.99022977e-01 4.37811290e-02 6.02522274e-03 7.64177861e+01] [-4.37798952e-02 9.99041144e-01 -3.36563009e-04 -1.88235948e+00] [-6.03418053e-03 7.24505586e-05 9.99981792e-01 -4.54243739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.185769231 meters 0.019404004474989835 Centerline is valid? [True, True] Translation: X:76.48, Y:-1.89, Z:-0.45 [[ 9.99059865e-01 4.28074078e-02 6.84917681e-03 7.64795418e+01] [-4.28057823e-02 9.99083339e-01 -3.83813411e-04 -1.89223015e+00] [-6.85932849e-03 9.02682031e-05 9.99976470e-01 -4.52023584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.245769231 meters 0.018581362077916788 Centerline is valid? [True, True] Translation: X:76.54, Y:-1.90, Z:-0.46 [[ 9.98996566e-01 4.45374485e-02 4.71977816e-03 7.65402240e+01] [-4.45366937e-02 9.99007714e-01 -2.64940764e-04 -1.89758886e+00] [-4.72689458e-03 5.44715992e-05 9.99988827e-01 -4.57186905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.305769231 meters 0.019172443854642215 Centerline is valid? [True, True] Translation: X:76.60, Y:-1.91, Z:-0.46 [[ 9.98928066e-01 4.60932679e-02 4.25796979e-03 7.66011388e+01] [-4.60926654e-02 9.98937140e-01 -2.39569442e-04 -1.90792260e+00] [-4.26448670e-03 4.30514622e-05 9.99990906e-01 -4.59471066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.365769231 meters 0.016943806840531754 Centerline is valid? [True, True] Translation: X:76.66, Y:-1.91, Z:-0.46 [[ 9.98907691e-01 4.64718726e-02 4.87751605e-03 7.66635696e+01] [-4.64710824e-02 9.98919598e-01 -2.75280224e-04 -1.91313088e+00] [-4.88503916e-03 4.83160825e-05 9.99988067e-01 -4.57075743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42576923099999 meters 0.014358219455317602 Centerline is valid? [True, True] Translation: X:76.72, Y:-1.91, Z:-0.45 [[ 9.98684459e-01 5.08101439e-02 6.90515164e-03 7.67246178e+01] [-5.08086522e-02 9.98708330e-01 -3.91394508e-04 -1.91242423e+00] [-6.91611927e-03 4.00381652e-05 9.99976083e-01 -4.54329838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48576923099999 meters 0.012843917236128063 Centerline is valid? [True, True] Translation: X:76.79, Y:-1.91, Z:-0.45 [[ 9.98462120e-01 5.47458119e-02 8.73448660e-03 7.67856026e+01] [-5.47435724e-02 9.98500323e-01 -4.95457387e-04 -1.91032415e+00] [-8.74851191e-03 1.65384335e-05 9.99961731e-01 -4.51692197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.545769231 meters 0.013371625881133819 Centerline is valid? [True, True] Translation: X:76.85, Y:-1.90, Z:-0.46 [[ 9.98187872e-01 5.98752660e-02 5.99372770e-03 7.68471159e+01] [-5.98743021e-02 9.98205867e-01 -3.40285627e-04 -1.90113283e+00] [-6.00334885e-03 -1.92012775e-05 9.99981980e-01 -4.56312109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.605769231 meters 0.015386628560356882 Centerline is valid? [True, True] Translation: X:76.91, Y:-1.89, Z:-0.46 [[ 9.97966402e-01 6.36833667e-02 2.73657889e-03 7.69076475e+01] [-6.36831787e-02 9.97970154e-01 -1.55846068e-04 -1.89443181e+00] [-2.74094886e-03 -1.87449027e-05 9.99996243e-01 -4.61805763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.665769231 meters 0.017289439327605998 Centerline is valid? [True, True] Translation: X:76.97, Y:-1.89, Z:-0.46 [[ 9.97789118e-01 6.61780660e-02 6.11063334e-03 7.69672846e+01] [-6.61771755e-02 9.97807827e-01 -3.48027543e-04 -1.88740237e+00] [-6.12026957e-03 -5.71263599e-05 9.99981269e-01 -4.55924136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.725769231 meters 0.017925821595873047 Centerline is valid? [True, True] Translation: X:77.03, Y:-1.88, Z:-0.46 [[ 9.97750840e-01 6.69049722e-02 4.12129428e-03 7.70276559e+01] [-6.69045737e-02 9.97759351e-01 -2.34626830e-04 -1.88283222e+00] [-4.12775761e-03 -4.16343207e-05 9.99991480e-01 -4.61028391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78576923099999 meters 0.015678362294752262 Centerline is valid? [True, True] Translation: X:77.09, Y:-1.89, Z:-0.46 [[ 9.97944321e-01 6.39912654e-02 3.50015292e-03 7.70866875e+01] [-6.39909603e-02 9.97950458e-01 -1.99210150e-04 -1.88834990e+00] [-3.50572692e-03 -2.51775088e-05 9.99993855e-01 -4.63727157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84576923099999 meters 0.013168296806487872 Centerline is valid? [True, True] Translation: X:77.15, Y:-1.90, Z:-0.46 [[ 9.98258459e-01 5.88096748e-02 4.63376761e-03 7.71464794e+01] [-5.88090851e-02 9.98269213e-01 -2.63539139e-04 -1.89750348e+00] [-4.64124619e-03 -9.42745854e-06 9.99989229e-01 -4.62196648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.905769231 meters 0.01490467821946599 Centerline is valid? [True, True] Translation: X:77.21, Y:-1.91, Z:-0.46 [[ 9.98717783e-01 5.01378389e-02 6.99903421e-03 7.72059741e+01] [-5.01362813e-02 9.98742307e-01 -3.97935541e-04 -1.91415878e+00] [-7.01018320e-03 4.65197532e-05 9.99975427e-01 -4.57935805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.965769231 meters 0.01809583302047076 Centerline is valid? [True, True] Translation: X:77.27, Y:-1.93, Z:-0.46 [[ 9.98942163e-01 4.52662133e-02 8.09475459e-03 7.72677266e+01] [-4.52639676e-02 9.98974955e-01 -4.60507113e-04 -1.92604709e+00] [-8.10730252e-03 9.36192618e-05 9.99967131e-01 -4.56953728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.025769231 meters 0.02063590075313032 Centerline is valid? [True, True] Translation: X:77.33, Y:-1.94, Z:-0.46 [[ 9.99092774e-01 4.16003340e-02 9.11274317e-03 7.73295685e+01] [-4.15973226e-02 9.99134322e-01 -5.19831807e-04 -1.93776612e+00] [-9.12647964e-03 1.40294485e-04 9.99958343e-01 -4.56031710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.085769231 meters 0.024799216044768195 Centerline is valid? [True, True] Translation: X:77.39, Y:-1.95, Z:-0.46 [[ 9.99180276e-01 3.99820354e-02 6.34137809e-03 7.73896517e+01] [-3.99805437e-02 9.99200393e-01 -3.61872656e-04 -1.95212027e+00] [-6.35077588e-03 1.08044276e-04 9.99979828e-01 -4.60824056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14576923099999 meters 0.02561052586756164 Centerline is valid? [True, True] Translation: X:77.45, Y:-1.96, Z:-0.47 [[ 9.99264075e-01 3.80736209e-02 4.65909235e-03 7.74508626e+01] [-3.80727930e-02 9.99274933e-01 -2.66289654e-04 -1.96446216e+00] [-4.66585281e-03 8.87090268e-05 9.99989111e-01 -4.65014773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20576923099999 meters 0.026284868379584492 Centerline is valid? [True, True] Translation: X:77.51, Y:-1.98, Z:-0.47 [[ 9.99318366e-01 3.67282475e-02 3.72015669e-03 7.75126134e+01] [-3.67277091e-02 9.99325287e-01 -2.12984843e-04 -1.97567920e+00] [-3.72546921e-03 7.62068326e-05 9.99993058e-01 -4.66090049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.265769231 meters 0.026826275018290997 Centerline is valid? [True, True] Translation: X:77.57, Y:-1.99, Z:-0.46 [[ 9.99312957e-01 3.66613587e-02 5.43680506e-03 7.75738485e+01] [-3.66601998e-02 9.99327740e-01 -3.12690634e-04 -1.99034580e+00] [-5.44461378e-03 1.13161442e-04 9.99985172e-01 -4.63620014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.325769231 meters 0.02493119719244145 Centerline is valid? [True, True] Translation: X:77.64, Y:-2.00, Z:-0.47 [[ 9.99219644e-01 3.93018451e-02 3.93304356e-03 7.76351937e+01] [-3.93012576e-02 9.99227381e-01 -2.26598804e-04 -2.00016708e+00] [-3.93891056e-03 7.18484179e-05 9.99992240e-01 -4.67055347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.385769231 meters 0.020594484808576587 Centerline is valid? [True, True] Translation: X:77.70, Y:-2.01, Z:-0.47 [[ 9.99012699e-01 4.43808964e-02 1.99081537e-03 7.76952246e+01] [-4.43807549e-02 9.99014682e-01 -1.15219068e-04 -2.00749739e+00] [-1.99396731e-03 2.67514233e-05 9.99998012e-01 -4.70735112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.445769231 meters 0.015277662694273131 Centerline is valid? [True, True] Translation: X:77.76, Y:-2.01, Z:-0.47 [[ 9.98699478e-01 5.07538275e-02 4.83754082e-03 7.77557251e+01] [-5.07530659e-02 9.98711193e-01 -2.80147850e-04 -2.00826271e+00] [-4.84552475e-03 3.42634827e-05 9.99988260e-01 -4.65432439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.505769231 meters 0.012631721831830802 Centerline is valid? [True, True] Translation: X:77.82, Y:-2.00, Z:-0.46 [[ 9.98273213e-01 5.85048608e-02 5.27009389e-03 7.78187878e+01] [-5.85040658e-02 9.98287124e-01 -3.05007377e-04 -1.99987296e+00] [-5.27891129e-03 -3.84122594e-06 9.99986066e-01 -4.63772855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56576923099999 meters 0.015205251160703159 Centerline is valid? [True, True] Translation: X:77.88, Y:-1.99, Z:-0.47 [[ 9.97908889e-01 6.45498938e-02 3.34085115e-03 7.78815220e+01] [-6.45496078e-02 9.97914481e-01 -1.93479209e-04 -1.99150222e+00] [-3.34637280e-03 -2.25760087e-05 9.99994401e-01 -4.69103939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62576923099999 meters 0.017845049510528867 Centerline is valid? [True, True] Translation: X:77.94, Y:-1.98, Z:-0.47 [[ 9.97687476e-01 6.78274981e-02 4.37388595e-03 7.79419370e+01] [-6.78270328e-02 9.97697063e-01 -2.54793256e-04 -1.98307653e+00] [-4.38109515e-03 -4.24636650e-05 9.99990402e-01 -4.68357725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.685769231 meters 0.01655333949332383 Centerline is valid? [True, True] Translation: X:78.00, Y:-1.98, Z:-0.47 [[ 9.97799245e-01 6.61721222e-02 4.23275314e-03 7.80032222e+01] [-6.61716721e-02 9.97808223e-01 -2.46434033e-04 -1.98265162e+00] [-4.23978295e-03 -3.41966611e-05 9.99991011e-01 -4.68440337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.745769231 meters 0.015908075103346 Centerline is valid? [True, True] Translation: X:78.06, Y:-1.98, Z:-0.47 [[ 9.97859387e-01 6.53143337e-02 3.26812122e-03 7.80641218e+01] [-6.53140607e-02 9.97864739e-01 -1.90308596e-04 -1.98479910e+00] [-3.27357281e-03 -2.35530483e-05 9.99994642e-01 -4.70794280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.805769231 meters 0.015995461878038218 Centerline is valid? [True, True] Translation: X:78.12, Y:-1.98, Z:-0.47 [[ 9.97844836e-01 6.54425001e-02 4.79195975e-03 7.81244625e+01] [-6.54419136e-02 9.97856341e-01 -2.79248451e-04 -1.98192181e+00] [-4.79996214e-03 -3.49483917e-05 9.99988480e-01 -4.67777247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.865769231 meters 0.015958372367166976 Centerline is valid? [True, True] Translation: X:78.19, Y:-1.98, Z:-0.47 [[ 9.97873719e-01 6.50528798e-02 4.02046194e-03 7.81851374e+01] [-6.50524635e-02 9.97881818e-01 -2.34354724e-04 -1.98150459e+00] [-4.02719132e-03 -2.76845337e-05 9.99991890e-01 -4.70471534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92576923099999 meters 0.014355869616336015 Centerline is valid? [True, True] Translation: X:78.25, Y:-1.99, Z:-0.47 [[ 9.98044060e-01 6.24626512e-02 2.54378610e-03 7.82458808e+01] [-6.24624763e-02 9.98047302e-01 -1.48230758e-04 -1.98745814e+00] [-2.54807774e-03 -1.09503512e-05 9.99996754e-01 -4.73179924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98576923099999 meters 0.013255195716546065 Centerline is valid? [True, True] Translation: X:78.31, Y:-1.99, Z:-0.47 [[ 9.98053400e-01 6.21241481e-02 5.47723346e-03 7.83068087e+01] [-6.21233313e-02 9.98068429e-01 -3.19310593e-04 -1.99112420e+00] [-5.48649070e-03 -2.15749659e-05 9.99984949e-01 -4.66197987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.045769231 meters 0.013368891612999896 Centerline is valid? [True, True] Translation: X:78.37, Y:-2.00, Z:-0.47 [[ 9.98116437e-01 6.11491846e-02 4.93512277e-03 7.83666703e+01] [-6.11485092e-02 9.98128638e-01 -2.87758514e-04 -1.99523687e+00] [-4.94348357e-03 -1.45588980e-05 9.99987781e-01 -4.69286426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.105769231 meters 0.012613708055640918 Centerline is valid? [True, True] Translation: X:78.43, Y:-2.01, Z:-0.47 [[ 9.98253173e-01 5.88849656e-02 4.81294207e-03 7.84275188e+01] [-5.88842968e-02 9.98264775e-01 -2.80670120e-04 -2.00704780e+00] [-4.82111779e-03 -3.22687122e-06 9.99988378e-01 -4.69548708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.165769231 meters 0.012966769366887277 Centerline is valid? [True, True] Translation: X:78.49, Y:-2.02, Z:-0.47 [[ 9.98453689e-01 5.52997622e-02 5.67160841e-03 7.84894385e+01] [-5.52987759e-02 9.98469797e-01 -3.30696302e-04 -2.02082400e+00] [-5.68121712e-03 1.65519401e-05 9.99983862e-01 -4.67143895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.225769231 meters 0.013108481863184689 Centerline is valid? [True, True] Translation: X:78.55, Y:-2.03, Z:-0.47 [[ 9.98452922e-01 5.53799872e-02 4.98191769e-03 7.85507833e+01] [-5.53792239e-02 9.98465351e-01 -2.91142781e-04 -2.02885429e+00] [-4.99039567e-03 1.47976253e-05 9.99987548e-01 -4.68343135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28576923099999 meters 0.01244026777830229 Centerline is valid? [True, True] Translation: X:78.61, Y:-2.03, Z:-0.46 [[ 9.98341278e-01 5.71211042e-02 7.20222220e-03 7.86132328e+01] [-5.71195411e-02 9.98367257e-01 -4.22705085e-04 -2.03344628e+00] [-7.21460820e-03 1.06163083e-05 9.99973974e-01 -4.64903263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34576923099999 meters 0.01250119477003297 Centerline is valid? [True, True] Translation: X:78.68, Y:-2.04, Z:-0.47 [[ 9.98288850e-01 5.80954327e-02 6.65532956e-03 7.86750979e+01] [-5.80941129e-02 9.98311034e-01 -3.91618199e-04 -2.04227212e+00] [-6.66684017e-03 4.31261470e-06 9.99977776e-01 -4.67375501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.405769231 meters 0.013768539776107879 Centerline is valid? [True, True] Translation: X:78.74, Y:-2.06, Z:-0.47 [[ 9.98544560e-01 5.36933417e-02 5.07808587e-03 7.87361817e+01] [-5.36925133e-02 9.98557472e-01 -2.99417634e-04 -2.06167932e+00] [-5.08683732e-03 2.63266561e-05 9.99987062e-01 -4.70131242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.465769231 meters 0.014380772241432522 Centerline is valid? [True, True] Translation: X:78.80, Y:-2.08, Z:-0.47 [[ 9.98576424e-01 5.32171307e-02 3.61428714e-03 7.87966679e+01] [-5.32167061e-02 9.98582964e-01 -2.13641235e-04 -2.07693336e+00] [-3.62053494e-03 2.09966445e-05 9.99993446e-01 -4.73297303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.525769231 meters 0.012758120033444138 Centerline is valid? [True, True] Translation: X:78.86, Y:-2.08, Z:-0.47 [[ 9.98323294e-01 5.77633439e-02 3.74122963e-03 7.88589073e+01] [-5.77629203e-02 9.98330304e-01 -2.21283722e-04 -2.08099786e+00] [-3.74776500e-03 4.80834545e-06 9.99992977e-01 -4.73101861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.585769231 meters 0.013635695018944871 Centerline is valid? [True, True] Translation: X:78.92, Y:-2.08, Z:-0.47 [[ 9.97983457e-01 6.33434111e-02 4.07813778e-03 7.89200068e+01] [-6.33429510e-02 9.97991790e-01 -2.42023837e-04 -2.07823441e+00] [-4.08527863e-03 -1.67854958e-05 9.99991655e-01 -4.72986077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64576923099999 meters 0.020790161742831974 Centerline is valid? [True, True] Translation: X:78.98, Y:-2.07, Z:-0.48 [[ 9.97280651e-01 7.36384450e-02 2.94672549e-03 7.89822469e+01] [-7.36382477e-02 9.97285003e-01 -1.75549980e-04 -2.06637578e+00] [-2.95165237e-03 -4.19191032e-05 9.99995643e-01 -4.76115060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70576923099999 meters 0.033462664563160584 Centerline is valid? [True, True] Translation: X:79.04, Y:-2.04, Z:-0.47 [[ 9.96498357e-01 8.34996115e-02 4.34050873e-03 7.90433141e+01] [-8.34992756e-02 9.96507804e-01 -2.58861670e-04 -2.04246388e+00] [-4.34696568e-03 -1.04474106e-04 9.99990546e-01 -4.73032781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.765769231 meters 0.03292261013641124 Centerline is valid? [True, True] Translation: X:79.10, Y:-2.04, Z:-0.47 [[ 9.96251212e-01 8.63762457e-02 4.76097745e-03 7.91037008e+01] [-8.63758749e-02 9.96262580e-01 -2.83838004e-04 -2.04214868e+00] [-4.76770053e-03 -1.28459637e-04 9.99988626e-01 -4.71549272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.825769231 meters 0.04149500202354646 Centerline is valid? [True, True] Translation: X:79.16, Y:-2.02, Z:-0.47 [[ 9.95793655e-01 9.15287686e-02 4.18095021e-03 7.91646804e+01] [-9.15285279e-02 9.95802423e-01 -2.49280563e-04 -2.01810749e+00] [-4.18621669e-03 -1.34444215e-04 9.99991229e-01 -4.74612895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.885769231 meters 0.037921611003653745 Centerline is valid? [True, True] Translation: X:79.22, Y:-2.01, Z:-0.48 [[ 9.95909594e-01 9.02964609e-02 3.26046561e-03 7.92248113e+01] [-9.02963078e-02 9.95914926e-01 -1.94442529e-04 -2.01302195e+00] [-3.26470384e-03 -1.00760827e-04 9.99994666e-01 -4.76764706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.945769231 meters 0.0330355246580051 Centerline is valid? [True, True] Translation: X:79.28, Y:-2.01, Z:-0.48 [[ 9.96336892e-01 8.54457194e-02 3.43885355e-03 7.92846457e+01] [-8.54455205e-02 9.96342823e-01 -2.04992119e-04 -2.01156996e+00] [-3.44379275e-03 -8.95934202e-05 9.99994066e-01 -4.76343922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.005769231 meters 0.03255085096498123 Centerline is valid? [True, True] Translation: X:79.34, Y:-2.00, Z:-0.47 [[ 9.96488366e-01 8.35113303e-02 6.06580837e-03 7.93438486e+01] [-8.35106771e-02 9.96506817e-01 -3.61331771e-04 -2.00477694e+00] [-6.07479468e-03 -1.46496857e-04 9.99981538e-01 -4.72217577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06576923099999 meters 0.03219643308156556 Centerline is valid? [True, True] Translation: X:79.40, Y:-2.00, Z:-0.47 [[ 9.96454067e-01 8.39032603e-02 6.28778209e-03 7.94023717e+01] [-8.39025675e-02 9.96473893e-01 -3.74344244e-04 -2.00327341e+00] [-6.29701940e-03 -1.54544218e-04 9.99980162e-01 -4.72340427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12576923099999 meters 0.03066525003674897 Centerline is valid? [True, True] Translation: X:79.46, Y:-2.00, Z:-0.47 [[ 9.96633337e-01 8.17570073e-02 6.14680629e-03 7.94608399e+01] [-8.17563067e-02 9.96652283e-01 -3.65588163e-04 -2.00307333e+00] [-6.15611791e-03 -1.38182829e-04 9.99981041e-01 -4.72920790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.185769231 meters 0.02623833405099982 Centerline is valid? [True, True] Translation: X:79.52, Y:-2.01, Z:-0.48 [[ 9.96978133e-01 7.74877629e-02 5.49998748e-03 7.95207988e+01] [-7.74871381e-02 9.96993298e-01 -3.26921179e-04 -2.00753563e+00] [-5.50878305e-03 -1.00245023e-04 9.99984822e-01 -4.75014527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.245769231 meters 0.018978247877528463 Centerline is valid? [True, True] Translation: X:79.58, Y:-2.02, Z:-0.48 [[ 9.97432235e-01 7.14095785e-02 5.44144583e-03 7.95797076e+01] [-7.14088767e-02 9.97447075e-01 -3.23400234e-04 -2.02036302e+00] [-5.45064811e-03 -6.59977163e-05 9.99985143e-01 -4.75263965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.305769231 meters 0.01583679324868579 Centerline is valid? [True, True] Translation: X:79.64, Y:-2.03, Z:-0.47 [[ 9.97706019e-01 6.74189465e-02 6.11443234e-03 7.96385365e+01] [-6.74179865e-02 9.97724753e-01 -3.63223777e-04 -2.02909026e+00] [-6.12500866e-03 -4.98321679e-05 9.99981241e-01 -4.73891407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.365769231 meters 0.013966009710794676 Centerline is valid? [True, True] Translation: X:79.70, Y:-2.04, Z:-0.48 [[ 9.97913954e-01 6.43683999e-02 4.94456122e-03 7.96986809e+01] [-6.43677349e-02 9.97926204e-01 -2.93662679e-04 -2.03705892e+00] [-4.95320981e-03 -2.52201205e-05 9.99987732e-01 -4.77203067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42576923099999 meters 0.012786738666449526 Centerline is valid? [True, True] Translation: X:79.76, Y:-2.05, Z:-0.48 [[ 9.98147131e-01 6.07707761e-02 3.03616429e-03 7.97589191e+01] [-6.07705087e-02 9.98151748e-01 -1.80320983e-04 -2.04866752e+00] [-3.04151095e-03 -4.52237660e-06 9.99995375e-01 -4.80866662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48576923099999 meters 0.014162807601022008 Centerline is valid? [True, True] Translation: X:79.82, Y:-2.07, Z:-0.49 [[ 9.98511809e-01 5.45147511e-02 1.51969427e-03 7.98175975e+01] [-5.45146768e-02 9.98512965e-01 -9.03231683e-05 -2.06805620e+00] [-1.52235837e-03 7.34310847e-06 9.99998841e-01 -4.85291710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.545769231 meters 0.015791183094781905 Centerline is valid? [True, True] Translation: X:79.88, Y:-2.08, Z:-0.48 [[ 9.98694665e-01 5.08569363e-02 4.74734328e-03 7.98771433e+01] [-5.08561708e-02 9.98705948e-01 -2.81891853e-04 -2.08376939e+00] [-4.75553613e-03 4.00921893e-05 9.99988692e-01 -4.78233479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.605769231 meters 0.015575075096165788 Centerline is valid? [True, True] Translation: X:79.94, Y:-2.09, Z:-0.48 [[ 9.98684903e-01 5.10742505e-02 4.45920381e-03 7.99377644e+01] [-5.10735775e-02 9.98694858e-01 -2.64722274e-04 -2.08979563e+00] [-4.46690440e-03 3.66266474e-05 9.99990023e-01 -4.79354599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.665769231 meters 0.012577433497259835 Centerline is valid? [True, True] Translation: X:80.00, Y:-2.08, Z:-0.48 [[ 9.98334832e-01 5.74611317e-02 5.07764122e-03 7.99986993e+01] [-5.74603408e-02 9.98347744e-01 -3.01624243e-04 -2.08323007e+00] [-5.08658333e-03 9.35899337e-06 9.99987063e-01 -4.78907121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.725769231 meters 0.012597671705385519 Centerline is valid? [True, True] Translation: X:80.06, Y:-2.08, Z:-0.48 [[ 9.98241418e-01 5.90765452e-02 4.90244916e-03 8.00592811e+01] [-5.90758280e-02 9.98253456e-01 -2.91096861e-04 -2.08252396e+00] [-4.91108382e-03 9.68699079e-07 9.99987941e-01 -4.80716735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78576923099999 meters 0.01383857334597814 Centerline is valid? [True, True] Translation: X:80.12, Y:-2.09, Z:-0.48 [[ 9.98498837e-01 5.45289528e-02 5.16386548e-03 8.01192218e+01] [-5.45280942e-02 9.98512190e-01 -3.07019726e-04 -2.09219009e+00] [-5.17292409e-03 2.49830965e-05 9.99986620e-01 -4.80795342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84576923099999 meters 0.016737553105502293 Centerline is valid? [True, True] Translation: X:80.18, Y:-2.10, Z:-0.48 [[ 9.98750135e-01 4.97529524e-02 4.77607519e-03 8.01802864e+01] [-4.97521632e-02 9.98761554e-01 -2.83985658e-04 -2.09988238e+00] [-4.78428940e-03 4.60106420e-05 9.99988554e-01 -4.81567476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.905769231 meters 0.01877944219263979 Centerline is valid? [True, True] Translation: X:80.24, Y:-2.11, Z:-0.48 [[ 9.98862261e-01 4.74972744e-02 4.26520780e-03 8.02421110e+01] [-4.74966258e-02 9.98871366e-01 -2.53307440e-04 -2.10532385e+00] [-4.27242536e-03 5.04362632e-05 9.99990872e-01 -4.83338632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.965769231 meters 0.02074894885068682 Centerline is valid? [True, True] Translation: X:80.30, Y:-2.11, Z:-0.48 [[ 9.98953479e-01 4.54671354e-02 4.96859944e-03 8.03037974e+01] [-4.54662250e-02 9.98965833e-01 -2.96088188e-04 -2.11283318e+00] [-4.97692336e-03 6.98748652e-05 9.99987613e-01 -4.82470145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.025769231 meters 0.022753229156477702 Centerline is valid? [True, True] Translation: X:80.37, Y:-2.12, Z:-0.48 [[ 9.99048570e-01 4.33629650e-02 4.64845219e-03 8.03652556e+01] [-4.33621421e-02 9.99059381e-01 -2.77716857e-04 -2.12000269e+00] [-4.65612239e-03 7.58857844e-05 9.99989157e-01 -4.83741146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.085769231 meters 0.023073116871192227 Centerline is valid? [True, True] Translation: X:80.43, Y:-2.12, Z:-0.49 [[ 9.99068302e-01 4.30160043e-02 3.48600953e-03 8.04276150e+01] [-4.30155386e-02 9.99074382e-01 -2.08488150e-04 -2.12318775e+00] [-3.49175114e-03 5.83413242e-05 9.99993902e-01 -4.85644553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14576923099999 meters 0.020342946338302973 Centerline is valid? [True, True] Translation: X:80.49, Y:-2.12, Z:-0.49 [[ 9.98885599e-01 4.70404215e-02 3.84180882e-03 8.04886678e+01] [-4.70398810e-02 9.98892985e-01 -2.30966321e-04 -2.12199654e+00] [-3.84842063e-03 4.99907022e-05 9.99992594e-01 -4.85107674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20576923099999 meters 0.017590801997894253 Centerline is valid? [True, True] Translation: X:80.55, Y:-2.12, Z:-0.49 [[ 9.98768339e-01 4.94404959e-02 4.17640737e-03 8.05500256e+01] [-4.94398777e-02 9.98777070e-01 -2.51193006e-04 -2.11860289e+00] [-4.18371902e-03 4.44025519e-05 9.99991247e-01 -4.85017813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.265769231 meters 0.01882568508431715 Centerline is valid? [True, True] Translation: X:80.61, Y:-2.13, Z:-0.48 [[ 9.98841916e-01 4.76879973e-02 6.37823595e-03 8.06110609e+01] [-4.76865182e-02 9.98862277e-01 -3.83858708e-04 -2.12591950e+00] [-6.38928474e-03 7.92583027e-05 9.99979585e-01 -4.81774170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.325769231 meters 0.023156339336642306 Centerline is valid? [True, True] Translation: X:80.67, Y:-2.14, Z:-0.48 [[ 9.99053277e-01 4.30392021e-02 6.33856653e-03 8.06723755e+01] [-4.30376469e-02 9.99073378e-01 -3.81603120e-04 -2.14176882e+00] [-6.34911697e-03 1.08444859e-04 9.99979838e-01 -4.82532719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.385769231 meters 0.02374132119223715 Centerline is valid? [True, True] Translation: X:80.73, Y:-2.15, Z:-0.49 [[ 9.99172555e-01 4.04234211e-02 4.48913937e-03 8.07336015e+01] [-4.04226155e-02 9.99182636e-01 -2.70089039e-04 -2.15298974e+00] [-4.49638803e-03 8.84028010e-05 9.99989887e-01 -4.85739560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.445769231 meters 0.027507170692135458 Centerline is valid? [True, True] Translation: X:80.79, Y:-2.17, Z:-0.48 [[ 9.99230997e-01 3.88154428e-02 5.54756439e-03 8.07938679e+01] [-3.88141812e-02 9.99246390e-01 -3.34928532e-04 -2.17319455e+00] [-5.55638409e-03 1.19346801e-04 9.99984556e-01 -4.84220507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50576923099999 meters 0.026095981537739163 Centerline is valid? [True, True] Translation: X:80.86, Y:-2.19, Z:-0.48 [[ 9.99180682e-01 3.95469167e-02 8.60263803e-03 8.08553350e+01] [-3.95438930e-02 9.99217698e-01 -5.21355953e-04 -2.18743099e+00] [-8.61652619e-03 1.80746999e-04 9.99962861e-01 -4.79412609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56576923099999 meters 0.023467468877131824 Centerline is valid? [True, True] Translation: X:80.92, Y:-2.19, Z:-0.49 [[ 9.99053269e-01 4.32313628e-02 4.85942602e-03 8.09153344e+01] [-4.32304385e-02 9.99065084e-01 -2.95136595e-04 -2.19345644e+00] [-4.86764202e-03 8.47820628e-05 9.99988149e-01 -4.86950342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62576923099999 meters 0.01879439877735561 Centerline is valid? [True, True] Translation: X:80.98, Y:-2.19, Z:-0.49 [[ 9.98771708e-01 4.93837015e-02 4.04053278e-03 8.09761699e+01] [-4.93831128e-02 9.98779880e-01 -2.45400666e-04 -2.19267668e+00] [-4.04772164e-03 4.55651561e-05 9.99991807e-01 -4.86542089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.685769231 meters 0.016451787671109493 Centerline is valid? [True, True] Translation: X:81.04, Y:-2.19, Z:-0.49 [[ 9.98655740e-01 5.17059300e-02 3.63448023e-03 8.10384017e+01] [-5.17054706e-02 9.98662353e-01 -2.20325417e-04 -2.19203063e+00] [-3.64101071e-03 3.21067318e-05 9.99993371e-01 -4.87650313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.745769231 meters 0.013510023882530519 Centerline is valid? [True, True] Translation: X:81.10, Y:-2.19, Z:-0.49 [[ 9.98345294e-01 5.73861772e-02 3.67418255e-03 8.10992500e+01] [-5.73857426e-02 9.98352055e-01 -2.23691827e-04 -2.18619846e+00] [-3.68096452e-03 1.24759887e-05 9.99993225e-01 -4.90444095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.805769231 meters 0.012973953467917439 Centerline is valid? [True, True] Translation: X:81.16, Y:-2.18, Z:-0.49 [[ 9.98173696e-01 6.03563337e-02 2.52714277e-03 8.11611266e+01] [-6.03561370e-02 9.98176895e-01 -1.54069798e-04 -2.18256354e+00] [-2.53183461e-03 1.25984471e-06 9.99996795e-01 -4.91871632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.865769231 meters 0.013280632891101419 Centerline is valid? [True, True] Translation: X:81.22, Y:-2.18, Z:-0.49 [[ 9.98062379e-01 6.21802698e-02 2.25887011e-03 8.12217201e+01] [-6.21801170e-02 9.98064935e-01 -1.37861064e-04 -2.17954314e+00] [-2.26307128e-03 -2.86286653e-06 9.99997439e-01 -4.92517561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92576923099999 meters 0.012877923373711641 Centerline is valid? [True, True] Translation: X:81.28, Y:-2.18, Z:-0.49 [[ 9.98114488e-01 6.12244187e-02 4.36344871e-03 8.12812080e+01] [-6.12238397e-02 9.98124026e-01 -2.66269766e-04 -2.18060851e+00] [-4.37156521e-03 -1.37937330e-06 9.99990445e-01 -4.90553455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98576923099999 meters 0.0139751357943653 Centerline is valid? [True, True] Translation: X:81.34, Y:-2.19, Z:-0.49 [[ 9.98394761e-01 5.64383852e-02 4.75496090e-03 8.13433210e+01] [-5.64376446e-02 9.98406084e-01 -2.89888304e-04 -2.19068804e+00] [-4.76374272e-03 2.10641699e-05 9.99988653e-01 -4.90708150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.045769231 meters 0.021198525577938464 Centerline is valid? [True, True] Translation: X:81.40, Y:-2.21, Z:-0.49 [[ 9.98903596e-01 4.64986631e-02 5.42950436e-03 8.14029001e+01] [-4.64975435e-02 9.98918349e-01 -3.32327026e-04 -2.21465928e+00] [-5.43908429e-03 7.95040469e-05 9.99985205e-01 -4.90367424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.105769231 meters 0.03192484956898652 Centerline is valid? [True, True] Translation: X:81.46, Y:-2.24, Z:-0.49 [[ 9.99337977e-01 3.59412441e-02 5.64218031e-03 8.14609806e+01] [-3.59398663e-02 9.99353895e-01 -3.45443376e-04 -2.24473849e+00] [-5.65095053e-03 1.42435479e-04 9.99984023e-01 -4.90875636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.165769231 meters 0.03429236100951948 Centerline is valid? [True, True] Translation: X:81.52, Y:-2.26, Z:-0.49 [[ 9.99471287e-01 3.22585745e-02 4.06593490e-03 8.15211621e+01] [-3.22578291e-02 9.99479550e-01 -2.48795134e-04 -2.26155427e+00] [-4.07184456e-03 1.17505359e-04 9.99991703e-01 -4.93476073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.225769231 meters 0.03492589206869147 Centerline is valid? [True, True] Translation: X:81.58, Y:-2.28, Z:-0.49 [[ 9.99498834e-01 3.14160512e-02 3.88747354e-03 8.15825430e+01] [-3.14153646e-02 9.99506387e-01 -2.37565793e-04 -2.28168037e+00] [-3.89301802e-03 1.15320334e-04 9.99992416e-01 -4.93254626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28576923099999 meters 0.03877921208685328 Centerline is valid? [True, True] Translation: X:81.64, Y:-2.31, Z:-0.49 [[ 9.99497652e-01 3.12692265e-02 5.16522751e-03 8.16427473e+01] [-3.12680061e-02 9.99510986e-01 -3.16876912e-04 -2.30520741e+00] [-5.17261014e-03 1.55211364e-04 9.99986610e-01 -4.92168199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34576923099999 meters 0.037868554844824404 Centerline is valid? [True, True] Translation: X:81.70, Y:-2.32, Z:-0.49 [[ 9.99523755e-01 3.02857872e-02 5.91898404e-03 8.17045913e+01] [-3.02841601e-02 9.99541263e-01 -3.64360994e-04 -2.31829767e+00] [-5.92730374e-03 1.84936008e-04 9.99982416e-01 -4.91457716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.405769231 meters 0.03785481496061468 Centerline is valid? [True, True] Translation: X:81.77, Y:-2.33, Z:-0.49 [[ 9.99501527e-01 3.11903276e-02 4.88479979e-03 8.17655071e+01] [-3.11892272e-02 9.99513452e-01 -3.01301218e-04 -2.33186311e+00] [-4.89182079e-03 1.48797897e-04 9.99988024e-01 -4.92332539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.465769231 meters 0.030228226481878145 Centerline is valid? [True, True] Translation: X:81.83, Y:-2.33, Z:-0.49 [[ 9.99226442e-01 3.88599408e-02 6.03507722e-03 8.18267589e+01] [-3.88583924e-02 9.99244658e-01 -3.73647217e-04 -2.32880694e+00] [-6.04503858e-03 1.38844781e-04 9.99981719e-01 -4.90668612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.525769231 meters 0.02318182937897741 Centerline is valid? [True, True] Translation: X:81.89, Y:-2.32, Z:-0.49 [[ 9.98931599e-01 4.58396043e-02 5.86433837e-03 8.18875880e+01] [-4.58382620e-02 9.98948808e-01 -3.63154993e-04 -2.32430835e+00] [-5.87482071e-03 9.39559193e-05 9.99982739e-01 -4.90628032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.585769231 meters 0.01624793299260151 Centerline is valid? [True, True] Translation: X:81.95, Y:-2.31, Z:-0.49 [[ 9.98574916e-01 5.31304979e-02 5.02869467e-03 8.19497865e+01] [-5.31296036e-02 9.98587577e-01 -3.11360030e-04 -2.31453883e+00] [-5.03813474e-03 4.37437616e-05 9.99987308e-01 -4.93453511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64576923099999 meters 0.013735615614998956 Centerline is valid? [True, True] Translation: X:82.01, Y:-2.31, Z:-0.50 [[ 9.98344076e-01 5.73996864e-02 3.79247295e-03 8.20127514e+01] [-5.73992093e-02 9.98351279e-01 -2.34627753e-04 -2.31145998e+00] [-3.79968778e-03 1.65542785e-05 9.99992781e-01 -4.96086169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70576923099999 meters 0.01410169735118599 Centerline is valid? [True, True] Translation: X:82.07, Y:-2.31, Z:-0.50 [[ 9.98318337e-01 5.79060756e-02 2.71752593e-03 8.20745540e+01] [-5.79058326e-02 9.98322035e-01 -1.68088355e-04 -2.31444598e+00] [-2.72269935e-03 1.04450855e-05 9.99996293e-01 -4.98953986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.765769231 meters 0.013913151673275807 Centerline is valid? [True, True] Translation: X:82.14, Y:-2.32, Z:-0.50 [[ 9.98322911e-01 5.77937862e-02 3.35313855e-03 8.21374746e+01] [-5.77934143e-02 9.98328542e-01 -2.07769376e-04 -2.32119143e+00] [-3.35954170e-03 1.36316032e-05 9.99994357e-01 -4.97731400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.825769231 meters 0.014435750308424061 Centerline is valid? [True, True] Translation: X:82.20, Y:-2.33, Z:-0.49 [[ 9.98397260e-01 5.62914486e-02 5.84677047e-03 8.22004577e+01] [-5.62902799e-02 9.98414379e-01 -3.64381330e-04 -2.33100747e+00] [-5.85801126e-03 3.46809754e-05 9.99982841e-01 -4.93571921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.885769231 meters 0.013707611682432112 Centerline is valid? [True, True] Translation: X:82.26, Y:-2.33, Z:-0.49 [[ 9.98320620e-01 5.75281729e-02 6.81530455e-03 8.22630768e+01] [-5.75266031e-02 9.98343883e-01 -4.26305705e-04 -2.33414830e+00] [-6.82854219e-03 3.35284558e-05 9.99976685e-01 -4.91376050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.945769231 meters 0.012901209080691499 Centerline is valid? [True, True] Translation: X:82.32, Y:-2.33, Z:-0.49 [[ 9.98166934e-01 6.02070694e-02 6.15476656e-03 8.23248163e+01] [-6.02058386e-02 9.98185909e-01 -3.85240864e-04 -2.33185813e+00] [-6.16679548e-03 1.39818105e-05 9.99980985e-01 -4.92994557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00576923099999 meters 0.013273186152689775 Centerline is valid? [True, True] Translation: X:82.39, Y:-2.34, Z:-0.49 [[ 9.98245065e-01 5.89516819e-02 5.61162238e-03 8.23875081e+01] [-5.89506348e-02 9.98260837e-01 -3.51975793e-04 -2.33718059e+00] [-5.62261242e-03 2.05493964e-05 9.99984193e-01 -4.94295526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06576923099999 meters 0.015946561128987027 Centerline is valid? [True, True] Translation: X:82.45, Y:-2.35, Z:-0.50 [[ 9.98491293e-01 5.46743560e-02 5.08451509e-03 8.24482649e+01] [-5.46734361e-02 9.98504238e-01 -3.19835706e-04 -2.34774081e+00] [-5.09439668e-03 4.13652565e-05 9.99987023e-01 -4.96519339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12576923099999 meters 0.01631793721060811 Centerline is valid? [True, True] Translation: X:82.51, Y:-2.35, Z:-0.50 [[ 9.98497818e-01 5.45843186e-02 4.76025573e-03 8.25100754e+01] [-5.45835077e-02 9.98509164e-01 -3.00191751e-04 -2.35279283e+00] [-4.76954473e-03 3.99093530e-05 9.99988625e-01 -4.97022454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.185769231 meters 0.013701594537986524 Centerline is valid? [True, True] Translation: X:82.57, Y:-2.35, Z:-0.50 [[ 9.98248036e-01 5.90210717e-02 4.16802045e-03 8.25717633e+01] [-5.90204875e-02 9.98256737e-01 -2.63137396e-04 -2.34756795e+00] [-4.17628515e-03 1.66777899e-05 9.99991279e-01 -4.97819342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.245769231 meters 0.012644786674665925 Centerline is valid? [True, True] Translation: X:82.63, Y:-2.34, Z:-0.50 [[ 9.97967197e-01 6.36000307e-02 4.06310583e-03 8.26346751e+01] [-6.35995112e-02 9.97975469e-01 -2.57058038e-04 -2.33935628e+00] [-4.07122885e-03 -1.87605492e-06 9.99991713e-01 -4.98120022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.305769231 meters 0.012554635006577655 Centerline is valid? [True, True] Translation: X:82.70, Y:-2.34, Z:-0.50 [[ 9.97936382e-01 6.39855639e-02 5.36894390e-03 8.26975115e+01] [-6.39846561e-02 9.97950824e-01 -3.40862373e-04 -2.33822030e+00] [-5.37975226e-03 -3.37106595e-06 9.99985529e-01 -4.96852966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.365769231 meters 0.012752956364648693 Centerline is valid? [True, True] Translation: X:82.76, Y:-2.34, Z:-0.50 [[ 9.98016328e-01 6.27844741e-02 4.63891450e-03 8.27598947e+01] [-6.27837793e-02 9.98027109e-01 -2.95380158e-04 -2.33753931e+00] [-4.64830772e-03 3.54563612e-06 9.99989197e-01 -4.98055779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42576923099999 meters 0.012433435706626325 Centerline is valid? [True, True] Translation: X:82.82, Y:-2.33, Z:-0.49 [[ 9.97887468e-01 6.43816745e-02 8.69488823e-03 8.28235534e+01] [-6.43792781e-02 9.97925348e-01 -5.55506808e-04 -2.33154352e+00] [-8.71261382e-03 -5.43734513e-06 9.99962044e-01 -4.90188868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48576923099999 meters 0.012684429711300956 Centerline is valid? [True, True] Translation: X:82.89, Y:-2.33, Z:-0.50 [[ 9.97879667e-01 6.48733740e-02 5.25502327e-03 8.28856914e+01] [-6.48725028e-02 9.97893504e-01 -3.36250600e-04 -2.32827826e+00] [-5.26576729e-03 -5.36887485e-06 9.99986136e-01 -4.98661376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.545769231 meters 0.012910383236483488 Centerline is valid? [True, True] Translation: X:82.95, Y:-2.33, Z:-0.50 [[ 9.97962184e-01 6.37326726e-02 3.10246635e-03 8.29485518e+01] [-6.37323634e-02 9.97967007e-01 -1.98543383e-04 -2.33153042e+00] [-3.10881276e-03 4.11275541e-07 9.99995168e-01 -5.03099818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.605769231 meters 0.012801273315093478 Centerline is valid? [True, True] Translation: X:83.01, Y:-2.33, Z:-0.50 [[ 9.97982799e-01 6.33723807e-02 3.77812021e-03 8.30117488e+01] [-6.33719158e-02 9.97989951e-01 -2.42758069e-04 -2.33163239e+00] [-3.78591016e-03 2.84166092e-06 9.99992833e-01 -5.02130398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.665769231 meters 0.0126346629911638 Centerline is valid? [True, True] Translation: X:83.07, Y:-2.33, Z:-0.50 [[ 9.97959672e-01 6.35173211e-02 6.48407323e-03 8.30742874e+01] [-6.35159403e-02 9.97980736e-01 -4.18858558e-04 -2.32973480e+00] [-6.49758495e-03 6.16194062e-06 9.99978890e-01 -4.96349073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.725769231 meters 0.012880596826409439 Centerline is valid? [True, True] Translation: X:83.14, Y:-2.33, Z:-0.50 [[ 9.98025981e-01 6.25324502e-02 5.81663047e-03 8.31362927e+01] [-6.25313169e-02 9.98042931e-01 -3.76663662e-04 -2.33418568e+00] [-5.82880063e-03 1.21985574e-05 9.99983012e-01 -4.98664755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78576923099999 meters 0.01405157823586797 Centerline is valid? [True, True] Translation: X:83.20, Y:-2.34, Z:-0.50 [[ 9.98205494e-01 5.97365007e-02 4.16447811e-03 8.31980052e+01] [-5.97358938e-02 9.98214180e-01 -2.70065164e-04 -2.34430458e+00] [-4.17317385e-03 2.08117082e-05 9.99991292e-01 -5.01420513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84576923099999 meters 0.014365683200576447 Centerline is valid? [True, True] Translation: X:83.26, Y:-2.35, Z:-0.50 [[ 9.98230737e-01 5.91874540e-02 5.67806703e-03 8.32601298e+01] [-5.91863095e-02 9.98246885e-01 -3.69541365e-04 -2.35378536e+00] [-5.68998494e-03 3.28237172e-05 9.99983811e-01 -4.99621678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.905769231 meters 0.014342185730593333 Centerline is valid? [True, True] Translation: X:83.32, Y:-2.36, Z:-0.50 [[ 9.98209812e-01 5.95107580e-02 5.96993417e-03 8.33213880e+01] [-5.95094914e-02 9.98227664e-01 -3.89729956e-04 -2.36172703e+00] [-5.98254656e-03 3.37645203e-05 9.99982104e-01 -5.00725296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.965769231 meters 0.01503912817869181 Centerline is valid? [True, True] Translation: X:83.38, Y:-2.37, Z:-0.50 [[ 9.98251008e-01 5.89556308e-02 4.37703715e-03 8.33830386e+01] [-5.89549427e-02 9.98260604e-01 -2.86178674e-04 -2.37448322e+00] [-4.38629559e-03 2.76301755e-05 9.99990380e-01 -5.04337325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.025769231 meters 0.017090215915548938 Centerline is valid? [True, True] Translation: X:83.44, Y:-2.39, Z:-0.50 [[ 9.98445608e-01 5.55617506e-02 4.38854034e-03 8.34444695e+01] [-5.55610228e-02 9.98455252e-01 -2.87693518e-04 -2.39226201e+00] [-4.39774591e-03 4.34145394e-05 9.99990329e-01 -5.04319835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.085769231 meters 0.0188507157799735 Centerline is valid? [True, True] Translation: X:83.51, Y:-2.41, Z:-0.50 [[ 9.98511451e-01 5.42101719e-02 6.01162390e-03 8.35050391e+01] [-5.42087728e-02 9.98529545e-01 -3.95544410e-04 -2.40584345e+00] [-6.02422661e-03 6.90728685e-05 9.99981852e-01 -5.02016023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14576923099999 meters 0.01898292370337832 Centerline is valid? [True, True] Translation: X:83.57, Y:-2.42, Z:-0.50 [[ 9.98469262e-01 5.48800998e-02 6.87801481e-03 8.35658810e+01] [-5.48782760e-02 9.98492949e-01 -4.53755772e-04 -2.41966232e+00] [-6.89255145e-03 7.56075955e-05 9.99976243e-01 -4.99914675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20576923099999 meters 0.013586026515956797 Centerline is valid? [True, True] Translation: X:83.63, Y:-2.42, Z:-0.50 [[ 9.98077333e-01 6.16521032e-02 6.37611628e-03 8.36275677e+01] [-6.16506685e-02 9.98097699e-01 -4.21505686e-04 -2.41987451e+00] [-6.38997371e-03 2.76034402e-05 9.99979584e-01 -5.01507259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.265769231 meters 0.012219045477795515 Centerline is valid? [True, True] Translation: X:83.69, Y:-2.42, Z:-0.50 [[ 9.97755686e-01 6.67396531e-02 5.42300522e-03 8.36893617e+01] [-6.67386868e-02 9.97770424e-01 -3.59143325e-04 -2.42406844e+00] [-5.43488332e-03 -3.58695271e-06 9.99985231e-01 -5.04320884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.325769231 meters 0.01244312354455592 Centerline is valid? [True, True] Translation: X:83.75, Y:-2.43, Z:-0.50 [[ 9.97676394e-01 6.78857285e-02 5.77408113e-03 8.37509547e+01] [-6.78846464e-02 9.97693103e-01 -3.83419591e-04 -2.42985085e+00] [-5.78678964e-03 -9.44278107e-06 9.99983256e-01 -5.04654584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.385769231 meters 0.014365385963743564 Centerline is valid? [True, True] Translation: X:83.81, Y:-2.43, Z:-0.51 [[ 9.97294131e-01 7.33681564e-02 4.63992803e-03 8.38133183e+01] [-7.33675142e-02 9.97304925e-01 -3.08701735e-04 -2.42812952e+00] [-4.65007195e-03 -3.25535567e-05 9.99989188e-01 -5.06594421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.445769231 meters 0.018995147345567287 Centerline is valid? [True, True] Translation: X:83.88, Y:-2.42, Z:-0.51 [[ 9.96796213e-01 7.98439818e-02 4.71691065e-03 8.38760601e+01] [-7.98433854e-02 9.96807371e-01 -3.14918408e-04 -2.41876288e+00] [-4.72699564e-03 -6.27046383e-05 9.99988826e-01 -5.06209195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50576923099999 meters 0.022519141953301597 Centerline is valid? [True, True] Translation: X:83.94, Y:-2.41, Z:-0.50 [[ 9.96459723e-01 8.38307965e-02 6.35744947e-03 8.39386426e+01] [-8.38297915e-02 9.96479998e-01 -4.24872617e-04 -2.41281197e+00] [-6.37068864e-03 -1.09575212e-04 9.99979701e-01 -5.04079930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56576923099999 meters 0.0204007731846065 Centerline is valid? [True, True] Translation: X:84.00, Y:-2.42, Z:-0.50 [[ 9.96671222e-01 8.11958066e-02 7.32907245e-03 8.39995116e+01] [-8.11943964e-02 9.96698164e-01 -4.90242891e-04 -2.41562858e+00] [-7.34467872e-03 -1.06468632e-04 9.99973022e-01 -5.03530996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62576923099999 meters 0.017452309702211958 Centerline is valid? [True, True] Translation: X:84.06, Y:-2.42, Z:-0.51 [[ 9.96961532e-01 7.77174922e-02 5.26252483e-03 8.40613870e+01] [-7.77167141e-02 9.96975420e-01 -3.52495215e-04 -2.42193719e+00] [-5.27400294e-03 -5.75619679e-05 9.99986091e-01 -5.06592683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.685769231 meters 0.016262281625888105 Centerline is valid? [True, True] Translation: X:84.12, Y:-2.43, Z:-0.51 [[ 9.97083934e-01 7.61754534e-02 4.57491486e-03 8.41237977e+01] [-7.61748452e-02 9.97094428e-01 -3.07296404e-04 -2.42756491e+00] [-4.58503056e-03 -4.20931241e-05 9.99989488e-01 -5.08866631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.745769231 meters 0.013408477528625262 Centerline is valid? [True, True] Translation: X:84.19, Y:-2.44, Z:-0.51 [[ 9.97409448e-01 7.17230145e-02 5.49568574e-03 8.41857741e+01] [-7.17220671e-02 9.97424588e-01 -3.69549864e-04 -2.44040008e+00] [-5.50803731e-03 -2.55694149e-05 9.99984830e-01 -5.09096275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.805769231 meters 0.012465317378490087 Centerline is valid? [True, True] Translation: X:84.25, Y:-2.46, Z:-0.51 [[ 9.97825115e-01 6.56726859e-02 5.66914073e-03 8.42458752e+01] [-6.56715787e-02 9.97841219e-01 -3.81434220e-04 -2.45940417e+00] [-5.68195211e-03 8.30322252e-06 9.99983858e-01 -5.10316826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.865769231 meters 0.014242708080324587 Centerline is valid? [True, True] Translation: X:84.31, Y:-2.47, Z:-0.51 [[ 9.98078419e-01 6.18365702e-02 3.96331471e-03 8.43069882e+01] [-6.18359978e-02 9.98086288e-01 -2.66914718e-04 -2.47455391e+00] [-3.97223516e-03 2.13263000e-05 9.99992110e-01 -5.13062269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92576923099999 meters 0.013499585909746705 Centerline is valid? [True, True] Translation: X:84.37, Y:-2.48, Z:-0.51 [[ 9.98019208e-01 6.27051916e-02 5.07147388e-03 8.43687299e+01] [-6.27042599e-02 9.98032093e-01 -3.42652026e-04 -2.48109678e+00] [-5.08297975e-03 2.39702868e-05 9.99987081e-01 -5.10880550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98576923099999 meters 0.01308231748534229 Centerline is valid? [True, True] Translation: X:84.43, Y:-2.49, Z:-0.51 [[ 9.97958490e-01 6.36401459e-02 5.36502072e-03 8.44312762e+01] [-6.36391119e-02 9.97972911e-01 -3.63394891e-04 -2.48664239e+00] [-5.37727185e-03 2.12278624e-05 9.99985542e-01 -5.11881138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.045769231 meters 0.01252528557616503 Centerline is valid? [True, True] Translation: X:84.49, Y:-2.49, Z:-0.51 [[ 9.97838292e-01 6.55501208e-02 4.68235885e-03 8.44933742e+01] [-6.55493507e-02 9.97849278e-01 -3.17889988e-04 -2.49458285e+00] [-4.69312612e-03 1.02772203e-05 9.99988987e-01 -5.12138164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.105769231 meters 0.012284325095386494 Centerline is valid? [True, True] Translation: X:84.56, Y:-2.49, Z:-0.51 [[ 9.97556076e-01 6.96785776e-02 5.17408670e-03 8.45565906e+01] [-6.96776870e-02 9.97569494e-01 -3.52407750e-04 -2.49408431e+00] [-5.18606632e-03 -8.97190088e-06 9.99986552e-01 -5.10962779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.165769231 meters 0.014542731429943934 Centerline is valid? [True, True] Translation: X:84.62, Y:-2.49, Z:-0.51 [[ 9.97136001e-01 7.53079057e-02 6.96518919e-03 8.46194131e+01] [-7.53064167e-02 9.97160327e-01 -4.76166218e-04 -2.49185917e+00] [-6.98126940e-03 -4.97209609e-05 9.99975629e-01 -5.08734101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.225769231 meters 0.01991890042141463 Centerline is valid? [True, True] Translation: X:84.68, Y:-2.49, Z:-0.51 [[ 9.96513112e-01 8.29807976e-02 8.70656210e-03 8.46818848e+01] [-8.29787488e-02 9.96551138e-01 -5.96913581e-04 -2.48537602e+00] [-8.72606673e-03 -1.27627419e-04 9.99961919e-01 -5.05415233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28576923099999 meters 0.02422633902135212 Centerline is valid? [True, True] Translation: X:84.74, Y:-2.48, Z:-0.51 [[ 9.96169540e-01 8.72835092e-02 5.27599759e-03 8.47444605e+01] [-8.72828141e-02 9.96183507e-01 -3.62297740e-04 -2.48140666e+00] [-5.28748440e-03 -9.95939431e-05 9.99986016e-01 -5.12501850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34576923099999 meters 0.02817099648285646 Centerline is valid? [True, True] Translation: X:84.80, Y:-2.48, Z:-0.51 [[ 9.95831454e-01 9.10132562e-02 6.02506852e-03 8.48045100e+01] [-9.10124156e-02 9.95849672e-01 -4.14115417e-04 -2.47866731e+00] [-6.03775250e-03 -1.35966882e-04 9.99981763e-01 -5.12015597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.405769231 meters 0.030984574000733043 Centerline is valid? [True, True] Translation: X:84.87, Y:-2.47, Z:-0.51 [[ 9.95604844e-01 9.35055774e-02 5.26327448e-03 8.48671416e+01] [-9.35049711e-02 9.95618747e-01 -3.61674336e-04 -2.47471972e+00] [-5.27403331e-03 -1.32057608e-04 9.99986083e-01 -5.14723092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.465769231 meters 0.031288826384896246 Centerline is valid? [True, True] Translation: X:84.93, Y:-2.48, Z:-0.52 [[ 9.95556827e-01 9.40300422e-02 4.99557516e-03 8.49295412e+01] [-9.40295028e-02 9.95569352e-01 -3.43260176e-04 -2.47799076e+00] [-5.00571830e-03 -1.27996437e-04 9.99987463e-01 -5.15555075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.525769231 meters 0.03164675569420743 Centerline is valid? [True, True] Translation: X:84.99, Y:-2.48, Z:-0.51 [[ 9.95477949e-01 9.47578489e-02 6.67851303e-03 8.49918000e+01] [-9.47568913e-02 9.95500336e-01 -4.60376922e-04 -2.47903013e+00] [-6.69208629e-03 -1.74540059e-04 9.99977593e-01 -5.12030864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.585769231 meters 0.033791434157080746 Centerline is valid? [True, True] Translation: X:85.05, Y:-2.48, Z:-0.51 [[ 9.95326173e-01 9.63528693e-02 6.47560607e-03 8.50525614e+01] [-9.63519958e-02 9.95347222e-01 -4.47462415e-04 -2.47835584e+00] [-6.48859080e-03 -1.78566516e-04 9.99978933e-01 -5.13782613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64576923099999 meters 0.03807343754530355 Centerline is valid? [True, True] Translation: X:85.11, Y:-2.47, Z:-0.52 [[ 9.94958664e-01 1.00185234e-01 4.49180402e-03 8.51139231e+01] [-1.00184851e-01 9.94968793e-01 -3.10749115e-04 -2.47080148e+00] [-4.50033730e-03 -1.40828191e-04 9.99989864e-01 -5.17947719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70576923099999 meters 0.042372886249328126 Centerline is valid? [True, True] Translation: X:85.17, Y:-2.46, Z:-0.52 [[ 9.94673590e-01 1.02942643e-01 5.22134066e-03 8.51744564e+01] [-1.02942163e-01 9.94687278e-01 -3.61333461e-04 -2.46015437e+00] [-5.23079774e-03 -1.78087252e-04 9.99986303e-01 -5.16923231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.765769231 meters 0.038803023228209825 Centerline is valid? [True, True] Translation: X:85.24, Y:-2.46, Z:-0.52 [[ 9.94849560e-01 1.01166531e-01 6.29961566e-03 8.52356437e+01] [-1.01165797e-01 9.94869485e-01 -4.35849225e-04 -2.46081398e+00] [-6.31138874e-03 -2.03701229e-04 9.99980062e-01 -5.15723838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.825769231 meters 0.03377218405645772 Centerline is valid? [True, True] Translation: X:85.30, Y:-2.47, Z:-0.52 [[ 9.95326756e-01 9.63192184e-02 6.87433039e-03 8.52963324e+01] [-9.63182284e-02 9.95350477e-01 -4.75698685e-04 -2.46778271e+00] [-6.88818696e-03 -1.88647696e-04 9.99976258e-01 -5.15877147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.885769231 meters 0.026400216890637013 Centerline is valid? [True, True] Translation: X:85.35, Y:-2.48, Z:-0.52 [[ 9.96065731e-01 8.83615643e-02 6.73007611e-03 8.53548991e+01] [-8.83604332e-02 9.96088458e-01 -4.65798822e-04 -2.47871264e+00] [-6.74490985e-03 -1.30706197e-04 9.99977244e-01 -5.15699786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.945769231 meters 0.020081351274030212 Centerline is valid? [True, True] Translation: X:85.42, Y:-2.49, Z:-0.52 [[ 9.96616843e-01 8.19582514e-02 6.14117872e-03 8.54155010e+01] [-8.19571885e-02 9.96635760e-01 -4.24961081e-04 -2.48932748e+00] [-6.15534739e-03 -7.97903707e-05 9.99981052e-01 -5.17079220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00576923099999 meters 0.01975792965857729 Centerline is valid? [True, True] Translation: X:85.48, Y:-2.49, Z:-0.52 [[ 9.96539833e-01 8.28683046e-02 6.41918388e-03 8.54774009e+01] [-8.28671622e-02 9.96560503e-01 -4.44192719e-04 -2.48970253e+00] [-6.43391461e-03 -8.92838140e-05 9.99979298e-01 -5.16568775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06576923099999 meters 0.022147104421248592 Centerline is valid? [True, True] Translation: X:85.54, Y:-2.49, Z:-0.52 [[ 9.96405556e-01 8.45769901e-02 4.76452499e-03 8.55387412e+01] [-8.45763778e-02 9.96416944e-01 -3.30212921e-04 -2.48814098e+00] [-4.77538185e-03 -7.39402766e-05 9.99988595e-01 -5.20968065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12576923099999 meters 0.0202148763383705 Centerline is valid? [True, True] Translation: X:85.60, Y:-2.49, Z:-0.52 [[ 9.96513020e-01 8.33440016e-02 3.94693482e-03 8.56006575e+01] [-8.33435703e-02 9.96520835e-01 -2.73929016e-04 -2.49382348e+00] [-3.95603312e-03 -5.59778081e-05 9.99992173e-01 -5.23178641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.185769231 meters 0.015753240264730402 Centerline is valid? [True, True] Translation: X:85.66, Y:-2.51, Z:-0.52 [[ 9.96955968e-01 7.78762524e-02 3.75324710e-03 8.56614538e+01] [-7.78758201e-02 9.96963033e-01 -2.61420778e-04 -2.50839040e+00] [-3.76220708e-03 -3.16621910e-05 9.99992922e-01 -5.24758616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.245769231 meters 0.014128617923798365 Centerline is valid? [True, True] Translation: X:85.72, Y:-2.52, Z:-0.52 [[ 9.97089937e-01 7.60600715e-02 5.15003683e-03 8.57227009e+01] [-7.60592323e-02 9.97103237e-01 -3.58878924e-04 -2.51769036e+00] [-5.16241475e-03 -3.38732843e-05 9.99986674e-01 -5.22674288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.305769231 meters 0.017261763999537286 Centerline is valid? [True, True] Translation: X:85.78, Y:-2.52, Z:-0.52 [[ 9.96726135e-01 8.06804959e-02 5.26013757e-03 8.57849904e+01] [-8.06796800e-02 9.96740013e-01 -3.67455487e-04 -2.51792647e+00] [-5.27263608e-03 -5.81337285e-05 9.99986098e-01 -5.21791752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.365769231 meters 0.02554449943096251 Centerline is valid? [True, True] Translation: X:85.85, Y:-2.51, Z:-0.52 [[ 9.96002751e-01 8.91148906e-02 6.08733759e-03 8.58461113e+01] [-8.91139471e-02 9.96021346e-01 -4.26592924e-04 -2.50603990e+00] [-6.10113396e-03 -1.17578953e-04 9.99981381e-01 -5.20559362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42576923099999 meters 0.03104606353906069 Centerline is valid? [True, True] Translation: X:85.91, Y:-2.50, Z:-0.52 [[ 9.95574787e-01 9.38804249e-02 4.16034493e-03 8.59069569e+01] [-9.38800264e-02 9.95583475e-01 -2.91399736e-04 -2.49700999e+00] [-4.16932739e-03 -1.00463061e-04 9.99991303e-01 -5.24607654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48576923099999 meters 0.032991186657170525 Centerline is valid? [True, True] Translation: X:85.97, Y:-2.49, Z:-0.52 [[ 9.95442567e-01 9.52515340e-02 4.60881499e-03 8.59679163e+01] [-9.52510577e-02 9.95453229e-01 -3.23225907e-04 -2.49312272e+00] [-4.61864753e-03 -1.17241676e-04 9.99989327e-01 -5.24632830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.545769231 meters 0.035585659745123614 Centerline is valid? [True, True] Translation: X:86.03, Y:-2.48, Z:-0.52 [[ 9.95244442e-01 9.71129638e-02 7.58771671e-03 8.60283351e+01] [-9.71117271e-02 9.95273344e-01 -5.32129466e-04 -2.48256888e+00] [-7.60352885e-03 -2.07257381e-04 9.99971071e-01 -5.19377922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.605769231 meters 0.03679714789311028 Centerline is valid? [True, True] Translation: X:86.09, Y:-2.47, Z:-0.52 [[ 9.95081416e-01 9.89014443e-02 5.61072375e-03 8.60889677e+01] [-9.89007970e-02 9.95097220e-01 -3.93397226e-04 -2.47133637e+00] [-5.62212317e-03 -1.63442782e-04 9.99984182e-01 -5.24338806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.665769231 meters 0.03542984071985357 Centerline is valid? [True, True] Translation: X:86.15, Y:-2.46, Z:-0.53 [[ 9.95247785e-01 9.72566483e-02 4.79480199e-03 8.61487942e+01] [-9.72561567e-02 9.95259327e-01 -3.36152260e-04 -2.45976542e+00] [-4.80476444e-03 -1.31769222e-04 9.99988448e-01 -5.26145989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.725769231 meters 0.029495663057138213 Centerline is valid? [True, True] Translation: X:86.21, Y:-2.46, Z:-0.53 [[ 9.95658315e-01 9.29631277e-02 4.73039319e-03 8.62083236e+01] [-9.29626019e-02 9.95669546e-01 -3.31374393e-04 -2.46075025e+00] [-4.74071404e-03 -1.09813989e-04 9.99988757e-01 -5.26898052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78576923099999 meters 0.01897467552262092 Centerline is valid? [True, True] Translation: X:86.27, Y:-2.47, Z:-0.53 [[ 9.96680971e-01 8.12155090e-02 5.57516258e-03 8.62673634e+01] [-8.12145958e-02 9.96696562e-01 -3.90378402e-04 -2.46573148e+00] [-5.58845016e-03 -6.37018507e-05 9.99984382e-01 -5.25987961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84576923099999 meters 0.012201552909299052 Centerline is valid? [True, True] Translation: X:86.33, Y:-2.48, Z:-0.52 [[ 9.97662310e-01 6.78356224e-02 8.26101424e-03 8.63267605e+01] [-6.78331593e-02 9.97696511e-01 -5.78303305e-04 -2.47948260e+00] [-8.28121465e-03 1.65807161e-05 9.99965710e-01 -5.21218008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.905769231 meters 0.018120446302020306 Centerline is valid? [True, True] Translation: X:86.39, Y:-2.49, Z:-0.53 [[ 9.98319301e-01 5.76341425e-02 6.07273461e-03 8.63870068e+01] [-5.76326227e-02 9.98337769e-01 -4.25104015e-04 -2.49103448e+00] [-6.08714083e-03 7.44019205e-05 9.99981470e-01 -5.26419427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.965769231 meters 0.023947986018496938 Centerline is valid? [True, True] Translation: X:86.45, Y:-2.50, Z:-0.53 [[ 9.98656789e-01 5.17157433e-02 3.17808632e-03 8.64463027e+01] [-5.17152969e-02 9.98661844e-01 -2.22516387e-04 -2.50360190e+00] [-3.18534115e-03 5.78618229e-05 9.99994925e-01 -5.31618200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.025769231 meters 0.029245984868445103 Centerline is valid? [True, True] Translation: X:86.51, Y:-2.52, Z:-0.53 [[ 9.98933991e-01 4.57716315e-02 5.98662564e-03 8.65070491e+01] [-4.57699411e-02 9.98951919e-01 -4.19134598e-04 -2.51605565e+00] [-5.99953565e-03 1.44680294e-04 9.99981992e-01 -5.26408579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.085769231 meters 0.032948243565026444 Centerline is valid? [True, True] Translation: X:86.57, Y:-2.53, Z:-0.53 [[ 9.99056833e-01 4.31240064e-02 5.07581859e-03 8.65673932e+01] [-4.31227579e-02 9.99069718e-01 -3.55216226e-04 -2.52871655e+00] [-5.08641500e-03 1.35997902e-04 9.99987055e-01 -5.30270198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14576923099999 meters 0.037471127278205 Centerline is valid? [True, True] Translation: X:86.63, Y:-2.54, Z:-0.53 [[ 9.99296256e-01 3.72575920e-02 4.34339180e-03 8.66273608e+01] [-3.72566185e-02 9.99305685e-01 -3.04856097e-04 -2.54380185e+00] [-4.35173432e-03 1.42821464e-04 9.99990521e-01 -5.31770173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20576923099999 meters 0.044600385732871554 Centerline is valid? [True, True] Translation: X:86.69, Y:-2.56, Z:-0.53 [[ 9.99480213e-01 3.19917068e-02 3.97933641e-03 8.66857711e+01] [-3.19908478e-02 9.99488123e-01 -2.79348724e-04 -2.56306526e+00] [-3.98623632e-03 1.51901177e-04 9.99992043e-01 -5.32785076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.265769231 meters 0.054612495152740005 Centerline is valid? [True, True] Translation: X:86.74, Y:-2.59, Z:-0.53 [[ 9.99639648e-01 2.63412218e-02 5.16867262e-03 8.67438432e+01] [-2.63396975e-02 9.99652984e-01 -3.62760783e-04 -2.58866533e+00] [-5.17643457e-03 2.26488788e-04 9.99986577e-01 -5.31449354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.325769231 meters 0.052658410849540684 Centerline is valid? [True, True] Translation: X:86.81, Y:-2.60, Z:-0.53 [[ 9.99652503e-01 2.60222986e-02 4.20867567e-03 8.68052884e+01] [-2.60212872e-02 9.99661345e-01 -2.94905662e-04 -2.59775507e+00] [-4.21492451e-03 1.85288025e-04 9.99991100e-01 -5.33136671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.385769231 meters 0.051019482986632815 Centerline is valid? [True, True] Translation: X:86.87, Y:-2.60, Z:-0.53 [[ 9.99634550e-01 2.67722252e-02 3.74362061e-03 8.68677262e+01] [-2.67714284e-02 9.99641547e-01 -2.62784592e-04 -2.60191976e+00] [-3.74931402e-03 1.62466487e-04 9.99992958e-01 -5.33760650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.445769231 meters 0.04561588986266401 Centerline is valid? [True, True] Translation: X:86.93, Y:-2.60, Z:-0.53 [[ 9.99506257e-01 3.10467401e-02 4.83136820e-03 8.69278875e+01] [-3.10454559e-02 9.99517916e-01 -3.40587752e-04 -2.60321809e+00] [-4.83961321e-03 1.90427561e-04 9.99988271e-01 -5.33593084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50576923099999 meters 0.04258027219553722 Centerline is valid? [True, True] Translation: X:86.99, Y:-2.60, Z:-0.53 [[ 9.99375546e-01 3.50566237e-02 4.42162974e-03 8.69888382e+01] [-3.50555875e-02 9.99385315e-01 -3.11670962e-04 -2.60207575e+00] [-4.42983796e-03 1.56473510e-04 9.99990176e-01 -5.28400494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56576923099999 meters 0.03674759735070342 Centerline is valid? [True, True] Translation: X:87.05, Y:-2.60, Z:-0.53 [[ 9.99251199e-01 3.83830761e-02 4.87658604e-03 8.70485303e+01] [-3.83818545e-02 9.99263086e-01 -3.43867543e-04 -2.60467058e+00] [-4.88619111e-03 1.56437639e-04 9.99988050e-01 -5.32713466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62576923099999 meters 0.030744309134648942 Centerline is valid? [True, True] Translation: X:87.11, Y:-2.60, Z:-0.53 [[ 9.98918692e-01 4.59695322e-02 6.94610619e-03 8.71089637e+01] [-4.59672370e-02 9.98942828e-01 -4.89797672e-04 -2.60088666e+00] [-6.96127873e-03 1.69974741e-04 9.99975756e-01 -5.29719785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.685769231 meters 0.023528206771638496 Centerline is valid? [True, True] Translation: X:87.17, Y:-2.59, Z:-0.53 [[ 9.98609471e-01 5.21633157e-02 7.62323320e-03 8.71704437e+01] [-5.21607315e-02 9.98638558e-01 -5.37551288e-04 -2.59407355e+00] [-7.64089507e-03 1.39170387e-04 9.99970798e-01 -5.28537152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.745769231 meters 0.022441104609275103 Centerline is valid? [True, True] Translation: X:87.23, Y:-2.60, Z:-0.53 [[ 9.98529755e-01 5.38588784e-02 6.12772114e-03 8.72319268e+01] [-5.38572411e-02 9.98548552e-01 -4.32016460e-04 -2.60023763e+00] [-6.14209499e-03 1.01359135e-04 9.99981132e-01 -5.32899083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.805769231 meters 0.026249131345933402 Centerline is valid? [True, True] Translation: X:87.29, Y:-2.62, Z:-0.53 [[ 9.98696212e-01 5.03948468e-02 8.13855771e-03 8.72918459e+01] [-5.03918308e-02 9.98729359e-01 -5.75351386e-04 -2.61560768e+00] [-8.15721127e-03 1.64484427e-04 9.99966716e-01 -5.30482501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.865769231 meters 0.028495802899476754 Centerline is valid? [True, True] Translation: X:87.35, Y:-2.63, Z:-0.53 [[ 9.98824057e-01 4.80144184e-02 6.71708207e-03 8.73528440e+01] [-4.80123093e-02 9.98846631e-01 -4.74984476e-04 -2.63390134e+00] [-6.73214090e-03 1.51923299e-04 9.99977327e-01 -5.31987992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92576923099999 meters 0.02459718314616354 Centerline is valid? [True, True] Translation: X:87.41, Y:-2.64, Z:-0.54 [[ 9.98632440e-01 5.21736323e-02 3.34082558e-03 8.74139208e+01] [-5.21731335e-02 9.98638027e-01 -2.36316506e-04 -2.64129699e+00] [-3.34860496e-03 6.16919901e-05 9.99994392e-01 -5.38863380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98576923099999 meters 0.017755633506673342 Centerline is valid? [True, True] Translation: X:87.47, Y:-2.64, Z:-0.54 [[ 9.98176527e-01 6.02092648e-02 4.29717276e-03 8.74740773e+01] [-6.02085131e-02 9.98185776e-01 -3.04176157e-04 -2.64215944e+00] [-4.30769094e-03 4.48951179e-05 9.99990721e-01 -5.37134440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.045769231 meters 0.013641539829630013 Centerline is valid? [True, True] Translation: X:87.54, Y:-2.64, Z:-0.54 [[ 9.97798823e-01 6.61332473e-02 4.88893057e-03 8.75355519e+01] [-6.61323471e-02 9.97810800e-01 -3.45749704e-04 -2.63958071e+00] [-4.90109327e-03 2.16721947e-05 9.99987989e-01 -5.35533831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.105769231 meters 0.01310241032790312 Centerline is valid? [True, True] Translation: X:87.60, Y:-2.63, Z:-0.54 [[ 9.97246950e-01 7.40183327e-02 4.45048145e-03 8.75972552e+01] [-7.40176612e-02 9.97256881e-01 -3.15630493e-04 -2.63008329e+00] [-4.46163569e-03 -1.46526815e-05 9.99990047e-01 -5.37949189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.165769231 meters 0.01488570295861187 Centerline is valid? [True, True] Translation: X:87.66, Y:-2.63, Z:-0.54 [[ 9.97000863e-01 7.72168487e-02 5.18057646e-03 8.76591865e+01] [-7.72159812e-02 9.97014321e-01 -3.67551715e-04 -2.62659582e+00] [-5.19349011e-03 -3.35739182e-05 9.99986513e-01 -5.36472294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.225769231 meters 0.015304197501549962 Centerline is valid? [True, True] Translation: X:87.72, Y:-2.63, Z:-0.54 [[ 9.96938671e-01 7.80193453e-02 5.12516015e-03 8.77209774e+01] [-7.80185063e-02 9.96951845e-01 -3.63732846e-04 -2.62719563e+00] [-5.13791606e-03 -3.72379988e-05 9.99986800e-01 -5.37457043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28576923099999 meters 0.014291302991754634 Centerline is valid? [True, True] Translation: X:87.78, Y:-2.63, Z:-0.54 [[ 9.97051038e-01 7.66553304e-02 3.63162546e-03 8.77823850e+01] [-7.66549000e-02 9.97057651e-01 -2.57768934e-04 -2.63070170e+00] [-3.64069932e-03 -2.13731037e-05 9.99993372e-01 -5.40417679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34576923099999 meters 0.012808603633095042 Centerline is valid? [True, True] Translation: X:87.84, Y:-2.63, Z:-0.54 [[ 9.97301422e-01 7.32624578e-02 4.74199907e-03 8.78431008e+01] [-7.32616853e-02 9.97312695e-01 -3.36657261e-04 -2.63305112e+00] [-4.75392022e-03 -1.16580785e-05 9.99988700e-01 -5.39376727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.405769231 meters 0.013634836387622046 Centerline is valid? [True, True] Translation: X:87.90, Y:-2.64, Z:-0.54 [[ 9.97771433e-01 6.66071654e-02 3.95641570e-03 8.79037366e+01] [-6.66065756e-02 9.97779277e-01 -2.80792327e-04 -2.64289962e+00] [-3.96633238e-03 1.66432608e-05 9.99992134e-01 -5.40859863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.465769231 meters 0.01701418042483532 Centerline is valid? [True, True] Translation: X:87.97, Y:-2.65, Z:-0.54 [[ 9.98099995e-01 6.12999057e-02 6.22269824e-03 8.79651108e+01] [-6.12983332e-02 9.98119391e-01 -4.43289891e-04 -2.64805634e+00] [-6.23816941e-03 6.10066073e-05 9.99980541e-01 -5.37008538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.525769231 meters 0.019153573534629837 Centerline is valid? [True, True] Translation: X:88.03, Y:-2.65, Z:-0.54 [[ 9.98233844e-01 5.91025747e-02 6.00649378e-03 8.80269870e+01] [-5.91010698e-02 9.98251912e-01 -4.27883980e-04 -2.65395785e+00] [-6.02128294e-03 7.21380617e-05 9.99981869e-01 -5.38244742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.585769231 meters 0.022665702393435946 Centerline is valid? [True, True] Translation: X:88.09, Y:-2.66, Z:-0.54 [[ 9.98436301e-01 5.57130255e-02 4.58381236e-03 8.80889681e+01] [-5.57121099e-02 9.98446821e-01 -3.27281341e-04 -2.65845772e+00] [-4.59492671e-03 7.13957132e-05 9.99989441e-01 -5.40622696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64576923099999 meters 0.029319699507223015 Centerline is valid? [True, True] Translation: X:88.15, Y:-2.67, Z:-0.54 [[ 9.98737261e-01 4.98541113e-02 6.20089771e-03 8.81483815e+01] [-4.98523203e-02 9.98756502e-01 -4.43170050e-04 -2.67092178e+00] [-6.21528076e-03 1.33481304e-04 9.99980676e-01 -5.38270064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70576923099999 meters 0.03426880700009133 Centerline is valid? [True, True] Translation: X:88.21, Y:-2.68, Z:-0.54 [[ 9.98926238e-01 4.60551829e-02 5.02909129e-03 8.82076849e+01] [-4.60539567e-02 9.98938889e-01 -3.59422578e-04 -2.68173086e+00] [-5.04030814e-03 1.27427091e-04 9.99987289e-01 -5.41504102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.765769231 meters 0.03399406213470183 Centerline is valid? [True, True] Translation: X:88.27, Y:-2.69, Z:-0.54 [[ 9.98901848e-01 4.67167619e-02 3.55545889e-03 8.82694227e+01] [-4.67161551e-02 9.98908172e-01 -2.53573936e-04 -2.68628842e+00] [-3.56342309e-03 8.71981044e-05 9.99993647e-01 -5.44044116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.825769231 meters 0.024685268617943713 Centerline is valid? [True, True] Translation: X:88.33, Y:-2.67, Z:-0.54 [[ 9.98610130e-01 5.26115718e-02 3.13538050e-03 8.83312902e+01] [-5.26111261e-02 9.98615050e-01 -2.24517649e-04 -2.67440945e+00] [-3.14285038e-03 5.92497003e-05 9.99995059e-01 -5.44147490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.885769231 meters 0.023323904452762147 Centerline is valid? [True, True] Translation: X:88.39, Y:-2.67, Z:-0.55 [[ 9.98375609e-01 5.68480660e-02 3.80006617e-03 8.83917795e+01] [-5.68474417e-02 9.98382840e-01 -2.72176283e-04 -2.67330360e+00] [-3.80939355e-03 5.57101221e-05 9.99992743e-01 -5.45071193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.945769231 meters 0.02244821027584382 Centerline is valid? [True, True] Translation: X:88.45, Y:-2.67, Z:-0.54 [[ 9.98316981e-01 5.77780188e-02 4.99050225e-03 8.84526334e+01] [-5.77769533e-02 9.98329453e-01 -3.57526513e-04 -2.67392859e+00] [-5.00282255e-03 6.85887740e-05 9.99987483e-01 -5.43055271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00576923099999 meters 0.02076605152532835 Centerline is valid? [True, True] Translation: X:88.51, Y:-2.67, Z:-0.54 [[ 9.98290737e-01 5.81826415e-02 5.51215672e-03 8.85145686e+01] [-5.81813475e-02 9.98305953e-01 -3.94947511e-04 -2.67278776e+00] [-5.52579796e-03 7.35677367e-05 9.99984730e-01 -5.41382524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06576923099999 meters 0.02023333323944846 Centerline is valid? [True, True] Translation: X:88.58, Y:-2.67, Z:-0.54 [[ 9.98330511e-01 5.74628308e-02 5.84922950e-03 8.85758403e+01] [-5.74613606e-02 9.98347643e-01 -4.19237287e-04 -2.67451476e+00] [-5.86365505e-03 8.24326888e-05 9.99982805e-01 -5.41845679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12576923099999 meters 0.02241801558735651 Centerline is valid? [True, True] Translation: X:88.64, Y:-2.68, Z:-0.54 [[ 9.98491320e-01 5.46464052e-02 5.37169384e-03 8.86370965e+01] [-5.46451250e-02 9.98505765e-01 -3.84908314e-04 -2.68427061e+00] [-5.38470112e-03 9.07907289e-05 9.99985498e-01 -5.42292688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.185769231 meters 0.02303211689369282 Centerline is valid? [True, True] Translation: X:88.70, Y:-2.69, Z:-0.55 [[ 9.98490589e-01 5.48384109e-02 3.04846976e-03 8.86974581e+01] [-5.48379995e-02 9.98495241e-01 -2.18447512e-04 -2.69136239e+00] [-3.05586186e-03 5.09458014e-05 9.99995330e-01 -5.46392389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.245769231 meters 0.020235556331048753 Centerline is valid? [True, True] Translation: X:88.76, Y:-2.69, Z:-0.55 [[ 9.98317837e-01 5.78624084e-02 3.66569849e-03 8.87583114e+01] [-5.78618291e-02 9.98324566e-01 -2.63965714e-04 -2.69270721e+00] [-3.67483054e-03 5.14176617e-05 9.99993246e-01 -5.45728620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.305769231 meters 0.018108181287369303 Centerline is valid? [True, True] Translation: X:88.82, Y:-2.69, Z:-0.55 [[ 9.98141208e-01 6.08164023e-02 3.93626183e-03 8.88187222e+01] [-6.08157582e-02 9.98148969e-01 -2.83248522e-04 -2.69400582e+00] [-3.94620184e-03 4.33352740e-05 9.99992213e-01 -5.45535687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.365769231 meters 0.016318741540782427 Centerline is valid? [True, True] Translation: X:88.88, Y:-2.70, Z:-0.55 [[ 9.98029287e-01 6.26424725e-02 3.66919552e-03 8.88792926e+01] [-6.26419235e-02 9.98036031e-01 -2.64456955e-04 -2.69599968e+00] [-3.67855557e-03 3.40903213e-05 9.99993234e-01 -5.45967711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42576923099999 meters 0.015385475615772182 Centerline is valid? [True, True] Translation: X:88.94, Y:-2.70, Z:-0.55 [[ 9.97875922e-01 6.50880603e-02 2.68133010e-03 8.89390760e+01] [-6.50877761e-02 9.97879524e-01 -1.93190305e-04 -2.69923947e+00] [-2.68821879e-03 1.82581406e-05 9.99996387e-01 -5.47987398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48576923099999 meters 0.01248069696954442 Centerline is valid? [True, True] Translation: X:89.00, Y:-2.69, Z:-0.54 [[ 9.97413837e-01 7.16958715e-02 5.03381483e-03 8.89995625e+01] [-7.16949528e-02 9.97426540e-01 -3.62935576e-04 -2.68810510e+00] [-5.04688149e-03 1.09784918e-06 9.99987264e-01 -5.43660163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.545769231 meters 0.013286295421529946 Centerline is valid? [True, True] Translation: X:89.06, Y:-2.68, Z:-0.54 [[ 9.97087953e-01 7.60100922e-02 6.17086927e-03 8.90595623e+01] [-7.60087955e-02 9.97107048e-01 -4.44733519e-04 -2.68303940e+00] [-6.18682147e-03 -2.56019056e-05 9.99980861e-01 -5.42965056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.605769231 meters 0.01609552299280313 Centerline is valid? [True, True] Translation: X:89.12, Y:-2.67, Z:-0.55 [[ 9.96725122e-01 8.07352462e-02 4.56624099e-03 8.91199591e+01] [-8.07345861e-02 9.96735581e-01 -3.29023772e-04 -2.67296567e+00] [-4.57789868e-03 -4.07073164e-05 9.99989521e-01 -5.45896322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.665769231 meters 0.01565911329676479 Centerline is valid? [True, True] Translation: X:89.18, Y:-2.67, Z:-0.55 [[ 9.96830767e-01 7.94707906e-02 3.57981327e-03 8.91778443e+01] [-7.94703764e-02 9.96837195e-01 -2.58017966e-04 -2.67293635e+00] [-3.58899591e-03 -2.72888606e-05 9.99993559e-01 -5.49588693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.725769231 meters 0.013487167876534147 Centerline is valid? [True, True] Translation: X:89.24, Y:-2.68, Z:-0.55 [[ 9.97139317e-01 7.55092090e-02 3.39720023e-03 8.92352971e+01] [-7.55088135e-02 9.97145104e-01 -2.44688452e-04 -2.67576287e+00] [-3.40597781e-03 -1.25300832e-05 9.99994200e-01 -5.50378535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78576923099999 meters 0.012947730229555981 Centerline is valid? [True, True] Translation: X:89.29, Y:-2.68, Z:-0.55 [[ 9.97365123e-01 7.24821285e-02 3.02539183e-03 8.92938803e+01] [-7.24818018e-02 9.97369711e-01 -2.17654777e-04 -2.68076279e+00] [-3.03321026e-03 -2.20456734e-06 9.99995400e-01 -5.52486373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84576923099999 meters 0.013616128758525503 Centerline is valid? [True, True] Translation: X:89.35, Y:-2.69, Z:-0.55 [[ 9.97696185e-01 6.77655422e-02 3.18655018e-03 8.93524443e+01] [-6.77651561e-02 9.97701273e-01 -2.29093489e-04 -2.68896143e+00] [-3.19474982e-03 1.26286294e-05 9.99994897e-01 -5.52554124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.905769231 meters 0.014827334186599346 Centerline is valid? [True, True] Translation: X:89.41, Y:-2.69, Z:-0.55 [[ 9.97837760e-01 6.56968311e-02 1.93142285e-03 8.94118782e+01] [-6.56966853e-02 9.97839630e-01 -1.38861993e-04 -2.69278538e+00] [-1.93637306e-03 1.16736604e-05 9.99998125e-01 -5.53842996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.965769231 meters 0.0156700196136783 Centerline is valid? [True, True] Translation: X:89.47, Y:-2.69, Z:-0.55 [[ 9.97915508e-01 6.44948822e-02 2.24702524e-03 8.94719647e+01] [-6.44946821e-02 9.97918038e-01 -1.61475676e-04 -2.69365942e+00] [-2.25276137e-03 1.62179028e-05 9.99997462e-01 -5.54568001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.025769231 meters 0.014982058546503417 Centerline is valid? [True, True] Translation: X:89.53, Y:-2.69, Z:-0.55 [[ 9.97859947e-01 6.52978225e-02 3.42367260e-03 8.95305845e+01] [-6.52973630e-02 9.97865820e-01 -2.45952296e-04 -2.69394986e+00] [-3.43242601e-03 2.18691524e-05 9.99994109e-01 -5.52272705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.085769231 meters 0.014553168832180826 Centerline is valid? [True, True] Translation: X:89.59, Y:-2.70, Z:-0.55 [[ 9.97827468e-01 6.56355038e-02 5.68540376e-03 8.95902331e+01] [-6.56342447e-02 9.97843665e-01 -4.07950940e-04 -2.69602008e+00] [-5.69992019e-03 3.39074722e-05 9.99983755e-01 -5.48260486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14576923099999 meters 0.012901977136973842 Centerline is valid? [True, True] Translation: X:89.65, Y:-2.69, Z:-0.55 [[ 9.97635178e-01 6.84998651e-02 5.64095518e-03 8.96500421e+01] [-6.84986721e-02 9.97651125e-01 -4.04639802e-04 -2.69032069e+00] [-5.65542305e-03 1.72849617e-05 9.99984008e-01 -5.49373642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20576923099999 meters 0.01272641776955033 Centerline is valid? [True, True] Translation: X:89.71, Y:-2.69, Z:-0.55 [[ 9.97630466e-01 6.86940061e-02 3.81932656e-03 8.97102708e+01] [-6.86934607e-02 9.97637777e-01 -2.73946887e-04 -2.69024046e+00] [-3.82912297e-03 1.09350018e-05 9.99992669e-01 -5.51796757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.265769231 meters 0.013091765628056282 Centerline is valid? [True, True] Translation: X:89.77, Y:-2.69, Z:-0.56 [[ 9.97606004e-01 6.90953080e-02 2.84586124e-03 8.97688343e+01] [-6.90950068e-02 9.97610063e-01 -2.04147209e-04 -2.69392170e+00] [-2.85316543e-03 7.02367992e-06 9.99995930e-01 -5.55188042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.325769231 meters 0.01344111603245804 Centerline is valid? [True, True] Translation: X:89.83, Y:-2.70, Z:-0.56 [[ 9.97714894e-01 6.75028179e-02 2.89130513e-03 8.98269857e+01] [-6.75025005e-02 9.97719083e-01 -2.07337308e-04 -2.69952157e+00] [-2.89870616e-03 1.16931950e-05 9.99995799e-01 -5.55286976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.385769231 meters 0.013636250755015325 Centerline is valid? [True, True] Translation: X:89.88, Y:-2.71, Z:-0.55 [[ 9.97793227e-01 6.62428894e-02 4.53392156e-03 8.98849959e+01] [-6.62420977e-02 9.97803527e-01 -3.24736378e-04 -2.70632135e+00] [-4.54547440e-03 2.36832843e-05 9.99989669e-01 -5.52670478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.445769231 meters 0.014048883442219252 Centerline is valid? [True, True] Translation: X:89.94, Y:-2.71, Z:-0.56 [[ 9.97784413e-01 6.64859398e-02 2.42582453e-03 8.99430046e+01] [-6.64857139e-02 9.97787362e-01 -1.73729001e-04 -2.71202801e+00] [-2.43200759e-03 1.20614139e-05 9.99997043e-01 -5.57110193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50576923099999 meters 0.01328672855259597 Centerline is valid? [True, True] Translation: X:90.00, Y:-2.71, Z:-0.56 [[ 9.97624531e-01 6.88827562e-02 6.78950915e-04 9.00019492e+01] [-6.88827389e-02 9.97624762e-01 -4.88386718e-05 -2.71446196e+00] [-6.80702387e-04 1.95465846e-06 9.99999768e-01 -5.61050308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56576923099999 meters 0.01289249214208019 Centerline is valid? [True, True] Translation: X:90.06, Y:-2.71, Z:-0.56 [[ 9.97477661e-01 7.09643603e-02 1.54124943e-03 9.00605909e+01] [-7.09642744e-02 9.97478852e-01 -1.10397034e-04 -2.71475976e+00] [-1.54519797e-03 7.44927528e-07 9.99998806e-01 -5.59424494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62576923099999 meters 0.012955910837542524 Centerline is valid? [True, True] Translation: X:90.12, Y:-2.72, Z:-0.55 [[ 9.97201221e-01 7.46651557e-02 3.85207216e-03 9.01198922e+01] [-7.46646493e-02 9.97208661e-01 -2.75282543e-04 -2.71579363e+00] [-3.86187374e-03 -1.31015285e-05 9.99992543e-01 -5.54683561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.685769231 meters 0.01535537107616019 Centerline is valid? [True, True] Translation: X:90.18, Y:-2.71, Z:-0.55 [[ 9.96865134e-01 7.89973225e-02 4.39632947e-03 9.01778212e+01] [-7.89967062e-02 9.96874828e-01 -3.13928959e-04 -2.70996994e+00] [-4.40738973e-03 -3.43507139e-05 9.99990287e-01 -5.54394026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.745769231 meters 0.022074132347842564 Centerline is valid? [True, True] Translation: X:90.24, Y:-2.70, Z:-0.56 [[ 9.96418094e-01 8.45078398e-02 3.06710813e-03 9.02370608e+01] [-8.45075662e-02 9.96422814e-01 -2.18916042e-04 -2.70030460e+00] [-3.07463663e-03 -4.10619377e-05 9.99995272e-01 -5.57041967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.805769231 meters 0.02455693012727673 Centerline is valid? [True, True] Translation: X:90.30, Y:-2.70, Z:-0.56 [[ 9.96127559e-01 8.78608309e-02 3.21871983e-03 9.02965477e+01] [-8.78605476e-02 9.96132758e-01 -2.29590939e-04 -2.69643227e+00] [-3.22644431e-03 -5.40966251e-05 9.99994794e-01 -5.56468360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.865769231 meters 0.02527067939067285 Centerline is valid? [True, True] Translation: X:90.36, Y:-2.69, Z:-0.55 [[ 9.95958213e-01 8.96823326e-02 4.93124621e-03 9.03555249e+01] [-8.96816919e-02 9.95970417e-01 -3.51356124e-04 -2.69373041e+00] [-4.94288578e-03 -9.23064862e-05 9.99987780e-01 -5.54260298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92576923099999 meters 0.02494211183944662 Centerline is valid? [True, True] Translation: X:90.41, Y:-2.69, Z:-0.55 [[ 9.95919673e-01 9.00292317e-02 6.22431975e-03 9.04142247e+01] [-9.00282199e-02 9.95939116e-01 -4.43109441e-04 -2.69199285e+00] [-6.23893631e-03 -1.19063017e-04 9.99980531e-01 -5.52819886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98576923099999 meters 0.0243368673786284 Centerline is valid? [True, True] Translation: X:90.47, Y:-2.69, Z:-0.56 [[ 9.96051879e-01 8.87037355e-02 3.50744054e-03 9.04722910e+01] [-8.87034059e-02 9.96058052e-01 -2.49712398e-04 -2.69309179e+00] [-3.51576481e-03 -6.23954183e-05 9.99993818e-01 -5.58813287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.045769231 meters 0.021425407110292262 Centerline is valid? [True, True] Translation: X:90.53, Y:-2.70, Z:-0.56 [[ 9.96398820e-01 8.47776232e-02 1.46504750e-03 9.05293782e+01] [-8.47775612e-02 9.96399897e-01 -1.04469780e-04 -2.70030815e+00] [-1.46862988e-03 -2.01095883e-05 9.99998921e-01 -5.62910485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.105769231 meters 0.014762641820659941 Centerline is valid? [True, True] Translation: X:90.59, Y:-2.72, Z:-0.56 [[ 9.96995872e-01 7.74062770e-02 2.73870172e-03 9.05883008e+01] [-7.74060344e-02 9.96999633e-01 -1.94631508e-04 -2.71902427e+00] [-2.74555031e-03 -1.79452288e-05 9.99996231e-01 -5.60650058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.165769231 meters 0.012488608578558309 Centerline is valid? [True, True] Translation: X:90.65, Y:-2.73, Z:-0.56 [[ 9.97365436e-01 7.23951211e-02 4.59709492e-03 9.06460872e+01] [-7.23943855e-02 9.97376031e-01 -3.26433255e-04 -2.73246411e+00] [-4.60866446e-03 -7.23061630e-06 9.99989380e-01 -5.57820938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.225769231 meters 0.012391598479160227 Centerline is valid? [True, True] Translation: X:90.70, Y:-2.74, Z:-0.56 [[ 9.97421490e-01 7.16332625e-02 4.36434837e-03 9.07049432e+01] [-7.16325931e-02 9.97431038e-01 -3.09713482e-04 -2.73859726e+00] [-4.37532231e-03 -3.71470839e-06 9.99990428e-01 -5.59056774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28576923099999 meters 0.012609991925322942 Centerline is valid? [True, True] Translation: X:90.76, Y:-2.75, Z:-0.56 [[ 9.97477077e-01 7.09283471e-02 2.94111378e-03 9.07624747e+01] [-7.09280400e-02 9.97481413e-01 -2.08728702e-04 -2.74560178e+00] [-2.94851111e-03 -4.05340461e-07 9.99995653e-01 -5.61880279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34576923099999 meters 0.012643151270026643 Centerline is valid? [True, True] Translation: X:90.82, Y:-2.75, Z:-0.56 [[ 9.97544467e-01 6.99960899e-02 2.36291529e-03 9.08211166e+01] [-6.99958893e-02 9.97547266e-01 -1.67579358e-04 -2.75104039e+00] [-2.36884959e-03 1.77350398e-06 9.99997194e-01 -5.62229783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.405769231 meters 0.012883158221889538 Centerline is valid? [True, True] Translation: X:90.88, Y:-2.76, Z:-0.56 [[ 9.97702689e-01 6.76269720e-02 3.99202541e-03 9.08798847e+01] [-6.76263822e-02 9.97710676e-01 -2.82702701e-04 -2.75863875e+00] [-4.00200470e-03 1.20870085e-05 9.99991992e-01 -5.59973725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.465769231 meters 0.015133134564833358 Centerline is valid? [True, True] Translation: X:90.94, Y:-2.77, Z:-0.56 [[ 9.98024561e-01 6.25542805e-02 5.82554648e-03 9.09378219e+01] [-6.25529405e-02 9.98041562e-01 -4.12117367e-04 -2.77318508e+00] [-5.83991721e-03 4.68981916e-05 9.99982946e-01 -5.58081929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.525769231 meters 0.019389553421360204 Centerline is valid? [True, True] Translation: X:91.00, Y:-2.79, Z:-0.56 [[ 9.98334846e-01 5.72898004e-02 6.73893564e-03 9.09967756e+01] [-5.72878898e-02 9.98357587e-01 -4.76355115e-04 -2.78992413e+00] [-6.75515781e-03 8.95025083e-05 9.99977180e-01 -5.56587960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.585769231 meters 0.022533714111819435 Centerline is valid? [True, True] Translation: X:91.05, Y:-2.81, Z:-0.56 [[ 9.98460548e-01 5.53302967e-02 3.88498212e-03 9.10547042e+01] [-5.53296469e-02 9.98468104e-01 -2.74606524e-04 -2.80820500e+00] [-3.89422479e-03 5.92290916e-05 9.99992416e-01 -5.62563921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64576923099999 meters 0.021067806738755235 Centerline is valid? [True, True] Translation: X:91.11, Y:-2.82, Z:-0.56 [[ 9.98442163e-01 5.55263158e-02 5.48406774e-03 9.11145309e+01] [-5.55250247e-02 9.98457221e-01 -3.87523128e-04 -2.81691568e+00] [-5.49712477e-03 8.24164337e-05 9.99984887e-01 -5.59996748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70576923099999 meters 0.018809288926886984 Centerline is valid? [True, True] Translation: X:91.17, Y:-2.83, Z:-0.56 [[ 9.98252429e-01 5.87533986e-02 6.33451837e-03 9.11736144e+01] [-5.87517409e-02 9.98272524e-01 -4.47626654e-04 -2.82931279e+00] [-6.34987523e-03 7.46804127e-05 9.99979837e-01 -5.58601503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.765769231 meters 0.015341683378586882 Centerline is valid? [True, True] Translation: X:91.23, Y:-2.84, Z:-0.56 [[ 9.98017101e-01 6.27826657e-02 4.49471928e-03 9.12335849e+01] [-6.27818722e-02 9.98027222e-01 -3.17560585e-04 -2.83773538e+00] [-4.50578949e-03 3.47440038e-05 9.99989848e-01 -5.62564294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.825769231 meters 0.013338386715962219 Centerline is valid? [True, True] Translation: X:91.29, Y:-2.84, Z:-0.56 [[ 9.97767786e-01 6.65362735e-02 5.68946084e-03 9.12929996e+01] [-6.65350629e-02 9.97784007e-01 -4.02002187e-04 -2.84480784e+00] [-5.70360076e-03 2.25561976e-05 9.99983734e-01 -5.60342000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.885769231 meters 0.01282651960642677 Centerline is valid? [True, True] Translation: X:91.35, Y:-2.85, Z:-0.56 [[ 9.97621608e-01 6.87206143e-02 5.34823986e-03 9.13522675e+01] [-6.87195767e-02 9.97635944e-01 -3.77757756e-04 -2.85051325e+00] [-5.36155606e-03 9.33052091e-06 9.99985627e-01 -5.61357101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.945769231 meters 0.01275798546453077 Centerline is valid? [True, True] Translation: X:91.41, Y:-2.85, Z:-0.56 [[ 9.97436862e-01 7.12388092e-02 6.68864621e-03 9.14118090e+01] [-7.12372436e-02 9.97459288e-01 -4.72335349e-04 -2.85438658e+00] [-6.70530090e-03 -5.35603042e-06 9.99977519e-01 -5.59698597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00576923099999 meters 0.012819635087038752 Centerline is valid? [True, True] Translation: X:91.47, Y:-2.86, Z:-0.56 [[ 9.97466355e-01 7.07350426e-02 7.57790952e-03 9.14722925e+01] [-7.07330191e-02 9.97495140e-01 -5.35042463e-04 -2.86272791e+00] [-7.59677417e-03 -2.32156390e-06 9.99971144e-01 -5.58543642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06576923099999 meters 0.012836976274091154 Centerline is valid? [True, True] Translation: X:91.53, Y:-2.87, Z:-0.56 [[ 9.97548744e-01 6.96014196e-02 7.22125231e-03 9.15318139e+01] [-6.95995523e-02 9.97574881e-01 -5.09860484e-04 -2.87285623e+00] [-7.23922692e-03 6.01475752e-06 9.99973796e-01 -5.60468512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12576923099999 meters 0.013260846678613087 Centerline is valid? [True, True] Translation: X:91.59, Y:-2.89, Z:-0.56 [[ 9.97650571e-01 6.82470392e-02 5.97322376e-03 9.15920212e+01] [-6.82457383e-02 9.97668453e-01 -4.21578873e-04 -2.88672537e+00] [-5.98806842e-03 1.29413380e-05 9.99982071e-01 -5.63008427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.185769231 meters 0.012947447015028686 Centerline is valid? [True, True] Translation: X:91.65, Y:-2.89, Z:-0.56 [[ 9.97520085e-01 7.01310023e-02 5.94335129e-03 9.16525958e+01] [-7.01297413e-02 9.97537790e-01 -4.20575070e-04 -2.89228945e+00] [-5.95821286e-03 2.72639110e-06 9.99982250e-01 -5.62641754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.245769231 meters 0.014082404044866763 Centerline is valid? [True, True] Translation: X:91.71, Y:-2.89, Z:-0.56 [[ 9.97154762e-01 7.51080821e-02 6.41526942e-03 9.17123314e+01] [-7.51067157e-02 9.97175398e-01 -4.53977060e-04 -2.89401725e+00] [-6.43124619e-03 -2.91444294e-05 9.99979319e-01 -5.61331684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.305769231 meters 0.018147826159848654 Centerline is valid? [True, True] Translation: X:91.77, Y:-2.89, Z:-0.57 [[ 9.96711653e-01 8.08809205e-02 4.91505195e-03 9.17720443e+01] [-8.08801889e-02 9.96723770e-01 -3.47742676e-04 -2.89079574e+00] [-4.92707486e-03 -5.09311525e-05 9.99987861e-01 -5.66182158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.365769231 meters 0.02400093078046937 Centerline is valid? [True, True] Translation: X:91.83, Y:-2.88, Z:-0.57 [[ 9.96153229e-01 8.75808655e-02 2.88722289e-03 9.18323522e+01] [-8.75806407e-02 9.96157412e-01 -2.04427272e-04 -2.88198567e+00] [-2.89403240e-03 -4.92239435e-05 9.99995811e-01 -5.69596941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42576923099999 meters 0.027416633405044806 Centerline is valid? [True, True] Translation: X:91.89, Y:-2.88, Z:-0.57 [[ 9.95778509e-01 9.17423673e-02 2.91519196e-03 9.18924286e+01] [-9.17421564e-02 9.95782775e-01 -2.06261102e-04 -2.87915769e+00] [-2.92182082e-03 -6.20556239e-05 9.99995730e-01 -5.69796258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48576923099999 meters 0.03149010747708442 Centerline is valid? [True, True] Translation: X:91.95, Y:-2.87, Z:-0.57 [[ 9.95533685e-01 9.42941415e-02 4.61486658e-03 9.19518908e+01] [-9.42936412e-02 9.95544375e-01 -3.26351381e-04 -2.87207141e+00] [-4.62507748e-03 -1.10258780e-04 9.99989298e-01 -5.68990596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.545769231 meters 0.029219665687798605 Centerline is valid? [True, True] Translation: X:92.01, Y:-2.88, Z:-0.56 [[ 9.95720043e-01 9.21627413e-02 6.90114387e-03 9.20107218e+01] [-9.21615742e-02 9.95743946e-01 -4.87606778e-04 -2.87586464e+00] [-6.91671141e-03 -1.50500442e-04 9.99976068e-01 -5.64300717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.605769231 meters 0.027890317611337798 Centerline is valid? [True, True] Translation: X:92.07, Y:-2.88, Z:-0.57 [[ 9.95853040e-01 9.07791835e-02 5.98846764e-03 9.20702737e+01] [-9.07782813e-02 9.95871038e-01 -4.22862557e-04 -2.87836588e+00] [-6.00212861e-03 -1.22513837e-04 9.99981980e-01 -5.66268354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.665769231 meters 0.02816098717900365 Centerline is valid? [True, True] Translation: X:92.13, Y:-2.88, Z:-0.57 [[ 9.95852384e-01 9.07638177e-02 6.32128098e-03 9.21289043e+01] [-9.07628130e-02 9.95872438e-01 -4.46223902e-04 -2.87977065e+00] [-6.33569049e-03 -1.29364107e-04 9.99979921e-01 -5.66774898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.725769231 meters 0.02713465689122283 Centerline is valid? [True, True] Translation: X:92.19, Y:-2.88, Z:-0.56 [[ 9.95990139e-01 8.91002381e-02 8.04922644e-03 9.21874995e+01] [-8.90985583e-02 9.96022653e-01 -5.67755243e-04 -2.88302950e+00] [-8.06779900e-03 -1.51695849e-04 9.99967443e-01 -5.62896345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78576923099999 meters 0.024397021873246032 Centerline is valid? [True, True] Translation: X:92.25, Y:-2.89, Z:-0.57 [[ 9.96235886e-01 8.63745853e-02 7.31373042e-03 9.22467550e+01] [-8.63731267e-02 9.96262725e-01 -5.15653126e-04 -2.88583394e+00] [-7.33093632e-03 -1.17997616e-04 9.99973121e-01 -5.65058274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84576923099999 meters 0.020359219906849142 Centerline is valid? [True, True] Translation: X:92.31, Y:-2.89, Z:-0.57 [[ 9.96548637e-01 8.28251435e-02 5.55056509e-03 9.23060612e+01] [-8.28242488e-02 9.96564093e-01 -3.91255594e-04 -2.89008278e+00] [-5.56389966e-03 -6.98161546e-05 9.99984519e-01 -5.68248563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.905769231 meters 0.015676950935426648 Centerline is valid? [True, True] Translation: X:92.37, Y:-2.90, Z:-0.56 [[ 9.97019972e-01 7.66049033e-02 9.10301791e-03 9.23650120e+01] [-7.66022403e-02 9.97061525e-01 -6.41349590e-04 -2.89626474e+00] [-9.12539945e-03 -5.78732157e-05 9.99958361e-01 -5.61824309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.965769231 meters 0.013737448808380098 Centerline is valid? [True, True] Translation: X:92.42, Y:-2.91, Z:-0.56 [[ 9.97457689e-01 7.06173221e-02 9.55788730e-03 9.24239333e+01] [-7.06141133e-02 9.97503481e-01 -6.73198718e-04 -2.90680264e+00] [-9.58156534e-03 -3.43449931e-06 9.99954096e-01 -5.62491925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.025769231 meters 0.018557708051618896 Centerline is valid? [True, True] Translation: X:92.48, Y:-2.93, Z:-0.57 [[ 9.98110859e-01 6.10077993e-02 7.26377813e-03 9.24833323e+01] [-6.10056918e-02 9.98137287e-01 -5.11561048e-04 -2.92558910e+00] [-7.28145701e-03 6.74628269e-05 9.99973488e-01 -5.68075825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.085769231 meters 0.021078105382238043 Centerline is valid? [True, True] Translation: X:92.54, Y:-2.93, Z:-0.57 [[ 9.98263840e-01 5.84360632e-02 7.38463382e-03 9.25436418e+01] [-5.84338135e-02 9.98291149e-01 -5.20231113e-04 -2.93484640e+00] [-7.40241485e-03 8.78155930e-05 9.99972598e-01 -5.67498383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14576923099999 meters 0.023777848096961405 Centerline is valid? [True, True] Translation: X:92.60, Y:-2.94, Z:-0.57 [[ 9.98573418e-01 5.27886935e-02 8.03010231e-03 9.26039413e+01] [-5.27858499e-02 9.98605695e-01 -5.65796711e-04 -2.94398258e+00] [-8.04877357e-03 1.41113781e-04 9.99967598e-01 -5.66273801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20576923099999 meters 0.0331944928990667 Centerline is valid? [True, True] Translation: X:92.66, Y:-2.97, Z:-0.57 [[ 9.98802520e-01 4.84551632e-02 6.75444889e-03 9.26623231e+01] [-4.84530517e-02 9.98825348e-01 -4.75984928e-04 -2.96627039e+00] [-6.76957869e-03 1.48141284e-04 9.99977075e-01 -5.69632982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.265769231 meters 0.035958698665118874 Centerline is valid? [True, True] Translation: X:92.72, Y:-2.98, Z:-0.57 [[ 9.98885387e-01 4.67088662e-02 6.80183021e-03 9.27241584e+01] [-4.67066848e-02 9.98908532e-01 -4.79294144e-04 -2.97801039e+00] [-6.81679352e-03 1.61068976e-04 9.99976752e-01 -5.69468427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.325769231 meters 0.040583195318485234 Centerline is valid? [True, True] Translation: X:92.78, Y:-3.00, Z:-0.57 [[ 9.99030310e-01 4.36452425e-02 5.79073443e-03 9.27844353e+01] [-4.36436052e-02 9.99047080e-01 -4.08883051e-04 -2.99663431e+00] [-5.80306213e-03 1.55758034e-04 9.99983150e-01 -5.72151989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.385769231 meters 0.03650854935828046 Centerline is valid? [True, True] Translation: X:92.85, Y:-3.01, Z:-0.57 [[ 9.99175623e-01 3.98821005e-02 7.58237756e-03 9.28450856e+01] [-3.98791833e-02 9.99204365e-01 -5.35588285e-04 -3.00663431e+00] [-7.59770515e-03 2.32767733e-04 9.99971110e-01 -5.68999729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.445769231 meters 0.039087129273477475 Centerline is valid? [True, True] Translation: X:92.90, Y:-3.03, Z:-0.57 [[ 9.99246231e-01 3.81450029e-02 7.20617018e-03 9.29046055e+01] [-3.81423224e-02 9.99272187e-01 -5.09097458e-04 -3.02654548e+00] [-7.22034496e-03 2.33853650e-04 9.99973906e-01 -5.69253525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50576923099999 meters 0.0408854494783675 Centerline is valid? [True, True] Translation: X:92.96, Y:-3.04, Z:-0.57 [[ 9.99217605e-01 3.91168406e-02 5.83536016e-03 9.29647479e+01] [-3.91150996e-02 9.99234627e-01 -4.12210848e-04 -3.04153801e+00] [-5.84701832e-03 1.83637642e-04 9.99982889e-01 -5.72407353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56576923099999 meters 0.037496552895319994 Centerline is valid? [True, True] Translation: X:93.03, Y:-3.06, Z:-0.57 [[ 9.99136012e-01 4.08597240e-02 7.59692279e-03 9.30259726e+01] [-4.08568125e-02 9.99164867e-01 -5.38101887e-04 -3.05585572e+00] [-7.61256505e-03 2.27250923e-04 9.99970998e-01 -5.69833436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62576923099999 meters 0.03241425939562761 Centerline is valid? [True, True] Translation: X:93.09, Y:-3.06, Z:-0.57 [[ 9.98889722e-01 4.65509077e-02 7.23444279e-03 9.30860123e+01] [-4.65484089e-02 9.98915903e-01 -5.13497206e-04 -3.06111384e+00] [-7.25050371e-03 1.76175280e-04 9.99973699e-01 -5.70475542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.685769231 meters 0.023792524264124867 Centerline is valid? [True, True] Translation: X:93.15, Y:-3.06, Z:-0.57 [[ 9.98562308e-01 5.32114502e-02 6.46979284e-03 9.31467849e+01] [-5.32095915e-02 9.98583261e-01 -4.59203959e-04 -3.06060372e+00] [-6.48506173e-03 1.14288731e-04 9.99978965e-01 -5.74507782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.745769231 meters 0.021678555575679135 Centerline is valid? [True, True] Translation: X:93.21, Y:-3.07, Z:-0.58 [[ 9.98383001e-01 5.64895101e-02 6.34965886e-03 9.32079584e+01] [-5.64877862e-02 9.98403189e-01 -4.50657474e-04 -3.06668192e+00] [-6.36497707e-03 9.12505892e-05 9.99979739e-01 -5.75528555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.805769231 meters 0.020517654397261838 Centerline is valid? [True, True] Translation: X:93.27, Y:-3.08, Z:-0.58 [[ 9.98278272e-01 5.83519483e-02 5.96174077e-03 9.32682788e+01] [-5.83504566e-02 9.98296071e-01 -4.23991015e-04 -3.07502013e+00] [-5.97632308e-03 7.53907225e-05 9.99982139e-01 -5.77021415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.865769231 meters 0.0181795887492379 Centerline is valid? [True, True] Translation: X:93.33, Y:-3.08, Z:-0.58 [[ 9.98126478e-01 6.09131897e-02 5.75476990e-03 9.33306643e+01] [-6.09118369e-02 9.98143066e-01 -4.10219366e-04 -3.08001378e+00] [-5.76907144e-03 5.89172054e-05 9.99983357e-01 -5.77793930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92576923099999 meters 0.014828939635599597 Centerline is valid? [True, True] Translation: X:93.39, Y:-3.08, Z:-0.58 [[ 9.97741890e-01 6.69487511e-02 5.38391896e-03 9.33924182e+01] [-6.69476542e-02 9.97756415e-01 -3.83907943e-04 -3.08182064e+00] [-5.39754183e-03 2.26002916e-05 9.99985433e-01 -5.78634297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98576923099999 meters 0.014311157064578172 Centerline is valid? [True, True] Translation: X:93.45, Y:-3.08, Z:-0.58 [[ 9.97456059e-01 7.11715062e-02 4.00348984e-03 9.34546132e+01] [-7.11709322e-02 9.97464093e-01 -2.85839403e-04 -3.08073754e+00] [-4.01368098e-03 1.80140068e-07 9.99991945e-01 -5.82779437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.045769231 meters 0.014125998134534056 Centerline is valid? [True, True] Translation: X:93.52, Y:-3.09, Z:-0.58 [[ 9.97449919e-01 7.12341673e-02 4.39907692e-03 9.35166733e+01] [-7.12334706e-02 9.97459620e-01 -3.15064397e-04 -3.08859149e+00] [-4.41034494e-03 8.99440597e-07 9.99990274e-01 -5.81537191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.105769231 meters 0.014170663935770178 Centerline is valid? [True, True] Translation: X:93.58, Y:-3.09, Z:-0.58 [[ 9.97537515e-01 6.98460479e-02 6.35886589e-03 9.35797791e+01] [-6.98445570e-02 9.97557783e-01 -4.56508258e-04 -3.09377143e+00] [-6.37522146e-03 1.12519427e-05 9.99979678e-01 -5.78481673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.165769231 meters 0.014507995246684086 Centerline is valid? [True, True] Translation: X:93.64, Y:-3.10, Z:-0.58 [[ 9.97559293e-01 6.96338004e-02 5.15659820e-03 9.36420814e+01] [-6.96328132e-02 9.97572621e-01 -3.70939905e-04 -3.09627603e+00] [-5.16991114e-03 1.09661096e-05 9.99986636e-01 -5.81873034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.225769231 meters 0.014949935830726978 Centerline is valid? [True, True] Translation: X:93.70, Y:-3.10, Z:-0.58 [[ 9.97650334e-01 6.82798621e-02 5.62765658e-03 9.37033986e+01] [-6.82786586e-02 9.97666207e-01 -4.05916844e-04 -3.10212496e+00] [-5.64223874e-03 2.07142322e-05 9.99984082e-01 -5.80507756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28576923099999 meters 0.01647067144234819 Centerline is valid? [True, True] Translation: X:93.77, Y:-3.11, Z:-0.58 [[ 9.97833437e-01 6.56158144e-02 4.79560729e-03 9.37651029e+01] [-6.56149065e-02 9.97844960e-01 -3.46575136e-04 -3.11407311e+00] [-4.80801337e-03 3.11609346e-05 9.99988441e-01 -5.82257408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34576923099999 meters 0.017845149219420858 Centerline is valid? [True, True] Translation: X:93.83, Y:-3.12, Z:-0.58 [[ 9.97997902e-01 6.29932223e-02 5.66050458e-03 9.38262207e+01] [-6.29919089e-02 9.98013953e-01 -4.10195347e-04 -3.12366351e+00] [-5.67510208e-03 5.28081073e-05 9.99983895e-01 -5.81446234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.405769231 meters 0.016885171595227778 Centerline is valid? [True, True] Translation: X:93.89, Y:-3.13, Z:-0.58 [[ 9.97949385e-01 6.36977740e-02 6.29439018e-03 9.38885541e+01] [-6.36961572e-02 9.97969233e-01 -4.57197140e-04 -3.13159801e+00] [-6.31073018e-03 5.53311382e-05 9.99980086e-01 -5.80795041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.465769231 meters 0.01577507854543744 Centerline is valid? [True, True] Translation: X:93.95, Y:-3.14, Z:-0.58 [[ 9.97786833e-01 6.62611760e-02 5.55808227e-03 9.39492555e+01] [-6.62599491e-02 9.97802313e-01 -4.04806705e-04 -3.13893290e+00] [-5.57269032e-03 3.56325517e-05 9.99984472e-01 -5.82239799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.525769231 meters 0.015231072455479697 Centerline is valid? [True, True] Translation: X:94.01, Y:-3.15, Z:-0.59 [[ 9.97671255e-01 6.81313366e-02 3.19186640e-03 9.40113797e+01] [-6.81309427e-02 9.97676361e-01 -2.32124786e-04 -3.14994357e+00] [-3.20026463e-03 1.41193601e-05 9.99994879e-01 -5.86769106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.585769231 meters 0.014766033656730026 Centerline is valid? [True, True] Translation: X:94.07, Y:-3.16, Z:-0.59 [[ 9.97586527e-01 6.93225201e-02 3.93817127e-03 9.40732222e+01] [-6.93219250e-02 9.97594300e-01 -2.87562038e-04 -3.15982006e+00] [-3.94863174e-03 1.38664013e-05 9.99992204e-01 -5.85787816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64576923099999 meters 0.01417130520718761 Centerline is valid? [True, True] Translation: X:94.13, Y:-3.17, Z:-0.59 [[ 9.97391535e-01 7.20788974e-02 3.84166405e-03 9.41341403e+01] [-7.20783491e-02 9.97398933e-01 -2.81180284e-04 -3.16799150e+00] [-3.85193879e-03 3.54603206e-06 9.99992581e-01 -5.86098017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70576923099999 meters 0.014171085814412782 Centerline is valid? [True, True] Translation: X:94.20, Y:-3.17, Z:-0.58 [[ 9.97106920e-01 7.58231505e-02 5.35162304e-03 9.41970327e+01] [-7.58221338e-02 9.97121281e-01 -3.92904905e-04 -3.17329438e+00] [-5.36600851e-03 -1.40032785e-05 9.99985603e-01 -5.83696416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.765769231 meters 0.013968208308000595 Centerline is valid? [True, True] Translation: X:94.26, Y:-3.19, Z:-0.59 [[ 9.97263174e-01 7.38112897e-02 4.24922745e-03 9.42581661e+01] [-7.38106280e-02 9.97272226e-01 -3.12534059e-04 -3.18762821e+00] [-4.26070506e-03 -1.95943903e-06 9.99990923e-01 -5.87709533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.825769231 meters 0.014691346239633042 Centerline is valid? [True, True] Translation: X:94.32, Y:-3.20, Z:-0.59 [[ 9.97430481e-01 7.16276176e-02 1.38564278e-03 9.43197768e+01] [-7.16275458e-02 9.97431443e-01 -1.01408758e-04 -3.20308801e+00] [-1.38934735e-03 1.89799458e-06 9.99999035e-01 -5.91889890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.885769231 meters 0.014545940007918087 Centerline is valid? [True, True] Translation: X:94.38, Y:-3.21, Z:-0.59 [[ 9.97275438e-01 7.37572855e-02 1.25055344e-03 9.43828615e+01] [-7.37572287e-02 9.97276222e-01 -9.14834800e-05 -3.20727565e+00] [-1.25389478e-03 -1.00312822e-06 9.99999214e-01 -5.92531939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.945769231 meters 0.015268609833318774 Centerline is valid? [True, True] Translation: X:94.45, Y:-3.20, Z:-0.58 [[ 9.96835704e-01 7.93334288e-02 4.97858982e-03 9.44458269e+01] [-7.93325755e-02 9.96848136e-01 -3.68966411e-04 -3.20496525e+00] [-4.99216935e-03 -2.71654598e-05 9.99987539e-01 -5.84907323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00576923099999 meters 0.019125767090050868 Centerline is valid? [True, True] Translation: X:94.51, Y:-3.20, Z:-0.58 [[ 9.96383230e-01 8.48500861e-02 4.57404123e-03 9.45080292e+01] [-8.48494202e-02 9.96393728e-01 -3.39801024e-04 -3.20017704e+00] [-4.58637814e-03 -4.95327038e-05 9.99989481e-01 -5.84771451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06576923099999 meters 0.025515692181245622 Centerline is valid? [True, True] Translation: X:94.57, Y:-3.19, Z:-0.58 [[ 9.95671212e-01 9.27866367e-02 5.42941697e-03 9.45695336e+01] [-9.27858098e-02 9.95686010e-01 -4.04542145e-04 -3.19103303e+00] [-5.44353063e-03 -1.00981883e-04 9.99985179e-01 -5.83271286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12576923099999 meters 0.03277952710092529 Centerline is valid? [True, True] Translation: X:94.63, Y:-3.18, Z:-0.58 [[ 9.95183394e-01 9.78485371e-02 5.97295819e-03 9.46303930e+01] [-9.78476268e-02 9.95201308e-01 -4.45130392e-04 -3.17909428e+00] [-5.98785116e-03 -1.41453410e-04 9.99982063e-01 -5.82281802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.185769231 meters 0.040939828801681344 Centerline is valid? [True, True] Translation: X:94.69, Y:-3.16, Z:-0.59 [[ 9.94570182e-01 1.04000180e-01 3.75720656e-03 9.46914635e+01] [-1.03999863e-01 9.94577272e-01 -2.80032305e-04 -3.16117284e+00] [-3.76595566e-03 -1.12237189e-04 9.99992902e-01 -5.85698163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.245769231 meters 0.0439006295411807 Centerline is valid? [True, True] Translation: X:94.75, Y:-3.15, Z:-0.59 [[ 9.94368997e-01 1.05958952e-01 1.73177296e-03 9.47522280e+01] [-1.05958888e-01 9.94370503e-01 -1.29100378e-04 -3.15027522e+00] [-1.73570329e-03 -5.51233233e-05 9.99998492e-01 -5.91069524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.305769231 meters 0.04241304736654123 Centerline is valid? [True, True] Translation: X:94.81, Y:-3.15, Z:-0.59 [[ 9.94557439e-01 1.04171222e-01 1.96393638e-03 9.48129769e+01] [-1.04171136e-01 9.94559376e-01 -1.46322127e-04 -3.15077482e+00] [-1.96849389e-03 -5.90597240e-05 9.99998061e-01 -5.90369419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.365769231 meters 0.028324641964442038 Centerline is valid? [True, True] Translation: X:94.87, Y:-3.16, Z:-0.59 [[ 9.95390319e-01 9.58638823e-02 2.86855083e-03 9.48727142e+01] [-9.58636643e-02 9.95394451e-01 -2.13720927e-04 -3.16091501e+00] [-2.87582769e-03 -6.22540520e-05 9.99995863e-01 -5.87333157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42576923099999 meters 0.023374776089783004 Centerline is valid? [True, True] Translation: X:94.93, Y:-3.17, Z:-0.59 [[ 9.95881617e-01 9.06147075e-02 2.96303101e-03 9.49341205e+01] [-9.06144521e-02 9.95886024e-01 -2.20615835e-04 -3.16869624e+00] [-2.97083222e-03 -4.87861778e-05 9.99995586e-01 -5.88891143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48576923099999 meters 0.016753491401535543 Centerline is valid? [True, True] Translation: X:94.99, Y:-3.18, Z:-0.59 [[ 9.96601451e-01 8.23116191e-02 3.21629187e-03 9.49946828e+01] [-8.23112743e-02 9.96606641e-01 -2.39652124e-04 -3.18109325e+00] [-3.22510399e-03 -2.58994279e-05 9.99994799e-01 -5.87743287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.545769231 meters 0.01426939753260444 Centerline is valid? [True, True] Translation: X:95.06, Y:-3.20, Z:-0.59 [[ 9.97275931e-01 7.37503951e-02 1.26361840e-03 9.50555778e+01] [-7.37503361e-02 9.97276732e-01 -9.32762966e-05 -3.19702713e+00] [-1.26705639e-03 -1.70076089e-07 9.99999197e-01 -5.92265452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.605769231 meters 0.01462785582250782 Centerline is valid? [True, True] Translation: X:95.12, Y:-3.21, Z:-0.59 [[ 9.97516256e-01 7.03866436e-02 2.65324878e-03 9.51176101e+01] [-7.03863674e-02 9.97519784e-01 -1.97458979e-04 -3.20611679e+00] [-2.66056663e-03 1.02159980e-05 9.99996461e-01 -5.88725992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.665769231 meters 0.015024784234510518 Centerline is valid? [True, True] Translation: X:95.18, Y:-3.21, Z:-0.59 [[ 9.97571268e-01 6.95311349e-02 4.12144971e-03 9.51790742e+01] [-6.95304549e-02 9.97579782e-01 -3.08219288e-04 -3.21287600e+00] [-4.13290574e-03 2.09044327e-05 9.99991459e-01 -5.86646428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.725769231 meters 0.01502388559069831 Centerline is valid? [True, True] Translation: X:95.24, Y:-3.22, Z:-0.60 [[ 9.97374814e-01 7.24063751e-02 -8.93164453e-04 9.52403143e+01] [-7.24063434e-02 9.97375214e-01 6.78197397e-05 -3.21512055e+00] [ 8.95730669e-04 -2.97092812e-06 9.99999599e-01 -5.97887827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78576923099999 meters 0.014468892260442534 Centerline is valid? [True, True] Translation: X:95.30, Y:-3.22, Z:-0.59 [[ 9.97314773e-01 7.32321802e-02 5.39772312e-04 9.53018173e+01] [-7.32321690e-02 9.97314919e-01 -4.04386985e-05 -3.22127701e+00] [-5.41284394e-04 8.01414157e-07 9.99999854e-01 -5.94304561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84576923099999 meters 0.014262415410174444 Centerline is valid? [True, True] Translation: X:95.36, Y:-3.23, Z:-0.59 [[ 9.97371091e-01 7.24432868e-02 1.69618332e-03 9.53637436e+01] [-7.24431763e-02 9.97372533e-01 -1.26562677e-04 -3.23421079e+00] [-1.70089527e-03 3.35304786e-06 9.99998553e-01 -5.93456034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.905769231 meters 0.014099353575697006 Centerline is valid? [True, True] Translation: X:95.43, Y:-3.24, Z:-0.59 [[ 9.97238047e-01 7.42639074e-02 1.07244422e-03 9.54254034e+01] [-7.42638645e-02 9.97238623e-01 -7.98180972e-05 -3.24253491e+00] [-1.07541040e-03 -4.62088252e-08 9.99999422e-01 -5.93842230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.965769231 meters 0.014519412818794476 Centerline is valid? [True, True] Translation: X:95.49, Y:-3.24, Z:-0.59 [[ 9.96863744e-01 7.91047394e-02 2.26206174e-03 9.54863126e+01] [-7.91045567e-02 9.96866310e-01 -1.70265922e-04 -3.24220832e+00] [-2.26844198e-03 -9.20746638e-06 9.99997427e-01 -5.91651773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.025769231 meters 0.021209221403964685 Centerline is valid? [True, True] Translation: X:95.55, Y:-3.23, Z:-0.59 [[ 9.95976278e-01 8.95927021e-02 2.09791706e-03 9.55481101e+01] [-8.95925663e-02 9.95978487e-01 -1.58827065e-04 -3.23192181e+00] [-2.10371001e-03 -2.97697844e-05 9.99997787e-01 -5.91378141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.085769231 meters 0.025881632635999175 Centerline is valid? [True, True] Translation: X:95.61, Y:-3.23, Z:-0.59 [[ 9.95575933e-01 9.38728286e-02 4.05633597e-03 9.56085632e+01] [-9.38723564e-02 9.95584194e-01 -3.07081630e-04 -3.22841951e+00] [-4.06725059e-03 -7.50547353e-05 9.99991726e-01 -5.89001397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14576923099999 meters 0.019409085315830223 Centerline is valid? [True, True] Translation: X:95.67, Y:-3.25, Z:-0.59 [[ 9.96207839e-01 8.68937478e-02 4.40651548e-03 9.56674424e+01] [-8.68931202e-02 9.96217584e-01 -3.34033651e-04 -3.24548444e+00] [-4.41887364e-03 -5.01289374e-05 9.99990235e-01 -5.90046024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20576923099999 meters 0.01456944664540276 Centerline is valid? [True, True] Translation: X:95.73, Y:-3.27, Z:-0.59 [[ 9.96735531e-01 8.06566561e-02 3.57550155e-03 9.57281911e+01] [-8.06562047e-02 9.96741944e-01 -2.70489723e-04 -3.26574255e+00] [-3.58566917e-03 -1.87796670e-05 9.99993571e-01 -5.91032508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.265769231 meters 0.017315356141775283 Centerline is valid? [True, True] Translation: X:95.79, Y:-3.26, Z:-0.59 [[ 9.96419793e-01 8.45030095e-02 2.61478856e-03 9.57894603e+01] [-8.45027801e-02 9.96423224e-01 -1.98259905e-04 -3.26367066e+00] [-2.62218961e-03 -2.34068091e-05 9.99996562e-01 -5.92444692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.325769231 meters 0.021860798392143166 Centerline is valid? [True, True] Translation: X:95.85, Y:-3.26, Z:-0.59 [[ 9.95862875e-01 9.08528706e-02 1.70026464e-03 9.58514922e+01] [-9.08527824e-02 9.95864326e-01 -1.29177857e-04 -3.25502994e+00] [-1.70496908e-03 -2.58303411e-05 9.99998546e-01 -5.93708044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.385769231 meters 0.024960270705560245 Centerline is valid? [True, True] Translation: X:95.91, Y:-3.25, Z:-0.59 [[ 9.95729389e-01 9.23007883e-02 1.88360023e-03 9.59126680e+01] [-9.23006825e-02 9.95731170e-01 -1.43231126e-04 -3.25183628e+00] [-1.88877981e-03 -3.12381455e-05 9.99998216e-01 -5.94478006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.445769231 meters 0.021705796646492734 Centerline is valid? [True, True] Translation: X:95.97, Y:-3.26, Z:-0.59 [[ 9.95857381e-01 9.08213963e-02 4.42153731e-03 9.59742517e+01] [-9.08207979e-02 9.95867195e-01 -3.36351418e-04 -3.25608336e+00] [-4.43381186e-03 -6.66095043e-05 9.99990168e-01 -5.89203048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50576923099999 meters 0.0231006965922935 Centerline is valid? [True, True] Translation: X:96.04, Y:-3.25, Z:-0.59 [[ 9.95926280e-01 9.01265024e-02 2.83865602e-03 9.60359860e+01] [-9.01262544e-02 9.95930325e-01 -2.15414062e-04 -3.25450195e+00] [-2.84651813e-03 -4.13009098e-05 9.99995948e-01 -5.94096137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56576923099999 meters 0.02114136767914728 Centerline is valid? [True, True] Translation: X:96.10, Y:-3.26, Z:-0.59 [[ 9.95866018e-01 9.08240681e-02 1.36463802e-03 9.60974671e+01] [-9.08240109e-02 9.95866953e-01 -1.03930535e-04 -3.25954204e+00] [-1.36843730e-03 -2.04410094e-05 9.99999063e-01 -5.94328310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62576923099999 meters 0.02079704185579028 Centerline is valid? [True, True] Translation: X:96.16, Y:-3.26, Z:-0.59 [[ 9.95942388e-01 8.99744391e-02 1.83298888e-03 9.61573884e+01] [-8.99743348e-02 9.95944075e-01 -1.39499510e-04 -3.26452436e+00] [-1.83810581e-03 -2.59884808e-05 9.99998310e-01 -5.94717532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.685769231 meters 0.021281032334663375 Centerline is valid? [True, True] Translation: X:96.22, Y:-3.27, Z:-0.59 [[ 9.95878854e-01 9.06420227e-02 3.05485603e-03 9.62183509e+01] [-9.06417336e-02 9.95883538e-01 -2.33230672e-04 -3.26572552e+00] [-3.06342134e-03 -4.46279524e-05 9.99995307e-01 -5.92801163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.745769231 meters 0.024727082517716634 Centerline is valid? [True, True] Translation: X:96.28, Y:-3.26, Z:-0.59 [[ 9.95855848e-01 9.08773520e-02 3.52671313e-03 9.62782841e+01] [-9.08769681e-02 9.95862091e-01 -2.69296488e-04 -3.26226870e+00] [-3.53659286e-03 -5.23165137e-05 9.99993745e-01 -5.93379234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.805769231 meters 0.020996520669745417 Centerline is valid? [True, True] Translation: X:96.34, Y:-3.27, Z:-0.60 [[ 9.96000309e-01 8.93208291e-02 2.27474002e-03 9.63389750e+01] [-8.93206656e-02 9.96002906e-01 -1.73536456e-04 -3.27141871e+00] [-2.28114809e-03 -3.03389290e-05 9.99997398e-01 -5.96496416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.865769231 meters 0.018012892302756375 Centerline is valid? [True, True] Translation: X:96.40, Y:-3.28, Z:-0.60 [[ 9.96223088e-01 8.68118008e-02 1.80816696e-03 9.63994249e+01] [-8.68116934e-02 9.96224729e-01 -1.37945530e-04 -3.28188064e+00] [-1.81331594e-03 -1.95455142e-05 9.99998356e-01 -5.97349400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92576923099999 meters 0.01804051978791598 Centerline is valid? [True, True] Translation: X:96.46, Y:-3.29, Z:-0.60 [[ 9.96268598e-01 8.62999768e-02 1.09255324e-03 9.64591664e+01] [-8.62999373e-02 9.96269197e-01 -8.33819915e-05 -3.28757009e+00] [-1.09567300e-03 -1.12164159e-05 9.99999400e-01 -5.99692720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98576923099999 meters 0.01909282615354225 Centerline is valid? [True, True] Translation: X:96.52, Y:-3.29, Z:-0.60 [[ 9.96159448e-01 8.75577017e-02 4.84768390e-05 9.65194257e+01] [-8.75577016e-02 9.96159450e-01 -3.70334727e-06 -3.29221072e+00] [-4.86149178e-05 -5.55396223e-07 9.99999999e-01 -6.02774649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.045769231 meters 0.022128210812028967 Centerline is valid? [True, True] Translation: X:96.58, Y:-3.29, Z:-0.60 [[ 9.95729186e-01 9.23127019e-02 1.32374445e-03 9.65801203e+01] [-9.23126490e-02 9.95730066e-01 -1.01126342e-04 -3.29458566e+00] [-1.32742739e-03 -2.15039065e-05 9.99999119e-01 -5.97720115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.105769231 meters 0.0287570660530119 Centerline is valid? [True, True] Translation: X:96.64, Y:-3.29, Z:-0.60 [[ 9.95276353e-01 9.70718779e-02 1.42527276e-03 9.66403121e+01] [-9.70718215e-02 9.95277373e-01 -1.08897978e-04 -3.28925928e+00] [-1.42911266e-03 -2.99702401e-05 9.99998978e-01 -5.99173316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.165769231 meters 0.031774548887319835 Centerline is valid? [True, True] Translation: X:96.70, Y:-3.29, Z:-0.59 [[ 9.95000845e-01 9.97127290e-02 5.53984651e-03 9.66996514e+01] [-9.97119177e-02 9.95016258e-01 -4.23150733e-04 -3.28757671e+00] [-5.55443086e-03 -1.31353382e-04 9.99984565e-01 -5.92060390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.225769231 meters 0.031875895383586005 Centerline is valid? [True, True] Translation: X:96.76, Y:-3.29, Z:-0.59 [[ 9.94993891e-01 9.98185709e-02 4.83837815e-03 9.67597309e+01] [-9.98179521e-02 9.95005648e-01 -3.69810587e-04 -3.28961174e+00] [-4.85112755e-03 -1.14997724e-04 9.99988227e-01 -5.94244969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28576923099999 meters 0.029777497395444434 Centerline is valid? [True, True] Translation: X:96.82, Y:-3.29, Z:-0.60 [[ 9.95071148e-01 9.91627592e-02 -3.96603368e-04 9.68194918e+01] [-9.91627550e-02 9.95071227e-01 3.02134651e-05 -3.29444137e+00] [ 3.97644651e-04 9.26373521e-06 9.99999921e-01 -6.04218392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34576923099999 meters 0.02799794904795793 Centerline is valid? [True, True] Translation: X:96.88, Y:-3.30, Z:-0.60 [[ 9.95076578e-01 9.91026001e-02 1.13104642e-03 9.68788892e+01] [-9.91025657e-02 9.95077220e-01 -8.65427499e-05 -3.29657023e+00] [-1.13405514e-03 -2.59729391e-05 9.99999357e-01 -6.00897856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.405769231 meters 0.03753669679020115 Centerline is valid? [True, True] Translation: X:96.94, Y:-3.28, Z:-0.60 [[ 9.94710702e-01 1.02647468e-01 3.75733181e-03 9.69383279e+01] [-1.02647116e-01 9.94717793e-01 -2.87002792e-04 -3.28106119e+00] [-3.76694491e-03 -1.00194525e-04 9.99992900e-01 -5.98209980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.465769231 meters 0.03605582031838298 Centerline is valid? [True, True] Translation: X:97.00, Y:-3.28, Z:-0.60 [[ 9.94359724e-01 1.06051260e-01 1.36728229e-03 9.69983378e+01] [-1.06051217e-01 9.94360663e-01 -1.04509146e-04 -3.27821459e+00] [-1.37065505e-03 -4.10822647e-05 9.99999060e-01 -6.02974762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.525769231 meters 0.04141230033440431 Centerline is valid? [True, True] Translation: X:97.06, Y:-3.26, Z:-0.60 [[ 9.94520385e-01 1.04522278e-01 2.07290309e-03 9.70574624e+01] [-1.04522175e-01 9.94522544e-01 -1.58482778e-04 -3.26461925e+00] [-2.07811383e-03 -5.90499847e-05 9.99997839e-01 -6.02699072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.585769231 meters 0.03401932824032996 Centerline is valid? [True, True] Translation: X:97.12, Y:-3.27, Z:-0.60 [[ 9.94625855e-01 1.03534303e-01 2.38280636e-04 9.71163806e+01] [-1.03534301e-01 9.94625883e-01 -1.84916772e-05 -3.27109452e+00] [-2.38914611e-04 -6.27791899e-06 9.99999971e-01 -6.04696260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64576923099999 meters 0.03544472776502728 Centerline is valid? [True, True] Translation: X:97.18, Y:-3.26, Z:-0.61 [[ 9.94853973e-01 1.01318974e-01 -1.94702850e-04 9.71754203e+01] [-1.01318973e-01 9.94853992e-01 1.44172254e-05 -3.26038304e+00] [ 1.95161646e-04 5.38405888e-06 9.99999981e-01 -6.07449986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70576923099999 meters 0.026315804674449744 Centerline is valid? [True, True] Translation: X:97.24, Y:-3.27, Z:-0.60 [[ 9.95499709e-01 9.47046737e-02 3.36958569e-03 9.72353953e+01] [-9.47043474e-02 9.95505410e-01 -2.56611158e-04 -3.26720489e+00] [-3.37874306e-03 -6.36580811e-05 9.99994290e-01 -6.00922429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.765769231 meters 0.018573230924853336 Centerline is valid? [True, True] Translation: X:97.29, Y:-3.28, Z:-0.60 [[ 9.96282390e-01 8.61227809e-02 2.06533984e-03 9.72932888e+01] [-8.61226396e-02 9.96284531e-01 -1.57444266e-04 -3.27953878e+00] [-2.07122567e-03 -2.10135691e-05 9.99997855e-01 -6.04441445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.825769231 meters 0.013536336548108817 Centerline is valid? [True, True] Translation: X:97.35, Y:-3.30, Z:-0.60 [[ 9.96922789e-01 7.82935799e-02 3.88167143e-03 9.73521899e+01] [-7.82930228e-02 9.96930346e-01 -2.95491704e-04 -3.29628881e+00] [-3.89289114e-03 -9.32537596e-06 9.99992423e-01 -6.01647814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.885769231 meters 0.0155887297424257 Centerline is valid? [True, True] Translation: X:97.41, Y:-3.32, Z:-0.60 [[ 9.97581763e-01 6.94439381e-02 2.85758856e-03 9.74114231e+01] [-6.94436003e-02 9.97585856e-01 -2.17380031e-04 -3.32085913e+00] [-2.86578565e-03 1.84131169e-05 9.99995893e-01 -6.03443100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.945769231 meters 0.017515177006257387 Centerline is valid? [True, True] Translation: X:97.47, Y:-3.33, Z:-0.61 [[ 9.97814919e-01 6.60672474e-02 7.11685992e-04 9.74716750e+01] [-6.60672257e-02 9.97815173e-01 -5.40273973e-05 -3.33496061e+00] [-7.13700523e-04 6.89022394e-06 9.99999745e-01 -6.06411437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00576923099999 meters 0.018009803025441484 Centerline is valid? [True, True] Translation: X:97.53, Y:-3.35, Z:-0.60 [[ 9.97902726e-01 6.46305036e-02 3.61225908e-03 9.75308618e+01] [-6.46299313e-02 9.97909263e-01 -2.75077036e-04 -3.35069464e+00] [-3.62248516e-03 4.10400676e-05 9.99993438e-01 -6.01053261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06576923099999 meters 0.017126570686458238 Centerline is valid? [True, True] Translation: X:97.59, Y:-3.36, Z:-0.60 [[ 9.97839136e-01 6.56213754e-02 3.30059907e-03 9.75927568e+01] [-6.56209051e-02 9.97844594e-01 -2.50701505e-04 -3.36217009e+00] [-3.30993632e-03 3.35714751e-05 9.99994522e-01 -6.02271457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12576923099999 meters 0.01577521886856201 Centerline is valid? [True, True] Translation: X:97.65, Y:-3.37, Z:-0.61 [[ 9.97571089e-01 6.96362324e-02 1.64845642e-03 9.76533314e+01] [-6.96361210e-02 9.97572451e-01 -1.24964140e-04 -3.37016962e+00] [-1.65315675e-03 9.86850206e-06 9.99998633e-01 -6.06265191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.185769231 meters 0.013703494730511879 Centerline is valid? [True, True] Translation: X:97.71, Y:-3.37, Z:-0.60 [[ 9.97320989e-01 7.31067809e-02 2.49888043e-03 9.77138053e+01] [-7.31065315e-02 9.97324119e-01 -1.91123563e-04 -3.37324106e+00] [-2.50616616e-03 7.92706001e-06 9.99996860e-01 -6.04797637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.245769231 meters 0.013513155496048104 Centerline is valid? [True, True] Translation: X:97.77, Y:-3.38, Z:-0.61 [[ 9.97278792e-01 7.36816361e-02 2.45513540e-03 9.77742204e+01] [-7.36813973e-02 9.97281814e-01 -1.87724247e-04 -3.37803686e+00] [-2.46229371e-03 6.31560313e-06 9.99996969e-01 -6.06019672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.305769231 meters 0.013164003894266054 Centerline is valid? [True, True] Translation: X:97.83, Y:-3.38, Z:-0.61 [[ 9.97107384e-01 7.59434257e-02 3.07585948e-03 9.78349482e+01] [-7.59430612e-02 9.97112128e-01 -2.35289237e-04 -3.38092501e+00] [-3.08484547e-03 1.01845104e-06 9.99995242e-01 -6.05242096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36576923099999 meters 0.013428803942345567 Centerline is valid? [True, True] Translation: X:97.90, Y:-3.38, Z:-0.60 [[ 9.96880092e-01 7.88512316e-02 3.54482482e-03 9.78950432e+01] [-7.88507661e-02 9.96886394e-01 -2.71121108e-04 -3.37970029e+00] [-3.55516586e-03 -9.23691780e-06 9.99993680e-01 -6.03983879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42576923099999 meters 0.013243133847925246 Centerline is valid? [True, True] Translation: X:97.96, Y:-3.39, Z:-0.61 [[ 9.96905321e-01 7.85535635e-02 3.01972193e-03 9.79561265e+01] [-7.85532243e-02 9.96909894e-01 -2.30934838e-04 -3.38679313e+00] [-3.02853142e-03 -6.98872485e-06 9.99995414e-01 -6.05094720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48576923099999 meters 0.013130103957425431 Centerline is valid? [True, True] Translation: X:98.02, Y:-3.39, Z:-0.61 [[ 9.96981573e-01 7.75635094e-02 3.41252483e-03 9.80163264e+01] [-7.75630705e-02 9.96987413e-01 -2.60963967e-04 -3.39387552e+00] [-3.42248559e-03 -4.50963730e-06 9.99994143e-01 -6.05302374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.545769231 meters 0.01295366155993054 Centerline is valid? [True, True] Translation: X:98.08, Y:-3.40, Z:-0.60 [[ 9.97008583e-01 7.72022604e-02 3.70090394e-03 9.80771853e+01] [-7.72017404e-02 9.97015452e-01 -2.83366204e-04 -3.40030188e+00] [-3.71173492e-03 -3.19768734e-06 9.99993111e-01 -6.04977144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.605769231 meters 0.012997821051071721 Centerline is valid? [True, True] Translation: X:98.14, Y:-3.41, Z:-0.61 [[ 9.97060843e-01 7.65531356e-02 3.04833513e-03 9.81367728e+01] [-7.65527795e-02 9.97065503e-01 -2.33492754e-04 -3.40689611e+00] [-3.05726440e-03 -5.52044424e-07 9.99995327e-01 -6.06422610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.665769231 meters 0.012878009940997573 Centerline is valid? [True, True] Translation: X:98.20, Y:-3.42, Z:-0.61 [[ 9.97081052e-01 7.62714290e-02 3.47061543e-03 9.81973549e+01] [-7.62709657e-02 9.97087092e-01 -2.65848528e-04 -3.41545994e+00] [-3.48078249e-03 3.65339547e-07 9.99993942e-01 -6.06755103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.725769231 meters 0.01300930594070455 Centerline is valid? [True, True] Translation: X:98.26, Y:-3.43, Z:-0.61 [[ 9.97258057e-01 7.39056824e-02 3.78394873e-03 9.82589591e+01] [-7.39051160e-02 9.97265236e-01 -2.89487115e-04 -3.42764590e+00] [-3.79499526e-03 9.04018855e-06 9.99992799e-01 -6.06712690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78576923099999 meters 0.014663900447281022 Centerline is valid? [True, True] Translation: X:98.32, Y:-3.44, Z:-0.61 [[ 9.97483783e-01 7.07876509e-02 3.90005167e-03 9.83197116e+01] [-7.07870225e-02 9.97491407e-01 -2.99109205e-04 -3.44148796e+00] [-3.91144127e-03 2.22835364e-05 9.99992350e-01 -6.07105133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84576923099999 meters 0.015232788178336277 Centerline is valid? [True, True] Translation: X:98.38, Y:-3.45, Z:-0.61 [[ 9.97539624e-01 7.00049343e-02 3.74276905e-03 9.83822503e+01] [-7.00043484e-02 9.97546645e-01 -2.87488775e-04 -3.45027362e+00] [-3.75371235e-03 2.47713354e-05 9.99992954e-01 -6.07759432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.905769231 meters 0.0178687722798928 Centerline is valid? [True, True] Translation: X:98.44, Y:-3.47, Z:-0.61 [[ 9.97803610e-01 6.61962067e-02 2.45306682e-03 9.84429236e+01] [-6.61959423e-02 9.97806625e-01 -1.88872609e-04 -3.46669340e+00] [-2.46018898e-03 2.60747012e-05 9.99996973e-01 -6.10527895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.965769231 meters 0.0194552409279382 Centerline is valid? [True, True] Translation: X:98.50, Y:-3.48, Z:-0.61 [[ 9.97872605e-01 6.51611772e-02 2.07025318e-03 9.85034129e+01] [-6.51609872e-02 9.97874752e-01 -1.59159921e-04 -3.48030850e+00] [-2.07622442e-03 2.39215845e-05 9.99997844e-01 -6.10785878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.025769231 meters 0.017517385906499892 Centerline is valid? [True, True] Translation: X:98.56, Y:-3.49, Z:-0.61 [[ 9.97707444e-01 6.75653872e-02 3.84390423e-03 9.85642248e+01] [-6.75647442e-02 9.97714848e-01 -2.97041932e-04 -3.48552384e+00] [-3.85519007e-03 3.66485408e-05 9.99992568e-01 -6.08636260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.085769231 meters 0.015528046571258572 Centerline is valid? [True, True] Translation: X:98.63, Y:-3.49, Z:-0.61 [[ 9.97555019e-01 6.97268283e-02 4.70684994e-03 9.86259984e+01] [-6.97258840e-02 9.97566122e-01 -3.64624157e-04 -3.48906100e+00] [-4.72081813e-03 3.55433847e-05 9.99988856e-01 -6.07646094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14576923099999 meters 0.013208139944319958 Centerline is valid? [True, True] Translation: X:98.69, Y:-3.49, Z:-0.61 [[ 9.97232258e-01 7.42303303e-02 4.20488245e-03 9.86885880e+01] [-7.42296143e-02 9.97241123e-01 -3.26301667e-04 -3.48613273e+00] [-4.21750318e-03 1.32717456e-05 9.99991106e-01 -6.08527209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20576923099999 meters 0.013243410690213465 Centerline is valid? [True, True] Translation: X:98.75, Y:-3.49, Z:-0.61 [[ 9.97197752e-01 7.47377654e-02 3.30286495e-03 9.87500684e+01] [-7.47373255e-02 9.97203222e-01 -2.56567894e-04 -3.49029786e+00] [-3.31280288e-03 9.00163469e-06 9.99994513e-01 -6.10401003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.265769231 meters 0.01356998340976578 Centerline is valid? [True, True] Translation: X:98.81, Y:-3.50, Z:-0.61 [[ 9.97262514e-01 7.38464625e-02 3.76538417e-03 9.88125610e+01] [-7.38458814e-02 9.97269622e-01 -2.93309319e-04 -3.49717365e+00] [-3.77676311e-03 1.44482761e-05 9.99992868e-01 -6.10643672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.325769231 meters 0.013821462768477868 Centerline is valid? [True, True] Translation: X:98.88, Y:-3.50, Z:-0.61 [[ 9.97309497e-01 7.32278443e-02 3.38368972e-03 9.88752163e+01] [-7.32273698e-02 9.97315237e-01 -2.64077054e-04 -3.50256911e+00] [-3.39394311e-03 1.55878562e-05 9.99994240e-01 -6.11301595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.385769231 meters 0.013174867038234821 Centerline is valid? [True, True] Translation: X:98.94, Y:-3.50, Z:-0.61 [[ 9.97200519e-01 7.46105643e-02 4.93846021e-03 9.89361397e+01] [-7.46095623e-02 9.97212747e-01 -3.87082658e-04 -3.50446876e+00] [-4.95357593e-03 1.75426724e-05 9.99987731e-01 -6.08641843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.445769231 meters 0.013599778623030086 Centerline is valid? [True, True] Translation: X:99.00, Y:-3.51, Z:-0.61 [[ 9.97230416e-01 7.42297243e-02 4.63087537e-03 9.89994496e+01] [-7.42288363e-02 9.97241168e-01 -3.63565523e-04 -3.50869448e+00] [-4.64508693e-03 1.88141083e-05 9.99989211e-01 -6.09845912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50576923099999 meters 0.014449923155466986 Centerline is valid? [True, True] Translation: X:99.06, Y:-3.52, Z:-0.61 [[ 9.97425044e-01 7.15480253e-02 4.91541347e-03 9.90613031e+01] [-7.15469874e-02 9.97437155e-01 -3.86900217e-04 -3.51628811e+00] [-4.93049798e-03 3.42209407e-05 9.99987844e-01 -6.10173089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56576923099999 meters 0.017923610516611125 Centerline is valid? [True, True] Translation: X:99.12, Y:-3.53, Z:-0.61 [[ 9.97728519e-01 6.72094413e-02 4.54900865e-03 9.91209613e+01] [-6.72085031e-02 9.97738888e-01 -3.58982976e-04 -3.53037427e+00] [-4.56284988e-03 5.24354914e-05 9.99989589e-01 -6.11406159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62576923099999 meters 0.018885529597044655 Centerline is valid? [True, True] Translation: X:99.18, Y:-3.54, Z:-0.61 [[ 9.97715868e-01 6.73669975e-02 4.97339653e-03 9.91821395e+01] [-6.73658759e-02 9.97728262e-01 -3.92892752e-04 -3.53955194e+00] [-4.98856628e-03 5.69581199e-05 9.99987555e-01 -6.11800011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.685769231 meters 0.016712400066790277 Centerline is valid? [True, True] Translation: X:99.24, Y:-3.54, Z:-0.62 [[ 9.97521616e-01 7.02542118e-02 3.86917567e-03 9.92443867e+01] [-7.02535541e-02 9.97529120e-01 -3.05813707e-04 -3.54226429e+00] [-3.88110010e-03 3.32324409e-05 9.99992468e-01 -6.15032922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.745769231 meters 0.013733131178741042 Centerline is valid? [True, True] Translation: X:99.31, Y:-3.54, Z:-0.62 [[ 9.97239222e-01 7.41931943e-02 3.05038577e-03 9.93066898e+01] [-7.41928033e-02 9.97243887e-01 -2.41304094e-04 -3.54232427e+00] [-3.05988169e-03 1.43212351e-05 9.99995318e-01 -6.15156180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.805769231 meters 0.012733169852187512 Centerline is valid? [True, True] Translation: X:99.37, Y:-3.54, Z:-0.62 [[ 9.96911124e-01 7.85020802e-02 2.37352450e-03 9.93683374e+01] [-7.85018552e-02 9.96913950e-01 -1.87963685e-04 -3.53512025e+00] [-2.38095523e-03 1.05701190e-06 9.99997166e-01 -6.16204809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86576923099999 meters 0.01259494919129969 Centerline is valid? [True, True] Translation: X:99.43, Y:-3.53, Z:-0.61 [[ 9.96658925e-01 8.15661032e-02 4.23767150e-03 9.94308492e+01] [-8.15654057e-02 9.96667934e-01 -3.37443500e-04 -3.52918593e+00] [-4.25107525e-03 -9.33131877e-06 9.99990964e-01 -6.13731009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92576923099999 meters 0.012381147430168002 Centerline is valid? [True, True] Translation: X:99.49, Y:-3.53, Z:-0.61 [[ 9.96741852e-01 8.05381930e-02 4.39100284e-03 9.94929023e+01] [-8.05374349e-02 9.96751523e-01 -3.49473431e-04 -3.53121280e+00] [-4.40488473e-03 -5.30531050e-06 9.99990298e-01 -6.13622517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98576923099999 meters 0.013407613632953928 Centerline is valid? [True, True] Translation: X:99.55, Y:-3.54, Z:-0.62 [[ 9.97157962e-01 7.52774361e-02 3.05075186e-03 9.95540941e+01] [-7.52770442e-02 9.97162628e-01 -2.43262282e-04 -3.53970515e+00] [-3.06040791e-03 1.29193389e-05 9.99995317e-01 -6.16892718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.045769231 meters 0.013959130563815484 Centerline is valid? [True, True] Translation: X:99.62, Y:-3.54, Z:-0.61 [[ 9.97280984e-01 7.35464185e-02 4.64352030e-03 9.96160826e+01] [-7.35454890e-02 9.97291795e-01 -3.70845172e-04 -3.54286007e+00] [-4.65821903e-03 2.83268670e-05 9.99989150e-01 -6.13369396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.105769231 meters 0.012321466507155297 Centerline is valid? [True, True] Translation: X:99.68, Y:-3.54, Z:-0.61 [[ 9.96946741e-01 7.77453053e-02 7.27068148e-03 9.96780412e+01] [-7.77431240e-02 9.96973253e-01 -5.82581521e-04 -3.53823928e+00] [-7.29396795e-03 1.55572569e-05 9.99973399e-01 -6.08980699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.165769231 meters 0.012180070565643207 Centerline is valid? [True, True] Translation: X:99.74, Y:-3.53, Z:-0.61 [[ 9.96628803e-01 8.16977747e-02 7.51676707e-03 9.97396445e+01] [-8.16955471e-02 9.96657149e-01 -6.03441969e-04 -3.52914553e+00] [-7.54093950e-03 -1.26787509e-05 9.99971567e-01 -6.09549185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.225769231 meters 0.012244502430856558 Centerline is valid? [True, True] Translation: X:99.80, Y:-3.53, Z:-0.61 [[ 9.96807177e-01 7.96440944e-02 5.68068135e-03 9.98019116e+01] [-7.96427897e-02 9.96823364e-01 -4.55873078e-04 -3.53079430e+00] [-5.69894349e-03 1.99224586e-06 9.99983761e-01 -6.13425298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28576923099999 meters 0.013974254684190557 Centerline is valid? [True, True] Translation: X:99.86, Y:-3.54, Z:-0.62 [[ 9.97229553e-01 7.42716533e-02 4.11578696e-03 9.98624213e+01] [-7.42709209e-02 9.97238046e-01 -3.30713847e-04 -3.54015441e+00] [-4.12898201e-03 2.41143338e-05 9.99991475e-01 -6.16493922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34576923099999 meters 0.019414365994154192 Centerline is valid? [True, True] Translation: X:99.92, Y:-3.55, Z:-0.62 [[ 9.97746955e-01 6.69011714e-02 5.02471169e-03 9.99233723e+01] [-6.68999810e-02 9.97759605e-01 -4.04812102e-04 -3.55322660e+00] [-5.04053675e-03 6.77469249e-05 9.99987294e-01 -6.15330873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.405769231 meters 0.023708755807211 Centerline is valid? [True, True] Translation: X:99.98, Y:-3.57, Z:-0.61 [[ 9.98029620e-01 6.24548597e-02 6.02229644e-03 9.99831350e+01] [-6.24530608e-02 9.98047784e-01 -4.86475565e-04 -3.56698782e+00] [-6.04092238e-03 1.09406177e-04 9.99981747e-01 -6.14484353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.465769231 meters 0.025453830198986324 Centerline is valid? [True, True] Translation: X:100.04, Y:-3.58, Z:-0.62 [[ 9.98046886e-01 6.23288472e-02 4.18663166e-03 1.00043321e+02] [-6.23279780e-02 9.98055664e-01 -3.37878598e-04 -3.57894055e+00] [-4.19955102e-03 7.62743971e-05 9.99991179e-01 -6.18877647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.525769231 meters 0.01939996650405062 Centerline is valid? [True, True] Translation: X:100.11, Y:-3.58, Z:-0.62 [[ 9.97679631e-01 6.79388947e-02 4.43407926e-03 1.00105050e+02] [-6.79379704e-02 9.97689482e-01 -3.58921244e-04 -3.57865643e+00] [-4.44821895e-03 5.68460687e-05 9.99990105e-01 -6.17912016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.585769231 meters 0.013372215915344312 Centerline is valid? [True, True] Translation: X:100.17, Y:-3.57, Z:-0.62 [[ 9.97060910e-01 7.65273825e-02 3.61949893e-03 1.00167184e+02] [-7.65268230e-02 9.97067480e-01 -2.93036945e-04 -3.57262314e+00] [-3.63131003e-03 1.51869286e-05 9.99993407e-01 -6.20106388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64576923099999 meters 0.013059611719316563 Centerline is valid? [True, True] Translation: X:100.23, Y:-3.57, Z:-0.62 [[ 9.96408235e-01 8.43940958e-02 6.94729816e-03 1.00228945e+02] [-8.43922232e-02 9.96432454e-01 -5.62778142e-04 -3.56522153e+00] [-6.97000850e-03 -2.55411612e-05 9.99975709e-01 -6.15645780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70576923099999 meters 0.014272206661194676 Centerline is valid? [True, True] Translation: X:100.29, Y:-3.57, Z:-0.62 [[ 9.96233176e-01 8.64049581e-02 7.32414764e-03 1.00289003e+02] [-8.64029312e-02 9.96260097e-01 -5.93309319e-04 -3.56665721e+00] [-7.34802091e-03 -4.17533974e-05 9.99973002e-01 -6.15535692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.765769231 meters 0.016251015549671555 Centerline is valid? [True, True] Translation: X:100.35, Y:-3.57, Z:-0.62 [[ 9.95937131e-01 8.98543237e-02 5.95245335e-03 1.00350129e+02] [-8.98530461e-02 9.95954917e-01 -4.82247082e-04 -3.56553008e+00] [-5.97170717e-03 -5.45582907e-05 9.99982168e-01 -6.18432348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.825769231 meters 0.01690641656277398 Centerline is valid? [True, True] Translation: X:100.41, Y:-3.57, Z:-0.62 [[ 9.95905661e-01 9.00637437e-02 7.77413593e-03 1.00409372e+02] [-9.00615701e-02 9.95936000e-01 -6.29933462e-04 -3.56651687e+00] [-7.79927601e-03 -7.27965871e-05 9.99969583e-01 -6.15958496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.885769231 meters 0.017317437689895354 Centerline is valid? [True, True] Translation: X:100.47, Y:-3.57, Z:-0.62 [[ 9.95806800e-01 9.11534677e-02 7.73704747e-03 1.00469466e+02] [-9.11513483e-02 9.95836853e-01 -6.26852095e-04 -3.56782840e+00] [-7.76197675e-03 -8.10187290e-05 9.99969872e-01 -6.16212172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.945769231 meters 0.01987327856998925 Centerline is valid? [True, True] Translation: X:100.53, Y:-3.56, Z:-0.62 [[ 9.95542920e-01 9.39903934e-02 7.75249956e-03 1.00529986e+02] [-9.39883512e-02 9.95573099e-01 -6.28143545e-04 -3.55900658e+00] [-7.77721947e-03 -1.03300793e-04 9.99969752e-01 -6.17344303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00576923099999 meters 0.02068327085892944 Centerline is valid? [True, True] Translation: X:100.59, Y:-3.56, Z:-0.62 [[ 9.95470182e-01 9.47274617e-02 8.11328135e-03 1.00590232e+02] [-9.47252510e-02 9.95503237e-01 -6.57175294e-04 -3.55658936e+00] [-8.13905039e-03 -1.14334203e-04 9.99966871e-01 -6.17109864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06576923099999 meters 0.02124193991031365 Centerline is valid? [True, True] Translation: X:100.65, Y:-3.55, Z:-0.62 [[ 9.95416997e-01 9.53921464e-02 6.73352231e-03 1.00650249e+02] [-9.53906398e-02 9.95439766e-01 -5.45283101e-04 -3.55484715e+00] [-6.75483160e-03 -9.95309340e-05 9.99977181e-01 -6.19866653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12576923099999 meters 0.01882686064264645 Centerline is valid? [True, True] Translation: X:100.71, Y:-3.56, Z:-0.62 [[ 9.95651387e-01 9.27372454e-02 8.83845100e-03 1.00710041e+02] [-9.27345474e-02 9.95690610e-01 -7.15478334e-04 -3.56059264e+00] [-8.86671416e-03 -1.07262757e-04 9.99960684e-01 -6.17014125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.185769231 meters 0.01768945364518747 Centerline is valid? [True, True] Translation: X:100.77, Y:-3.57, Z:-0.62 [[ 9.95787112e-01 9.14131484e-02 7.18778257e-03 1.00770009e+02] [-9.14113305e-02 9.95813050e-01 -5.81717850e-04 -3.56536891e+00] [-7.21086435e-03 -7.77776312e-05 9.99973998e-01 -6.19912563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.245769231 meters 0.019099980505141494 Centerline is valid? [True, True] Translation: X:100.83, Y:-3.57, Z:-0.62 [[ 9.95683395e-01 9.26375107e-02 5.73314402e-03 1.00828748e+02] [-9.26363746e-02 9.95699898e-01 -4.63969998e-04 -3.56533824e+00] [-5.75147194e-03 -6.91304542e-05 9.99983458e-01 -6.22689462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.305769231 meters 0.01827727174709826 Centerline is valid? [True, True] Translation: X:100.89, Y:-3.57, Z:-0.62 [[ 9.95750308e-01 9.17617080e-02 7.81748521e-03 1.00887127e+02] [-9.17595717e-02 9.95780991e-01 -6.32270557e-04 -3.56868600e+00] [-7.84252139e-03 -8.77454920e-05 9.99969243e-01 -6.20696370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36576923099999 meters 0.016510662154534346 Centerline is valid? [True, True] Translation: X:100.95, Y:-3.58, Z:-0.62 [[ 9.95994656e-01 8.90995787e-02 7.47731734e-03 1.00945534e+02] [-8.90975517e-02 9.96022721e-01 -6.04427057e-04 -3.57543097e+00] [-7.50143216e-03 -6.42045497e-05 9.99971862e-01 -6.21435236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42576923099999 meters 0.012919183526710138 Centerline is valid? [True, True] Translation: X:101.01, Y:-3.59, Z:-0.62 [[ 9.96735553e-01 8.02760670e-02 8.60181094e-03 1.01005264e+02] [-8.02730569e-02 9.96772669e-01 -6.95178904e-04 -3.59242058e+00] [-8.62985628e-03 2.41587012e-06 9.99962762e-01 -6.19643129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48576923099999 meters 0.012926348884459878 Centerline is valid? [True, True] Translation: X:101.06, Y:-3.60, Z:-0.62 [[ 9.96871504e-01 7.86077456e-02 8.24777949e-03 1.01064831e+02] [-7.86049204e-02 9.96905623e-01 -6.66645088e-04 -3.60022304e+00] [-8.27466123e-03 1.62434406e-05 9.99965764e-01 -6.20318920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.545769231 meters 0.012924429089721239 Centerline is valid? [True, True] Translation: X:101.12, Y:-3.60, Z:-0.62 [[ 9.96682279e-01 8.07890283e-02 9.87766806e-03 1.01124640e+02] [-8.07850836e-02 9.96731224e-01 -7.98350847e-04 -3.59896227e+00] [-9.90987816e-03 -2.26609875e-06 9.99950896e-01 -6.16842115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.605769231 meters 0.013009281052383964 Centerline is valid? [True, True] Translation: X:101.19, Y:-3.60, Z:-0.62 [[ 9.96645720e-01 8.12842273e-02 9.49650813e-03 1.01185423e+02] [-8.12806044e-02 9.96690962e-01 -7.67465375e-04 -3.60113744e+00] [-9.52746665e-03 -6.99083952e-06 9.99954613e-01 -6.18922704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.665769231 meters 0.01330091281735871 Centerline is valid? [True, True] Translation: X:101.25, Y:-3.61, Z:-0.62 [[ 9.96914966e-01 7.80778073e-02 8.02531216e-03 1.01245374e+02] [-7.80751160e-02 9.96947268e-01 -6.48569887e-04 -3.60753265e+00] [-8.05145195e-03 1.99918495e-05 9.99967586e-01 -6.22980103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.725769231 meters 0.013215134977128014 Centerline is valid? [True, True] Translation: X:101.31, Y:-3.60, Z:-0.62 [[ 9.96848753e-01 7.88721021e-02 8.47080231e-03 1.01306263e+02] [-7.88691325e-02 9.96884743e-01 -6.84572411e-04 -3.60428756e+00] [-8.49840725e-03 1.43303257e-05 9.99963888e-01 -6.21870917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78576923099999 meters 0.01313715897297682 Centerline is valid? [True, True] Translation: X:101.37, Y:-3.60, Z:-0.62 [[ 9.96669217e-01 8.11596441e-02 7.97399832e-03 1.01366801e+02] [-8.11570860e-02 9.96701115e-01 -6.44399169e-04 -3.60029903e+00] [-7.99999222e-03 -4.89365236e-06 9.99968000e-01 -6.24585920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84576923099999 meters 0.013493531592693404 Centerline is valid? [True, True] Translation: X:101.43, Y:-3.60, Z:-0.63 [[ 9.96542251e-01 8.27355672e-02 7.63982549e-03 1.01425895e+02] [-8.27332667e-02 9.96571536e-01 -6.17206565e-04 -3.59581518e+00] [-7.66469756e-03 -1.69952999e-05 9.99970626e-01 -6.26197394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.905769231 meters 0.013236868062312347 Centerline is valid? [True, True] Translation: X:101.49, Y:-3.60, Z:-0.63 [[ 9.96782549e-01 7.96777484e-02 8.71812108e-03 1.01485932e+02] [-7.96746386e-02 9.96820674e-01 -7.03988141e-04 -3.59853824e+00] [-8.74649552e-03 7.10994768e-06 9.99961749e-01 -6.26120978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.965769231 meters 0.015527871118930035 Centerline is valid? [True, True] Translation: X:101.55, Y:-3.61, Z:-0.63 [[ 9.97287180e-01 7.30589067e-02 8.98207200e-03 1.01546045e+02] [-7.30553388e-02 9.97327625e-01 -7.25128537e-04 -3.61100610e+00] [-9.01104563e-03 6.69730811e-05 9.99959397e-01 -6.26706972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.025769231 meters 0.019615333985497828 Centerline is valid? [True, True] Translation: X:101.61, Y:-3.63, Z:-0.63 [[ 9.97667174e-01 6.76766385e-02 8.94892296e-03 1.01605896e+02] [-6.76728795e-02 9.97707301e-01 -7.22539142e-04 -3.62581868e+00] [-8.97730480e-03 1.15254198e-04 9.99959697e-01 -6.26737629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.085769231 meters 0.022003285433045135 Centerline is valid? [True, True] Translation: X:101.67, Y:-3.64, Z:-0.62 [[ 9.97763507e-01 6.59445550e-02 1.09224699e-02 1.01665549e+02] [-6.59388467e-02 9.97823276e-01 -8.82310338e-04 -3.63718203e+00] [-1.09568783e-02 1.60121986e-04 9.99939959e-01 -6.23523958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14576923099999 meters 0.0207104603499578 Centerline is valid? [True, True] Translation: X:101.73, Y:-3.64, Z:-0.62 [[ 9.97742448e-01 6.63178645e-02 1.05805812e-02 1.01727052e+02] [-6.63125273e-02 9.97798536e-01 -8.54856085e-04 -3.64106930e+00] [-1.06139806e-02 1.51301126e-04 9.99943659e-01 -6.24697045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20576923099999 meters 0.021665384273340298 Centerline is valid? [True, True] Translation: X:101.79, Y:-3.65, Z:-0.62 [[ 9.97793598e-01 6.53839173e-02 1.15273214e-02 1.01787920e+02] [-6.53775164e-02 9.97860167e-01 -9.31635244e-04 -3.65130730e+00] [-1.15635688e-02 1.75952039e-04 9.99933124e-01 -6.23786221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.265769231 meters 0.02407441956594192 Centerline is valid? [True, True] Translation: X:101.85, Y:-3.66, Z:-0.62 [[ 9.97971730e-01 6.24368478e-02 1.24123299e-02 1.01848762e+02] [-6.24291858e-02 9.98048891e-01 -1.00417804e-03 -3.66291280e+00] [-1.24508098e-02 2.27249649e-04 9.99922460e-01 -6.22855277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.325769231 meters 0.028945750642366937 Centerline is valid? [True, True] Translation: X:101.91, Y:-3.68, Z:-0.63 [[ 9.98281478e-01 5.76875268e-02 1.03072680e-02 1.01907669e+02] [-5.76819790e-02 9.98334659e-01 -8.34966161e-04 -3.67867002e+00] [-1.03382701e-02 2.38987635e-04 9.99946530e-01 -6.28205079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.385769231 meters 0.03297923897645099 Centerline is valid? [True, True] Translation: X:101.97, Y:-3.69, Z:-0.63 [[ 9.98525801e-01 5.32230047e-02 1.06553072e-02 1.01967453e+02] [-5.32168168e-02 9.98582608e-01 -8.63619167e-04 -3.69445136e+00] [-1.06861689e-02 2.95304489e-04 9.99942858e-01 -6.27987758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.445769231 meters 0.032965585188731335 Centerline is valid? [True, True] Translation: X:102.03, Y:-3.71, Z:-0.63 [[ 9.98545198e-01 5.34040942e-02 7.44913373e-03 1.02028793e+02] [-5.34010741e-02 9.98572962e-01 -6.03888388e-04 -3.70716328e+00] [-7.47075365e-03 2.05218108e-04 9.99972072e-01 -6.34530259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50576923099999 meters 0.028963854149161347 Centerline is valid? [True, True] Translation: X:102.09, Y:-3.71, Z:-0.63 [[ 9.98263353e-01 5.81645972e-02 9.33581768e-03 1.02088340e+02] [-5.81600481e-02 9.98306984e-01 -7.58261842e-04 -3.71023621e+00] [-9.36411599e-03 2.13973403e-04 9.99956133e-01 -6.30985358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56576923099999 meters 0.02494829908808072 Centerline is valid? [True, True] Translation: X:102.15, Y:-3.71, Z:-0.63 [[ 9.97839956e-01 6.48687627e-02 1.03665847e-02 1.02148127e+02] [-6.48635164e-02 9.97893790e-01 -8.41851571e-04 -3.70875527e+00] [-1.03993603e-02 1.67620000e-04 9.99945911e-01 -6.29770073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62576923099999 meters 0.022448491343995073 Centerline is valid? [True, True] Translation: X:102.21, Y:-3.71, Z:-0.63 [[ 9.97715509e-01 6.67193264e-02 1.05968806e-02 1.02210098e+02] [-6.67139436e-02 9.97771772e-01 -8.61032653e-04 -3.70930648e+00] [-1.06307158e-02 1.52105939e-04 9.99943481e-01 -6.30481946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.685769231 meters 0.023160860396130106 Centerline is valid? [True, True] Translation: X:102.27, Y:-3.72, Z:-0.63 [[ 9.97724057e-01 6.65243165e-02 1.10100294e-02 1.02271907e+02] [-6.65184745e-02 9.97784791e-01 -8.96361757e-04 -3.71646546e+00] [-1.10452698e-02 1.61951328e-04 9.99938986e-01 -6.30017245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.745769231 meters 0.027400944103048754 Centerline is valid? [True, True] Translation: X:102.33, Y:-3.73, Z:-0.63 [[ 9.98016982e-01 6.16607707e-02 1.26512409e-02 1.02331767e+02] [-6.16526497e-02 9.98097133e-01 -1.03129107e-03 -3.72833097e+00] [-1.26907575e-02 2.49263480e-04 9.99919438e-01 -6.28919818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.805769231 meters 0.03102837044680429 Centerline is valid? [True, True] Translation: X:102.39, Y:-3.74, Z:-0.63 [[ 9.98116702e-01 6.00843619e-02 1.23660587e-02 1.02392119e+02] [-6.00764752e-02 9.98193268e-01 -1.00858503e-03 -3.74057224e+00] [-1.24043167e-02 2.63776346e-04 9.99923029e-01 -6.29076508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86576923099999 meters 0.028327552389856306 Centerline is valid? [True, True] Translation: X:102.45, Y:-3.74, Z:-0.63 [[ 9.98202492e-01 5.86654365e-02 1.22536482e-02 1.02454184e+02] [-5.86575675e-02 9.98277661e-01 -1.00089382e-03 -3.74242726e+00] [-1.22912612e-02 2.80325503e-04 9.99924420e-01 -6.31099775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92576923099999 meters 0.028759063052993653 Centerline is valid? [True, True] Translation: X:102.52, Y:-3.75, Z:-0.63 [[ 9.98204697e-01 5.90315410e-02 1.01321328e-02 1.02515163e+02] [-5.90261651e-02 9.98256092e-01 -8.29055584e-04 -3.75072732e+00] [-1.01634037e-02 2.29506236e-04 9.99948325e-01 -6.34925376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98576923099999 meters 0.03160287568618348 Centerline is valid? [True, True] Translation: X:102.58, Y:-3.76, Z:-0.63 [[ 9.98117845e-01 6.03566428e-02 1.08555864e-02 1.02575095e+02] [-6.03505312e-02 9.98176849e-01 -8.89989799e-04 -3.76464921e+00] [-1.08895118e-02 2.33174297e-04 9.99940680e-01 -6.34470795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.045769231 meters 0.02908415100101023 Centerline is valid? [True, True] Translation: X:102.64, Y:-3.77, Z:-0.63 [[ 9.98050002e-01 6.08693383e-02 1.38245107e-02 1.02636410e+02] [-6.08594428e-02 9.98145700e-01 -1.13575321e-03 -3.77207945e+00] [-1.38680085e-02 2.92186475e-04 9.99903792e-01 -6.30580645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.105769231 meters 0.027990508006978637 Centerline is valid? [True, True] Translation: X:102.70, Y:-3.78, Z:-0.63 [[ 9.98074624e-01 6.04417862e-02 1.39224888e-02 1.02697874e+02] [-6.04316778e-02 9.98171678e-01 -1.14599120e-03 -3.78425647e+00] [-1.39662998e-02 3.02425377e-04 9.99902421e-01 -6.32149247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.165769231 meters 0.0304344377568089 Centerline is valid? [True, True] Translation: X:102.76, Y:-3.80, Z:-0.63 [[ 9.98104912e-01 6.01839529e-02 1.28248658e-02 1.02758735e+02] [-6.01753318e-02 9.98187263e-01 -1.05739802e-03 -3.79945392e+00] [-1.28652560e-02 2.83653608e-04 9.99917199e-01 -6.33804573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.225769231 meters 0.027736164395460745 Centerline is valid? [True, True] Translation: X:102.82, Y:-3.81, Z:-0.63 [[ 9.97904683e-01 6.32963118e-02 1.34097356e-02 1.02819841e+02] [-6.32871516e-02 9.97994745e-01 -1.10677770e-03 -3.81180164e+00] [-1.34529006e-02 2.55794678e-04 9.99909473e-01 -6.32742799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28576923099999 meters 0.022509987076039642 Centerline is valid? [True, True] Translation: X:102.88, Y:-3.81, Z:-0.63 [[ 9.97529263e-01 6.87645764e-02 1.43806464e-02 1.02881749e+02] [-6.87546009e-02 9.97632896e-01 -1.18750391e-03 -3.81369744e+00] [-1.44282641e-02 1.95834297e-04 9.99895888e-01 -6.31155223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34576923099999 meters 0.01647410130815093 Centerline is valid? [True, True] Translation: X:102.94, Y:-3.81, Z:-0.63 [[ 9.96942772e-01 7.64224377e-02 1.62702356e-02 1.02943910e+02] [-7.64106758e-02 9.97075525e-01 -1.34425016e-03 -3.81244346e+00] [-1.63253846e-02 9.69207842e-05 9.99866727e-01 -6.28510040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.405769231 meters 0.015095730331685627 Centerline is valid? [True, True] Translation: X:103.01, Y:-3.82, Z:-0.63 [[ 9.96793220e-01 7.86570126e-02 1.47088452e-02 1.03005844e+02] [-7.86476196e-02 9.96901736e-01 -1.21684392e-03 -3.81787779e+00] [-1.47589866e-02 5.61261095e-05 9.99891079e-01 -6.34943374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.465769231 meters 0.014751920138816158 Centerline is valid? [True, True] Translation: X:103.07, Y:-3.82, Z:-0.63 [[ 9.96627579e-01 8.06131800e-02 1.53291816e-02 1.03067432e+02] [-8.06031752e-02 9.96745461e-01 -1.27037992e-03 -3.82282928e+00] [-1.53817015e-02 3.05149507e-05 9.99881694e-01 -6.33785146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.525769231 meters 0.014624449677096477 Centerline is valid? [True, True] Translation: X:103.13, Y:-3.83, Z:-0.64 [[ 9.96558447e-01 8.15072348e-02 1.50941190e-02 1.03129960e+02] [-8.14976015e-02 9.96672750e-01 -1.25324945e-03 -3.82936074e+00] [-1.51460460e-02 1.88018274e-05 9.99885292e-01 -6.35051936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.585769231 meters 0.01451274050349157 Centerline is valid? [True, True] Translation: X:103.19, Y:-3.83, Z:-0.64 [[ 9.96429536e-01 8.31815698e-02 1.44570750e-02 1.03191198e+02] [-8.31728804e-02 9.96534408e-01 -1.20231060e-03 -3.83434970e+00] [-1.45069827e-02 -4.41877670e-06 9.99894768e-01 -6.37352755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64576923099999 meters 0.014559948597045156 Centerline is valid? [True, True] Translation: X:103.25, Y:-3.85, Z:-0.64 [[ 9.96344866e-01 8.41249568e-02 1.48290394e-02 1.03253576e+02] [-8.41158864e-02 9.96455213e-01 -1.23542950e-03 -3.84523526e+00] [-1.48804041e-02 -1.64439541e-05 9.99889281e-01 -6.39534780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70576923099999 meters 0.014502311151789366 Centerline is valid? [True, True] Translation: X:103.31, Y:-3.86, Z:-0.65 [[ 9.96646446e-01 8.10508550e-02 1.12525953e-02 1.03314523e+02] [-8.10454166e-02 9.96709967e-01 -9.39218342e-04 -3.86233501e+00] [-1.12916983e-02 2.40973492e-05 9.99936246e-01 -6.47084208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.765769231 meters 0.01468939528656348 Centerline is valid? [True, True] Translation: X:103.38, Y:-3.86, Z:-0.65 [[ 9.96292238e-01 8.55494365e-02 9.11434229e-03 1.03375733e+02] [-8.55460450e-02 9.96333927e-01 -7.62026311e-04 -3.86460559e+00] [-9.14611937e-03 -2.04950385e-05 9.99958173e-01 -6.51235888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.825769231 meters 0.018198857668847268 Centerline is valid? [True, True] Translation: X:103.44, Y:-3.86, Z:-0.65 [[ 9.95621543e-01 9.29410874e-02 9.98487566e-03 1.03438707e+02] [-9.29373717e-02 9.95671605e-01 -8.36488297e-04 -3.85883223e+00] [-1.00194013e-02 -9.51423315e-05 9.99949800e-01 -6.50052015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.885769231 meters 0.017580000149012613 Centerline is valid? [True, True] Translation: X:103.50, Y:-3.87, Z:-0.65 [[ 9.95625533e-01 9.27767185e-02 1.10579397e-02 1.03501066e+02] [-9.27721283e-02 9.95686934e-01 -9.28442915e-04 -3.86619228e+00] [-1.10963839e-02 -1.01487127e-04 9.99938428e-01 -6.49548363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.945769231 meters 0.014590539837802197 Centerline is valid? [True, True] Translation: X:103.56, Y:-3.89, Z:-0.65 [[ 9.96360848e-01 8.43116223e-02 1.25144579e-02 1.03561397e+02] [-8.43050442e-02 9.96439436e-01 -1.05318636e-03 -3.88795084e+00] [-1.25586952e-02 -5.67827171e-06 9.99921136e-01 -6.47932890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00576923099999 meters 0.017187799043513197 Centerline is valid? [True, True] Translation: X:103.62, Y:-3.91, Z:-0.65 [[ 9.97009547e-01 7.61407778e-02 1.32115892e-02 1.03621367e+02] [-7.61326984e-02 9.97097072e-01 -1.11413356e-03 -3.91448855e+00] [-1.32580679e-02 1.04967863e-04 9.99912102e-01 -6.47338944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06576923099999 meters 0.017466806511219606 Centerline is valid? [True, True] Translation: X:103.68, Y:-3.93, Z:-0.65 [[ 9.96995337e-01 7.62102480e-02 1.38670756e-02 1.03682258e+02] [-7.62013196e-02 9.97091764e-01 -1.17185692e-03 -3.93159658e+00] [-1.39160544e-02 1.11646424e-04 9.99903161e-01 -6.47314579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12576923099999 meters 0.015271804412974654 Centerline is valid? [True, True] Translation: X:103.74, Y:-3.94, Z:-0.65 [[ 9.96657375e-01 8.06417865e-02 1.30759099e-02 1.03744507e+02] [-8.06342007e-02 9.96743146e-01 -1.10716583e-03 -3.93725471e+00] [-1.31226074e-02 4.90994539e-05 9.99913894e-01 -6.48628042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.185769231 meters 0.015095001358631387 Centerline is valid? [True, True] Translation: X:103.81, Y:-3.94, Z:-0.65 [[ 9.96007679e-01 8.84251549e-02 1.22349665e-02 1.03807648e+02] [-8.84190751e-02 9.96082823e-01 -1.03801695e-03 -3.93950886e+00] [-1.22788268e-02 -4.79315671e-05 9.99924611e-01 -6.51204345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.245769231 meters 0.020105011022422573 Centerline is valid? [True, True] Translation: X:103.87, Y:-3.94, Z:-0.65 [[ 9.95280996e-01 9.58882626e-02 1.48721440e-02 1.03869487e+02] [-9.58800702e-02 9.95392090e-01 -1.26453423e-03 -3.93695230e+00] [-1.49248685e-02 -1.67375323e-04 9.99888604e-01 -6.46271184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.305769231 meters 0.022687325819106957 Centerline is valid? [True, True] Translation: X:103.93, Y:-3.94, Z:-0.65 [[ 9.94771879e-01 1.01090290e-01 1.44797069e-02 1.03931238e+02] [-1.01083043e-01 9.94877227e-01 -1.23336674e-03 -3.93748058e+00] [-1.45302120e-02 -2.36734295e-04 9.99894403e-01 -6.49904163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36576923099999 meters 0.030085330295443052 Centerline is valid? [True, True] Translation: X:103.99, Y:-3.93, Z:-0.65 [[ 9.94018772e-01 1.08482860e-01 1.25757528e-02 1.03992329e+02] [-1.08477972e-01 9.94098275e-01 -1.07214733e-03 -3.92595504e+00] [-1.26178438e-02 -2.98457590e-04 9.99920347e-01 -6.54848629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42576923099999 meters 0.03722036325042941 Centerline is valid? [True, True] Translation: X:104.05, Y:-3.91, Z:-0.65 [[ 9.93498861e-01 1.12987900e-01 1.39193227e-02 1.04054095e+02] [-1.12982353e-01 9.93596286e-01 -1.18677427e-03 -3.91394940e+00] [-1.39642784e-02 -3.93578941e-04 9.99902417e-01 -6.52211016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48576923099999 meters 0.03367024650177428 Centerline is valid? [True, True] Translation: X:104.12, Y:-3.92, Z:-0.66 [[ 9.93672412e-01 1.11583263e-01 1.28184497e-02 1.04116147e+02] [-1.11578428e-01 9.93755029e-01 -1.09393314e-03 -3.91825443e+00] [-1.28604635e-02 -3.43251292e-04 9.99917242e-01 -6.55963168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.545769231 meters 0.03327958310425432 Centerline is valid? [True, True] Translation: X:104.18, Y:-3.92, Z:-0.66 [[ 9.93769882e-01 1.10762004e-01 1.23773854e-02 1.04177773e+02] [-1.10757409e-01 9.93846908e-01 -1.05825454e-03 -3.92214504e+00] [-1.24184406e-02 -3.19225649e-04 9.99922837e-01 -6.57409293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.605769231 meters 0.033864202255602015 Centerline is valid? [True, True] Translation: X:104.24, Y:-3.92, Z:-0.66 [[ 9.94022781e-01 1.08446639e-01 1.25713108e-02 1.04238675e+02] [-1.08441694e-01 9.94102228e-01 -1.07635045e-03 -3.92160257e+00] [-1.26138947e-02 -2.93337377e-04 9.99920399e-01 -6.57452283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.665769231 meters 0.028845515734528634 Centerline is valid? [True, True] Translation: X:104.30, Y:-3.93, Z:-0.66 [[ 9.94318849e-01 1.05738285e-01 1.22246194e-02 1.04300177e+02] [-1.05733396e-01 9.94393962e-01 -1.04738035e-03 -3.92891606e+00] [-1.22668359e-02 -2.51120507e-04 9.99924728e-01 -6.60018836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.725769231 meters 0.02655805356213235 Centerline is valid? [True, True] Translation: X:104.36, Y:-3.93, Z:-0.66 [[ 9.94598082e-01 1.03301010e-01 1.01762780e-02 1.04361253e+02] [-1.03297491e-01 9.94650123e-01 -8.72242387e-04 -3.93350995e+00] [-1.02119396e-02 -1.83653372e-04 9.99947840e-01 -6.64698951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78576923099999 meters 0.02333333869457501 Centerline is valid? [True, True] Translation: X:104.42, Y:-3.94, Z:-0.66 [[ 9.94789710e-01 1.01346559e-01 1.10593185e-02 1.04422977e+02] [-1.01342272e-01 9.94851167e-01 -9.48776672e-04 -3.94034552e+00] [-1.10985312e-02 -1.76943192e-04 9.99938394e-01 -6.64561084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84576923099999 meters 0.01971808553734856 Centerline is valid? [True, True] Translation: X:104.48, Y:-3.95, Z:-0.66 [[ 9.95346033e-01 9.55426494e-02 1.25649367e-02 1.04482406e+02] [-9.55366318e-02 9.95425329e-01 -1.07965428e-03 -3.95142638e+00] [-1.26106093e-02 -1.25782129e-04 9.99920475e-01 -6.62306841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.905769231 meters 0.015191101648757904 Centerline is valid? [True, True] Translation: X:104.54, Y:-3.97, Z:-0.67 [[ 9.96122129e-01 8.71153949e-02 1.23131076e-02 1.04543203e+02] [-8.71089551e-02 9.96198227e-01 -1.05936762e-03 -3.97162342e+00] [-1.23585832e-02 -1.73224029e-05 9.99923630e-01 -6.65969873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.965769231 meters 0.016568335691882312 Centerline is valid? [True, True] Translation: X:104.60, Y:-3.99, Z:-0.67 [[ 9.96735904e-01 7.99582925e-02 1.11448807e-02 1.04603637e+02] [-7.99525500e-02 9.96798208e-01 -9.60576495e-04 -3.99426607e+00] [-1.11860032e-02 6.63794484e-05 9.99937433e-01 -6.69482064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.025769231 meters 0.017583979893968676 Centerline is valid? [True, True] Translation: X:104.66, Y:-4.01, Z:-0.67 [[ 9.96901511e-01 7.78748268e-02 1.10855328e-02 1.04664671e+02] [-7.78689958e-02 9.96963140e-01 -9.57311048e-04 -4.00964178e+00] [-1.11264180e-02 9.11255236e-05 9.99938095e-01 -6.72284770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.085769231 meters 0.016518560628107765 Centerline is valid? [True, True] Translation: X:104.73, Y:-4.02, Z:-0.67 [[ 9.96720905e-01 8.00889057e-02 1.15414691e-02 1.04725178e+02] [-8.00827107e-02 9.96787722e-01 -9.98655090e-04 -4.01587247e+00] [-1.15843759e-02 7.11082733e-05 9.99932896e-01 -6.70860366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14576923099999 meters 0.015076107405445335 Centerline is valid? [True, True] Translation: X:104.79, Y:-4.01, Z:-0.67 [[ 9.96070678e-01 8.78375399e-02 1.13035777e-02 1.04787562e+02] [-8.78320758e-02 9.96134813e-01 -9.79877204e-04 -4.00995775e+00] [-1.13459572e-02 -1.67897391e-05 9.99935632e-01 -6.70390560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20576923099999 meters 0.017393404658744015 Centerline is valid? [True, True] Translation: X:104.85, Y:-4.01, Z:-0.67 [[ 9.95520778e-01 9.39524610e-02 1.05506670e-02 1.04850065e+02] [-9.39480260e-02 9.95576682e-01 -9.16291841e-04 -4.00511012e+00] [-1.05900859e-02 -7.90267668e-05 9.99943920e-01 -6.73501232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.265769231 meters 0.0177194241948557 Centerline is valid? [True, True] Translation: X:104.91, Y:-4.01, Z:-0.68 [[ 9.95423548e-01 9.50261839e-02 1.00987647e-02 1.04913493e+02] [-9.50221586e-02 9.95474770e-01 -8.78747771e-04 -4.00756006e+00] [-1.01365695e-02 -8.48801960e-05 9.99948620e-01 -6.75926855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.325769231 meters 0.01706559520637581 Centerline is valid? [True, True] Translation: X:104.97, Y:-4.01, Z:-0.68 [[ 9.95519492e-01 9.40067950e-02 1.01814923e-02 1.04974653e+02] [-9.40026312e-02 9.95571553e-01 -8.87804210e-04 -4.01446148e+00] [-1.02198637e-02 -7.32606690e-05 9.99947773e-01 -6.75728257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.385769231 meters 0.01598506772060606 Centerline is valid? [True, True] Translation: X:105.04, Y:-4.02, Z:-0.68 [[ 9.95793662e-01 9.13159065e-02 7.50917579e-03 1.05035550e+02] [-9.13135584e-02 9.95821974e-01 -6.55661016e-04 -4.02436840e+00] [-7.53767454e-03 -3.27864783e-05 9.99971591e-01 -6.81765471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.445769231 meters 0.015372668299107866 Centerline is valid? [True, True] Translation: X:105.10, Y:-4.04, Z:-0.68 [[ 9.95912892e-01 8.99106965e-02 8.57772919e-03 1.05097963e+02] [-8.99075675e-02 9.95949831e-01 -7.50475741e-04 -4.03563774e+00] [-8.61046374e-03 -2.37943008e-05 9.99962929e-01 -6.81825577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50576923099999 meters 0.015443760577525023 Centerline is valid? [True, True] Translation: X:105.16, Y:-4.05, Z:-0.68 [[ 9.95904706e-01 9.00463843e-02 8.09106597e-03 1.05159660e+02] [-9.00435928e-02 9.95937572e-01 -7.09376612e-04 -4.04804864e+00] [-8.12207340e-03 -2.20771430e-05 9.99967015e-01 -6.83953245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56576923099999 meters 0.01644673053566472 Centerline is valid? [True, True] Translation: X:105.22, Y:-4.06, Z:-0.69 [[ 9.95634547e-01 9.31066287e-02 6.55781779e-03 1.05219981e+02] [-9.31048543e-02 9.95656143e-01 -5.76016162e-04 -4.05836437e+00] [-6.58296249e-03 -3.70630791e-05 9.99978331e-01 -6.87244663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62576923099999 meters 0.021779891646978685 Centerline is valid? [True, True] Translation: X:105.28, Y:-4.06, Z:-0.68 [[ 9.94803079e-01 1.01422720e-01 8.95917381e-03 1.05281491e+02] [-1.01419736e-01 9.94843413e-01 -7.87893390e-04 -4.05504567e+00] [-8.99288534e-03 -1.24838274e-04 9.99959555e-01 -6.83838325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.685769231 meters 0.03216261609782934 Centerline is valid? [True, True] Translation: X:105.34, Y:-4.05, Z:-0.69 [[ 9.93597880e-01 1.12687281e-01 8.05166362e-03 1.05342538e+02] [-1.12685239e-01 9.93630482e-01 -7.08302666e-04 -4.04540002e+00] [-8.08019511e-03 -2.03535613e-04 9.99967334e-01 -6.87095855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.745769231 meters 0.04187757186959785 Centerline is valid? [True, True] Translation: X:105.40, Y:-4.03, Z:-0.69 [[ 9.92752321e-01 1.19931037e-01 7.70555723e-03 1.05402744e+02] [-1.19929384e-01 9.92782193e-01 -6.77906537e-04 -4.03421818e+00] [-7.73124204e-03 -2.51129441e-04 9.99970082e-01 -6.89448101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.805769231 meters 0.0413661289296559 Centerline is valid? [True, True] Translation: X:105.46, Y:-4.03, Z:-0.69 [[ 9.92287540e-01 1.23748921e-01 7.18632578e-03 1.05463900e+02] [-1.23747582e-01 9.92313527e-01 -6.32470927e-04 -4.03427206e+00] [-7.20935588e-03 -2.61697417e-04 9.99973978e-01 -6.90707352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86576923099999 meters 0.039813660227179706 Centerline is valid? [True, True] Translation: X:105.52, Y:-4.03, Z:-0.69 [[ 9.92605902e-01 1.21212433e-01 6.40855180e-03 1.05524901e+02] [-1.21211314e-01 9.92626566e-01 -5.64079307e-04 -4.03319048e+00] [-6.42967219e-03 -2.16880535e-04 9.99979306e-01 -6.93203399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92576923099999 meters 0.032963667561583414 Centerline is valid? [True, True] Translation: X:105.58, Y:-4.04, Z:-0.69 [[ 9.93401745e-01 1.14317358e-01 9.19321330e-03 1.05584377e+02] [-1.14314759e-01 9.93444251e-01 -8.09422228e-04 -4.04440821e+00] [-9.22547592e-03 -2.46838507e-04 9.99957414e-01 -6.88496667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98576923099999 meters 0.027158279092056762 Centerline is valid? [True, True] Translation: X:105.64, Y:-4.05, Z:-0.69 [[ 9.94052406e-01 1.08596820e-01 8.15746994e-03 1.05644989e+02] [-1.08594581e-01 9.94085862e-01 -7.18243360e-04 -4.05486246e+00] [-8.18722448e-03 -1.71885485e-04 9.99966469e-01 -6.90466258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.045769231 meters 0.022079010539601863 Centerline is valid? [True, True] Translation: X:105.70, Y:-4.07, Z:-0.70 [[ 9.94786312e-01 1.01872892e-01 4.70181284e-03 1.05703704e+02] [-1.01872073e-01 9.94797421e-01 -4.13922359e-04 -4.06705425e+00] [-4.71951876e-03 -6.72191231e-05 9.99988861e-01 -6.97846301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.105769231 meters 0.018899048102505544 Centerline is valid? [True, True] Translation: X:105.77, Y:-4.08, Z:-0.70 [[ 9.95256866e-01 9.72479321e-02 2.57104479e-03 1.05765237e+02] [-9.72476733e-02 9.95260187e-01 -2.25784249e-04 -4.08041713e+00] [-2.58081557e-03 -2.53148002e-05 9.99996669e-01 -7.01175745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.165769231 meters 0.0164773397180521 Centerline is valid? [True, True] Translation: X:105.83, Y:-4.10, Z:-0.71 [[ 9.95746890e-01 9.21175872e-02 1.57492106e-03 1.05826189e+02] [-9.21174839e-02 9.95748136e-01 -1.38122016e-04 -4.09809697e+00] [-1.58094818e-03 -7.54319728e-06 9.99998750e-01 -7.05140950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.225769231 meters 0.015776289438588945 Centerline is valid? [True, True] Translation: X:105.89, Y:-4.11, Z:-0.71 [[ 9.95953267e-01 8.98571283e-02 1.66950245e-03 1.05887439e+02] [-8.98570085e-02 9.95954666e-01 -1.46765376e-04 -4.11170322e+00] [-1.67593667e-03 -3.84504035e-06 9.99998596e-01 -7.05975947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28576923099999 meters 0.01659629672470832 Centerline is valid? [True, True] Translation: X:105.95, Y:-4.12, Z:-0.71 [[ 9.95756247e-01 9.20298718e-02 -1.48006014e-05 1.05947691e+02] [-9.20298718e-02 9.95756247e-01 1.47656196e-06 -4.11881096e+00] [ 1.48736791e-05 -1.08198344e-07 1.00000000e+00 -7.08984834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34576923099999 meters 0.02007500796483047 Centerline is valid? [True, True] Translation: X:106.01, Y:-4.12, Z:-0.71 [[ 9.95162638e-01 9.82401541e-02 4.42295028e-04 1.06008760e+02] [-9.82401464e-02 9.95162736e-01 -3.91236395e-05 -4.11536317e+00] [-4.43999043e-04 -4.51674396e-06 9.99999901e-01 -7.08287292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.405769231 meters 0.023999608359677915 Centerline is valid? [True, True] Translation: X:106.07, Y:-4.11, Z:-0.71 [[ 9.94625583e-01 1.03523840e-01 1.66246373e-03 1.06069967e+02] [-1.03523738e-01 9.94626972e-01 -1.47294878e-04 -4.11474534e+00] [-1.66877980e-03 -2.56012051e-05 9.99998607e-01 -7.07200217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.465769231 meters 0.029366360986705815 Centerline is valid? [True, True] Translation: X:106.13, Y:-4.11, Z:-0.71 [[ 9.94130332e-01 1.08172303e-01 1.90688131e-03 1.06130616e+02] [-1.08172178e-01 9.94132160e-01 -1.69043095e-04 -4.11116298e+00] [-1.91397782e-03 -3.82206363e-05 9.99998168e-01 -7.08453687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.525769231 meters 0.03168562369607664 Centerline is valid? [True, True] Translation: X:106.19, Y:-4.11, Z:-0.71 [[ 9.93921719e-01 1.10065418e-01 2.28494382e-03 1.06191240e+02] [-1.10065243e-01 9.93924344e-01 -2.02557954e-04 -4.11031553e+00] [-2.29335592e-03 -5.01661467e-05 9.99997369e-01 -7.09388593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.585769231 meters 0.028084986194791623 Centerline is valid? [True, True] Translation: X:106.25, Y:-4.12, Z:-0.71 [[ 9.94313928e-01 1.06460425e-01 2.44736733e-03 1.06251410e+02] [-1.06460214e-01 9.94316939e-01 -2.16855787e-04 -4.12021670e+00] [-2.45654536e-03 -4.49245198e-05 9.99996982e-01 -7.09505078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64576923099999 meters 0.022937205023874165 Centerline is valid? [True, True] Translation: X:106.31, Y:-4.13, Z:-0.71 [[ 9.94778210e-01 1.02057173e-01 8.03807566e-04 1.06311586e+02] [-1.02057149e-01 9.94778535e-01 -7.11325442e-05 -4.13223131e+00] [-8.06870099e-04 -1.12732032e-05 9.99999674e-01 -7.12573869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70576923099999 meters 0.01956756267775949 Centerline is valid? [True, True] Translation: X:106.37, Y:-4.14, Z:-0.72 [[ 9.95267433e-01 9.71734728e-02 2.31523842e-04 1.06371771e+02] [-9.71734709e-02 9.95267460e-01 -1.95346707e-05 -4.14389386e+00] [-2.32326398e-04 -3.05575372e-06 9.99999973e-01 -7.15225802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.765769231 meters 0.01703635439664896 Centerline is valid? [True, True] Translation: X:106.43, Y:-4.16, Z:-0.72 [[ 9.95657509e-01 9.30919564e-02 -1.09458017e-04 1.06432820e+02] [-9.30919558e-02 9.95657515e-01 1.08026474e-05 -4.15734970e+00] [ 1.09988337e-04 -5.66076158e-07 9.99999994e-01 -7.17292321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.825769231 meters 0.015490134576965164 Centerline is valid? [True, True] Translation: X:106.49, Y:-4.18, Z:-0.71 [[ 9.96156419e-01 8.75537460e-02 2.59416287e-03 1.06493685e+02] [-8.75534434e-02 9.96159797e-01 -2.30168142e-04 -4.17859089e+00] [-2.60435284e-03 2.15557943e-06 9.99996609e-01 -7.12487028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.885769231 meters 0.01780799589428526 Centerline is valid? [True, True] Translation: X:106.55, Y:-4.20, Z:-0.71 [[ 9.96688169e-01 8.12968570e-02 1.87464822e-03 1.06554018e+02] [-8.12966881e-02 9.96689932e-01 -1.66270927e-04 -4.20340897e+00] [-1.88196031e-03 1.33175747e-05 9.99998229e-01 -7.12335271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.945769231 meters 0.017136809884718367 Centerline is valid? [True, True] Translation: X:106.62, Y:-4.22, Z:-0.71 [[ 9.96536819e-01 8.31418097e-02 1.34462750e-03 1.06615282e+02] [-8.31417246e-02 9.96537726e-01 -1.19160107e-04 -4.21585616e+00] [-1.34987921e-03 6.95278552e-06 9.99999089e-01 -7.13174229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00576923099999 meters 0.01546014981074543 Centerline is valid? [True, True] Translation: X:106.68, Y:-4.22, Z:-0.71 [[ 9.96040095e-01 8.89018302e-02 7.70939252e-04 1.06677617e+02] [-8.89018043e-02 9.96040393e-01 -6.78770059e-05 -4.21805086e+00] [-7.73921026e-04 -9.29671164e-07 9.99999701e-01 -7.12778397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06576923099999 meters 0.02029964998860089 Centerline is valid? [True, True] Translation: X:106.74, Y:-4.21, Z:-0.72 [[ 9.95132082e-01 9.85485290e-02 5.70915785e-04 1.06739069e+02] [-9.85485160e-02 9.95132246e-01 -5.10279919e-05 -4.21236822e+00] [-5.73165442e-04 -5.48331153e-06 9.99999836e-01 -7.16789533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12576923099999 meters 0.026446534886338968 Centerline is valid? [True, True] Translation: X:106.80, Y:-4.21, Z:-0.71 [[ 9.94472031e-01 1.04971628e-01 2.51733364e-03 1.06801760e+02] [-1.04971393e-01 9.94475216e-01 -2.25587321e-04 -4.21095774e+00] [-2.52710619e-03 -3.99077377e-05 9.99996806e-01 -7.14821264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.185769231 meters 0.027934534753995474 Centerline is valid? [True, True] Translation: X:106.86, Y:-4.22, Z:-0.72 [[ 9.94113623e-01 1.08329342e-01 1.69067196e-03 1.06863798e+02] [-1.08329241e-01 9.94115060e-01 -1.51465698e-04 -4.21549565e+00] [-1.69713064e-03 -3.25750974e-05 9.99998559e-01 -7.16787751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.245769231 meters 0.028091868074246306 Centerline is valid? [True, True] Translation: X:106.93, Y:-4.22, Z:-0.72 [[ 9.93919199e-01 1.10102437e-01 -1.44225071e-03 1.06925490e+02] [-1.10102365e-01 9.93920244e-01 1.29882505e-04 -4.22255554e+00] [ 1.44778256e-03 2.97024980e-05 9.99998952e-01 -7.21045385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.305769231 meters 0.0341258806349344 Centerline is valid? [True, True] Translation: X:106.99, Y:-4.22, Z:-0.72 [[ 9.93925488e-01 1.10054843e-01 -2.36434857e-04 1.06987512e+02] [-1.10054841e-01 9.93925516e-01 2.23471667e-05 -4.21902060e+00] [ 2.37458052e-04 3.80938209e-06 9.99999972e-01 -7.22866820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36576923099999 meters 0.02796229580935753 Centerline is valid? [True, True] Translation: X:107.05, Y:-4.23, Z:-0.72 [[ 9.93929158e-01 1.10008359e-01 -1.72881325e-03 1.07049114e+02] [-1.10008252e-01 9.93930661e-01 1.57207123e-04 -4.23245653e+00] [ 1.73561459e-03 3.39309806e-05 9.99998493e-01 -7.22870904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42576923099999 meters 0.028019604798397397 Centerline is valid? [True, True] Translation: X:107.11, Y:-4.24, Z:-0.72 [[ 9.93969847e-01 1.09641370e-01 -1.64723384e-03 1.07110059e+02] [-1.09641272e-01 9.93971211e-01 1.49838056e-04 -4.23560286e+00] [ 1.65373147e-03 3.16703042e-05 9.99998632e-01 -7.23581429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48576923099999 meters 0.025749090272048917 Centerline is valid? [True, True] Translation: X:107.17, Y:-4.25, Z:-0.73 [[ 9.94241676e-01 1.07120368e-01 -2.95248434e-03 1.07171379e+02] [-1.07120044e-01 9.94246058e-01 2.68286405e-04 -4.24591686e+00] [ 2.96423486e-03 4.95287277e-05 9.99995605e-01 -7.26615643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.545769231 meters 0.022791545766835865 Centerline is valid? [True, True] Translation: X:107.23, Y:-4.26, Z:-0.73 [[ 9.94662405e-01 1.03165365e-01 -1.89932807e-03 1.07231194e+02] [-1.03165224e-01 9.94664218e-01 1.72060655e-04 -4.26000495e+00] [ 1.90694437e-03 2.48023413e-05 9.99998181e-01 -7.27054844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.605769231 meters 0.0179861833516632 Centerline is valid? [True, True] Translation: X:107.29, Y:-4.28, Z:-0.73 [[ 9.95351952e-01 9.62426714e-02 -3.44081189e-03 1.07291858e+02] [-9.62421678e-02 9.95357899e-01 3.12028318e-04 -4.28323630e+00] [ 3.45486973e-03 2.05731994e-05 9.99994032e-01 -7.28278318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.665769231 meters 0.01721281091949268 Centerline is valid? [True, True] Translation: X:107.35, Y:-4.30, Z:-0.73 [[ 9.95688746e-01 9.26720172e-02 -3.97715062e-03 1.07351903e+02] [-9.26713111e-02 9.95696689e-01 3.61861167e-04 -4.29779068e+00] [ 3.99357011e-03 8.26667075e-06 9.99992026e-01 -7.30078845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.725769231 meters 0.016125258488681276 Centerline is valid? [True, True] Translation: X:107.41, Y:-4.31, Z:-0.72 [[ 9.95751422e-01 9.20819900e-02 1.15630972e-04 1.07413452e+02] [-9.20819895e-02 9.95751428e-01 -9.84765265e-06 -4.31272588e+00] [-1.16046497e-04 -8.41715794e-07 9.99999993e-01 -7.22590142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78576923099999 meters 0.017362891873150973 Centerline is valid? [True, True] Translation: X:107.47, Y:-4.32, Z:-0.72 [[ 9.95393601e-01 9.58717777e-02 4.25540925e-04 1.07474391e+02] [-9.58717704e-02 9.95393692e-01 -3.76555847e-05 -4.31750890e+00] [-4.27190861e-04 -3.31523389e-06 9.99999909e-01 -7.21953209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84576923099999 meters 0.023596112746184738 Centerline is valid? [True, True] Translation: X:107.54, Y:-4.31, Z:-0.72 [[ 9.94444874e-01 1.05248429e-01 1.47027806e-03 1.07536674e+02] [-1.05248346e-01 9.94445960e-01 -1.33673726e-04 -4.30751560e+00] [-1.47618103e-03 -2.18131825e-05 9.99998910e-01 -7.18864415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.905769231 meters 0.032000575479574085 Centerline is valid? [True, True] Translation: X:107.60, Y:-4.29, Z:-0.72 [[ 9.93521040e-01 1.13648271e-01 1.20542979e-04 1.07598253e+02] [-1.13648270e-01 9.93521047e-01 -1.09515426e-05 -4.29491045e+00] [-1.21006611e-04 -2.81891307e-06 9.99999993e-01 -7.22205313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.965769231 meters 0.044620541079017965 Centerline is valid? [True, True] Translation: X:107.66, Y:-4.28, Z:-0.73 [[ 9.92199210e-01 1.24648793e-01 -1.84580275e-03 1.07660866e+02] [-1.24648696e-01 9.92200924e-01 1.67960378e-04 -4.27505929e+00] [ 1.85234325e-03 6.34267505e-05 9.99998282e-01 -7.26564197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.025769231 meters 0.04067345312807125 Centerline is valid? [True, True] Translation: X:107.72, Y:-4.28, Z:-0.73 [[ 9.91858240e-01 1.27325991e-01 -2.30717817e-03 1.07721444e+02] [-1.27325846e-01 9.91860920e-01 2.10018194e-04 -4.28112821e+00] [ 2.31514064e-03 8.54551366e-05 9.99997316e-01 -7.26052818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.085769231 meters 0.045083704065805266 Centerline is valid? [True, True] Translation: X:107.78, Y:-4.28, Z:-0.72 [[ 9.91943813e-01 1.26678613e-01 4.01137146e-05 1.07783029e+02] [-1.26678613e-01 9.91943813e-01 -3.48034268e-06 -4.27686661e+00] [-4.02314360e-05 -1.62924534e-06 9.99999999e-01 -7.23860408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14576923099999 meters 0.043909020100123604 Centerline is valid? [True, True] Translation: X:107.84, Y:-4.28, Z:-0.72 [[ 9.91874230e-01 1.27197153e-01 2.52912559e-03 1.07844759e+02] [-1.27196980e-01 9.91877450e-01 -2.30084635e-04 -4.27813043e+00] [-2.53784875e-03 -9.34821151e-05 9.99996775e-01 -7.18161216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20576923099999 meters 0.04669040654627509 Centerline is valid? [True, True] Translation: X:107.91, Y:-4.27, Z:-0.73 [[ 9.91434690e-01 1.30601495e-01 -7.10168419e-04 1.07906807e+02] [-1.30601482e-01 9.91434944e-01 6.47525408e-05 -4.26992511e+00] [ 7.12542566e-04 2.85511326e-05 9.99999746e-01 -7.25197205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.265769231 meters 0.04763994280362529 Centerline is valid? [True, True] Translation: X:107.97, Y:-4.27, Z:-0.73 [[ 9.91472826e-01 1.30298934e-01 -1.95527491e-03 1.07967204e+02] [-1.30298836e-01 9.91474751e-01 1.78130616e-04 -4.26649938e+00] [ 1.96181593e-03 7.81583797e-05 9.99998073e-01 -7.27533509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.325769231 meters 0.045815388036990784 Centerline is valid? [True, True] Translation: X:108.03, Y:-4.27, Z:-0.73 [[ 9.91734581e-01 1.28292232e-01 -1.90378134e-03 1.08026568e+02] [-1.28292136e-01 9.91736405e-01 1.73155871e-04 -4.27134122e+00] [ 1.91026381e-03 7.25155077e-05 9.99998173e-01 -7.28338740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.385769231 meters 0.04105149818040591 Centerline is valid? [True, True] Translation: X:108.09, Y:-4.27, Z:-0.73 [[ 9.92585369e-01 1.21539485e-01 -1.56138221e-03 1.08085798e+02] [-1.21539412e-01 9.92586596e-01 1.42035553e-04 -4.27337408e+00] [ 1.56706998e-03 4.87870631e-05 9.99998771e-01 -7.28839964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.445769231 meters 0.035120398707171055 Centerline is valid? [True, True] Translation: X:108.15, Y:-4.28, Z:-0.73 [[ 9.93262166e-01 1.15838889e-01 -3.40889572e-03 1.08146125e+02] [-1.15838506e-01 9.93268012e-01 3.10265280e-04 -4.27992996e+00] [ 3.42188787e-03 8.67066243e-05 9.99994142e-01 -7.31214617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50576923099999 meters 0.03353464163859078 Centerline is valid? [True, True] Translation: X:108.20, Y:-4.28, Z:-0.74 [[ 9.93690294e-01 1.12027505e-01 -5.42572512e-03 1.08204466e+02] [-1.12026480e-01 9.93705099e-01 4.93446940e-04 -4.28407256e+00] [ 5.44685035e-03 1.17491451e-04 9.99985159e-01 -7.37731865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56576923099999 meters 0.024534554010003668 Centerline is valid? [True, True] Translation: X:108.26, Y:-4.30, Z:-0.73 [[ 9.94408195e-01 1.05527775e-01 -4.02869489e-03 1.08263862e+02] [-1.05527155e-01 9.94416354e-01 3.66695409e-04 -4.30054603e+00] [ 4.04489663e-03 6.04917911e-05 9.99991818e-01 -7.33395394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62576923099999 meters 0.019483321954735303 Centerline is valid? [True, True] Translation: X:108.32, Y:-4.31, Z:-0.73 [[ 9.95048268e-01 9.93422983e-02 -3.17062041e-03 1.08323800e+02] [-9.93418828e-02 9.95053319e-01 2.88641219e-04 -4.31446106e+00] [ 3.18361065e-03 2.77634564e-05 9.99994932e-01 -7.31603175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.685769231 meters 0.01609386557357105 Centerline is valid? [True, True] Translation: X:108.38, Y:-4.34, Z:-0.73 [[ 9.95857278e-01 9.09271387e-02 -7.33156445e-04 1.08383150e+02] [-9.09271141e-02 9.95857548e-01 6.69110934e-05 -4.33553670e+00] [ 7.36203414e-04 2.99004627e-08 9.99999729e-01 -7.27857373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.745769231 meters 0.01697832974225103 Centerline is valid? [True, True] Translation: X:108.44, Y:-4.35, Z:-0.73 [[ 9.96247377e-01 8.65454815e-02 -1.02112119e-03 1.08443584e+02] [-8.65454309e-02 9.96247901e-01 9.36819166e-05 -4.35194164e+00] [ 1.02539759e-03 -4.95699021e-06 9.99999474e-01 -7.29303059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.805769231 meters 0.017563659926921108 Centerline is valid? [True, True] Translation: X:108.51, Y:-4.37, Z:-0.73 [[ 9.96419158e-01 8.45486490e-02 6.23201760e-04 1.08505462e+02] [-8.45486308e-02 9.96419352e-01 -5.55756168e-05 -4.36761850e+00] [-6.25669137e-04 2.68575379e-06 9.99999804e-01 -7.25888862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86576923099999 meters 0.016697709756167137 Centerline is valid? [True, True] Translation: X:108.57, Y:-4.36, Z:-0.73 [[ 9.95467465e-01 9.51027075e-02 3.27360430e-05 1.08568106e+02] [-9.51027075e-02 9.95467466e-01 -1.92567791e-06 -4.35845351e+00] [-3.27708029e-05 -1.19633662e-06 9.99999999e-01 -7.25772125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92576923099999 meters 0.027670989526032558 Centerline is valid? [True, True] Translation: X:108.63, Y:-4.34, Z:-0.73 [[ 9.93969875e-01 1.09652289e-01 5.13238530e-04 1.08630317e+02] [-1.09652279e-01 9.93970007e-01 -4.69730353e-05 -4.33711023e+00] [-5.15294406e-04 -9.58799265e-06 9.99999867e-01 -7.25763861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98576923099999 meters 0.034610063795013545 Centerline is valid? [True, True] Translation: X:108.69, Y:-4.33, Z:-0.72 [[ 9.93196439e-01 1.16441560e-01 1.48215160e-03 1.08691962e+02] [-1.16441487e-01 9.93197544e-01 -1.35565164e-04 -4.32821870e+00] [-1.48785475e-03 -3.79410993e-05 9.99998892e-01 -7.23374099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.045769231 meters 0.039240651724663095 Centerline is valid? [True, True] Translation: X:108.75, Y:-4.32, Z:-0.72 [[ 9.92290769e-01 1.23919576e-01 1.72275710e-03 1.08753375e+02] [-1.23919489e-01 9.92292263e-01 -1.57570722e-04 -4.31810579e+00] [-1.72900463e-03 -5.71272061e-05 9.99998504e-01 -7.22505297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.105769231 meters 0.04289649466903906 Centerline is valid? [True, True] Translation: X:108.81, Y:-4.31, Z:-0.73 [[ 9.91849475e-01 1.27412927e-01 -7.52311335e-04 1.08814597e+02] [-1.27412911e-01 9.91849759e-01 6.86917141e-05 -4.30768410e+00] [ 7.54932029e-04 2.77223367e-05 9.99999715e-01 -7.27431123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.165769231 meters 0.04280850035771169 Centerline is valid? [True, True] Translation: X:108.88, Y:-4.30, Z:-0.73 [[ 9.91626734e-01 1.29111372e-01 -2.58354327e-03 1.08875020e+02] [-1.29111194e-01 9.91630094e-01 2.36030427e-04 -4.30389346e+00] [ 2.59239347e-03 9.95102753e-05 9.99996635e-01 -7.30522834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.225769231 meters 0.04596865236514771 Centerline is valid? [True, True] Translation: X:108.93, Y:-4.30, Z:-0.73 [[ 9.91967856e-01 1.26440267e-01 -3.55408516e-03 1.08934183e+02] [-1.26439914e-01 9.91974215e-01 3.24549598e-04 -4.30169383e+00] [ 3.56659698e-03 1.27435455e-04 9.99993632e-01 -7.34143225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28576923099999 meters 0.037986722529501804 Centerline is valid? [True, True] Translation: X:108.99, Y:-4.31, Z:-0.73 [[ 9.92706544e-01 1.20516164e-01 -3.09378475e-03 1.08994230e+02] [-1.20515868e-01 9.92711361e-01 2.82837251e-04 -4.31483717e+00] [ 3.10532173e-03 9.20757636e-05 9.99995174e-01 -7.33489207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34576923099999 meters 0.03531632773354155 Centerline is valid? [True, True] Translation: X:109.05, Y:-4.32, Z:-0.73 [[ 9.93118336e-01 1.17114935e-01 2.51849586e-04 1.09052268e+02] [-1.17114932e-01 9.93118368e-01 -2.32531412e-05 -4.32260223e+00] [-2.52839740e-04 -6.40222636e-06 9.99999968e-01 -7.28062458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.405769231 meters 0.03392511215390316 Centerline is valid? [True, True] Translation: X:109.11, Y:-4.33, Z:-0.73 [[ 9.93197375e-01 1.16397209e-01 -3.26549580e-03 1.09110835e+02] [-1.16396859e-01 9.93202740e-01 2.97870043e-04 -4.32920856e+00] [ 3.27797061e-03 8.42497080e-05 9.99994624e-01 -7.34326106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.465769231 meters 0.03398369576274531 Centerline is valid? [True, True] Translation: X:109.17, Y:-4.34, Z:-0.74 [[ 9.93386698e-01 1.14737545e-01 -4.26183816e-03 1.09168241e+02] [-1.14736933e-01 9.93395835e-01 3.88523592e-04 -4.33584734e+00] [ 4.27827052e-03 1.03036073e-04 9.99990843e-01 -7.37230939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.525769231 meters 0.0281108344517964 Centerline is valid? [True, True] Translation: X:109.23, Y:-4.35, Z:-0.74 [[ 9.94077033e-01 1.08617957e-01 -3.60444425e-03 1.09227558e+02] [-1.08617478e-01 9.94083566e-01 3.28818826e-04 -4.35014736e+00] [ 3.61883442e-03 6.46344024e-05 9.99993450e-01 -7.36648271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.585769231 meters 0.023843961705609838 Centerline is valid? [True, True] Translation: X:109.29, Y:-4.36, Z:-0.74 [[ 9.94498415e-01 1.04671010e-01 -4.10879576e-03 1.09286164e+02] [-1.04670355e-01 9.94506901e-01 3.74661290e-04 -4.36466478e+00] [ 4.12544192e-03 5.74690548e-05 9.99991489e-01 -7.36883336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64576923099999 meters 0.022588299904951654 Centerline is valid? [True, True] Translation: X:109.35, Y:-4.37, Z:-0.74 [[ 9.94673744e-01 1.03000917e-01 -3.86706360e-03 1.09345181e+02] [-1.03000325e-01 9.94681260e-01 3.52520863e-04 -4.37093605e+00] [ 3.88280567e-03 4.76655622e-05 9.99992461e-01 -7.36218881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70576923099999 meters 0.020609188566922062 Centerline is valid? [True, True] Translation: X:109.40, Y:-4.38, Z:-0.73 [[ 9.94882371e-01 1.01031887e-01 -1.27534970e-03 1.09403917e+02] [-1.01031822e-01 9.94883188e-01 1.16124247e-04 -4.38055730e+00] [ 1.28055623e-03 1.33209371e-05 9.99999180e-01 -7.31434057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.765769231 meters 0.018860172053804764 Centerline is valid? [True, True] Translation: X:109.46, Y:-4.39, Z:-0.73 [[ 9.95121583e-01 9.86545802e-02 -5.55355547e-04 1.09462433e+02] [-9.86545673e-02 9.95121738e-01 5.05507055e-05 -4.39034541e+00] [ 5.57633436e-04 4.48426306e-06 9.99999845e-01 -7.30066317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.825769231 meters 0.019293827403526444 Centerline is valid? [True, True] Translation: X:109.52, Y:-4.39, Z:-0.72 [[ 9.94941170e-01 1.00400695e-01 3.43058567e-03 1.09521904e+02] [-1.00400213e-01 9.94947084e-01 -3.12839690e-04 -4.39158025e+00] [-3.44466053e-03 -3.31744458e-05 9.99994067e-01 -7.21602894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.885769231 meters 0.023815374674782782 Centerline is valid? [True, True] Translation: X:109.58, Y:-4.39, Z:-0.72 [[ 9.94235342e-01 1.07144010e-01 4.03063464e-03 1.09582976e+02] [-1.07143401e-01 9.94243510e-01 -3.67404278e-04 -4.38503754e+00] [-4.04679750e-03 -6.65695864e-05 9.99991809e-01 -7.20838173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.945769231 meters 0.03509193202562856 Centerline is valid? [True, True] Translation: X:109.64, Y:-4.37, Z:-0.73 [[ 9.93480820e-01 1.13997533e-01 6.50659056e-04 1.09643933e+02] [-1.13997518e-01 9.93481033e-01 -5.94463805e-05 -4.36908465e+00] [-6.53194172e-04 -1.51146789e-05 9.99999787e-01 -7.31040681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00576923099999 meters 0.031180956094434442 Centerline is valid? [True, True] Translation: X:109.70, Y:-4.38, Z:-0.73 [[ 9.93283233e-01 1.15707229e-01 -5.06145387e-04 1.09702752e+02] [-1.15707221e-01 9.93283362e-01 4.58392574e-05 -4.37554906e+00] [ 5.08049725e-04 1.30333104e-05 9.99999871e-01 -7.30451087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06576923099999 meters 0.034973562246035456 Centerline is valid? [True, True] Translation: X:109.76, Y:-4.37, Z:-0.73 [[ 9.92941942e-01 1.18586022e-01 -1.91181963e-03 1.09762394e+02] [-1.18585907e-01 9.92943781e-01 1.73682148e-04 -4.36700453e+00] [ 1.91892568e-03 5.42585757e-05 9.99998157e-01 -7.32814387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12576923099999 meters 0.03558807583157914 Centerline is valid? [True, True] Translation: X:109.82, Y:-4.36, Z:-0.74 [[ 9.93013023e-01 1.17970662e-01 -2.83877788e-03 1.09821239e+02] [-1.17970406e-01 9.93017078e-01 2.57763922e-04 -4.36247361e+00] [ 2.84936349e-03 7.89288488e-05 9.99995937e-01 -7.37045329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.185769231 meters 0.03131439443908207 Centerline is valid? [True, True] Translation: X:109.88, Y:-4.37, Z:-0.74 [[ 9.93415458e-01 1.14550584e-01 -1.97251823e-03 1.09880332e+02] [-1.14550454e-01 9.93417415e-01 1.79204018e-04 -4.36973672e+00] [ 1.98006189e-03 4.79288172e-05 9.99998039e-01 -7.35549135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.245769231 meters 0.02683741365080451 Centerline is valid? [True, True] Translation: X:109.94, Y:-4.38, Z:-0.74 [[ 9.94022278e-01 1.09123368e-01 -3.43533996e-03 1.09939293e+02] [-1.09122941e-01 9.94028212e-01 3.12144725e-04 -4.37937581e+00] [ 3.44888712e-03 6.45955888e-05 9.99994050e-01 -7.38683013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.305769231 meters 0.021178249273813832 Centerline is valid? [True, True] Translation: X:110.00, Y:-4.39, Z:-0.74 [[ 9.94651890e-01 1.03214305e-01 -3.79796000e-03 1.09998234e+02] [-1.03213740e-01 9.94659140e-01 3.45008285e-04 -4.39255922e+00] [ 3.81328542e-03 4.88385141e-05 9.99992728e-01 -7.38471248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36576923099999 meters 0.016159124053655754 Centerline is valid? [True, True] Translation: X:110.06, Y:-4.41, Z:-0.73 [[ 9.95573556e-01 9.39856042e-02 -1.96576028e-05 1.10055500e+02] [-9.39856042e-02 9.95573556e-01 1.52589138e-06 -4.41139476e+00] [ 1.97140014e-05 3.28394570e-07 1.00000000e+00 -7.33961614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42576923099999 meters 0.016494427880039176 Centerline is valid? [True, True] Translation: X:110.11, Y:-4.43, Z:-0.74 [[ 9.96143432e-01 8.77052482e-02 -2.46008694e-03 1.10113313e+02] [-8.77049636e-02 9.96146470e-01 2.23560649e-04 -4.43195686e+00] [ 2.47021436e-03 -6.93663730e-06 9.99996949e-01 -7.37516818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48576923099999 meters 0.016700155011131427 Centerline is valid? [True, True] Translation: X:110.17, Y:-4.45, Z:-0.74 [[ 9.96247698e-01 8.65277966e-02 -1.86136161e-03 1.10172227e+02] [-8.65276321e-02 9.96249437e-01 1.68904327e-04 -4.44527671e+00] [ 1.86899537e-03 -7.21133502e-06 9.99998253e-01 -7.36638622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.545769231 meters 0.015593523830645838 Centerline is valid? [True, True] Translation: X:110.23, Y:-4.45, Z:-0.73 [[ 9.95890219e-01 9.05676613e-02 -4.12266579e-04 1.10231231e+02] [-9.05676537e-02 9.95890305e-01 3.71832079e-05 -4.44844677e+00] [ 4.13939885e-04 3.07623679e-07 9.99999914e-01 -7.33739012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.605769231 meters 0.021264639864939684 Centerline is valid? [True, True] Translation: X:110.29, Y:-4.44, Z:-0.73 [[ 9.94758022e-01 1.02256915e-01 3.72837506e-05 1.10290679e+02] [-1.02256915e-01 9.94758023e-01 -3.70973065e-06 -4.43621978e+00] [-3.74676556e-05 -1.22236972e-07 9.99999999e-01 -7.33412942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.665769231 meters 0.025017134100517223 Centerline is valid? [True, True] Translation: X:110.35, Y:-4.43, Z:-0.73 [[ 9.94076288e-01 1.08651492e-01 2.68067774e-03 1.10350946e+02] [-1.08651231e-01 9.94079902e-01 -2.43376619e-04 -4.43232622e+00] [-2.69125110e-03 -4.93240093e-05 9.99996377e-01 -7.29022104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.725769231 meters 0.030236448206921694 Centerline is valid? [True, True] Translation: X:110.41, Y:-4.43, Z:-0.73 [[ 9.93797207e-01 1.11205118e-01 7.30306918e-04 1.10409888e+02] [-1.11205099e-01 9.93797475e-01 -6.64710161e-05 -4.43026078e+00] [-7.33169088e-04 -1.51551429e-05 9.99999731e-01 -7.34882277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78576923099999 meters 0.027576816456951495 Centerline is valid? [True, True] Translation: X:110.47, Y:-4.44, Z:-0.74 [[ 9.94030247e-01 1.09084569e-01 -2.10378418e-03 1.10468374e+02] [-1.09084410e-01 9.94032472e-01 1.90368316e-04 -4.43902910e+00] [ 2.11199603e-03 4.02581914e-05 9.99997769e-01 -7.40444954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84576923099999 meters 0.028930966830048307 Centerline is valid? [True, True] Translation: X:110.53, Y:-4.44, Z:-0.74 [[ 9.93920336e-01 1.10093945e-01 -1.29922031e-03 1.10526561e+02] [-1.10093886e-01 9.93921185e-01 1.17204350e-04 -4.43592352e+00] [ 1.30422608e-03 2.65444252e-05 9.99999149e-01 -7.40287867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.905769231 meters 0.03202736235407026 Centerline is valid? [True, True] Translation: X:110.59, Y:-4.43, Z:-0.74 [[ 9.93791651e-01 1.11246930e-01 -1.50801551e-03 1.10585290e+02] [-1.11246851e-01 9.93792795e-01 1.36104977e-04 -4.43064990e+00] [ 1.51379621e-03 3.25019872e-05 9.99998854e-01 -7.42144331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.965769231 meters 0.027730928109085933 Centerline is valid? [True, True] Translation: X:110.64, Y:-4.43, Z:-0.75 [[ 9.93993265e-01 1.09362944e-01 -4.13942409e-03 1.10644172e+02] [-1.09362334e-01 9.94001881e-01 3.74169142e-04 -4.43402037e+00] [ 4.15551558e-03 8.07754711e-05 9.99991363e-01 -7.46457436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.025769231 meters 0.021011639306932953 Centerline is valid? [True, True] Translation: X:110.70, Y:-4.44, Z:-0.75 [[ 9.94924970e-01 1.00533998e-01 -4.14949435e-03 1.10702597e+02] [-1.00533308e-01 9.94933623e-01 3.75150159e-04 -4.44312030e+00] [ 4.16618679e-03 4.39161318e-05 9.99991320e-01 -7.48282737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.085769231 meters 0.01744818375440568 Centerline is valid? [True, True] Translation: X:110.76, Y:-4.45, Z:-0.75 [[ 9.95564275e-01 9.39952199e-02 -4.08322874e-03 1.10759630e+02] [-9.39944983e-02 9.95572648e-01 3.68688461e-04 -4.45262143e+00] [ 4.09980581e-03 1.67479763e-05 9.99991596e-01 -7.49663946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14576923099999 meters 0.017200441024658765 Centerline is valid? [True, True] Translation: X:110.82, Y:-4.46, Z:-0.75 [[ 9.96146275e-01 8.75975566e-02 -4.38937246e-03 1.10816726e+02] [-8.75966616e-02 9.96155946e-01 3.96116774e-04 -4.46079345e+00] [ 4.40719833e-03 -1.00958749e-05 9.99990288e-01 -7.52487064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20576923099999 meters 0.018471934939002455 Centerline is valid? [True, True] Translation: X:110.87, Y:-4.47, Z:-0.75 [[ 9.96522114e-01 8.32688110e-02 -3.15920142e-03 1.10873824e+02] [-8.32683267e-02 9.96527122e-01 2.84754131e-04 -4.46723460e+00] [ 3.17194104e-03 -2.07023723e-05 9.99994969e-01 -7.47446813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.265769231 meters 0.020015448200090533 Centerline is valid? [True, True] Translation: X:110.93, Y:-4.48, Z:-0.75 [[ 9.96850650e-01 7.92444891e-02 -3.01535172e-03 1.10932891e+02] [-7.92440289e-02 9.96855210e-01 2.71965498e-04 -4.47548153e+00] [ 3.02742084e-03 -3.21603643e-05 9.99995417e-01 -7.45331824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.325769231 meters 0.020907573397688377 Centerline is valid? [True, True] Translation: X:110.99, Y:-4.48, Z:-0.74 [[ 9.97070937e-01 7.64639777e-02 -1.67541738e-03 1.10991568e+02] [-7.64638323e-02 9.97072344e-01 1.50777239e-04 -4.48359481e+00] [ 1.68204136e-03 -2.22267688e-05 9.99998585e-01 -7.42270337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.385769231 meters 0.023828106697947313 Centerline is valid? [True, True] Translation: X:111.05, Y:-4.49, Z:-0.74 [[ 9.97220278e-01 7.45089773e-02 -3.60890164e-04 1.11049354e+02] [-7.45089705e-02 9.97220343e-01 3.22839406e-05 -4.49411510e+00] [ 3.62292457e-04 -5.30464560e-06 9.99999934e-01 -7.40175029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.445769231 meters 0.025474013552128076 Centerline is valid? [True, True] Translation: X:111.11, Y:-4.51, Z:-0.74 [[ 9.97468466e-01 7.11029692e-02 1.01354599e-03 1.11108964e+02] [-7.11029130e-02 9.97468981e-01 -9.13844006e-05 -4.50580649e+00] [-1.01747839e-03 1.90869854e-05 9.99999482e-01 -7.38999181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50576923099999 meters 0.028047403437725854 Centerline is valid? [True, True] Translation: X:111.17, Y:-4.52, Z:-0.74 [[ 9.97654315e-01 6.84533751e-02 -5.50000003e-05 1.11168648e+02] [-6.84533750e-02 9.97654317e-01 4.95896792e-06 -4.51816376e+00] [ 5.52104458e-05 -1.18240011e-06 9.99999998e-01 -7.41740464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56576923099999 meters 0.030752282360948017 Centerline is valid? [True, True] Translation: X:111.23, Y:-4.54, Z:-0.75 [[ 9.97777299e-01 6.65582470e-02 -3.23436650e-03 1.11226840e+02] [-6.65576512e-02 9.97782538e-01 2.91620357e-04 -4.53734090e+00] [ 3.24660415e-03 -7.57003351e-05 9.99994727e-01 -7.47128715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62576923099999 meters 0.02843456823074542 Centerline is valid? [True, True] Translation: X:111.28, Y:-4.55, Z:-0.75 [[ 9.97498755e-01 7.05914473e-02 -3.61678025e-03 1.11284997e+02] [-7.05907301e-02 9.97505310e-01 3.25727386e-04 -4.54593654e+00] [ 3.63075107e-03 -6.96015038e-05 9.99993406e-01 -7.47426120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.685769231 meters 0.01888413859740112 Centerline is valid? [True, True] Translation: X:111.35, Y:-4.54, Z:-0.74 [[ 9.96780082e-01 8.01834551e-02 -2.87443542e-04 1.11346458e+02] [-8.01834510e-02 9.96780123e-01 2.58708234e-05 -4.53906268e+00] [ 2.88592421e-04 -2.73930632e-06 9.99999958e-01 -7.41327373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.745769231 meters 0.017091833048998566 Centerline is valid? [True, True] Translation: X:111.41, Y:-4.52, Z:-0.74 [[ 9.95402541e-01 9.57633511e-02 -1.77800304e-03 1.11407244e+02] [-9.57632184e-02 9.95404129e-01 1.59817759e-04 -4.51995279e+00] [ 1.78513625e-03 1.11842900e-05 9.99998407e-01 -7.44363387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.805769231 meters 0.022525878245646915 Centerline is valid? [True, True] Translation: X:111.47, Y:-4.51, Z:-0.75 [[ 9.94644909e-01 1.03251871e-01 -4.53378056e-03 1.11468298e+02] [-1.03251084e-01 9.94655240e-01 4.08102833e-04 -4.50959388e+00] [ 4.55168597e-03 6.22003496e-05 9.99989639e-01 -7.51018710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86576923099999 meters 0.019926315122484897 Centerline is valid? [True, True] Translation: X:111.53, Y:-4.52, Z:-0.75 [[ 9.94985561e-01 9.99160702e-02 -4.52903305e-03 1.11526564e+02] [-9.99152512e-02 9.94995868e-01 4.07287207e-04 -4.51845833e+00] [ 4.54706370e-03 4.72745839e-05 9.99989661e-01 -7.51243611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92576923099999 meters 0.016145165573397673 Centerline is valid? [True, True] Translation: X:111.58, Y:-4.54, Z:-0.75 [[ 9.96005651e-01 8.91535291e-02 -4.93875106e-03 1.11584224e+02] [-8.91524250e-02 9.96017896e-01 4.43696436e-04 -4.53862210e+00] [ 4.95864154e-03 -1.62252491e-06 9.99987706e-01 -7.52414125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98576923099999 meters 0.018513601312928077 Centerline is valid? [True, True] Translation: X:111.64, Y:-4.56, Z:-0.75 [[ 9.96701301e-01 8.10680971e-02 -3.80521755e-03 1.11642039e+02] [-8.10673828e-02 9.96708565e-01 3.41832567e-04 -4.55690452e+00] [ 3.82040464e-03 -3.22259369e-05 9.99992702e-01 -7.50322515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.045769231 meters 0.02197562723150452 Centerline is valid? [True, True] Translation: X:111.70, Y:-4.57, Z:-0.75 [[ 9.97136614e-01 7.56028189e-02 -1.66956433e-03 1.11700953e+02] [-7.56026739e-02 9.97138011e-01 1.49885261e-04 -4.57269202e+00] [ 1.67611780e-03 -2.32325540e-05 9.99998595e-01 -7.46476604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.105769231 meters 0.027001449610951415 Centerline is valid? [True, True] Translation: X:111.76, Y:-4.59, Z:-0.75 [[ 9.97537124e-01 7.00970334e-02 -2.46814144e-03 1.11760535e+02] [-7.00966988e-02 9.97540176e-01 2.21936714e-04 -4.59020308e+00] [ 2.47762735e-03 -4.83815445e-05 9.99996930e-01 -7.49263725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.165769231 meters 0.029321159090743818 Centerline is valid? [True, True] Translation: X:111.82, Y:-4.60, Z:-0.75 [[ 9.97769101e-01 6.67229679e-02 -2.20586651e-03 1.11820609e+02] [-6.67226923e-02 9.97771538e-01 1.98389485e-04 -4.60214724e+00] [ 2.21418796e-03 -5.07655460e-05 9.99997547e-01 -7.49838147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22576923099999 meters 0.041475152686164495 Centerline is valid? [True, True] Translation: X:111.88, Y:-4.63, Z:-0.75 [[ 9.98336623e-01 5.76437425e-02 1.08882620e-03 1.11877845e+02] [-5.76436700e-02 9.98337216e-01 -9.78681920e-05 -4.63496247e+00] [-1.09265721e-03 3.49414620e-05 9.99999402e-01 -7.45119645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28576923099999 meters 0.04465608766833982 Centerline is valid? [True, True] Translation: X:111.94, Y:-4.65, Z:-0.75 [[ 9.98533081e-01 5.41430962e-02 -4.60098036e-04 1.11937692e+02] [-5.41430828e-02 9.98533187e-01 4.15341149e-05 -4.65457909e+00] [ 4.61671944e-04 -1.65620617e-05 9.99999893e-01 -7.47785644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34576923099999 meters 0.043831887548086874 Centerline is valid? [True, True] Translation: X:112.00, Y:-4.67, Z:-0.75 [[ 9.98536819e-01 5.39567572e-02 -3.59020310e-03 1.11998458e+02] [-5.39559389e-02 9.98543265e-01 3.24451583e-04 -4.66741382e+00] [ 3.60247948e-03 -1.30264072e-04 9.99993503e-01 -7.50999171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.405769231 meters 0.03854267050768814 Centerline is valid? [True, True] Translation: X:112.06, Y:-4.67, Z:-0.75 [[ 9.98267705e-01 5.88116882e-02 -1.66564613e-03 1.12059484e+02] [-5.88115196e-02 9.98269093e-01 1.50063169e-04 -4.66768288e+00] [ 1.67158852e-03 -5.18440358e-05 9.99998602e-01 -7.47289507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.465769231 meters 0.027421017023954462 Centerline is valid? [True, True] Translation: X:112.12, Y:-4.66, Z:-0.75 [[ 9.97450686e-01 7.13384694e-02 -1.71789154e-03 1.12120194e+02] [-7.13383087e-02 9.97452165e-01 1.54735644e-04 -4.65965600e+00] [ 1.72455324e-03 -3.17896971e-05 9.99998512e-01 -7.48706085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.525769231 meters 0.019620567915218337 Centerline is valid? [True, True] Translation: X:112.18, Y:-4.65, Z:-0.75 [[ 9.96745527e-01 8.04991678e-02 -4.27061599e-03 1.12181784e+02] [-8.04982583e-02 9.96754675e-01 3.84689186e-04 -4.64850532e+00] [ 4.28772361e-03 -3.96600767e-05 9.99990807e-01 -7.53146746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.585769231 meters 0.017883410992336885 Centerline is valid? [True, True] Translation: X:112.24, Y:-4.65, Z:-0.75 [[ 9.96521140e-01 8.32460235e-02 -3.96437917e-03 1.12241621e+02] [-8.32452625e-02 9.96529026e-01 3.56849030e-04 -4.65084030e+00] [ 3.98032517e-03 -2.55918179e-05 9.99992078e-01 -7.53292382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64576923099999 meters 0.016250507195241057 Centerline is valid? [True, True] Translation: X:112.30, Y:-4.65, Z:-0.75 [[ 9.96277436e-01 8.61828733e-02 -1.94490243e-03 1.12300591e+02] [-8.61826962e-02 9.96279334e-01 1.74839391e-04 -4.65057053e+00] [ 1.95273426e-03 -6.57160495e-06 9.99998093e-01 -7.50630052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70576923099999 meters 0.01544943895880888 Centerline is valid? [True, True] Translation: X:112.36, Y:-4.65, Z:-0.75 [[ 9.95889215e-01 9.05688875e-02 -1.39546095e-03 1.12360965e+02] [-9.05688005e-02 9.95890193e-01 1.25523850e-04 -4.65087953e+00] [ 1.40109443e-03 1.37737593e-06 9.99999018e-01 -7.48955113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.765769231 meters 0.015919400863632905 Centerline is valid? [True, True] Translation: X:112.42, Y:-4.65, Z:-0.75 [[ 9.95592671e-01 9.37828146e-02 -1.27882623e-04 1.12420626e+02] [-9.37828139e-02 9.95592680e-01 1.13413659e-05 -4.65358163e+00] [ 1.28382628e-04 7.01811396e-07 9.99999992e-01 -7.47463380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.825769231 meters 0.016607367464873655 Centerline is valid? [True, True] Translation: X:112.48, Y:-4.66, Z:-0.75 [[ 9.95558866e-01 9.41379951e-02 -7.63484569e-04 1.12479475e+02] [-9.41379702e-02 9.95559158e-01 6.86113602e-05 -4.65840955e+00] [ 7.66552991e-04 3.56623964e-06 9.99999706e-01 -7.50986484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.885769231 meters 0.016441295129568934 Centerline is valid? [True, True] Translation: X:112.54, Y:-4.67, Z:-0.75 [[ 9.95750447e-01 9.20480110e-02 -2.86531000e-03 1.12538267e+02] [-9.20476505e-02 9.95754570e-01 2.57693061e-04 -4.66869632e+00] [ 2.87686566e-03 7.14707235e-06 9.99995862e-01 -7.54433106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.945769231 meters 0.01567173530610989 Centerline is valid? [True, True] Translation: X:112.60, Y:-4.69, Z:-0.75 [[ 9.96174812e-01 8.73827385e-02 3.95940405e-05 1.12597901e+02] [-8.73827384e-02 9.96174812e-01 -3.56197612e-06 -4.68584818e+00] [-3.97538411e-05 8.85152058e-08 9.99999999e-01 -7.49604673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00576923099999 meters 0.018490724461887702 Centerline is valid? [True, True] Translation: X:112.66, Y:-4.71, Z:-0.75 [[ 9.96755866e-01 8.04801433e-02 -8.30248071e-04 1.12658270e+02] [-8.04801079e-02 9.96756212e-01 7.60244636e-05 -4.70807228e+00] [ 8.33673382e-04 -8.95937581e-06 9.99999652e-01 -7.50864454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06576923099999 meters 0.023587215543100844 Centerline is valid? [True, True] Translation: X:112.72, Y:-4.73, Z:-0.75 [[ 9.97222927e-01 7.44700829e-02 -8.00739967e-04 1.12718034e+02] [-7.44700484e-02 9.97223248e-01 7.28246559e-05 -4.72955656e+00] [ 8.03939769e-04 -1.29912724e-05 9.99999677e-01 -7.50637950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12576923099999 meters 0.0335695112487997 Centerline is valid? [True, True] Translation: X:112.78, Y:-4.76, Z:-0.75 [[ 9.97613574e-01 6.90305802e-02 -1.39105489e-03 1.12775971e+02] [-6.90304722e-02 9.97614544e-01 1.25593674e-04 -4.76039168e+00] [ 1.39640639e-03 -2.92687782e-05 9.99999025e-01 -7.54620535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.185769231 meters 0.025548954063181657 Centerline is valid? [True, True] Translation: X:112.84, Y:-4.76, Z:-0.75 [[ 9.97316933e-01 7.31718008e-02 -2.19598175e-03 1.12837331e+02] [-7.31715414e-02 9.97319350e-01 1.98352545e-04 -4.76024732e+00] [ 2.20460891e-03 -3.71369824e-05 9.99997569e-01 -7.53033485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.245769231 meters 0.022278358293979967 Centerline is valid? [True, True] Translation: X:112.90, Y:-4.76, Z:-0.76 [[ 9.96885460e-01 7.88196828e-02 -2.61476753e-03 1.12897677e+02] [-7.88193347e-02 9.96888889e-01 2.36097190e-04 -4.76361269e+00] [ 2.62524181e-03 -2.92676186e-05 9.99996554e-01 -7.56336155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.305769231 meters 0.01676437523127079 Centerline is valid? [True, True] Translation: X:112.96, Y:-4.76, Z:-0.76 [[ 9.96159657e-01 8.74133658e-02 -4.98416407e-03 1.12959866e+02] [-8.74122075e-02 9.96172125e-01 4.50165870e-04 -4.75655189e+00] [ 5.00443582e-03 -1.27602949e-05 9.99987478e-01 -7.58723902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36576923099999 meters 0.018175469932887513 Centerline is valid? [True, True] Translation: X:113.02, Y:-4.74, Z:-0.76 [[ 9.95217781e-01 9.76009392e-02 -3.95276290e-03 1.13021140e+02] [-9.76002926e-02 9.95225631e-01 3.56615015e-04 -4.74341853e+00] [ 3.96869691e-03 3.08812112e-05 9.99992124e-01 -7.55925025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42576923099999 meters 0.020825995238203984 Centerline is valid? [True, True] Translation: X:113.08, Y:-4.74, Z:-0.76 [[ 9.94768623e-01 1.01975612e-01 -6.03007040e-03 1.13081563e+02] [-1.01974187e-01 9.94786896e-01 5.44125367e-04 -4.74067665e+00] [ 6.05412254e-03 7.36326847e-05 9.99981671e-01 -7.59658578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48576923099999 meters 0.024979621106763692 Centerline is valid? [True, True] Translation: X:113.14, Y:-4.73, Z:-0.76 [[ 9.94469988e-01 1.04915579e-01 -4.70798919e-03 1.13141309e+02] [-1.04914745e-01 9.94481129e-01 4.24527323e-04 -4.72948656e+00] [ 4.72654594e-03 7.17578036e-05 9.99988827e-01 -7.59092361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.545769231 meters 0.02235922135826678 Centerline is valid? [True, True] Translation: X:113.20, Y:-4.73, Z:-0.75 [[ 9.94647825e-01 1.03319884e-01 -8.39527261e-04 1.13201642e+02] [-1.03319857e-01 9.94648180e-01 7.56498081e-05 -4.73207037e+00] [ 8.42850391e-04 1.14949195e-05 9.99999645e-01 -7.51327323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.605769231 meters 0.017182506428255927 Centerline is valid? [True, True] Translation: X:113.26, Y:-4.74, Z:-0.76 [[ 9.95388014e-01 9.59018199e-02 -2.35426044e-03 1.13261803e+02] [-9.59015854e-02 9.95390798e-01 2.12593982e-04 -4.74454181e+00] [ 2.36379733e-03 1.41638071e-05 9.99997206e-01 -7.55022024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.665769231 meters 0.016016815330089033 Centerline is valid? [True, True] Translation: X:113.32, Y:-4.75, Z:-0.76 [[ 9.95726326e-01 9.23255104e-02 -2.25473142e-03 1.13322718e+02] [-9.23252859e-02 9.95728879e-01 2.03666569e-04 -4.75371925e+00] [ 2.26390481e-03 5.37255883e-06 9.99997437e-01 -7.55220740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72576923099999 meters 0.01527114247211214 Centerline is valid? [True, True] Translation: X:113.38, Y:-4.76, Z:-0.75 [[ 9.95948165e-01 8.99281920e-02 -4.15606622e-04 1.13383644e+02] [-8.99281841e-02 9.95948252e-01 3.76934631e-05 -4.76161907e+00] [ 4.17312394e-04 -1.65986526e-07 9.99999913e-01 -7.49926728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78576923099999 meters 0.017063491737769193 Centerline is valid? [True, True] Translation: X:113.44, Y:-4.75, Z:-0.75 [[ 9.95325274e-01 9.65784015e-02 -4.59849948e-04 1.13443941e+02] [-9.65783927e-02 9.95325380e-01 4.14236486e-05 -4.75226797e+00] [ 4.61700954e-04 3.18156447e-06 9.99999893e-01 -7.50154386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84576923099999 meters 0.022067918319742627 Centerline is valid? [True, True] Translation: X:113.50, Y:-4.74, Z:-0.75 [[ 9.94622382e-01 1.03556100e-01 -1.56563328e-03 1.13504962e+02] [-1.03556007e-01 9.94623614e-01 1.41120007e-04 -4.73972409e+00] [ 1.57182967e-03 2.17696128e-05 9.99998764e-01 -7.52753255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.905769231 meters 0.022925101916135726 Centerline is valid? [True, True] Translation: X:113.56, Y:-4.74, Z:-0.75 [[ 9.94524737e-01 1.04501156e-01 -2.37387097e-04 1.13563795e+02] [-1.04501154e-01 9.94524765e-01 2.09924218e-05 -4.73700868e+00] [ 2.38281080e-04 3.92974272e-06 9.99999972e-01 -7.51239828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.965769231 meters 0.022153746263246125 Centerline is valid? [True, True] Translation: X:113.62, Y:-4.74, Z:-0.75 [[ 9.94646918e-01 1.03331845e-01 1.96041097e-04 1.13622483e+02] [-1.03331843e-01 9.94646937e-01 -1.79193942e-05 -4.73929778e+00] [-1.96843321e-04 -2.43381768e-06 9.99999981e-01 -7.50463181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.025769231 meters 0.020585933751481 Centerline is valid? [True, True] Translation: X:113.68, Y:-4.74, Z:-0.75 [[ 9.94840106e-01 1.01455131e-01 -1.41315574e-04 1.13681816e+02] [-1.01455130e-01 9.94840116e-01 1.24027104e-05 -4.74024998e+00] [ 1.41844720e-04 1.99847630e-06 9.99999990e-01 -7.49701070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.085769231 meters 0.02051672737558408 Centerline is valid? [True, True] Translation: X:113.74, Y:-4.74, Z:-0.75 [[ 9.94822303e-01 1.01629168e-01 3.13618036e-04 1.13740435e+02] [-1.01629164e-01 9.94822352e-01 -2.85750329e-05 -4.74408264e+00] [-3.14898289e-04 -3.44565871e-06 9.99999950e-01 -7.49602494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14576923099999 meters 0.021520544707608603 Centerline is valid? [True, True] Translation: X:113.80, Y:-4.74, Z:-0.75 [[ 9.94737565e-01 1.02453948e-01 -6.04539512e-04 1.13799290e+02] [-1.02453934e-01 9.94737749e-01 5.40799991e-05 -4.74310688e+00] [ 6.06898982e-04 8.14204451e-06 9.99999816e-01 -7.52052153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20576923099999 meters 0.021865504956109272 Centerline is valid? [True, True] Translation: X:113.86, Y:-4.74, Z:-0.75 [[ 9.94650437e-01 1.03297959e-01 1.99817299e-04 1.13858027e+02] [-1.03297958e-01 9.94650457e-01 -1.83110841e-05 -4.74379206e+00] [-2.00639866e-04 -2.42759113e-06 9.99999980e-01 -7.50500410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.265769231 meters 0.024319687587095306 Centerline is valid? [True, True] Translation: X:113.92, Y:-4.74, Z:-0.75 [[ 9.94497951e-01 1.04743869e-01 1.59609992e-03 1.13916163e+02] [-1.04743773e-01 9.94499231e-01 -1.43902192e-04 -4.74090430e+00] [-1.60239302e-03 -2.40710922e-05 9.99998716e-01 -7.49161093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.325769231 meters 0.023329677696806446 Centerline is valid? [True, True] Translation: X:113.98, Y:-4.74, Z:-0.75 [[ 9.94654549e-01 1.03248111e-01 -1.46800977e-03 1.13975385e+02] [-1.03248029e-01 9.94655632e-01 1.31584413e-04 -4.74386906e+00] [ 1.47375003e-03 2.06880805e-05 9.99998914e-01 -7.54869434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.385769231 meters 0.02104783963271915 Centerline is valid? [True, True] Translation: X:114.03, Y:-4.75, Z:-0.75 [[ 9.94815794e-01 1.01683880e-01 -1.38756441e-03 1.14033802e+02] [-1.01683805e-01 9.94816761e-01 1.24272904e-04 -4.74658850e+00] [ 1.39300888e-03 1.74641817e-05 9.99999030e-01 -7.54255941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.445769231 meters 0.02007113005333104 Centerline is valid? [True, True] Translation: X:114.09, Y:-4.75, Z:-0.76 [[ 9.94977808e-01 1.00077025e-01 -1.93692420e-03 1.14092761e+02] [-1.00076876e-01 9.94979693e-01 1.73514636e-04 -4.75253769e+00] [ 1.94456507e-03 2.11981114e-05 9.99998109e-01 -7.55816397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50576923099999 meters 0.018670530954255603 Centerline is valid? [True, True] Translation: X:114.15, Y:-4.76, Z:-0.76 [[ 9.95428083e-01 9.54491997e-02 -3.51881798e-03 1.14150163e+02] [-9.54486817e-02 9.95434302e-01 3.15211216e-04 -4.75888479e+00] [ 3.53283878e-03 2.20964416e-05 9.99993759e-01 -7.62317323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56576923099999 meters 0.01725242415375847 Centerline is valid? [True, True] Translation: X:114.21, Y:-4.77, Z:-0.76 [[ 9.95484256e-01 9.49045904e-02 -2.05317492e-03 1.14209138e+02] [-9.49044131e-02 9.95486373e-01 1.83843574e-04 -4.76545829e+00] [ 2.06135526e-03 1.18419773e-05 9.99997875e-01 -7.56043539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62576923099999 meters 0.02145369370673061 Centerline is valid? [True, True] Translation: X:114.27, Y:-4.76, Z:-0.76 [[ 9.94957722e-01 1.00147906e-01 -5.43403617e-03 1.14269005e+02] [-1.00146741e-01 9.94972559e-01 4.86788986e-04 -4.75808800e+00] [ 5.45546777e-03 5.98665528e-05 9.99985117e-01 -7.63693823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.685769231 meters 0.026097447738907643 Centerline is valid? [True, True] Translation: X:114.33, Y:-4.75, Z:-0.76 [[ 9.94418214e-01 1.05380094e-01 -5.23948437e-03 1.14329509e+02] [-1.05379083e-01 9.94432013e-01 4.69313693e-04 -4.75146931e+00] [ 5.25976731e-03 8.54379749e-05 9.99986164e-01 -7.63795578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.745769231 meters 0.03509827690778353 Centerline is valid? [True, True] Translation: X:114.39, Y:-4.73, Z:-0.76 [[ 9.93443138e-01 1.14312906e-01 -1.81400409e-03 1.14390353e+02] [-1.14312800e-01 9.93444793e-01 1.62428421e-04 -4.73492781e+00] [ 1.82068059e-03 4.60004873e-05 9.99998342e-01 -7.56239999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.805769231 meters 0.0362746326906467 Centerline is valid? [True, True] Translation: X:114.45, Y:-4.73, Z:-0.75 [[ 9.93332177e-01 1.15287407e-01 7.99155732e-06 1.14450126e+02] [-1.15287407e-01 9.93332177e-01 -1.03211174e-06 -4.73146852e+00] [-8.05726053e-06 1.03903880e-07 1.00000000e+00 -7.54216836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86576923099999 meters 0.025145037572281877 Centerline is valid? [True, True] Translation: X:114.51, Y:-4.75, Z:-0.75 [[ 9.94138264e-01 1.08111317e-01 1.02726192e-03 1.14509508e+02] [-1.08111280e-01 9.94138794e-01 -9.20055186e-05 -4.74988824e+00] [-1.03118776e-03 -1.95923943e-05 9.99999468e-01 -7.51907881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92576923099999 meters 0.02319810955686674 Centerline is valid? [True, True] Translation: X:114.57, Y:-4.76, Z:-0.75 [[ 9.94747009e-01 1.02355556e-01 1.31469055e-03 1.14567991e+02] [-1.02355490e-01 9.94747878e-01 -1.17861159e-04 -4.75830042e+00] [-1.31984938e-03 -1.73237605e-05 9.99999129e-01 -7.53164738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98576923099999 meters 0.021047704386009985 Centerline is valid? [True, True] Translation: X:114.63, Y:-4.77, Z:-0.75 [[ 9.94974120e-01 1.00117347e-01 1.73701947e-03 1.14626612e+02] [-1.00117228e-01 9.94975636e-01 -1.55725925e-04 -4.76749022e+00] [-1.74388292e-03 -1.89623096e-05 9.99998479e-01 -7.51524693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.045769231 meters 0.017603385163631562 Centerline is valid? [True, True] Translation: X:114.68, Y:-4.78, Z:-0.75 [[ 9.95429832e-01 9.54916979e-02 8.85691216e-04 1.14683430e+02] [-9.54916649e-02 9.95430226e-01 -7.95796717e-05 -4.78171089e+00] [-8.89243006e-04 -5.36014952e-06 9.99999605e-01 -7.54553506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.105769231 meters 0.015808433246406954 Centerline is valid? [True, True] Translation: X:114.74, Y:-4.80, Z:-0.76 [[ 9.95863147e-01 9.08629798e-02 -7.15309930e-04 1.14741448e+02] [-9.08629575e-02 9.95863404e-01 6.36290405e-05 -4.79789819e+00] [ 7.18132505e-04 1.62935927e-06 9.99999742e-01 -7.57887673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.165769231 meters 0.01584557354768759 Centerline is valid? [True, True] Translation: X:114.80, Y:-4.81, Z:-0.76 [[ 9.96048893e-01 8.87791446e-02 -2.20608620e-03 1.14799366e+02] [-8.87789266e-02 9.96051336e-01 1.96735299e-04 -4.80784833e+00] [ 2.21484110e-03 -1.04012173e-07 9.99997547e-01 -7.59051116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22576923099999 meters 0.016077940216931336 Centerline is valid? [True, True] Translation: X:114.86, Y:-4.82, Z:-0.75 [[ 9.96406640e-01 8.46872010e-02 1.37304941e-03 1.14855620e+02] [-8.46871119e-02 9.96407586e-01 -1.22982489e-04 -4.82392349e+00] [-1.37853189e-03 6.26098007e-06 9.99999050e-01 -7.54402682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28576923099999 meters 0.01976407123255825 Centerline is valid? [True, True] Translation: X:114.91, Y:-4.84, Z:-0.76 [[ 9.96856625e-01 7.91822393e-02 -2.65374289e-03 1.14914744e+02] [-7.91818892e-02 9.96860157e-01 2.36898390e-04 -4.84329132e+00] [ 2.66416870e-03 -2.60253542e-05 9.99996451e-01 -7.62289033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34576923099999 meters 0.020127291313002598 Centerline is valid? [True, True] Translation: X:114.97, Y:-4.85, Z:-0.76 [[ 9.96852115e-01 7.92016344e-02 -3.60013161e-03 1.14973073e+02] [-7.92009915e-02 9.96858616e-01 3.21016515e-04 -4.85495324e+00] [ 3.61424724e-03 -3.48719989e-05 9.99993468e-01 -7.64563334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.405769231 meters 0.01723847713492378 Centerline is valid? [True, True] Translation: X:115.03, Y:-4.86, Z:-0.76 [[ 9.96412743e-01 8.45571258e-02 -3.42616274e-03 1.15031828e+02] [-8.45565754e-02 9.96418633e-01 3.05461405e-04 -4.85976301e+00] [ 3.43972134e-03 -1.46610482e-05 9.99994084e-01 -7.64600309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.465769231 meters 0.017300234641413396 Centerline is valid? [True, True] Translation: X:115.09, Y:-4.86, Z:-0.77 [[ 9.95907126e-01 9.01786164e-02 -6.06735274e-03 1.15090432e+02] [-9.01769960e-02 9.95925608e-01 5.40670843e-04 -4.86348148e+00] [ 6.09138891e-03 8.67769816e-06 9.99981447e-01 -7.70777937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.525769231 meters 0.016575099444311122 Centerline is valid? [True, True] Translation: X:115.15, Y:-4.87, Z:-0.76 [[ 9.95673815e-01 9.29022862e-02 -1.67923050e-03 1.15149063e+02] [-9.29021663e-02 9.95675231e-01 1.49421048e-04 -4.87338045e+00] [ 1.68584977e-03 7.22952664e-06 9.99998579e-01 -7.61183739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.585769231 meters 0.018965208028926345 Centerline is valid? [True, True] Translation: X:115.21, Y:-4.87, Z:-0.76 [[ 9.95320570e-01 9.66186099e-02 -1.34465029e-03 1.15207176e+02] [-9.66185368e-02 9.95321478e-01 1.19361968e-04 -4.87386554e+00] [ 1.34989190e-03 1.11147207e-05 9.99999089e-01 -7.61390561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64576923099999 meters 0.02192354286027882 Centerline is valid? [True, True] Translation: X:115.27, Y:-4.87, Z:-0.76 [[ 9.94803850e-01 1.01785613e-01 -2.23344849e-03 1.15266458e+02] [-1.01785424e-01 9.94806357e-01 1.98602600e-04 -4.87422167e+00] [ 2.24206364e-03 2.97618692e-05 9.99997486e-01 -7.61613668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70576923099999 meters 0.0262699716696217 Centerline is valid? [True, True] Translation: X:115.32, Y:-4.87, Z:-0.76 [[ 9.94556462e-01 1.04197886e-01 4.95190638e-04 1.15324809e+02] [-1.04197877e-01 9.94556585e-01 -4.45368936e-05 -4.87358417e+00] [-4.97135760e-04 -7.30335789e-06 9.99999876e-01 -7.58191181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.765769231 meters 0.02580792167531085 Centerline is valid? [True, True] Translation: X:115.38, Y:-4.88, Z:-0.76 [[ 9.94588049e-01 1.03894841e-01 6.88940253e-04 1.15383028e+02] [-1.03894823e-01 9.94588288e-01 -6.15663903e-05 -4.88039523e+00] [-6.91608336e-04 -1.03441295e-05 9.99999761e-01 -7.58055835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.825769231 meters 0.020969507042158095 Centerline is valid? [True, True] Translation: X:115.44, Y:-4.90, Z:-0.76 [[ 9.94979087e-01 1.00081653e-01 -5.28377453e-04 1.15441693e+02] [-1.00081642e-01 9.94979227e-01 4.68112222e-05 -4.89657578e+00] [ 5.30409534e-04 6.30469618e-06 9.99999859e-01 -7.59541340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.885769231 meters 0.0192536907189623 Centerline is valid? [True, True] Translation: X:115.50, Y:-4.91, Z:-0.76 [[ 9.95260370e-01 9.72371589e-02 -1.31567349e-03 1.15499800e+02] [-9.72370896e-02 9.95261239e-01 1.16677634e-04 -4.90612124e+00] [ 1.32078423e-03 1.18076350e-05 9.99999128e-01 -7.62824127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.945769231 meters 0.01889773688746908 Centerline is valid? [True, True] Translation: X:115.56, Y:-4.91, Z:-0.76 [[ 9.95262056e-01 9.72276174e-02 -4.80588924e-04 1.15558134e+02] [-9.72276083e-02 9.95262172e-01 4.23622303e-05 -4.91160316e+00] [ 4.82430755e-04 4.56499127e-06 9.99999884e-01 -7.60475241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00576923099999 meters 0.020797233135060288 Centerline is valid? [True, True] Translation: X:115.62, Y:-4.91, Z:-0.76 [[ 9.95050352e-01 9.93649846e-02 -1.18179939e-03 1.15617936e+02] [-9.93649303e-02 9.95051054e-01 1.04777406e-04 -4.91235129e+00] [ 1.18636193e-03 1.31706191e-05 9.99999296e-01 -7.62352158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06576923099999 meters 0.020338085654826175 Centerline is valid? [True, True] Translation: X:115.68, Y:-4.91, Z:-0.77 [[ 9.95164385e-01 9.81840533e-02 -2.78167236e-03 1.15677206e+02] [-9.81837477e-02 9.95168273e-01 2.46553635e-04 -4.91445613e+00] [ 2.79243971e-03 2.77536207e-05 9.99996101e-01 -7.66311062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12576923099999 meters 0.018261871379682538 Centerline is valid? [True, True] Translation: X:115.74, Y:-4.92, Z:-0.76 [[ 9.95361986e-01 9.61767628e-02 -2.13229812e-03 1.15736439e+02] [-9.61765786e-02 9.95364270e-01 1.89026049e-04 -4.92228425e+00] [ 2.14059328e-03 1.69277944e-05 9.99997709e-01 -7.63534535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.185769231 meters 0.015685024479179455 Centerline is valid? [True, True] Translation: X:115.80, Y:-4.93, Z:-0.76 [[ 9.95896253e-01 9.04779312e-02 -2.09716689e-03 1.15795541e+02] [-9.04777404e-02 9.95898461e-01 1.85845794e-04 -4.93323829e+00] [ 2.10538022e-03 4.66379164e-06 9.99997784e-01 -7.62667574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.245769231 meters 0.01611701026958625 Centerline is valid? [True, True] Translation: X:115.85, Y:-4.94, Z:-0.76 [[ 9.96394467e-01 8.48386899e-02 -6.81014832e-04 1.15854150e+02] [-8.48386685e-02 9.96394699e-01 6.03115657e-05 -4.94455110e+00] [ 6.83676322e-04 -2.31771886e-06 9.99999766e-01 -7.62122550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.305769231 meters 0.015319581947443242 Centerline is valid? [True, True] Translation: X:115.91, Y:-4.94, Z:-0.76 [[ 9.96065991e-01 8.86114654e-02 -7.41980668e-04 1.15914441e+02] [-8.86114411e-02 9.96066267e-01 6.56194727e-05 -4.94125406e+00] [ 7.44876551e-04 3.86651144e-07 9.99999723e-01 -7.60834529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36576923099999 meters 0.016410932726458636 Centerline is valid? [True, True] Translation: X:115.97, Y:-4.94, Z:-0.76 [[ 9.95682338e-01 9.28025600e-02 -2.08941513e-03 1.15973989e+02] [-9.28023765e-02 9.95684531e-01 1.84822677e-04 -4.93857261e+00] [ 2.09755034e-03 9.87801448e-06 9.99997800e-01 -7.64830290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42576923099999 meters 0.017457835604590122 Centerline is valid? [True, True] Translation: X:116.03, Y:-4.94, Z:-0.76 [[ 9.95457536e-01 9.52049334e-02 5.61625971e-04 1.16032088e+02] [-9.52049202e-02 9.95457694e-01 -5.01516941e-05 -4.93662637e+00] [-5.63849583e-04 -3.54567399e-06 9.99999841e-01 -7.60725894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48576923099999 meters 0.020614312685162048 Centerline is valid? [True, True] Translation: X:116.09, Y:-4.93, Z:-0.77 [[ 9.95279318e-01 9.70267807e-02 -2.20964723e-03 1.16090733e+02] [-9.70265865e-02 9.95281771e-01 1.95154654e-04 -4.93383732e+00] [ 2.21815683e-03 2.01611366e-05 9.99997540e-01 -7.68673481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.545769231 meters 0.018755534538577177 Centerline is valid? [True, True] Translation: X:116.15, Y:-4.94, Z:-0.76 [[ 9.95344587e-01 9.63655189e-02 -1.68521418e-03 1.16149609e+02] [-9.63654051e-02 9.95346013e-01 1.48744954e-04 -4.93981415e+00] [ 1.69170510e-03 1.43438619e-05 9.99998569e-01 -7.64866998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.605769231 meters 0.01608794550388161 Centerline is valid? [True, True] Translation: X:116.21, Y:-4.95, Z:-0.77 [[ 9.95798447e-01 9.15456334e-02 -2.20219505e-03 1.16208232e+02] [-9.15454270e-02 9.95800882e-01 1.94575877e-04 -4.95275791e+00] [ 2.21076035e-03 7.84253040e-06 9.99997556e-01 -7.66684424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.665769231 meters 0.016054350471314788 Centerline is valid? [True, True] Translation: X:116.27, Y:-4.96, Z:-0.77 [[ 9.96022974e-01 8.90495389e-02 -2.90089857e-03 1.16266374e+02] [-8.90491705e-02 9.96027198e-01 2.56180426e-04 -4.96073908e+00] [ 2.91218662e-03 3.16102160e-06 9.99995760e-01 -7.69964437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72576923099999 meters 0.01532705124994968 Centerline is valid? [True, True] Translation: X:116.33, Y:-4.97, Z:-0.76 [[ 9.96330933e-01 8.55838788e-02 -2.67142643e-04 1.16325245e+02] [-8.55838756e-02 9.96330969e-01 2.34412374e-05 -4.97453020e+00] [ 2.68168681e-04 -4.92127162e-07 9.99999964e-01 -7.61580045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78576923099999 meters 0.016292208712003705 Centerline is valid? [True, True] Translation: X:116.38, Y:-4.98, Z:-0.77 [[ 9.96493585e-01 8.36425885e-02 -2.11003778e-03 1.16382906e+02] [-8.36423818e-02 9.96495819e-01 1.86195384e-04 -4.98438819e+00] [ 2.11821769e-03 -9.05392062e-06 9.99997757e-01 -7.66070400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84576923099999 meters 0.01607778867999153 Centerline is valid? [True, True] Translation: X:116.44, Y:-4.99, Z:-0.77 [[ 9.96440895e-01 8.42776947e-02 -1.67713890e-03 1.16441140e+02] [-8.42775652e-02 9.96442306e-01 1.47860310e-04 -4.98895499e+00] [ 1.68363348e-03 -5.98887700e-06 9.99998583e-01 -7.65401540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.905769231 meters 0.016704356508442434 Centerline is valid? [True, True] Translation: X:116.50, Y:-5.00, Z:-0.76 [[ 9.96662170e-01 8.16364682e-02 7.86584432e-05 1.16499415e+02] [-8.16364679e-02 9.96662173e-01 -7.10603764e-06 -5.00222096e+00] [-7.89760068e-05 6.60921419e-07 9.99999997e-01 -7.62698616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.965769231 meters 0.018051141236154065 Centerline is valid? [True, True] Translation: X:116.56, Y:-5.02, Z:-0.76 [[ 9.96780388e-01 8.01738919e-02 -1.00259710e-03 1.16557997e+02] [-8.01738435e-02 9.96780892e-01 8.84215733e-05 -5.01704632e+00] [ 1.00645873e-03 -7.75482740e-06 9.99999493e-01 -7.64618466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.025769231 meters 0.014664284356113218 Centerline is valid? [True, True] Translation: X:116.62, Y:-5.02, Z:-0.76 [[ 9.96373824e-01 8.50537767e-02 2.24899844e-03 1.16617797e+02] [-8.50535450e-02 9.96376362e-01 -1.98637209e-04 -5.01612816e+00] [-2.25774372e-03 6.63162567e-06 9.99997451e-01 -7.56414133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.085769231 meters 0.0162671717252486 Centerline is valid? [True, True] Translation: X:116.68, Y:-5.01, Z:-0.76 [[ 9.95557500e-01 9.41387902e-02 1.77549693e-03 1.16678180e+02] [-9.41386602e-02 9.95559083e-01 -1.56807948e-04 -5.00632663e+00] [-1.78237380e-03 -1.10315735e-05 9.99998412e-01 -7.58751475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14576923099999 meters 0.02059064018812699 Centerline is valid? [True, True] Translation: X:116.74, Y:-5.00, Z:-0.76 [[ 9.94916961e-01 1.00652746e-01 3.04387042e-03 1.16738579e+02] [-1.00652395e-01 9.94921617e-01 -2.68640859e-04 -5.00078088e+00] [-3.05545192e-03 -3.90974999e-05 9.99995331e-01 -7.56108800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20576923099999 meters 0.026151738584047242 Centerline is valid? [True, True] Translation: X:116.80, Y:-4.99, Z:-0.76 [[ 9.94285484e-01 1.06743366e-01 1.49335070e-03 1.16799255e+02] [-1.06743288e-01 9.94286605e-01 -1.31845406e-04 -4.99332067e+00] [-1.49889222e-03 -2.83131912e-05 9.99998876e-01 -7.59466055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.265769231 meters 0.02454309711310411 Centerline is valid? [True, True] Translation: X:116.86, Y:-4.99, Z:-0.76 [[ 9.94492173e-01 1.04809830e-01 -4.65624538e-04 1.16858032e+02] [-1.04809822e-01 9.94492282e-01 4.07029756e-05 -4.99458709e+00] [ 4.67326081e-04 8.32323440e-06 9.99999891e-01 -7.64718548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.325769231 meters 0.022134726762940243 Centerline is valid? [True, True] Translation: X:116.92, Y:-5.00, Z:-0.77 [[ 9.94793286e-01 1.01907605e-01 -1.07580767e-03 1.16917010e+02] [-1.01907562e-01 9.94793868e-01 9.42418330e-05 -5.00175759e+00] [ 1.07981084e-03 1.58817950e-05 9.99999417e-01 -7.66515819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.385769231 meters 0.02085666828440699 Centerline is valid? [True, True] Translation: X:116.97, Y:-5.00, Z:-0.77 [[ 9.95068216e-01 9.91323002e-02 -3.46874804e-03 1.16974468e+02] [-9.91318398e-02 9.95074261e-01 3.04837789e-04 -5.00481104e+00] [ 3.48188116e-03 4.05289803e-05 9.99993937e-01 -7.71168682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.445769231 meters 0.017136896425923486 Centerline is valid? [True, True] Translation: X:117.03, Y:-5.02, Z:-0.77 [[ 9.95531283e-01 9.44011280e-02 -2.42713021e-03 1.17032455e+02] [-9.44008889e-02 9.95534242e-01 2.13139304e-04 -5.01543015e+00] [ 2.43641182e-03 1.69364038e-05 9.99997032e-01 -7.68833586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50576923099999 meters 0.01626132127365367 Centerline is valid? [True, True] Translation: X:117.09, Y:-5.02, Z:-0.77 [[ 9.95733650e-01 9.22606376e-02 -1.57269537e-03 1.17090515e+02] [-9.22605349e-02 9.95734892e-01 1.37918432e-04 -5.02088952e+00] [ 1.57871209e-03 7.76769176e-06 9.99998754e-01 -7.67675299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56576923099999 meters 0.015183820307480998 Centerline is valid? [True, True] Translation: X:117.15, Y:-5.03, Z:-0.77 [[ 9.95974182e-01 8.96247015e-02 -1.68587817e-03 1.17148425e+02] [-8.96245797e-02 9.95975609e-01 1.47785628e-04 -5.03108046e+00] [ 1.69233878e-03 3.90545330e-06 9.99998568e-01 -7.68776645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62576923099999 meters 0.0157144585288907 Centerline is valid? [True, True] Translation: X:117.21, Y:-5.04, Z:-0.77 [[ 9.95885395e-01 9.05701848e-02 -3.05320540e-03 1.17206725e+02] [-9.05697895e-02 9.95890075e-01 2.67766585e-04 -5.03528545e+00] [ 3.06490862e-03 9.86333854e-06 9.99995303e-01 -7.70558183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.685769231 meters 0.016853186784574228 Centerline is valid? [True, True] Translation: X:117.26, Y:-5.04, Z:-0.77 [[ 9.95660348e-01 9.30080989e-02 -3.15662204e-03 1.17264461e+02] [-9.30076894e-02 9.95665352e-01 2.76577830e-04 -5.03823808e+00] [ 3.16866318e-03 1.82125446e-05 9.99994980e-01 -7.71097349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.745769231 meters 0.017269473081076552 Centerline is valid? [True, True] Translation: X:117.32, Y:-5.04, Z:-0.77 [[ 9.95485813e-01 9.49054958e-02 -9.70903265e-04 1.17323551e+02] [-9.49054582e-02 9.95486287e-01 8.48250563e-05 -5.04046575e+00] [ 9.74571250e-04 7.70187911e-06 9.99999525e-01 -7.66210445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.805769231 meters 0.016280843937585283 Centerline is valid? [True, True] Translation: X:117.38, Y:-5.05, Z:-0.76 [[ 9.95477301e-01 9.49706280e-02 2.35018203e-03 1.17381493e+02] [-9.49704055e-02 9.95480075e-01 -2.06346775e-04 -5.05308484e+00] [-2.35915627e-03 -1.77842097e-05 9.99997217e-01 -7.59800799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86576923099999 meters 0.015987983115079592 Centerline is valid? [True, True] Translation: X:117.44, Y:-5.06, Z:-0.76 [[ 9.95479178e-01 9.49566325e-02 2.10821645e-03 1.17441306e+02] [-9.49564538e-02 9.95481410e-01 -1.84919005e-04 -5.05919310e+00] [-2.11624957e-03 -1.61057393e-05 9.99997761e-01 -7.59950887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92576923099999 meters 0.01908991940359053 Centerline is valid? [True, True] Translation: X:117.50, Y:-5.06, Z:-0.77 [[ 9.95309440e-01 9.67410197e-02 5.42721843e-04 1.17499989e+02] [-9.67410080e-02 9.95309588e-01 -4.77999533e-05 -5.05862099e+00] [-5.44800469e-04 -4.92771334e-06 9.99999852e-01 -7.65413858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98576923099999 meters 0.024010342373661602 Centerline is valid? [True, True] Translation: X:117.56, Y:-5.05, Z:-0.77 [[ 9.94868566e-01 1.01172082e-01 -8.63664311e-04 1.17559601e+02] [-1.01172055e-01 9.94868941e-01 7.53920003e-05 -5.05301159e+00] [ 8.66860364e-04 1.23735615e-05 9.99999624e-01 -7.67568946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.045769231 meters 0.02278938470888957 Centerline is valid? [True, True] Translation: X:117.62, Y:-5.06, Z:-0.77 [[ 9.94977034e-01 1.00100499e-01 7.69416042e-04 1.17618753e+02] [-1.00100476e-01 9.94977331e-01 -6.77794969e-05 -5.05852117e+00] [-7.72336282e-04 -9.57986962e-06 9.99999702e-01 -7.65288054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.105769231 meters 0.0143616845611009 Centerline is valid? [True, True] Translation: X:117.68, Y:-5.08, Z:-0.76 [[ 9.95902821e-01 9.03996511e-02 2.33989136e-03 1.17677215e+02] [-9.03994194e-02 9.95905569e-01 -2.04779764e-04 -5.08300706e+00] [-2.34882286e-03 -7.58407644e-06 9.99997241e-01 -7.61280557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.165769231 meters 0.016824108381596387 Centerline is valid? [True, True] Translation: X:117.74, Y:-5.11, Z:-0.77 [[ 9.96801831e-01 7.99130303e-02 1.30137594e-04 1.17736606e+02] [-7.99130296e-02 9.96801840e-01 -1.12274339e-05 -5.10612647e+00] [-1.30618612e-04 7.91837257e-07 9.99999991e-01 -7.66675312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22576923099999 meters 0.019294328812107367 Centerline is valid? [True, True] Translation: X:117.80, Y:-5.12, Z:-0.77 [[ 9.97138264e-01 7.55991616e-02 -2.20641071e-04 1.17796985e+02] [-7.55991591e-02 9.97138289e-01 1.94804359e-05 -5.11729727e+00] [ 2.21482364e-04 -2.74440863e-06 9.99999975e-01 -7.66876674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28576923099999 meters 0.02227487969459969 Centerline is valid? [True, True] Translation: X:117.86, Y:-5.13, Z:-0.77 [[ 9.97381005e-01 7.23174376e-02 -1.14848916e-03 1.17856703e+02] [-7.23173694e-02 9.97381666e-01 1.00900445e-04 -5.13311439e+00] [ 1.15277889e-03 -1.75804720e-05 9.99999335e-01 -7.69745208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34576923099999 meters 0.023648932048334646 Centerline is valid? [True, True] Translation: X:117.92, Y:-5.15, Z:-0.77 [[ 9.97419229e-01 7.17016134e-02 -3.70947055e-03 1.17915488e+02] [-7.17009005e-02 9.97426125e-01 3.24983809e-04 -5.14882078e+00] [ 3.72322470e-03 -5.81727207e-05 9.99993067e-01 -7.74113159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.405769231 meters 0.02139062081703066 Centerline is valid? [True, True] Translation: X:117.97, Y:-5.15, Z:-0.78 [[ 9.97206393e-01 7.45861213e-02 -4.03986501e-03 1.17974637e+02] [-7.45853008e-02 9.97214575e-01 3.53582664e-04 -5.15315499e+00] [ 4.05498463e-03 -5.12803460e-05 9.99991777e-01 -7.75234259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.465769231 meters 0.014383131521841192 Centerline is valid? [True, True] Translation: X:118.04, Y:-5.14, Z:-0.77 [[ 9.96236747e-01 8.66605345e-02 -1.51516348e-03 1.18035517e+02] [-8.66604332e-02 9.96237899e-01 1.32471996e-04 -5.14286066e+00] [ 1.52094338e-03 -6.68747246e-07 9.99998843e-01 -7.70333207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.525769231 meters 0.024504108797925556 Centerline is valid? [True, True] Translation: X:118.10, Y:-5.12, Z:-0.77 [[ 9.94676472e-01 1.03022454e-01 -2.25611523e-03 1.18097473e+02] [-1.03022271e-01 9.94679030e-01 1.97391492e-04 -5.11665544e+00] [ 2.26444627e-03 3.60894412e-05 9.99997435e-01 -7.71748653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.585769231 meters 0.03156654814624297 Centerline is valid? [True, True] Translation: X:118.16, Y:-5.11, Z:-0.77 [[ 9.93994991e-01 1.09392483e-01 -2.69137075e-03 1.18159094e+02] [-1.09392246e-01 9.93998632e-01 2.35571067e-04 -5.10703014e+00] [ 2.70098854e-03 6.02586303e-05 9.99996351e-01 -7.72381817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64576923099999 meters 0.03462824961998249 Centerline is valid? [True, True] Translation: X:118.22, Y:-5.10, Z:-0.77 [[ 9.93685527e-01 1.12200989e-01 1.07467493e-04 1.18219196e+02] [-1.12200989e-01 9.93685533e-01 -9.71617470e-06 -5.09955702e+00] [-1.07879057e-04 -2.40313676e-06 9.99999994e-01 -7.67609914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70576923099999 meters 0.032887528025931874 Centerline is valid? [True, True] Translation: X:118.28, Y:-5.10, Z:-0.77 [[ 9.93900251e-01 1.10282402e-01 -2.87528022e-04 1.18278313e+02] [-1.10282400e-01 9.93900293e-01 2.48285408e-05 -5.09753390e+00] [ 2.88512337e-04 7.03218744e-06 9.99999958e-01 -7.68203153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.765769231 meters 0.027948695450852844 Centerline is valid? [True, True] Translation: X:118.34, Y:-5.10, Z:-0.77 [[ 9.94368953e-01 1.05973119e-01 2.89716700e-04 1.18337930e+02] [-1.05973116e-01 9.94368995e-01 -2.54838144e-05 -5.10261424e+00] [-2.90785903e-04 -5.36186759e-06 9.99999958e-01 -7.69050970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.825769231 meters 0.018240882421200297 Centerline is valid? [True, True] Translation: X:118.40, Y:-5.12, Z:-0.77 [[ 9.95255307e-01 9.72965069e-02 5.13268167e-04 1.18396739e+02] [-9.72964967e-02 9.95255439e-01 -4.49457172e-05 -5.12161409e+00] [-5.15205997e-04 -5.20673093e-06 9.99999867e-01 -7.66986382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.885769231 meters 0.014829725657968883 Centerline is valid? [True, True] Translation: X:118.46, Y:-5.13, Z:-0.76 [[ 9.95771557e-01 9.18552595e-02 1.27183254e-03 1.18455693e+02] [-9.18551923e-02 9.95772369e-01 -1.11302100e-04 -5.13470095e+00] [-1.27667938e-03 -5.99295681e-06 9.99999185e-01 -7.64979099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.945769231 meters 0.013619138550130411 Centerline is valid? [True, True] Translation: X:118.51, Y:-5.14, Z:-0.76 [[ 9.96012477e-01 8.91753367e-02 2.62764277e-03 1.18513841e+02] [-8.91750407e-02 9.96015943e-01 -2.29820943e-04 -5.14123321e+00] [-2.63766845e-03 -5.41562362e-06 9.99996521e-01 -7.62568745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00576923099999 meters 0.014992870923364847 Centerline is valid? [True, True] Translation: X:118.57, Y:-5.14, Z:-0.77 [[ 9.95728621e-01 9.23180342e-02 1.37595105e-03 1.18571823e+02] [-9.23179558e-02 9.95729572e-01 -1.20506679e-04 -5.13942250e+00] [-1.38120009e-03 -7.03303818e-06 9.99999046e-01 -7.65447799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06576923099999 meters 0.017912294978951304 Centerline is valid? [True, True] Translation: X:118.63, Y:-5.13, Z:-0.77 [[ 9.95316054e-01 9.66742201e-02 2.17525588e-04 1.18631605e+02] [-9.66742182e-02 9.95316078e-01 -1.93076960e-05 -5.13415102e+00] [-2.18373272e-04 -1.81185637e-06 9.99999976e-01 -7.67080629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12576923099999 meters 0.02119102008424531 Centerline is valid? [True, True] Translation: X:118.69, Y:-5.13, Z:-0.77 [[ 9.94961158e-01 1.00256487e-01 -9.65141798e-04 1.18690444e+02] [-1.00256453e-01 9.94961626e-01 8.36117614e-05 -5.12954472e+00] [ 9.68661674e-04 1.35712384e-05 9.99999531e-01 -7.70016353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.185769231 meters 0.02289874762532477 Centerline is valid? [True, True] Translation: X:118.75, Y:-5.12, Z:-0.77 [[ 9.94702348e-01 1.02793261e-01 8.86066383e-04 1.18750126e+02] [-1.02793233e-01 9.94702742e-01 -7.75152178e-05 -5.12246505e+00] [-8.89340703e-04 -1.39770589e-05 9.99999604e-01 -7.65879540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.245769231 meters 0.021749313897763384 Centerline is valid? [True, True] Translation: X:118.81, Y:-5.12, Z:-0.77 [[ 9.94997894e-01 9.98926872e-02 -8.01606002e-04 1.18807948e+02] [-9.98926637e-02 9.94998217e-01 6.93551037e-05 -5.12475153e+00] [ 8.04524610e-04 1.10663767e-05 9.99999676e-01 -7.71672228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.305769231 meters 0.01520512162306041 Centerline is valid? [True, True] Translation: X:118.87, Y:-5.14, Z:-0.77 [[ 9.95817076e-01 9.13674604e-02 -5.81635642e-04 1.18865900e+02] [-9.13674466e-02 9.95817246e-01 5.02779130e-05 -5.13676669e+00] [ 5.83796568e-04 3.07495918e-06 9.99999830e-01 -7.71044314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36576923099999 meters 0.01537487328555668 Centerline is valid? [True, True] Translation: X:118.92, Y:-5.16, Z:-0.77 [[ 9.96755313e-01 8.04911706e-02 -1.34782109e-04 1.18923401e+02] [-8.04911698e-02 9.96755322e-01 1.13845034e-05 -5.15803666e+00] [ 1.35261136e-04 -4.98794613e-07 9.99999991e-01 -7.71166331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42576923099999 meters 0.024072998718323076 Centerline is valid? [True, True] Translation: X:118.98, Y:-5.18, Z:-0.77 [[ 9.97626557e-01 6.88504093e-02 9.34385363e-04 1.18982019e+02] [-6.88503634e-02 9.97626995e-01 -8.12426744e-05 -5.18170477e+00] [-9.37761653e-04 1.67170778e-05 9.99999560e-01 -7.69338070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48576923099999 meters 0.030672584973878085 Centerline is valid? [True, True] Translation: X:119.04, Y:-5.20, Z:-0.77 [[ 9.98050727e-01 6.24042319e-02 6.77355200e-04 1.19041012e+02] [-6.24042063e-02 9.98050956e-01 -5.88208531e-05 -5.20264004e+00] [-6.79705675e-04 1.64363816e-05 9.99999769e-01 -7.69144098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.545769231 meters 0.03030789449888949 Centerline is valid? [True, True] Translation: X:119.10, Y:-5.21, Z:-0.77 [[ 9.98084723e-01 6.18483510e-02 -1.29138188e-03 1.19100810e+02] [-6.18482575e-02 9.98085558e-01 1.12297750e-04 -5.20912336e+00] [ 1.29585503e-03 -3.22129495e-05 9.99999160e-01 -7.72833182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.605769231 meters 0.029328781256206672 Centerline is valid? [True, True] Translation: X:119.16, Y:-5.22, Z:-0.77 [[ 9.97988190e-01 6.33920171e-02 1.01216773e-03 1.19159275e+02] [-6.33919603e-02 9.97988703e-01 -8.81590203e-05 -5.21895550e+00] [-1.01572054e-03 2.38183648e-05 9.99999484e-01 -7.69048990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.665769231 meters 0.026355587561237806 Centerline is valid? [True, True] Translation: X:119.22, Y:-5.22, Z:-0.77 [[ 9.97790954e-01 6.64083398e-02 1.77325924e-03 1.19219268e+02] [-6.64081705e-02 9.97792529e-01 -1.54221139e-04 -5.22357614e+00] [-1.77958639e-03 3.61215547e-05 9.99998416e-01 -7.68511054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72576923099999 meters 0.023341606276978455 Centerline is valid? [True, True] Translation: X:119.28, Y:-5.23, Z:-0.78 [[ 9.97485215e-01 7.07960404e-02 -3.34156669e-03 1.19279228e+02] [-7.07954649e-02 9.97490811e-01 2.90340876e-04 -5.22715294e+00] [ 3.35373705e-03 -5.30429634e-05 9.99994375e-01 -7.78413020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78576923099999 meters 0.02035778521809128 Centerline is valid? [True, True] Translation: X:119.34, Y:-5.23, Z:-0.78 [[ 9.97345243e-01 7.27360250e-02 -3.45500586e-03 1.19339559e+02] [-7.27354215e-02 9.97351226e-01 3.00152097e-04 -5.22762058e+00] [ 3.46768621e-03 -4.80539579e-05 9.99993986e-01 -7.77220166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84576923099999 meters 0.017311578329157508 Centerline is valid? [True, True] Translation: X:119.40, Y:-5.23, Z:-0.77 [[ 9.96960973e-01 7.79020756e-02 2.90670605e-04 1.19398179e+02] [-7.79020715e-02 9.96961016e-01 -2.54239223e-05 -5.23491880e+00] [-2.91767838e-04 2.70281606e-06 9.99999957e-01 -7.72359091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.905769231 meters 0.015739068331730464 Centerline is valid? [True, True] Translation: X:119.46, Y:-5.24, Z:-0.77 [[ 9.96777739e-01 8.02115035e-02 -5.04260249e-04 1.19457636e+02] [-8.02114917e-02 9.96777866e-01 4.36305723e-05 -5.23844516e+00] [ 5.06135129e-04 -3.04251637e-06 9.99999872e-01 -7.73908552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.965769231 meters 0.013923366577269381 Centerline is valid? [True, True] Translation: X:119.52, Y:-5.24, Z:-0.77 [[ 9.96519078e-01 8.33490268e-02 1.63282646e-03 1.19517550e+02] [-8.33489061e-02 9.96520416e-01 -1.41944133e-04 -5.24272387e+00] [-1.63897581e-03 5.35573714e-06 9.99998657e-01 -7.71236227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.025769231 meters 0.020036715777722522 Centerline is valid? [True, True] Translation: X:119.58, Y:-5.25, Z:-0.77 [[ 9.96588691e-01 8.25254333e-02 7.30515800e-04 1.19576544e+02] [-8.25254089e-02 9.96588959e-01 -6.35814258e-05 -5.25071272e+00] [-7.33271065e-04 3.07841484e-06 9.99999731e-01 -7.68170193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.085769231 meters 0.01684294249927535 Centerline is valid? [True, True] Translation: X:119.64, Y:-5.27, Z:-0.78 [[ 9.96915992e-01 7.84710214e-02 -8.96224360e-04 1.19635007e+02] [-7.84709833e-02 9.96916395e-01 7.76997415e-05 -5.26713866e+00] [ 8.99557936e-04 -7.13250817e-06 9.99999595e-01 -7.76485921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14576923099999 meters 0.018091437330517116 Centerline is valid? [True, True] Translation: X:119.69, Y:-5.28, Z:-0.77 [[ 9.97160133e-01 7.52358698e-02 3.35167159e-03 1.19694405e+02] [-7.52353169e-02 9.97165765e-01 -2.90894438e-04 -5.28428819e+00] [-3.36405786e-03 3.79042621e-05 9.99994341e-01 -7.68866575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20576923099999 meters 0.02235082366912699 Centerline is valid? [True, True] Translation: X:119.75, Y:-5.30, Z:-0.77 [[ 9.97504966e-01 7.05594700e-02 2.28132632e-03 1.19754963e+02] [-7.05592022e-02 9.97507574e-01 -1.97773295e-04 -5.30498857e+00] [-2.28959506e-03 3.63112790e-05 9.99997378e-01 -7.71075115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.265769231 meters 0.01914989334109988 Centerline is valid? [True, True] Translation: X:119.82, Y:-5.31, Z:-0.77 [[ 9.97180740e-01 7.49663946e-02 3.25744190e-03 1.19815136e+02] [-7.49658707e-02 9.97186060e-01 -2.82827510e-04 -5.31279138e+00] [-3.26947821e-03 3.78331771e-05 9.99994655e-01 -7.68822119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.325769231 meters 0.013850487962642592 Centerline is valid? [True, True] Translation: X:119.88, Y:-5.31, Z:-0.77 [[ 9.96561107e-01 8.28135329e-02 2.80704495e-03 1.19876164e+02] [-8.28131747e-02 9.96565060e-01 -2.43792697e-04 -5.30824148e+00] [-2.81759225e-03 1.04940160e-05 9.99996031e-01 -7.69247784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.385769231 meters 0.01586140348852398 Centerline is valid? [True, True] Translation: X:119.94, Y:-5.30, Z:-0.78 [[ 9.95603855e-01 9.36641043e-02 4.64480502e-07 1.19936645e+02] [-9.36641043e-02 9.95603855e-01 -2.08578164e-07 -5.29996353e+00] [-4.81974874e-07 1.64156073e-07 1.00000000e+00 -7.76360342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.445769231 meters 0.01790171245084253 Centerline is valid? [True, True] Translation: X:120.00, Y:-5.30, Z:-0.78 [[ 9.95357502e-01 9.62393103e-02 -1.19947804e-03 1.19995392e+02] [-9.62392550e-02 9.95358224e-01 1.03883756e-04 -5.30426622e+00] [ 1.20390803e-03 1.20353974e-05 9.99999275e-01 -7.78734219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50576923099999 meters 0.019201650629633343 Centerline is valid? [True, True] Translation: X:120.05, Y:-5.31, Z:-0.78 [[ 9.95207845e-01 9.77691130e-02 -1.59554326e-03 1.20054517e+02] [-9.77690171e-02 9.95209124e-01 1.38176577e-04 -5.30715615e+00] [ 1.60140861e-03 1.84802832e-05 9.99998718e-01 -7.79963913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56576923099999 meters 0.026216762142687536 Centerline is valid? [True, True] Translation: X:120.12, Y:-5.30, Z:-0.78 [[ 9.94356421e-01 1.06090803e-01 2.21328163e-04 1.20115985e+02] [-1.06090802e-01 9.94356446e-01 -1.92963082e-05 -5.29605966e+00] [-2.22126247e-04 -4.29347433e-06 9.99999975e-01 -7.75734869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62576923099999 meters 0.034593811528832334 Centerline is valid? [True, True] Translation: X:120.18, Y:-5.28, Z:-0.78 [[ 9.93710347e-01 1.11978464e-01 7.54835265e-04 1.20176640e+02] [-1.11978447e-01 9.93710634e-01 -6.55351575e-05 -5.28394593e+00] [-7.57426355e-04 -1.94023162e-05 9.99999713e-01 -7.76431620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.685769231 meters 0.04034495534334552 Centerline is valid? [True, True] Translation: X:120.24, Y:-5.27, Z:-0.78 [[ 9.93119280e-01 1.17104352e-01 8.15917363e-04 1.20237832e+02] [-1.17104333e-01 9.93119615e-01 -7.08388859e-05 -5.27228308e+00] [-8.18599080e-04 -2.51959954e-05 9.99999665e-01 -7.76672006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.745769231 meters 0.042489325958476855 Centerline is valid? [True, True] Translation: X:120.30, Y:-5.26, Z:-0.78 [[ 9.92929814e-01 1.18702708e-01 -2.26134484e-04 1.20298786e+02] [-1.18702707e-01 9.92929840e-01 1.94487791e-05 -5.26314493e+00] [ 2.26844300e-04 7.53150270e-06 9.99999974e-01 -7.77277139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.805769231 meters 0.03673488563907272 Centerline is valid? [True, True] Translation: X:120.36, Y:-5.27, Z:-0.77 [[ 9.93197477e-01 1.16294875e-01 5.85429239e-03 1.20358218e+02] [-1.16293901e-01 9.93214715e-01 -5.07603349e-04 -5.26661918e+00] [-5.87360102e-03 -1.76668137e-04 9.99982735e-01 -7.67970590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86576923099999 meters 0.03585549260552603 Centerline is valid? [True, True] Translation: X:120.42, Y:-5.27, Z:-0.77 [[ 9.93547061e-01 1.13286639e-01 5.51129325e-03 1.20416960e+02] [-1.13285730e-01 9.93562336e-01 -4.77760395e-04 -5.26889815e+00] [-5.52993727e-03 -1.49673445e-04 9.99984699e-01 -7.70046154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92576923099999 meters 0.023522234670744775 Centerline is valid? [True, True] Translation: X:120.48, Y:-5.29, Z:-0.78 [[ 9.94666966e-01 1.03112100e-01 2.34965944e-03 1.20476352e+02] [-1.03111906e-01 9.94669741e-01 -2.03535909e-04 -5.28948961e+00] [-2.35812216e-03 -3.98274181e-05 9.99997219e-01 -7.75567273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98576923099999 meters 0.014287053128226632 Centerline is valid? [True, True] Translation: X:120.53, Y:-5.31, Z:-0.77 [[ 9.95799254e-01 9.14729945e-02 4.06665593e-03 1.20534792e+02] [-9.14723180e-02 9.95807557e-01 -3.52422766e-04 -5.31082159e+00] [-4.08184387e-03 -2.10441170e-05 9.99991669e-01 -7.73094994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.045769231 meters 0.013081445205805018 Centerline is valid? [True, True] Translation: X:120.59, Y:-5.32, Z:-0.77 [[ 9.96257035e-01 8.64059559e-02 2.43540262e-03 1.20593940e+02] [-8.64056980e-02 9.96260012e-01 -2.11115640e-04 -5.32066421e+00] [-2.44453589e-03 -1.07221288e-07 9.99997012e-01 -7.74962927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.105769231 meters 0.013171921190273167 Centerline is valid? [True, True] Translation: X:120.65, Y:-5.32, Z:-0.78 [[ 9.96323618e-01 8.56584689e-02 1.36946853e-03 1.20653347e+02] [-8.56583866e-02 9.96324559e-01 -1.18755271e-04 -5.32372514e+00] [-1.37460752e-03 1.01221648e-06 9.99999055e-01 -7.77265799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.165769231 meters 0.012622791303806292 Centerline is valid? [True, True] Translation: X:120.71, Y:-5.33, Z:-0.77 [[ 9.96398159e-01 8.45916419e-02 5.91294686e-03 1.20711534e+02] [-8.45900925e-02 9.96415703e-01 -5.12086096e-04 -5.32714260e+00] [-5.93507131e-03 1.00649210e-05 9.99982387e-01 -7.69559026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22576923099999 meters 0.013358186188203221 Centerline is valid? [True, True] Translation: X:120.77, Y:-5.33, Z:-0.77 [[ 9.96585660e-01 8.23865866e-02 5.42885112e-03 1.20771145e+02] [-8.23852497e-02 9.96600446e-01 -4.69812726e-04 -5.33298054e+00] [-5.44910171e-03 2.09513706e-05 9.99985153e-01 -7.71176699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28576923099999 meters 0.015065366332399235 Centerline is valid? [True, True] Translation: X:120.83, Y:-5.34, Z:-0.78 [[ 9.96799921e-01 7.99333838e-02 7.56299639e-04 1.20831397e+02] [-7.99333572e-02 9.96800208e-01 -6.54281176e-05 -5.34203615e+00] [-7.59109528e-04 4.76517329e-06 9.99999712e-01 -7.81737246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34576923099999 meters 0.01923765011485018 Centerline is valid? [True, True] Translation: X:120.89, Y:-5.36, Z:-0.78 [[ 9.97209888e-01 7.46299807e-02 1.67504351e-03 1.20889600e+02] [-7.46298424e-02 9.97211294e-01 -1.44971366e-04 -5.35814672e+00] [-1.68119151e-03 1.95586463e-05 9.99998587e-01 -7.80237152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.405769231 meters 0.01880942245075721 Centerline is valid? [True, True] Translation: X:120.95, Y:-5.37, Z:-0.78 [[ 9.97319039e-01 7.31280420e-02 2.65021543e-03 1.20949032e+02] [-7.31276907e-02 9.97322560e-01 -2.29348481e-04 -5.36655220e+00] [-2.65989144e-03 3.49294732e-05 9.99996462e-01 -7.77194627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.465769231 meters 0.020595946423566082 Centerline is valid? [True, True] Translation: X:121.01, Y:-5.37, Z:-0.78 [[ 9.97227344e-01 7.44092194e-02 9.44282620e-04 1.21007761e+02] [-7.44091753e-02 9.97227791e-01 -8.17301485e-05 -5.37495560e+00] [-9.47746349e-04 1.12402479e-05 9.99999551e-01 -7.82995142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.525769231 meters 0.0155573697463568 Centerline is valid? [True, True] Translation: X:121.07, Y:-5.37, Z:-0.78 [[ 9.96938108e-01 7.81843528e-02 1.27111029e-03 1.21068250e+02] [-7.81842762e-02 9.96938918e-01 -1.09973416e-04 -5.37370059e+00] [-1.27581752e-03 1.02558511e-05 9.99999186e-01 -7.80942449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.585769231 meters 0.01310217768845461 Centerline is valid? [True, True] Translation: X:121.13, Y:-5.37, Z:-0.78 [[ 9.96328037e-01 8.56112365e-02 1.07659086e-03 1.21127178e+02] [-8.56111857e-02 9.96328619e-01 -9.32873564e-05 -5.36907278e+00] [-1.08062473e-03 7.76588622e-07 9.99999416e-01 -7.80822583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64576923099999 meters 0.01403614992212893 Centerline is valid? [True, True] Translation: X:121.19, Y:-5.36, Z:-0.78 [[ 9.95922864e-01 9.02044878e-02 8.94312484e-04 1.21185822e+02] [-9.02044545e-02 9.95923265e-01 -7.76821983e-05 -5.36447901e+00] [-8.97673893e-04 -3.30549240e-06 9.99999597e-01 -7.83558886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70576923099999 meters 0.01657599211368686 Centerline is valid? [True, True] Translation: X:121.24, Y:-5.36, Z:-0.79 [[ 9.95535175e-01 9.43899835e-02 4.96801702e-04 1.21244966e+02] [-9.43899736e-02 9.95535299e-01 -4.32835903e-05 -5.35847115e+00] [-4.98669168e-04 -3.80276287e-06 9.99999876e-01 -7.85328783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.765769231 meters 0.02015245552515966 Centerline is valid? [True, True] Translation: X:121.31, Y:-5.35, Z:-0.79 [[ 9.95122099e-01 9.86462923e-02 -9.57383674e-04 1.21305935e+02] [-9.86462586e-02 9.95122560e-01 8.24220276e-05 -5.34798267e+00] [ 9.60844720e-04 1.24223363e-05 9.99999538e-01 -7.86634129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.825769231 meters 0.020966177986666428 Centerline is valid? [True, True] Translation: X:121.37, Y:-5.34, Z:-0.79 [[ 9.95021332e-01 9.96584936e-02 -8.56118752e-04 1.21365341e+02] [-9.96584673e-02 9.95021701e-01 7.34770556e-05 -5.34483793e+00] [ 8.59179349e-04 1.22082448e-05 9.99999631e-01 -7.85491748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.885769231 meters 0.01691618523711214 Centerline is valid? [True, True] Translation: X:121.42, Y:-5.35, Z:-0.78 [[ 9.95460518e-01 9.51725418e-02 7.38353258e-04 1.21424010e+02] [-9.51725206e-02 9.95460791e-01 -6.39591753e-05 -5.34755369e+00] [-7.41088876e-04 -6.60210683e-06 9.99999725e-01 -7.84477807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.945769231 meters 0.012862739322834797 Centerline is valid? [True, True] Translation: X:121.48, Y:-5.36, Z:-0.78 [[ 9.96125914e-01 8.78554983e-02 3.81780168e-03 1.21481961e+02] [-8.78548821e-02 9.96133230e-01 -3.29126831e-04 -5.35502219e+00] [-3.83195472e-03 -7.56075144e-06 9.99992658e-01 -7.79592933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00576923099999 meters 0.012612832390319505 Centerline is valid? [True, True] Translation: X:121.54, Y:-5.36, Z:-0.78 [[ 9.96392000e-01 8.47546794e-02 4.43028851e-03 1.21540131e+02] [-8.47538201e-02 9.96401849e-01 -3.81688907e-04 -5.35634704e+00] [-4.44669758e-03 4.82789814e-06 9.99990113e-01 -7.78585944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06576923099999 meters 0.012803118175772137 Centerline is valid? [True, True] Translation: X:121.60, Y:-5.36, Z:-0.78 [[ 9.96494116e-01 8.35163786e-02 4.94893705e-03 1.21599272e+02] [-8.35152927e-02 9.96506405e-01 -4.26023489e-04 -5.35826997e+00] [-4.96722741e-03 1.12179733e-05 9.99987663e-01 -7.77854081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12576923099999 meters 0.014982873139437363 Centerline is valid? [True, True] Translation: X:121.66, Y:-5.36, Z:-0.78 [[ 9.96848797e-01 7.92935013e-02 2.23964009e-03 1.21657670e+02] [-7.92932681e-02 9.96851313e-01 -1.92869523e-04 -5.36198663e+00] [-2.24788146e-03 1.46733701e-05 9.99997473e-01 -7.83267466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.185769231 meters 0.01622357689096736 Centerline is valid? [True, True] Translation: X:121.72, Y:-5.37, Z:-0.79 [[ 9.96998208e-01 7.74242922e-02 -2.28235968e-04 1.21715936e+02] [-7.74242898e-02 9.96998234e-01 1.92813088e-05 -5.36678606e+00] [ 2.29043699e-04 -1.55242263e-06 9.99999974e-01 -7.88427477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.245769231 meters 0.01971404270998742 Centerline is valid? [True, True] Translation: X:121.77, Y:-5.38, Z:-0.78 [[ 9.97392620e-01 7.21335844e-02 2.16949124e-03 1.21773781e+02] [-7.21333489e-02 9.97394979e-01 -1.86706478e-04 -5.37589852e+00] [-2.17730748e-03 2.97269947e-05 9.99997629e-01 -7.84660538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.305769231 meters 0.021477965791439083 Centerline is valid? [True, True] Translation: X:121.83, Y:-5.38, Z:-0.78 [[ 9.97575368e-01 6.95585368e-02 2.23488955e-03 1.21833157e+02] [-6.95582812e-02 9.97577871e-01 -1.92021809e-04 -5.38340276e+00] [-2.24283312e-03 3.61011512e-05 9.99997484e-01 -7.84871436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36576923099999 meters 0.02117822237792093 Centerline is valid? [True, True] Translation: X:121.89, Y:-5.39, Z:-0.79 [[ 9.97522284e-01 7.03418928e-02 1.14492242e-03 1.21891152e+02] [-7.03418259e-02 9.97522941e-01 -9.86333367e-05 -5.38520285e+00] [-1.14902443e-03 1.78530179e-05 9.99999340e-01 -7.87232974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42576923099999 meters 0.019300703132096097 Centerline is valid? [True, True] Translation: X:121.95, Y:-5.38, Z:-0.79 [[ 9.97212804e-01 7.46032192e-02 9.91775736e-04 1.21949684e+02] [-7.46031711e-02 9.97213297e-01 -8.54305569e-05 -5.38188762e+00] [-9.95385346e-04 1.12028302e-05 9.99999505e-01 -7.88749951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48576923099999 meters 0.01725219164388078 Centerline is valid? [True, True] Translation: X:122.01, Y:-5.38, Z:-0.79 [[ 9.97095345e-01 7.61333583e-02 -2.14116741e-03 1.22009310e+02] [-7.61331406e-02 9.97097644e-01 1.83129314e-04 -5.37934410e+00] [ 2.14889523e-03 -1.95835874e-05 9.99997691e-01 -7.94979439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.545769231 meters 0.020182866708616964 Centerline is valid? [True, True] Translation: X:122.07, Y:-5.39, Z:-0.79 [[ 9.97424060e-01 7.17175656e-02 1.35494015e-03 1.22067851e+02] [-7.17174737e-02 9.97424980e-01 -1.16356797e-04 -5.38903464e+00] [-1.35979598e-03 1.88841837e-05 9.99999075e-01 -7.88852401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.605769231 meters 0.02371760650620328 Centerline is valid? [True, True] Translation: X:122.13, Y:-5.40, Z:-0.79 [[ 9.97644691e-01 6.85877348e-02 8.90053928e-04 1.22126282e+02] [-6.85876939e-02 9.97645088e-01 -7.64300506e-05 -5.39818188e+00] [-8.93200093e-04 1.52032879e-05 9.99999601e-01 -7.90154796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.665769231 meters 0.018718097290831737 Centerline is valid? [True, True] Translation: X:122.19, Y:-5.39, Z:-0.79 [[ 9.97264194e-01 7.38855857e-02 2.24671339e-03 1.22186009e+02] [-7.38853396e-02 9.97266724e-01 -1.92423014e-04 -5.39394527e+00] [-2.25478979e-03 2.58973997e-05 9.99997458e-01 -7.87696096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72576923099999 meters 0.018005341071033777 Centerline is valid? [True, True] Translation: X:122.24, Y:-5.40, Z:-0.78 [[ 9.97245109e-01 7.40136970e-02 4.91574692e-03 1.22244771e+02] [-7.40125220e-02 9.97257223e-01 -4.20766389e-04 -5.39520913e+00] [-4.93340660e-03 5.57803961e-05 9.99987829e-01 -7.82115812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78576923099999 meters 0.026397522832061347 Centerline is valid? [True, True] Translation: X:122.30, Y:-5.42, Z:-0.79 [[ 9.97832461e-01 6.56542156e-02 4.46137430e-03 1.22303267e+02] [-6.56531653e-02 9.97842431e-01 -3.81611465e-04 -5.41967444e+00] [-4.47680297e-03 8.78809631e-05 9.99989975e-01 -7.85946829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84576923099999 meters 0.03522374625160373 Centerline is valid? [True, True] Translation: X:122.36, Y:-5.44, Z:-0.78 [[ 9.98316521e-01 5.77552099e-02 5.33477734e-03 1.22362030e+02] [-5.77535959e-02 9.98330764e-01 -4.56224287e-04 -5.44121970e+00] [-5.35222167e-03 1.47353668e-04 9.99985666e-01 -7.82961116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.905769231 meters 0.03650362834028478 Centerline is valid? [True, True] Translation: X:122.42, Y:-5.45, Z:-0.79 [[ 9.98355865e-01 5.71883718e-02 3.88031245e-03 1.22420512e+02] [-5.71875135e-02 9.98363400e-01 -3.31875552e-04 -5.45434335e+00] [-3.89294135e-03 1.09424483e-04 9.99992416e-01 -7.87253670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.965769231 meters 0.03350231994981753 Centerline is valid? [True, True] Translation: X:122.48, Y:-5.46, Z:-0.79 [[ 9.98350442e-01 5.74140052e-02 1.65622620e-04 1.22480267e+02] [-5.74140037e-02 9.98350455e-01 -1.41620740e-05 -5.46443217e+00] [-1.66162519e-04 4.62965515e-06 9.99999986e-01 -7.93927702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.025769231 meters 0.032451789587834214 Centerline is valid? [True, True] Translation: X:122.54, Y:-5.48, Z:-0.79 [[ 9.98241923e-01 5.92709663e-02 1.23007293e-04 1.22537873e+02] [-5.92709654e-02 9.98241931e-01 -1.07564186e-05 -5.47750056e+00] [-1.23428581e-04 3.44674701e-06 9.99999992e-01 -7.94173580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.085769231 meters 0.034482797367909636 Centerline is valid? [True, True] Translation: X:122.60, Y:-5.49, Z:-0.79 [[ 9.98122028e-01 6.12042372e-02 2.54123831e-03 1.22595345e+02] [-6.12038821e-02 9.98125261e-01 -2.17360866e-04 -5.49306115e+00] [-2.54977755e-03 6.14190187e-05 9.99996747e-01 -7.91268181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14576923099999 meters 0.02711393349822336 Centerline is valid? [True, True] Translation: X:122.65, Y:-5.50, Z:-0.79 [[ 9.97863567e-01 6.52596930e-02 3.07797401e-03 1.22654851e+02] [-6.52591919e-02 9.97868312e-01 -2.63068234e-04 -5.49614810e+00] [-3.08858048e-03 6.16401103e-05 9.99995228e-01 -7.89984324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20576923099999 meters 0.020574488071386458 Centerline is valid? [True, True] Translation: X:122.72, Y:-5.50, Z:-0.79 [[ 9.97421647e-01 7.17445489e-02 1.66676900e-03 1.22715158e+02] [-7.17444111e-02 9.97423039e-01 -1.42430237e-04 -5.49544614e+00] [-1.67269239e-03 2.24816413e-05 9.99998601e-01 -7.92246584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.265769231 meters 0.015203558628666411 Centerline is valid? [True, True] Translation: X:122.77, Y:-5.49, Z:-0.79 [[ 9.96952482e-01 7.80019480e-02 1.20177891e-03 1.22774372e+02] [-7.80018807e-02 9.96953207e-01 -1.02909541e-04 -5.49316627e+00] [-1.20614448e-03 8.85490744e-06 9.99999273e-01 -7.93478144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.325769231 meters 0.012604007738038601 Centerline is valid? [True, True] Translation: X:122.83, Y:-5.49, Z:-0.79 [[ 9.96493692e-01 8.36095948e-02 3.12364256e-03 1.22832259e+02] [-8.36091691e-02 9.96498588e-01 -2.66855280e-04 -5.49134075e+00] [-3.13501706e-03 4.75444413e-06 9.99995086e-01 -7.90617995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.385769231 meters 0.01240235090066121 Centerline is valid? [True, True] Translation: X:122.89, Y:-5.49, Z:-0.79 [[ 9.96322654e-01 8.55806495e-02 4.13793912e-03 1.22891023e+02] [-8.55799210e-02 9.96331246e-01 -3.53103432e-04 -5.49394161e+00] [-4.15297686e-03 -2.31955470e-06 9.99991376e-01 -7.88408631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.445769231 meters 0.012543070691133194 Centerline is valid? [True, True] Translation: X:122.95, Y:-5.50, Z:-0.79 [[ 9.96199072e-01 8.69975541e-02 4.33991207e-03 1.22949811e+02] [-8.69967672e-02 9.96208525e-01 -3.70118934e-04 -5.49804913e+00] [-4.35565685e-03 -8.84618217e-06 9.99990514e-01 -7.89138203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50576923099999 meters 0.01611747721027167 Centerline is valid? [True, True] Translation: X:123.01, Y:-5.49, Z:-0.79 [[ 9.95633563e-01 9.33388314e-02 1.29223488e-03 1.23008415e+02] [-9.33387666e-02 9.95634402e-01 -1.10504784e-04 -5.48801400e+00] [-1.29690789e-03 -1.05933383e-05 9.99999159e-01 -7.93819325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56576923099999 meters 0.0182951797007929 Centerline is valid? [True, True] Translation: X:123.07, Y:-5.49, Z:-0.80 [[ 9.95368785e-01 9.61255833e-02 9.24662749e-04 1.23067809e+02] [-9.61255514e-02 9.95369214e-01 -7.90111473e-05 -5.48614697e+00] [-9.27975826e-04 -1.02384870e-05 9.99999569e-01 -7.95218788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62576923099999 meters 0.02505241834031524 Centerline is valid? [True, True] Translation: X:123.13, Y:-5.48, Z:-0.79 [[ 9.94660136e-01 1.03194661e-01 1.44042868e-03 1.23128295e+02] [-1.03194591e-01 9.94661179e-01 -1.22759307e-04 -5.47563046e+00] [-1.44540660e-03 -2.65406601e-05 9.99998955e-01 -7.94633224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.685769231 meters 0.02997381508293207 Centerline is valid? [True, True] Translation: X:123.19, Y:-5.46, Z:-0.79 [[ 9.94180378e-01 1.07668473e-01 3.58821391e-03 1.23188206e+02] [-1.07668072e-01 9.94186850e-01 -3.05300347e-04 -5.46374737e+00] [-3.60022631e-03 -8.28124607e-05 9.99993516e-01 -7.92821951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.745769231 meters 0.027294630338107872 Centerline is valid? [True, True] Translation: X:123.25, Y:-5.47, Z:-0.80 [[ 9.94510067e-01 1.04615469e-01 2.30894607e-03 1.23246832e+02] [-1.04615295e-01 9.94512746e-01 -1.96514654e-04 -5.46924263e+00] [-2.31683477e-03 -4.61152722e-05 9.99997315e-01 -7.95341921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.805769231 meters 0.024159417798893225 Centerline is valid? [True, True] Translation: X:123.30, Y:-5.47, Z:-0.80 [[ 9.94878974e-01 1.01066356e-01 1.19086973e-03 1.23304477e+02] [-1.01066307e-01 9.94879687e-01 -1.01588491e-04 -5.47299943e+00] [-1.19503929e-03 -1.92885522e-05 9.99999286e-01 -7.98204695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86576923099999 meters 0.026169954944199287 Centerline is valid? [True, True] Translation: X:123.36, Y:-5.47, Z:-0.80 [[ 9.94728661e-01 1.02505547e-01 2.73936417e-03 1.23363217e+02] [-1.02505294e-01 9.94732432e-01 -2.32814001e-04 -5.46833166e+00] [-2.74879911e-03 -4.92125706e-05 9.99996221e-01 -7.96759922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92576923099999 meters 0.025330141248057377 Centerline is valid? [True, True] Translation: X:123.42, Y:-5.47, Z:-0.79 [[ 9.94722997e-01 1.02508438e-01 4.26362395e-03 1.23422623e+02] [-1.02507829e-01 9.94732132e-01 -3.61864845e-04 -5.46878854e+00] [-4.27825794e-03 -7.70995497e-05 9.99990845e-01 -7.94931078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98576923099999 meters 0.023414757239323115 Centerline is valid? [True, True] Translation: X:123.48, Y:-5.47, Z:-0.80 [[ 9.94911132e-01 1.00696610e-01 3.46877694e-03 1.23481437e+02] [-1.00696195e-01 9.94917177e-01 -2.94302972e-04 -5.47315667e+00] [-3.48078107e-03 -5.64873377e-05 9.99993940e-01 -7.95731754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.045769231 meters 0.022164660523651344 Centerline is valid? [True, True] Translation: X:123.54, Y:-5.48, Z:-0.80 [[ 9.95073875e-01 9.91059735e-02 2.44738263e-03 1.23540042e+02] [-9.91057626e-02 9.95076884e-01 -2.07624376e-04 -5.47624205e+00] [-2.45591070e-03 -3.59481304e-05 9.99996984e-01 -7.97460351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.105769231 meters 0.017180805596571817 Centerline is valid? [True, True] Translation: X:123.60, Y:-5.49, Z:-0.80 [[ 9.95598685e-01 9.36675803e-02 3.10519118e-03 1.23598503e+02] [-9.36672151e-02 9.95603527e-01 -2.63155004e-04 -5.48745494e+00] [-3.11618839e-03 -2.88578342e-05 9.99995144e-01 -7.97215750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.165769231 meters 0.014491672259245705 Centerline is valid? [True, True] Translation: X:123.66, Y:-5.50, Z:-0.80 [[ 9.95992200e-01 8.94092247e-02 2.35106140e-03 1.23655398e+02] [-8.94090033e-02 9.95994975e-01 -1.99341449e-04 -5.49966646e+00] [-2.35946830e-03 -1.16635278e-05 9.99997216e-01 -7.99814766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22576923099999 meters 0.012820405633678755 Centerline is valid? [True, True] Translation: X:123.71, Y:-5.51, Z:-0.80 [[ 9.96408845e-01 8.46010065e-02 3.47596461e-03 1.23713388e+02] [-8.46004948e-02 9.96414908e-01 -2.94257861e-04 -5.51346771e+00] [-3.48839747e-03 -8.67190387e-07 9.99993916e-01 -7.96586265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28576923099999 meters 0.01279022817113135 Centerline is valid? [True, True] Translation: X:123.77, Y:-5.52, Z:-0.79 [[ 9.96515302e-01 8.33021693e-02 4.24288798e-03 1.23771431e+02] [-8.33013962e-02 9.96524334e-01 -3.58919164e-04 -5.52268342e+00] [-4.25803987e-03 4.22994606e-06 9.99990934e-01 -7.94887214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34576923099999 meters 0.013019898962298914 Centerline is valid? [True, True] Translation: X:123.83, Y:-5.53, Z:-0.80 [[ 9.96653118e-01 8.16307831e-02 4.35629253e-03 1.23829720e+02] [-8.16299529e-02 9.96662639e-01 -3.68323766e-04 -5.53323457e+00] [-4.37182056e-03 1.14870756e-05 9.99990443e-01 -7.95470986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.405769231 meters 0.01359161716918526 Centerline is valid? [True, True] Translation: X:123.89, Y:-5.54, Z:-0.80 [[ 9.96732284e-01 8.05966101e-02 5.37969263e-03 1.23887314e+02] [-8.05953308e-02 9.96746801e-01 -4.54524504e-04 -5.54269907e+00] [-5.39882455e-03 1.94611399e-05 9.99985426e-01 -7.95053700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.465769231 meters 0.01825819344720456 Centerline is valid? [True, True] Translation: X:123.95, Y:-5.56, Z:-0.80 [[ 9.97234276e-01 7.41168789e-02 5.52142399e-03 1.23945639e+02] [-7.41154342e-02 9.97249560e-01 -4.66095460e-04 -5.56445920e+00] [-5.54078318e-03 5.55836329e-05 9.99984648e-01 -7.95456050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.525769231 meters 0.022442503177379305 Centerline is valid? [True, True] Translation: X:124.00, Y:-5.58, Z:-0.80 [[ 9.97716917e-01 6.74639213e-02 3.09400780e-03 1.24004355e+02] [-6.74634357e-02 9.97721713e-01 -2.61143460e-04 -5.58049038e+00] [-3.10457652e-03 5.18148518e-05 9.99995179e-01 -8.00426413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.585769231 meters 0.030557047787045134 Centerline is valid? [True, True] Translation: X:124.06, Y:-5.60, Z:-0.81 [[ 9.98059964e-01 6.22596000e-02 2.26717335e-04 1.24062095e+02] [-6.22595973e-02 9.98059989e-01 -1.92091002e-05 -5.60244320e+00] [-2.27473452e-04 5.05650385e-06 9.99999974e-01 -8.05629396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64576923099999 meters 0.03686938382405146 Centerline is valid? [True, True] Translation: X:124.12, Y:-5.62, Z:-0.80 [[ 9.98387104e-01 5.67403052e-02 1.93108365e-03 1.24120728e+02] [-5.67400960e-02 9.98388970e-01 -1.62970122e-04 -5.62208007e+00] [-1.93721959e-03 5.31373966e-05 9.99998122e-01 -8.03845551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70576923099999 meters 0.04444698972316382 Centerline is valid? [True, True] Translation: X:124.18, Y:-5.64, Z:-0.80 [[ 9.98692379e-01 5.10161191e-02 3.29959355e-03 1.24179237e+02] [-5.10154775e-02 9.98697824e-01 -2.78365035e-04 -5.64251735e+00] [-3.30949801e-03 1.09670698e-04 9.99994518e-01 -8.01630962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.765769231 meters 0.05531960286955433 Centerline is valid? [True, True] Translation: X:124.24, Y:-5.67, Z:-0.81 [[ 9.99104014e-01 4.23077713e-02 1.10485863e-03 1.24237413e+02] [-4.23076940e-02 9.99104624e-01 -9.31739810e-05 -5.67159509e+00] [-1.10781135e-03 4.63464778e-05 9.99999385e-01 -8.06471925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.825769231 meters 0.0632449964178551 Centerline is valid? [True, True] Translation: X:124.30, Y:-5.71, Z:-0.80 [[ 9.99487512e-01 3.18491691e-02 3.21611442e-03 1.24295339e+02] [-3.18484608e-02 9.99492672e-01 -2.71251300e-04 -5.70587719e+00] [-3.22312193e-03 1.68683993e-04 9.99994792e-01 -8.02473814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.885769231 meters 0.06445918503543165 Centerline is valid? [True, True] Translation: X:124.36, Y:-5.73, Z:-0.80 [[ 9.99528071e-01 3.06689817e-02 1.74634699e-03 1.24355710e+02] [-3.06687714e-02 9.99529592e-01 -1.47072521e-04 -5.73257374e+00] [-1.75003606e-03 9.34447968e-05 9.99998464e-01 -8.02517198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.945769231 meters 0.05457807283243727 Centerline is valid? [True, True] Translation: X:124.41, Y:-5.74, Z:-0.81 [[ 9.99138679e-01 4.14900563e-02 6.89705712e-04 1.24414907e+02] [-4.14900260e-02 9.99138916e-01 -5.82708687e-05 -5.74145287e+00] [-6.91529480e-04 2.96047708e-05 9.99999760e-01 -8.06270896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.005769231 meters 0.04473502098176204 Centerline is valid? [True, True] Translation: X:124.48, Y:-5.75, Z:-0.80 [[ 9.98714075e-01 5.04797505e-02 4.68938649e-03 1.24475184e+02] [-5.04784483e-02 9.98725072e-01 -3.95717090e-04 -5.74938626e+00] [-4.70338356e-03 1.58495275e-04 9.99988926e-01 -7.99677499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.065769231 meters 0.03657748658772044 Centerline is valid? [True, True] Translation: X:124.53, Y:-5.76, Z:-0.80 [[ 9.98299336e-01 5.79394064e-02 6.43895986e-03 1.24534183e+02] [-5.79371061e-02 9.98320087e-01 -5.43361311e-04 -5.75588970e+00] [-6.45962500e-03 1.69382536e-04 9.99979122e-01 -7.95911022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.125769231 meters 0.025886076455591343 Centerline is valid? [True, True] Translation: X:124.60, Y:-5.75, Z:-0.80 [[ 9.97874655e-01 6.50981428e-02 2.89905743e-03 1.24595722e+02] [-6.50977069e-02 9.97878865e-01 -2.44557167e-04 -5.75105068e+00] [-2.90882835e-03 5.53154083e-05 9.99995768e-01 -8.03410125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.185769231 meters 0.01550791255475387 Centerline is valid? [True, True] Translation: X:124.66, Y:-5.74, Z:-0.81 [[ 9.96971174e-01 7.77697673e-02 5.84382369e-04 1.24657344e+02] [-7.77697518e-02 9.96971345e-01 -4.92372906e-05 -5.74235974e+00] [-5.86441649e-04 3.64088762e-06 9.99999828e-01 -8.05960218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.245769231 meters 0.015502067346119567 Centerline is valid? [True, True] Translation: X:124.72, Y:-5.73, Z:-0.81 [[ 9.95890396e-01 9.05649784e-02 5.50841979e-04 1.24718980e+02] [-9.05649665e-02 9.95890549e-01 -4.64895025e-05 -5.72859533e+00] [-5.52788642e-04 -3.58853639e-06 9.99999847e-01 -8.05679565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.305769231 meters 0.021126000846205122 Centerline is valid? [True, True] Translation: X:124.78, Y:-5.72, Z:-0.80 [[ 9.95109207e-01 9.87179749e-02 3.52541267e-03 1.24780334e+02] [-9.87175402e-02 9.95115450e-01 -2.97534842e-04 -5.72251082e+00] [-3.53756466e-03 -5.19404069e-05 9.99993741e-01 -8.01800303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.365769231 meters 0.021437564742934186 Centerline is valid? [True, True] Translation: X:124.84, Y:-5.73, Z:-0.80 [[ 9.95114625e-01 9.86805092e-02 3.00658028e-03 1.24841272e+02] [-9.86801931e-02 9.95119166e-01 -2.53652682e-04 -5.72510226e+00] [-3.01693624e-03 -4.42764292e-05 9.99995448e-01 -8.04169408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.425769231 meters 0.018409855872210838 Centerline is valid? [True, True] Translation: X:124.90, Y:-5.73, Z:-0.81 [[ 9.95518397e-01 9.45648617e-02 7.79432603e-04 1.24901994e+02] [-9.45648393e-02 9.95518702e-01 -6.56536399e-05 -5.73330528e+00] [-7.82148261e-04 -8.34751243e-06 9.99999694e-01 -8.08164370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.485769231 meters 0.017630578347670702 Centerline is valid? [True, True] Translation: X:124.96, Y:-5.74, Z:-0.81 [[ 9.95598496e-01 9.37096638e-02 1.46067989e-03 1.24962187e+02] [-9.37095836e-02 9.95599567e-01 -1.23346123e-04 -5.73541356e+00] [-1.46581099e-03 -1.40764894e-05 9.99998926e-01 -8.06895414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54576923099998 meters 0.01807349467831975 Centerline is valid? [True, True] Translation: X:125.02, Y:-5.74, Z:-0.81 [[ 9.95555796e-01 9.41637358e-02 1.35953773e-03 1.25022908e+02] [-9.41636668e-02 9.95556724e-01 -1.14805242e-04 -5.73833782e+00] [-1.36430742e-03 -1.37240335e-05 9.99999069e-01 -8.08366024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60576923099998 meters 0.01899869347981017 Centerline is valid? [True, True] Translation: X:125.08, Y:-5.74, Z:-0.81 [[ 9.95510603e-01 9.46499456e-02 -1.63848790e-04 1.25082847e+02] [-9.46499446e-02 9.95510617e-01 1.37532153e-05 -5.74036820e+00] [ 1.64414951e-04 1.81680723e-06 9.99999986e-01 -8.11252456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66576923099998 meters 0.01755119878760353 Centerline is valid? [True, True] Translation: X:125.14, Y:-5.75, Z:-0.81 [[ 9.95644513e-01 9.32003440e-02 2.38738348e-03 1.25142429e+02] [-9.32001286e-02 9.95647375e-01 -2.01573358e-04 -5.74898348e+00] [-2.39577880e-03 -2.18090391e-05 9.99997130e-01 -8.06558192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.725769231 meters 0.018265284354667885 Centerline is valid? [True, True] Translation: X:125.20, Y:-5.76, Z:-0.80 [[ 9.95536086e-01 9.42821451e-02 4.33335651e-03 1.25202314e+02] [-9.42814456e-02 9.95545516e-01 -3.65877217e-04 -5.75656142e+00] [-4.34854933e-03 -4.43111427e-05 9.99990544e-01 -8.02859065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.785769231 meters 0.02051613517598842 Centerline is valid? [True, True] Translation: X:125.26, Y:-5.76, Z:-0.81 [[ 9.95178852e-01 9.80415344e-02 2.62860207e-03 1.25263306e+02] [-9.80412902e-02 9.95182323e-01 -2.21887601e-04 -5.75820435e+00] [-2.63769252e-03 -3.68936909e-05 9.99996521e-01 -8.05615117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.845769231 meters 0.0344075109826858 Centerline is valid? [True, True] Translation: X:125.32, Y:-5.74, Z:-0.80 [[ 9.93982882e-01 1.09455645e-01 4.18246357e-03 1.25324158e+02] [-1.09455127e-01 9.93991675e-01 -3.53192163e-04 -5.74218475e+00] [-4.19599285e-03 -1.06725118e-04 9.99991191e-01 -8.01969450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.905769231 meters 0.04289764718799627 Centerline is valid? [True, True] Translation: X:125.39, Y:-5.73, Z:-0.80 [[ 9.92667738e-01 1.20836528e-01 3.04899479e-03 1.25386292e+02] [-1.20836306e-01 9.92672414e-01 -2.57474659e-04 -5.72598104e+00] [-3.05776536e-03 -1.12842481e-04 9.99995319e-01 -8.03677689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.965769231 meters 0.050173250617307055 Centerline is valid? [True, True] Translation: X:125.45, Y:-5.71, Z:-0.80 [[ 9.91880236e-01 1.27121517e-01 3.70375511e-03 1.25448232e+02] [-1.27121234e-01 9.91887138e-01 -3.12745627e-04 -5.71113128e+00] [-3.71346375e-03 -1.60619714e-04 9.99993092e-01 -8.03469242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.025769231 meters 0.050357873391283274 Centerline is valid? [True, True] Translation: X:125.51, Y:-5.71, Z:-0.81 [[ 9.92038141e-01 1.25911207e-01 2.58726416e-03 1.25506982e+02] [-1.25911064e-01 9.92041509e-01 -2.18676796e-04 -5.70810587e+00] [-2.59420730e-03 -1.08829460e-04 9.99996629e-01 -8.06882828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.085769231 meters 0.045411792923733325 Centerline is valid? [True, True] Translation: X:125.57, Y:-5.71, Z:-0.81 [[ 9.92711883e-01 1.20511899e-01 5.12695842e-06 1.25567606e+02] [-1.20511899e-01 9.92711883e-01 -4.39280499e-07 -5.70908236e+00] [-5.14253108e-06 -1.81780523e-07 1.00000000e+00 -8.11587714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.145769231 meters 0.03792677495330787 Centerline is valid? [True, True] Translation: X:125.63, Y:-5.71, Z:-0.81 [[ 9.93610198e-01 1.12862094e-01 9.60158233e-04 1.25626415e+02] [-1.12862068e-01 9.93610662e-01 -8.12169087e-05 -5.71294171e+00] [-9.63189768e-04 -2.76674954e-05 9.99999536e-01 -8.10594141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.205769231 meters 0.03377637024619232 Centerline is valid? [True, True] Translation: X:125.69, Y:-5.72, Z:-0.81 [[ 9.94070891e-01 1.08731102e-01 7.81819629e-04 1.25686308e+02] [-1.08731083e-01 9.94071198e-01 -6.61214713e-05 -5.71859578e+00] [-7.84373836e-04 -1.92786654e-05 9.99999692e-01 -8.12342623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.265769231 meters 0.025379508918709253 Centerline is valid? [True, True] Translation: X:125.75, Y:-5.73, Z:-0.81 [[ 9.94688237e-01 1.02932347e-01 -4.92912675e-04 1.25745457e+02] [-1.02932339e-01 9.94688359e-01 4.14804648e-05 -5.73175001e+00] [ 4.94564182e-04 9.47652406e-06 9.99999878e-01 -8.13608436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32576923099998 meters 0.023835188494341252 Centerline is valid? [True, True] Translation: X:125.80, Y:-5.74, Z:-0.81 [[ 9.94871042e-01 1.01128118e-01 2.17129801e-03 1.25803581e+02] [-1.01127958e-01 9.94873410e-01 -1.83327335e-04 -5.73625466e+00] [-2.17870621e-03 -3.71918786e-05 9.99997626e-01 -8.08498002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38576923099998 meters 0.02424673596718444 Centerline is valid? [True, True] Translation: X:125.86, Y:-5.74, Z:-0.81 [[ 9.94844187e-01 1.01394873e-01 2.03046996e-03 1.25862115e+02] [-1.01394735e-01 9.94846259e-01 -1.71433744e-04 -5.73623314e+00] [-2.03738794e-03 -3.53290993e-05 9.99997924e-01 -8.09023412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44576923099999 meters 0.027528190116090336 Centerline is valid? [True, True] Translation: X:125.92, Y:-5.73, Z:-0.81 [[ 9.94605546e-01 1.03705782e-01 2.21757881e-03 1.25920510e+02] [-1.03705623e-01 9.94608018e-01 -1.87032206e-04 -5.73219928e+00] [-2.22501798e-03 -4.39521217e-05 9.99997524e-01 -8.09783772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.505769231 meters 0.02959356207041092 Centerline is valid? [True, True] Translation: X:125.98, Y:-5.73, Z:-0.81 [[ 9.94256657e-01 1.06980251e-01 2.98776369e-03 1.25980380e+02] [-1.06979978e-01 9.94261143e-01 -2.51582988e-04 -5.72788877e+00] [-2.99753175e-03 -6.94928338e-05 9.99995505e-01 -8.08404544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.565769231 meters 0.03045381879307734 Centerline is valid? [True, True] Translation: X:126.04, Y:-5.73, Z:-0.82 [[ 9.94183532e-01 1.07691767e-01 -1.25982182e-03 1.26039733e+02] [-1.07691719e-01 9.94184330e-01 1.05581882e-04 -5.72636567e+00] [ 1.26386541e-03 3.07046088e-05 9.99999201e-01 -8.16063137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.625769231 meters 0.026931503933728868 Centerline is valid? [True, True] Translation: X:126.10, Y:-5.73, Z:-0.82 [[ 9.94598295e-01 1.03798252e-01 -3.93172379e-04 1.26099108e+02] [-1.03798247e-01 9.94598373e-01 3.28786103e-05 -5.73117837e+00] [ 3.94461350e-04 8.10959408e-06 9.99999922e-01 -8.16451124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.685769231 meters 0.022198614967818633 Centerline is valid? [True, True] Translation: X:126.16, Y:-5.74, Z:-0.82 [[ 9.95263160e-01 9.72174730e-02 7.09941887e-05 1.26156711e+02] [-9.72174728e-02 9.95263163e-01 -6.21346838e-06 -5.74453259e+00] [-7.12619585e-05 -7.17839432e-07 9.99999997e-01 -8.18678160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.745769231 meters 0.014412604062884934 Centerline is valid? [True, True] Translation: X:126.21, Y:-5.77, Z:-0.82 [[ 9.96291419e-01 8.60237474e-02 -1.82273370e-03 1.26214466e+02] [-8.60236116e-02 9.96293087e-01 1.52872891e-04 -5.77431789e+00] [ 1.82912769e-03 4.49218708e-06 9.99998327e-01 -8.21637517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.805769231 meters 0.013378672506143855 Centerline is valid? [True, True] Translation: X:126.27, Y:-5.79, Z:-0.82 [[ 9.96393719e-01 8.48453150e-02 9.10279622e-04 1.26272732e+02] [-8.48452803e-02 9.96394135e-01 -7.67471879e-05 -5.78594003e+00] [-9.13508916e-04 -7.62513729e-07 9.99999583e-01 -8.15395589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.865769231 meters 0.016859707845137246 Centerline is valid? [True, True] Translation: X:126.33, Y:-5.78, Z:-0.82 [[ 9.95796697e-01 9.15728780e-02 -1.82930168e-03 1.26331116e+02] [-9.15727516e-02 9.95798377e-01 1.52907810e-04 -5.78411666e+00] [ 1.83561786e-03 1.52490961e-05 9.99998315e-01 -8.21549579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.925769231 meters 0.019157513733642287 Centerline is valid? [True, True] Translation: X:126.39, Y:-5.79, Z:-0.82 [[ 9.95471187e-01 9.50509326e-02 -1.56081944e-03 1.26389560e+02] [-9.50508448e-02 9.95472410e-01 1.30481405e-04 -5.79017086e+00] [ 1.56615507e-03 1.84667278e-05 9.99998773e-01 -8.20371454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.985769231 meters 0.01768890366014071 Centerline is valid? [True, True] Translation: X:126.45, Y:-5.80, Z:-0.81 [[ 9.95557306e-01 9.40615747e-02 4.25103768e-03 1.26447418e+02] [-9.40609101e-02 9.95566381e-01 -3.56430953e-04 -5.79985312e+00] [-4.26571665e-03 -4.50090337e-05 9.99990901e-01 -8.10193699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04576923099998 meters 0.01779786759021911 Centerline is valid? [True, True] Translation: X:126.50, Y:-5.81, Z:-0.81 [[ 9.95632982e-01 9.32755312e-02 3.82636968e-03 1.26504711e+02] [-9.32749875e-02 9.95640334e-01 -3.20709697e-04 -5.80703712e+00] [-3.83960235e-03 -3.75954320e-05 9.99992628e-01 -8.12011484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10576923099998 meters 0.016527884896054414 Centerline is valid? [True, True] Translation: X:126.56, Y:-5.82, Z:-0.82 [[ 9.95785847e-01 9.16995294e-02 1.32029977e-03 1.26563685e+02] [-9.16994633e-02 9.95786722e-01 -1.10652673e-04 -5.81774866e+00] [-1.32488378e-03 -1.08844143e-05 9.99999122e-01 -8.15296801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16576923099998 meters 0.016205490335128848 Centerline is valid? [True, True] Translation: X:126.62, Y:-5.82, Z:-0.81 [[ 9.95861467e-01 9.08650351e-02 1.86642305e-03 1.26621526e+02] [-9.08649014e-02 9.95863216e-01 -1.56487894e-04 -5.82427781e+00] [-1.87292134e-03 -1.37520826e-05 9.99998246e-01 -8.14963677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.225769231 meters 0.01853974755033732 Centerline is valid? [True, True] Translation: X:126.68, Y:-5.82, Z:-0.82 [[ 9.95632362e-01 9.33604810e-02 -1.40502944e-04 1.26679690e+02] [-9.33604803e-02 9.95632372e-01 1.13413112e-05 -5.82389564e+00] [ 1.40948110e-04 1.82564587e-06 9.99999990e-01 -8.18130697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.285769231 meters 0.021664717984077535 Centerline is valid? [True, True] Translation: X:126.74, Y:-5.82, Z:-0.82 [[ 9.95340178e-01 9.64225541e-02 -7.87994924e-04 1.26739049e+02] [-9.64225324e-02 9.95340490e-01 6.54970394e-05 -5.82205761e+00] [ 7.90638645e-04 1.07886312e-05 9.99999687e-01 -8.20502211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.345769231 meters 0.025992921462796432 Centerline is valid? [True, True] Translation: X:126.80, Y:-5.82, Z:-0.82 [[ 9.94977876e-01 1.00069563e-01 -2.26028442e-03 1.26798752e+02] [-1.00069393e-01 9.94980443e-01 1.88473666e-04 -5.81940224e+00] [ 2.26779927e-03 3.86581623e-05 9.99997428e-01 -8.24207382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.405769231 meters 0.024621769530868594 Centerline is valid? [True, True] Translation: X:126.86, Y:-5.82, Z:-0.83 [[ 9.95130870e-01 9.85280993e-02 -2.60111037e-03 1.26857365e+02] [-9.85278693e-02 9.95134268e-01 2.16734416e-04 -5.82272993e+00] [ 2.60980849e-03 4.06027548e-05 9.99996594e-01 -8.25375610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.465769231 meters 0.0215330491866478 Centerline is valid? [True, True] Translation: X:126.92, Y:-5.83, Z:-0.82 [[ 9.95369670e-01 9.61140341e-02 -1.14537787e-03 1.26916189e+02] [-9.61139880e-02 9.95370329e-01 9.52975084e-05 -5.83230923e+00] [ 1.14923458e-03 1.52305856e-05 9.99999340e-01 -8.22593744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.525769231 meters 0.01941982630000772 Centerline is valid? [True, True] Translation: X:126.97, Y:-5.84, Z:-0.82 [[ 9.95563296e-01 9.40697909e-02 2.14410601e-03 1.26974216e+02] [-9.40696233e-02 9.95565605e-01 -1.79114077e-04 -5.83671735e+00] [-2.15144742e-03 -2.33758442e-05 9.99997685e-01 -8.17281588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.585769231 meters 0.018503358678050783 Centerline is valid? [True, True] Translation: X:127.03, Y:-5.84, Z:-0.82 [[ 9.95454232e-01 9.52239972e-02 1.80636557e-03 1.27033144e+02] [-9.52238803e-02 9.95455870e-01 -1.50827050e-04 -5.84021988e+00] [-1.81251956e-03 -2.18677133e-05 9.99998357e-01 -8.16701192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.645769231 meters 0.019321111866665706 Centerline is valid? [True, True] Translation: X:127.09, Y:-5.84, Z:-0.81 [[ 9.95409645e-01 9.56339805e-02 3.71212047e-03 1.27091063e+02] [-9.56334914e-02 9.95416566e-01 -3.09438159e-04 -5.83953553e+00] [-3.72469901e-03 -4.69853134e-05 9.99993062e-01 -8.12237255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.705769231 meters 0.01753825165477282 Centerline is valid? [True, True] Translation: X:127.15, Y:-5.85, Z:-0.82 [[ 9.95645294e-01 9.31913969e-02 2.41094319e-03 1.27148970e+02] [-9.31911835e-02 9.95648212e-01 -2.00915296e-04 -5.84869257e+00] [-2.41917485e-03 -2.46382800e-05 9.99997073e-01 -8.15523219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.765769231 meters 0.01445015128113774 Centerline is valid? [True, True] Translation: X:127.21, Y:-5.86, Z:-0.82 [[ 9.96121404e-01 8.79805664e-02 1.25275318e-03 1.27207440e+02] [-8.79805047e-02 9.96122191e-01 -1.04360641e-04 -5.86289764e+00] [-1.25707695e-03 -6.26198815e-06 9.99999210e-01 -8.18247418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82576923099998 meters 0.013981647906990335 Centerline is valid? [True, True] Translation: X:127.26, Y:-5.87, Z:-0.82 [[ 9.96399857e-01 8.47769551e-02 4.40015956e-04 1.27264095e+02] [-8.47769471e-02 9.96399954e-01 -3.69855821e-05 -5.87385544e+00] [-4.41567403e-04 -4.50780708e-07 9.99999903e-01 -8.22790903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88576923099998 meters 0.013866980884662315 Centerline is valid? [True, True] Translation: X:127.32, Y:-5.88, Z:-0.81 [[ 9.96253535e-01 8.64015807e-02 3.69599828e-03 1.27323547e+02] [-8.64010351e-02 9.96260391e-01 -3.07318809e-04 -5.87508243e+00] [-3.70872952e-03 -1.31706277e-05 9.99993123e-01 -8.13797958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94576923099999 meters 0.016971452806328228 Centerline is valid? [True, True] Translation: X:127.38, Y:-5.87, Z:-0.82 [[ 9.95860430e-01 9.08902878e-02 9.79757062e-04 1.27383021e+02] [-9.08902515e-02 9.95860912e-01 -8.15816535e-05 -5.87378248e+00] [-9.83116741e-04 -7.80642525e-06 9.99999517e-01 -8.19730702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.005769231 meters 0.01480188160352783 Centerline is valid? [True, True] Translation: X:127.44, Y:-5.88, Z:-0.82 [[ 9.96043536e-01 8.88345537e-02 2.38665815e-03 1.27440937e+02] [-8.88343333e-02 9.96046395e-01 -1.98401029e-04 -5.88214011e+00] [-2.39484711e-03 -1.44011228e-05 9.99997132e-01 -8.16330165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.065769231 meters 0.01399703213507694 Centerline is valid? [True, True] Translation: X:127.50, Y:-5.89, Z:-0.82 [[ 9.96160023e-01 8.74663196e-02 3.85381463e-03 1.27499607e+02] [-8.74657362e-02 9.96167477e-01 -3.19976480e-04 -5.88942233e+00] [-3.86703196e-03 -1.83289564e-05 9.99992523e-01 -8.15050544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.125769231 meters 0.013474920484593027 Centerline is valid? [True, True] Translation: X:127.56, Y:-5.90, Z:-0.82 [[ 9.96373410e-01 8.50769096e-02 1.39557897e-03 1.27558745e+02] [-8.50768307e-02 9.96374387e-01 -1.15884716e-04 -5.90035716e+00] [-1.40037825e-03 -3.26698582e-06 9.99999019e-01 -8.20210342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.185769231 meters 0.013284479323812097 Centerline is valid? [True, True] Translation: X:127.62, Y:-5.91, Z:-0.82 [[ 9.96454244e-01 8.41149199e-02 1.90276521e-03 1.27616458e+02] [-8.41147715e-02 9.96456060e-01 -1.58013720e-04 -5.91100682e+00] [-1.90931324e-03 -2.59721935e-06 9.99998177e-01 -8.18994565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.245769231 meters 0.012991529543727858 Centerline is valid? [True, True] Translation: X:127.67, Y:-5.92, Z:-0.82 [[ 9.96509124e-01 8.34307101e-02 2.98047426e-03 1.27674171e+02] [-8.34303441e-02 9.96513581e-01 -2.47133340e-04 -5.91997548e+00] [-2.99070158e-03 -2.39136499e-06 9.99995528e-01 -8.17157359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.305769231 meters 0.01391630048673693 Centerline is valid? [True, True] Translation: X:127.73, Y:-5.93, Z:-0.82 [[ 9.96391340e-01 8.48779644e-02 1.66989986e-04 1.27732248e+02] [-8.48779632e-02 9.96391354e-01 -1.40695318e-05 -5.92966115e+00] [-1.67581571e-04 -1.55010158e-07 9.99999986e-01 -8.23496301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.365769231 meters 0.016374935865728333 Centerline is valid? [True, True] Translation: X:127.79, Y:-5.93, Z:-0.82 [[ 9.95976447e-01 8.96147451e-02 -3.38537041e-04 1.27792370e+02] [-8.96147408e-02 9.95976504e-01 2.78630298e-05 -5.93048822e+00] [ 3.39671877e-04 2.58698772e-06 9.99999942e-01 -8.23138526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.425769231 meters 0.017540424365460976 Centerline is valid? [True, True] Translation: X:127.85, Y:-5.94, Z:-0.82 [[ 9.95656406e-01 9.30935340e-02 1.38365874e-03 1.27850425e+02] [-9.30934643e-02 9.95657368e-01 -1.14813396e-04 -5.93748522e+00] [-1.38833840e-03 -1.44948920e-05 9.99999036e-01 -8.19699173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.485769231 meters 0.017816963353650704 Centerline is valid? [True, True] Translation: X:127.91, Y:-5.94, Z:-0.82 [[ 9.95662570e-01 9.29837627e-02 3.17288235e-03 1.27908751e+02] [-9.29833980e-02 9.95667625e-01 -2.62581488e-04 -5.94309217e+00] [-3.18355205e-03 -3.35828238e-05 9.99994932e-01 -8.17814483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54576923099998 meters 0.016993108178415275 Centerline is valid? [True, True] Translation: X:127.97, Y:-5.95, Z:-0.82 [[ 9.95775324e-01 9.18131432e-02 1.36029364e-03 1.27967746e+02] [-9.18130750e-02 9.95776253e-01 -1.12636056e-04 -5.95395089e+00] [-1.36488958e-03 -1.27325375e-05 9.99999068e-01 -8.20720444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60576923099998 meters 0.015426693537222116 Centerline is valid? [True, True] Translation: X:128.03, Y:-5.97, Z:-0.82 [[ 9.95980133e-01 8.95350455e-02 2.65533905e-03 1.28026674e+02] [-8.95347781e-02 9.95983672e-01 -2.19644238e-04 -5.96803481e+00] [-2.66434020e-03 -1.89838953e-05 9.99996450e-01 -8.18959683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66576923099998 meters 0.018829277188245983 Centerline is valid? [True, True] Translation: X:128.09, Y:-5.97, Z:-0.81 [[ 9.95577972e-01 9.36539230e-02 7.31054391e-03 1.28085105e+02] [-9.36520106e-02 9.95604809e-01 -6.04242044e-04 -5.96914125e+00] [-7.33500232e-03 -8.30770679e-05 9.99973095e-01 -8.10833598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.725769231 meters 0.020692108511328633 Centerline is valid? [True, True] Translation: X:128.15, Y:-5.97, Z:-0.82 [[ 9.95294464e-01 9.67919219e-02 4.50050234e-03 1.28145927e+02] [-9.67912299e-02 9.95304637e-01 -3.71829308e-04 -5.97199708e+00] [-4.51536091e-03 -6.55295050e-05 9.99989804e-01 -8.17670755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.785769231 meters 0.019789120282272837 Centerline is valid? [True, True] Translation: X:128.20, Y:-5.98, Z:-0.82 [[ 9.95489971e-01 9.48580978e-02 1.28824792e-03 1.28204680e+02] [-9.48580394e-02 9.95490804e-01 -1.06502321e-04 -5.98319022e+00] [-1.29254157e-03 -1.61786794e-05 9.99999165e-01 -8.23532590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.845769231 meters 0.014928942217757429 Centerline is valid? [True, True] Translation: X:128.26, Y:-6.00, Z:-0.82 [[ 9.96030223e-01 8.88735052e-02 5.02935446e-03 1.28263757e+02] [-8.88725403e-02 9.96042920e-01 -4.15463031e-04 -6.00030827e+00] [-5.04637656e-03 -3.31577715e-05 9.99987266e-01 -8.16189516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.905769231 meters 0.013659800327910927 Centerline is valid? [True, True] Translation: X:128.32, Y:-6.02, Z:-0.82 [[ 9.96311948e-01 8.57484907e-02 3.11422418e-03 1.28324878e+02] [-8.57481075e-02 9.96316815e-01 -2.56613503e-04 -6.01564142e+00] [-3.12475814e-03 -1.13717304e-05 9.99995118e-01 -8.20146147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.965769231 meters 0.014985338429207191 Centerline is valid? [True, True] Translation: X:128.38, Y:-6.02, Z:-0.82 [[ 9.96114572e-01 8.80589996e-02 1.17154500e-03 1.28384722e+02] [-8.80589464e-02 9.96115261e-01 -9.69730033e-05 -6.01782975e+00] [-1.17553320e-03 -6.56879675e-06 9.99999309e-01 -8.24850911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.025769231 meters 0.015805871158947722 Centerline is valid? [True, True] Translation: X:128.44, Y:-6.03, Z:-0.83 [[ 9.96024649e-01 8.90717484e-02 -1.05910189e-03 1.28444947e+02] [-8.90717055e-02 9.96025212e-01 8.76656815e-05 -6.02776563e+00] [ 1.06270072e-03 7.01883182e-06 9.99999435e-01 -8.29014805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.085769231 meters 0.01566953188584912 Centerline is valid? [True, True] Translation: X:128.50, Y:-6.04, Z:-0.83 [[ 9.96066151e-01 8.86077016e-02 -9.47822902e-04 1.28504330e+02] [-8.86076671e-02 9.96066602e-01 7.84547186e-05 -6.03815169e+00] [ 9.51046429e-04 5.83828650e-06 9.99999548e-01 -8.29507911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.145769231 meters 0.014751882286844249 Centerline is valid? [True, True] Translation: X:128.56, Y:-6.05, Z:-0.83 [[ 9.96154319e-01 8.76057521e-02 1.34340189e-03 1.28564258e+02] [-8.76056818e-02 9.96155225e-01 -1.11198218e-04 -6.04958444e+00] [-1.34797842e-03 -6.91905380e-06 9.99999091e-01 -8.25651004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.205769231 meters 0.015366661663119428 Centerline is valid? [True, True] Translation: X:128.63, Y:-6.06, Z:-0.83 [[ 9.96044876e-01 8.88382246e-02 1.54080161e-03 1.28625308e+02] [-8.88381349e-02 9.96046068e-01 -1.26703469e-04 -6.05620948e+00] [-1.54596550e-03 -1.06796008e-05 9.99998805e-01 -8.25232173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.265769231 meters 0.017144153082280126 Centerline is valid? [True, True] Translation: X:128.69, Y:-6.06, Z:-0.83 [[ 9.95814384e-01 9.13982441e-02 2.71208904e-04 1.28686569e+02] [-9.13982414e-02 9.95814421e-01 -2.23320527e-05 -6.06112391e+00] [-2.72114848e-04 -2.54943754e-06 9.99999963e-01 -8.27828621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32576923099998 meters 0.017484975866317663 Centerline is valid? [True, True] Translation: X:128.75, Y:-6.06, Z:-0.83 [[ 9.95735148e-01 9.22466676e-02 1.43812634e-03 1.28746813e+02] [-9.22465915e-02 9.95736186e-01 -1.19292456e-04 -6.06396079e+00] [-1.44299877e-03 -1.38785620e-05 9.99998959e-01 -8.25287587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38576923099998 meters 0.018893936426146115 Centerline is valid? [True, True] Translation: X:128.81, Y:-6.06, Z:-0.82 [[ 9.95541264e-01 9.42907349e-02 2.61721390e-03 1.28807667e+02] [-9.42904900e-02 9.95544703e-01 -2.17097667e-04 -6.06400646e+00] [-2.62602373e-03 -3.06486952e-05 9.99996552e-01 -8.23438743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44576923099999 meters 0.016784113221370286 Centerline is valid? [True, True] Translation: X:128.87, Y:-6.07, Z:-0.82 [[ 9.95801195e-01 9.15138227e-02 2.28041440e-03 1.28869350e+02] [-9.15136298e-02 9.95803806e-01 -1.88992715e-04 -6.06887584e+00] [-2.28814078e-03 -2.04898278e-05 9.99997382e-01 -8.24560695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.505769231 meters 0.01614511385113684 Centerline is valid? [True, True] Translation: X:128.93, Y:-6.07, Z:-0.82 [[ 9.95898604e-01 9.02844701e-02 5.88947628e-03 1.28929666e+02] [-9.02831585e-02 9.95916017e-01 -4.88727430e-04 -6.06970464e+00] [-5.90954825e-03 -4.49975552e-05 9.99982537e-01 -8.17453226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.565769231 meters 0.015542205554336398 Centerline is valid? [True, True] Translation: X:128.99, Y:-6.07, Z:-0.82 [[ 9.95846276e-01 9.08337535e-02 6.27882263e-03 1.28990717e+02] [-9.08322732e-02 9.95866069e-01 -5.21115179e-04 -6.06957902e+00] [-6.30020125e-03 -5.13691218e-05 9.99980152e-01 -8.16900757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.625769231 meters 0.014672425500818171 Centerline is valid? [True, True] Translation: X:129.05, Y:-6.07, Z:-0.83 [[ 9.96177311e-01 8.73300953e-02 2.05419137e-03 1.29052382e+02] [-8.73299310e-02 9.96179429e-01 -1.69721449e-04 -6.07093306e+00] [-2.06116498e-03 -1.03197341e-05 9.99997876e-01 -8.25803049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.685769231 meters 0.015000931177678057 Centerline is valid? [True, True] Translation: X:129.11, Y:-6.09, Z:-0.83 [[ 9.96944025e-01 7.81093361e-02 1.24173012e-03 1.29113437e+02] [-7.81092693e-02 9.96944799e-01 -1.02320786e-04 -6.09126498e+00] [-1.24592860e-03 5.01746388e-06 9.99999224e-01 -8.26264040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.745769231 meters 0.019492004941855528 Centerline is valid? [True, True] Translation: X:129.17, Y:-6.11, Z:-0.82 [[ 9.97498557e-01 7.06095043e-02 3.30550162e-03 1.29174123e+02] [-7.06089797e-02 9.97504033e-01 -2.75289060e-04 -6.10872968e+00] [-3.31668922e-03 4.12023431e-05 9.99994499e-01 -8.23537033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.805769231 meters 0.024993682599108256 Centerline is valid? [True, True] Translation: X:129.23, Y:-6.13, Z:-0.82 [[ 9.97890743e-01 6.46859429e-02 5.45845859e-03 1.29233177e+02] [-6.46844207e-02 9.97905666e-01 -4.55135112e-04 -6.12964679e+00] [-5.47646760e-03 1.01097883e-04 9.99984999e-01 -8.21818412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.865769231 meters 0.028507766537632494 Centerline is valid? [True, True] Translation: X:129.29, Y:-6.15, Z:-0.82 [[ 9.98076613e-01 6.17866968e-02 5.04757124e-03 1.29293152e+02] [-6.17853592e-02 9.98089371e-01 -4.20655803e-04 -6.14608897e+00] [-5.06391814e-03 1.07980717e-04 9.99987172e-01 -8.23153735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.925769231 meters 0.03012194089214123 Centerline is valid? [True, True] Translation: X:129.35, Y:-6.16, Z:-0.83 [[ 9.98151410e-01 6.06715668e-02 3.56701738e-03 1.29354239e+02] [-6.06708910e-02 9.98157780e-01 -2.97460068e-04 -6.16389899e+00] [-3.57849351e-03 8.04960639e-05 9.99993594e-01 -8.26442588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.985769231 meters 0.026945000631758857 Centerline is valid? [True, True] Translation: X:129.41, Y:-6.18, Z:-0.83 [[ 9.97946023e-01 6.39637922e-02 3.51697841e-03 1.29414520e+02] [-6.39631520e-02 9.97952218e-01 -2.94331023e-04 -6.17527772e+00] [-3.52860293e-03 6.87694496e-05 9.99993772e-01 -8.27591183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04576923099998 meters 0.02226925164357596 Centerline is valid? [True, True] Translation: X:129.47, Y:-6.18, Z:-0.83 [[ 9.97601429e-01 6.91505455e-02 3.09681873e-03 1.29474959e+02] [-6.91500738e-02 9.97606235e-01 -2.59266409e-04 -6.17864628e+00] [-3.10733408e-03 4.44992970e-05 9.99995171e-01 -8.28796370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10576923099998 meters 0.015094656576572815 Centerline is valid? [True, True] Translation: X:129.54, Y:-6.18, Z:-0.83 [[ 9.96942244e-01 7.80732758e-02 3.27493602e-03 1.29535621e+02] [-7.80727962e-02 9.96947623e-01 -2.74221272e-04 -6.17835722e+00] [-3.28634904e-03 1.76993573e-05 9.99994600e-01 -8.28135232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16576923099998 meters 0.01330698305112494 Centerline is valid? [True, True] Translation: X:129.60, Y:-6.18, Z:-0.83 [[ 9.96492120e-01 8.36040039e-02 3.71818628e-03 1.29597680e+02] [-8.36034259e-02 9.96499057e-01 -3.10877492e-04 -6.18261617e+00] [-3.73115972e-03 -1.06613939e-06 9.99993039e-01 -8.28654766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.225769231 meters 0.013575570477345015 Centerline is valid? [True, True] Translation: X:129.66, Y:-6.19, Z:-0.83 [[ 9.96380936e-01 8.49650319e-02 2.44411515e-03 1.29660233e+02] [-8.49647865e-02 9.96383934e-01 -2.04241347e-04 -6.19168774e+00] [-2.45263044e-03 -4.16153818e-06 9.99996992e-01 -8.30531727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.285769231 meters 0.013749335144207085 Centerline is valid? [True, True] Translation: X:129.72, Y:-6.20, Z:-0.83 [[ 9.96157317e-01 8.74948958e-02 3.90434977e-03 1.29722797e+02] [-8.74942829e-02 9.96164968e-01 -3.27832297e-04 -6.20009387e+00] [-3.91806011e-03 -1.50357421e-05 9.99992324e-01 -8.28462615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.345769231 meters 0.0184198663613905 Centerline is valid? [True, True] Translation: X:129.78, Y:-6.19, Z:-0.83 [[ 9.95430053e-01 9.53827893e-02 4.59712641e-03 1.29784293e+02] [-9.53820172e-02 9.95440667e-01 -3.87388673e-04 -6.19364323e+00] [-4.61311679e-03 -5.28648636e-05 9.99989358e-01 -8.27393847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.405769231 meters 0.02596138222454887 Centerline is valid? [True, True] Translation: X:129.85, Y:-6.19, Z:-0.83 [[ 9.94619528e-01 1.03518013e-01 4.00193248e-03 1.29846370e+02] [-1.03517491e-01 9.94627576e-01 -3.37703795e-04 -6.18563575e+00] [-4.01539083e-03 -7.83832231e-05 9.99991935e-01 -8.29020428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.465769231 meters 0.025502058301903455 Centerline is valid? [True, True] Translation: X:129.91, Y:-6.19, Z:-0.83 [[ 9.94557166e-01 1.04122113e-01 3.82491010e-03 1.29908426e+02] [-1.04121643e-01 9.94564518e-01 -3.22315484e-04 -6.18776111e+00] [-3.83768004e-03 -7.76947497e-05 9.99992633e-01 -8.29698540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.525769231 meters 0.02760743193687683 Centerline is valid? [True, True] Translation: X:129.97, Y:-6.18, Z:-0.83 [[ 9.94467828e-01 1.04938913e-01 4.64370963e-03 1.29969996e+02] [-1.04938224e-01 9.94478665e-01 -3.92369074e-04 -6.18408383e+00] [-4.65924493e-03 -9.71042211e-05 9.99989141e-01 -8.30310333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.585769231 meters 0.026672190414354556 Centerline is valid? [True, True] Translation: X:130.03, Y:-6.19, Z:-0.83 [[ 9.94439709e-01 1.05188420e-01 5.00605350e-03 1.30031726e+02] [-1.05187618e-01 9.94452304e-01 -4.23807038e-04 -6.18810671e+00] [-5.02286103e-03 -1.05124297e-04 9.99987380e-01 -8.28804723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.645769231 meters 0.02491983839297949 Centerline is valid? [True, True] Translation: X:130.09, Y:-6.19, Z:-0.83 [[ 9.94647698e-01 1.03213971e-01 4.77831057e-03 1.30093815e+02] [-1.03213214e-01 9.94659172e-01 -4.05265504e-04 -6.19182705e+00] [-4.79461949e-03 -9.00883926e-05 9.99988502e-01 -8.30194199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.705769231 meters 0.02102708949044293 Centerline is valid? [True, True] Translation: X:130.15, Y:-6.20, Z:-0.83 [[ 9.95110146e-01 9.87176883e-02 3.25808891e-03 1.30154574e+02] [-9.87173103e-02 9.95115479e-01 -2.77020721e-04 -6.20133798e+00] [-3.26952156e-03 -4.59636442e-05 9.99994654e-01 -8.34208766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.765769231 meters 0.019494821092109593 Centerline is valid? [True, True] Translation: X:130.22, Y:-6.21, Z:-0.84 [[ 9.95291796e-01 9.68933011e-02 2.43510481e-03 1.30216511e+02] [-9.68930860e-02 9.95294774e-01 -2.06428862e-04 -6.20818064e+00] [-2.44364866e-03 -3.04878664e-05 9.99997014e-01 -8.36134639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82576923099998 meters 0.018993152140878863 Centerline is valid? [True, True] Translation: X:130.28, Y:-6.21, Z:-0.83 [[ 9.95310148e-01 9.66934828e-02 2.84232987e-03 1.30278419e+02] [-9.66931871e-02 9.95314206e-01 -2.41597967e-04 -6.21424737e+00] [-2.85237225e-03 -3.43690258e-05 9.99995931e-01 -8.34679189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88576923099998 meters 0.016722269077612324 Centerline is valid? [True, True] Translation: X:130.34, Y:-6.23, Z:-0.83 [[ 9.95548556e-01 9.41234106e-02 4.88427125e-03 1.30339494e+02] [-9.41224985e-02 9.95560536e-01 -4.16777206e-04 -6.22551492e+00] [-4.90181619e-03 -4.47978677e-05 9.99987985e-01 -8.32625298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94576923099999 meters 0.01500973463108696 Centerline is valid? [True, True] Translation: X:130.40, Y:-6.24, Z:-0.83 [[ 9.95685002e-01 9.27141566e-02 3.93218018e-03 1.30401194e+02] [-9.27135529e-02 9.95692766e-01 -3.35911874e-04 -6.23620352e+00] [-3.94638714e-03 -3.01039800e-05 9.99992213e-01 -8.34165112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.005769231 meters 0.017038101117677368 Centerline is valid? [True, True] Translation: X:130.46, Y:-6.24, Z:-0.83 [[ 9.95498072e-01 9.46466645e-02 5.05944729e-03 1.30462621e+02] [-9.46456838e-02 9.95510927e-01 -4.33449869e-04 -6.23788653e+00] [-5.07775965e-03 -4.73563398e-05 9.99987107e-01 -8.33059363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.065769231 meters 0.01731123619231836 Centerline is valid? [True, True] Translation: X:130.52, Y:-6.24, Z:-0.83 [[ 9.95469356e-01 9.49407853e-02 5.19694948e-03 1.30524432e+02] [-9.49397503e-02 9.95482920e-01 -4.46060789e-04 -6.24366411e+00] [-5.21582380e-03 -4.93572389e-05 9.99986396e-01 -8.33216166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.125769231 meters 0.017334418373457453 Centerline is valid? [True, True] Translation: X:130.59, Y:-6.25, Z:-0.84 [[ 9.95466071e-01 9.50172957e-02 4.36068885e-03 1.30586754e+02] [-9.50165654e-02 9.95475621e-01 -3.74802334e-04 -6.25091571e+00] [-4.37657215e-03 -4.12346712e-05 9.99990422e-01 -8.35197282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.185769231 meters 0.01845413103076057 Centerline is valid? [True, True] Translation: X:130.65, Y:-6.26, Z:-0.83 [[ 9.95311192e-01 9.65250714e-02 6.20823238e-03 1.30648501e+02] [-9.65236103e-02 9.95330551e-01 -5.35235967e-04 -6.25557060e+00] [-6.23090704e-03 -6.65146543e-05 9.99980585e-01 -8.32304875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.245769231 meters 0.021474684454953 Centerline is valid? [True, True] Translation: X:130.71, Y:-6.26, Z:-0.83 [[ 9.95008294e-01 9.94961316e-02 7.68215038e-03 1.30710910e+02] [-9.94939719e-02 9.95037944e-01 -6.63743940e-04 -6.25559956e+00] [-7.71007107e-03 -1.03896929e-04 9.99970272e-01 -8.29405258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.305769231 meters 0.025065080941769832 Centerline is valid? [True, True] Translation: X:130.77, Y:-6.25, Z:-0.83 [[ 9.94495812e-01 1.04626408e-01 5.60304510e-03 1.30773154e+02] [-1.04625337e-01 9.94511591e-01 -4.84677967e-04 -6.25148922e+00] [-5.62300341e-03 -1.04210274e-04 9.99984185e-01 -8.34554714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.365769231 meters 0.029275292553856153 Centerline is valid? [True, True] Translation: X:130.83, Y:-6.25, Z:-0.84 [[ 9.94022627e-01 1.09112733e-01 3.66448403e-03 1.30834525e+02] [-1.09112304e-01 9.94029378e-01 -3.17560199e-04 -6.24731835e+00] [-3.67725464e-03 -8.41782700e-05 9.99993235e-01 -8.38835995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.425769231 meters 0.029202335689213668 Centerline is valid? [True, True] Translation: X:130.89, Y:-6.25, Z:-0.84 [[ 9.94130007e-01 1.08170051e-01 2.18373142e-03 1.30894805e+02] [-1.08169896e-01 9.94132405e-01 -1.89321180e-04 -6.24640192e+00] [-2.19139705e-03 -4.80041343e-05 9.99997598e-01 -8.41527678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.485769231 meters 0.028907065935415234 Centerline is valid? [True, True] Translation: X:130.95, Y:-6.25, Z:-0.84 [[ 9.94221424e-01 1.07303291e-01 3.12470695e-03 1.30954974e+02] [-1.07302969e-01 9.94226332e-01 -2.71059092e-04 -6.24505963e+00] [-3.13575146e-03 -6.57975756e-05 9.99995081e-01 -8.41244209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54576923099998 meters 0.026747498115305097 Centerline is valid? [True, True] Translation: X:131.02, Y:-6.25, Z:-0.83 [[ 9.94411276e-01 1.05344919e-01 6.97589554e-03 1.31015466e+02] [-1.05343266e-01 9.94435735e-01 -6.04961250e-04 -6.25138483e+00] [-7.00080940e-03 -1.33283332e-04 9.99975485e-01 -8.34264185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60576923099998 meters 0.01877508714189374 Centerline is valid? [True, True] Translation: X:131.07, Y:-6.27, Z:-0.83 [[ 9.95138959e-01 9.81738907e-02 7.76789807e-03 1.31074678e+02] [-9.81716228e-02 9.95169271e-01 -6.73645025e-04 -6.26706002e+00] [-7.79650781e-03 -9.22167507e-05 9.99969603e-01 -8.34136522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66576923099998 meters 0.01333610100749738 Centerline is valid? [True, True] Translation: X:131.13, Y:-6.29, Z:-0.84 [[ 9.95917073e-01 9.01340376e-02 5.00397748e-03 1.31133285e+02] [-9.01329956e-02 9.95929644e-01 -4.33818514e-04 -6.28828412e+00] [-5.02271132e-03 -1.89762157e-05 9.99987386e-01 -8.40141199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.725769231 meters 0.012537253636557786 Centerline is valid? [True, True] Translation: X:131.19, Y:-6.30, Z:-0.84 [[ 9.96113168e-01 8.79479964e-02 4.86883953e-03 1.31194899e+02] [-8.79469831e-02 9.96125067e-01 -4.22236075e-04 -6.30159257e+00] [-4.88710793e-03 -7.60483384e-06 9.99988058e-01 -8.39703654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.785769231 meters 0.013313703898161213 Centerline is valid? [True, True] Translation: X:131.26, Y:-6.31, Z:-0.84 [[ 9.95883103e-01 9.05065876e-02 5.04008671e-03 1.31257590e+02] [-9.05055307e-02 9.95895857e-01 -4.37855851e-04 -6.31000651e+00] [-5.05903031e-03 -2.01024789e-05 9.99987203e-01 -8.40512397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.845769231 meters 0.014482264871150608 Centerline is valid? [True, True] Translation: X:131.32, Y:-6.31, Z:-0.84 [[ 9.95654661e-01 9.30388949e-02 3.94472661e-03 1.31319583e+02] [-9.30382655e-02 9.95662475e-01 -3.43168858e-04 -6.31439700e+00] [-3.95954431e-03 -2.53328485e-05 9.99992161e-01 -8.42639649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.905769231 meters 0.01946909489792006 Centerline is valid? [True, True] Translation: X:131.38, Y:-6.31, Z:-0.85 [[ 9.95108536e-01 9.87736431e-02 1.66416550e-03 1.31381494e+02] [-9.87735396e-02 9.95109927e-01 -1.44462122e-04 -6.31378085e+00] [-1.67029666e-03 -2.06200258e-05 9.99998605e-01 -8.47718304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.965769231 meters 0.026109205842930146 Centerline is valid? [True, True] Translation: X:131.44, Y:-6.31, Z:-0.85 [[ 9.94465958e-01 1.05021650e-01 2.81262294e-03 1.31442848e+02] [-1.05021375e-01 9.94469934e-01 -2.45838441e-04 -6.31142924e+00] [-2.82288731e-03 -5.09075661e-05 9.99996014e-01 -8.45732106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.025769231 meters 0.028782634388885703 Centerline is valid? [True, True] Translation: X:131.50, Y:-6.31, Z:-0.85 [[ 9.93933424e-01 1.09946186e-01 2.86087915e-03 1.31504482e+02] [-1.09945922e-01 9.93937539e-01 -2.50038097e-04 -6.31095581e+00] [-2.87102592e-03 -6.60207738e-05 9.99995876e-01 -8.45508918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.085769231 meters 0.02491001964850441 Centerline is valid? [True, True] Translation: X:131.57, Y:-6.32, Z:-0.84 [[ 9.94300241e-01 1.06525362e-01 4.40204113e-03 1.31565767e+02] [-1.06524701e-01 9.94309982e-01 -3.84895318e-04 -6.32054026e+00] [-4.41799455e-03 -8.62246103e-05 9.99990237e-01 -8.43949127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.145769231 meters 0.017360882574706138 Centerline is valid? [True, True] Translation: X:131.63, Y:-6.34, Z:-0.84 [[ 9.95162504e-01 9.81216547e-02 4.87140684e-03 1.31625500e+02] [-9.81207439e-02 9.95174426e-01 -4.26185057e-04 -6.34027901e+00] [-4.88971749e-03 -5.38626751e-05 9.99988044e-01 -8.42580953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.205769231 meters 0.012489799657164503 Centerline is valid? [True, True] Translation: X:131.69, Y:-6.36, Z:-0.85 [[ 9.96086766e-01 8.83244248e-02 3.15434359e-03 1.31686157e+02] [-8.83239956e-02 9.96091761e-01 -2.75375212e-04 -6.36345712e+00] [-3.16633802e-03 -4.30662509e-06 9.99994987e-01 -8.47001463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.265769231 meters 0.012078202192807995 Centerline is valid? [True, True] Translation: X:131.75, Y:-6.37, Z:-0.84 [[ 9.96094782e-01 8.81570608e-02 4.84953196e-03 1.31747217e+02] [-8.81560366e-02 9.96106587e-01 -4.24963164e-04 -6.37165782e+00] [-4.86811423e-03 -4.21192616e-06 9.99988151e-01 -8.43396655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32576923099998 meters 0.01209147921311647 Centerline is valid? [True, True] Translation: X:131.81, Y:-6.38, Z:-0.84 [[ 9.96026056e-01 8.88178410e-02 6.59447271e-03 1.31809451e+02] [-8.88159562e-02 9.96047886e-01 -5.78684984e-04 -6.38355131e+00] [-6.61980815e-03 -9.30907753e-06 9.99978089e-01 -8.40593072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38576923099998 meters 0.01202634676430691 Centerline is valid? [True, True] Translation: X:131.87, Y:-6.39, Z:-0.84 [[ 9.96078654e-01 8.82076554e-02 6.83558130e-03 1.31870491e+02] [-8.82056064e-02 9.96102108e-01 -6.01233107e-04 -6.39489741e+00] [-6.86197030e-03 -4.06112975e-06 9.99976456e-01 -8.42198199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44576923099999 meters 0.012250351163169861 Centerline is valid? [True, True] Translation: X:131.93, Y:-6.41, Z:-0.84 [[ 9.96206047e-01 8.68770323e-02 5.08852218e-03 1.31931643e+02] [-8.68758765e-02 9.96219043e-01 -4.48151712e-04 -6.41389272e+00] [-5.10821679e-03 4.38162044e-06 9.99986953e-01 -8.44672482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.505769231 meters 0.012068944959064057 Centerline is valid? [True, True] Translation: X:131.99, Y:-6.43, Z:-0.84 [[ 9.96192453e-01 8.68620341e-02 7.45548636e-03 1.31993953e+02] [-8.68595374e-02 9.96220351e-01 -6.58641223e-04 -6.42521187e+00] [-7.48451816e-03 8.55331830e-06 9.99971991e-01 -8.40390664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.565769231 meters 0.013008529170336328 Centerline is valid? [True, True] Translation: X:132.05, Y:-6.43, Z:-0.85 [[ 9.95743620e-01 9.20497494e-02 4.63547301e-03 1.32054865e+02] [-9.20488375e-02 9.95754409e-01 -4.10140278e-04 -6.43262864e+00] [-4.65354600e-03 -1.82953371e-05 9.99989172e-01 -8.45735279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.625769231 meters 0.02018310982445698 Centerline is valid? [True, True] Translation: X:132.12, Y:-6.43, Z:-0.85 [[ 9.94774584e-01 1.02095467e-01 2.05561006e-04 1.32116441e+02] [-1.02095465e-01 9.94774605e-01 -1.81361386e-05 -6.42719933e+00] [-2.06338486e-04 -2.94547683e-06 9.99999979e-01 -8.54976369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.685769231 meters 0.025485282789129843 Centerline is valid? [True, True] Translation: X:132.18, Y:-6.43, Z:-0.85 [[ 9.94204440e-01 1.07485037e-01 2.12091317e-03 1.32177900e+02] [-1.07484883e-01 9.94206701e-01 -1.87236735e-04 -6.42751949e+00] [-2.12875123e-03 -4.18145098e-05 9.99997733e-01 -8.51800175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.745769231 meters 0.031038885695190654 Centerline is valid? [True, True] Translation: X:132.24, Y:-6.42, Z:-0.85 [[ 9.93616327e-01 1.12734128e-01 4.19657548e-03 1.32239478e+02] [-1.12733559e-01 9.93625184e-01 -3.72545345e-04 -6.42497242e+00] [-4.21182166e-03 -1.02927754e-04 9.99991125e-01 -8.49979542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.805769231 meters 0.03467248422282002 Centerline is valid? [True, True] Translation: X:132.30, Y:-6.43, Z:-0.85 [[ 9.93222578e-01 1.16128945e-01 4.79362004e-03 1.32300804e+02] [-1.16128243e-01 9.93234137e-01 -4.25588691e-04 -6.42590704e+00] [-4.81061022e-03 -1.33970375e-04 9.99988420e-01 -8.49610857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.865769231 meters 0.0357671249647786 Centerline is valid? [True, True] Translation: X:132.36, Y:-6.43, Z:-0.85 [[ 9.93163917e-01 1.16703815e-01 2.37761035e-03 1.32363135e+02] [-1.16703645e-01 9.93166761e-01 -2.10437048e-04 -6.42757257e+00] [-2.38592238e-03 -6.84773123e-05 9.99997151e-01 -8.53624941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.925769231 meters 0.041558668421993794 Centerline is valid? [True, True] Translation: X:132.42, Y:-6.42, Z:-0.85 [[ 9.92626950e-01 1.21154051e-01 3.66519159e-03 1.32423912e+02] [-1.21153672e-01 9.92633710e-01 -3.26106567e-04 -6.41961657e+00] [-3.67770185e-03 -1.20349253e-04 9.99993230e-01 -8.51408817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.985769231 meters 0.045123504018379626 Centerline is valid? [True, True] Translation: X:132.49, Y:-6.42, Z:-0.85 [[ 9.92296860e-01 1.23845524e-01 3.03771846e-03 1.32485231e+02] [-1.23845276e-01 9.92301504e-01 -2.70233715e-04 -6.41562111e+00] [-3.04779983e-03 -1.08055015e-04 9.99995350e-01 -8.53667566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04576923099998 meters 0.04291342547428838 Centerline is valid? [True, True] Translation: X:132.55, Y:-6.42, Z:-0.85 [[ 9.92573944e-01 1.21598867e-01 3.26828168e-03 1.32546664e+02] [-1.21598568e-01 9.92579319e-01 -2.90745855e-04 -6.41784778e+00] [-3.27938317e-03 -1.08831613e-04 9.99994617e-01 -8.53255916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10576923099998 meters 0.039221358058785565 Centerline is valid? [True, True] Translation: X:132.61, Y:-6.42, Z:-0.85 [[ 9.93069165e-01 1.17403765e-01 5.47619473e-03 1.32606341e+02] [-1.17402860e-01 9.93084252e-01 -4.87420737e-04 -6.42355180e+00] [-5.49554778e-03 -1.58878422e-04 9.99984887e-01 -8.49785323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16576923099998 meters 0.03245933966025213 Centerline is valid? [True, True] Translation: X:132.67, Y:-6.43, Z:-0.85 [[ 9.93554594e-01 1.13318670e-01 2.85451085e-03 1.32667152e+02] [-1.13318408e-01 9.93558692e-01 -2.54025427e-04 -6.43070998e+00] [-2.86490989e-03 -7.10804951e-05 9.99995894e-01 -8.53765962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.225769231 meters 0.028233854372843006 Centerline is valid? [True, True] Translation: X:132.73, Y:-6.44, Z:-0.85 [[ 9.93636434e-01 1.12617180e-01 2.00208040e-03 1.32729031e+02] [-1.12617052e-01 9.93638449e-01 -1.77376326e-04 -6.43845477e+00] [-2.00931969e-03 -4.92208121e-05 9.99997980e-01 -8.54470875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.285769231 meters 0.02594001593039428 Centerline is valid? [True, True] Translation: X:132.79, Y:-6.44, Z:-0.85 [[ 9.93903603e-01 1.10069038e-01 6.35884442e-03 1.32790717e+02] [-1.10067661e-01 9.93923935e-01 -5.67107916e-04 -6.44152852e+00] [-6.38262869e-03 -1.36252532e-04 9.99979622e-01 -8.47696436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.345769231 meters 0.021290228999508408 Centerline is valid? [True, True] Translation: X:132.85, Y:-6.45, Z:-0.86 [[ 9.94535963e-01 1.04357160e-01 2.79307251e-03 1.32850646e+02] [-1.04356871e-01 9.94539884e-01 -2.49108028e-04 -6.45261070e+00] [-2.80381821e-03 -4.37294160e-05 9.99996068e-01 -8.55042124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.405769231 meters 0.01624166230252536 Centerline is valid? [True, True] Translation: X:132.91, Y:-6.46, Z:-0.85 [[ 9.95130700e-01 9.83848100e-02 5.94302852e-03 1.32910635e+02] [-9.83833968e-02 9.95148444e-01 -5.30377974e-04 -6.46343207e+00] [-5.96637672e-03 -5.68999293e-05 9.99982199e-01 -8.48798423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.465769231 meters 0.016637688614058187 Centerline is valid? [True, True] Translation: X:132.97, Y:-6.47, Z:-0.85 [[ 9.95078096e-01 9.88620020e-02 6.77406084e-03 1.32973493e+02] [-9.88601760e-02 9.95101151e-01 -6.04689463e-04 -6.46620104e+00] [-6.80065655e-03 -6.79716083e-05 9.99976873e-01 -8.47583575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.525769231 meters 0.019391294320777235 Centerline is valid? [True, True] Translation: X:133.04, Y:-6.46, Z:-0.85 [[ 9.94735317e-01 1.02285471e-01 6.27143333e-03 1.33036417e+02] [-1.02283967e-01 9.94755083e-01 -5.60909971e-04 -6.46495199e+00] [-6.29591312e-03 -8.35101196e-05 9.99980177e-01 -8.47740027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.585769231 meters 0.024567662849502576 Centerline is valid? [True, True] Translation: X:133.10, Y:-6.46, Z:-0.85 [[ 9.94251266e-01 1.07006687e-01 3.74006554e-03 1.33097515e+02] [-1.07006184e-01 9.94258299e-01 -3.35002520e-04 -6.45538477e+00] [-3.75443871e-03 -6.71334606e-05 9.99992950e-01 -8.53515237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.645769231 meters 0.023011891327712863 Centerline is valid? [True, True] Translation: X:133.16, Y:-6.46, Z:-0.85 [[ 9.94442073e-01 1.05177610e-01 4.75754574e-03 1.33157580e+02] [-1.05176772e-01 9.94453450e-01 -4.26629807e-04 -6.46066369e+00] [-4.77602968e-03 -7.61246743e-05 9.99988592e-01 -8.52158622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.705769231 meters 0.018610302757386628 Centerline is valid? [True, True] Translation: X:133.22, Y:-6.48, Z:-0.86 [[ 9.94876495e-01 1.01086521e-01 1.50824875e-03 1.33218977e+02] [-1.01086434e-01 9.94877638e-01 -1.34379185e-04 -6.47515244e+00] [-1.51410688e-03 -1.87727950e-05 9.99998854e-01 -8.58696261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.765769231 meters 0.023267933154737668 Centerline is valid? [True, True] Translation: X:133.28, Y:-6.47, Z:-0.86 [[ 9.94191227e-01 1.07627230e-01 4.28202203e-04 1.33280323e+02] [-1.07627223e-01 9.94191319e-01 -3.83954463e-05 -6.47090383e+00] [-4.29847309e-04 -7.91379825e-06 9.99999908e-01 -8.59677170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82576923099998 meters 0.030012316511669714 Centerline is valid? [True, True] Translation: X:133.34, Y:-6.47, Z:-0.86 [[ 9.93566534e-01 1.13212130e-01 2.92517654e-03 1.33339743e+02] [-1.13211846e-01 9.93570837e-01 -2.62828794e-04 -6.46670474e+00] [-2.93612551e-03 -7.00267440e-05 9.99995687e-01 -8.55983048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88576923099998 meters 0.034275572221326725 Centerline is valid? [True, True] Translation: X:133.40, Y:-6.46, Z:-0.85 [[ 9.92979599e-01 1.18236136e-01 3.42530274e-03 1.33400857e+02] [-1.18235777e-01 9.92985502e-01 -3.07861190e-04 -6.46394443e+00] [-3.43767628e-03 -9.92934498e-05 9.99994086e-01 -8.54725849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94576923099999 meters 0.043705348465380794 Centerline is valid? [True, True] Translation: X:133.46, Y:-6.45, Z:-0.86 [[ 9.91983352e-01 1.26338631e-01 2.75326746e-03 1.33461992e+02] [-1.26338430e-01 9.91987167e-01 -2.47493482e-04 -6.44716874e+00] [-2.76247397e-03 -1.02334073e-04 9.99996179e-01 -8.56475572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.005769231 meters 0.04965461671770242 Centerline is valid? [True, True] Translation: X:133.52, Y:-6.44, Z:-0.85 [[ 9.91379854e-01 1.30949549e-01 4.26618625e-03 1.33522350e+02] [-1.30949110e-01 9.91389017e-01 -3.83441251e-04 -6.43718023e+00] [-4.27966166e-03 -1.78517360e-04 9.99990826e-01 -8.54268157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.065769231 meters 0.048676986843405164 Centerline is valid? [True, True] Translation: X:133.58, Y:-6.44, Z:-0.85 [[ 9.91603155e-01 1.29160792e-01 6.37750504e-03 1.33581345e+02] [-1.29159774e-01 9.91623630e-01 -5.73085310e-04 -6.43592265e+00] [-6.39810486e-03 -2.55443906e-04 9.99979499e-01 -8.52391201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.125769231 meters 0.039602111896105775 Centerline is valid? [True, True] Translation: X:133.64, Y:-6.45, Z:-0.86 [[ 9.92365106e-01 1.23253865e-01 4.47003389e-03 1.33640909e+02] [-1.23253305e-01 9.92375162e-01 -4.01517536e-04 -6.44870583e+00] [-4.48543919e-03 -1.52494458e-04 9.99989929e-01 -8.56653475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.185769231 meters 0.037652371535343857 Centerline is valid? [True, True] Translation: X:133.70, Y:-6.46, Z:-0.86 [[ 9.92952185e-01 1.18401416e-01 5.20230037e-03 1.33699918e+02] [-1.18400591e-01 9.92965801e-01 -4.67304744e-04 -6.45613528e+00] [-5.22103590e-03 -1.51944173e-04 9.99986359e-01 -8.55470183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.245769231 meters 0.03180198897046488 Centerline is valid? [True, True] Translation: X:133.76, Y:-6.47, Z:-0.86 [[ 9.93379940e-01 1.14791018e-01 4.39513193e-03 1.33758837e+02] [-1.14790394e-01 9.93389656e-01 -3.94765119e-04 -6.46885175e+00] [-4.41139409e-03 -1.12367177e-04 9.99990263e-01 -8.55716306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.305769231 meters 0.0396573168310174 Centerline is valid? [True, True] Translation: X:133.82, Y:-6.46, Z:-0.85 [[ 9.92569782e-01 1.21557983e-01 5.37447651e-03 1.33819399e+02] [-1.21557151e-01 9.92584317e-01 -4.82528114e-04 -6.45630522e+00] [-5.39327624e-03 -1.74363226e-04 9.99985441e-01 -8.53972753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.365769231 meters 0.05185427820849921 Centerline is valid? [True, True] Translation: X:133.88, Y:-6.44, Z:-0.86 [[ 9.91684873e-01 1.28637508e-01 3.67492725e-03 1.33880489e+02] [-1.28637167e-01 9.91691671e-01 -3.29923562e-04 -6.43868675e+00] [-3.68683529e-03 -1.45552026e-04 9.99993193e-01 -8.57248373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.425769231 meters 0.05531843416129883 Centerline is valid? [True, True] Translation: X:133.94, Y:-6.43, Z:-0.86 [[ 9.90928135e-01 1.34291130e-01 5.22725164e-03 1.33941885e+02] [-1.34290519e-01 9.90941894e-01 -4.69356855e-04 -6.42836412e+00] [-5.24293310e-03 -2.36871420e-04 9.99986228e-01 -8.55149658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.485769231 meters 0.056813630945758475 Centerline is valid? [True, True] Translation: X:134.00, Y:-6.42, Z:-0.85 [[ 9.90863686e-01 1.34701792e-01 6.67705736e-03 1.34001313e+02] [-1.34700804e-01 9.90886136e-01 -5.99502319e-04 -6.42267081e+00] [-6.69695761e-03 -3.05379916e-04 9.99977528e-01 -8.52637384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54576923099998 meters 0.04861964055791359 Centerline is valid? [True, True] Translation: X:134.06, Y:-6.43, Z:-0.86 [[ 9.90884878e-01 1.34643764e-01 4.26799337e-03 1.34059718e+02] [-1.34643360e-01 9.90894050e-01 -3.83137073e-04 -6.42634854e+00] [-4.28071625e-03 -1.95012237e-04 9.99990819e-01 -8.58195564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60576923099998 meters 0.04958389981374574 Centerline is valid? [True, True] Translation: X:134.12, Y:-6.42, Z:-0.86 [[ 9.90883035e-01 1.34682973e-01 3.36281866e-03 1.34119285e+02] [-1.34682723e-01 9.90888729e-01 -3.01787012e-04 -6.42420037e+00] [-3.37282468e-03 -1.53877945e-04 9.99994300e-01 -8.59992630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66576923099998 meters 0.06470491044906772 Centerline is valid? [True, True] Translation: X:134.18, Y:-6.40, Z:-0.86 [[ 9.90946955e-01 1.34201186e-01 3.76488922e-03 1.34179614e+02] [-1.34200870e-01 9.90954092e-01 -3.37683842e-04 -6.39529564e+00] [-3.77614995e-03 -1.70624632e-04 9.99992856e-01 -8.60098189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.725769231 meters 0.04937892671741468 Centerline is valid? [True, True] Translation: X:134.24, Y:-6.41, Z:-0.86 [[ 9.91490009e-01 1.30058572e-01 5.68599202e-03 1.34239571e+02] [-1.30057785e-01 9.91506285e-01 -5.09362982e-04 -6.40792567e+00] [-5.70394385e-03 -2.34479223e-04 9.99983705e-01 -8.58508725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.785769231 meters 0.038134301774906745 Centerline is valid? [True, True] Translation: X:134.30, Y:-6.42, Z:-0.86 [[ 9.92678492e-01 1.20734845e-01 3.53662599e-03 1.34298994e+02] [-1.20734482e-01 9.92684786e-01 -3.16814407e-04 -6.41807191e+00] [-3.54900535e-03 -1.12497859e-04 9.99993696e-01 -8.63051700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.845769231 meters 0.028968357461647512 Centerline is valid? [True, True] Translation: X:134.36, Y:-6.43, Z:-0.87 [[ 9.93858393e-01 1.10648481e-01 1.55208859e-03 1.34356810e+02] [-1.10648398e-01 9.93859604e-01 -1.39201935e-04 -6.42899916e+00] [-1.55796063e-03 -3.33891041e-05 9.99998786e-01 -8.66434074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.905769231 meters 0.020206051631784277 Centerline is valid? [True, True] Translation: X:134.42, Y:-6.44, Z:-0.86 [[ 9.94663832e-01 1.02999272e-01 5.91702491e-03 1.34416336e+02] [-1.02997942e-01 9.94681428e-01 -5.29862812e-04 -6.44142258e+00] [-5.94013027e-03 -8.24060120e-05 9.99982354e-01 -8.59283724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.965769231 meters 0.018583330516322008 Centerline is valid? [True, True] Translation: X:134.47, Y:-6.44, Z:-0.86 [[ 9.94953504e-01 1.00229142e-01 4.65221697e-03 1.34473789e+02] [-1.00228289e-01 9.94964379e-01 -4.16675174e-04 -6.44433962e+00] [-4.67055316e-03 -5.17113238e-05 9.99989092e-01 -8.62689838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.025769231 meters 0.017580666647119585 Centerline is valid? [True, True] Translation: X:134.53, Y:-6.45, Z:-0.86 [[ 9.95094466e-01 9.88572808e-02 3.77386764e-03 1.34532477e+02] [-9.88567105e-02 9.95101621e-01 -3.37817849e-04 -6.44976358e+00] [-3.78877756e-03 -3.69114693e-05 9.99992822e-01 -8.64904581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.085769231 meters 0.015959777008361757 Centerline is valid? [True, True] Translation: X:134.59, Y:-6.45, Z:-0.86 [[ 9.95101724e-01 9.85216438e-02 8.12674663e-03 1.34591694e+02] [-9.85189939e-02 9.95134905e-01 -7.26727716e-04 -6.44893586e+00] [-8.15880764e-03 -7.74708977e-05 9.99966713e-01 -8.55666125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.145769231 meters 0.01570262241289465 Centerline is valid? [True, True] Translation: X:134.65, Y:-6.45, Z:-0.86 [[ 9.95166267e-01 9.79457483e-02 7.12262808e-03 1.34650567e+02] [-9.79437002e-02 9.95191754e-01 -6.36632562e-04 -6.45274299e+00] [-7.15073619e-03 -6.40613002e-05 9.99974431e-01 -8.59943887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.205769231 meters 0.013916375128637786 Centerline is valid? [True, True] Translation: X:134.71, Y:-6.46, Z:-0.86 [[ 9.95469160e-01 9.49191806e-02 5.61257042e-03 1.34708202e+02] [-9.49178618e-02 9.95484981e-01 -5.01478498e-04 -6.45857891e+00] [-5.63482949e-03 -3.35268040e-05 9.99984124e-01 -8.62305236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.265769231 meters 0.013190382518458972 Centerline is valid? [True, True] Translation: X:134.77, Y:-6.47, Z:-0.86 [[ 9.95626181e-01 9.32841875e-02 5.15440023e-03 1.34766918e+02] [-9.32830549e-02 9.95639523e-01 -4.60246736e-04 -6.46547089e+00] [-5.17485833e-03 -2.25844995e-05 9.99986610e-01 -8.64125887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32576923099998 meters 0.01197454677047775 Centerline is valid? [True, True] Translation: X:134.82, Y:-6.48, Z:-0.86 [[ 9.96074170e-01 8.82843485e-02 6.49011591e-03 1.34824771e+02] [-8.82824492e-02 9.96095314e-01 -5.79122129e-04 -6.47817575e+00] [-6.51590146e-03 3.88526697e-06 9.99978771e-01 -8.62385660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38576923099998 meters 0.014401534737896163 Centerline is valid? [True, True] Translation: X:134.88, Y:-6.50, Z:-0.86 [[ 9.96638645e-01 8.15629909e-02 7.67394409e-03 1.34882117e+02] [-8.15601394e-02 9.96668187e-01 -6.84320117e-04 -6.49847012e+00] [-7.70419114e-03 5.61319251e-05 9.99970321e-01 -8.61566345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44576923099999 meters 0.030566899262471216 Centerline is valid? [True, True] Translation: X:134.94, Y:-6.52, Z:-0.87 [[ 9.97028910e-01 7.69900916e-02 2.42448729e-03 1.34940751e+02] [-7.69897935e-02 9.97031858e-01 -2.16184572e-04 -6.51772479e+00] [-2.43393514e-03 2.88814920e-05 9.99997038e-01 -8.65941749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.505769231 meters 0.01892986027893608 Centerline is valid? [True, True] Translation: X:135.00, Y:-6.53, Z:-0.88 [[ 9.97073415e-01 7.64495285e-02 2.71541086e-04 1.34998594e+02] [-7.64495246e-02 9.97073452e-01 -2.45209905e-05 -6.53074127e+00] [-2.72621026e-04 3.69004076e-06 9.99999963e-01 -8.75357973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.565769231 meters 0.01816952960555952 Centerline is valid? [True, True] Translation: X:135.06, Y:-6.55, Z:-0.87 [[ 9.97063518e-01 7.64905810e-02 3.67852653e-03 1.35055986e+02] [-7.64898919e-02 9.97070303e-01 -3.27863271e-04 -6.54674747e+00] [-3.69282802e-03 4.55304094e-05 9.99993180e-01 -8.69929971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.625769231 meters 0.018700427913388832 Centerline is valid? [True, True] Translation: X:135.11, Y:-6.56, Z:-0.87 [[ 9.97083258e-01 7.61795868e-02 4.65259108e-03 1.35114136e+02] [-7.61784826e-02 9.97094111e-01 -4.14340095e-04 -6.56012683e+00] [-4.67063543e-03 5.87042430e-05 9.99989091e-01 -8.68983172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.685769231 meters 0.017360118087684225 Centerline is valid? [True, True] Translation: X:135.17, Y:-6.57, Z:-0.87 [[ 9.96907505e-01 7.84135648e-02 5.17110141e-03 1.35172688e+02] [-7.84122320e-02 9.96920915e-01 -4.60282572e-04 -6.56922462e+00] [-5.19127155e-03 5.33815467e-05 9.99986524e-01 -8.66776114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.745769231 meters 0.014756478014609409 Centerline is valid? [True, True] Translation: X:135.23, Y:-6.58, Z:-0.87 [[ 9.96631289e-01 8.19145479e-02 4.00998005e-03 1.35232227e+02] [-8.19137750e-02 9.96639356e-01 -3.56871764e-04 -6.57634189e+00] [-4.02573693e-03 2.71969624e-05 9.99991896e-01 -8.70943573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.805769231 meters 0.012915923366101765 Centerline is valid? [True, True] Translation: X:135.29, Y:-6.59, Z:-0.87 [[ 9.96391825e-01 8.47883971e-02 3.77621216e-03 1.35291383e+02] [-8.47877326e-02 9.96398980e-01 -3.35993414e-04 -6.58621611e+00] [-3.79110229e-03 1.46046236e-05 9.99992814e-01 -8.72249319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.865769231 meters 0.012554642118164778 Centerline is valid? [True, True] Translation: X:135.35, Y:-6.60, Z:-0.87 [[ 9.96297090e-01 8.58546766e-02 4.59172213e-03 1.35349938e+02] [-8.58537061e-02 9.96307671e-01 -4.08410815e-04 -6.60228718e+00] [-4.60983196e-03 1.26821434e-05 9.99989375e-01 -8.70387981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.925769231 meters 0.012199065761828004 Centerline is valid? [True, True] Translation: X:135.41, Y:-6.61, Z:-0.87 [[ 9.96226755e-01 8.65778949e-02 6.04321343e-03 1.35408788e+02] [-8.65762284e-02 9.96245084e-01 -5.37305158e-04 -6.61313314e+00] [-6.06704042e-03 1.20791482e-05 9.99981595e-01 -8.67753431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.985769231 meters 0.015816629791491142 Centerline is valid? [True, True] Translation: X:135.47, Y:-6.61, Z:-0.87 [[ 9.95214591e-01 9.74646439e-02 6.96861928e-03 1.35468936e+02] [-9.74626952e-02 9.95238986e-01 -6.19489134e-04 -6.61185238e+00] [-6.99581988e-03 -6.26557925e-05 9.99975527e-01 -8.66117375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04576923099998 meters 0.020249231264877172 Centerline is valid? [True, True] Translation: X:135.53, Y:-6.61, Z:-0.87 [[ 9.94759512e-01 1.02160973e-01 4.08023011e-03 1.35528858e+02] [-1.02160345e-01 9.94767879e-01 -3.62691281e-04 -6.61012485e+00] [-4.09593475e-03 -5.60471139e-05 9.99991610e-01 -8.72225304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10576923099998 meters 0.025883530794513384 Centerline is valid? [True, True] Translation: X:135.59, Y:-6.60, Z:-0.87 [[ 9.94245993e-01 1.06939045e-01 6.24064701e-03 1.35587934e+02] [-1.06937670e-01 9.94265572e-01 -5.54514193e-04 -6.60394537e+00] [-6.26415969e-03 -1.16036738e-04 9.99980373e-01 -8.67320690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16576923099998 meters 0.025471724274800125 Centerline is valid? [True, True] Translation: X:135.65, Y:-6.60, Z:-0.87 [[ 9.94177977e-01 1.07670342e-01 4.15312891e-03 1.35647373e+02] [-1.07669740e-01 9.94186648e-01 -3.68945199e-04 -6.60357665e+00] [-4.16870976e-03 -8.03691164e-05 9.99991308e-01 -8.73512075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.225769231 meters 0.020345540011942748 Centerline is valid? [True, True] Translation: X:135.71, Y:-6.61, Z:-0.87 [[ 9.94737183e-01 1.02223602e-01 6.94779909e-03 1.35705716e+02] [-1.02221788e-01 9.94761442e-01 -6.16658477e-04 -6.60855145e+00] [-6.97443969e-03 -9.68033278e-05 9.99975674e-01 -8.68390776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.285769231 meters 0.013608527119391381 Centerline is valid? [True, True] Translation: X:135.76, Y:-6.62, Z:-0.87 [[ 9.95546559e-01 9.39691487e-02 7.53972091e-03 1.35764329e+02] [-9.39667775e-02 9.95575109e-01 -6.68914669e-04 -6.62414986e+00] [-7.56921580e-03 -4.25475795e-05 9.99971352e-01 -8.67878840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.345769231 meters 0.011980351623418326 Centerline is valid? [True, True] Translation: X:135.82, Y:-6.63, Z:-0.87 [[ 9.95992686e-01 8.92467147e-02 5.79593311e-03 1.35823839e+02] [-8.92452342e-02 9.96009550e-01 -5.14079631e-04 -6.63482533e+00] [-5.81868465e-03 -5.23985568e-06 9.99983071e-01 -8.71137410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.405769231 meters 0.011997636858844776 Centerline is valid? [True, True] Translation: X:135.88, Y:-6.64, Z:-0.87 [[ 9.96172246e-01 8.72624413e-02 5.11102827e-03 1.35882994e+02] [-8.72612638e-02 9.96185357e-01 -4.53354078e-04 -6.64136916e+00] [-5.13109230e-03 5.62396450e-06 9.99986836e-01 -8.72882536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.465769231 meters 0.012106196727147127 Centerline is valid? [True, True] Translation: X:135.94, Y:-6.65, Z:-0.87 [[ 9.96227539e-01 8.66237577e-02 5.19761875e-03 1.35942234e+02] [-8.66225316e-02 9.96241098e-01 -4.60968446e-04 -6.64960769e+00] [-5.21801223e-03 8.99856534e-06 9.99986386e-01 -8.73764195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.525769231 meters 0.012600274168459878 Centerline is valid? [True, True] Translation: X:136.00, Y:-6.66, Z:-0.87 [[ 9.96372801e-01 8.48968865e-02 5.81038218e-03 1.36002202e+02] [-8.48953254e-02 9.96389742e-01 -5.15221529e-04 -6.65926964e+00] [-5.83314590e-03 2.00784320e-05 9.99982987e-01 -8.73259513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.585769231 meters 0.01263419956258711 Centerline is valid? [True, True] Translation: X:136.06, Y:-6.67, Z:-0.87 [[ 9.96384122e-01 8.46861883e-02 6.85054938e-03 1.36061742e+02] [-8.46840134e-02 9.96407672e-01 -6.07457549e-04 -6.66586941e+00] [-6.87738323e-03 2.51290413e-05 9.99976350e-01 -8.70794190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.645769231 meters 0.011931262569639165 Centerline is valid? [True, True] Translation: X:136.12, Y:-6.66, Z:-0.88 [[ 9.96075596e-01 8.83709437e-02 4.89730909e-03 1.36122221e+02] [-8.83698770e-02 9.96087635e-01 -4.34199771e-04 -6.66408848e+00] [-4.91651967e-03 -2.78806587e-07 9.99987914e-01 -8.76297792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.705769231 meters 0.01235507536811501 Centerline is valid? [True, True] Translation: X:136.18, Y:-6.67, Z:-0.87 [[ 9.95807910e-01 9.12622561e-02 6.14871069e-03 1.36181774e+02] [-9.12606296e-02 9.95826893e-01 -5.45170429e-04 -6.66505484e+00] [-6.17280495e-03 -1.82501828e-05 9.99980948e-01 -8.74196577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76576923099998 meters 0.012115951600975453 Centerline is valid? [True, True] Translation: X:136.24, Y:-6.67, Z:-0.88 [[ 9.95914195e-01 9.00782803e-02 6.38897751e-03 1.36240576e+02] [-9.00765008e-02 9.95934688e-01 -5.66321458e-04 -6.67144639e+00] [-6.41401759e-03 -1.14891596e-05 9.99979430e-01 -8.75379221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82576923099998 meters 0.011670566798409065 Centerline is valid? [True, True] Translation: X:136.30, Y:-6.68, Z:-0.87 [[ 9.96108087e-01 8.77368782e-02 8.42139027e-03 1.36299795e+02] [-8.77337055e-02 9.96143685e-01 -7.46146865e-04 -6.68440958e+00] [-8.45437933e-03 4.40315239e-06 9.99964261e-01 -8.72278006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88576923099998 meters 0.012139444924790407 Centerline is valid? [True, True] Translation: X:136.36, Y:-6.70, Z:-0.88 [[ 9.96228643e-01 8.66372703e-02 4.74076532e-03 1.36359755e+02] [-8.66362541e-02 9.96239923e-01 -4.19687056e-04 -6.69877552e+00] [-4.75930022e-03 7.38211748e-06 9.99988674e-01 -8.78963845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94576923099999 meters 0.012095420825899525 Centerline is valid? [True, True] Translation: X:136.42, Y:-6.71, Z:-0.88 [[ 9.96220860e-01 8.67964736e-02 3.22034384e-03 1.36419196e+02] [-8.67960031e-02 9.96226065e-01 -2.85828237e-04 -6.70781580e+00] [-3.23299935e-03 5.23507814e-06 9.99994774e-01 -8.81631890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.005769231 meters 0.012047969694260308 Centerline is valid? [True, True] Translation: X:136.48, Y:-6.72, Z:-0.88 [[ 9.96137799e-01 8.77286007e-02 3.63012557e-03 1.36478134e+02] [-8.77280093e-02 9.96144414e-01 -3.22151445e-04 -6.71794639e+00] [-3.64439120e-03 2.44354213e-06 9.99993359e-01 -8.80775948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.065769231 meters 0.012144544751520197 Centerline is valid? [True, True] Translation: X:136.54, Y:-6.73, Z:-0.88 [[ 9.95879267e-01 9.06087276e-02 3.81369099e-03 1.36538373e+02] [-9.06080955e-02 9.95886569e-01 -3.38546130e-04 -6.72503041e+00] [-3.82867886e-03 -8.40020532e-06 9.99992671e-01 -8.80738463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.125769231 meters 0.012463836278339933 Centerline is valid? [True, True] Translation: X:136.60, Y:-6.73, Z:-0.88 [[ 9.95823472e-01 9.11928538e-02 4.41327549e-03 1.36598083e+02] [-9.11920130e-02 9.95833251e-01 -3.91803161e-04 -6.72940789e+00] [-4.43061612e-03 -1.22886911e-05 9.99990185e-01 -8.81631580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.185769231 meters 0.012177201751462079 Centerline is valid? [True, True] Translation: X:136.66, Y:-6.74, Z:-0.88 [[ 9.96077962e-01 8.84473026e-02 2.40154696e-03 1.36659116e+02] [-8.84470460e-02 9.96080857e-01 -2.13044686e-04 -6.73987452e+00] [-2.41097818e-03 -2.00617028e-07 9.99997094e-01 -8.83710724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.245769231 meters 0.012122674757577232 Centerline is valid? [True, True] Translation: X:136.72, Y:-6.75, Z:-0.88 [[ 9.96248313e-01 8.63900499e-02 5.10462815e-03 1.36719096e+02] [-8.63888624e-02 9.96261391e-01 -4.53088105e-04 -6.74560122e+00] [-5.12468624e-03 1.04052423e-05 9.99986869e-01 -8.80042835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.305769231 meters 0.011723466277536298 Centerline is valid? [True, True] Translation: X:136.78, Y:-6.75, Z:-0.88 [[ 9.96138729e-01 8.73858843e-02 8.44626125e-03 1.36779397e+02] [-8.73826623e-02 9.96174536e-01 -7.50455481e-04 -6.75045907e+00] [-8.47952960e-03 9.50097369e-06 9.99964048e-01 -8.75171833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.365769231 meters 0.012032553535541604 Centerline is valid? [True, True] Translation: X:136.84, Y:-6.75, Z:-0.88 [[ 9.96002705e-01 8.92128194e-02 4.43675095e-03 1.36840859e+02] [-8.92119486e-02 9.96012587e-01 -3.94190458e-04 -6.75050998e+00] [-4.45422663e-03 -3.19643533e-06 9.99990080e-01 -8.82925700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.425769231 meters 0.012390936293602866 Centerline is valid? [True, True] Translation: X:136.90, Y:-6.75, Z:-0.88 [[ 9.95824086e-01 9.12119842e-02 3.84226296e-03 1.36901296e+02] [-9.12113454e-02 9.95831499e-01 -3.41516968e-04 -6.75000801e+00] [-3.85739692e-03 -1.03671518e-05 9.99992560e-01 -8.83556916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.485769231 meters 0.013510751200837019 Centerline is valid? [True, True] Translation: X:136.96, Y:-6.74, Z:-0.89 [[ 9.95651867e-01 9.31241954e-02 2.29005334e-03 1.36960933e+02] [-9.31239732e-02 9.95654500e-01 -2.03715894e-04 -6.74354540e+00] [-2.29907280e-03 -1.04287558e-05 9.99997357e-01 -8.88510636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54576923099998 meters 0.012420104440239194 Centerline is valid? [True, True] Translation: X:137.02, Y:-6.75, Z:-0.89 [[ 9.96217607e-01 8.68549832e-02 2.58664862e-03 1.37019804e+02] [-8.68546791e-02 9.96220965e-01 -2.29871631e-04 -6.75415165e+00] [-2.59683909e-03 4.33962994e-06 9.99996628e-01 -8.89310484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60576923099998 meters 0.01735218226276845 Centerline is valid? [True, True] Translation: X:137.08, Y:-6.77, Z:-0.88 [[ 9.97045890e-01 7.66919403e-02 4.22379666e-03 1.37079809e+02] [-7.66910390e-02 9.97054835e-01 -3.75163500e-04 -6.76967583e+00] [-4.24012890e-03 5.01278708e-05 9.99991009e-01 -8.84843119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66576923099998 meters 0.024287749725920422 Centerline is valid? [True, True] Translation: X:137.14, Y:-6.78, Z:-0.89 [[ 9.97413274e-01 7.18285287e-02 2.72450048e-03 1.37140288e+02] [-7.18281372e-02 9.97416994e-01 -2.41429301e-04 -6.78173171e+00] [-2.73480459e-03 4.51089952e-05 9.99996259e-01 -8.88364627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.725769231 meters 0.02559852201359069 Centerline is valid? [True, True] Translation: X:137.20, Y:-6.79, Z:-0.89 [[ 9.97509174e-01 7.05087301e-02 1.99147224e-03 1.37201480e+02] [-7.05085169e-02 9.97511162e-01 -1.77169099e-04 -6.78899358e+00] [-1.99900775e-03 3.63120479e-05 9.99998001e-01 -8.90323297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.785769231 meters 0.028491633233803167 Centerline is valid? [True, True] Translation: X:137.26, Y:-6.80, Z:-0.89 [[ 9.97683181e-01 6.79350686e-02 3.61907351e-03 1.37262248e+02] [-6.79343467e-02 9.97689742e-01 -3.22178469e-04 -6.80270766e+00] [-3.63259974e-03 7.55726445e-05 9.99993399e-01 -8.86478107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.845769231 meters 0.037202851267093766 Centerline is valid? [True, True] Translation: X:137.32, Y:-6.82, Z:-0.88 [[ 9.98190249e-01 5.97865004e-02 6.46534232e-03 1.37321291e+02] [-5.97840236e-02 9.98211170e-01 -5.75839799e-04 -6.82440686e+00] [-6.48820436e-03 1.88273494e-04 9.99978934e-01 -8.81939392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.905769231 meters 0.04407678661072265 Centerline is valid? [True, True] Translation: X:137.38, Y:-6.85, Z:-0.88 [[ 9.98675159e-01 5.10675927e-02 6.32667275e-03 1.37380213e+02] [-5.10650462e-02 9.98695170e-01 -5.63488563e-04 -6.84753013e+00] [-6.34719353e-03 2.39670194e-04 9.99979828e-01 -8.82891591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.965769231 meters 0.05376461508289715 Centerline is valid? [True, True] Translation: X:137.44, Y:-6.88, Z:-0.89 [[ 9.98754188e-01 4.96559380e-02 4.93547930e-03 1.37439190e+02] [-4.96543724e-02 9.98766364e-01 -4.39311688e-04 -6.87523647e+00] [-4.95120515e-03 1.93696262e-04 9.99987724e-01 -8.85799995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.025769231 meters 0.04389836339143713 Centerline is valid? [True, True] Translation: X:137.50, Y:-6.88, Z:-0.88 [[ 9.98577269e-01 5.28900097e-02 6.78852015e-03 1.37500272e+02] [-5.28871127e-02 9.98600314e-01 -6.05687282e-04 -6.87633222e+00] [-6.81105316e-03 2.45800322e-04 9.99976774e-01 -8.82274637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.085769231 meters 0.0393865516680112 Centerline is valid? [True, True] Translation: X:137.56, Y:-6.88, Z:-0.89 [[ 9.98441945e-01 5.56081337e-02 4.62802500e-03 1.37561486e+02] [-5.56068164e-02 9.98452659e-01 -4.12921761e-04 -6.88109301e+00] [-4.64382568e-03 1.54928669e-04 9.99989205e-01 -8.86602272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.145769231 meters 0.044041435252120696 Centerline is valid? [True, True] Translation: X:137.62, Y:-6.91, Z:-0.90 [[ 9.98509557e-01 5.45762737e-02 3.08277752e-04 1.37620485e+02] [-5.45762680e-02 9.98509604e-01 -2.69666874e-05 -6.90518341e+00] [-3.09290038e-04 1.01018459e-05 9.99999952e-01 -8.96428036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.205769231 meters 0.039371494257084715 Centerline is valid? [True, True] Translation: X:137.68, Y:-6.91, Z:-0.89 [[ 9.98358476e-01 5.71487572e-02 3.79128051e-03 1.37681113e+02] [-5.71478829e-02 9.98365667e-01 -3.38639548e-04 -6.91436047e+00] [-3.80443713e-03 1.21420008e-04 9.99992756e-01 -8.89464497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26576923099998 meters 0.036484331773860616 Centerline is valid? [True, True] Translation: X:137.74, Y:-6.92, Z:-0.89 [[ 9.98171150e-01 6.03784917e-02 2.96545899e-03 1.37741687e+02] [-6.03779709e-02 9.98175551e-01 -2.64907797e-04 -6.92321482e+00] [-2.97604340e-03 8.53749238e-05 9.99995568e-01 -8.91491222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32576923099998 meters 0.027248707881361987 Centerline is valid? [True, True] Translation: X:137.80, Y:-6.92, Z:-0.90 [[ 9.97574701e-01 6.95934452e-02 1.21138935e-03 1.37801244e+02] [-6.95933649e-02 9.97575437e-01 -1.08348085e-04 -6.92191434e+00] [-1.21599257e-03 2.37806479e-05 9.99999260e-01 -8.96632579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38576923099998 meters 0.024507316068597334 Centerline is valid? [True, True] Translation: X:137.86, Y:-6.93, Z:-0.90 [[ 9.97375740e-01 7.23990767e-02 -8.48990035e-05 1.37863418e+02] [-7.23990763e-02 9.97375743e-01 8.71243408e-06 -6.92664197e+00] [ 8.53069790e-05 -2.54296096e-06 9.99999996e-01 -8.99667795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44576923099999 meters 0.023555259099842588 Centerline is valid? [True, True] Translation: X:137.93, Y:-6.93, Z:-0.89 [[ 9.97524361e-01 7.02468608e-02 3.24474171e-03 1.37925595e+02] [-7.02462894e-02 9.97529636e-01 -2.89862605e-04 -6.93406198e+00] [-3.25708796e-03 6.12139440e-05 9.99994694e-01 -8.92123917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.505769231 meters 0.031149701962002296 Centerline is valid? [True, True] Translation: X:137.98, Y:-6.96, Z:-0.89 [[ 9.97723576e-01 6.73122284e-02 4.09013305e-03 1.37984850e+02] [-6.73112915e-02 9.97731956e-01 -3.66442946e-04 -6.95681333e+00] [-4.10552254e-03 9.02966280e-05 9.99991568e-01 -8.93827962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.565769231 meters 0.035039075793361976 Centerline is valid? [True, True] Translation: X:138.04, Y:-6.97, Z:-0.90 [[ 9.98049430e-01 6.24205383e-02 1.00603042e-03 1.38044735e+02] [-6.24204790e-02 9.98049936e-01 -9.02675748e-05 -6.97495767e+00] [-1.00970315e-03 2.72946006e-05 9.99999490e-01 -9.00210020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.625769231 meters 0.03665856453513737 Centerline is valid? [True, True] Translation: X:138.10, Y:-6.99, Z:-0.89 [[ 9.98246168e-01 5.91201533e-02 3.06529910e-03 1.38104523e+02] [-5.91195860e-02 9.98250870e-01 -2.75435183e-04 -6.99474989e+00] [-3.07622126e-03 9.37329026e-05 9.99995264e-01 -8.94949596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.685769231 meters 0.03971195897009338 Centerline is valid? [True, True] Translation: X:138.16, Y:-7.01, Z:-0.90 [[ 9.98328372e-01 5.77031585e-02 3.28735523e-03 1.38164624e+02] [-5.77024988e-02 9.98333779e-01 -2.95255199e-04 -7.01016273e+00] [-3.29891493e-03 1.05073031e-04 9.99994553e-01 -8.96956574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.745769231 meters 0.04069258093607106 Centerline is valid? [True, True] Translation: X:138.22, Y:-7.03, Z:-0.90 [[ 9.98440939e-01 5.57873496e-02 1.86105439e-03 1.38224944e+02] [-5.57871350e-02 9.98442671e-01 -1.67082167e-04 -7.02893038e+00] [-1.86747719e-03 6.29987830e-05 9.99998254e-01 -8.99461512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.805769231 meters 0.04060548839594351 Centerline is valid? [True, True] Translation: X:138.29, Y:-7.04, Z:-0.90 [[ 9.98359547e-01 5.72244323e-02 1.89210794e-03 1.38285212e+02] [-5.72242134e-02 9.98361338e-01 -1.69648986e-04 -7.03856819e+00] [-1.89871548e-03 6.10962966e-05 9.99998196e-01 -8.99890371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.865769231 meters 0.038558560370445694 Centerline is valid? [True, True] Translation: X:138.35, Y:-7.05, Z:-0.90 [[ 9.98245616e-01 5.91300413e-02 3.05435158e-03 1.38345680e+02] [-5.91294749e-02 9.98250284e-01 -2.75482133e-04 -7.04779620e+00] [-3.06529660e-03 9.43966263e-05 9.99995298e-01 -8.98854275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.925769231 meters 0.03697748445320536 Centerline is valid? [True, True] Translation: X:138.41, Y:-7.06, Z:-0.90 [[ 9.98109945e-01 6.13548964e-02 3.48068304e-03 1.38405673e+02] [-6.13541741e-02 9.98116009e-01 -3.14038921e-04 -7.05756339e+00] [-3.49339329e-03 9.98909367e-05 9.99993893e-01 -8.97576640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.985769231 meters 0.03152292192540192 Centerline is valid? [True, True] Translation: X:138.47, Y:-7.06, Z:-0.89 [[ 9.97791353e-01 6.60619382e-02 6.94517406e-03 1.38466716e+02] [-6.60591737e-02 9.97815510e-01 -6.26938378e-04 -7.06170627e+00] [-6.97141917e-03 1.66761233e-04 9.99975685e-01 -8.90883923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04576923099998 meters 0.030304076789174298 Centerline is valid? [True, True] Translation: X:138.53, Y:-7.07, Z:-0.90 [[ 9.97755943e-01 6.66997990e-02 5.84932275e-03 1.38528212e+02] [-6.66978498e-02 9.97773079e-01 -5.27895912e-04 -7.07425223e+00] [-5.87150733e-03 1.36574034e-04 9.99982753e-01 -8.95353556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10576923099998 meters 0.030166306379912525 Centerline is valid? [True, True] Translation: X:138.59, Y:-7.09, Z:-0.90 [[ 9.97738980e-01 6.69563904e-02 5.81117661e-03 1.38590013e+02] [-6.69544655e-02 9.97755894e-01 -5.25368284e-04 -7.09008473e+00] [-5.83331248e-03 1.35096192e-04 9.99982977e-01 -8.95735087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16576923099998 meters 0.030507407103055564 Centerline is valid? [True, True] Translation: X:138.65, Y:-7.10, Z:-0.90 [[ 9.97606365e-01 6.89676872e-02 4.99979952e-03 1.38650185e+02] [-6.89662834e-02 9.97618889e-01 -4.52845153e-04 -7.10337099e+00] [-5.01912613e-03 1.06943616e-04 9.99987398e-01 -8.98267683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.225769231 meters 0.02512357257012392 Centerline is valid? [True, True] Translation: X:138.71, Y:-7.11, Z:-0.91 [[ 9.97246394e-01 7.41530546e-02 9.76390133e-04 1.38710691e+02] [-7.41530035e-02 9.97246872e-01 -8.85064446e-05 -7.11277292e+00] [-9.80265029e-04 1.58604718e-05 9.99999519e-01 -9.06519608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.285769231 meters 0.016055024156650763 Centerline is valid? [True, True] Translation: X:138.77, Y:-7.11, Z:-0.91 [[ 9.96617199e-01 8.21802207e-02 7.55225948e-04 1.38772138e+02] [-8.21801924e-02 9.96617485e-01 -6.84349456e-05 -7.11322434e+00] [-7.58295383e-04 6.13883012e-06 9.99999712e-01 -9.07536898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.345769231 meters 0.021839112560356227 Centerline is valid? [True, True] Translation: X:138.83, Y:-7.12, Z:-0.90 [[ 9.96263159e-01 8.63464187e-02 2.00364484e-03 1.38833827e+02] [-8.63462290e-02 9.96265173e-01 -1.81164914e-04 -7.12447546e+00] [-2.01180452e-03 7.48075327e-06 9.99997976e-01 -9.00521472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.405769231 meters 0.012303478661259495 Centerline is valid? [True, True] Translation: X:138.90, Y:-7.12, Z:-0.91 [[ 9.95765806e-01 9.19252555e-02 4.54296958e-04 1.38895529e+02] [-9.19252468e-02 9.95765910e-01 -4.01941399e-05 -7.12466364e+00] [-4.56068280e-04 -1.73740981e-06 9.99999896e-01 -9.07270699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.465769231 meters 0.014026472047272585 Centerline is valid? [True, True] Translation: X:138.96, Y:-7.12, Z:-0.90 [[ 9.95241318e-01 9.74134537e-02 2.31053188e-03 1.38957747e+02] [-9.74132290e-02 9.95244000e-01 -2.09886839e-04 -7.12205476e+00] [-2.31998879e-03 -1.61883162e-05 9.99997309e-01 -9.03678911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.525769231 meters 0.016925737012717032 Centerline is valid? [True, True] Translation: X:139.02, Y:-7.12, Z:-0.90 [[ 9.94756255e-01 1.02224792e-01 3.17564888e-03 1.39019880e+02] [-1.02224388e-01 9.94761323e-01 -2.89445695e-04 -7.12038048e+00] [-3.18860121e-03 -3.67008492e-05 9.99994916e-01 -9.03835686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.585769231 meters 0.01662306325077895 Centerline is valid? [True, True] Translation: X:139.08, Y:-7.12, Z:-0.90 [[ 9.94881400e-01 1.00982647e-01 3.67496696e-03 1.39081565e+02] [-1.00982096e-01 9.94888186e-01 -3.35700636e-04 -7.12229402e+00] [-3.69008115e-03 -3.71235485e-05 9.99993191e-01 -9.03319829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.645769231 meters 0.014497769920931956 Centerline is valid? [True, True] Translation: X:139.14, Y:-7.13, Z:-0.90 [[ 9.95125586e-01 9.84315807e-02 6.02423942e-03 1.39142460e+02] [-9.84300432e-02 9.95143820e-01 -5.51909369e-04 -7.13172437e+00] [-6.04930994e-03 -4.37470117e-05 9.99981702e-01 -9.00044636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.705769231 meters 0.012620298425104542 Centerline is valid? [True, True] Translation: X:139.20, Y:-7.14, Z:-0.90 [[ 9.95372473e-01 9.59693190e-02 4.85078783e-03 1.39203790e+02] [-9.59682907e-02 9.95384292e-01 -4.44863876e-04 -7.14339022e+00] [-4.87109129e-03 -2.27165597e-05 9.99988136e-01 -9.03086176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76576923099998 meters 0.014840876842359869 Centerline is valid? [True, True] Translation: X:139.26, Y:-7.15, Z:-0.91 [[ 9.95190237e-01 9.79600890e-02 4.61561416e-04 1.39264457e+02] [-9.79600799e-02 9.95190344e-01 -4.22851569e-05 -7.14571313e+00] [-4.63483722e-04 -3.13281784e-06 9.99999893e-01 -9.11449594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82576923099998 meters 0.025396975879225184 Centerline is valid? [True, True] Translation: X:139.33, Y:-7.13, Z:-0.91 [[ 9.93969770e-01 1.09631117e-01 2.26159559e-03 1.39326893e+02] [-1.09630928e-01 9.93972342e-01 -2.07952068e-04 -7.12896410e+00] [-2.27076148e-03 -4.12427530e-05 9.99997421e-01 -9.06849322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88576923099998 meters 0.03545054569242131 Centerline is valid? [True, True] Translation: X:139.39, Y:-7.12, Z:-0.91 [[ 9.92943164e-01 1.18578534e-01 1.73311695e-03 1.39388547e+02] [-1.18578437e-01 9.92944676e-01 -1.59408871e-04 -7.11701047e+00] [-1.73979172e-03 -4.72263504e-05 9.99998485e-01 -9.08995178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94576923099999 meters 0.04550810188274926 Centerline is valid? [True, True] Translation: X:139.45, Y:-7.10, Z:-0.91 [[ 9.91419894e-01 1.30715651e-01 -1.09714232e-04 1.39450516e+02] [-1.30715651e-01 9.91419900e-01 1.00963495e-05 -7.09931071e+00] [ 1.10092624e-04 4.33164550e-06 9.99999994e-01 -9.10952605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.005769231 meters 0.05410274423119133 Centerline is valid? [True, True] Translation: X:139.51, Y:-7.08, Z:-0.90 [[ 9.90431498e-01 1.37930230e-01 4.54960874e-03 1.39512200e+02] [-1.37929760e-01 9.90441925e-01 -4.18510631e-04 -7.08228770e+00] [-4.56384850e-03 -2.13020329e-04 9.99989563e-01 -9.03278362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.065769231 meters 0.053802630355806846 Centerline is valid? [True, True] Translation: X:139.57, Y:-7.08, Z:-0.91 [[ 9.90194877e-01 1.39626637e-01 4.30213128e-03 1.39574774e+02] [-1.39626234e-01 9.90204200e-01 -3.95315309e-04 -7.07523348e+00] [-4.31518501e-03 -2.09251195e-04 9.99990668e-01 -9.05036254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.125769231 meters 0.05781962720362038 Centerline is valid? [True, True] Translation: X:139.64, Y:-7.06, Z:-0.91 [[ 9.89941836e-01 1.41417681e-01 4.02498287e-03 1.39636634e+02] [-1.41417340e-01 9.89949998e-01 -3.70802518e-04 -7.06231787e+00] [-4.03696981e-03 -2.02129443e-04 9.99991831e-01 -9.05687548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.185769231 meters 0.05224419425764587 Centerline is valid? [True, True] Translation: X:139.70, Y:-7.06, Z:-0.90 [[ 9.90431057e-01 1.37898921e-01 5.49621177e-03 1.39697744e+02] [-1.37898229e-01 9.90446274e-01 -5.06446303e-04 -7.06233934e+00] [-5.51354087e-03 -2.56317724e-04 9.99984767e-01 -9.04721222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.245769231 meters 0.04847543453873115 Centerline is valid? [True, True] Translation: X:139.76, Y:-7.07, Z:-0.92 [[ 9.91634697e-01 1.29075467e-01 -3.90012676e-04 1.39756910e+02] [-1.29075463e-01 9.91634773e-01 3.59406156e-05 -7.06531635e+00] [ 3.91389183e-04 1.47011053e-05 9.99999923e-01 -9.17067040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.305769231 meters 0.041020219402627435 Centerline is valid? [True, True] Translation: X:139.82, Y:-7.07, Z:-0.91 [[ 9.92311299e-01 1.23762319e-01 1.08340368e-03 1.39816834e+02] [-1.23762284e-01 9.92311890e-01 -9.98319763e-05 -7.07490522e+00] [-1.08742979e-03 -3.50201156e-05 9.99999408e-01 -9.14222215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.365769231 meters 0.028409786782599065 Centerline is valid? [True, True] Translation: X:139.88, Y:-7.10, Z:-0.91 [[ 9.93164396e-01 1.16605490e-01 5.25766234e-03 1.39876221e+02] [-1.16604558e-01 9.93178303e-01 -4.84483771e-04 -7.09638915e+00] [-5.27828963e-03 -1.31895361e-04 9.99986061e-01 -9.05561632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.425769231 meters 0.028511094884990294 Centerline is valid? [True, True] Translation: X:139.94, Y:-7.10, Z:-0.91 [[ 9.93668141e-01 1.12339850e-01 1.83962888e-03 1.39936385e+02] [-1.12339729e-01 9.93669843e-01 -1.69457563e-04 -7.10095446e+00] [-1.84702058e-03 -3.82788286e-05 9.99998294e-01 -9.13939744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.485769231 meters 0.027118660723497154 Centerline is valid? [True, True] Translation: X:140.00, Y:-7.11, Z:-0.91 [[ 9.93499810e-01 1.13831475e-01 7.23272554e-04 1.39997789e+02] [-1.13831457e-01 9.93500073e-01 -6.61031224e-05 -7.10630468e+00] [-7.26095952e-04 -1.66577294e-05 9.99999736e-01 -9.14394847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54576923099998 meters 0.03402096964777553 Centerline is valid? [True, True] Translation: X:140.06, Y:-7.09, Z:-0.92 [[ 9.92953480e-01 1.18501906e-01 -8.27817819e-04 1.40059755e+02] [-1.18501883e-01 9.92953825e-01 7.64588367e-05 -7.09263590e+00] [ 8.31045387e-04 2.21779025e-05 9.99999654e-01 -9.16494537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60576923099998 meters 0.035635540397900865 Centerline is valid? [True, True] Translation: X:140.12, Y:-7.09, Z:-0.91 [[ 9.92616357e-01 1.21256322e-01 3.10992370e-03 1.40121362e+02] [-1.21256018e-01 9.92621225e-01 -2.86926596e-04 -7.08752789e+00] [-3.12176794e-03 -9.22889306e-05 9.99995123e-01 -9.09886296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66576923099998 meters 0.03281031671892744 Centerline is valid? [True, True] Translation: X:140.18, Y:-7.09, Z:-0.91 [[ 9.92980194e-01 1.18163308e-01 5.26945051e-03 1.40182892e+02] [-1.18162391e-01 9.92994166e-01 -4.86147114e-04 -7.08567916e+00] [-5.28997836e-03 -1.39916415e-04 9.99985998e-01 -9.08402755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.725769231 meters 0.030479409699354396 Centerline is valid? [True, True] Translation: X:140.24, Y:-7.09, Z:-0.91 [[ 9.93150849e-01 1.16754480e-01 4.44768891e-03 1.40243566e+02] [-1.16753812e-01 9.93160802e-01 -4.10344768e-04 -7.09158935e+00] [-4.46517987e-03 -1.11750382e-04 9.99990025e-01 -9.09366816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.785769231 meters 0.029835236128979946 Centerline is valid? [True, True] Translation: X:140.30, Y:-7.09, Z:-0.91 [[ 9.93430472e-01 1.14428810e-01 1.39486880e-03 1.40304117e+02] [-1.14428742e-01 9.93431450e-01 -1.28742680e-04 -7.08814932e+00] [-1.40043840e-03 -3.17161803e-05 9.99999019e-01 -9.13934382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.845769231 meters 0.029433604633507894 Centerline is valid? [True, True] Translation: X:140.36, Y:-7.09, Z:-0.91 [[ 9.93535190e-01 1.13455361e-01 3.96323342e-03 1.40363581e+02] [-1.13454804e-01 9.93543091e-01 -3.65864969e-04 -7.08704823e+00] [-3.97915252e-03 -8.61481481e-05 9.99992079e-01 -9.10108002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.905769231 meters 0.02863832820538057 Centerline is valid? [True, True] Translation: X:140.42, Y:-7.09, Z:-0.91 [[ 9.93328004e-01 1.15217095e-01 4.94943617e-03 1.40423512e+02] [-1.15216249e-01 9.93340328e-01 -4.56756110e-04 -7.08824556e+00] [-4.96910066e-03 -1.16546833e-04 9.99987647e-01 -9.08299110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.965769231 meters 0.033149662824061094 Centerline is valid? [True, True] Translation: X:140.48, Y:-7.09, Z:-0.91 [[ 9.93211053e-01 1.16306540e-01 2.14330532e-03 1.40483033e+02] [-1.16306385e-01 9.93213364e-01 -1.97552713e-04 -7.08540069e+00] [-2.15173616e-03 -5.30685545e-05 9.99997684e-01 -9.14883862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.025769231 meters 0.037611260140390936 Centerline is valid? [True, True] Translation: X:140.54, Y:-7.08, Z:-0.91 [[ 9.92870091e-01 1.19174028e-01 2.55625995e-03 1.40541988e+02] [-1.19173814e-01 9.92873379e-01 -2.36101759e-04 -7.07904056e+00] [-2.56617965e-03 -7.02208749e-05 9.99996705e-01 -9.12842967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.085769231 meters 0.03385250330078065 Centerline is valid? [True, True] Translation: X:140.60, Y:-7.09, Z:-0.92 [[ 9.92888849e-01 1.19045026e-01 1.27223269e-04 1.40600048e+02] [-1.19045025e-01 9.92888857e-01 -1.20595641e-05 -7.08791749e+00] [-1.27754197e-04 -3.17149055e-06 9.99999992e-01 -9.17737830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.145769231 meters 0.032290103835320334 Centerline is valid? [True, True] Translation: X:140.66, Y:-7.09, Z:-0.91 [[ 9.93077289e-01 1.17443477e-01 2.12767859e-03 1.40659197e+02] [-1.17443326e-01 9.93079567e-01 -1.96329962e-04 -7.09131771e+00] [-2.13601181e-03 -5.49108245e-05 9.99997717e-01 -9.14379580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.205769231 meters 0.030342370409726947 Centerline is valid? [True, True] Translation: X:140.72, Y:-7.10, Z:-0.91 [[ 9.93404494e-01 1.14618339e-01 3.18558078e-03 1.40717734e+02] [-1.14617986e-01 9.93409599e-01 -2.93710861e-04 -7.09502585e+00] [-3.19825118e-03 -7.33511654e-05 9.99994883e-01 -9.12066427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26576923099998 meters 0.02618720926329187 Centerline is valid? [True, True] Translation: X:140.78, Y:-7.10, Z:-0.92 [[ 9.93940575e-01 1.09918307e-01 -3.15174852e-04 1.40775744e+02] [-1.09918303e-01 9.93940625e-01 2.87866639e-05 -7.10441150e+00] [ 3.16429271e-04 6.03125165e-06 9.99999950e-01 -9.20491954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32576923099998 meters 0.02068859163464804 Centerline is valid? [True, True] Translation: X:140.83, Y:-7.12, Z:-0.91 [[ 9.94318815e-01 1.06405716e-01 2.81370090e-03 1.40834430e+02] [-1.06405409e-01 9.94322796e-01 -2.59213543e-04 -7.11593861e+00] [-2.82530874e-03 -4.16520905e-05 9.99996008e-01 -9.12171066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38576923099998 meters 0.020423367967183026 Centerline is valid? [True, True] Translation: X:140.89, Y:-7.12, Z:-0.91 [[ 9.94496447e-01 1.04727908e-01 2.98037368e-03 1.40893997e+02] [-1.04727556e-01 9.94500912e-01 -2.74438744e-04 -7.12187015e+00] [-2.99272574e-03 -3.91988962e-05 9.99995521e-01 -9.13308068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44576923099999 meters 0.019164041715816742 Centerline is valid? [True, True] Translation: X:140.95, Y:-7.13, Z:-0.91 [[ 9.94525406e-01 1.04455945e-01 2.85880665e-03 1.40953711e+02] [-1.04455620e-01 9.94529514e-01 -2.63263625e-04 -7.12670652e+00] [-2.87066704e-03 -3.67960574e-05 9.99995879e-01 -9.13464230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.505769231 meters 0.01963674046989343 Centerline is valid? [True, True] Translation: X:141.01, Y:-7.13, Z:-0.91 [[ 9.94521662e-01 1.04455723e-01 3.95799884e-03 1.41012035e+02] [-1.04455100e-01 9.94529537e-01 -3.64363906e-04 -7.12785567e+00] [-3.97440665e-03 -5.10653680e-05 9.99992101e-01 -9.12343328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.565769231 meters 0.02197332741703941 Centerline is valid? [True, True] Translation: X:141.07, Y:-7.13, Z:-0.91 [[ 9.94300252e-01 1.06561450e-01 3.41547231e-03 1.41072149e+02] [-1.06560999e-01 9.94306117e-01 -3.14290304e-04 -7.12522765e+00] [-3.42951624e-03 -5.14572143e-05 9.99994118e-01 -9.12940348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.625769231 meters 0.026555518094674088 Centerline is valid? [True, True] Translation: X:141.13, Y:-7.12, Z:-0.92 [[ 9.93884669e-01 1.10412511e-01 1.53068610e-03 1.41132800e+02] [-1.10412425e-01 9.93885847e-01 -1.40905828e-04 -7.11622056e+00] [-1.53688501e-03 -2.89626215e-05 9.99998819e-01 -9.16664814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.685769231 meters 0.026294906398868705 Centerline is valid? [True, True] Translation: X:141.19, Y:-7.11, Z:-0.91 [[ 9.93727023e-01 1.11772462e-01 3.67710646e-03 1.41191875e+02] [-1.11771975e-01 9.93733823e-01 -3.38265732e-04 -7.11411587e+00] [-3.69187386e-03 -7.48536546e-05 9.99993182e-01 -9.13632222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.745769231 meters 0.026113313888151343 Centerline is valid? [True, True] Translation: X:141.25, Y:-7.11, Z:-0.92 [[ 9.93748587e-01 1.11609641e-01 2.65196902e-03 1.41250993e+02] [-1.11609387e-01 9.93752125e-01 -2.43927505e-04 -7.11012200e+00] [-2.66262451e-03 -5.35820239e-05 9.99996454e-01 -9.15734044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.805769231 meters 0.020723654151855796 Centerline is valid? [True, True] Translation: X:141.31, Y:-7.12, Z:-0.91 [[ 9.94355000e-01 1.06053974e-01 3.26943151e-03 1.41310527e+02] [-1.06053560e-01 9.94360373e-01 -3.00354385e-04 -7.11782730e+00] [-3.28284691e-03 -4.80759657e-05 9.99994610e-01 -9.14454021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.865769231 meters 0.01802724546668346 Centerline is valid? [True, True] Translation: X:141.37, Y:-7.13, Z:-0.91 [[ 9.94850051e-01 1.01280524e-01 3.95357085e-03 1.41368485e+02] [-1.01279880e-01 9.94857906e-01 -3.63247727e-04 -7.12595934e+00] [-3.97003114e-03 -3.90401617e-05 9.99992119e-01 -9.14595071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.925769231 meters 0.012816812875820652 Centerline is valid? [True, True] Translation: X:141.43, Y:-7.15, Z:-0.92 [[ 9.95526487e-01 9.44592016e-02 2.11482645e-03 1.41426289e+02] [-9.44590021e-02 9.95528733e-01 -1.94245845e-04 -7.14838164e+00] [-2.12371880e-03 -6.38751200e-06 9.99997745e-01 -9.17123513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.985769231 meters 0.013669873314268865 Centerline is valid? [True, True] Translation: X:141.49, Y:-7.15, Z:-0.92 [[ 9.95416038e-01 9.56368693e-02 7.07019228e-04 1.41485404e+02] [-9.56368472e-02 9.95416289e-01 -6.50323567e-05 -7.15310068e+00] [-7.09997948e-04 -2.88283904e-06 9.99999748e-01 -9.19142888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04576923099998 meters 0.013982289600669752 Centerline is valid? [True, True] Translation: X:141.54, Y:-7.16, Z:-0.91 [[ 9.95288014e-01 9.68409126e-02 4.85869254e-03 1.41542452e+02] [-9.68398897e-02 9.95299873e-01 -4.45896150e-04 -7.16159185e+00] [-4.87903706e-03 -2.67201566e-05 9.99988097e-01 -9.13107250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10576923099998 meters 0.01271604977742598 Centerline is valid? [True, True] Translation: X:141.60, Y:-7.18, Z:-0.92 [[ 9.95515909e-01 9.45006246e-02 4.20788273e-03 1.41600730e+02] [-9.44998377e-02 9.95524802e-01 -3.85881509e-04 -7.17895849e+00] [-4.22551766e-03 -1.34930535e-05 9.99991072e-01 -9.15427518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16576923099998 meters 0.01230391773149988 Centerline is valid? [True, True] Translation: X:141.66, Y:-7.20, Z:-0.92 [[ 9.95809610e-01 9.14132154e-02 2.61622961e-03 1.41659923e+02] [-9.14129012e-02 9.95813047e-01 -2.39712722e-04 -7.19975448e+00] [-2.62718849e-03 -4.48906342e-07 9.99996549e-01 -9.18712331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.225769231 meters 0.012286806657946053 Centerline is valid? [True, True] Translation: X:141.72, Y:-7.21, Z:-0.92 [[ 9.95758576e-01 9.19268635e-02 3.78282760e-03 1.41719756e+02] [-9.19262092e-02 9.95765761e-01 -3.46844652e-04 -7.20947203e+00] [-3.79869455e-03 -2.36746475e-06 9.99992785e-01 -9.17127491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.285769231 meters 0.013976554189749744 Centerline is valid? [True, True] Translation: X:141.78, Y:-7.21, Z:-0.92 [[ 9.95387958e-01 9.59286293e-02 7.15099582e-04 1.41779264e+02] [-9.59286069e-02 9.95388215e-01 -6.56406766e-05 -7.21370085e+00] [-7.18098516e-04 -3.26056764e-06 9.99999742e-01 -9.23457131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.345769231 meters 0.015406643230396895 Centerline is valid? [True, True] Translation: X:141.84, Y:-7.22, Z:-0.92 [[ 9.95165356e-01 9.82087318e-02 9.79665539e-04 1.41838570e+02] [-9.82086909e-02 9.95165838e-01 -8.99509065e-05 -7.21689323e+00] [-9.83763641e-04 -6.69564415e-06 9.99999516e-01 -9.24167481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.405769231 meters 0.013566809394067039 Centerline is valid? [True, True] Translation: X:141.90, Y:-7.23, Z:-0.92 [[ 9.95359414e-01 9.61559206e-02 3.69816099e-03 1.41898278e+02] [-9.61553249e-02 9.95366284e-01 -3.38953634e-04 -7.22867742e+00] [-3.71361716e-03 -1.82171815e-05 9.99993104e-01 -9.19512094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.465769231 meters 0.01221123444813808 Centerline is valid? [True, True] Translation: X:141.96, Y:-7.25, Z:-0.92 [[ 9.95845924e-01 9.09719375e-02 3.87327729e-03 1.41958270e+02] [-9.09712460e-02 9.95853456e-01 -3.54718297e-04 -7.24778408e+00] [-3.88948598e-03 8.87909574e-07 9.99992436e-01 -9.19960426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.525769231 meters 0.015428866660202418 Centerline is valid? [True, True] Translation: X:142.02, Y:-7.27, Z:-0.92 [[ 9.96510560e-01 8.34312313e-02 2.43580323e-03 1.42017792e+02] [-8.34309360e-02 9.96513537e-01 -2.22772578e-04 -7.27385002e+00] [-2.44589709e-03 1.87738823e-05 9.99997009e-01 -9.22908439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.585769231 meters 0.017505695374966396 Centerline is valid? [True, True] Translation: X:142.08, Y:-7.30, Z:-0.92 [[ 9.96745553e-01 8.05457891e-02 3.26775985e-03 1.42078579e+02] [-8.05452394e-02 9.96750909e-01 -2.99683585e-04 -7.29641396e+00] [-3.28128086e-03 3.55057805e-05 9.99994616e-01 -9.21009694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.645769231 meters 0.01803698124042885 Centerline is valid? [True, True] Translation: X:142.14, Y:-7.31, Z:-0.92 [[ 9.96744375e-01 8.05631705e-02 3.19786978e-03 1.42139506e+02] [-8.05626426e-02 9.96749504e-01 -2.93746757e-04 -7.30688000e+00] [-3.21114029e-03 3.51615871e-05 9.99994844e-01 -9.22513436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.705769231 meters 0.016365437943545724 Centerline is valid? [True, True] Translation: X:142.20, Y:-7.32, Z:-0.92 [[ 9.96568421e-01 8.27425902e-02 2.24631309e-03 1.42200935e+02] [-8.27423351e-02 9.96570953e-01 -2.06422273e-04 -7.31937196e+00] [-2.25569029e-03 1.98487278e-05 9.99997456e-01 -9.24542618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76576923099998 meters 0.012154084698990814 Centerline is valid? [True, True] Translation: X:142.26, Y:-7.32, Z:-0.92 [[ 9.95777698e-01 9.17745875e-02 2.04978521e-03 1.42263393e+02] [-9.17743937e-02 9.95779808e-01 -1.88596673e-04 -7.31870190e+00] [-2.05844310e-03 -3.17433965e-07 9.99997881e-01 -9.24370140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82576923099998 meters 0.01394367314227255 Centerline is valid? [True, True] Translation: X:142.32, Y:-7.32, Z:-0.92 [[ 9.95122376e-01 9.85148034e-02 5.12741273e-03 1.42324294e+02] [-9.85136665e-02 9.95135585e-01 -4.74444427e-04 -7.31948820e+00] [-5.14921066e-03 -3.29899617e-05 9.99986742e-01 -9.20487737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88576923099998 meters 0.01596965346358509 Centerline is valid? [True, True] Translation: X:142.39, Y:-7.32, Z:-0.92 [[ 9.94827469e-01 1.01455651e-01 5.00577273e-03 1.42386559e+02] [-1.01454602e-01 9.94840062e-01 -4.63756134e-04 -7.32489973e+00] [-5.02699393e-03 -4.65013370e-05 9.99987364e-01 -9.20414862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94576923099999 meters 0.01996101291586958 Centerline is valid? [True, True] Translation: X:142.45, Y:-7.32, Z:-0.92 [[ 9.94267350e-01 1.06758198e-01 5.92655029e-03 1.42449371e+02] [-1.06756814e-01 9.94285009e-01 -5.50358644e-04 -7.32255801e+00] [-5.95143541e-03 -8.54959970e-05 9.99982286e-01 -9.18921876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.005769231 meters 0.022193467148854437 Centerline is valid? [True, True] Translation: X:142.51, Y:-7.32, Z:-0.92 [[ 9.94019618e-01 1.09134536e-01 3.82790574e-03 1.42512108e+02] [-1.09133978e-01 9.94026986e-01 -3.55161591e-04 -7.32229299e+00] [-3.84380200e-03 -6.47169902e-05 9.99992610e-01 -9.22893301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.065769231 meters 0.020177619381473888 Centerline is valid? [True, True] Translation: X:142.57, Y:-7.32, Z:-0.92 [[ 9.94217137e-01 1.07311799e-01 4.05736456e-03 1.42574399e+02] [-1.07311153e-01 9.94225414e-01 -3.77190428e-04 -7.32344906e+00] [-4.07441194e-03 -6.03912831e-05 9.99991698e-01 -9.22970859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.125769231 meters 0.018070750692193174 Centerline is valid? [True, True] Translation: X:142.64, Y:-7.33, Z:-0.92 [[ 9.94543296e-01 1.04137423e-01 6.24731567e-03 1.42635074e+02] [-1.04135819e-01 9.94562915e-01 -5.82465082e-04 -7.32823975e+00] [-6.27400490e-03 -7.12825888e-05 9.99980316e-01 -9.19617160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.185769231 meters 0.01606120770742996 Centerline is valid? [True, True] Translation: X:142.70, Y:-7.33, Z:-0.92 [[ 9.94704762e-01 1.02683231e-01 4.31156189e-03 1.42697533e+02] [-1.02682452e-01 9.94714106e-01 -4.02279209e-04 -7.33112637e+00] [-4.33007876e-03 -4.25727021e-05 9.99990624e-01 -9.23039632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.245769231 meters 0.01668836783094344 Centerline is valid? [True, True] Translation: X:142.76, Y:-7.32, Z:-0.92 [[ 9.94686513e-01 1.02841508e-01 4.72922816e-03 1.42758994e+02] [-1.02840567e-01 9.94697754e-01 -4.42504058e-04 -7.32344053e+00] [-4.74966041e-03 -4.62036857e-05 9.99988719e-01 -9.23382177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.305769231 meters 0.013688015755501345 Centerline is valid? [True, True] Translation: X:142.82, Y:-7.33, Z:-0.93 [[ 9.95118300e-01 9.86334206e-02 3.31938502e-03 1.42820452e+02] [-9.86329350e-02 9.95123835e-01 -3.10098557e-04 -7.32612251e+00] [-3.33378523e-03 -1.88159379e-05 9.99994443e-01 -9.26779263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.365769231 meters 0.012405855906129021 Centerline is valid? [True, True] Translation: X:142.88, Y:-7.34, Z:-0.92 [[ 9.95882563e-01 9.05151576e-02 4.99269612e-03 1.42881742e+02] [-9.05139504e-02 9.95895078e-01 -4.67668300e-04 -7.33821153e+00] [-5.01453256e-03 1.38340559e-05 9.99987427e-01 -9.23978418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.425769231 meters 0.023477472383555763 Centerline is valid? [True, True] Translation: X:142.94, Y:-7.37, Z:-0.93 [[ 9.96976913e-01 7.75913545e-02 4.07645714e-03 1.42940158e+02] [-7.75904381e-02 9.96985244e-01 -3.82721183e-04 -7.36522964e+00] [-4.09386347e-03 6.52700875e-05 9.99991618e-01 -9.26427055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.485769231 meters 0.024763587402494156 Centerline is valid? [True, True] Translation: X:143.00, Y:-7.37, Z:-0.93 [[ 9.97229363e-01 7.43284229e-02 2.98049843e-03 1.43001310e+02] [-7.43279201e-02 9.97233815e-01 -2.79257880e-04 -7.37272674e+00] [-2.99301061e-03 5.69499091e-05 9.99995519e-01 -9.27898682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54576923099998 meters 0.022563315578356266 Centerline is valid? [True, True] Translation: X:143.06, Y:-7.38, Z:-0.92 [[ 9.97034189e-01 7.68089438e-02 4.81798293e-03 1.43063640e+02] [-7.68076522e-02 9.97045826e-01 -4.52823014e-04 -7.37785132e+00] [-4.83853063e-03 8.14220698e-05 9.99988291e-01 -9.24725076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60576923099998 meters 0.01741719302356589 Centerline is valid? [True, True] Translation: X:143.13, Y:-7.37, Z:-0.93 [[ 9.96568233e-01 8.27331146e-02 2.64346110e-03 1.43125562e+02] [-8.27327452e-02 9.96571739e-01 -2.48981419e-04 -7.37428754e+00] [-2.65499764e-03 2.94261797e-05 9.99996475e-01 -9.29140360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66576923099998 meters 0.01613158085609319 Centerline is valid? [True, True] Translation: X:143.19, Y:-7.38, Z:-0.93 [[ 9.96424288e-01 8.43397231e-02 5.04465934e-03 1.43187576e+02] [-8.43383983e-02 9.96437057e-01 -4.75139064e-04 -7.37853289e+00] [-5.06675861e-03 4.79816145e-05 9.99987163e-01 -9.25145668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.725769231 meters 0.021136983642546493 Centerline is valid? [True, True] Translation: X:143.25, Y:-7.40, Z:-0.92 [[ 9.96749647e-01 8.03283511e-02 6.12344063e-03 1.43247292e+02] [-8.03263156e-02 9.96768453e-01 -5.78027837e-04 -7.39654527e+00] [-6.15008446e-03 8.42756179e-05 9.99981085e-01 -9.24573552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.785769231 meters 0.02187172211127979 Centerline is valid? [True, True] Translation: X:143.31, Y:-7.41, Z:-0.93 [[ 9.96904918e-01 7.85820794e-02 2.33271728e-03 1.43308680e+02] [-7.85817801e-02 9.96907646e-01 -2.19837377e-04 -7.40654546e+00] [-2.34277897e-03 3.58478861e-05 9.99997255e-01 -9.30411087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.845769231 meters 0.01635356451997118 Centerline is valid? [True, True] Translation: X:143.37, Y:-7.41, Z:-0.92 [[ 9.96413154e-01 8.43703994e-02 6.51625830e-03 1.43370834e+02] [-8.43681663e-02 9.96434459e-01 -6.17309847e-04 -7.40855437e+00] [-6.54510699e-03 6.53308881e-05 9.99978578e-01 -9.23585027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.905769231 meters 0.012972901322625068 Centerline is valid? [True, True] Translation: X:143.43, Y:-7.42, Z:-0.93 [[ 9.95987700e-01 8.93109045e-02 5.66247320e-03 1.43432734e+02] [-8.93092981e-02 9.96003796e-01 -5.36422811e-04 -7.41549586e+00] [-5.68775321e-03 2.85590145e-05 9.99983824e-01 -9.25949949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.965769231 meters 0.012604104073181289 Centerline is valid? [True, True] Translation: X:143.49, Y:-7.42, Z:-0.93 [[ 9.95846004e-01 9.09314444e-02 4.71258574e-03 1.43494761e+02] [-9.09303474e-02 9.95857154e-01 -4.46967125e-04 -7.42489559e+00] [-4.73370559e-03 1.65933667e-05 9.99988796e-01 -9.28080737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.025769231 meters 0.011969492089588248 Centerline is valid? [True, True] Translation: X:143.56, Y:-7.42, Z:-0.93 [[ 9.95313462e-01 9.66280074e-02 3.76046061e-03 1.43557540e+02] [-9.66273475e-02 9.95320566e-01 -3.57182976e-04 -7.42333051e+00] [-3.77737766e-03 -7.85431063e-06 9.99992866e-01 -9.29990875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.085769231 meters 0.013937799602615542 Centerline is valid? [True, True] Translation: X:143.62, Y:-7.42, Z:-0.93 [[ 9.94861526e-01 1.01185743e-01 3.46258982e-03 1.43620508e+02] [-1.01185209e-01 9.94867551e-01 -3.29379870e-04 -7.42142787e+00] [-3.47814681e-03 -2.26755149e-05 9.99993951e-01 -9.31780076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.145769231 meters 0.01250532121498627 Centerline is valid? [True, True] Translation: X:143.68, Y:-7.43, Z:-0.93 [[ 9.95145614e-01 9.83367009e-02 3.88577586e-03 1.43681359e+02] [-9.83360042e-02 9.95153201e-01 -3.70418661e-04 -7.43394345e+00] [-3.90336803e-03 -1.34911656e-05 9.99992382e-01 -9.32720381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.205769231 meters 0.011872198488496796 Centerline is valid? [True, True] Translation: X:143.74, Y:-7.45, Z:-0.93 [[ 9.95384178e-01 9.59000479e-02 3.67692047e-03 1.43743429e+02] [-9.58994058e-02 9.95390969e-01 -3.50956950e-04 -7.44621862e+00] [-3.69363022e-03 -3.27749268e-06 9.99993179e-01 -9.32155873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26576923099998 meters 0.012160241722348539 Centerline is valid? [True, True] Translation: X:143.80, Y:-7.45, Z:-0.94 [[ 9.95410455e-01 9.56715874e-02 2.22990911e-03 1.43803827e+02] [-9.56713498e-02 9.95412953e-01 -2.13210907e-04 -7.45253555e+00] [-2.24007864e-03 -1.10604812e-06 9.99997491e-01 -9.35551887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32576923099998 meters 0.01369603965335383 Centerline is valid? [True, True] Translation: X:143.87, Y:-7.45, Z:-0.93 [[ 9.94826880e-01 1.01542385e-01 2.93642915e-03 1.43865957e+02] [-1.01541996e-01 9.94831214e-01 -2.81492049e-04 -7.44938561e+00] [-2.94983475e-03 -1.81350214e-05 9.99995649e-01 -9.33211428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38576923099998 meters 0.01672423650109989 Centerline is valid? [True, True] Translation: X:143.93, Y:-7.45, Z:-0.93 [[ 9.94276677e-01 1.06668442e-01 5.97773633e-03 1.43926933e+02] [-1.06666922e-01 9.94294644e-01 -5.73332446e-04 -7.45100501e+00] [-6.00478769e-03 -6.75756573e-05 9.99981969e-01 -9.27173862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44576923099999 meters 0.014833038860751989 Centerline is valid? [True, True] Translation: X:143.99, Y:-7.46, Z:-0.93 [[ 9.94625249e-01 1.03302407e-01 7.01621694e-03 1.43986833e+02] [-1.03300227e-01 9.94649994e-01 -6.73350586e-04 -7.46286189e+00] [-7.04823887e-03 -5.50453082e-05 9.99975159e-01 -9.27045174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.505769231 meters 0.01204947715489276 Centerline is valid? [True, True] Translation: X:144.05, Y:-7.48, Z:-0.93 [[ 9.95318279e-01 9.65977090e-02 3.22588677e-03 1.44046997e+02] [-9.65972134e-02 9.95323507e-01 -3.09457561e-04 -7.48327569e+00] [-3.24069382e-03 -3.60290563e-06 9.99994749e-01 -9.34299310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.565769231 meters 0.012467012435910061 Centerline is valid? [True, True] Translation: X:144.11, Y:-7.49, Z:-0.94 [[ 9.95504359e-01 9.47067510e-02 1.30451746e-03 1.44107717e+02] [-9.47066689e-02 9.95505214e-01 -1.24728749e-04 -7.49365723e+00] [-1.31046658e-03 6.21510946e-07 9.99999141e-01 -9.38238237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.625769231 meters 0.014174740676058053 Centerline is valid? [True, True] Translation: X:144.17, Y:-7.51, Z:-0.94 [[ 9.95801378e-01 9.15348903e-02 9.89560376e-04 1.44167606e+02] [-9.15348416e-02 9.95801870e-01 -9.45470191e-05 -7.51179422e+00] [-9.94060424e-04 3.57079968e-06 9.99999506e-01 -9.40951633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.685769231 meters 0.01504142598772837 Centerline is valid? [True, True] Translation: X:144.23, Y:-7.53, Z:-0.94 [[ 9.96043610e-01 8.88639853e-02 5.64785691e-04 1.44229007e+02] [-8.88639693e-02 9.96043770e-01 -5.34689234e-05 -7.52736806e+00] [-5.67302731e-04 3.06828115e-06 9.99999839e-01 -9.39315765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.745769231 meters 0.015614928402780968 Centerline is valid? [True, True] Translation: X:144.29, Y:-7.54, Z:-0.93 [[ 9.96124392e-01 8.78790871e-02 3.66911420e-03 1.44290584e+02] [-8.78783773e-02 9.96131149e-01 -3.54519619e-04 -7.54075259e+00] [-3.68607380e-03 3.07098374e-05 9.99993206e-01 -9.33674292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.805769231 meters 0.015311700533055231 Centerline is valid? [True, True] Translation: X:144.35, Y:-7.55, Z:-0.93 [[ 9.96077279e-01 8.84047194e-02 3.82881362e-03 1.44352979e+02] [-8.84039480e-02 9.96084637e-01 -3.70571516e-04 -7.55057084e+00] [-3.84658270e-03 3.06356271e-05 9.99992601e-01 -9.34247585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.865769231 meters 0.016236312319877374 Centerline is valid? [True, True] Translation: X:144.41, Y:-7.56, Z:-0.93 [[ 9.96141049e-01 8.75824674e-02 5.68516910e-03 1.44414196e+02] [-8.75807428e-02 9.96157271e-01 -5.52090077e-04 -7.56239548e+00] [-5.71167595e-03 5.20482558e-05 9.99983687e-01 -9.30203060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.925769231 meters 0.017144838062837505 Centerline is valid? [True, True] Translation: X:144.47, Y:-7.58, Z:-0.93 [[ 9.96198910e-01 8.67883355e-02 7.45095618e-03 1.44474365e+02] [-8.67853422e-02 9.96226771e-01 -7.24731438e-04 -7.57617979e+00] [-7.48574025e-03 7.53428861e-05 9.99971979e-01 -9.27934819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.985769231 meters 0.020180917764583764 Centerline is valid? [True, True] Translation: X:144.53, Y:-7.59, Z:-0.94 [[ 9.96465639e-01 8.39310190e-02 3.43720771e-03 1.44534507e+02] [-8.39303652e-02 9.96471566e-01 -3.34274393e-04 -7.59333940e+00] [-3.45313574e-03 4.46068479e-05 9.99994037e-01 -9.36120411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04576923099998 meters 0.020526102722031748 Centerline is valid? [True, True] Translation: X:144.60, Y:-7.61, Z:-0.93 [[ 9.96573452e-01 8.26364632e-02 3.54531058e-03 1.44595208e+02] [-8.26357576e-02 9.96579757e-01 -3.45287823e-04 -7.60826479e+00] [-3.56171812e-03 5.11352514e-05 9.99993656e-01 -9.34144546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10576923099998 meters 0.018760835257961243 Centerline is valid? [True, True] Translation: X:144.66, Y:-7.62, Z:-0.94 [[ 9.96382458e-01 8.49377482e-02 2.75250300e-03 1.44657282e+02] [-8.49373299e-02 9.96386259e-01 -2.68739923e-04 -7.61658110e+00] [-2.76538234e-03 3.39774897e-05 9.99996176e-01 -9.36867239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16576923099998 meters 0.014905595764232815 Centerline is valid? [True, True] Translation: X:144.72, Y:-7.62, Z:-0.94 [[ 9.95893178e-01 9.05269807e-02 1.28182326e-03 1.44718594e+02] [-9.05268955e-02 9.95894003e-01 -1.24464806e-04 -7.61645737e+00] [-1.28782752e-03 7.91417156e-06 9.99999171e-01 -9.40181557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.225769231 meters 0.01220639571901871 Centerline is valid? [True, True] Translation: X:144.78, Y:-7.61, Z:-0.93 [[ 9.94994585e-01 9.98389783e-02 4.23732322e-03 1.44781706e+02] [-9.98381181e-02 9.95003607e-01 -4.14561692e-04 -7.60757736e+00] [-4.25754130e-03 -1.05597372e-05 9.99990937e-01 -9.32465391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.285769231 meters 0.013811882289769328 Centerline is valid? [True, True] Translation: X:144.84, Y:-7.61, Z:-0.93 [[ 9.94556458e-01 1.04044019e-01 5.68281169e-03 1.44844683e+02] [-1.04042533e-01 9.94572692e-01 -5.57300318e-04 -7.60712927e+00] [-5.70995309e-03 -3.69874956e-05 9.99983697e-01 -9.31178242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.345769231 meters 0.018272294818972603 Centerline is valid? [True, True] Translation: X:144.91, Y:-7.61, Z:-0.93 [[ 9.93998159e-01 1.09270512e-01 5.25509243e-03 1.44905860e+02] [-1.09269310e-01 9.94012048e-01 -5.16169561e-04 -7.60706147e+00] [-5.28002730e-03 -6.11487299e-05 9.99986059e-01 -9.34068978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.405769231 meters 0.018519922667676096 Centerline is valid? [True, True] Translation: X:144.97, Y:-7.61, Z:-0.94 [[ 9.93979648e-01 1.09515330e-01 3.29426193e-03 1.44968448e+02] [-1.09514859e-01 9.93985106e-01 -3.23567763e-04 -7.61251386e+00] [-3.30988292e-03 -3.91508599e-05 9.99994522e-01 -9.38705362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.465769231 meters 0.016598166008800135 Centerline is valid? [True, True] Translation: X:145.03, Y:-7.62, Z:-0.94 [[ 9.94207661e-01 1.07465427e-01 1.51938442e-03 1.45029598e+02] [-1.07465325e-01 9.94208822e-01 -1.48936301e-04 -7.62301386e+00] [-1.52659090e-03 -1.52075287e-05 9.99998835e-01 -9.42450520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.525769231 meters 0.019070741252745008 Centerline is valid? [True, True] Translation: X:145.09, Y:-7.63, Z:-0.94 [[ 9.93847912e-01 1.10660921e-01 4.52650240e-03 1.45091777e+02] [-1.10660035e-01 9.93858218e-01 -4.46690425e-04 -7.62567873e+00] [-4.54813279e-03 -5.69605668e-05 9.99989656e-01 -9.35823953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.585769231 meters 0.022840430438734793 Centerline is valid? [True, True] Translation: X:145.15, Y:-7.62, Z:-0.94 [[ 9.93437837e-01 1.14253111e-01 5.24309566e-03 1.45153710e+02] [-1.14251965e-01 9.93451669e-01 -5.18568355e-04 -7.62145855e+00] [-5.26801018e-03 -8.38685593e-05 9.99986120e-01 -9.35705313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.645769231 meters 0.021204676467638024 Centerline is valid? [True, True] Translation: X:145.21, Y:-7.63, Z:-0.94 [[ 9.93625509e-01 1.12568079e-01 6.06427908e-03 1.45214881e+02] [-1.12566512e-01 9.93644011e-01 -6.00310687e-04 -7.62942151e+00] [-6.09331041e-03 -8.61507292e-05 9.99981432e-01 -9.35330609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.705769231 meters 0.017061423766287383 Centerline is valid? [True, True] Translation: X:145.28, Y:-7.64, Z:-0.94 [[ 9.94149793e-01 1.07979218e-01 2.58398031e-03 1.45276104e+02] [-1.07978919e-01 9.94153151e-01 -2.55572677e-04 -7.64420578e+00] [-2.59646871e-03 -2.49378753e-05 9.99996629e-01 -9.43623911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76576923099998 meters 0.012887369710307489 Centerline is valid? [True, True] Translation: X:145.34, Y:-7.67, Z:-0.95 [[ 9.95097395e-01 9.88966180e-02 7.96060274e-04 1.45336333e+02] [-9.88965866e-02 9.95097713e-01 -7.87230051e-05 -7.67115859e+00] [-7.99943198e-04 -3.90586595e-07 9.99999680e-01 -9.47289217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82576923099998 meters 0.013906437866487441 Centerline is valid? [True, True] Translation: X:145.40, Y:-7.69, Z:-0.94 [[ 9.95560533e-01 9.39911589e-02 4.98866474e-03 1.45396812e+02] [-9.39898562e-02 9.95573032e-01 -4.95459428e-04 -7.69232975e+00] [-5.01314888e-03 2.43759704e-05 9.99987434e-01 -9.38721441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88576923099998 meters 0.013839217588101008 Centerline is valid? [True, True] Translation: X:145.46, Y:-7.70, Z:-0.95 [[ 9.95450260e-01 9.52709983e-02 1.48916934e-03 1.45457740e+02] [-9.52708844e-02 9.95451373e-01 -1.47400079e-04 -7.70300233e+00] [-1.49643862e-03 4.85496649e-06 9.99998880e-01 -9.45980062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94576923099999 meters 0.012525081402521804 Centerline is valid? [True, True] Translation: X:145.52, Y:-7.71, Z:-0.94 [[ 9.95108307e-01 9.87555971e-02 2.60580730e-03 1.45519137e+02] [-9.87552569e-02 9.95111718e-01 -2.59192384e-04 -7.70648384e+00] [-2.61866607e-03 5.87324988e-07 9.99996571e-01 -9.43945653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.005769231 meters 0.012426343120380275 Centerline is valid? [True, True] Translation: X:145.58, Y:-7.71, Z:-0.94 [[ 9.94861134e-01 1.01204305e-01 3.00208665e-03 1.45582139e+02] [-1.01203864e-01 9.94865664e-01 -2.98971489e-04 -7.71087606e+00] [-3.01693013e-03 -6.38765426e-06 9.99995449e-01 -9.42554696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.065769231 meters 0.013158941025764663 Centerline is valid? [True, True] Translation: X:145.64, Y:-7.72, Z:-0.95 [[ 9.94691025e-01 1.02896538e-01 1.43771660e-03 1.45642817e+02] [-1.02896439e-01 9.94692064e-01 -1.42963142e-04 -7.71504580e+00] [-1.44479571e-03 -5.73176352e-06 9.99998956e-01 -9.46555996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.125769231 meters 0.012800194187913196 Centerline is valid? [True, True] Translation: X:145.70, Y:-7.72, Z:-0.94 [[ 9.94731565e-01 1.02436750e-01 3.97821862e-03 1.45703297e+02] [-1.02435977e-01 9.94739520e-01 -3.98172608e-04 -7.72419147e+00] [-3.99807879e-03 -1.14378488e-05 9.99992008e-01 -9.43000536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.185769231 meters 0.011998962143102367 Centerline is valid? [True, True] Translation: X:145.76, Y:-7.74, Z:-0.94 [[ 9.94930116e-01 1.00337796e-01 6.81111325e-03 1.45764457e+02] [-1.00335468e-01 9.94953429e-01 -6.83475824e-04 -7.73798079e+00] [-6.84531895e-03 -3.38555541e-06 9.99976571e-01 -9.36519244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.245769231 meters 0.012631965746526568 Centerline is valid? [True, True] Translation: X:145.83, Y:-7.74, Z:-0.94 [[ 9.94650657e-01 1.03218430e-01 4.00338726e-03 1.45826868e+02] [-1.03217649e-01 9.94658713e-01 -4.01897886e-04 -7.74084556e+00] [-4.02348729e-03 -1.34722246e-05 9.99991906e-01 -9.42466920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.305769231 meters 0.014656386592984764 Centerline is valid? [True, True] Translation: X:145.89, Y:-7.74, Z:-0.94 [[ 9.94255362e-01 1.07000188e-01 2.68994425e-03 1.45888780e+02] [-1.06999848e-01 9.94259000e-01 -2.70172290e-04 -7.73974376e+00] [-2.70340976e-03 -1.92033784e-05 9.99996346e-01 -9.43726329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.365769231 meters 0.016935604191770467 Centerline is valid? [True, True] Translation: X:145.95, Y:-7.74, Z:-0.94 [[ 9.93883923e-01 1.10389461e-01 2.98577313e-03 1.45951042e+02] [-1.10389057e-01 9.93888407e-01 -3.00469338e-04 -7.74008935e+00] [-3.00069395e-03 -3.09650357e-05 9.99995497e-01 -9.43044719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.425769231 meters 0.02210689686664623 Centerline is valid? [True, True] Translation: X:146.01, Y:-7.74, Z:-0.94 [[ 9.93215282e-01 1.16203504e-01 4.48886194e-03 1.46013787e+02] [-1.16202642e-01 9.93225423e-01 -4.53337676e-04 -7.73500151e+00] [-4.51113122e-03 -7.13557082e-05 9.99989822e-01 -9.40932380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.485769231 meters 0.03008712366278635 Centerline is valid? [True, True] Translation: X:146.08, Y:-7.72, Z:-0.94 [[ 9.92026551e-01 1.25912316e-01 5.42310842e-03 1.46076170e+02] [-1.25911200e-01 9.92041365e-01 -5.48078182e-04 -7.71857657e+00] [-5.44895767e-03 -1.39121981e-04 9.99985145e-01 -9.39087491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54576923099998 meters 0.03834369461129841 Centerline is valid? [True, True] Translation: X:146.14, Y:-7.70, Z:-0.94 [[ 9.91050766e-01 1.33387906e-01 5.10354040e-03 1.46137495e+02] [-1.33387016e-01 9.91063892e-01 -5.15815221e-04 -7.70223066e+00] [-5.12673812e-03 -1.69546956e-04 9.99986844e-01 -9.40224979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60576923099998 meters 0.04177838324956912 Centerline is valid? [True, True] Translation: X:146.20, Y:-7.69, Z:-0.95 [[ 9.90856197e-01 1.34912529e-01 1.61452431e-03 1.46199338e+02] [-1.34912442e-01 9.90857511e-01 -1.63032598e-04 -7.69276073e+00] [-1.62175868e-03 -5.62775578e-05 9.99998683e-01 -9.46091228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66576923099998 meters 0.04020806627223379 Centerline is valid? [True, True] Translation: X:146.26, Y:-7.69, Z:-0.94 [[ 9.91196335e-01 1.32350628e-01 3.62458976e-03 1.46259840e+02] [-1.32350172e-01 9.91202955e-01 -3.66373016e-04 -7.69015517e+00] [-3.64119378e-03 -1.16567487e-04 9.99993364e-01 -9.44556052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.725769231 meters 0.0327849104580019 Centerline is valid? [True, True] Translation: X:146.32, Y:-7.70, Z:-0.94 [[ 9.91574288e-01 1.29486568e-01 3.69605498e-03 1.46320715e+02] [-1.29486075e-01 9.91581170e-01 -3.73419313e-04 -7.70300115e+00] [-3.71329131e-03 -1.08314663e-04 9.99993100e-01 -9.43593355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.785769231 meters 0.02796322662517405 Centerline is valid? [True, True] Translation: X:146.38, Y:-7.71, Z:-0.95 [[ 9.92379308e-01 1.23219802e-01 4.35269927e-04 1.46379704e+02] [-1.23219795e-01 9.92379403e-01 -4.40204678e-05 -7.71329170e+00] [-4.37377104e-04 -9.94886972e-06 9.99999904e-01 -9.49460598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.845769231 meters 0.02334441236330598 Centerline is valid? [True, True] Translation: X:146.44, Y:-7.73, Z:-0.94 [[ 9.92952183e-01 1.18394686e-01 5.35351538e-03 1.46439531e+02] [-1.18393487e-01 9.92966610e-01 -5.41401476e-04 -7.72537859e+00] [-5.37996107e-03 -9.62355740e-05 9.99985523e-01 -9.40186340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.905769231 meters 0.02126962372536921 Centerline is valid? [True, True] Translation: X:146.50, Y:-7.73, Z:-0.94 [[ 9.93281361e-01 1.15622429e-01 4.85719118e-03 1.46499754e+02] [-1.15621410e-01 9.93293234e-01 -4.91081443e-04 -7.73407800e+00] [-4.88139516e-03 -7.38132490e-05 9.99988083e-01 -9.42177344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.965769231 meters 0.020644128209499162 Centerline is valid? [True, True] Translation: X:146.56, Y:-7.74, Z:-0.95 [[ 9.93383145e-01 1.14826006e-01 2.21722072e-03 1.46561592e+02] [-1.14825793e-01 9.93385619e-01 -2.23579840e-04 -7.74389082e+00] [-2.22822795e-03 -3.24936828e-05 9.99997517e-01 -9.46810293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.025769231 meters 0.020365341497321734 Centerline is valid? [True, True] Translation: X:146.62, Y:-7.75, Z:-0.95 [[ 9.93362631e-01 1.15020972e-01 9.27478986e-04 1.46624482e+02] [-1.15020936e-01 9.93363063e-01 -9.29138877e-05 -7.74949798e+00] [-9.32010412e-04 -1.43823167e-05 9.99999566e-01 -9.50302107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.085769231 meters 0.019563228749387616 Centerline is valid? [True, True] Translation: X:146.69, Y:-7.76, Z:-0.95 [[ 9.93420688e-01 1.14482457e-01 3.01719778e-03 1.46685721e+02] [-1.14482056e-01 9.93425269e-01 -3.05940221e-04 -7.75767552e+00] [-3.03238530e-03 -4.14876609e-05 9.99995401e-01 -9.46968127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.145769231 meters 0.018244720604776086 Centerline is valid? [True, True] Translation: X:146.75, Y:-7.77, Z:-0.95 [[ 9.93607031e-01 1.12861363e-01 2.71677106e-03 1.46747463e+02] [-1.12861031e-01 9.93610745e-01 -2.75818392e-04 -7.76791229e+00] [-2.73054216e-03 -3.25624895e-05 9.99996272e-01 -9.48395854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.205769231 meters 0.018337506084151505 Centerline is valid? [True, True] Translation: X:146.81, Y:-7.78, Z:-0.95 [[ 9.93612656e-01 1.12786723e-01 3.61175251e-03 1.46807807e+02] [-1.12786132e-01 9.93619219e-01 -3.67708036e-04 -7.77503610e+00] [-3.63017929e-03 -4.19962354e-05 9.99993410e-01 -9.47010526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26576923099998 meters 0.021705650325430058 Centerline is valid? [True, True] Translation: X:146.87, Y:-7.78, Z:-0.94 [[ 9.93133739e-01 1.16865711e-01 5.27081083e-03 1.46869997e+02] [-1.16864502e-01 9.93147723e-01 -5.37894101e-04 -7.77710434e+00] [-5.29755515e-03 -8.17699033e-05 9.99985965e-01 -9.44714756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32576923099998 meters 0.023546429893610013 Centerline is valid? [True, True] Translation: X:146.93, Y:-7.78, Z:-0.95 [[ 9.92931134e-01 1.18597708e-01 4.72715141e-03 1.46931303e+02] [-1.18596751e-01 9.92942384e-01 -4.83080078e-04 -7.78360356e+00] [-4.75108118e-03 -8.09595508e-05 9.99988710e-01 -9.46190059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38576923099998 meters 0.027154087104563414 Centerline is valid? [True, True] Translation: X:146.99, Y:-7.79, Z:-0.95 [[ 9.92540474e-01 1.21807499e-01 5.13225499e-03 1.46992952e+02] [-1.21806410e-01 9.92553738e-01 -5.25468024e-04 -7.78523062e+00] [-5.15804482e-03 -1.03593272e-04 9.99986692e-01 -9.45832122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44576923099999 meters 0.036977829108364814 Centerline is valid? [True, True] Translation: X:147.05, Y:-7.77, Z:-0.95 [[ 9.91480197e-01 1.30210577e-01 3.49636161e-03 1.47054100e+02] [-1.30210122e-01 9.91486357e-01 -3.58353048e-04 -7.77270869e+00] [-3.51325619e-03 -9.99617207e-05 9.99993823e-01 -9.48113365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.505769231 meters 0.03930882598837092 Centerline is valid? [True, True] Translation: X:147.12, Y:-7.77, Z:-0.94 [[ 9.90313046e-01 1.38744083e-01 5.49102133e-03 1.47115644e+02] [-1.38743092e-01 9.90328247e-01 -5.62821859e-04 -7.76807405e+00] [-5.51600173e-03 -2.04471449e-04 9.99984766e-01 -9.44255798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.565769231 meters 0.05529031294769475 Centerline is valid? [True, True] Translation: X:147.18, Y:-7.75, Z:-0.95 [[ 9.89440410e-01 1.44860599e-01 4.80425746e-03 1.47177264e+02] [-1.44859913e-01 9.89452052e-01 -4.92398132e-04 -7.74643783e+00] [-4.82491149e-03 -2.08745708e-04 9.99988338e-01 -9.46847352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.625769231 meters 0.0679977729815787 Centerline is valid? [True, True] Translation: X:147.24, Y:-7.72, Z:-0.95 [[ 9.88073881e-01 1.53948263e-01 3.15234322e-03 1.47239319e+02] [-1.53948013e-01 9.88078896e-01 -3.23179597e-04 -7.71811746e+00] [-3.16451674e-03 -1.65971655e-04 9.99994979e-01 -9.49306125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.685769231 meters 0.07054607413279382 Centerline is valid? [True, True] Translation: X:147.30, Y:-7.71, Z:-0.95 [[ 9.87812004e-01 1.55596637e-01 4.13904423e-03 1.47299943e+02] [-1.55596221e-01 9.87820650e-01 -4.24417757e-04 -7.70966229e+00] [-4.15467133e-03 -2.24774685e-04 9.99991344e-01 -9.47878210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.745769231 meters 0.05886451260653297 Centerline is valid? [True, True] Translation: X:147.36, Y:-7.71, Z:-0.95 [[ 9.87892853e-01 1.55080778e-01 4.20282958e-03 1.47358549e+02] [-1.55080345e-01 9.87901767e-01 -4.30860401e-04 -7.71368929e+00] [-4.21880093e-03 -2.26132349e-04 9.99991075e-01 -9.48520827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.805769231 meters 0.05342651209200418 Centerline is valid? [True, True] Translation: X:147.42, Y:-7.71, Z:-0.95 [[ 9.88868916e-01 1.48696337e-01 5.25989919e-03 1.47419561e+02] [-1.48695570e-01 9.88882873e-01 -5.38817064e-04 -7.71087648e+00] [-5.28154435e-03 -2.49304260e-04 9.99986021e-01 -9.45644672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.865769231 meters 0.046645723874515 Centerline is valid? [True, True] Translation: X:147.48, Y:-7.71, Z:-0.95 [[ 9.90002802e-01 1.41012710e-01 3.14132695e-03 1.47480283e+02] [-1.41012397e-01 9.90007778e-01 -3.21792850e-04 -7.70925318e+00] [-3.15531500e-03 -1.24390222e-04 9.99995014e-01 -9.50863366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.925769231 meters 0.03803502375920391 Centerline is valid? [True, True] Translation: X:147.54, Y:-7.71, Z:-0.95 [[ 9.91307576e-01 1.31418083e-01 6.21102314e-03 1.47539649e+02] [-1.31416674e-01 9.91327016e-01 -6.36241178e-04 -7.71454130e+00] [-6.24076863e-03 -1.85521302e-04 9.99980509e-01 -9.45279417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.985769231 meters 0.022583963552389133 Centerline is valid? [True, True] Translation: X:147.60, Y:-7.73, Z:-0.95 [[ 9.93065689e-01 1.17433602e-01 5.46682679e-03 1.47598369e+02] [-1.17432298e-01 9.93080733e-01 -5.59930775e-04 -7.73449568e+00] [-5.49475505e-03 -8.59339929e-05 9.99984900e-01 -9.47243570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04576923099998 meters 0.01615173131081288 Centerline is valid? [True, True] Translation: X:147.66, Y:-7.75, Z:-0.95 [[ 9.93928048e-01 1.10005522e-01 2.41249017e-03 1.47657211e+02] [-1.10005247e-01 9.93930976e-01 -2.47136046e-04 -7.74875715e+00] [-2.42503504e-03 -1.97511285e-05 9.99997059e-01 -9.54514771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10576923099998 meters 0.014705612585592397 Centerline is valid? [True, True] Translation: X:147.71, Y:-7.77, Z:-0.95 [[ 9.95382264e-01 9.59146288e-02 3.81221692e-03 1.47714155e+02] [-9.59138366e-02 9.95389564e-01 -3.90505551e-04 -7.77106184e+00] [-3.83209613e-03 2.30579489e-05 9.99992657e-01 -9.50994541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16576923099998 meters 0.01900677507628172 Centerline is valid? [True, True] Translation: X:147.77, Y:-7.79, Z:-0.95 [[ 9.95869050e-01 9.07344533e-02 3.47764663e-03 1.47772773e+02] [-9.07337633e-02 9.95875121e-01 -3.56000261e-04 -7.78602079e+00] [-3.49560325e-03 3.89896759e-05 9.99993890e-01 -9.52552156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.225769231 meters 0.021201152199779954 Centerline is valid? [True, True] Translation: X:147.83, Y:-7.80, Z:-0.95 [[ 9.96276244e-01 8.61595764e-02 3.18942705e-03 1.47832573e+02] [-8.61589726e-02 9.96281348e-01 -3.26504720e-04 -7.79717728e+00] [-3.20569819e-03 5.04911389e-05 9.99994860e-01 -9.53672175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.285769231 meters 0.023994189026695967 Centerline is valid? [True, True] Translation: X:147.89, Y:-7.81, Z:-0.95 [[ 9.96490718e-01 8.35656107e-02 4.79967832e-03 1.47892157e+02] [-8.35642132e-02 9.96502273e-01 -4.91321333e-04 -7.81023418e+00] [-4.82394793e-03 8.85158052e-05 9.99988361e-01 -9.50253366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.345769231 meters 0.02367589136757628 Centerline is valid? [True, True] Translation: X:147.95, Y:-7.82, Z:-0.95 [[ 9.96468127e-01 8.38363806e-02 4.76790241e-03 1.47952840e+02] [-8.38350045e-02 9.96479530e-01 -4.88099218e-04 -7.81723097e+00] [-4.79203762e-03 8.66581939e-05 9.99988514e-01 -9.50144771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.405769231 meters 0.020728484614090725 Centerline is valid? [True, True] Translation: X:148.01, Y:-7.82, Z:-0.95 [[ 9.96084065e-01 8.82868048e-02 4.68781096e-03 1.48012082e+02] [-8.82855229e-02 9.96095094e-01 -4.80091159e-04 -7.82108012e+00] [-4.71189122e-03 6.43453116e-05 9.99988897e-01 -9.50499856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.465769231 meters 0.015510204733794268 Centerline is valid? [True, True] Translation: X:148.07, Y:-7.82, Z:-0.95 [[ 9.95558124e-01 9.40103463e-02 5.10644010e-03 1.48072772e+02] [-9.40089007e-02 9.95571220e-01 -5.22918555e-04 -7.81609203e+00] [-5.13298455e-03 4.05449955e-05 9.99986825e-01 -9.50311973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.525769231 meters 0.013429121517666974 Centerline is valid? [True, True] Translation: X:148.13, Y:-7.82, Z:-0.96 [[ 9.95067935e-01 9.91468724e-02 3.11491818e-03 1.48131969e+02] [-9.91463595e-02 9.95072810e-01 -3.19014679e-04 -7.81505564e+00] [-3.13119970e-03 8.60847972e-06 9.99995098e-01 -9.55050598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.585769231 meters 0.013009688680302582 Centerline is valid? [True, True] Translation: X:148.19, Y:-7.81, Z:-0.95 [[ 9.94778208e-01 1.01985801e-01 3.90039161e-03 1.48191013e+02] [-1.01985019e-01 9.94785855e-01 -3.99296273e-04 -7.81300630e+00] [-3.92077695e-03 -5.70281806e-07 9.99992314e-01 -9.53977432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.645769231 meters 0.013317893708389202 Centerline is valid? [True, True] Translation: X:148.25, Y:-7.82, Z:-0.96 [[ 9.94962838e-01 1.00217520e-01 2.32352590e-03 1.48248221e+02] [-1.00217238e-01 9.94965551e-01 -2.37943091e-04 -7.81922552e+00] [-2.33567429e-03 3.88718623e-06 9.99997272e-01 -9.58131750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.705769231 meters 0.017624441578703253 Centerline is valid? [True, True] Translation: X:148.31, Y:-7.84, Z:-0.95 [[ 9.95730162e-01 9.22143290e-02 4.23818410e-03 1.48305170e+02] [-9.22133198e-02 9.95739181e-01 -4.33340090e-04 -7.84239173e+00] [-4.26008613e-03 4.06727720e-05 9.99990925e-01 -9.54947375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76576923099998 meters 0.025245309741291005 Centerline is valid? [True, True] Translation: X:148.36, Y:-7.87, Z:-0.95 [[ 9.96449790e-01 8.40459512e-02 4.90864803e-03 1.48363710e+02] [-8.40444994e-02 9.96461876e-01 -5.01647922e-04 -7.86857008e+00] [-4.93344210e-03 8.73220994e-05 9.99987827e-01 -9.54062416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82576923099998 meters 0.025321908628262193 Centerline is valid? [True, True] Translation: X:148.42, Y:-7.88, Z:-0.96 [[ 9.96592204e-01 8.24282381e-02 3.09277694e-03 1.48423875e+02] [-8.24276539e-02 9.96597001e-01 -3.16106336e-04 -7.88374698e+00] [-3.10830831e-03 6.00987630e-05 9.99995167e-01 -9.57436894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88576923099998 meters 0.023228703835560156 Centerline is valid? [True, True] Translation: X:148.48, Y:-7.89, Z:-0.96 [[ 9.96405851e-01 8.46304518e-02 3.61466678e-03 1.48484195e+02] [-8.46296678e-02 9.96412406e-01 -3.69561404e-04 -7.89395712e+00] [-3.63297498e-03 6.23250963e-05 9.99993399e-01 -9.56344817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94576923099999 meters 0.02039313965022967 Centerline is valid? [True, True] Translation: X:148.54, Y:-7.91, Z:-0.96 [[ 9.96095453e-01 8.82072204e-02 3.65158668e-03 1.48543400e+02] [-8.82064439e-02 9.96102145e-01 -3.73464450e-04 -7.90625897e+00] [-3.67029559e-03 4.99127646e-05 9.99993263e-01 -9.57709100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.005769231 meters 0.017731015494365714 Centerline is valid? [True, True] Translation: X:148.60, Y:-7.92, Z:-0.96 [[ 9.95827346e-01 9.11878133e-02 3.56087909e-03 1.48603931e+02] [-9.11870939e-02 9.95833712e-01 -3.64186472e-04 -7.91842537e+00] [-3.57925281e-03 3.79606321e-05 9.99993594e-01 -9.58269754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.065769231 meters 0.013637836405529367 Centerline is valid? [True, True] Translation: X:148.66, Y:-7.92, Z:-0.96 [[ 9.95166766e-01 9.80867891e-02 4.69993126e-03 1.48664506e+02] [-9.80856120e-02 9.95177864e-01 -4.80874019e-04 -7.91827790e+00] [-4.72443494e-03 1.75542088e-05 9.99988840e-01 -9.55590408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.125769231 meters 0.013917606880385638 Centerline is valid? [True, True] Translation: X:148.73, Y:-7.91, Z:-0.96 [[ 9.94321855e-01 1.06330379e-01 4.23062336e-03 1.48725310e+02] [-1.06329500e-01 9.94330855e-01 -4.32994118e-04 -7.90901848e+00] [-4.25267978e-03 -1.93045502e-05 9.99990957e-01 -9.57410528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.185769231 meters 0.014936225316971826 Centerline is valid? [True, True] Translation: X:148.79, Y:-7.91, Z:-0.96 [[ 9.94115714e-01 1.08259936e-01 3.70594142e-03 1.48785557e+02] [-1.08259275e-01 9.94122621e-01 -3.79231944e-04 -7.90810562e+00] [-3.72521583e-03 -2.42020957e-05 9.99993061e-01 -9.60274506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.245769231 meters 0.013012861789315424 Centerline is valid? [True, True] Translation: X:148.85, Y:-7.91, Z:-0.96 [[ 9.94623221e-01 1.03510535e-01 3.19645516e-03 1.48845859e+02] [-1.03510019e-01 9.94628357e-01 -3.26951780e-04 -7.91491970e+00] [-3.21312790e-03 -5.67130075e-06 9.99994838e-01 -9.60646654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.305769231 meters 0.013763906863341368 Centerline is valid? [True, True] Translation: X:148.91, Y:-7.92, Z:-0.96 [[ 9.95091779e-01 9.89544165e-02 6.12622702e-04 1.48905670e+02] [-9.89543967e-02 9.95091967e-01 -6.26625660e-05 -7.92141042e+00] [-6.15816667e-04 1.73329447e-06 9.99999810e-01 -9.64427260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.365769231 meters 0.012997038034418002 Centerline is valid? [True, True] Translation: X:148.96, Y:-7.92, Z:-0.96 [[ 9.95040985e-01 9.93755661e-02 4.23490563e-03 1.48964750e+02] [-9.93746221e-02 9.95049997e-01 -4.33266629e-04 -7.91814238e+00] [-4.25699895e-03 1.02759066e-05 9.99990939e-01 -9.57937258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.425769231 meters 0.012616715880414128 Centerline is valid? [True, True] Translation: X:149.03, Y:-7.92, Z:-0.96 [[ 9.94919770e-01 1.00547643e-01 4.98218199e-03 1.49025276e+02] [-1.00546352e-01 9.94932245e-01 -5.09478220e-04 -7.91646849e+00] [-5.00816034e-03 5.94972796e-06 9.99987459e-01 -9.57093718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.485769231 meters 0.01423552461570251 Centerline is valid? [True, True] Translation: X:149.09, Y:-7.93, Z:-0.96 [[ 9.95306888e-01 9.67149984e-02 3.22598733e-03 1.49085078e+02] [-9.67144375e-02 9.95312116e-01 -3.29785780e-04 -7.92699630e+00] [-3.24275951e-03 1.62385085e-05 9.99994742e-01 -9.61134428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54576923099998 meters 0.01664406020145011 Centerline is valid? [True, True] Translation: X:149.14, Y:-7.94, Z:-0.96 [[ 9.95656463e-01 9.30277169e-02 3.74866412e-03 1.49144940e+02] [-9.30269333e-02 9.95663519e-01 -3.83217910e-04 -7.93911069e+00] [-3.76805800e-03 3.28266611e-05 9.99992900e-01 -9.60469872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60576923099998 meters 0.022092428901015152 Centerline is valid? [True, True] Translation: X:149.20, Y:-7.96, Z:-0.96 [[ 9.96151705e-01 8.75576255e-02 3.92963155e-03 1.49204266e+02] [-8.75567224e-02 9.96159455e-01 -4.01604098e-04 -7.95527314e+00] [-3.94970313e-03 5.59929480e-05 9.99992198e-01 -9.60510255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66576923099998 meters 0.026022139204471276 Centerline is valid? [True, True] Translation: X:149.26, Y:-7.98, Z:-0.96 [[ 9.96683019e-01 8.11525102e-02 6.10160323e-03 1.49263821e+02] [-8.11502104e-02 9.96701688e-01 -6.23959475e-04 -7.97608966e+00] [-6.13211411e-03 1.26743427e-04 9.99981190e-01 -9.56476896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.725769231 meters 0.027997318516138313 Centerline is valid? [True, True] Translation: X:149.32, Y:-7.99, Z:-0.97 [[ 9.96827014e-01 7.95815947e-02 1.63532125e-03 1.49323919e+02] [-7.95814287e-02 9.96828355e-01 -1.66443964e-04 -7.99433632e+00] [-1.64338047e-03 3.57746383e-05 9.99998649e-01 -9.65175039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.785769231 meters 0.02256076388420532 Centerline is valid? [True, True] Translation: X:149.38, Y:-8.00, Z:-0.96 [[ 9.96349774e-01 8.53321142e-02 2.35759375e-03 1.49384399e+02] [-8.53317815e-02 9.96352562e-01 -2.41521875e-04 -7.99621381e+00] [-2.36960414e-03 3.94625908e-05 9.99997192e-01 -9.63006092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.845769231 meters 0.016804276469092386 Centerline is valid? [True, True] Translation: X:149.45, Y:-7.99, Z:-0.97 [[ 9.95738417e-01 9.22171594e-02 1.00037983e-03 1.49445938e+02] [-9.22171031e-02 9.95738919e-01 -1.02411621e-04 -7.99435760e+00] [-1.00556124e-03 9.72305542e-06 9.99999494e-01 -9.66782164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.905769231 meters 0.015005875438562147 Centerline is valid? [True, True] Translation: X:149.51, Y:-8.00, Z:-0.96 [[ 9.95515269e-01 9.45597793e-02 2.79250453e-03 1.49506327e+02] [-9.45593487e-02 9.95519185e-01 -2.86109328e-04 -7.99881062e+00] [-2.80704627e-03 2.07687950e-05 9.99996060e-01 -9.63211355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.965769231 meters 0.014347592063981207 Centerline is valid? [True, True] Translation: X:149.57, Y:-8.00, Z:-0.96 [[ 9.95419595e-01 9.54756070e-02 4.92320805e-03 1.49566658e+02] [-9.54742800e-02 9.95431769e-01 -5.04413057e-04 -8.00379513e+00] [-4.94887684e-03 3.20628974e-05 9.99987754e-01 -9.59734444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.025769231 meters 0.01279886495850563 Centerline is valid? [True, True] Translation: X:149.63, Y:-8.01, Z:-0.96 [[ 9.95164403e-01 9.79583631e-02 7.20905518e-03 1.49627966e+02] [-9.79555827e-02 9.95190514e-01 -7.38617473e-04 -8.01151189e+00] [-7.24673708e-03 2.88786159e-05 9.99973742e-01 -9.56326135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.085769231 meters 0.012625192877221518 Centerline is valid? [True, True] Translation: X:149.69, Y:-8.02, Z:-0.96 [[ 9.95075177e-01 9.90234985e-02 4.44291097e-03 1.49689108e+02] [-9.90224540e-02 9.95085095e-01 -4.55007699e-04 -8.02225068e+00] [-4.46613094e-03 1.28189189e-05 9.99990027e-01 -9.62129263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.145769231 meters 0.012525566132283313 Centerline is valid? [True, True] Translation: X:149.75, Y:-8.03, Z:-0.97 [[ 9.94736326e-01 1.02426748e-01 2.89866659e-03 1.49749441e+02] [-1.02426316e-01 9.94740550e-01 -2.97352048e-04 -8.02627215e+00] [-2.91387800e-03 -1.11285617e-06 9.99995755e-01 -9.66201693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.205769231 meters 0.015413403315377367 Centerline is valid? [True, True] Translation: X:149.81, Y:-8.02, Z:-0.96 [[ 9.93891652e-01 1.10285980e-01 4.04796069e-03 1.49810277e+02] [-1.10285203e-01 9.93899895e-01 -4.15433527e-04 -8.01874087e+00] [-4.06908420e-03 -3.35342511e-05 9.99991721e-01 -9.62551703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26576923099998 meters 0.017651779008258983 Centerline is valid? [True, True] Translation: X:149.87, Y:-8.02, Z:-0.96 [[ 9.93619676e-01 1.12734926e-01 3.28273072e-03 1.49869267e+02] [-1.12734428e-01 9.93625098e-01 -3.36894778e-04 -8.01976550e+00] [-3.29978344e-03 -3.53314902e-05 9.99994555e-01 -9.64980377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32576923099998 meters 0.01379123608066999 Centerline is valid? [True, True] Translation: X:149.93, Y:-8.04, Z:-0.96 [[ 9.94142463e-01 1.07933243e-01 5.58382224e-03 1.49928937e+02] [-1.07931729e-01 9.94158143e-01 -5.72614170e-04 -8.03620874e+00] [-5.61300645e-03 -3.34115290e-05 9.99984246e-01 -9.62657517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38576923099998 meters 0.01214824822625191 Centerline is valid? [True, True] Translation: X:149.99, Y:-8.05, Z:-0.97 [[ 9.94751058e-01 1.02229290e-01 4.41638698e-03 1.49988424e+02] [-1.02228288e-01 9.94760862e-01 -4.52538306e-04 -8.05364061e+00] [-4.43951159e-03 -1.31672296e-06 9.99990145e-01 -9.65036374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44576923099999 meters 0.01271978470905272 Centerline is valid? [True, True] Translation: X:150.05, Y:-8.07, Z:-0.97 [[ 9.95021374e-01 9.96349112e-02 2.31279520e-03 1.50047873e+02] [-9.96346285e-02 9.95024062e-01 -2.37439714e-04 -8.06864651e+00] [-2.32494416e-03 5.82309989e-06 9.99997297e-01 -9.68847330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.505769231 meters 0.011995949075129833 Centerline is valid? [True, True] Translation: X:150.11, Y:-8.07, Z:-0.96 [[ 9.94737428e-01 1.02361618e-01 4.42129432e-03 1.50109380e+02] [-1.02360611e-01 9.94747254e-01 -4.54159332e-04 -8.07221864e+00] [-4.44455887e-03 -7.97100535e-07 9.99990123e-01 -9.64993659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.565769231 meters 0.014453029579728521 Centerline is valid? [True, True] Translation: X:150.17, Y:-8.07, Z:-0.97 [[ 9.94011472e-01 1.09209983e-01 3.79114641e-03 1.50170148e+02] [-1.09209292e-01 9.94018701e-01 -3.89568380e-04 -8.06944419e+00] [-3.81101518e-03 -2.67929758e-05 9.99992738e-01 -9.66084917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.625769231 meters 0.019215616367727822 Centerline is valid? [True, True] Translation: X:150.23, Y:-8.06, Z:-0.97 [[ 9.93364481e-01 1.14979297e-01 2.60161064e-03 1.50230408e+02] [-1.14978991e-01 9.93367888e-01 -2.67491489e-04 -8.06181652e+00] [-2.61511245e-03 -3.34140211e-05 9.99996580e-01 -9.68535662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.685769231 meters 0.02096139642649846 Centerline is valid? [True, True] Translation: X:150.29, Y:-8.06, Z:-0.97 [[ 9.93181224e-01 1.16542580e-01 2.98059061e-03 1.50289293e+02] [-1.16542185e-01 9.93185695e-01 -3.06312679e-04 -8.06053459e+00] [-2.99597842e-03 -4.31405423e-05 9.99995511e-01 -9.68451498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.745769231 meters 0.01811040096260368 Centerline is valid? [True, True] Translation: X:150.35, Y:-8.07, Z:-0.97 [[ 9.93473144e-01 1.13954462e-01 5.04904709e-03 1.50348468e+02] [-1.13953298e-01 9.93485972e-01 -5.18514487e-04 -8.06619515e+00] [-5.07524449e-03 -6.02253492e-05 9.99987119e-01 -9.66271492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.805769231 meters 0.012980442895941087 Centerline is valid? [True, True] Translation: X:150.41, Y:-8.09, Z:-0.97 [[ 9.94276521e-01 1.06756463e-01 4.15416752e-03 1.50408016e+02] [-1.06755614e-01 9.94285199e-01 -4.26410184e-04 -8.08530115e+00] [-4.17594932e-03 -1.95110681e-05 9.99991280e-01 -9.67936855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.865769231 meters 0.01176137391114879 Centerline is valid? [True, True] Translation: X:150.47, Y:-8.10, Z:-0.97 [[ 9.94773444e-01 1.02025356e-01 4.07689342e-03 1.50466543e+02] [-1.02024497e-01 9.94781799e-01 -4.18607725e-04 -8.10299789e+00] [-4.09832798e-03 4.76847080e-07 9.99991602e-01 -9.67814521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.925769231 meters 0.013002397405222969 Centerline is valid? [True, True] Translation: X:150.53, Y:-8.10, Z:-0.97 [[ 9.94248043e-01 1.07019805e-01 4.19405170e-03 1.50527228e+02] [-1.07018941e-01 9.94256889e-01 -4.30722438e-04 -8.10316188e+00] [-4.21606063e-03 -2.05980291e-05 9.99991112e-01 -9.68540269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.985769231 meters 0.018119184719262063 Centerline is valid? [True, True] Translation: X:150.59, Y:-8.10, Z:-0.97 [[ 9.93466056e-01 1.14066987e-01 3.73070950e-03 1.50587700e+02] [-1.14066352e-01 9.93473060e-01 -3.83216057e-04 -8.09803742e+00] [-3.75007168e-03 -4.48362798e-05 9.99992967e-01 -9.69445637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04576923099998 meters 0.017877815556562572 Centerline is valid? [True, True] Translation: X:150.65, Y:-8.10, Z:-0.97 [[ 9.93574029e-01 1.13111473e-01 4.05508081e-03 1.50646720e+02] [-1.13110716e-01 9.93582303e-01 -4.16387821e-04 -8.10391699e+00] [-4.07615477e-03 -4.49609685e-05 9.99991691e-01 -9.69581471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10576923099998 meters 0.014308942091918572 Centerline is valid? [True, True] Translation: X:150.71, Y:-8.12, Z:-0.97 [[ 9.94024119e-01 1.09045588e-01 5.01105961e-03 1.50706451e+02] [-1.09044380e-01 9.94036749e-01 -5.14448354e-04 -8.11507849e+00] [-5.03727573e-03 -3.50538154e-05 9.99987312e-01 -9.69198958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16576923099998 meters 0.0155376504970662 Centerline is valid? [True, True] Translation: X:150.77, Y:-8.11, Z:-0.97 [[ 9.93792757e-01 1.11147680e-01 4.70633270e-03 1.50766327e+02] [-1.11146638e-01 9.93803900e-01 -4.83218729e-04 -8.11391436e+00] [-4.73088043e-03 -4.28737851e-05 9.99988808e-01 -9.69086494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.225769231 meters 0.021446529653966054 Centerline is valid? [True, True] Translation: X:150.83, Y:-8.10, Z:-0.97 [[ 9.93086316e-01 1.17365033e-01 2.24025046e-03 1.50827387e+02] [-1.17364812e-01 9.93088842e-01 -2.30048923e-04 -8.10321971e+00] [-2.25176743e-03 -3.44681381e-05 9.99997464e-01 -9.73567638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.285769231 meters 0.02588619477452637 Centerline is valid? [True, True] Translation: X:150.89, Y:-8.09, Z:-0.97 [[ 9.92595405e-01 1.21377915e-01 4.66526519e-03 1.50886927e+02] [-1.21377004e-01 9.92606364e-01 -4.78789875e-04 -8.09412495e+00] [-4.68888643e-03 -9.10112838e-05 9.99989003e-01 -9.71015412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.345769231 meters 0.026531791457098258 Centerline is valid? [True, True] Translation: X:150.95, Y:-8.09, Z:-0.97 [[ 9.92442733e-01 1.22597891e-01 5.21325060e-03 1.50946399e+02] [-1.22596772e-01 9.92456420e-01 -5.34937167e-04 -8.08656039e+00] [-5.23950620e-03 -1.08233190e-04 9.99986268e-01 -9.70504931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.405769231 meters 0.030028549605563202 Centerline is valid? [True, True] Translation: X:151.01, Y:-8.07, Z:-0.98 [[ 9.92261423e-01 1.24153534e-01 1.77983397e-03 1.51005688e+02] [-1.24153405e-01 9.92263019e-01 -1.82826280e-04 -8.07167912e+00] [-1.78876196e-03 -3.95609841e-05 9.99998399e-01 -9.78982334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.465769231 meters 0.024318958696803613 Centerline is valid? [True, True] Translation: X:151.07, Y:-8.07, Z:-0.98 [[ 9.92732215e-01 1.20322109e-01 2.31084681e-03 1.51066271e+02] [-1.20321883e-01 9.92734903e-01 -2.36915774e-04 -8.07146405e+00] [-2.32256449e-03 -4.28515188e-05 9.99997302e-01 -9.78991030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.525769231 meters 0.012845533550632875 Centerline is valid? [True, True] Translation: X:151.13, Y:-8.09, Z:-0.98 [[ 9.94317089e-01 1.06388900e-01 3.86364842e-03 1.51125323e+02] [-1.06388166e-01 9.94324596e-01 -3.95701101e-04 -8.09012477e+00] [-3.88381886e-03 -1.75941024e-05 9.99992458e-01 -9.76726627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.585769231 meters 0.018061486267830065 Centerline is valid? [True, True] Translation: X:151.18, Y:-8.12, Z:-0.97 [[ 9.95981260e-01 8.93933351e-02 5.49194236e-03 1.51183496e+02] [-8.93915925e-02 9.95996399e-01 -5.62439828e-04 -8.11884640e+00] [-5.52023319e-03 6.92460550e-05 9.99984761e-01 -9.74748174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.645769231 meters 0.024822473079405077 Centerline is valid? [True, True] Translation: X:151.24, Y:-8.14, Z:-0.98 [[ 9.96492159e-01 8.35903482e-02 4.00387687e-03 1.51241378e+02] [-8.35893752e-02 9.96500200e-01 -4.10044328e-04 -8.14054881e+00] [-4.02413985e-03 7.39243924e-05 9.99991900e-01 -9.75881594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.705769231 meters 0.025411350757902296 Centerline is valid? [True, True] Translation: X:151.30, Y:-8.15, Z:-0.97 [[ 9.96692137e-01 8.10875646e-02 5.43978348e-03 1.51300484e+02] [-8.10857313e-02 9.96706975e-01 -5.57098142e-04 -8.15438845e+00] [-5.46704387e-03 1.14166516e-04 9.99985049e-01 -9.73263688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76576923099998 meters 0.02760505985991674 Centerline is valid? [True, True] Translation: X:151.36, Y:-8.17, Z:-0.97 [[ 9.96791309e-01 7.97468704e-02 6.89368517e-03 1.51359850e+02] [-7.97438940e-02 9.96815135e-01 -7.05990159e-04 -8.16960987e+00] [-6.92803022e-03 1.53995555e-04 9.99975989e-01 -9.71481898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82576923099998 meters 0.029886073630143797 Centerline is valid? [True, True] Translation: X:151.42, Y:-8.18, Z:-0.98 [[ 9.96962600e-01 7.77585568e-02 4.37966041e-03 1.51421003e+02] [-7.77573359e-02 9.96972214e-01 -4.48623624e-04 -8.18394402e+00] [-4.40128406e-03 1.06710248e-04 9.99990309e-01 -9.77472938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88576923099998 meters 0.03384045789312509 Centerline is valid? [True, True] Translation: X:151.48, Y:-8.20, Z:-0.98 [[ 9.97279399e-01 7.36532352e-02 3.00017612e-03 1.51480393e+02] [-7.36526434e-02 9.97283908e-01 -3.07428339e-04 -8.20101766e+00] [-3.01467045e-03 8.56210477e-05 9.99995452e-01 -9.80628530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94576923099999 meters 0.03748194741257059 Centerline is valid? [True, True] Translation: X:151.54, Y:-8.22, Z:-0.97 [[ 9.97555161e-01 6.95776810e-02 6.53049242e-03 1.51539916e+02] [-6.95747867e-02 9.97576514e-01 -6.69613178e-04 -8.21918116e+00] [-6.56125599e-03 2.13618465e-04 9.99978452e-01 -9.74305249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.005769231 meters 0.04119638162550792 Centerline is valid? [True, True] Translation: X:151.60, Y:-8.24, Z:-0.97 [[ 9.97706544e-01 6.73285429e-02 6.96559716e-03 1.51599880e+02] [-6.73251947e-02 9.97730829e-01 -7.14312168e-04 -8.23617804e+00] [-6.99788463e-03 2.43713739e-04 9.99975485e-01 -9.73680050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.065769231 meters 0.04406514385460438 Centerline is valid? [True, True] Translation: X:151.66, Y:-8.26, Z:-0.98 [[ 9.97706241e-01 6.75078772e-02 4.99430536e-03 1.51659880e+02] [-6.75061561e-02 9.97718726e-01 -5.12574390e-04 -8.25625578e+00] [-5.01751479e-03 1.74252311e-04 9.99987397e-01 -9.77995574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.125769231 meters 0.03808706015107856 Centerline is valid? [True, True] Translation: X:151.72, Y:-8.26, Z:-0.98 [[ 9.97427876e-01 7.14762784e-02 5.36407117e-03 1.51720245e+02] [-7.14743435e-02 9.97442286e-01 -5.51801677e-04 -8.26151719e+00] [-5.38979214e-03 1.66988909e-04 9.99985461e-01 -9.76344861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.185769231 meters 0.036675085203142735 Centerline is valid? [True, True] Translation: X:151.78, Y:-8.27, Z:-0.98 [[ 9.97244453e-01 7.39837068e-02 5.46911998e-03 1.51779601e+02] [-7.39817331e-02 9.97259438e-01 -5.62586084e-04 -8.27094377e+00] [-5.49575372e-03 1.56420877e-04 9.99984886e-01 -9.77557701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.245769231 meters 0.03268700381068376 Centerline is valid? [True, True] Translation: X:151.84, Y:-8.28, Z:-0.98 [[ 9.96982089e-01 7.74551425e-02 5.23592217e-03 1.51841019e+02] [-7.74533793e-02 9.96995829e-01 -5.38994331e-04 -8.28011986e+00] [-5.26194045e-03 1.31827828e-04 9.99986147e-01 -9.79162307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.305769231 meters 0.02195510234532686 Centerline is valid? [True, True] Translation: X:151.90, Y:-8.28, Z:-0.98 [[ 9.96348617e-01 8.52602679e-02 4.48557864e-03 1.51902108e+02] [-8.52590519e-02 9.96358711e-01 -4.61965177e-04 -8.27574247e+00] [-4.50863263e-03 7.78421830e-05 9.99989833e-01 -9.79286667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.365769231 meters 0.01611249301615285 Centerline is valid? [True, True] Translation: X:151.96, Y:-8.27, Z:-0.98 [[ 9.95624688e-01 9.33239535e-02 4.70331722e-03 1.51962741e+02] [-9.33227066e-02 9.95635796e-01 -4.84362884e-04 -8.27400401e+00] [-4.72799364e-03 4.33173522e-05 9.99988822e-01 -9.81107903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.425769231 meters 0.01239125062683729 Centerline is valid? [True, True] Translation: X:152.02, Y:-8.28, Z:-0.98 [[ 9.95196348e-01 9.77077474e-02 6.11759155e-03 1.52024544e+02] [-9.77057216e-02 9.95215150e-01 -6.29865489e-04 -8.27940505e+00] [-6.14986253e-03 2.91161379e-05 9.99981089e-01 -9.78712252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.485769231 meters 0.01260944906027759 Centerline is valid? [True, True] Translation: X:152.09, Y:-8.29, Z:-0.98 [[ 9.95129612e-01 9.84027225e-02 5.82744834e-03 1.52086316e+02] [-9.84008909e-02 9.95146674e-01 -6.00888857e-04 -8.28778283e+00] [-5.85829493e-03 2.45361872e-05 9.99982840e-01 -9.81329036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54576923099998 meters 0.013061383342948847 Centerline is valid? [True, True] Translation: X:152.15, Y:-8.30, Z:-0.98 [[ 9.95186493e-01 9.78642850e-02 5.14053527e-03 1.52148141e+02] [-9.78628486e-02 9.95199769e-01 -5.30819375e-04 -8.30353709e+00] [-5.16780777e-03 2.51968476e-05 9.99986646e-01 -9.83606995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60576923099998 meters 0.012632533733050181 Centerline is valid? [True, True] Translation: X:152.21, Y:-8.31, Z:-0.99 [[ 9.95125322e-01 9.85696232e-02 3.10220063e-03 1.52210712e+02] [-9.85691035e-02 9.95130157e-01 -3.20352805e-04 -8.31467743e+00] [-3.11867045e-03 1.30100538e-05 9.99995137e-01 -9.85959605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66576923099998 meters 0.012356034125268174 Centerline is valid? [True, True] Translation: X:152.27, Y:-8.31, Z:-0.99 [[ 9.94337308e-01 1.06246094e-01 2.25507551e-03 1.52271677e+02] [-1.06245838e-01 9.94339865e-01 -2.33566779e-04 -8.31115638e+00] [-2.26712704e-03 -7.34822476e-06 9.99997430e-01 -9.88982115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.725769231 meters 0.016364349891449206 Centerline is valid? [True, True] Translation: X:152.33, Y:-8.31, Z:-0.99 [[ 9.93806219e-01 1.11115312e-01 1.60804330e-03 1.52332596e+02] [-1.11115188e-01 9.93807520e-01 -1.66821133e-04 -8.30866570e+00] [-1.61662190e-03 -1.28901534e-05 9.99998693e-01 -9.92475203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.785769231 meters 0.015062138168522426 Centerline is valid? [True, True] Translation: X:152.39, Y:-8.32, Z:-0.99 [[ 9.93704305e-01 1.11985626e-01 3.31268143e-03 1.52393076e+02] [-1.11985103e-01 9.93709826e-01 -3.43575126e-04 -8.31575500e+00] [-3.33031956e-03 -2.95588895e-05 9.99994454e-01 -9.86360138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.845769231 meters 0.015870784438250244 Centerline is valid? [True, True] Translation: X:152.45, Y:-8.32, Z:-0.98 [[ 9.93577390e-01 1.12999015e-01 5.93228377e-03 1.52453714e+02] [-1.12997354e-01 9.93595098e-01 -6.15554800e-04 -8.31806859e+00] [-5.96384516e-03 -5.87310358e-05 9.99982214e-01 -9.82265453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.905769231 meters 0.018027341065028565 Centerline is valid? [True, True] Translation: X:152.51, Y:-8.32, Z:-0.98 [[ 9.93541095e-01 1.13167767e-01 8.31559817e-03 1.52514200e+02] [-1.13164507e-01 9.93575890e-01 -8.62987464e-04 -8.31723422e+00] [-8.35984022e-03 -8.36170608e-05 9.99965052e-01 -9.77461187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.965769231 meters 0.017112356021476975 Centerline is valid? [True, True] Translation: X:152.58, Y:-8.32, Z:-0.98 [[ 9.93442071e-01 1.14087543e-01 7.54221450e-03 1.52575727e+02] [-1.14084887e-01 9.93470697e-01 -7.82813094e-04 -8.32281475e+00] [-7.58227832e-03 -8.27732276e-05 9.99971251e-01 -9.79593067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.025769231 meters 0.0162194854366694 Centerline is valid? [True, True] Translation: X:152.64, Y:-8.33, Z:-0.98 [[ 9.93597522e-01 1.12828758e-01 5.79966118e-03 1.52637019e+02] [-1.12827166e-01 9.93614446e-01 -6.02049001e-04 -8.32839128e+00] [-5.83055557e-03 -5.61649369e-05 9.99983001e-01 -9.84800932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.085769231 meters 0.01377177088499897 Centerline is valid? [True, True] Translation: X:152.70, Y:-8.34, Z:-0.99 [[ 9.93904639e-01 1.10118894e-01 5.23428620e-03 1.52697335e+02] [-1.10117559e-01 9.93918421e-01 -5.43462643e-04 -8.33900000e+00] [-5.26229898e-03 -3.62367756e-05 9.99986153e-01 -9.85813953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.145769231 meters 0.013888833114594223 Centerline is valid? [True, True] Translation: X:152.76, Y:-8.35, Z:-1.00 [[ 9.93938644e-01 1.09925200e-01 1.55661253e-03 1.52758079e+02] [-1.09925082e-01 9.93939862e-01 -1.61538048e-04 -8.34530389e+00] [-1.56493635e-03 -1.05518522e-05 9.99998775e-01 -9.95007673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.205769231 meters 0.01360293858167152 Centerline is valid? [True, True] Translation: X:152.82, Y:-8.35, Z:-0.99 [[ 9.93970293e-01 1.09610958e-01 2.91466520e-03 1.52818287e+02] [-1.09610541e-01 9.93974566e-01 -3.02782921e-04 -8.35246833e+00] [-2.93029140e-03 -1.85208010e-05 9.99995707e-01 -9.91663257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26576923099998 meters 0.01304348727979642 Centerline is valid? [True, True] Translation: X:152.88, Y:-8.36, Z:-0.99 [[ 9.94199403e-01 1.07536406e-01 1.86218060e-03 1.52878546e+02] [-1.07536232e-01 9.94201147e-01 -1.93327350e-04 -8.36100132e+00] [-1.87217182e-03 -8.04594937e-06 9.99998247e-01 -9.94930822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32576923099998 meters 0.012169048677524571 Centerline is valid? [True, True] Translation: X:152.94, Y:-8.37, Z:-1.00 [[ 9.94423152e-01 1.05461495e-01 6.84163409e-04 1.52939018e+02] [-1.05461471e-01 9.94423387e-01 -7.09409162e-05 -8.37177606e+00] [-6.87829630e-04 -1.60759001e-06 9.99999763e-01 -9.97519333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38576923099998 meters 0.011288324344409902 Centerline is valid? [True, True] Translation: X:153.00, Y:-8.38, Z:-0.99 [[ 9.94577009e-01 1.03906201e-01 4.48040284e-03 1.52999638e+02] [-1.03905158e-01 9.94587101e-01 -4.65587497e-04 -8.38178901e+00] [-4.50452830e-03 -2.47434453e-06 9.99989855e-01 -9.89212184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44576923099999 meters 0.012000770306713256 Centerline is valid? [True, True] Translation: X:153.06, Y:-8.40, Z:-0.99 [[ 9.94999598e-01 9.97887762e-02 4.24260047e-03 1.53061555e+02] [-9.97878051e-02 9.95008643e-01 -4.40494590e-04 -8.39947764e+00] [-4.26538055e-03 1.49321511e-05 9.99990903e-01 -9.92199377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.505769231 meters 0.016174679537037277 Centerline is valid? [True, True] Translation: X:153.12, Y:-8.43, Z:-0.99 [[ 9.95599856e-01 9.35731598e-02 4.99899780e-03 1.53120170e+02] [-9.35717259e-02 9.95612405e-01 -5.20463372e-04 -8.42725175e+00] [-5.02576563e-03 5.04084059e-05 9.99987369e-01 -9.90695618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.565769231 meters 0.01811707333077372 Centerline is valid? [True, True] Translation: X:153.18, Y:-8.44, Z:-0.99 [[ 9.95707447e-01 9.23535522e-02 6.12376783e-03 1.53179589e+02] [-9.23513736e-02 9.95726276e-01 -6.38190515e-04 -8.44356545e+00] [-6.15653570e-03 6.99126775e-05 9.99981046e-01 -9.88537861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.625769231 meters 0.013227162783585824 Centerline is valid? [True, True] Translation: X:153.24, Y:-8.45, Z:-0.99 [[ 9.95137665e-01 9.84352589e-02 3.39507872e-03 1.53241836e+02] [-9.84346233e-02 9.95143457e-01 -3.54207116e-04 -8.45083367e+00] [-3.41345684e-03 1.82915476e-05 9.99994174e-01 -9.94548678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.685769231 meters 0.011829267945049333 Centerline is valid? [True, True] Translation: X:153.30, Y:-8.45, Z:-1.00 [[ 9.94383082e-01 1.05804736e-01 2.76491528e-03 1.53304023e+02] [-1.05804344e-01 9.94386926e-01 -2.88108532e-04 -8.45217323e+00] [-2.77987886e-03 -6.04979748e-06 9.99996136e-01 -9.95717523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.745769231 meters 0.01315962807801612 Centerline is valid? [True, True] Translation: X:153.37, Y:-8.46, Z:-0.99 [[ 9.93982789e-01 1.09440837e-01 4.57357994e-03 1.53365888e+02] [-1.09439796e-01 9.93993311e-01 -4.78041425e-04 -8.45612588e+00] [-4.59842512e-03 -2.53667080e-05 9.99989427e-01 -9.93015658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.805769231 meters 0.01693138818295536 Centerline is valid? [True, True] Translation: X:153.43, Y:-8.45, Z:-1.00 [[ 9.93461823e-01 1.14142562e-01 2.25436773e-03 1.53428221e+02] [-1.14142321e-01 9.93464380e-01 -2.35529517e-04 -8.45403786e+00] [-2.26651799e-03 -2.33291825e-05 9.99997431e-01 -9.98259458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.865769231 meters 0.025841481764583053 Centerline is valid? [True, True] Translation: X:153.49, Y:-8.44, Z:-1.00 [[ 9.92361273e-01 1.23338118e-01 2.60994806e-03 1.53490312e+02] [-1.23337824e-01 9.92364704e-01 -2.73920732e-04 -8.44096989e+00] [-2.62380520e-03 -5.00769862e-05 9.99996557e-01 -9.96166284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.925769231 meters 0.04269737005251749 Centerline is valid? [True, True] Translation: X:153.55, Y:-8.41, Z:-1.00 [[ 9.90584732e-01 1.36894356e-01 1.35071667e-03 1.53552377e+02] [-1.36894290e-01 9.90585652e-01 -1.41529889e-04 -8.41418740e+00] [-1.35737520e-03 -4.47080532e-05 9.99999078e-01 -9.99427108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.985769231 meters 0.04320110241279568 Centerline is valid? [True, True] Translation: X:153.61, Y:-8.41, Z:-0.99 [[ 9.89808356e-01 1.42350602e-01 3.96551994e-03 1.53613643e+02] [-1.42350075e-01 9.89816287e-01 -4.16207719e-04 -8.40623201e+00] [-3.98438364e-03 -1.52526184e-04 9.99992051e-01 -9.94748272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04576923099998 meters 0.05064988188541614 Centerline is valid? [True, True] Translation: X:153.67, Y:-8.39, Z:-0.99 [[ 9.89753347e-01 1.42656562e-01 6.11692431e-03 1.53672799e+02] [-1.42655314e-01 9.89772221e-01 -6.42052396e-04 -8.39390188e+00] [-6.14595475e-03 -2.37138250e-04 9.99981085e-01 -9.91004608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10576923099998 meters 0.052308429290857376 Centerline is valid? [True, True] Translation: X:153.73, Y:-8.38, Z:-0.99 [[ 9.89713022e-01 1.42851233e-01 7.85238093e-03 1.53732628e+02] [-1.42849188e-01 9.89744124e-01 -8.23564332e-04 -8.38043483e+00] [-7.88949507e-03 -3.06613895e-04 9.99968830e-01 -9.86862984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16576923099998 meters 0.04987062926495416 Centerline is valid? [True, True] Translation: X:153.79, Y:-8.37, Z:-0.99 [[ 9.90071375e-01 1.40431127e-01 6.14578639e-03 1.53793742e+02] [-1.40429830e-01 9.90090424e-01 -6.44218057e-04 -8.37217890e+00] [-6.17535252e-03 -2.25229880e-04 9.99980907e-01 -9.91770925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.225769231 meters 0.0424654902099923 Centerline is valid? [True, True] Translation: X:153.85, Y:-8.37, Z:-0.99 [[ 9.90963593e-01 1.33960786e-01 6.75758184e-03 1.53853235e+02] [-1.33959068e-01 9.90986613e-01 -7.08269531e-04 -8.37234347e+00] [-6.79155348e-03 -2.03370047e-04 9.99976916e-01 -9.89647027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.285769231 meters 0.0180662151793244 Centerline is valid? [True, True] Translation: X:153.91, Y:-8.40, Z:-0.99 [[ 9.93218692e-01 1.16163138e-01 4.77014706e-03 1.53910762e+02] [-1.16162077e-01 9.93230146e-01 -4.99889440e-04 -8.40234924e+00] [-4.79592258e-03 -5.76106533e-05 9.99988498e-01 -9.94463395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.345769231 meters 0.012159637366446286 Centerline is valid? [True, True] Translation: X:153.97, Y:-8.42, Z:-1.00 [[ 9.94258794e-01 1.06943207e-01 3.54973914e-03 1.53968862e+02] [-1.06942560e-01 9.94265131e-01 -3.72064793e-04 -8.42140119e+00] [-3.56917165e-03 -9.68949933e-06 9.99993630e-01 -9.98132443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.405769231 meters 0.012155381826772792 Centerline is valid? [True, True] Translation: X:154.03, Y:-8.43, Z:-1.00 [[ 9.94251118e-01 1.07017878e-01 3.44804006e-03 1.54026464e+02] [-1.07017268e-01 9.94257096e-01 -3.61452774e-04 -8.42950069e+00] [-3.46692020e-03 -9.62500239e-06 9.99993990e-01 -9.97713536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.465769231 meters 0.013685021548589249 Centerline is valid? [True, True] Translation: X:154.08, Y:-8.44, Z:-1.00 [[ 9.94050385e-01 1.08867101e-01 3.43299715e-03 1.54083431e+02] [-1.08866508e-01 9.94056313e-01 -3.59671586e-04 -8.43670547e+00] [-3.45174889e-03 -1.62067331e-05 9.99994043e-01 -9.99483365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.525769231 meters 0.016692287637747202 Centerline is valid? [True, True] Translation: X:154.14, Y:-8.44, Z:-0.99 [[ 9.93663620e-01 1.12171333e-01 7.08541525e-03 1.54142837e+02] [-1.12168898e-01 9.93688879e-01 -7.41485395e-04 -8.43754931e+00] [-7.12387174e-03 -5.79761563e-05 9.99974623e-01 -9.91092504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.585769231 meters 0.0232327086575749 Centerline is valid? [True, True] Translation: X:154.20, Y:-8.43, Z:-1.00 [[ 9.93097366e-01 1.17181564e-01 5.10913295e-03 1.54203316e+02] [-1.17180365e-01 9.93110506e-01 -5.34514287e-04 -8.42802857e+00] [-5.13656883e-03 -6.78653346e-05 9.99986805e-01 -9.97030709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.645769231 meters 0.01690897186338291 Centerline is valid? [True, True] Translation: X:154.26, Y:-8.44, Z:-1.00 [[ 9.93437674e-01 1.14302061e-01 4.07748194e-03 1.54261960e+02] [-1.14301273e-01 9.93446041e-01 -4.26610160e-04 -8.43791095e+00] [-4.09952071e-03 -4.22507708e-05 9.99991596e-01 -9.99325907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.705769231 meters 0.011621712974525506 Centerline is valid? [True, True] Translation: X:154.32, Y:-8.45, Z:-0.99 [[ 9.94498841e-01 1.04557997e-01 6.29917567e-03 1.54319474e+02] [-1.04555925e-01 9.94518791e-01 -6.58310057e-04 -8.45120989e+00] [-6.33348015e-03 -3.92754783e-06 9.99979943e-01 -9.94868766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76576923099998 meters 0.020608124926409652 Centerline is valid? [True, True] Translation: X:154.38, Y:-8.48, Z:-1.00 [[ 9.95637120e-01 9.31951092e-02 4.62558499e-03 1.54377232e+02] [-9.31938693e-02 9.95647864e-01 -4.83337469e-04 -8.47943788e+00] [-4.65049851e-03 5.01525622e-05 9.99989185e-01 -9.98530563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82576923099998 meters 0.0221274028177195 Centerline is valid? [True, True] Translation: X:154.44, Y:-8.49, Z:-1.00 [[ 9.96312929e-01 8.56475712e-02 5.00415646e-03 1.54437651e+02] [-8.56460251e-02 9.96325492e-01 -5.22845784e-04 -8.49374319e+00] [-5.03054911e-03 9.23319046e-05 9.99987342e-01 -9.97621401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88576923099998 meters 0.02368546221756339 Centerline is valid? [True, True] Translation: X:154.50, Y:-8.51, Z:-1.00 [[ 9.96363800e-01 8.51975346e-02 7.46558529e-04 1.54497283e+02] [-8.51975008e-02 9.96364080e-01 -7.70319148e-05 -8.51094731e+00] [-7.50407031e-04 1.31468906e-05 9.99999718e-01 -1.00459390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94576923099999 meters 0.021454501136558845 Centerline is valid? [True, True] Translation: X:154.56, Y:-8.52, Z:-1.00 [[ 9.96106407e-01 8.80309514e-02 4.75149378e-03 1.54556571e+02] [-8.80295801e-02 9.96117737e-01 -4.97370974e-04 -8.52191809e+00] [-4.77683128e-03 7.71624118e-05 9.99988588e-01 -9.98903709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.005769231 meters 0.01792865293911017 Centerline is valid? [True, True] Translation: X:154.62, Y:-8.53, Z:-1.01 [[ 9.95715355e-01 9.24664216e-02 9.44491954e-04 1.54617661e+02] [-9.24663695e-02 9.95715803e-01 -9.87222466e-05 -8.52750759e+00] [-9.49574057e-04 1.09655148e-05 9.99999549e-01 -1.00602602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.065769231 meters 0.013931308994119701 Centerline is valid? [True, True] Translation: X:154.68, Y:-8.53, Z:-1.00 [[ 9.95220923e-01 9.75908783e-02 3.36679469e-03 1.54677139e+02] [-9.75902441e-02 9.95226617e-01 -3.52548264e-04 -8.53017030e+00] [-3.38512918e-03 2.22970936e-05 9.99994270e-01 -1.00154796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.125769231 meters 0.012845220681763695 Centerline is valid? [True, True] Translation: X:154.74, Y:-8.54, Z:-1.00 [[ 9.95062802e-01 9.91424917e-02 4.55922778e-03 1.54737451e+02] [-9.91413454e-02 9.95073246e-01 -4.77300020e-04 -8.53649869e+00] [-4.58408630e-03 2.29355192e-05 9.99989493e-01 -1.00078843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.185769231 meters 0.01544441268421865 Centerline is valid? [True, True] Translation: X:154.80, Y:-8.55, Z:-1.00 [[ 9.95499897e-01 9.45616260e-02 6.16883632e-03 1.54798469e+02] [-9.45594404e-02 9.95519008e-01 -6.45666263e-04 -8.55408156e+00] [-6.20224907e-03 5.94389879e-05 9.99980764e-01 -9.98450753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.245769231 meters 0.01696154071034215 Centerline is valid? [True, True] Translation: X:154.86, Y:-8.57, Z:-1.00 [[ 9.95595336e-01 9.37014012e-02 3.15831141e-03 1.54858706e+02] [-9.37008231e-02 9.95600345e-01 -3.30831078e-04 -8.56694450e+00] [-3.17541526e-03 3.34374993e-05 9.99994958e-01 -1.00248176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.305769231 meters 0.013228521556085596 Centerline is valid? [True, True] Translation: X:154.92, Y:-8.57, Z:-1.00 [[ 9.95092068e-01 9.88696506e-02 4.07040751e-03 1.54919346e+02] [-9.88687302e-02 9.95100393e-01 -4.27209471e-04 -8.56643468e+00] [-4.09270216e-03 2.26767338e-05 9.99991625e-01 -1.00249753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.365769231 meters 0.012417540578843159 Centerline is valid? [True, True] Translation: X:154.98, Y:-8.57, Z:-1.01 [[ 9.94775519e-01 1.02071275e-01 1.76677587e-03 1.54978661e+02] [-1.02071106e-01 9.94777088e-01 -1.85493899e-04 -8.56728033e+00] [-1.77648175e-03 4.18802290e-06 9.99998422e-01 -1.00795717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.425769231 meters 0.013529146115856355 Centerline is valid? [True, True] Translation: X:155.04, Y:-8.59, Z:-1.01 [[ 9.95114727e-01 9.87130130e-02 1.55616215e-03 1.55038682e+02] [-9.87128785e-02 9.95115943e-01 -1.63173923e-04 -8.58516459e+00] [-1.56466916e-03 8.76352838e-06 9.99998776e-01 -1.00851808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.485769231 meters 0.017812288815200184 Centerline is valid? [True, True] Translation: X:155.10, Y:-8.61, Z:-1.01 [[ 9.95681140e-01 9.27870675e-02 3.10278378e-03 1.55096958e+02] [-9.27865050e-02 9.95685974e-01 -3.25075910e-04 -8.61294299e+00] [-3.11956113e-03 3.57754894e-05 9.99995134e-01 -1.00570498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54576923099998 meters 0.017758940842152123 Centerline is valid? [True, True] Translation: X:155.16, Y:-8.63, Z:-1.00 [[ 9.95671495e-01 9.28484543e-02 4.17591448e-03 1.55158539e+02] [-9.28474318e-02 9.95680251e-01 -4.38458013e-04 -8.63264555e+00] [-4.19858573e-03 4.88372103e-05 9.99991185e-01 -1.00440583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60576923099998 meters 0.01227679721574028 Centerline is valid? [True, True] Translation: X:155.22, Y:-8.64, Z:-1.01 [[ 9.94675450e-01 1.03056609e-01 2.91161584e-04 1.55219820e+02] [-1.03056604e-01 9.94675493e-01 -2.95320029e-05 -8.64032973e+00] [-2.92654760e-04 -6.31365912e-07 9.99999957e-01 -1.00993572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66576923099998 meters 0.013239577626404242 Centerline is valid? [True, True] Translation: X:155.28, Y:-8.64, Z:-1.01 [[ 9.93997914e-01 1.09398979e-01 -1.06839039e-04 1.55280954e+02] [-1.09398978e-01 9.93997919e-01 1.23812312e-05 -8.64143343e+00] [ 1.07552276e-04 -6.18836373e-07 9.99999994e-01 -1.01040923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.725769231 meters 0.018898692966042446 Centerline is valid? [True, True] Translation: X:155.34, Y:-8.64, Z:-1.00 [[ 9.93026064e-01 1.17731617e-01 6.20498634e-03 1.55341977e+02] [-1.17729819e-01 9.93045447e-01 -6.55518063e-04 -8.63986418e+00] [-6.23900864e-03 -7.95653989e-05 9.99980534e-01 -9.99922671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.785769231 meters 0.024734245625553077 Centerline is valid? [True, True] Translation: X:155.40, Y:-8.64, Z:-1.00 [[ 9.92371513e-01 1.23131767e-01 6.11124490e-03 1.55403183e+02] [-1.23130125e-01 9.92390324e-01 -6.45686299e-04 -8.63731385e+00] [-6.14424480e-03 -1.11717658e-04 9.99981118e-01 -1.00108541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.845769231 meters 0.031042439044500544 Centerline is valid? [True, True] Translation: X:155.46, Y:-8.63, Z:-1.01 [[ 9.91748044e-01 1.28192398e-01 1.58967333e-03 1.55463701e+02] [-1.28192293e-01 9.91749317e-01 -1.68100537e-04 -8.62740545e+00] [-1.59810665e-03 -3.70704903e-05 9.99998722e-01 -1.00957208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.905769231 meters 0.03327995421628591 Centerline is valid? [True, True] Translation: X:155.52, Y:-8.62, Z:-1.01 [[ 9.91498779e-01 1.30079821e-01 3.06783740e-03 1.55524719e+02] [-1.30079440e-01 9.91503522e-01 -3.24193342e-04 -8.62091363e+00] [-3.08394260e-03 -7.76252679e-05 9.99995242e-01 -1.00677571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.965769231 meters 0.031362621931504214 Centerline is valid? [True, True] Translation: X:155.58, Y:-8.63, Z:-1.01 [[ 9.91547547e-01 1.29693793e-01 3.60315601e-03 1.55583971e+02] [-1.29693265e-01 9.91554089e-01 -3.80656393e-04 -8.62643749e+00] [-3.62209284e-03 -8.98661553e-05 9.99993436e-01 -1.00623972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.025769231 meters 0.027762466475845068 Centerline is valid? [True, True] Translation: X:155.64, Y:-8.63, Z:-1.01 [[ 9.91990647e-01 1.26278022e-01 2.90143409e-03 1.55643507e+02] [-1.26277666e-01 9.91994888e-01 -3.06486934e-04 -8.62806757e+00] [-2.91691034e-03 -6.23541517e-05 9.99995744e-01 -1.00764422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.085769231 meters 0.023293367449160083 Centerline is valid? [True, True] Translation: X:155.70, Y:-8.63, Z:-1.01 [[ 9.92614656e-01 1.21286787e-01 2.37885765e-03 1.55702283e+02] [-1.21286533e-01 9.92617506e-01 -2.51311728e-04 -8.63076595e+00] [-2.39177654e-03 -3.90676928e-05 9.99997139e-01 -1.00947238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.145769231 meters 0.01848705867636541 Centerline is valid? [True, True] Translation: X:155.76, Y:-8.63, Z:-1.01 [[ 9.93233057e-01 1.16098554e-01 3.03663011e-03 1.55761252e+02] [-1.16098116e-01 9.93237698e-01 -3.20627712e-04 -8.63215112e+00] [-3.05331991e-03 -3.40889908e-05 9.99995338e-01 -1.00765625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.205769231 meters 0.013961377292150945 Centerline is valid? [True, True] Translation: X:155.82, Y:-8.64, Z:-1.01 [[ 9.93831591e-01 1.10885459e-01 1.78416850e-03 1.55821110e+02] [-1.10885300e-01 9.93833193e-01 -1.88244546e-04 -8.64344397e+00] [-1.79403946e-03 -1.07546833e-05 9.99998391e-01 -1.01113393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26576923099998 meters 0.012457286345481359 Centerline is valid? [True, True] Translation: X:155.88, Y:-8.66, Z:-1.01 [[ 9.94805644e-01 1.01741379e-01 3.22833414e-03 1.55879509e+02] [-1.01740810e-01 9.94810882e-01 -3.40615975e-04 -8.66135744e+00] [-3.24623667e-03 1.03933651e-05 9.99994731e-01 -1.00902312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32576923099998 meters 0.016414983485108187 Centerline is valid? [True, True] Translation: X:155.94, Y:-8.68, Z:-1.01 [[ 9.95488571e-01 9.47886761e-02 4.19670461e-03 1.55939542e+02] [-9.47876535e-02 9.95497416e-01 -4.42349423e-04 -8.67995148e+00] [-4.21973831e-03 4.25580128e-05 9.99991096e-01 -1.00692320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38576923099998 meters 0.020971918819863416 Centerline is valid? [True, True] Translation: X:156.00, Y:-8.70, Z:-1.01 [[ 9.95915043e-01 9.01654342e-02 4.83968460e-03 1.55998835e+02] [-9.01640144e-02 9.95926799e-01 -5.11203447e-04 -8.70091775e+00] [-4.86606447e-03 7.27498104e-05 9.99988158e-01 -1.00652412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44576923099999 meters 0.023169518992712745 Centerline is valid? [True, True] Translation: X:156.06, Y:-8.72, Z:-1.01 [[ 9.96223010e-01 8.67683560e-02 3.31165064e-03 1.56059282e+02] [-8.67676717e-02 9.96228512e-01 -3.50027884e-04 -8.71806288e+00] [-3.32953214e-03 6.13616171e-05 9.99994455e-01 -1.01006957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.505769231 meters 0.02592070697861577 Centerline is valid? [True, True] Translation: X:156.12, Y:-8.74, Z:-1.01 [[ 9.96400860e-01 8.46704092e-02 4.03097939e-03 1.56118985e+02] [-8.46693783e-02 9.96409010e-01 -4.26011077e-04 -8.73835672e+00] [-4.05257472e-03 8.31772845e-05 9.99991785e-01 -1.00861559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.565769231 meters 0.023752019617286298 Centerline is valid? [True, True] Translation: X:156.18, Y:-8.75, Z:-1.01 [[ 9.96307432e-01 8.57272472e-02 4.72650200e-03 1.56180388e+02] [-8.57258375e-02 9.96318639e-01 -5.00410427e-04 -8.74786121e+00] [-4.75200084e-03 9.33792853e-05 9.99988705e-01 -1.00749198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.625769231 meters 0.021798342424293023 Centerline is valid? [True, True] Translation: X:156.24, Y:-8.76, Z:-1.01 [[ 9.95999037e-01 8.93283980e-02 2.52115469e-03 1.56241087e+02] [-8.93280088e-02 9.96002227e-01 -2.66801171e-04 -8.75899783e+00] [-2.53490861e-03 4.05239808e-05 9.99996786e-01 -1.01289956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.685769231 meters 0.01931017891624026 Centerline is valid? [True, True] Translation: X:156.30, Y:-8.77, Z:-1.02 [[ 9.95650718e-01 9.31604380e-02 8.83217081e-04 1.56301917e+02] [-9.31603922e-02 9.95651110e-01 -9.29402577e-05 -8.76592769e+00] [-8.88034422e-04 1.02551847e-05 9.99999606e-01 -1.01653954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.745769231 meters 0.014585353814667357 Centerline is valid? [True, True] Translation: X:156.36, Y:-8.77, Z:-1.01 [[ 9.95137680e-01 9.84442984e-02 3.11724306e-03 1.56363519e+02] [-9.84437421e-02 9.95142562e-01 -3.31757173e-04 -8.76713047e+00] [-3.13476085e-03 2.32709917e-05 9.99995086e-01 -1.01124338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.805769231 meters 0.011370353276902662 Centerline is valid? [True, True] Translation: X:156.43, Y:-8.76, Z:-1.01 [[ 9.94359568e-01 1.05937815e-01 5.12141000e-03 1.56426247e+02] [-1.05936413e-01 9.94372757e-01 -5.45008026e-04 -8.76196810e+00] [-5.15032754e-03 -6.09858045e-07 9.99986737e-01 -1.00882606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.865769231 meters 0.012860138804696719 Centerline is valid? [True, True] Translation: X:156.49, Y:-8.76, Z:-1.00 [[ 9.93728098e-01 1.11600769e-01 7.05231060e-03 1.56487680e+02] [-1.11598241e-01 9.93753122e-01 -7.52141693e-04 -8.75892090e+00] [-7.09219527e-03 -3.96011262e-05 9.99974849e-01 -1.00442938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.925769231 meters 0.01816690689465369 Centerline is valid? [True, True] Translation: X:156.55, Y:-8.75, Z:-1.01 [[ 9.92935939e-01 1.18498814e-01 6.02101065e-03 1.56550629e+02] [-1.18497093e-01 9.92954191e-01 -6.43063358e-04 -8.74988417e+00] [-6.05479001e-03 -7.49515422e-05 9.99981667e-01 -1.00684816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.985769231 meters 0.02312373141613634 Centerline is valid? [True, True] Translation: X:156.61, Y:-8.74, Z:-1.01 [[ 9.92358893e-01 1.23326545e-01 3.79341943e-03 1.56612266e+02] [-1.23325897e-01 9.92366142e-01 -4.05254000e-04 -8.74404516e+00] [-3.81443958e-03 -6.56694419e-05 9.99992723e-01 -1.01199217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04576923099998 meters 0.02827003728701725 Centerline is valid? [True, True] Translation: X:156.67, Y:-8.74, Z:-1.01 [[ 9.91806073e-01 1.27704685e-01 3.49663753e-03 1.56672470e+02] [-1.27704161e-01 9.91812234e-01 -3.73536822e-04 -8.73644999e+00] [-3.51571028e-03 -7.60590740e-05 9.99993817e-01 -1.01331006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10576923099998 meters 0.032507185314987266 Centerline is valid? [True, True] Translation: X:156.73, Y:-8.73, Z:-1.01 [[ 9.91311829e-01 1.31468243e-01 4.11799760e-03 1.56732561e+02] [-1.31467548e-01 9.91320377e-01 -4.40051798e-04 -8.73004072e+00] [-4.14010777e-03 -1.05154495e-04 9.99991424e-01 -1.01227656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16576923099998 meters 0.03275315109568457 Centerline is valid? [True, True] Translation: X:156.79, Y:-8.73, Z:-1.01 [[ 9.91072646e-01 1.33290697e-01 2.93273374e-03 1.56792835e+02] [-1.33290353e-01 9.91076982e-01 -3.13300805e-04 -8.73001036e+00] [-2.94832499e-03 -8.04012589e-05 9.99995650e-01 -1.01495475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.225769231 meters 0.028895303380032458 Centerline is valid? [True, True] Translation: X:156.85, Y:-8.74, Z:-1.01 [[ 9.91643636e-01 1.28949750e-01 3.85504945e-03 1.56851837e+02] [-1.28949124e-01 9.91651125e-01 -4.11686601e-04 -8.73650367e+00] [-3.87595101e-03 -8.88588508e-05 9.99992485e-01 -1.01493889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.285769231 meters 0.026079288703594692 Centerline is valid? [True, True] Translation: X:156.91, Y:-8.74, Z:-1.02 [[ 9.92168423e-01 1.24874297e-01 2.86898676e-03 1.56910775e+02] [-1.24873933e-01 9.92172569e-01 -3.06356494e-04 -8.74243342e+00] [-2.88478602e-03 -5.43044224e-05 9.99995838e-01 -1.01716433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.345769231 meters 0.020680797012375657 Centerline is valid? [True, True] Translation: X:156.97, Y:-8.75, Z:-1.02 [[ 9.92618293e-01 1.21276589e-01 9.55929787e-04 1.56969871e+02] [-1.21276547e-01 9.92618753e-01 -1.02168570e-04 -8.75102242e+00] [-9.61264488e-04 -1.45174722e-05 9.99999538e-01 -1.01918423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.405769231 meters 0.02023186046335584 Centerline is valid? [True, True] Translation: X:157.03, Y:-8.75, Z:-1.02 [[ 9.92768372e-01 1.20014128e-01 2.75128573e-03 1.57028035e+02] [-1.20013775e-01 9.92772183e-01 -2.93821272e-04 -8.75433996e+00] [-2.76666265e-03 -3.84957200e-05 9.99996172e-01 -1.01581550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.465769231 meters 0.018679102894772613 Centerline is valid? [True, True] Translation: X:157.09, Y:-8.76, Z:-1.01 [[ 9.92924187e-01 1.18630879e-01 5.31735899e-03 1.57087157e+02] [-1.18629543e-01 9.92938422e-01 -5.67128905e-04 -8.75887761e+00] [-5.34708905e-03 -6.76798587e-05 9.99985702e-01 -1.01140403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.525769231 meters 0.01752141122059916 Centerline is valid? [True, True] Translation: X:157.15, Y:-8.77, Z:-1.01 [[ 9.93120448e-01 1.17022877e-01 4.17400116e-03 1.57145722e+02] [-1.17022040e-01 9.93129218e-01 -4.45020916e-04 -8.76608572e+00] [-4.19740014e-03 -4.64907606e-05 9.99991190e-01 -1.01497630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.585769231 meters 0.016539270139007786 Centerline is valid? [True, True] Translation: X:157.20, Y:-8.77, Z:-1.01 [[ 9.93210063e-01 1.16248529e-01 4.47786048e-03 1.57203962e+02] [-1.16247559e-01 9.93220156e-01 -4.77273177e-04 -8.77369192e+00] [-4.50298359e-03 -4.65078264e-05 9.99989860e-01 -1.01407549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.645769231 meters 0.015311805592395282 Centerline is valid? [True, True] Translation: X:157.26, Y:-8.78, Z:-1.02 [[ 9.93415686e-01 1.14463665e-01 4.83147718e-03 1.57263183e+02] [-1.14462516e-01 9.93427434e-01 -5.14651014e-04 -8.78363153e+00] [-4.85863082e-03 -4.17606433e-05 9.99988196e-01 -1.01521263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.705769231 meters 0.01280054533795937 Centerline is valid? [True, True] Translation: X:157.32, Y:-8.80, Z:-1.02 [[ 9.93850378e-01 1.10641928e-01 4.44858952e-03 1.57322603e+02] [-1.10640916e-01 9.93860334e-01 -4.73711291e-04 -8.79983926e+00] [-4.47368900e-03 -2.13978737e-05 9.99989993e-01 -1.01577446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76576923099998 meters 0.012333795190370924 Centerline is valid? [True, True] Translation: X:157.38, Y:-8.82, Z:-1.02 [[ 9.94673803e-01 1.02984249e-01 4.27437156e-03 1.57382080e+02] [-1.02983246e-01 9.94682987e-01 -4.54743802e-04 -8.82222711e+00] [-4.29847612e-03 1.21330910e-05 9.99990761e-01 -1.01724396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82576923099998 meters 0.015561527027293912 Centerline is valid? [True, True] Translation: X:157.44, Y:-8.84, Z:-1.02 [[ 9.95138268e-01 9.84638354e-02 2.16789040e-03 1.57441179e+02] [-9.84635662e-02 9.95140630e-01 -2.30802222e-04 -8.83964986e+00] [-2.18008149e-03 1.62219035e-05 9.99997623e-01 -1.02300463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88576923099998 meters 0.016238552206971877 Centerline is valid? [True, True] Translation: X:157.50, Y:-8.85, Z:-1.02 [[ 9.95267796e-01 9.71425142e-02 2.31235015e-03 1.57502080e+02] [-9.71422033e-02 9.95270482e-01 -2.46660940e-04 -8.85008730e+00] [-2.32537511e-03 2.08669017e-05 9.99997296e-01 -1.02292635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94576923099999 meters 0.020554833059772657 Centerline is valid? [True, True] Translation: X:157.56, Y:-8.87, Z:-1.02 [[ 9.95690544e-01 9.26393197e-02 4.27761278e-03 1.57561313e+02] [-9.26382138e-02 9.95699730e-01 -4.56370145e-04 -8.87020668e+00] [-4.30149572e-03 5.81330300e-05 9.99990747e-01 -1.01870051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.005769231 meters 0.021204098168962536 Centerline is valid? [True, True] Translation: X:157.62, Y:-8.89, Z:-1.02 [[ 9.95889123e-01 9.03934227e-02 5.82091711e-03 1.57621935e+02] [-9.03913330e-02 9.95906130e-01 -6.21621167e-04 -8.88555999e+00] [-5.85327750e-03 9.29053018e-05 9.99982865e-01 -1.01577261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.065769231 meters 0.02244000192429115 Centerline is valid? [True, True] Translation: X:157.68, Y:-8.90, Z:-1.02 [[ 9.95846832e-01 9.09318657e-02 4.52583487e-03 1.57682804e+02] [-9.09306058e-02 9.95857114e-01 -4.83793626e-04 -8.90020273e+00] [-4.55107711e-03 7.02474438e-05 9.99989641e-01 -1.01837984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.125769231 meters 0.01895370697818274 Centerline is valid? [True, True] Translation: X:157.74, Y:-8.91, Z:-1.02 [[ 9.95607815e-01 9.34975450e-02 4.82569060e-03 1.57744167e+02] [-9.34961381e-02 9.95619508e-01 -5.16819284e-04 -8.91230477e+00] [-4.85287303e-03 6.33658833e-05 9.99988223e-01 -1.01761661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.185769231 meters 0.01378301848747168 Centerline is valid? [True, True] Translation: X:157.80, Y:-8.92, Z:-1.02 [[ 9.94939812e-01 1.00253690e-01 6.63077157e-03 1.57804922e+02] [-1.00251173e-01 9.94961907e-01 -7.11747815e-04 -8.91652126e+00] [-6.66872047e-03 4.34036089e-05 9.99977763e-01 -1.01597262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.245769231 meters 0.012045070623005217 Centerline is valid? [True, True] Translation: X:157.87, Y:-8.92, Z:-1.02 [[ 9.93992850e-01 1.09402584e-01 3.04760313e-03 1.57867844e+02] [-1.09402097e-01 9.93997522e-01 -3.26546917e-04 -8.91657601e+00] [-3.06503504e-03 -8.82887110e-06 9.99995303e-01 -1.02267275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.305769231 meters 0.015861781893810184 Centerline is valid? [True, True] Translation: X:157.93, Y:-8.92, Z:-1.03 [[ 9.93322301e-01 1.15369108e-01 8.80328753e-04 1.57928421e+02] [-1.15369070e-01 9.93322691e-01 -9.45198806e-05 -8.92007860e+00] [-8.85355200e-04 -7.67400402e-06 9.99999608e-01 -1.02856894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.365769231 meters 0.017015880122547955 Centerline is valid? [True, True] Translation: X:157.99, Y:-8.93, Z:-1.03 [[ 9.92933913e-01 1.18658091e-01 1.58189940e-03 1.57989798e+02] [-1.18657972e-01 9.92935173e-01 -1.69201022e-04 -8.93122546e+00] [-1.59080062e-03 -1.96995428e-05 9.99998734e-01 -1.02672491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.425769231 meters 0.023414841571360697 Centerline is valid? [True, True] Translation: X:158.05, Y:-8.93, Z:-1.03 [[ 9.92308728e-01 1.23776900e-01 1.63306982e-03 1.58051581e+02] [-1.23776779e-01 9.92310072e-01 -1.75073736e-04 -8.93098899e+00] [-1.64218172e-03 -2.84089265e-05 9.99998651e-01 -1.02813165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.485769231 meters 0.03300029739324975 Centerline is valid? [True, True] Translation: X:158.11, Y:-8.92, Z:-1.03 [[ 9.91267200e-01 1.31840685e-01 2.71523158e-03 1.58112493e+02] [-1.31840377e-01 9.91270916e-01 -2.93016487e-04 -8.92275732e+00] [-2.73016159e-03 -6.75195226e-05 9.99996271e-01 -1.02628589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54576923099998 meters 0.035654456832404015 Centerline is valid? [True, True] Translation: X:158.17, Y:-8.92, Z:-1.03 [[ 9.90660087e-01 1.36353683e-01 5.15646121e-04 1.58172694e+02] [-1.36353673e-01 9.90660221e-01 -5.57016873e-05 -8.92096379e+00] [-5.18425230e-04 -1.51288039e-05 9.99999866e-01 -1.03055677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60576923099998 meters 0.030958917968396622 Centerline is valid? [True, True] Translation: X:158.23, Y:-8.93, Z:-1.02 [[ 9.91090550e-01 1.33120438e-01 4.29765197e-03 1.58232861e+02] [-1.33119679e-01 9.91099862e-01 -4.63565737e-04 -8.92871708e+00] [-4.32111235e-03 -1.12666428e-04 9.99990658e-01 -1.02387041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66576923099998 meters 0.030932033641464237 Centerline is valid? [True, True] Translation: X:158.29, Y:-8.93, Z:-1.02 [[ 9.91323672e-01 1.31290661e-01 6.33560159e-03 1.58292648e+02] [-1.31288973e-01 9.91343905e-01 -6.83396611e-04 -8.92803176e+00] [-6.37048362e-03 -1.54327386e-04 9.99979696e-01 -1.01979610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.725769231 meters 0.02802442650200386 Centerline is valid? [True, True] Translation: X:158.35, Y:-8.93, Z:-1.02 [[ 9.91538921e-01 1.29652637e-01 6.38449516e-03 1.58353968e+02] [-1.29650890e-01 9.91559465e-01 -6.88580265e-04 -8.92845971e+00] [-6.41988285e-03 -1.45001346e-04 9.99979382e-01 -1.02167076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.785769231 meters 0.02537001964049508 Centerline is valid? [True, True] Translation: X:158.41, Y:-8.93, Z:-1.02 [[ 9.92054370e-01 1.25612565e-01 7.04346684e-03 1.58414292e+02] [-1.25610335e-01 9.92079365e-01 -7.59742765e-04 -8.92918291e+00] [-7.08311134e-03 -1.31026102e-04 9.99974906e-01 -1.02062876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.845769231 meters 0.02109210607817707 Centerline is valid? [True, True] Translation: X:158.47, Y:-8.93, Z:-1.02 [[ 9.92508797e-01 1.22054129e-01 5.39240505e-03 1.58474611e+02] [-1.22052770e-01 9.92523442e-01 -5.81651169e-04 -8.93352799e+00] [-5.42308134e-03 -8.08640707e-05 9.99985292e-01 -1.02417178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.905769231 meters 0.013762531754022658 Centerline is valid? [True, True] Translation: X:158.53, Y:-8.95, Z:-1.03 [[ 9.93546751e-01 1.13304864e-01 5.18272580e-03 1.58533763e+02] [-1.13303490e-01 9.93560268e-01 -5.58909098e-04 -8.94850656e+00] [-5.21267756e-03 -3.19186008e-05 9.99986413e-01 -1.02566870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.965769231 meters 0.012266112358127669 Centerline is valid? [True, True] Translation: X:158.59, Y:-8.96, Z:-1.03 [[ 9.93959368e-01 1.09723993e-01 2.32833383e-03 1.58594757e+02] [-1.09723705e-01 9.93962095e-01 -2.51195921e-04 -8.95822258e+00] [-2.34183779e-03 -5.79487620e-06 9.99997258e-01 -1.03037856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.025769231 meters 0.012614518438252259 Centerline is valid? [True, True] Translation: X:158.65, Y:-8.96, Z:-1.03 [[ 9.93929081e-01 1.10011348e-01 1.57648254e-03 1.58654043e+02] [-1.10011216e-01 9.93930331e-01 -1.70258308e-04 -8.96412971e+00] [-1.58564416e-03 -4.20607874e-06 9.99998743e-01 -1.03187887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.085769231 meters 0.014131832671255397 Centerline is valid? [True, True] Translation: X:158.71, Y:-8.96, Z:-1.03 [[ 9.93491609e-01 1.13819462e-01 4.42180955e-03 1.58713932e+02] [-1.13818465e-01 9.93501449e-01 -4.77377330e-04 -8.96357627e+00] [-4.44740903e-03 -2.90132027e-05 9.99990110e-01 -1.02801520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.145769231 meters 0.018090395282755377 Centerline is valid? [True, True] Translation: X:158.77, Y:-8.96, Z:-1.02 [[ 9.92896368e-01 1.18782755e-01 6.88902797e-03 1.58774604e+02] [-1.18780455e-01 9.92920264e-01 -7.43487506e-04 -8.95789378e+00] [-6.92856897e-03 -8.00758356e-05 9.99975994e-01 -1.02256060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.205769231 meters 0.0178133442726807 Centerline is valid? [True, True] Translation: X:158.83, Y:-8.96, Z:-1.03 [[ 9.92816392e-01 1.19528602e-01 5.34085025e-03 1.58834123e+02] [-1.19527231e-01 9.92830755e-01 -5.76316953e-04 -8.96193001e+00] [-5.37144675e-03 -6.62001237e-05 9.99985571e-01 -1.02696758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26576923099998 meters 0.013210095262705022 Centerline is valid? [True, True] Translation: X:158.89, Y:-8.98, Z:-1.03 [[ 9.93768890e-01 1.11422963e-01 2.88373042e-03 1.58893121e+02] [-1.11422529e-01 9.93773074e-01 -3.11033539e-04 -8.97947583e+00] [-2.90042992e-03 -1.22170812e-05 9.99995794e-01 -1.03236171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32576923099998 meters 0.011698667059767399 Centerline is valid? [True, True] Translation: X:158.95, Y:-8.99, Z:-1.02 [[ 9.94331329e-01 1.06113313e-01 6.72110841e-03 1.58952407e+02] [-1.06110836e-01 9.94354044e-01 -7.25123073e-04 -8.99450172e+00] [-6.76010654e-03 7.83015742e-06 9.99977150e-01 -1.02384638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38576923099998 meters 0.013066683551974049 Centerline is valid? [True, True] Translation: X:159.01, Y:-9.00, Z:-1.02 [[ 9.94680378e-01 1.02759915e-01 7.16551816e-03 1.59013847e+02] [-1.02757012e-01 9.94706187e-01 -7.73098099e-04 -9.00480993e+00] [-7.20702874e-03 3.26782715e-05 9.99974028e-01 -1.02407167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44576923099999 meters 0.01919727658753442 Centerline is valid? [True, True] Translation: X:159.07, Y:-9.03, Z:-1.02 [[ 9.95349626e-01 9.59899057e-02 8.06598535e-03 1.59073061e+02] [-9.59859934e-02 9.95382303e-01 -8.71660184e-04 -9.02703541e+00] [-8.11240965e-03 9.33850212e-05 9.99967090e-01 -1.02271513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.505769231 meters 0.025913368405608418 Centerline is valid? [True, True] Translation: X:159.13, Y:-9.05, Z:-1.03 [[ 9.95930998e-01 8.99697438e-02 5.18577717e-03 1.59131781e+02] [-8.99680417e-02 9.95944495e-01 -5.61042424e-04 -9.04987053e+00] [-5.21522307e-03 9.22053246e-05 9.99986396e-01 -1.02912122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.565769231 meters 0.022785001518828892 Centerline is valid? [True, True] Translation: X:159.19, Y:-9.06, Z:-1.03 [[ 9.95766056e-01 9.18873386e-02 2.58425216e-03 1.59193683e+02] [-9.18869241e-02 9.95769409e-01 -2.78916584e-04 -9.05719844e+00] [-2.59894815e-03 4.02766847e-05 9.99996622e-01 -1.03356567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.625769231 meters 0.018499848675857238 Centerline is valid? [True, True] Translation: X:159.26, Y:-9.06, Z:-1.03 [[ 9.95345771e-01 9.63084458e-02 3.38815229e-03 1.59255210e+02] [-9.63077544e-02 9.95351537e-01 -3.67032373e-04 -9.06342381e+00] [-3.40775091e-03 3.90187817e-05 9.99994193e-01 -1.03202907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.685769231 meters 0.014822720055755169 Centerline is valid? [True, True] Translation: X:159.32, Y:-9.07, Z:-1.03 [[ 9.94897069e-01 1.00842891e-01 3.24541387e-03 1.59317274e+02] [-1.00842281e-01 9.94902362e-01 -3.51473217e-04 -9.07248528e+00] [-3.26431350e-03 2.24047361e-05 9.99994672e-01 -1.03444706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.745769231 meters 0.012606679510623853 Centerline is valid? [True, True] Translation: X:159.38, Y:-9.08, Z:-1.03 [[ 9.94480569e-01 1.04860986e-01 3.54560876e-03 1.59377388e+02] [-1.04860282e-01 9.94486890e-01 -3.84146629e-04 -9.08186113e+00] [-3.56634342e-03 1.02328226e-05 9.99993641e-01 -1.03363004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.805769231 meters 0.01186284581902654 Centerline is valid? [True, True] Translation: X:159.44, Y:-9.09, Z:-1.03 [[ 9.94228015e-01 1.07225178e-01 3.66271426e-03 1.59439798e+02] [-1.07224442e-01 9.94234762e-01 -3.97369618e-04 -9.08730534e+00] [-3.68420586e-03 2.34351597e-06 9.99993213e-01 -1.03353853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.865769231 meters 0.018643964579866244 Centerline is valid? [True, True] Translation: X:159.50, Y:-9.08, Z:-1.03 [[ 9.92880580e-01 1.19017640e-01 4.79126143e-03 1.59500740e+02] [-1.19016510e-01 9.92892138e-01 -5.21270549e-04 -9.08062251e+00] [-4.81924620e-03 -5.26798083e-05 9.99988386e-01 -1.03309541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.925769231 meters 0.02422536356981555 Centerline is valid? [True, True] Translation: X:159.56, Y:-9.08, Z:-1.03 [[ 9.92284262e-01 1.23872678e-01 5.24442377e-03 1.59560461e+02] [-1.23871392e-01 9.92298117e-01 -5.70506706e-04 -9.08176638e+00] [-5.27470203e-03 -8.35292496e-05 9.99986085e-01 -1.03124233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.985769231 meters 0.030877968586624532 Centerline is valid? [True, True] Translation: X:159.62, Y:-9.08, Z:-1.03 [[ 9.91584287e-01 1.29233110e-01 7.70750961e-03 1.59620545e+02] [-1.29230496e-01 9.91614228e-01 -8.38345408e-04 -9.07846635e+00] [-7.75121817e-03 -1.64755153e-04 9.99969945e-01 -1.02711715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04576923099998 meters 0.02706122887852428 Centerline is valid? [True, True] Translation: X:159.68, Y:-9.09, Z:-1.03 [[ 9.91393789e-01 1.30696724e-01 7.53135372e-03 1.59681259e+02] [-1.30694270e-01 9.91422381e-01 -8.19271608e-04 -9.08939282e+00] [-7.57382875e-03 -1.72083990e-04 9.99971303e-01 -1.02852503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10576923099998 meters 0.028834113860226187 Centerline is valid? [True, True] Translation: X:159.74, Y:-9.08, Z:-1.03 [[ 9.91373743e-01 1.30930333e-01 5.94557433e-03 1.59741726e+02] [-1.30928807e-01 9.91391562e-01 -6.46913804e-04 -9.08410503e+00] [-5.97909286e-03 -1.37113593e-04 9.99982116e-01 -1.02935698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16576923099998 meters 0.03142478221763801 Centerline is valid? [True, True] Translation: X:159.80, Y:-9.08, Z:-1.03 [[ 9.91693712e-01 1.28489171e-01 5.84080006e-03 1.59801537e+02] [-1.28487656e-01 9.91710905e-01 -6.35458294e-04 -9.08079103e+00] [-5.87403462e-03 -1.20290713e-04 9.99982740e-01 -1.03145690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.225769231 meters 0.02474067138162614 Centerline is valid? [True, True] Translation: X:159.86, Y:-9.09, Z:-1.04 [[ 9.92406704e-01 1.22946544e-01 3.61689349e-03 1.59861237e+02] [-1.22945926e-01 9.92413293e-01 -3.93439789e-04 -9.08987107e+00] [-3.63782524e-03 -5.42300364e-05 9.99993382e-01 -1.03690499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.285769231 meters 0.016284860979750126 Centerline is valid? [True, True] Translation: X:159.92, Y:-9.10, Z:-1.03 [[ 9.92996861e-01 1.18039522e-01 4.88930360e-03 1.59920775e+02] [-1.18038335e-01 9.93008897e-01 -5.31751229e-04 -9.10394866e+00] [-4.91788963e-03 -4.90979530e-05 9.99987906e-01 -1.03371067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.345769231 meters 0.013790179372910097 Centerline is valid? [True, True] Translation: X:159.98, Y:-9.12, Z:-1.04 [[ 9.93450945e-01 1.14165217e-01 4.63941446e-03 1.59981395e+02] [-1.14164105e-01 9.93461777e-01 -5.04517605e-04 -9.11517997e+00] [-4.66667930e-03 -2.84411102e-05 9.99989111e-01 -1.03576193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.405769231 meters 0.012488935909544136 Centerline is valid? [True, True] Translation: X:160.04, Y:-9.12, Z:-1.03 [[ 9.93768818e-01 1.11302783e-01 5.93518801e-03 1.60041647e+02] [-1.11300912e-01 9.93786542e-01 -6.45616958e-04 -9.12369230e+00] [-5.97016893e-03 -1.89978358e-05 9.99982178e-01 -1.03387583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.465769231 meters 0.012872546660401078 Centerline is valid? [True, True] Translation: X:160.10, Y:-9.13, Z:-1.04 [[ 9.93759677e-01 1.11495336e-01 3.23945007e-03 1.60101438e+02] [-1.11494779e-01 9.93764957e-01 -3.52427992e-04 -9.12949820e+00] [-3.25854603e-03 -1.09530430e-05 9.99994691e-01 -1.03888133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.525769231 meters 0.013152945184523021 Centerline is valid? [True, True] Translation: X:160.16, Y:-9.13, Z:-1.03 [[ 9.93607429e-01 1.12749566e-01 5.64016374e-03 1.60162377e+02] [-1.12747899e-01 9.93623437e-01 -6.13746170e-04 -9.13248105e+00] [-5.67339850e-03 -2.60938578e-05 9.99983906e-01 -1.03481678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.585769231 meters 0.01541495966699157 Centerline is valid? [True, True] Translation: X:160.22, Y:-9.13, Z:-1.04 [[ 9.93205900e-01 1.16235373e-01 5.60164761e-03 1.60223126e+02] [-1.16233784e-01 9.93221695e-01 -6.09554957e-04 -9.12972073e+00] [-5.63452979e-03 -4.56871176e-05 9.99984125e-01 -1.03590359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.645769231 meters 0.016645969121187435 Centerline is valid? [True, True] Translation: X:160.28, Y:-9.13, Z:-1.04 [[ 9.93131020e-01 1.16983466e-01 2.37590510e-03 1.60283139e+02] [-1.16983182e-01 9.93133862e-01 -2.58591716e-04 -9.12910628e+00] [-2.38984276e-03 -2.11254833e-05 9.99997144e-01 -1.04170823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.705769231 meters 0.014610171430849344 Centerline is valid? [True, True] Translation: X:160.34, Y:-9.14, Z:-1.04 [[ 9.93421965e-01 1.14464702e-01 3.26065208e-03 1.60341879e+02] [-1.14464154e-01 9.93427316e-01 -3.54863363e-04 -9.13728249e+00] [-3.27984017e-03 -2.06987213e-05 9.99994621e-01 -1.04064622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76576923099998 meters 0.012425911702947727 Centerline is valid? [True, True] Translation: X:160.40, Y:-9.15, Z:-1.04 [[ 9.93874583e-01 1.10409664e-01 4.79785208e-03 1.60401585e+02] [-1.10408431e-01 9.93886163e-01 -5.21922664e-04 -9.14973772e+00] [-4.82614410e-03 -1.09976512e-05 9.99988354e-01 -1.03929681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82576923099998 meters 0.012256814870584345 Centerline is valid? [True, True] Translation: X:160.46, Y:-9.16, Z:-1.04 [[ 9.94042865e-01 1.08932857e-01 3.52354245e-03 1.60460499e+02] [-1.08932182e-01 9.94049110e-01 -3.83265542e-04 -9.15777879e+00] [-3.54432445e-03 -2.84479184e-06 9.99993719e-01 -1.04143317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88576923099998 meters 0.014152199693471583 Centerline is valid? [True, True] Translation: X:160.52, Y:-9.15, Z:-1.03 [[ 9.93479858e-01 1.13790234e-01 7.03951792e-03 1.60520170e+02] [-1.13787664e-01 9.93504797e-01 -7.65845032e-04 -9.15129790e+00] [-7.08094050e-03 -4.01586842e-05 9.99974929e-01 -1.03405591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94576923099999 meters 0.01560943199567372 Centerline is valid? [True, True] Translation: X:160.58, Y:-9.15, Z:-1.04 [[ 9.93281656e-01 1.15510578e-01 6.98981850e-03 1.60580380e+02] [-1.15508088e-01 9.93306249e-01 -7.60203902e-04 -9.14864406e+00] [-7.03084199e-03 -5.22839815e-05 9.99975282e-01 -1.03539735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.005769231 meters 0.014291624853558782 Centerline is valid? [True, True] Translation: X:160.64, Y:-9.15, Z:-1.04 [[ 9.93498858e-01 1.13718227e-01 5.30877784e-03 1.60639580e+02] [-1.13716766e-01 9.93513042e-01 -5.77296910e-04 -9.15410955e+00] [-5.33998920e-03 -3.01532265e-05 9.99985742e-01 -1.03912313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.065769231 meters 0.012418527782989396 Centerline is valid? [True, True] Translation: X:160.70, Y:-9.16, Z:-1.04 [[ 9.93860443e-01 1.10597287e-01 3.10802412e-03 1.60699674e+02] [-1.10596771e-01 9.93865303e-01 -3.37890450e-04 -9.15987937e+00] [-3.12632710e-03 -7.92147919e-06 9.99995113e-01 -1.04112599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.125769231 meters 0.012515997701649555 Centerline is valid? [True, True] Translation: X:160.76, Y:-9.16, Z:-1.04 [[ 9.93892798e-01 1.10284852e-01 3.78911176e-03 1.60758758e+02] [-1.10284083e-01 9.93900021e-01 -4.12049600e-04 -9.16034016e+00] [-3.81144109e-03 -8.34558475e-06 9.99992736e-01 -1.04217606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.185769231 meters 0.012262924739151223 Centerline is valid? [True, True] Translation: X:160.82, Y:-9.17, Z:-1.04 [[ 9.94382787e-01 1.05710087e-01 5.31511802e-03 1.60818213e+02] [-1.05708509e-01 9.94396992e-01 -5.77645557e-04 -9.17093359e+00] [-5.34640034e-03 1.25475968e-05 9.99985708e-01 -1.03841458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.245769231 meters 0.017965096874337543 Centerline is valid? [True, True] Translation: X:160.88, Y:-9.19, Z:-1.04 [[ 9.95086352e-01 9.88855949e-02 4.97904694e-03 1.60876820e+02] [-9.88841252e-02 9.95098808e-01 -5.41097853e-04 -9.19040247e+00] [-5.00815046e-03 4.60903877e-05 9.99987458e-01 -1.04068843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.305769231 meters 0.020765575251275648 Centerline is valid? [True, True] Translation: X:160.94, Y:-9.20, Z:-1.04 [[ 9.95322299e-01 9.64870210e-02 4.87599230e-03 1.60937278e+02] [-9.64855823e-02 9.95334241e-01 -5.29978870e-04 -9.19809437e+00] [-4.90437818e-03 5.70368307e-05 9.99987972e-01 -1.04078641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.365769231 meters 0.017249365644472724 Centerline is valid? [True, True] Translation: X:161.00, Y:-9.19, Z:-1.04 [[ 9.95193511e-01 9.76579936e-02 7.26576171e-03 1.60997886e+02] [-9.76548303e-02 9.95220031e-01 -7.89720045e-04 -9.19446733e+00] [-7.30815407e-03 7.63875380e-05 9.99973292e-01 -1.03623803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.425769231 meters 0.017649426221573387 Centerline is valid? [True, True] Translation: X:161.06, Y:-9.20, Z:-1.04 [[ 9.95431212e-01 9.53724402e-02 4.56077248e-03 1.61059275e+02] [-9.53711705e-02 9.95441658e-01 -4.95552880e-04 -9.19622364e+00] [-4.58724501e-03 5.83225932e-05 9.99989477e-01 -1.04149529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.485769231 meters 0.027346359466717103 Centerline is valid? [True, True] Translation: X:161.12, Y:-9.21, Z:-1.05 [[ 9.95717444e-01 9.23757622e-02 3.67279571e-03 1.61118254e+02] [-9.23749181e-02 9.95724216e-01 -3.99168580e-04 -9.21491178e+00] [-3.69396513e-03 5.81849158e-05 9.99993176e-01 -1.04598505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54576923099998 meters 0.02353767048630006 Centerline is valid? [True, True] Translation: X:161.18, Y:-9.21, Z:-1.04 [[ 9.95764000e-01 9.16822971e-02 6.95797449e-03 1.61179069e+02] [-9.16792495e-02 9.95788302e-01 -7.56373497e-04 -9.21219204e+00] [-6.99801567e-03 1.15267619e-04 9.99975507e-01 -1.03913256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60576923099998 meters 0.023090773730936577 Centerline is valid? [True, True] Translation: X:161.24, Y:-9.22, Z:-1.04 [[ 9.95714392e-01 9.22950720e-02 5.87098187e-03 1.61239075e+02] [-9.22929137e-02 9.95731696e-01 -6.38078020e-04 -9.21555267e+00] [-5.90481420e-03 9.34934450e-05 9.99982562e-01 -1.04153934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66576923099998 meters 0.023401836142211672 Centerline is valid? [True, True] Translation: X:161.30, Y:-9.22, Z:-1.05 [[ 9.95710219e-01 9.24897503e-02 2.60870702e-03 1.61299098e+02] [-9.24893248e-02 9.95713636e-01 -2.83523037e-04 -9.22071221e+00] [-2.62374813e-03 4.10292344e-05 9.99996557e-01 -1.04920588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.725769231 meters 0.020129221207002057 Centerline is valid? [True, True] Translation: X:161.36, Y:-9.22, Z:-1.05 [[ 9.95627821e-01 9.33583824e-02 3.07470828e-03 1.61359832e+02] [-9.33577954e-02 9.95632568e-01 -3.34216829e-04 -9.21845542e+00] [-3.09248164e-03 4.57075863e-05 9.99995217e-01 -1.04731970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.785769231 meters 0.02234373133702929 Centerline is valid? [True, True] Translation: X:161.42, Y:-9.22, Z:-1.05 [[ 9.95593880e-01 9.36852884e-02 3.98670590e-03 1.61418837e+02] [-9.36843040e-02 9.95601860e-01 -4.33347489e-04 -9.21881066e+00] [-4.00977010e-03 5.79463396e-05 9.99991959e-01 -1.04710594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.845769231 meters 0.027298232926919498 Centerline is valid? [True, True] Translation: X:161.48, Y:-9.22, Z:-1.05 [[ 9.95956681e-01 8.97612728e-02 3.63357504e-03 1.61478425e+02] [-8.97604299e-02 9.95963307e-01 -3.94732931e-04 -9.22402610e+00] [-3.65433914e-03 6.69856423e-05 9.99993321e-01 -1.04929194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.905769231 meters 0.03014168122998408 Centerline is valid? [True, True] Translation: X:161.54, Y:-9.22, Z:-1.05 [[ 9.96456060e-01 8.39434115e-02 5.36885733e-03 1.61539217e+02] [-8.39414866e-02 9.96470515e-01 -5.83271757e-04 -9.22386637e+00] [-5.39886985e-03 1.30534811e-04 9.99985417e-01 -1.04528024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.965769231 meters 0.03529558505672607 Centerline is valid? [True, True] Translation: X:161.60, Y:-9.23, Z:-1.05 [[ 9.96812521e-01 7.95818721e-02 5.61459160e-03 1.61597816e+02] [-7.95796980e-02 9.96828320e-01 -6.09914541e-04 -9.23010671e+00] [-5.64532205e-03 1.61162948e-04 9.99984052e-01 -1.04552228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.025769231 meters 0.03849814026819437 Centerline is valid? [True, True] Translation: X:161.66, Y:-9.23, Z:-1.04 [[ 9.96997357e-01 7.71607031e-02 6.51897359e-03 1.61657636e+02] [-7.71577218e-02 9.97018648e-01 -7.07971645e-04 -9.23404601e+00] [-6.55416583e-03 2.02856708e-04 9.99978501e-01 -1.04451675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.085769231 meters 0.04011640511775737 Centerline is valid? [True, True] Translation: X:161.72, Y:-9.24, Z:-1.05 [[ 9.97306587e-01 7.30191787e-02 6.91171630e-03 1.61717702e+02] [-7.30157280e-02 9.97330507e-01 -7.50622166e-04 -9.24224747e+00] [-6.94807533e-03 2.43936433e-04 9.99975832e-01 -1.04548113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.145769231 meters 0.05218640897219325 Centerline is valid? [True, True] Translation: X:161.77, Y:-9.27, Z:-1.05 [[ 9.98071179e-01 6.20011953e-02 3.12614934e-03 1.61774992e+02] [-6.20004352e-02 9.98076065e-01 -3.39545246e-04 -9.27138028e+00] [-3.14118704e-03 1.45067705e-04 9.99995056e-01 -1.05209778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.205769231 meters 0.051597182545226834 Centerline is valid? [True, True] Translation: X:161.84, Y:-9.28, Z:-1.05 [[ 9.98178330e-01 6.02402471e-02 3.33674457e-03 1.61835355e+02] [-6.02393717e-02 9.98183894e-01 -3.62324339e-04 -9.28211980e+00] [-3.35251120e-03 1.60660907e-04 9.99994367e-01 -1.05157436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26576923099998 meters 0.04943656367894892 Centerline is valid? [True, True] Translation: X:161.89, Y:-9.29, Z:-1.05 [[ 9.97901326e-01 6.45804912e-02 4.72262937e-03 1.61893512e+02] [-6.45787849e-02 9.97912480e-01 -5.13073834e-04 -9.29462497e+00] [-4.74590535e-03 2.07015393e-04 9.99988717e-01 -1.04926598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32576923099998 meters 0.04111539692146313 Centerline is valid? [True, True] Translation: X:161.95, Y:-9.30, Z:-1.05 [[ 9.97474709e-01 7.09780510e-02 2.51400373e-03 1.61953925e+02] [-7.09775878e-02 9.97477873e-01 -2.73086627e-04 -9.29754896e+00] [-2.52704625e-03 9.39590831e-05 9.99996803e-01 -1.05369646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38576923099998 meters 0.03972304112153182 Centerline is valid? [True, True] Translation: X:162.01, Y:-9.31, Z:-1.06 [[ 9.97249569e-01 7.40820993e-02 2.26730655e-03 1.62012278e+02] [-7.40817305e-02 9.97252143e-01 -2.46338771e-04 -9.31243629e+00] [-2.27932561e-03 7.76952408e-05 9.99997399e-01 -1.05512360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44576923099999 meters 0.04293926720609111 Centerline is valid? [True, True] Translation: X:162.07, Y:-9.33, Z:-1.05 [[ 9.97235757e-01 7.41116735e-02 5.32015654e-03 1.62070661e+02] [-7.41096444e-02 9.97249932e-01 -5.77812267e-04 -9.33448993e+00] [-5.34834838e-03 1.81940144e-04 9.99985681e-01 -1.04864544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.505769231 meters 0.0389010315271622 Centerline is valid? [True, True] Translation: X:162.13, Y:-9.35, Z:-1.05 [[ 9.96987170e-01 7.74510411e-02 4.23301297e-03 1.62130045e+02] [-7.74497863e-02 9.96996148e-01 -4.59804177e-04 -9.34669220e+00] [-4.25590994e-03 1.30572915e-04 9.99990935e-01 -1.05146138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.565769231 meters 0.028601482504455843 Centerline is valid? [True, True] Translation: X:162.19, Y:-9.35, Z:-1.06 [[ 9.96284188e-01 8.61125089e-02 1.56629130e-03 1.62191112e+02] [-8.61123478e-02 9.96285418e-01 -1.70138557e-04 -9.34683568e+00] [-1.57512424e-03 3.46293325e-05 9.99998759e-01 -1.05659418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.625769231 meters 0.018395815481657397 Centerline is valid? [True, True] Translation: X:162.25, Y:-9.34, Z:-1.06 [[ 9.95388539e-01 9.59090195e-02 1.76526917e-03 1.62252636e+02] [-9.59088302e-02 9.95390104e-01 -1.91774082e-04 -9.33907089e+00] [-1.77552433e-03 2.15848219e-05 9.99998424e-01 -1.05628176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.685769231 meters 0.01623578133150565 Centerline is valid? [True, True] Translation: X:162.31, Y:-9.34, Z:-1.06 [[ 9.95106481e-01 9.87909813e-02 1.85277822e-03 1.62311435e+02] [-9.87907775e-02 9.95108206e-01 -2.01425052e-04 -9.34279242e+00] [-1.86361379e-03 1.74019740e-05 9.99998263e-01 -1.05704509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.745769231 meters 0.017705526281173556 Centerline is valid? [True, True] Translation: X:162.37, Y:-9.35, Z:-1.05 [[ 9.95322931e-01 9.65098086e-02 4.25683273e-03 1.62371152e+02] [-9.65087143e-02 9.95332032e-01 -4.62219359e-04 -9.35383043e+00] [-4.28157067e-03 4.92360733e-05 9.99990833e-01 -1.05239901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.805769231 meters 0.02060234189930719 Centerline is valid? [True, True] Translation: X:162.43, Y:-9.37, Z:-1.05 [[ 9.95611304e-01 9.33414676e-02 6.74544633e-03 1.62430902e+02] [-9.33386470e-02 9.95634150e-01 -7.32434707e-04 -9.36950424e+00] [-6.78436325e-03 9.96094402e-05 9.99976981e-01 -1.04832102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.865769231 meters 0.021753543187221867 Centerline is valid? [True, True] Translation: X:162.49, Y:-9.38, Z:-1.05 [[ 9.95685971e-01 9.24522224e-02 7.87615040e-03 1.62491007e+02] [-9.24483471e-02 9.95717114e-01 -8.55479499e-04 -9.38046665e+00] [-7.92150872e-03 1.23651850e-04 9.99968617e-01 -1.04651851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.925769231 meters 0.02180687176254249 Centerline is valid? [True, True] Translation: X:162.55, Y:-9.39, Z:-1.05 [[ 9.95650050e-01 9.30349573e-02 5.04729505e-03 1.62551270e+02] [-9.30333727e-02 9.95662840e-01 -5.48328014e-04 -9.39472342e+00] [-5.07641780e-03 7.63759324e-05 9.99987112e-01 -1.05265495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.985769231 meters 0.02056664902428873 Centerline is valid? [True, True] Translation: X:162.61, Y:-9.41, Z:-1.06 [[ 9.95473865e-01 9.50080093e-02 2.29385104e-03 1.62611903e+02] [-9.50076879e-02 9.95476508e-01 -2.48927624e-04 -9.40903405e+00] [-2.30712494e-03 2.98674607e-05 9.99997338e-01 -1.05797162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04576923099998 meters 0.01863437028588453 Centerline is valid? [True, True] Translation: X:162.67, Y:-9.42, Z:-1.05 [[ 9.95285764e-01 9.68282562e-02 5.52596637e-03 1.62672294e+02] [-9.68264043e-02 9.95301103e-01 -6.02312105e-04 -9.42310151e+00] [-5.55832125e-03 6.44132100e-05 9.99984550e-01 -1.05345705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10576923099998 meters 0.017214485658198535 Centerline is valid? [True, True] Translation: X:162.73, Y:-9.44, Z:-1.06 [[ 9.95106098e-01 9.87423960e-02 3.71391197e-03 1.62733413e+02] [-9.87415743e-02 9.95113028e-01 -4.04397909e-04 -9.43926698e+00] [-3.73569340e-03 3.57013108e-05 9.99993022e-01 -1.05646787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16576923099998 meters 0.013139612139603423 Centerline is valid? [True, True] Translation: X:162.79, Y:-9.44, Z:-1.06 [[ 9.94488887e-01 1.04819732e-01 2.16263637e-03 1.62794367e+02] [-1.04819468e-01 9.94491239e-01 -2.35425140e-04 -9.44273919e+00] [-2.17540012e-03 7.44129302e-06 9.99997634e-01 -1.05935303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.225769231 meters 0.012106793772613046 Centerline is valid? [True, True] Translation: X:162.85, Y:-9.45, Z:-1.06 [[ 9.93909169e-01 1.10150829e-01 3.37023419e-03 1.62854336e+02] [-1.10150213e-01 9.93914883e-01 -3.68416176e-04 -9.44601874e+00] [-3.39030727e-03 -5.05979723e-06 9.99994253e-01 -1.05777357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.285769231 meters 0.013496954517148869 Centerline is valid? [True, True] Translation: X:162.91, Y:-9.45, Z:-1.06 [[ 9.93512318e-01 1.13651433e-01 4.07745581e-03 1.62914582e+02] [-1.13650560e-01 9.93520685e-01 -4.45818919e-04 -9.45146135e+00] [-4.10170464e-03 -2.04785501e-05 9.99991588e-01 -1.05643560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.345769231 meters 0.017808837377334196 Centerline is valid? [True, True] Translation: X:162.97, Y:-9.45, Z:-1.06 [[ 9.92974716e-01 1.18269853e-01 3.66821248e-03 1.62974182e+02] [-1.18269178e-01 9.92981491e-01 -4.01063624e-04 -9.45039369e+00] [-3.68990084e-03 -3.55904375e-05 9.99993192e-01 -1.05791309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.405769231 meters 0.028069005127431997 Centerline is valid? [True, True] Translation: X:163.04, Y:-9.44, Z:-1.06 [[ 9.91902639e-01 1.26954186e-01 3.43370011e-03 1.63035845e+02] [-1.26953646e-01 9.91908580e-01 -3.75480365e-04 -9.43924719e+00] [-3.45358540e-03 -6.34807839e-05 9.99994034e-01 -1.05701394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.465769231 meters 0.03628607872564976 Centerline is valid? [True, True] Translation: X:163.10, Y:-9.43, Z:-1.05 [[ 9.91079152e-01 1.33081395e-01 7.17327727e-03 1.63096322e+02] [-1.33079202e-01 9.91105096e-01 -7.84248193e-04 -9.42969626e+00] [-7.21384050e-03 -1.77361981e-04 9.99973964e-01 -1.04958709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.525769231 meters 0.04185372925352572 Centerline is valid? [True, True] Translation: X:163.16, Y:-9.42, Z:-1.05 [[ 9.90572239e-01 1.36878149e-01 5.56875853e-03 1.63158243e+02] [-1.36876888e-01 9.90587879e-01 -6.08712533e-04 -9.42022122e+00] [-5.59966415e-03 -1.59260603e-04 9.99984309e-01 -1.05295425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.585769231 meters 0.044390900279357055 Centerline is valid? [True, True] Translation: X:163.22, Y:-9.42, Z:-1.06 [[ 9.90381470e-01 1.38290786e-01 4.49475100e-03 1.63217636e+02] [-1.38289979e-01 9.90391660e-01 -4.91418856e-04 -9.41871861e+00] [-4.51952260e-03 -1.34886893e-04 9.99989778e-01 -1.05561550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.645769231 meters 0.051156842281188795 Centerline is valid? [True, True] Translation: X:163.28, Y:-9.40, Z:-1.06 [[ 9.89731449e-01 1.42865541e-01 4.59293124e-03 1.63280128e+02] [-1.42864749e-01 9.89742094e-01 -5.01863902e-04 -9.40476990e+00] [-4.61751644e-03 -1.59457481e-04 9.99989327e-01 -1.05591020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.705769231 meters 0.049455891548019666 Centerline is valid? [True, True] Translation: X:163.34, Y:-9.41, Z:-1.06 [[ 9.89992507e-01 1.41073168e-01 3.63291569e-03 1.63339389e+02] [-1.41072659e-01 9.89999165e-01 -3.97080780e-04 -9.40507237e+00] [-3.65260094e-03 -1.19398082e-04 9.99993322e-01 -1.05958505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76576923099998 meters 0.04067561430604636 Centerline is valid? [True, True] Translation: X:163.40, Y:-9.42, Z:-1.06 [[ 9.90975707e-01 1.34018674e-01 2.47838372e-03 1.63398906e+02] [-1.34018415e-01 9.90978805e-01 -2.70799518e-04 -9.41564565e+00] [-2.49231792e-03 -6.37933146e-05 9.99996892e-01 -1.06259679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82576923099998 meters 0.025501345759942017 Centerline is valid? [True, True] Translation: X:163.46, Y:-9.44, Z:-1.06 [[ 9.91732664e-01 1.28302568e-01 2.18494564e-03 1.63456727e+02] [-1.28302353e-01 9.91735070e-01 -2.38644829e-04 -9.43912265e+00] [-2.19750596e-03 -4.36617962e-05 9.99997585e-01 -1.06249767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88576923099998 meters 0.031820203486987664 Centerline is valid? [True, True] Translation: X:163.52, Y:-9.43, Z:-1.06 [[ 9.91894445e-01 1.27021869e-01 3.29460369e-03 1.63516107e+02] [-1.27021374e-01 9.91899915e-01 -3.59937942e-04 -9.43101668e+00] [-3.31363711e-03 -6.14646425e-05 9.99994508e-01 -1.06092597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94576923099999 meters 0.03847946478500559 Centerline is valid? [True, True] Translation: X:163.58, Y:-9.42, Z:-1.06 [[ 9.91344166e-01 1.31251132e-01 3.14394142e-03 1.63576818e+02] [-1.31250704e-01 9.91349149e-01 -3.43201540e-04 -9.42119637e+00] [-3.16178924e-03 -7.24136790e-05 9.99994999e-01 -1.06198780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.005769231 meters 0.04276759113585767 Centerline is valid? [True, True] Translation: X:163.64, Y:-9.42, Z:-1.07 [[ 9.91039727e-01 1.33551158e-01 2.08528870e-03 1.63636724e+02] [-1.33550975e-01 9.91041919e-01 -2.27644628e-04 -9.41734157e+00] [-2.09701072e-03 -5.28874690e-05 9.99997800e-01 -1.06517101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.065769231 meters 0.03397911420197521 Centerline is valid? [True, True] Translation: X:163.70, Y:-9.42, Z:-1.06 [[ 9.91067316e-01 1.33326112e-01 3.11807185e-03 1.63695711e+02] [-1.33325701e-01 9.91072218e-01 -3.40189940e-04 -9.42378158e+00] [-3.13559058e-03 -7.85679836e-05 9.99995081e-01 -1.05998672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.125769231 meters 0.02935995162253598 Centerline is valid? [True, True] Translation: X:163.76, Y:-9.42, Z:-1.05 [[ 9.91257317e-01 1.31805151e-01 6.02777137e-03 1.63755201e+02] [-1.31803590e-01 9.91275634e-01 -6.57234127e-04 -9.42338822e+00] [-6.06180973e-03 -1.42993766e-04 9.99981617e-01 -1.05422387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.185769231 meters 0.03521591765659978 Centerline is valid? [True, True] Translation: X:163.82, Y:-9.41, Z:-1.05 [[ 9.90911511e-01 1.34326060e-01 7.13354234e-03 1.63816254e+02] [-1.34323942e-01 9.90937170e-01 -7.77400182e-04 -9.40566321e+00] [-7.17331736e-03 -1.87870737e-04 9.99974254e-01 -1.05248214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.245769231 meters 0.03702460847806628 Centerline is valid? [True, True] Translation: X:163.88, Y:-9.39, Z:-1.06 [[ 9.90704284e-01 1.35932777e-01 5.22501375e-03 1.63877034e+02] [-1.35931664e-01 9.90718052e-01 -5.69310061e-04 -9.39390608e+00] [-5.25390334e-03 -1.46226896e-04 9.99986187e-01 -1.05667451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.305769231 meters 0.03749930482142639 Centerline is valid? [True, True] Translation: X:163.94, Y:-9.38, Z:-1.05 [[ 9.90646528e-01 1.36163828e-01 8.88082443e-03 1.63937656e+02] [-1.36160626e-01 9.90686302e-01 -9.67018197e-04 -9.38264665e+00] [-8.92978401e-03 -2.51245392e-04 9.99960097e-01 -1.04932886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.365769231 meters 0.03283714378344264 Centerline is valid? [True, True] Translation: X:164.00, Y:-9.38, Z:-1.05 [[ 9.90670288e-01 1.36019316e-01 8.43358734e-03 1.63997578e+02] [-1.36016427e-01 9.90706157e-01 -9.17948556e-04 -9.37681699e+00] [-8.48006564e-03 -2.37722052e-04 9.99964015e-01 -1.05095617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.425769231 meters 0.03585210128972457 Centerline is valid? [True, True] Translation: X:164.06, Y:-9.36, Z:-1.06 [[ 9.90927234e-01 1.34342241e-01 3.92173276e-03 1.64056877e+02] [-1.34341603e-01 9.90934989e-01 -4.26885388e-04 -9.36220368e+00] [-3.94353095e-03 -1.03839507e-04 9.99992219e-01 -1.06138902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.485769231 meters 0.027080172575175473 Centerline is valid? [True, True] Translation: X:164.12, Y:-9.36, Z:-1.06 [[ 9.91580237e-01 1.29437195e-01 3.82710628e-03 1.64116970e+02] [-1.29436552e-01 9.91587619e-01 -4.16209582e-04 -9.36436602e+00] [-3.84878420e-03 -8.26622447e-05 9.99992590e-01 -1.06206505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54576923099998 meters 0.02170310769683974 Centerline is valid? [True, True] Translation: X:164.18, Y:-9.37, Z:-1.06 [[ 9.92416829e-01 1.22861457e-01 3.72814392e-03 1.64175690e+02] [-1.22860801e-01 9.92423830e-01 -4.05442501e-04 -9.36888587e+00] [-3.74971213e-03 -5.56747874e-05 9.99992968e-01 -1.06208677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60576923099998 meters 0.018612950029089474 Centerline is valid? [True, True] Translation: X:164.23, Y:-9.37, Z:-1.06 [[ 9.92758420e-01 1.20009228e-01 5.33903172e-03 1.64234221e+02] [-1.20007842e-01 9.92772774e-01 -5.80467510e-04 -9.37211235e+00] [-5.37010679e-03 -6.44616657e-05 9.99985579e-01 -1.05889090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66576923099998 meters 0.01600756271863184 Centerline is valid? [True, True] Translation: X:164.29, Y:-9.37, Z:-1.06 [[ 9.93141561e-01 1.16793062e-01 5.40552690e-03 1.64293455e+02] [-1.16791595e-01 9.93156271e-01 -5.87437882e-04 -9.37112934e+00] [-5.43714161e-03 -4.79111329e-05 9.99985217e-01 -1.06078329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.725769231 meters 0.012744625319428346 Centerline is valid? [True, True] Translation: X:164.35, Y:-9.38, Z:-1.06 [[ 9.93739979e-01 1.11545963e-01 6.19297733e-03 1.64352032e+02] [-1.11543937e-01 9.93759276e-01 -6.72675155e-04 -9.37560817e+00] [-6.22936286e-03 -2.23248768e-05 9.99980597e-01 -1.05993207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.785769231 meters 0.012676351116585962 Centerline is valid? [True, True] Translation: X:164.41, Y:-9.38, Z:-1.06 [[ 9.94489114e-01 1.04710200e-01 5.21298732e-03 1.64409357e+02] [-1.04708671e-01 9.94502777e-01 -5.66085665e-04 -9.38314153e+00] [-5.24360531e-03 1.71210583e-05 9.99986252e-01 -1.06268947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.845769231 meters 0.01762903729566271 Centerline is valid? [True, True] Translation: X:164.47, Y:-9.40, Z:-1.06 [[ 9.95309813e-01 9.64924391e-02 6.89819177e-03 1.64466990e+02] [-9.64895691e-02 9.95333714e-01 -7.48420887e-04 -9.39510952e+00] [-6.93821979e-03 7.93071022e-05 9.99975927e-01 -1.05938294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.905769231 meters 0.0256510153510165 Centerline is valid? [True, True] Translation: X:164.52, Y:-9.41, Z:-1.06 [[ 9.96074476e-01 8.81149733e-02 8.44926506e-03 1.64524010e+02] [-8.81103689e-02 9.96110297e-01 -9.16367178e-04 -9.41392651e+00] [-8.49714560e-03 1.68302094e-04 9.99963884e-01 -1.05908328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.965769231 meters 0.030451944350187322 Centerline is valid? [True, True] Translation: X:164.58, Y:-9.43, Z:-1.06 [[ 9.96601281e-01 8.21868533e-02 5.58632107e-03 1.64582367e+02] [-8.21847480e-02 9.96616928e-01 -6.05775438e-04 -9.43056564e+00] [-5.61720892e-03 1.44606188e-04 9.99984213e-01 -1.06441636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.025769231 meters 0.03575688934921375 Centerline is valid? [True, True] Translation: X:164.64, Y:-9.45, Z:-1.06 [[ 9.97042737e-01 7.66867679e-02 4.99210969e-03 1.64641237e+02] [-7.66850180e-02 9.97055222e-01 -5.41286080e-04 -9.44922445e+00] [-5.01891851e-03 1.56865333e-04 9.99987393e-01 -1.06471615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.085769231 meters 0.03506512889806868 Centerline is valid? [True, True] Translation: X:164.70, Y:-9.46, Z:-1.06 [[ 9.96955493e-01 7.77564844e-02 5.80285409e-03 1.64699218e+02] [-7.77541382e-02 9.96972366e-01 -6.29170134e-04 -9.45846105e+00] [-5.83420723e-03 1.76058702e-04 9.99982965e-01 -1.06340221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.145769231 meters 0.03512873673821872 Centerline is valid? [True, True] Translation: X:164.76, Y:-9.47, Z:-1.06 [[ 9.96932127e-01 7.78601062e-02 8.00857344e-03 1.64756739e+02] [-7.78556446e-02 9.96964265e-01 -8.67828279e-04 -9.47406895e+00] [-8.05183074e-03 2.41653244e-04 9.99967554e-01 -1.06042630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.205769231 meters 0.03657907854452786 Centerline is valid? [True, True] Translation: X:164.81, Y:-9.50, Z:-1.06 [[ 9.97116808e-01 7.54044718e-02 8.49922627e-03 1.64814221e+02] [-7.53993609e-02 9.97152992e-01 -9.20616628e-04 -9.49647372e+00] [-8.54444751e-03 2.77126085e-04 9.99963457e-01 -1.06028422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26576923099998 meters 0.03501649616767069 Centerline is valid? [True, True] Translation: X:164.87, Y:-9.51, Z:-1.06 [[ 9.97020148e-01 7.69380980e-02 5.59941719e-03 1.64871347e+02] [-7.69359042e-02 9.97035856e-01 -6.06472865e-04 -9.51179080e+00] [-5.62948058e-03 1.73869442e-04 9.99984139e-01 -1.06484162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32576923099998 meters 0.03142063744380152 Centerline is valid? [True, True] Translation: X:164.93, Y:-9.53, Z:-1.07 [[ 9.96678582e-01 8.12509053e-02 5.48590971e-03 1.64929727e+02] [-8.12488664e-02 9.96693669e-01 -5.93874198e-04 -9.52799083e+00] [-5.51602429e-03 1.46177748e-04 9.99984776e-01 -1.06569297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38576923099998 meters 0.02795949906970893 Centerline is valid? [True, True] Translation: X:164.99, Y:-9.54, Z:-1.06 [[ 9.96333930e-01 8.53408187e-02 5.97030339e-03 1.64988239e+02] [-8.53384776e-02 9.96351809e-01 -6.46246698e-04 -9.53749270e+00] [-6.00367380e-03 1.34380911e-04 9.99981969e-01 -1.06472474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44576923099999 meters 0.021673408115826055 Centerline is valid? [True, True] Translation: X:165.05, Y:-9.54, Z:-1.07 [[ 9.95879434e-01 9.05351475e-02 5.24791628e-03 1.65047725e+02] [-9.05334114e-02 9.95893257e-01 -5.67931589e-04 -9.54474436e+00] [-5.27778221e-03 9.04796257e-05 9.99986068e-01 -1.06667980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.505769231 meters 0.021416026834068194 Centerline is valid? [True, True] Translation: X:165.10, Y:-9.56, Z:-1.07 [[ 9.95701573e-01 9.24355547e-02 5.83486121e-03 1.65104736e+02] [-9.24334412e-02 9.95718665e-01 -6.31426301e-04 -9.55596611e+00] [-5.86824646e-03 8.93758603e-05 9.99982778e-01 -1.06619049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.565769231 meters 0.019509097501608 Centerline is valid? [True, True] Translation: X:165.16, Y:-9.57, Z:-1.07 [[ 9.95556326e-01 9.41264587e-02 2.79492824e-03 1.65162369e+02] [-9.41259804e-02 9.95560248e-01 -3.02451576e-04 -9.56873084e+00] [-2.81098814e-03 3.80322196e-05 9.99996048e-01 -1.07210476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.625769231 meters 0.01837943294521011 Centerline is valid? [True, True] Translation: X:165.22, Y:-9.58, Z:-1.07 [[ 9.95424849e-01 9.54024613e-02 5.26690472e-03 1.65220333e+02] [-9.54007836e-02 9.95438781e-01 -5.69418416e-04 -9.57692743e+00] [-5.29720513e-03 6.43464033e-05 9.99985968e-01 -1.06841616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.685769231 meters 0.018516030291374035 Centerline is valid? [True, True] Translation: X:165.28, Y:-9.59, Z:-1.07 [[ 9.95458702e-01 9.50848623e-02 4.56536519e-03 1.65278414e+02] [-9.50835993e-02 9.95469169e-01 -4.93404281e-04 -9.58682504e+00] [-4.59159556e-03 5.70722313e-05 9.99989457e-01 -1.06981838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.745769231 meters 0.019272536408189905 Centerline is valid? [True, True] Translation: X:165.34, Y:-9.59, Z:-1.07 [[ 9.95520959e-01 9.45096881e-02 2.43713456e-03 1.65336946e+02] [-9.45093263e-02 9.95523941e-01 -2.63431728e-04 -9.59420182e+00] [-2.45112265e-03 3.19198616e-05 9.99996995e-01 -1.07402322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.805769231 meters 0.020080123656234194 Centerline is valid? [True, True] Translation: X:165.39, Y:-9.60, Z:-1.07 [[ 9.95593693e-01 9.35162465e-02 6.92173709e-03 1.65394851e+02] [-9.35133109e-02 9.95617749e-01 -7.47252718e-04 -9.60171352e+00] [-6.96128457e-03 9.66855408e-05 9.99975765e-01 -1.06710224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.865769231 meters 0.02194135984071395 Centerline is valid? [True, True] Translation: X:165.45, Y:-9.61, Z:-1.07 [[ 9.95763554e-01 9.18492190e-02 4.32045918e-03 1.65453230e+02] [-9.18480603e-02 9.95772924e-01 -4.66264764e-04 -9.61196351e+00] [-4.34502233e-03 6.74636624e-05 9.99990558e-01 -1.07404996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.925769231 meters 0.026019122582529582 Centerline is valid? [True, True] Translation: X:165.51, Y:-9.63, Z:-1.08 [[ 9.96082593e-01 8.84237686e-02 8.39552703e-04 1.65511434e+02] [-8.84237235e-02 9.96082947e-01 -9.06980142e-05 -9.62948801e+00] [-8.44283991e-04 1.61063371e-05 9.99999643e-01 -1.08052063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98576923099998 meters 0.02124680807626651 Centerline is valid? [True, True] Translation: X:165.57, Y:-9.63, Z:-1.07 [[ 9.95675006e-01 9.26532899e-02 6.83015086e-03 1.65571574e+02] [-9.26504166e-02 9.95698427e-01 -7.36577568e-04 -9.62845278e+00] [-6.86901681e-03 1.00575552e-04 9.99976403e-01 -1.06700097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04576923099998 meters 0.013088583751102402 Centerline is valid? [True, True] Translation: X:165.63, Y:-9.61, Z:-1.07 [[ 9.94658666e-01 1.03018485e-01 6.42877761e-03 1.65632916e+02] [-1.03016157e-01 9.94679441e-01 -6.93155131e-04 -9.61332003e+00] [-6.46598072e-03 2.71847975e-05 9.99979095e-01 -1.07083686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10576923099998 meters 0.012353584311171076 Centerline is valid? [True, True] Translation: X:165.69, Y:-9.60, Z:-1.07 [[ 9.94044427e-01 1.08884142e-01 4.46320469e-03 1.65693196e+02] [-1.08883079e-01 9.94054447e-01 -4.81229407e-04 -9.60290657e+00] [-4.48906672e-03 -7.60405879e-06 9.99989924e-01 -1.07423595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16576923099998 meters 0.013075330396726358 Centerline is valid? [True, True] Translation: X:165.75, Y:-9.60, Z:-1.08 [[ 9.93913212e-01 1.10134110e-01 2.64658483e-03 1.65752892e+02] [-1.10133741e-01 9.93916736e-01 -2.85367316e-04 -9.60062463e+00] [-2.66191363e-03 -7.84794165e-06 9.99996457e-01 -1.07770040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.225769231 meters 0.014075290198002735 Centerline is valid? [True, True] Translation: X:165.81, Y:-9.61, Z:-1.08 [[ 9.94785692e-01 1.01920326e-01 3.69780271e-03 1.65809470e+02] [-1.01919549e-01 9.94792565e-01 -3.98459666e-04 -9.61294050e+00] [-3.71915778e-03 1.95035924e-05 9.99993084e-01 -1.07852152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.285769231 meters 0.01809310107900762 Centerline is valid? [True, True] Translation: X:165.87, Y:-9.62, Z:-1.08 [[ 9.95491191e-01 9.47556467e-02 4.31928791e-03 1.65867959e+02] [-9.47545206e-02 9.95500560e-01 -4.65071174e-04 -9.62419929e+00] [-4.34392165e-03 5.37022011e-05 9.99990564e-01 -1.07600012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.345769231 meters 0.026277712397073844 Centerline is valid? [True, True] Translation: X:165.93, Y:-9.64, Z:-1.08 [[ 9.96198886e-01 8.70859032e-02 1.95578760e-03 1.65925483e+02] [-8.70856577e-02 9.96200805e-01 -2.10516132e-04 -9.64108524e+00] [-1.96669017e-03 3.93948871e-05 9.99998065e-01 -1.08077507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.405769231 meters 0.036827883549238015 Centerline is valid? [True, True] Translation: X:165.98, Y:-9.66, Z:-1.08 [[ 9.96720256e-01 8.08208606e-02 4.08910380e-03 1.65983130e+02] [-8.08197350e-02 9.96728637e-01 -4.40037926e-04 -9.66108932e+00] [-4.11129110e-03 1.08114428e-04 9.99991543e-01 -1.07737142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.465769231 meters 0.04426961797680006 Centerline is valid? [True, True] Translation: X:166.04, Y:-9.68, Z:-1.08 [[ 9.97461089e-01 7.11273327e-02 3.50415897e-03 1.66041629e+02] [-7.11264464e-02 9.97467236e-01 -3.77072642e-04 -9.68133710e+00] [-3.52210394e-03 1.26876913e-04 9.99993789e-01 -1.08024772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.525769231 meters 0.06351389632658794 Centerline is valid? [True, True] Translation: X:166.10, Y:-9.72, Z:-1.08 [[ 9.98117482e-01 6.10733502e-02 5.61585396e-03 1.66097221e+02] [-6.10709154e-02 9.98133247e-01 -6.04195079e-04 -9.72278467e+00] [-5.64227077e-03 2.60092329e-04 9.99984048e-01 -1.07592170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.585769231 meters 0.0602951584372547 Centerline is valid? [True, True] Translation: X:166.16, Y:-9.74, Z:-1.08 [[ 9.98347463e-01 5.71892581e-02 5.63316000e-03 1.66156979e+02] [-5.71867466e-02 9.98363315e-01 -6.06047533e-04 -9.73628609e+00] [-5.65859970e-03 2.82903923e-04 9.99983950e-01 -1.07565502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.645769231 meters 0.04826175476565225 Centerline is valid? [True, True] Translation: X:166.22, Y:-9.74, Z:-1.08 [[ 9.98219844e-01 5.95963550e-02 2.32737331e-03 1.66217649e+02] [-5.95959331e-02 9.98222551e-01 -2.50284321e-04 -9.74332857e+00] [-2.33815255e-03 1.11136792e-04 9.99997260e-01 -1.08184028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.705769231 meters 0.04826870081966077 Centerline is valid? [True, True] Translation: X:166.28, Y:-9.77, Z:-1.08 [[ 9.97844450e-01 6.54876664e-02 4.22127880e-03 1.66275702e+02] [-6.54863297e-02 9.97853363e-01 -4.54263720e-04 -9.76602610e+00] [-4.24196592e-03 1.76848477e-04 9.99990987e-01 -1.07883625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76576923099998 meters 0.05060146177155965 Centerline is valid? [True, True] Translation: X:166.33, Y:-9.79, Z:-1.08 [[ 9.97519018e-01 7.02882673e-02 3.92011518e-03 1.66333882e+02] [-7.02871515e-02 9.97526711e-01 -4.21846051e-04 -9.78630408e+00] [-3.94007043e-03 1.45265729e-04 9.99992227e-01 -1.07988431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82576923099998 meters 0.037012547928684164 Centerline is valid? [True, True] Translation: X:166.39, Y:-9.79, Z:-1.09 [[ 9.96925849e-01 7.83504076e-02 -2.54894391e-04 1.66394981e+02] [-7.83504031e-02 9.96925882e-01 2.75050401e-05 -9.78648628e+00] [ 2.56265846e-04 -7.44940718e-06 9.99999967e-01 -1.08823739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88576923099998 meters 0.027148614525968416 Centerline is valid? [True, True] Translation: X:166.46, Y:-9.79, Z:-1.09 [[ 9.96342898e-01 8.54419023e-02 -7.14694858e-04 1.66455332e+02] [-8.54418692e-02 9.96343154e-01 7.68995650e-05 -9.79369982e+00] [ 7.18651775e-04 -1.55534709e-05 9.99999742e-01 -1.08767624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94576923099999 meters 0.022386924346828953 Centerline is valid? [True, True] Translation: X:166.51, Y:-9.80, Z:-1.08 [[ 9.95916126e-01 9.02621216e-02 1.95414393e-03 1.66514882e+02] [-9.02618825e-02 9.95918043e-01 -2.10365367e-04 -9.80294612e+00] [-1.96515523e-03 3.31215510e-05 9.99998069e-01 -1.08356095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.005769231 meters 0.02423017942341936 Centerline is valid? [True, True] Translation: X:166.57, Y:-9.81, Z:-1.08 [[ 9.95307378e-01 9.66730978e-02 4.18751758e-03 1.66574254e+02] [-9.66720573e-02 9.95316186e-01 -4.50644259e-04 -9.80754857e+00] [-4.21146921e-03 4.37136163e-05 9.99991131e-01 -1.07611497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.065769231 meters 0.012759526064370013 Centerline is valid? [True, True] Translation: X:166.63, Y:-9.80, Z:-1.08 [[ 9.94593041e-01 1.03802557e-01 3.11645996e-03 1.66633419e+02] [-1.03802015e-01 9.94597923e-01 -3.35455570e-04 -9.80323028e+00] [-3.13444575e-03 1.01469510e-05 9.99995088e-01 -1.08316302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.125769231 meters 0.011966315102006223 Centerline is valid? [True, True] Translation: X:166.69, Y:-9.81, Z:-1.08 [[ 9.94305294e-01 1.06488585e-01 4.14284201e-03 1.66693078e+02] [-1.06487652e-01 9.94313925e-01 -4.45675717e-04 -9.80594804e+00] [-4.16674487e-03 1.97620568e-06 9.99991319e-01 -1.08218358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.185769231 meters 0.013083860801997776 Centerline is valid? [True, True] Translation: X:166.75, Y:-9.82, Z:-1.08 [[ 9.94724573e-01 1.02513492e-01 3.74257302e-03 1.66751655e+02] [-1.02512703e-01 9.94731614e-01 -4.02542307e-04 -9.81948109e+00] [-3.76412171e-03 1.67574472e-05 9.99992916e-01 -1.08354681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.245769231 meters 0.014353467425713399 Centerline is valid? [True, True] Translation: X:166.81, Y:-9.83, Z:-1.08 [[ 9.94949023e-01 1.00317324e-01 3.58842606e-03 1.66810263e+02] [-1.00316584e-01 9.94955493e-01 -3.85883862e-04 -9.82857118e+00] [-3.60903505e-03 2.39561253e-05 9.99993487e-01 -1.08442890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.305769231 meters 0.01414614821294715 Centerline is valid? [True, True] Translation: X:166.87, Y:-9.83, Z:-1.09 [[ 9.94798996e-01 1.01857352e-01 1.91797441e-04 1.66870011e+02] [-1.01857350e-01 9.94799015e-01 -2.07732578e-05 -9.83352092e+00] [-1.92915814e-04 1.12923692e-06 9.99999981e-01 -1.09185511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.365769231 meters 0.012195035505049197 Centerline is valid? [True, True] Translation: X:166.93, Y:-9.83, Z:-1.09 [[ 9.94135523e-01 1.08110256e-01 2.59507251e-03 1.66929417e+02] [-1.08109895e-01 9.94138910e-01 -2.79093930e-04 -9.82947147e+00] [-2.61003547e-03 -3.09582705e-06 9.99996594e-01 -1.08562314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.425769231 meters 0.01293011408551125 Centerline is valid? [True, True] Translation: X:166.99, Y:-9.83, Z:-1.08 [[ 9.93828768e-01 1.10870627e-01 3.47628081e-03 1.66988192e+02] [-1.10869998e-01 9.93834847e-01 -3.73586598e-04 -9.83112427e+00] [-3.49626879e-03 -1.41341383e-05 9.99993888e-01 -1.08405627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48576923099998 meters 0.01748109019925199 Centerline is valid? [True, True] Translation: X:167.05, Y:-9.82, Z:-1.08 [[ 9.93157183e-01 1.16717903e-01 3.96750645e-03 1.67048108e+02] [-1.16717132e-01 9.93165107e-01 -4.26106180e-04 -9.82266542e+00] [-3.99012319e-03 -3.98855627e-05 9.99992039e-01 -1.08325566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54576923099998 meters 0.021388783515431057 Centerline is valid? [True, True] Translation: X:167.11, Y:-9.82, Z:-1.08 [[ 9.92578017e-01 1.21432945e-01 6.55140288e-03 1.67108780e+02] [-1.21430948e-01 9.92599632e-01 -7.03218715e-04 -9.81667073e+00] [-6.58831401e-03 -9.75436258e-05 9.99978292e-01 -1.07951966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60576923099998 meters 0.02082725647100176 Centerline is valid? [True, True] Translation: X:167.17, Y:-9.82, Z:-1.08 [[ 9.92712982e-01 1.20435458e-01 4.02937263e-03 1.67167497e+02] [-1.20434695e-01 9.92721158e-01 -4.32543745e-04 -9.81615990e+00] [-4.05213707e-03 -5.58844724e-05 9.99991788e-01 -1.08457841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66576923099998 meters 0.015885338133948938 Centerline is valid? [True, True] Translation: X:167.22, Y:-9.83, Z:-1.09 [[ 9.93365618e-01 1.14933262e-01 3.88517397e-03 1.67224445e+02] [-1.14932510e-01 9.93373215e-01 -4.16931272e-04 -9.82549437e+00] [-3.90734703e-03 -3.23676062e-05 9.99992366e-01 -1.08597637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.725769231 meters 0.012365308248173328 Centerline is valid? [True, True] Translation: X:167.28, Y:-9.85, Z:-1.09 [[ 9.94553305e-01 1.04163241e-01 3.70719154e-03 1.67282000e+02] [-1.04162483e-01 9.94560214e-01 -3.97524523e-04 -9.84797002e+00] [-3.72843265e-03 9.20905203e-06 9.99993049e-01 -1.08818156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.785769231 meters 0.022349596692668054 Centerline is valid? [True, True] Translation: X:167.34, Y:-9.88, Z:-1.09 [[ 9.95749106e-01 9.20580798e-02 3.00476604e-03 1.67338839e+02] [-9.20575270e-02 9.95753638e-01 -3.22075484e-04 -9.87842165e+00] [-3.02165636e-03 4.40950443e-05 9.99995434e-01 -1.09045482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.845769231 meters 0.03608758164735644 Centerline is valid? [True, True] Translation: X:167.40, Y:-9.91, Z:-1.09 [[ 9.96743532e-01 8.05929103e-02 2.66719333e-03 1.67396166e+02] [-8.05924337e-02 9.96747098e-01 -2.85863243e-04 -9.91461444e+00] [-2.68155576e-03 6.99767375e-05 9.99996402e-01 -1.09106626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.905769231 meters 0.04588306372488114 Centerline is valid? [True, True] Translation: X:167.45, Y:-9.94, Z:-1.09 [[ 9.97343447e-01 7.27507563e-02 3.65721971e-03 1.67454227e+02] [-7.27498074e-02 9.97350145e-01 -3.92013049e-04 -9.94264972e+00] [-3.67604785e-03 1.24909617e-04 9.99993236e-01 -1.08964750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.965769231 meters 0.04627011510009405 Centerline is valid? [True, True] Translation: X:167.51, Y:-9.96, Z:-1.09 [[ 9.97808621e-01 6.60734192e-02 3.50139015e-03 1.67513217e+02] [-6.60725082e-02 9.97814754e-01 -3.75329430e-04 -9.96289234e+00] [-3.51853805e-03 1.43161312e-04 9.99993800e-01 -1.08939099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.025769231 meters 0.0441402703278016 Centerline is valid? [True, True] Translation: X:167.57, Y:-9.98, Z:-1.09 [[ 9.97623029e-01 6.88590216e-02 2.59375554e-03 1.67573415e+02] [-6.88585316e-02 9.97626396e-01 -2.77833220e-04 -9.98011232e+00] [-2.60673032e-03 9.85706208e-05 9.99996598e-01 -1.09082538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.085769231 meters 0.040989227700039294 Centerline is valid? [True, True] Translation: X:167.63, Y:-10.00, Z:-1.09 [[ 9.97371298e-01 7.23564193e-02 3.87844023e-03 1.67633159e+02] [-7.23553482e-02 9.97378830e-01 -4.15965364e-04 -9.99707808e+00] [-3.89837194e-03 1.34246022e-04 9.99992392e-01 -1.08881729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.145769231 meters 0.03772637266234799 Centerline is valid? [True, True] Translation: X:167.69, Y:-10.01, Z:-1.09 [[ 9.97187296e-01 7.48274485e-02 4.28357328e-03 1.67693019e+02] [-7.48261644e-02 9.97196487e-01 -4.59468344e-04 -1.00119645e+01] [-4.30594507e-03 1.37652637e-04 9.99990720e-01 -1.08741242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.205769231 meters 0.03205593253403187 Centerline is valid? [True, True] Translation: X:167.75, Y:-10.02, Z:-1.09 [[ 9.96769702e-01 8.01991162e-02 4.27344731e-03 1.67753122e+02] [-8.01978870e-02 9.96778856e-01 -4.58502108e-04 -1.00206460e+01] [-4.29645339e-03 1.14299565e-04 9.99990764e-01 -1.08735823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26576923099998 meters 0.0246135311905146 Centerline is valid? [True, True] Translation: X:167.81, Y:-10.02, Z:-1.09 [[ 9.96043143e-01 8.88231248e-02 2.91724100e-03 1.67813923e+02] [-8.88225887e-02 9.96047413e-01 -3.13068402e-04 -1.00223811e+01] [-2.93351806e-03 5.27127378e-05 9.99995696e-01 -1.08950062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32576923099998 meters 0.017664729602830158 Centerline is valid? [True, True] Translation: X:167.88, Y:-10.02, Z:-1.09 [[ 9.95106510e-01 9.87175178e-02 4.22901976e-03 1.67875269e+02] [-9.87164804e-02 9.95115496e-01 -4.53858498e-04 -1.00154134e+01] [-4.25316688e-03 3.41636002e-05 9.99990955e-01 -1.08773985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38576923099998 meters 0.015200868742117724 Centerline is valid? [True, True] Translation: X:167.94, Y:-10.01, Z:-1.09 [[ 9.94319731e-01 1.06349977e-01 4.23727511e-03 1.67938416e+02] [-1.06349007e-01 9.94328760e-01 -4.54301355e-04 -1.00067195e+01] [-4.26155944e-03 1.09080065e-06 9.99990920e-01 -1.08806189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44576923099999 meters 0.017517005016374765 Centerline is valid? [True, True] Translation: X:168.00, Y:-9.99, Z:-1.09 [[ 9.93413383e-01 1.14536925e-01 3.33813365e-03 1.68001397e+02] [-1.14536366e-01 9.93418991e-01 -3.58786905e-04 -9.98663238e+00] [-3.35725971e-03 -2.59139853e-05 9.99994364e-01 -1.08923078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.505769231 meters 0.017697372032841437 Centerline is valid? [True, True] Translation: X:168.06, Y:-9.99, Z:-1.09 [[ 9.93495487e-01 1.13807745e-01 3.80970939e-03 1.68062090e+02] [-1.13807011e-01 9.93502791e-01 -4.09433624e-04 -9.98583352e+00] [-3.83155363e-03 -2.68011825e-05 9.99992659e-01 -1.08992748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.565769231 meters 0.016001347364815736 Centerline is valid? [True, True] Translation: X:168.12, Y:-9.99, Z:-1.09 [[ 9.93940592e-01 1.09823854e-01 4.56289607e-03 1.68123554e+02] [-1.09822760e-01 9.93951066e-01 -4.90389531e-04 -9.99236556e+00] [-4.58915188e-03 -1.36917793e-05 9.99989470e-01 -1.08780556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.625769231 meters 0.01589988848536317 Centerline is valid? [True, True] Translation: X:168.18, Y:-10.00, Z:-1.09 [[ 9.94285244e-01 1.06683754e-01 3.92808961e-03 1.68183804e+02] [-1.06682919e-01 9.94293003e-01 -4.21891930e-04 -9.99941619e+00] [-3.95068103e-03 4.20853578e-07 9.99992196e-01 -1.09122098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.685769231 meters 0.015996258534875282 Centerline is valid? [True, True] Translation: X:168.25, Y:-10.00, Z:-1.09 [[ 9.94274774e-01 1.06805237e-01 3.21171115e-03 1.68245348e+02] [-1.06804677e-01 9.94279961e-01 -3.45797618e-04 -1.00028783e+01] [-3.23027303e-03 7.92075237e-07 9.99994783e-01 -1.09137622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.745769231 meters 0.01622880038851791 Centerline is valid? [True, True] Translation: X:168.30, Y:-10.00, Z:-1.10 [[ 9.93995153e-01 1.09407476e-01 1.90797115e-03 1.68304665e+02] [-1.09407283e-01 9.93996984e-01 -2.05706176e-04 -1.00001679e+01] [-1.91902336e-03 -4.27499638e-06 9.99998159e-01 -1.09570354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.805769231 meters 0.01588329795779865 Centerline is valid? [True, True] Translation: X:168.36, Y:-10.00, Z:-1.09 [[ 9.94165173e-01 1.07773679e-01 4.52145483e-03 1.68364443e+02] [-1.07772579e-01 9.94175454e-01 -4.86948386e-04 -1.00043939e+01] [-4.54759962e-03 -3.18172232e-06 9.99989660e-01 -1.09179023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.865769231 meters 0.016644045521250154 Centerline is valid? [True, True] Translation: X:168.42, Y:-10.01, Z:-1.09 [[ 9.94694231e-01 1.02775364e-01 4.53998115e-03 1.68424981e+02] [-1.02774203e-01 9.94704591e-01 -4.88715024e-04 -1.00149553e+01] [-4.56616796e-03 1.95290686e-05 9.99989575e-01 -1.09161602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.925769231 meters 0.020344775287241233 Centerline is valid? [True, True] Translation: X:168.48, Y:-10.03, Z:-1.10 [[ 9.95318171e-01 9.66293094e-02 2.12482756e-03 1.68484982e+02] [-9.66290427e-02 9.95320439e-01 -2.28042712e-04 -1.00281433e+01] [-2.13691991e-03 2.16550015e-05 9.99997717e-01 -1.09685124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98576923099998 meters 0.021460512193986092 Centerline is valid? [True, True] Translation: X:168.54, Y:-10.04, Z:-1.10 [[ 9.95395866e-01 9.58189250e-02 2.40912968e-03 1.68544868e+02] [-9.58185769e-02 9.95398781e-01 -2.59754968e-04 -1.00386480e+01] [-2.42293419e-03 2.77196440e-05 9.99997064e-01 -1.09743222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04576923099998 meters 0.020003073145914454 Centerline is valid? [True, True] Translation: X:168.61, Y:-10.04, Z:-1.10 [[ 9.95197064e-01 9.78720859e-02 1.96458146e-03 1.68605698e+02] [-9.78718585e-02 9.95199002e-01 -2.11775048e-04 -1.00435735e+01] [-1.97587637e-03 1.84806673e-05 9.99998048e-01 -1.09682084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10576923099998 meters 0.020325384757076067 Centerline is valid? [True, True] Translation: X:168.67, Y:-10.06, Z:-1.10 [[ 9.95294441e-01 9.68521191e-02 2.93994065e-03 1.68665698e+02] [-9.68516051e-02 9.95298782e-01 -3.17059012e-04 -1.00552037e+01] [-2.95682719e-03 3.08291007e-05 9.99995628e-01 -1.09609099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16576923099998 meters 0.022919162374230004 Centerline is valid? [True, True] Translation: X:168.73, Y:-10.07, Z:-1.09 [[ 9.95579765e-01 9.36601666e-02 6.97883004e-03 1.68726143e+02] [-9.36571887e-02 9.95604221e-01 -7.53025201e-04 -1.00740790e+01] [-7.01868111e-03 9.60790504e-05 9.99975364e-01 -1.08879369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.225769231 meters 0.028401323345514866 Centerline is valid? [True, True] Translation: X:168.79, Y:-10.10, Z:-1.09 [[ 9.96092344e-01 8.82322174e-02 3.88828618e-03 1.68785019e+02] [-8.82312494e-02 9.96099930e-01 -4.20117400e-04 -1.00988815e+01] [-3.91018948e-03 7.54073776e-05 9.99992352e-01 -1.09499783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.285769231 meters 0.03193705100651789 Centerline is valid? [True, True] Translation: X:168.85, Y:-10.12, Z:-1.09 [[ 9.96380306e-01 8.48742706e-02 4.75857306e-03 1.68845916e+02] [-8.48727821e-02 9.96391663e-01 -5.14244600e-04 -1.01170568e+01] [-4.78504866e-03 1.08509858e-04 9.99988546e-01 -1.09437631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.345769231 meters 0.0337844153399406 Centerline is valid? [True, True] Translation: X:168.91, Y:-10.14, Z:-1.09 [[ 9.96489677e-01 8.34639155e-02 6.48827422e-03 1.68906808e+02] [-8.34611159e-02 9.96510788e-01 -7.01529642e-04 -1.01358185e+01] [-6.52418767e-03 1.57548440e-04 9.99978705e-01 -1.09110298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.405769231 meters 0.032474381088385955 Centerline is valid? [True, True] Translation: X:168.97, Y:-10.15, Z:-1.10 [[ 9.96334327e-01 8.54954389e-02 2.90498465e-03 1.68967037e+02] [-8.54948867e-02 9.96338560e-01 -3.13949924e-04 -1.01545818e+01] [-2.92118951e-03 6.44377526e-05 9.99995731e-01 -1.09987579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.465769231 meters 0.030967774497235045 Centerline is valid? [True, True] Translation: X:169.03, Y:-10.17, Z:-1.10 [[ 9.96174464e-01 8.73584431e-02 2.22257542e-03 1.69028269e+02] [-8.73581243e-02 9.96176942e-01 -2.40295621e-04 -1.01673460e+01] [-2.23507024e-03 4.52163418e-05 9.99997501e-01 -1.10175279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.525769231 meters 0.025725126575596634 Centerline is valid? [True, True] Translation: X:169.09, Y:-10.18, Z:-1.10 [[ 9.95984072e-01 8.94924465e-02 2.61334932e-03 1.69089267e+02] [-8.94920117e-02 9.95987500e-01 -2.83081319e-04 -1.01785407e+01] [-2.62819689e-03 4.80705974e-05 9.99996545e-01 -1.09941453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.585769231 meters 0.020433164734497265 Centerline is valid? [True, True] Translation: X:169.15, Y:-10.19, Z:-1.10 [[ 9.95314053e-01 9.66020711e-02 4.23989925e-03 1.69148565e+02] [-9.66009827e-02 9.95323082e-01 -4.61220582e-04 -1.01857060e+01] [-4.26462445e-03 4.94808925e-05 9.99990905e-01 -1.09775161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.645769231 meters 0.01570985013901536 Centerline is valid? [True, True] Translation: X:169.21, Y:-10.18, Z:-1.10 [[ 9.94318570e-01 1.06400861e-01 3.07215378e-03 1.69209662e+02] [-1.06400337e-01 9.94323316e-01 -3.34145044e-04 -1.01809223e+01] [-3.09026745e-03 5.36842639e-06 9.99995225e-01 -1.09945196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.705769231 meters 0.0178855796828146 Centerline is valid? [True, True] Translation: X:169.27, Y:-10.17, Z:-1.10 [[ 9.93212638e-01 1.16309367e-01 8.87544371e-04 1.69272560e+02] [-1.16309328e-01 9.93213034e-01 -9.55342324e-05 -1.01749875e+01] [-8.92632163e-04 -8.34388218e-06 9.99999602e-01 -1.10359935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76576923099998 meters 0.019008583740169758 Centerline is valid? [True, True] Translation: X:169.33, Y:-10.18, Z:-1.10 [[ 9.93011002e-01 1.17983318e-01 3.01428975e-03 1.69334412e+02] [-1.17982867e-01 9.93015577e-01 -3.27736222e-04 -1.01759855e+01] [-3.03190408e-03 -3.01888722e-05 9.99995403e-01 -1.10143135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82576923099998 meters 0.017953033122778836 Centerline is valid? [True, True] Translation: X:169.40, Y:-10.18, Z:-1.10 [[ 9.93132235e-01 1.16979178e-01 2.05818732e-03 1.69396232e+02] [-1.16978965e-01 9.93134367e-01 -2.23790787e-04 -1.01827353e+01] [-2.07023542e-03 -1.85107789e-05 9.99997857e-01 -1.10195963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88576923099998 meters 0.02254902108417468 Centerline is valid? [True, True] Translation: X:169.46, Y:-10.17, Z:-1.10 [[ 9.92412408e-01 1.22920536e-01 2.85547486e-03 1.69459291e+02] [-1.22920148e-01 9.92416515e-01 -3.11483442e-04 -1.01721433e+01] [-2.87210812e-03 -4.18753594e-05 9.99995875e-01 -1.09993053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94576923099999 meters 0.029640419299636147 Centerline is valid? [True, True] Translation: X:169.52, Y:-10.15, Z:-1.10 [[ 9.91552229e-01 1.29624510e-01 4.65446596e-03 1.69520749e+02] [-1.29623546e-01 9.91563148e-01 -5.09480145e-04 -1.01528308e+01] [-4.68123803e-03 -9.81522088e-05 9.99989038e-01 -1.09836979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.005769231 meters 0.027605079371575494 Centerline is valid? [True, True] Translation: X:169.58, Y:-10.15, Z:-1.10 [[ 9.91666184e-01 1.28748044e-01 4.70336841e-03 1.69581342e+02] [-1.28747049e-01 9.91677333e-01 -5.14885464e-04 -1.01530287e+01] [-4.73051434e-03 -9.49503020e-05 9.99988807e-01 -1.09879051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.065769231 meters 0.017188513876138373 Centerline is valid? [True, True] Translation: X:169.64, Y:-10.16, Z:-1.10 [[ 9.93374084e-01 1.14898342e-01 2.50996313e-03 1.69639658e+02] [-1.14898014e-01 9.93377255e-01 -2.74812634e-04 -1.01640866e+01] [-2.52491580e-03 -1.53980302e-05 9.99996812e-01 -1.10336585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.125769231 meters 0.015672114055320385 Centerline is valid? [True, True] Translation: X:169.70, Y:-10.18, Z:-1.10 [[ 9.94341849e-01 1.06176323e-01 3.29777290e-03 1.69700760e+02] [-1.06175712e-01 9.94347318e-01 -3.60398808e-04 -1.01806913e+01] [-3.31739746e-03 8.21623156e-06 9.99994497e-01 -1.10262225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.185769231 meters 0.026261240283395403 Centerline is valid? [True, True] Translation: X:169.76, Y:-10.21, Z:-1.10 [[ 9.95642528e-01 9.31773722e-02 3.73292566e-03 1.69757632e+02] [-9.31764932e-02 9.95649524e-01 -4.09060152e-04 -1.02092386e+01] [-3.75480081e-03 5.94567606e-05 9.99992949e-01 -1.10311089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.245769231 meters 0.03259931711991165 Centerline is valid? [True, True] Translation: X:169.82, Y:-10.23, Z:-1.10 [[ 9.96123545e-01 8.78618604e-02 4.26339539e-03 1.69816501e+02] [-8.78606638e-02 9.96132664e-01 -4.67512152e-04 -1.02288634e+01] [-4.28798389e-03 9.11151137e-05 9.99990802e-01 -1.10231253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.305769231 meters 0.04581494126771037 Centerline is valid? [True, True] Translation: X:169.87, Y:-10.27, Z:-1.11 [[ 9.97037485e-01 7.68933948e-02 1.91283539e-03 1.69873235e+02] [-7.68931338e-02 9.97039318e-01 -2.09765293e-04 -1.02665740e+01] [-1.92330166e-03 6.20599532e-05 9.99998149e-01 -1.10746777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.365769231 meters 0.041563112113381845 Centerline is valid? [True, True] Translation: X:169.93, Y:-10.28, Z:-1.11 [[ 9.97162789e-01 7.52629489e-02 1.36411521e-03 1.69933592e+02] [-7.52628157e-02 9.97163721e-01 -1.48752447e-04 -1.02826499e+01] [-1.37144174e-03 4.56632531e-05 9.99999059e-01 -1.10674673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.425769231 meters 0.034588960026455375 Centerline is valid? [True, True] Translation: X:169.99, Y:-10.30, Z:-1.10 [[ 9.96565452e-01 8.27415656e-02 3.33661722e-03 1.69992140e+02] [-8.27408019e-02 9.96571034e-01 -3.66517791e-04 -1.02950316e+01] [-3.35550233e-03 8.91845837e-05 9.99994366e-01 -1.10370409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48576923099998 meters 0.027882559800314007 Centerline is valid? [True, True] Translation: X:170.05, Y:-10.31, Z:-1.10 [[ 9.96122082e-01 8.78627687e-02 4.57511641e-03 1.70051729e+02] [-8.78613874e-02 9.96132584e-01 -5.02443717e-04 -1.03069137e+01] [-4.60156863e-03 9.85192057e-05 9.99989408e-01 -1.10284509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54576923099998 meters 0.02722610150440927 Centerline is valid? [True, True] Translation: X:170.11, Y:-10.33, Z:-1.10 [[ 9.95997979e-01 8.92745155e-02 4.25293180e-03 1.70110947e+02] [-8.92733366e-02 9.96007055e-01 -4.66629827e-04 -1.03269026e+01] [-4.27760823e-03 8.50889521e-05 9.99990847e-01 -1.10423572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60576923099998 meters 0.020285142388853396 Centerline is valid? [True, True] Translation: X:170.17, Y:-10.33, Z:-1.10 [[ 9.95200651e-01 9.77476919e-02 4.58843555e-03 1.70170748e+02] [-9.77464041e-02 9.95211227e-01 -5.04631237e-04 -1.03309685e+01] [-4.61578911e-03 5.37062604e-05 9.99989346e-01 -1.10266786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66576923099998 meters 0.014932933292113926 Centerline is valid? [True, True] Translation: X:170.23, Y:-10.32, Z:-1.10 [[ 9.93614564e-01 1.12724823e-01 4.81798987e-03 1.70234234e+02] [-1.12723579e-01 9.93626245e-01 -5.29800213e-04 -1.03188441e+01] [-4.84700282e-03 -1.66838556e-05 9.99988253e-01 -1.10262314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.725769231 meters 0.02009207224298505 Centerline is valid? [True, True] Translation: X:170.30, Y:-10.31, Z:-1.10 [[ 9.92594264e-01 1.21385026e-01 4.72257526e-03 1.70297423e+02] [-1.21383929e-01 9.92605497e-01 -5.19446310e-04 -1.03114999e+01] [-4.75070716e-03 -5.76453105e-05 9.99988714e-01 -1.10391803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.785769231 meters 0.03107106752619649 Centerline is valid? [True, True] Translation: X:170.36, Y:-10.29, Z:-1.11 [[ 9.91222749e-01 1.32199350e-01 8.90790836e-04 1.70359208e+02] [-1.32199315e-01 9.91223149e-01 -9.80153216e-05 -1.02937433e+01] [-8.95930060e-04 -2.06069218e-05 9.99999598e-01 -1.11152113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.845769231 meters 0.031120119736241108 Centerline is valid? [True, True] Translation: X:170.42, Y:-10.30, Z:-1.11 [[ 9.91023937e-01 1.33683621e-01 4.94998528e-04 1.70421296e+02] [-1.33683611e-01 9.91024061e-01 -5.34136340e-05 -1.02955508e+01] [-4.97695979e-04 -1.32390009e-05 9.99999876e-01 -1.11227645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.905769231 meters 0.03154233903874259 Centerline is valid? [True, True] Translation: X:170.48, Y:-10.29, Z:-1.11 [[ 9.91025356e-01 1.33670894e-01 9.14694077e-04 1.70483620e+02] [-1.33670858e-01 9.91025777e-01 -1.00685502e-04 -1.02908543e+01] [-9.19944130e-04 -2.24860563e-05 9.99999577e-01 -1.11329728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.965769231 meters 0.025876837515741446 Centerline is valid? [True, True] Translation: X:170.54, Y:-10.30, Z:-1.11 [[ 9.91768508e-01 1.27971227e-01 4.31172584e-03 1.70543395e+02] [-1.27970369e-01 9.91777878e-01 -4.75384003e-04 -1.02996375e+01] [-4.33710978e-03 -8.03022654e-05 9.99990591e-01 -1.10686256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.025769231 meters 0.024226956780685614 Centerline is valid? [True, True] Translation: X:170.61, Y:-10.30, Z:-1.11 [[ 9.92014667e-01 1.26063193e-01 3.86922902e-03 1.70605657e+02] [-1.26062490e-01 9.92022211e-01 -4.26096094e-04 -1.03036584e+01] [-3.89207616e-03 -6.50710679e-05 9.99992424e-01 -1.10800332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.085769231 meters 0.026226966916476083 Centerline is valid? [True, True] Translation: X:170.67, Y:-10.29, Z:-1.10 [[ 9.91795514e-01 1.27683456e-01 6.21242445e-03 1.70667374e+02] [-1.27681664e-01 9.91814964e-01 -6.85905624e-04 -1.02941941e+01] [-6.24915433e-03 -1.12934569e-04 9.99980467e-01 -1.10396245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.145769231 meters 0.02862915786951809 Centerline is valid? [True, True] Translation: X:170.73, Y:-10.29, Z:-1.11 [[ 9.91510065e-01 1.29913710e-01 5.49721789e-03 1.70728504e+02] [-1.29912339e-01 9.91525297e-01 -6.07238514e-04 -1.02888519e+01] [-5.52951921e-03 -1.12073338e-04 9.99984706e-01 -1.10622813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.205769231 meters 0.02948495514215306 Centerline is valid? [True, True] Translation: X:170.79, Y:-10.28, Z:-1.11 [[ 9.91435243e-01 1.30511744e-01 4.77945555e-03 1.70788942e+02] [-1.30510714e-01 9.91446758e-01 -5.28001971e-04 -1.02846343e+01] [-4.80748617e-03 -1.00290395e-04 9.99988439e-01 -1.10764091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26576923099998 meters 0.029298161144203704 Centerline is valid? [True, True] Translation: X:170.85, Y:-10.29, Z:-1.11 [[ 9.91531841e-01 1.29708569e-01 6.34790834e-03 1.70847453e+02] [-1.29706738e-01 9.91552152e-01 -7.01077732e-04 -1.02854488e+01] [-6.38521797e-03 -1.28225587e-04 9.99979606e-01 -1.10558884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32576923099998 meters 0.027569398405693408 Centerline is valid? [True, True] Translation: X:170.91, Y:-10.29, Z:-1.11 [[ 9.91523318e-01 1.29845640e-01 4.64978648e-03 1.70907509e+02] [-1.29844660e-01 9.91534216e-01 -5.13488788e-04 -1.02854990e+01] [-4.67709667e-03 -9.46138368e-05 9.99989058e-01 -1.10847748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38576923099998 meters 0.029507504119685637 Centerline is valid? [True, True] Translation: X:170.97, Y:-10.28, Z:-1.11 [[ 9.91462271e-01 1.30346133e-01 3.52844676e-03 1.70966536e+02] [-1.30345571e-01 9.91468547e-01 -3.89625784e-04 -1.02829903e+01] [-3.54913019e-03 -7.36181439e-05 9.99993699e-01 -1.11137821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44576923099999 meters 0.029544271017775573 Centerline is valid? [True, True] Translation: X:171.02, Y:-10.28, Z:-1.11 [[ 9.91700551e-01 1.28532465e-01 3.06955577e-03 1.71024457e+02] [-1.28532032e-01 9.91705300e-01 -3.39008600e-04 -1.02818382e+01] [-3.08766834e-03 -5.83412240e-05 9.99995231e-01 -1.11333874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.505769231 meters 0.02719113040615114 Centerline is valid? [True, True] Translation: X:171.08, Y:-10.29, Z:-1.12 [[ 9.91977498e-01 1.26388912e-01 2.54674304e-03 1.71083535e+02] [-1.26388607e-01 9.91980766e-01 -2.81207301e-04 -1.02872954e+01] [-2.56186159e-03 -4.29279888e-05 9.99996718e-01 -1.11521755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.565769231 meters 0.02246107889800581 Centerline is valid? [True, True] Translation: X:171.14, Y:-10.29, Z:-1.12 [[ 9.92349769e-01 1.23441067e-01 2.05905153e-03 1.71141784e+02] [-1.23440861e-01 9.92351904e-01 -2.27244009e-04 -1.02947996e+01] [-2.07135495e-03 -2.86655537e-05 9.99997854e-01 -1.11641149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.625769231 meters 0.016033838166603673 Centerline is valid? [True, True] Translation: X:171.20, Y:-10.31, Z:-1.12 [[ 9.93323375e-01 1.15347915e-01 1.87894557e-03 1.71198518e+02] [-1.15347729e-01 9.93325152e-01 -2.07249985e-04 -1.03129774e+01] [-1.89030975e-03 -1.08658502e-05 9.99998213e-01 -1.11820538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.685769231 meters 0.015598781119138129 Centerline is valid? [True, True] Translation: X:171.26, Y:-10.34, Z:-1.12 [[ 9.94632071e-01 1.03432205e-01 2.97009228e-03 1.71257573e+02] [-1.03431691e-01 9.94636506e-01 -3.26560747e-04 -1.03406681e+01] [-2.98793911e-03 1.76061246e-05 9.99995536e-01 -1.11528026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.745769231 meters 0.027139419844605616 Centerline is valid? [True, True] Translation: X:171.31, Y:-10.38, Z:-1.11 [[ 9.95750685e-01 9.18476123e-02 6.67747394e-03 1.71314169e+02] [-9.18447357e-02 9.95773067e-01 -7.36812802e-04 -1.03773734e+01] [-6.71692321e-03 1.20391023e-04 9.99977434e-01 -1.10820754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.805769231 meters 0.024656529469442145 Centerline is valid? [True, True] Translation: X:171.38, Y:-10.38, Z:-1.11 [[ 9.95709474e-01 9.22297463e-02 7.50448624e-03 1.71376956e+02] [-9.22261232e-02 9.95737745e-01 -8.28164926e-04 -1.03839666e+01] [-7.54888165e-03 1.32501990e-04 9.99971498e-01 -1.10745211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.865769231 meters 0.020305985343533003 Centerline is valid? [True, True] Translation: X:171.44, Y:-10.39, Z:-1.11 [[ 9.95383445e-01 9.56206158e-02 8.27620826e-03 1.71439471e+02] [-9.56163137e-02 9.95417844e-01 -9.14840065e-04 -1.03889477e+01] [-8.32576295e-03 1.19276130e-04 9.99965333e-01 -1.10660784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.925769231 meters 0.016381095054363918 Centerline is valid? [True, True] Translation: X:171.50, Y:-10.39, Z:-1.11 [[ 9.94833591e-01 1.01222758e-01 7.75114738e-03 1.71501436e+02] [-1.01219151e-01 9.94863784e-01 -8.57215197e-04 -1.03876117e+01] [-7.79810549e-03 6.82219127e-05 9.99969592e-01 -1.10670036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98576923099998 meters 0.01366797772999281 Centerline is valid? [True, True] Translation: X:171.56, Y:-10.38, Z:-1.11 [[ 9.94258872e-01 1.06953726e-01 3.19316814e-03 1.71564311e+02] [-1.06953146e-01 9.94263999e-01 -3.52569909e-04 -1.03842487e+01] [-3.21256079e-03 9.02638302e-06 9.99994840e-01 -1.11492791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04576923099998 meters 0.01273253265863379 Centerline is valid? [True, True] Translation: X:171.63, Y:-10.39, Z:-1.11 [[ 9.93954612e-01 1.09533055e-01 7.53250200e-03 1.71626123e+02] [-1.09529876e-01 9.93983154e-01 -8.34481642e-04 -1.03855589e+01] [-7.57858342e-03 4.40286337e-06 9.99971282e-01 -1.10659806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10576923099998 meters 0.012820900068327519 Centerline is valid? [True, True] Translation: X:171.69, Y:-10.39, Z:-1.11 [[ 9.93826918e-01 1.10846487e-01 4.59483383e-03 1.71687770e+02] [-1.10845320e-01 9.93837540e-01 -5.08722704e-04 -1.03909839e+01] [-4.62290847e-03 -3.73350789e-06 9.99989314e-01 -1.11323091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16576923099998 meters 0.013153422966866423 Centerline is valid? [True, True] Translation: X:171.75, Y:-10.40, Z:-1.12 [[ 9.93906442e-01 1.10208777e-01 2.00269385e-03 1.71748206e+02] [-1.10208555e-01 9.93908459e-01 -2.21464109e-04 -1.04010602e+01] [-2.01490165e-03 -5.99390270e-07 9.99997970e-01 -1.11839275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.225769231 meters 0.01262332323764738 Centerline is valid? [True, True] Translation: X:171.81, Y:-10.41, Z:-1.11 [[ 9.93706350e-01 1.11930014e-01 4.40027540e-03 1.71808650e+02] [-1.11928945e-01 9.93716092e-01 -4.89044402e-04 -1.04078874e+01] [-4.42736322e-03 -6.55165729e-06 9.99990199e-01 -1.11345374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.285769231 meters 0.012549931385493835 Centerline is valid? [True, True] Translation: X:171.87, Y:-10.42, Z:-1.11 [[ 9.93735442e-01 1.11641337e-01 5.10709357e-03 1.71868028e+02] [-1.11639895e-01 9.93748566e-01 -5.67577500e-04 -1.04174814e+01] [-5.13853202e-03 -6.13350992e-06 9.99986798e-01 -1.11369502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.345769231 meters 0.012715337285601742 Centerline is valid? [True, True] Translation: X:171.93, Y:-10.43, Z:-1.12 [[ 9.94008045e-01 1.09228557e-01 4.13871061e-03 1.71928753e+02] [-1.09227590e-01 9.94016661e-01 -4.59568789e-04 -1.04330408e+01] [-4.16414534e-03 4.75368744e-06 9.99991330e-01 -1.11630379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.405769231 meters 0.012998926021858658 Centerline is valid? [True, True] Translation: X:171.99, Y:-10.44, Z:-1.12 [[ 9.94107150e-01 1.08362399e-01 2.92666171e-03 1.71990989e+02] [-1.08361912e-01 9.94111458e-01 -3.24975626e-04 -1.04431540e+01] [-2.94464308e-03 5.92193427e-06 9.99995665e-01 -1.11804847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.465769231 meters 0.014064819319055651 Centerline is valid? [True, True] Translation: X:172.05, Y:-10.46, Z:-1.12 [[ 9.94314535e-01 1.06476462e-01 1.16977656e-03 1.72051117e+02] [-1.06476383e-01 9.94315223e-01 -1.29521373e-04 -1.04564637e+01] [-1.17691762e-03 4.23140624e-06 9.99999307e-01 -1.12147590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.525769231 meters 0.01499400745741026 Centerline is valid? [True, True] Translation: X:172.11, Y:-10.47, Z:-1.12 [[ 9.94553540e-01 1.04218439e-01 1.33127629e-03 1.72111604e+02] [-1.04218335e-01 9.94554431e-01 -1.47695793e-04 -1.04710825e+01] [-1.33941936e-03 8.14797634e-06 9.99999103e-01 -1.12081381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.585769231 meters 0.0176340985871689 Centerline is valid? [True, True] Translation: X:172.17, Y:-10.49, Z:-1.12 [[ 9.94892528e-01 1.00916019e-01 2.19442757e-03 1.72171140e+02] [-1.00915724e-01 9.94894948e-01 -2.44980083e-04 -1.04883817e+01] [-2.20794732e-03 2.22766061e-05 9.99997562e-01 -1.12032512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.645769231 meters 0.022364676192094313 Centerline is valid? [True, True] Translation: X:172.23, Y:-10.51, Z:-1.11 [[ 9.95380079e-01 9.58490766e-02 5.60826781e-03 1.72231222e+02] [-9.58470612e-02 9.95395874e-01 -6.27647239e-04 -1.05120610e+01] [-5.64260605e-03 8.72115703e-05 9.99984077e-01 -1.11410267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.705769231 meters 0.01959593922323687 Centerline is valid? [True, True] Translation: X:172.29, Y:-10.52, Z:-1.12 [[ 9.95246915e-01 9.72844769e-02 4.39418902e-03 1.72293354e+02] [-9.72832545e-02 9.95256614e-01 -4.91580417e-04 -1.05196815e+01] [-4.42116883e-03 6.17628846e-05 9.99990225e-01 -1.11566717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76576923099998 meters 0.015480759755236492 Centerline is valid? [True, True] Translation: X:172.36, Y:-10.52, Z:-1.12 [[ 9.94658604e-01 1.03197468e-01 2.13151249e-03 1.72355328e+02] [-1.03197193e-01 9.94660888e-01 -2.38862883e-04 -1.05205451e+01] [-2.14478215e-03 1.76209167e-05 9.99997700e-01 -1.11843535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82576923099998 meters 0.012412664666918554 Centerline is valid? [True, True] Translation: X:172.42, Y:-10.51, Z:-1.12 [[ 9.93812068e-01 1.11043022e-01 2.64974777e-03 1.72418094e+02] [-1.11042626e-01 9.93815600e-01 -2.96520136e-04 -1.05145521e+01] [-2.66628717e-03 4.50338452e-07 9.99996445e-01 -1.11891449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88576923099998 meters 0.01237747837350786 Centerline is valid? [True, True] Translation: X:172.48, Y:-10.52, Z:-1.12 [[ 9.93678151e-01 1.12251829e-01 1.80524069e-03 1.72481102e+02] [-1.12251648e-01 9.93679791e-01 -2.01828696e-04 -1.05186280e+01] [-1.81648684e-03 -2.08847700e-06 9.99998350e-01 -1.12067640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94576923099999 meters 0.013931795236696867 Centerline is valid? [True, True] Translation: X:172.54, Y:-10.54, Z:-1.12 [[ 9.94298895e-01 1.06620231e-01 1.35384856e-03 1.72541598e+02] [-1.06620124e-01 9.94299817e-01 -1.51428056e-04 -1.05363260e+01] [-1.36227667e-03 6.21724713e-06 9.99999072e-01 -1.12084098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.005769231 meters 0.01917202753486075 Centerline is valid? [True, True] Translation: X:172.60, Y:-10.56, Z:-1.13 [[ 9.94951173e-01 1.00360015e-01 -1.77278481e-04 1.72600171e+02] [-1.00360013e-01 9.94951188e-01 2.05747076e-05 -1.05595732e+01] [ 1.78448313e-04 -2.67915885e-06 9.99999984e-01 -1.12517962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.065769231 meters 0.022665471393846948 Centerline is valid? [True, True] Translation: X:172.66, Y:-10.58, Z:-1.12 [[ 9.95325094e-01 9.65573385e-02 2.15338631e-03 1.72658843e+02] [-9.65570392e-02 9.95327423e-01 -2.42781084e-04 -1.05820500e+01] [-2.16676675e-03 3.37214982e-05 9.99997652e-01 -1.11960076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.125769231 meters 0.021974078754115386 Centerline is valid? [True, True] Translation: X:172.72, Y:-10.59, Z:-1.12 [[ 9.95425894e-01 9.55043625e-02 2.49141358e-03 1.72719911e+02] [-9.55039600e-02 9.95429011e-01 -2.80303585e-04 -1.05928932e+01] [-2.50679557e-03 4.10815836e-05 9.99996857e-01 -1.11820274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.185769231 meters 0.026824251953944594 Centerline is valid? [True, True] Translation: X:172.78, Y:-10.62, Z:-1.12 [[ 9.95727725e-01 9.23293851e-02 1.25813534e-03 1.72778237e+02] [-9.23292803e-02 9.95728519e-01 -1.41250209e-04 -1.06215044e+01] [-1.26580279e-03 2.44840188e-05 9.99999199e-01 -1.11970991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.245769231 meters 0.028328903527888177 Centerline is valid? [True, True] Translation: X:172.84, Y:-10.65, Z:-1.12 [[ 9.95714639e-01 9.24377520e-02 2.76046280e-03 1.72837305e+02] [-9.24372429e-02 9.95718464e-01 -3.11706084e-04 -1.06450278e+01] [-2.77745719e-03 5.52007406e-05 9.99996141e-01 -1.11522916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.305769231 meters 0.02307923090989198 Centerline is valid? [True, True] Translation: X:172.90, Y:-10.66, Z:-1.11 [[ 9.95245682e-01 9.72524449e-02 5.29091850e-03 1.72896930e+02] [-9.72506320e-02 9.95259743e-01 -5.99450947e-04 -1.06593236e+01] [-5.32413625e-03 8.20557990e-05 9.99985823e-01 -1.10965377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.365769231 meters 0.01564356893872099 Centerline is valid? [True, True] Translation: X:172.96, Y:-10.67, Z:-1.11 [[ 9.94509219e-01 1.04447572e-01 6.48976357e-03 1.72957931e+02] [-1.04444997e-01 9.94530393e-01 -7.35448927e-04 -1.06677955e+01] [-6.53108297e-03 5.35874043e-05 9.99978671e-01 -1.10600660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.425769231 meters 0.011715880430882071 Centerline is valid? [True, True] Translation: X:173.02, Y:-10.66, Z:-1.10 [[ 9.93297839e-01 1.15402437e-01 6.45612417e-03 1.73021786e+02] [-1.15400117e-01 9.93318820e-01 -7.31944034e-04 -1.06612099e+01] [-6.49745776e-03 -1.79990570e-05 9.99978891e-01 -1.10463396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48576923099998 meters 0.022627138522168997 Centerline is valid? [True, True] Translation: X:173.09, Y:-10.64, Z:-1.11 [[ 9.91634309e-01 1.29060550e-01 2.18438214e-03 1.73085191e+02] [-1.29060317e-01 9.91636714e-01 -2.47728669e-04 -1.06406207e+01] [-2.19808553e-03 -3.62608049e-05 9.99997584e-01 -1.11231519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54576923099998 meters 0.03128541290956104 Centerline is valid? [True, True] Translation: X:173.15, Y:-10.62, Z:-1.11 [[ 9.90728630e-01 1.35776020e-01 4.65350234e-03 1.73147701e+02] [-1.35775037e-01 9.90739552e-01 -5.27813913e-04 -1.06240119e+01] [-4.68207330e-03 -1.08909100e-04 9.99989033e-01 -1.10680582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60576923099998 meters 0.0249243704946775 Centerline is valid? [True, True] Translation: X:173.21, Y:-10.63, Z:-1.11 [[ 9.91027273e-01 1.33546141e-01 5.51109513e-03 1.73209226e+02] [-1.33544728e-01 9.91042590e-01 -6.25205851e-04 -1.06336282e+01] [-5.54522382e-03 -1.16381652e-04 9.99984618e-01 -1.10552315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66576923099998 meters 0.017898441594234586 Centerline is valid? [True, True] Translation: X:173.27, Y:-10.65, Z:-1.11 [[ 9.92243482e-01 1.24293650e-01 1.99038094e-03 1.73268027e+02] [-1.24293446e-01 9.92245478e-01 -2.26223290e-04 -1.06465268e+01] [-2.00306461e-03 -2.29227211e-05 9.99997994e-01 -1.11318381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.725769231 meters 0.012845288454787957 Centerline is valid? [True, True] Translation: X:173.33, Y:-10.66, Z:-1.12 [[ 9.93092445e-01 1.17334438e-01 1.58293330e-04 1.73328310e+02] [-1.17334437e-01 9.93092458e-01 -1.68571587e-05 -1.06630235e+01] [-1.59177837e-04 -1.83254182e-06 9.99999987e-01 -1.11549084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.785769231 meters 0.013787326596321214 Centerline is valid? [True, True] Translation: X:173.39, Y:-10.67, Z:-1.12 [[ 9.92856321e-01 1.19315715e-01 2.94239148e-04 1.73390676e+02] [-1.19315711e-01 9.92856364e-01 -3.23882645e-05 -1.06661041e+01] [-2.96001639e-04 -2.95045997e-06 9.99999956e-01 -1.11528948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.845769231 meters 0.020999850632612043 Centerline is valid? [True, True] Translation: X:173.45, Y:-10.66, Z:-1.12 [[ 9.91981247e-01 1.26363069e-01 -2.36219585e-03 1.73451894e+02] [-1.26362786e-01 9.91984059e-01 2.69265727e-04 -1.06585508e+01] [ 2.37728587e-03 3.13870956e-05 9.99997174e-01 -1.12368229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.905769231 meters 0.027811642387849618 Centerline is valid? [True, True] Translation: X:173.51, Y:-10.65, Z:-1.12 [[ 9.91345886e-01 1.31267717e-01 1.45651240e-03 1.73513066e+02] [-1.31267615e-01 9.91346955e-01 -1.65723726e-04 -1.06499503e+01] [-1.46566331e-03 -2.69033756e-05 9.99998926e-01 -1.11745174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.965769231 meters 0.031451131027241515 Centerline is valid? [True, True] Translation: X:173.58, Y:-10.64, Z:-1.11 [[ 9.90542159e-01 1.37161084e-01 3.61509252e-03 1.73575393e+02] [-1.37160493e-01 9.90548752e-01 -4.12243358e-04 -1.06425942e+01] [-3.63746913e-03 -8.75034464e-05 9.99993381e-01 -1.11339679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.025769231 meters 0.036071953217213314 Centerline is valid? [True, True] Translation: X:173.64, Y:-10.63, Z:-1.12 [[ 9.90055897e-01 1.40668482e-01 1.30358415e-03 1.73637904e+02] [-1.40668408e-01 9.90056754e-01 -1.48681454e-04 -1.06299698e+01] [-1.31153708e-03 -3.61701559e-05 9.99999139e-01 -1.12036236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.085769231 meters 0.03142819607838788 Centerline is valid? [True, True] Translation: X:173.70, Y:-10.63, Z:-1.12 [[ 9.90661085e-01 1.36321754e-01 2.64446023e-03 1.73697762e+02] [-1.36321434e-01 9.90664613e-01 -3.01616273e-04 -1.06322505e+01] [-2.66089003e-03 -6.16971073e-05 9.99996458e-01 -1.11883885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.145769231 meters 0.024389534589654593 Centerline is valid? [True, True] Translation: X:173.76, Y:-10.64, Z:-1.12 [[ 9.91555039e-01 1.29654421e-01 2.88733945e-03 1.73757933e+02] [-1.29654011e-01 9.91559241e-01 -3.29318080e-04 -1.06364851e+01] [-2.90566566e-03 -4.78181407e-05 9.99995777e-01 -1.12095617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.205769231 meters 0.023080465914504925 Centerline is valid? [True, True] Translation: X:173.82, Y:-10.64, Z:-1.12 [[ 9.91713272e-01 1.28424936e-01 3.43826306e-03 1.73817802e+02] [-1.28424348e-01 9.91719231e-01 -3.92232164e-04 -1.06385280e+01] [-3.46016399e-03 -5.25748487e-05 9.99994012e-01 -1.12152326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26576923099998 meters 0.01862140771751432 Centerline is valid? [True, True] Translation: X:173.88, Y:-10.64, Z:-1.13 [[ 9.92299876e-01 1.23850610e-01 1.40767864e-03 1.73877579e+02] [-1.23850507e-01 9.92300875e-01 -1.60583845e-04 -1.06417214e+01] [-1.41672915e-03 -1.49943831e-05 9.99998996e-01 -1.12812260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32576923099998 meters 0.01461084276937103 Centerline is valid? [True, True] Translation: X:173.94, Y:-10.65, Z:-1.13 [[ 9.92855857e-01 1.19316083e-01 9.59439179e-04 1.73937276e+02] [-1.19316033e-01 9.92856320e-01 -1.09398092e-04 -1.06527742e+01] [-9.65638204e-04 -5.85994074e-06 9.99999534e-01 -1.13047668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38576923099998 meters 0.011713026944991795 Centerline is valid? [True, True] Translation: X:174.00, Y:-10.67, Z:-1.13 [[ 9.93543112e-01 1.13422967e-01 2.70448040e-03 1.73997211e+02] [-1.13422548e-01 9.93546793e-01 -3.08281021e-04 -1.06682168e+01] [-2.72199398e-03 -4.58573832e-07 9.99996295e-01 -1.12702047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44576923099999 meters 0.013571248774599153 Centerline is valid? [True, True] Translation: X:174.06, Y:-10.69, Z:-1.13 [[ 9.94191096e-01 1.07615276e-01 1.73688863e-03 1.74057056e+02] [-1.07615096e-01 9.94192613e-01 -1.97200711e-04 -1.06883964e+01] [-1.74802365e-03 9.13975476e-06 9.99998472e-01 -1.12931676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.505769231 meters 0.01799708246999937 Centerline is valid? [True, True] Translation: X:174.12, Y:-10.71, Z:-1.13 [[ 9.94792991e-01 1.01898827e-01 1.88012855e-03 1.74115664e+02] [-1.01898604e-01 9.94794767e-01 -2.14612569e-04 -1.07088537e+01] [-1.89221081e-03 2.19126055e-05 9.99998210e-01 -1.13027545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.565769231 meters 0.018263448432548592 Centerline is valid? [True, True] Translation: X:174.18, Y:-10.72, Z:-1.13 [[ 9.94786314e-01 1.01925164e-01 3.38379077e-03 1.74175415e+02] [-1.01924440e-01 9.94792068e-01 -3.86220337e-04 -1.07248998e+01] [-3.40553379e-03 3.93157263e-05 9.99994200e-01 -1.12641237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.625769231 meters 0.014946720588103207 Centerline is valid? [True, True] Translation: X:174.24, Y:-10.73, Z:-1.12 [[ 9.94373420e-01 1.05804126e-01 5.19512289e-03 1.74237440e+02] [-1.05802467e-01 9.94386990e-01 -5.93849205e-04 -1.07342107e+01] [-5.22879431e-03 4.08510459e-05 9.99986329e-01 -1.12419819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.685769231 meters 0.011900799356017447 Centerline is valid? [True, True] Translation: X:174.30, Y:-10.73, Z:-1.13 [[ 9.93498384e-01 1.13844994e-01 5.28133752e-04 1.74300276e+02] [-1.13844979e-01 9.93498524e-01 -5.93722503e-05 -1.07341022e+01] [-5.31459336e-04 -1.13914096e-06 9.99999859e-01 -1.13159445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.745769231 meters 0.01549464661925099 Centerline is valid? [True, True] Translation: X:174.36, Y:-10.73, Z:-1.13 [[ 9.92707500e-01 1.20514506e-01 2.84129602e-03 1.74361447e+02] [-1.20514069e-01 9.92711566e-01 -3.25417458e-04 -1.07273164e+01] [-2.85980495e-03 -1.93717914e-05 9.99995911e-01 -1.12716870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.805769231 meters 0.01395090623381494 Centerline is valid? [True, True] Translation: X:174.42, Y:-10.74, Z:-1.12 [[ 9.92645872e-01 1.20890720e-01 6.29335454e-03 1.74422648e+02] [-1.20888579e-01 9.92665821e-01 -7.20850353e-04 -1.07382351e+01] [-6.33434207e-03 -4.52455617e-05 9.99979937e-01 -1.11958686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.865769231 meters 0.013340831630672246 Centerline is valid? [True, True] Translation: X:174.48, Y:-10.75, Z:-1.12 [[ 9.92903505e-01 1.18766061e-01 6.10344107e-03 1.74483359e+02] [-1.18764002e-01 9.92922264e-01 -7.00066787e-04 -1.07486947e+01] [-6.14338670e-03 -2.97703188e-05 9.99981129e-01 -1.12084133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.925769231 meters 0.0129703009095147 Centerline is valid? [True, True] Translation: X:174.55, Y:-10.76, Z:-1.12 [[ 9.92953344e-01 1.18396670e-01 5.08775397e-03 1.74546191e+02] [-1.18395231e-01 9.92966378e-01 -5.84114299e-04 -1.07570534e+01] [-5.12112582e-03 -2.23675628e-05 9.99986887e-01 -1.12189860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98576923099998 meters 0.01605282411239859 Centerline is valid? [True, True] Translation: X:174.61, Y:-10.76, Z:-1.12 [[ 9.92607386e-01 1.21292573e-01 4.32313970e-03 1.74607870e+02] [-1.21291558e-01 9.92616800e-01 -4.97278664e-04 -1.07590403e+01] [-4.35153730e-03 -3.07578744e-05 9.99990532e-01 -1.12335348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04576923099998 meters 0.01403178560740831 Centerline is valid? [True, True] Translation: X:174.67, Y:-10.77, Z:-1.12 [[ 9.92654450e-01 1.20925378e-01 3.76762313e-03 1.74670039e+02] [-1.20924606e-01 9.92661600e-01 -4.32936428e-04 -1.07724793e+01] [-3.79232780e-03 -2.58420709e-05 9.99992809e-01 -1.12332926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10576923099998 meters 0.01326122668331521 Centerline is valid? [True, True] Translation: X:174.73, Y:-10.78, Z:-1.13 [[ 9.92679457e-01 1.20754930e-01 2.39654069e-03 1.74732106e+02] [-1.20754617e-01 9.92682349e-01 -2.75291614e-04 -1.07830356e+01] [-2.41224646e-03 -1.61170243e-05 9.99997090e-01 -1.12548953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16576923099998 meters 0.015048861294580065 Centerline is valid? [True, True] Translation: X:174.79, Y:-10.78, Z:-1.13 [[ 9.92560500e-01 1.21750857e-01 6.18707724e-04 1.74793730e+02] [-1.21750836e-01 9.92560693e-01 -7.04314535e-05 -1.07840664e+01] [-6.22680057e-04 -5.42070421e-06 9.99999806e-01 -1.13028913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.225769231 meters 0.015333499085070423 Centerline is valid? [True, True] Translation: X:174.85, Y:-10.79, Z:-1.13 [[ 9.92535699e-01 1.21941799e-01 1.75603171e-03 1.74854377e+02] [-1.21941631e-01 9.92537252e-01 -2.02918144e-04 -1.07865264e+01] [-1.76767109e-03 -1.27298685e-05 9.99998438e-01 -1.12863186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.285769231 meters 0.0117363970028636 Centerline is valid? [True, True] Translation: X:174.92, Y:-10.80, Z:-1.12 [[ 9.93089369e-01 1.17295862e-01 3.89681989e-03 1.74915467e+02] [-1.17295000e-01 9.93097015e-01 -4.49949112e-04 -1.08015685e+01] [-3.92269737e-03 -1.02378072e-05 9.99992306e-01 -1.12480196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.345769231 meters 0.01169525279619627 Centerline is valid? [True, True] Translation: X:174.98, Y:-10.82, Z:-1.13 [[ 9.93565554e-01 1.13211176e-01 3.27391816e-03 1.74977009e+02] [-1.13210544e-01 9.93570948e-01 -3.78273599e-04 -1.08182736e+01] [-3.29569477e-03 5.19756205e-06 9.99994569e-01 -1.12648928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.405769231 meters 0.01160086259154654 Centerline is valid? [True, True] Translation: X:175.04, Y:-10.82, Z:-1.13 [[ 9.93282108e-01 1.15676828e-01 3.08625032e-03 1.75038901e+02] [-1.15676276e-01 9.93286903e-01 -3.57177619e-04 -1.08226203e+01] [-3.10684920e-03 -2.22780680e-06 9.99995174e-01 -1.12778115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.465769231 meters 0.014681577913216016 Centerline is valid? [True, True] Translation: X:175.10, Y:-10.82, Z:-1.13 [[ 9.92423277e-01 1.22843894e-01 2.32750063e-03 1.75100953e+02] [-1.22843599e-01 9.92426006e-01 -2.69619136e-04 -1.08175455e+01] [-2.34299322e-03 -1.83422485e-05 9.99997255e-01 -1.13140363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.525769231 meters 0.01922669282533643 Centerline is valid? [True, True] Translation: X:175.16, Y:-10.81, Z:-1.13 [[ 9.91778645e-01 1.27953629e-01 1.72867622e-03 1.75161671e+02] [-1.27953472e-01 9.91780151e-01 -2.01112292e-04 -1.08125566e+01] [-1.74019981e-03 -2.17312478e-05 9.99998486e-01 -1.13475211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.585769231 meters 0.01830190051072434 Centerline is valid? [True, True] Translation: X:175.22, Y:-10.81, Z:-1.13 [[ 9.91848004e-01 1.27328681e-01 4.99446366e-03 1.75222535e+02] [-1.27327370e-01 9.91860577e-01 -5.80816359e-04 -1.08146935e+01] [-5.02776618e-03 -5.98503773e-05 9.99987359e-01 -1.13092461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.645769231 meters 0.011653503784251812 Centerline is valid? [True, True] Translation: X:175.28, Y:-10.84, Z:-1.13 [[ 9.93142044e-01 1.16810693e-01 4.91343406e-03 1.75281791e+02] [-1.16809295e-01 9.93154199e-01 -5.71344406e-04 -1.08365065e+01] [-4.94653680e-03 -6.50861961e-06 9.99987766e-01 -1.13358405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.705769231 meters 0.017082311058795516 Centerline is valid? [True, True] Translation: X:175.34, Y:-10.86, Z:-1.14 [[ 9.94429998e-01 1.05374235e-01 2.29118336e-03 1.75341325e+02] [-1.05373901e-01 9.94432637e-01 -2.66278378e-04 -1.08635154e+01] [-2.30648639e-03 2.33642783e-05 9.99997340e-01 -1.13953425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76576923099998 meters 0.0241092375890787 Centerline is valid? [True, True] Translation: X:175.40, Y:-10.89, Z:-1.14 [[ 9.95120771e-01 9.86265417e-02 2.73080934e-03 1.75399338e+02] [-9.86260414e-02 9.95124516e-01 -3.17628576e-04 -1.08869123e+01] [-2.74882193e-03 4.67498781e-05 9.99996221e-01 -1.14061253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82576923099998 meters 0.02571813946672301 Centerline is valid? [True, True] Translation: X:175.46, Y:-10.90, Z:-1.14 [[ 9.95279495e-01 9.69454343e-02 4.50665384e-03 1.75460672e+02] [-9.69440544e-02 9.95289694e-01 -5.24151950e-04 -1.09014405e+01] [-4.53624026e-03 8.47843936e-05 9.99989708e-01 -1.13801990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88576923099998 meters 0.022675461546980233 Centerline is valid? [True, True] Translation: X:175.52, Y:-10.92, Z:-1.14 [[ 9.94943038e-01 1.00327227e-01 4.77477609e-03 1.75520239e+02] [-1.00325711e-01 9.94954492e-01 -5.56487155e-04 -1.09150774e+01] [-4.80651574e-03 7.46402129e-05 9.99988446e-01 -1.13835466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94576923099999 meters 0.013610389591010304 Centerline is valid? [True, True] Translation: X:175.58, Y:-10.91, Z:-1.13 [[ 9.93913027e-01 1.09960303e-01 6.75474982e-03 1.75581921e+02] [-1.09957491e-01 9.93935979e-01 -7.87471286e-04 -1.09149626e+01] [-6.80037946e-03 3.99426286e-05 9.99976876e-01 -1.13374733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.005769231 meters 0.015910380558144664 Centerline is valid? [True, True] Translation: X:175.65, Y:-10.90, Z:-1.13 [[ 9.92169422e-01 1.24674355e-01 7.49291748e-03 1.75645613e+02] [-1.24671312e-01 9.92197713e-01 -8.73700767e-04 -1.09018737e+01] [-7.54338366e-03 -6.72926647e-05 9.99971546e-01 -1.13155924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.065769231 meters 0.02552234061025187 Centerline is valid? [True, True] Translation: X:175.71, Y:-10.89, Z:-1.14 [[ 9.91025211e-01 1.33560895e-01 5.52432974e-03 1.75708238e+02] [-1.33559375e-01 9.91040603e-01 -6.44877265e-04 -1.08937903e+01] [-5.56096547e-03 -9.87364008e-05 9.99984533e-01 -1.13584652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.125769231 meters 0.032070473522328086 Centerline is valid? [True, True] Translation: X:175.77, Y:-10.89, Z:-1.14 [[ 9.90333172e-01 1.38603792e-01 5.40341943e-03 1.75769530e+02] [-1.38602412e-01 9.90347905e-01 -6.30896843e-04 -1.08882594e+01] [-5.43870981e-03 -1.24128894e-04 9.99985202e-01 -1.13597643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.185769231 meters 0.034450884489421234 Centerline is valid? [True, True] Translation: X:175.83, Y:-10.89, Z:-1.14 [[ 9.90123392e-01 1.40117355e-01 4.77442756e-03 1.75830736e+02] [-1.40116294e-01 9.90134896e-01 -5.57523833e-04 -1.08885007e+01] [-4.80544610e-03 -1.16957707e-04 9.99988447e-01 -1.13671205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.245769231 meters 0.03689716016051513 Centerline is valid? [True, True] Translation: X:175.89, Y:-10.89, Z:-1.14 [[ 9.89934316e-01 1.41466956e-01 4.14136917e-03 1.75890368e+02] [-1.41466170e-01 9.89942972e-01 -4.83690553e-04 -1.08864364e+01] [-4.16814554e-03 -1.07041759e-04 9.99991308e-01 -1.13848144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.305769231 meters 0.030100842833386023 Centerline is valid? [True, True] Translation: X:175.95, Y:-10.90, Z:-1.14 [[ 9.90069009e-01 1.40529875e-01 3.83547921e-03 1.75949699e+02] [-1.40529194e-01 9.90076434e-01 -4.47757316e-04 -1.08972559e+01] [-3.86034086e-03 -9.56861587e-05 9.99992544e-01 -1.13734828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.365769231 meters 0.02936579568529995 Centerline is valid? [True, True] Translation: X:176.01, Y:-10.90, Z:-1.14 [[ 9.90187051e-01 1.39685212e-01 4.20071966e-03 1.76009704e+02] [-1.39684388e-01 9.90195956e-01 -4.90395817e-04 -1.09013031e+01] [-4.22803666e-03 -1.01191368e-04 9.99991057e-01 -1.13642162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.425769231 meters 0.024793051205325888 Centerline is valid? [True, True] Translation: X:176.07, Y:-10.91, Z:-1.14 [[ 9.90790727e-01 1.35326138e-01 4.53553183e-03 1.76070976e+02] [-1.35325132e-01 9.90801104e-01 -5.29350287e-04 -1.09110476e+01] [-4.56544488e-03 -8.92960875e-05 9.99989574e-01 -1.13553370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48576923099998 meters 0.018430404312501404 Centerline is valid? [True, True] Translation: X:176.13, Y:-10.93, Z:-1.13 [[ 9.91558781e-01 1.29571113e-01 4.74446204e-03 1.76131579e+02] [-1.29569945e-01 9.91570130e-01 -5.54046811e-04 -1.09265987e+01] [-4.77625530e-03 -6.53697057e-05 9.99988591e-01 -1.13387196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54576923099998 meters 0.02187106980341627 Centerline is valid? [True, True] Translation: X:176.19, Y:-10.93, Z:-1.14 [[ 9.91318188e-01 1.31449969e-01 3.02580888e-03 1.76193193e+02] [-1.31449504e-01 9.91322805e-01 -3.53152756e-04 -1.09261341e+01] [-3.04597527e-03 -4.76543255e-05 9.99995360e-01 -1.13744964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60576923099998 meters 0.02323941000788436 Centerline is valid? [True, True] Translation: X:176.25, Y:-10.93, Z:-1.13 [[ 9.91112269e-01 1.32935651e-01 4.95817819e-03 1.76254108e+02] [-1.32934414e-01 9.91124667e-01 -5.79720376e-04 -1.09271209e+01] [-4.99123821e-03 -8.45445367e-05 9.99987540e-01 -1.13450891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66576923099998 meters 0.023874195599793372 Centerline is valid? [True, True] Translation: X:176.31, Y:-10.93, Z:-1.14 [[ 9.91067404e-01 1.33266586e-01 5.04169192e-03 1.76314599e+02] [-1.33265311e-01 9.91080223e-01 -5.89484972e-04 -1.09303712e+01] [-5.07527980e-03 -8.76633027e-05 9.99987117e-01 -1.13526162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.725769231 meters 0.021678280704079463 Centerline is valid? [True, True] Translation: X:176.37, Y:-10.94, Z:-1.14 [[ 9.91397396e-01 1.30762064e-01 5.69969902e-03 1.76373663e+02] [-1.30760393e-01 9.91413776e-01 -6.66434947e-04 -1.09396118e+01] [-5.73790454e-03 -8.45930139e-05 9.99983535e-01 -1.13650641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.785769231 meters 0.018959972607756528 Centerline is valid? [True, True] Translation: X:176.43, Y:-10.95, Z:-1.13 [[ 9.91632940e-01 1.28845715e-01 7.93054501e-03 1.76434691e+02] [-1.28842420e-01 9.91664647e-01 -9.27198897e-04 -1.09496502e+01] [-7.98390672e-03 -1.02349639e-04 9.99968123e-01 -1.13278944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.845769231 meters 0.02053770175301956 Centerline is valid? [True, True] Translation: X:176.49, Y:-10.95, Z:-1.14 [[ 9.91487318e-01 1.30066337e-01 5.97049247e-03 1.76494833e+02] [-1.30064490e-01 9.91505290e-01 -6.98220702e-04 -1.09528331e+01] [-6.01058988e-03 -8.42720853e-05 9.99981933e-01 -1.13899069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.905769231 meters 0.023005844447325466 Centerline is valid? [True, True] Translation: X:176.55, Y:-10.96, Z:-1.14 [[ 9.91354683e-01 1.31068451e-01 6.07888620e-03 1.76554369e+02] [-1.31066555e-01 9.91373317e-01 -7.10907001e-04 -1.09553580e+01] [-6.11962305e-03 -9.19776891e-05 9.99981271e-01 -1.13952475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.965769231 meters 0.02113098612741881 Centerline is valid? [True, True] Translation: X:176.61, Y:-10.97, Z:-1.14 [[ 9.91248162e-01 1.31866110e-01 6.19763169e-03 1.76613968e+02] [-1.31864156e-01 9.91267532e-01 -7.24713432e-04 -1.09652776e+01] [-6.23907620e-03 -9.88746147e-05 9.99980532e-01 -1.14042576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.025769231 meters 0.016724519434175834 Centerline is valid? [True, True] Translation: X:176.67, Y:-10.99, Z:-1.15 [[ 9.91939721e-01 1.26670573e-01 3.18691124e-03 1.76673459e+02] [-1.26670030e-01 9.91944840e-01 -3.72523070e-04 -1.09870158e+01] [-3.20842787e-03 -3.41657111e-05 9.99994852e-01 -1.14910377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.085769231 meters 0.012721999380977043 Centerline is valid? [True, True] Translation: X:176.73, Y:-11.01, Z:-1.15 [[ 9.92603046e-01 1.21375479e-01 2.68066783e-03 1.76733928e+02] [-1.21375076e-01 9.92606666e-01 -3.13154958e-04 -1.10091267e+01] [-2.69885809e-03 -1.45276960e-05 9.99996358e-01 -1.15059745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.145769231 meters 0.011625074200728249 Centerline is valid? [True, True] Translation: X:176.79, Y:-11.03, Z:-1.15 [[ 9.93117731e-01 1.17099169e-01 2.22637174e-03 1.76792435e+02] [-1.17098881e-01 9.93120227e-01 -2.59860094e-04 -1.10329389e+01] [-2.24148421e-03 -2.63397195e-06 9.99997488e-01 -1.15129465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.205769231 meters 0.013860388427226877 Centerline is valid? [True, True] Translation: X:176.85, Y:-11.04, Z:-1.15 [[ 9.92367906e-01 1.23289769e-01 2.36036504e-03 1.76854844e+02] [-1.23289461e-01 9.92370713e-01 -2.75916934e-04 -1.10371129e+01] [-2.37637487e-03 -1.71970238e-05 9.99997176e-01 -1.15224855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26576923099998 meters 0.02326828024364906 Centerline is valid? [True, True] Translation: X:176.92, Y:-11.03, Z:-1.15 [[ 9.91273945e-01 1.31752967e-01 4.13778821e-03 1.76915947e+02] [-1.31752087e-01 9.91282579e-01 -4.85743098e-04 -1.10312368e+01] [-4.16571546e-03 -6.36577563e-05 9.99991321e-01 -1.14916079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32576923099998 meters 0.0212021613355467 Centerline is valid? [True, True] Translation: X:176.98, Y:-11.04, Z:-1.15 [[ 9.91164861e-01 1.32538729e-01 5.06993074e-03 1.76978194e+02] [-1.32537420e-01 9.91177824e-01 -5.94806166e-04 -1.10430485e+01] [-5.10403777e-03 -8.24045665e-05 9.99986971e-01 -1.14757929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38576923099998 meters 0.01825674170168036 Centerline is valid? [True, True] Translation: X:177.04, Y:-11.06, Z:-1.15 [[ 9.91595308e-01 1.29305459e-01 4.34095471e-03 1.77038538e+02] [-1.29304466e-01 9.91604808e-01 -5.09985867e-04 -1.10584136e+01] [-4.37045552e-03 -5.56052360e-05 9.99990448e-01 -1.14810050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44576923099999 meters 0.017073914784321294 Centerline is valid? [True, True] Translation: X:177.10, Y:-11.07, Z:-1.15 [[ 9.91774433e-01 1.27945976e-01 3.64718238e-03 1.77099247e+02] [-1.27945264e-01 9.91781138e-01 -4.28900943e-04 -1.10708476e+01] [-3.67208284e-03 -4.12667247e-05 9.99993257e-01 -1.14938812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.505769231 meters 0.020063191695475505 Centerline is valid? [True, True] Translation: X:177.16, Y:-11.08, Z:-1.15 [[ 9.91378363e-01 1.30928616e-01 5.16127652e-03 1.77159514e+02] [-1.30927222e-01 9.91391796e-01 -6.08522782e-04 -1.10780279e+01] [-5.19652024e-03 -7.24752778e-05 9.99986495e-01 -1.14555648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.565769231 meters 0.027646947382516156 Centerline is valid? [True, True] Translation: X:177.22, Y:-11.07, Z:-1.14 [[ 9.90455449e-01 1.37728209e-01 5.38003808e-03 1.77220744e+02] [-1.37726794e-01 9.90470054e-01 -6.34465623e-04 -1.10746036e+01] [-5.41615042e-03 -1.12565463e-04 9.99985326e-01 -1.14352573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.625769231 meters 0.03408241528880217 Centerline is valid? [True, True] Translation: X:177.28, Y:-11.07, Z:-1.15 [[ 9.89759393e-01 1.42672201e-01 4.58124940e-03 1.77281430e+02] [-1.42671227e-01 9.89769988e-01 -5.40332479e-04 -1.10740749e+01] [-4.61147359e-03 -1.18813327e-04 9.99989360e-01 -1.14612186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.685769231 meters 0.03669232969998977 Centerline is valid? [True, True] Translation: X:177.34, Y:-11.08, Z:-1.14 [[ 9.89445354e-01 1.44738699e-01 6.97137778e-03 1.77341723e+02] [-1.44736496e-01 9.89469894e-01 -8.22234675e-04 -1.10758579e+01] [-7.01697761e-03 -1.95456511e-04 9.99975362e-01 -1.14185543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.745769231 meters 0.032958836015760835 Centerline is valid? [True, True] Translation: X:177.40, Y:-11.08, Z:-1.15 [[ 9.89506262e-01 1.44463097e-01 2.78771765e-03 1.77403121e+02] [-1.44462746e-01 9.89510186e-01 -3.28076036e-04 -1.10838966e+01] [-2.80586989e-03 -7.80880529e-05 9.99996060e-01 -1.14885661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.805769231 meters 0.03028889154026064 Centerline is valid? [True, True] Translation: X:177.46, Y:-11.09, Z:-1.15 [[ 9.89898409e-01 1.41760910e-01 2.23233163e-03 1.77464556e+02] [-1.41760676e-01 9.89900925e-01 -2.63386219e-04 -1.10915822e+01] [-2.24712501e-03 -5.57312419e-05 9.99997474e-01 -1.15050520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.865769231 meters 0.028851569735876312 Centerline is valid? [True, True] Translation: X:177.53, Y:-11.10, Z:-1.15 [[ 9.90139348e-01 1.40051353e-01 3.11275774e-03 1.77526049e+02] [-1.40050889e-01 9.90144239e-01 -3.67635787e-04 -1.10987670e+01] [-3.13356704e-03 -7.19338310e-05 9.99995088e-01 -1.14905962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.925769231 meters 0.03489996236237425 Centerline is valid? [True, True] Translation: X:177.59, Y:-11.09, Z:-1.15 [[ 9.89837533e-01 1.42175754e-01 2.77734903e-03 1.77587697e+02] [-1.42175393e-01 9.89841427e-01 -3.28288529e-04 -1.10855630e+01] [-2.79580980e-03 -6.99183811e-05 9.99996089e-01 -1.15068367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98576923099998 meters 0.03256951488397127 Centerline is valid? [True, True] Translation: X:177.65, Y:-11.09, Z:-1.15 [[ 9.89576079e-01 1.43985622e-01 2.70635279e-03 1.77647072e+02] [-1.43985285e-01 9.89579777e-01 -3.19956930e-04 -1.10879049e+01] [-2.72422119e-03 -7.30532532e-05 9.99996287e-01 -1.15194211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04576923099998 meters 0.026667217643251667 Centerline is valid? [True, True] Translation: X:177.71, Y:-11.09, Z:-1.16 [[ 9.90421561e-01 1.38074890e-01 6.75036084e-04 1.77707692e+02] [-1.38074868e-01 9.90421791e-01 -7.96749782e-05 -1.10943195e+01] [-6.79571561e-04 -1.42937018e-05 9.99999769e-01 -1.15730366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10576923099998 meters 0.01955427827433038 Centerline is valid? [True, True] Translation: X:177.77, Y:-11.11, Z:-1.15 [[ 9.91519816e-01 1.29899755e-01 3.80899009e-03 1.77766282e+02] [-1.29898985e-01 9.91527131e-01 -4.50041869e-04 -1.11083804e+01] [-3.83517734e-03 -4.85585130e-05 9.99992645e-01 -1.15207540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16576923099998 meters 0.015604380307190295 Centerline is valid? [True, True] Translation: X:177.83, Y:-11.12, Z:-1.15 [[ 9.91944897e-01 1.26533735e-01 5.87659175e-03 1.77826561e+02] [-1.26531842e-01 9.91962303e-01 -6.94305331e-04 -1.11178407e+01] [-5.91721053e-03 -5.48633510e-05 9.99982492e-01 -1.14928071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.225769231 meters 0.017568772501415073 Centerline is valid? [True, True] Translation: X:177.89, Y:-11.12, Z:-1.15 [[ 9.91948004e-01 1.26480051e-01 6.47722424e-03 1.77887199e+02] [-1.26477749e-01 9.91969149e-01 -7.65444579e-04 -1.11179644e+01] [-6.52202009e-03 -5.99435193e-05 9.99978730e-01 -1.15022081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.285769231 meters 0.01576328194387407 Centerline is valid? [True, True] Translation: X:177.95, Y:-11.12, Z:-1.15 [[ 9.92201353e-01 1.24550019e-01 4.87528554e-03 1.77947249e+02] [-1.24548692e-01 9.92213330e-01 -5.76197377e-04 -1.11245231e+01] [-4.90908869e-03 -3.55066180e-05 9.99987950e-01 -1.15393479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.345769231 meters 0.01300857464917542 Centerline is valid? [True, True] Translation: X:178.01, Y:-11.14, Z:-1.15 [[ 9.92600998e-01 1.21328097e-01 4.76980233e-03 1.78006273e+02] [-1.21326789e-01 9.92612458e-01 -5.63730590e-04 -1.11392185e+01] [-4.80296158e-03 -1.91452547e-05 9.99988466e-01 -1.15470118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.405769231 meters 0.011543000924727116 Centerline is valid? [True, True] Translation: X:178.07, Y:-11.16, Z:-1.15 [[ 9.93162113e-01 1.16660160e-01 4.40722179e-03 1.78066652e+02] [-1.16658999e-01 9.93171892e-01 -5.20467317e-04 -1.11570951e+01] [-4.43784660e-03 2.76633772e-06 9.99990153e-01 -1.15492953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.465769231 meters 0.01161628022827607 Centerline is valid? [True, True] Translation: X:178.13, Y:-11.17, Z:-1.16 [[ 9.93019405e-01 1.17920246e-01 2.69759033e-03 1.78128650e+02] [-1.17919816e-01 9.93023069e-01 -3.18525849e-04 -1.11656836e+01] [-2.71633008e-03 -1.79700745e-06 9.99996311e-01 -1.15698327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.525769231 meters 0.012403930104592476 Centerline is valid? [True, True] Translation: X:178.19, Y:-11.17, Z:-1.16 [[ 9.92532720e-01 1.21932241e-01 3.36583942e-03 1.78190261e+02] [-1.21931590e-01 9.92538427e-01 -3.98818972e-04 -1.11694167e+01] [-3.38935385e-03 -1.45612733e-05 9.99994256e-01 -1.15506064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.585769231 meters 0.012441001462114333 Centerline is valid? [True, True] Translation: X:178.25, Y:-11.18, Z:-1.16 [[ 9.92563417e-01 1.21696714e-01 2.78813497e-03 1.78251382e+02] [-1.21696268e-01 9.92567333e-01 -3.29733244e-04 -1.11794325e+01] [-2.80753914e-03 -1.20244646e-05 9.99996059e-01 -1.15550378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.645769231 meters 0.011701397232080812 Centerline is valid? [True, True] Translation: X:178.31, Y:-11.19, Z:-1.15 [[ 9.92770897e-01 1.19943582e-01 4.41401737e-03 1.78312505e+02] [-1.19942439e-01 9.92780709e-01 -5.23634445e-04 -1.11906966e+01] [-4.44495789e-03 -9.57897313e-06 9.99990121e-01 -1.15171410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.705769231 meters 0.012066714782943976 Centerline is valid? [True, True] Translation: X:178.37, Y:-11.21, Z:-1.15 [[ 9.93366196e-01 1.14919097e-01 4.14750539e-03 1.78373976e+02] [-1.14918042e-01 9.93374854e-01 -4.92578474e-04 -1.12072611e+01] [-4.17663423e-03 1.26876079e-05 9.99991278e-01 -1.15125520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76576923099998 meters 0.011687875565846152 Centerline is valid? [True, True] Translation: X:178.44, Y:-11.21, Z:-1.15 [[ 9.93221786e-01 1.16160801e-01 4.14154532e-03 1.78437117e+02] [-1.16159756e-01 9.93230421e-01 -4.92674571e-04 -1.12133747e+01] [-4.17073827e-03 8.25422123e-06 9.99991302e-01 -1.15031072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82576923099998 meters 0.011289276204462817 Centerline is valid? [True, True] Translation: X:178.50, Y:-11.22, Z:-1.15 [[ 9.92947026e-01 1.18452430e-01 5.02251428e-03 1.78498656e+02] [-1.18450915e-01 9.92959728e-01 -5.98929206e-04 -1.12179665e+01] [-5.05809904e-03 -2.16440582e-07 9.99987208e-01 -1.14933817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88576923099998 meters 0.011843456759677726 Centerline is valid? [True, True] Translation: X:178.56, Y:-11.23, Z:-1.15 [[ 9.93227996e-01 1.16103803e-01 4.24909071e-03 1.78559980e+02] [-1.16102698e-01 9.93237085e-01 -5.06738149e-04 -1.12323042e+01] [-4.27918870e-03 9.97562109e-06 9.99990844e-01 -1.15151691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94576923099999 meters 0.015263779096487169 Centerline is valid? [True, True] Translation: X:178.62, Y:-11.25, Z:-1.16 [[ 9.93859392e-01 1.10622453e-01 2.48621055e-03 1.78620026e+02] [-1.10622058e-01 9.93862502e-01 -2.96532264e-04 -1.12524859e+01] [-2.50375457e-03 1.96816481e-05 9.99996865e-01 -1.15585313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.005769231 meters 0.02127689277980119 Centerline is valid? [True, True] Translation: X:178.68, Y:-11.28, Z:-1.15 [[ 9.94674063e-01 1.03002961e-01 3.72797598e-03 1.78678367e+02] [-1.03002012e-01 9.94681048e-01 -4.46257615e-04 -1.12781868e+01] [-3.75411291e-03 5.98918484e-05 9.99992951e-01 -1.15465368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.065769231 meters 0.02418578859178876 Centerline is valid? [True, True] Translation: X:178.74, Y:-11.30, Z:-1.16 [[ 9.94977225e-01 1.00068215e-01 2.58330507e-03 1.78738493e+02] [-1.00067749e-01 9.94980578e-01 -3.09191594e-04 -1.12982094e+01] [-2.60127863e-03 4.91330706e-05 9.99996615e-01 -1.15748197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.125769231 meters 0.020891786610694588 Centerline is valid? [True, True] Translation: X:178.80, Y:-11.30, Z:-1.16 [[ 9.94542118e-01 1.04324195e-01 1.56151951e-03 1.78798536e+02] [-1.04324030e-01 9.94543343e-01 -1.87036293e-04 -1.13036741e+01] [-1.57251124e-03 2.31114630e-05 9.99998763e-01 -1.16132251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.185769231 meters 0.01702226099946685 Centerline is valid? [True, True] Translation: X:178.86, Y:-11.31, Z:-1.16 [[ 9.94049008e-01 1.08928090e-01 1.11352808e-03 1.78861159e+02] [-1.08928009e-01 9.94049632e-01 -1.33090079e-04 -1.13062124e+01] [-1.12139942e-03 1.10036646e-05 9.99999371e-01 -1.16373273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.245769231 meters 0.01517961113339816 Centerline is valid? [True, True] Translation: X:178.92, Y:-11.31, Z:-1.16 [[ 9.93797898e-01 1.11118646e-01 4.28768771e-03 1.78922722e+02] [-1.11117464e-01 9.93807147e-01 -5.13644278e-04 -1.13100015e+01] [-4.31821014e-03 3.40216193e-05 9.99990676e-01 -1.15979428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.305769231 meters 0.02173446350595223 Centerline is valid? [True, True] Translation: X:178.98, Y:-11.33, Z:-1.16 [[ 9.94499657e-01 1.04592170e-01 5.55976737e-03 1.78981594e+02] [-1.04590073e-01 9.94515194e-01 -6.67388498e-04 -1.13273100e+01] [-5.59907674e-03 8.22211560e-05 9.99984322e-01 -1.15940316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.365769231 meters 0.027117938619237166 Centerline is valid? [True, True] Translation: X:179.04, Y:-11.35, Z:-1.16 [[ 9.95045342e-01 9.93470843e-02 3.86310434e-03 1.79040994e+02] [-9.93460322e-02 9.95052838e-01 -4.63763127e-04 -1.13454028e+01] [-3.89006645e-03 7.76812509e-05 9.99992431e-01 -1.16415522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.425769231 meters 0.03370142925312264 Centerline is valid? [True, True] Translation: X:179.10, Y:-11.37, Z:-1.16 [[ 9.95554317e-01 9.40903610e-02 4.31334217e-03 1.79097904e+02] [-9.40889992e-02 9.95563655e-01 -5.17994816e-04 -1.13730753e+01] [-4.34294501e-03 1.09853928e-04 9.99990563e-01 -1.16206329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48576923099998 meters 0.02900786165362977 Centerline is valid? [True, True] Translation: X:179.16, Y:-11.38, Z:-1.16 [[ 9.95359786e-01 9.60931203e-02 5.00092415e-03 1.79159937e+02] [-9.60913168e-02 9.95372342e-01 -6.00233085e-04 -1.13782430e+01] [-5.03545985e-03 1.16902489e-04 9.99987315e-01 -1.16100702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54576923099998 meters 0.025356026741441003 Centerline is valid? [True, True] Translation: X:179.22, Y:-11.38, Z:-1.17 [[ 9.94694458e-01 1.02837145e-01 2.73064651e-03 1.79219641e+02] [-1.02836631e-01 9.94698205e-01 -3.28389335e-04 -1.13849093e+01] [-2.74993980e-03 4.58365644e-05 9.99996218e-01 -1.16629060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60576923099998 meters 0.019170681262877475 Centerline is valid? [True, True] Translation: X:179.28, Y:-11.39, Z:-1.16 [[ 9.94297551e-01 1.06542006e-01 4.60220577e-03 1.79280594e+02] [-1.06540586e-01 9.94308200e-01 -5.53407824e-04 -1.13914401e+01] [-4.63497211e-03 5.99303447e-05 9.99989257e-01 -1.16021057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66576923099998 meters 0.01783129528139813 Centerline is valid? [True, True] Translation: X:179.34, Y:-11.40, Z:-1.16 [[ 9.93981046e-01 1.09302212e-01 7.39632642e-03 1.79341541e+02] [-1.09298617e-01 9.94008562e-01 -8.89732109e-04 -1.14006957e+01] [-7.44926147e-03 7.59686008e-05 9.99972251e-01 -1.15554577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.725769231 meters 0.016842897094415273 Centerline is valid? [True, True] Translation: X:179.40, Y:-11.41, Z:-1.15 [[ 9.94047274e-01 1.08702200e-01 7.33815481e-03 1.79403149e+02] [-1.08698636e-01 9.94074356e-01 -8.83930391e-04 -1.14121448e+01] [-7.39075670e-03 8.10211778e-05 9.99972685e-01 -1.15483357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.785769231 meters 0.020951391021572712 Centerline is valid? [True, True] Translation: X:179.46, Y:-11.43, Z:-1.17 [[ 9.94342492e-01 1.06188704e-01 2.63956281e-03 1.79461682e+02] [-1.06188233e-01 9.94345995e-01 -3.18276232e-04 -1.14339005e+01] [-2.65843605e-03 3.61850720e-05 9.99996466e-01 -1.16507769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.845769231 meters 0.0211858938105054 Centerline is valid? [True, True] Translation: X:179.52, Y:-11.45, Z:-1.17 [[ 9.94300906e-01 1.06604811e-01 1.05947183e-03 1.79521560e+02] [-1.06604736e-01 9.94301470e-01 -1.26811557e-04 -1.14519228e+01] [-1.06695312e-03 1.31441303e-05 9.99999431e-01 -1.16679917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.905769231 meters 0.014324236666068585 Centerline is valid? [True, True] Translation: X:179.58, Y:-11.45, Z:-1.17 [[ 9.93522021e-01 1.13633149e-01 1.22488455e-03 1.79583175e+02] [-1.13633053e-01 9.93522777e-01 -1.47846562e-04 -1.14527027e+01] [-1.23375097e-03 7.70144414e-06 9.99999239e-01 -1.16505089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.965769231 meters 0.012619840943426684 Centerline is valid? [True, True] Translation: X:179.65, Y:-11.45, Z:-1.17 [[ 9.92742665e-01 1.20257601e-01 -3.32873205e-04 1.79645031e+02] [-1.20257594e-01 9.92742721e-01 4.13234286e-05 -1.14528121e+01] [ 3.35426907e-04 -9.92999838e-07 9.99999944e-01 -1.16949851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.025769231 meters 0.016186139422494604 Centerline is valid? [True, True] Translation: X:179.71, Y:-11.45, Z:-1.17 [[ 9.91851258e-01 1.27395347e-01 1.22822382e-03 1.79707117e+02] [-1.27395261e-01 9.91852018e-01 -1.47778557e-04 -1.14458593e+01] [-1.23704257e-03 -9.89554629e-06 9.99999235e-01 -1.16800416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.085769231 meters 0.022000016354465562 Centerline is valid? [True, True] Translation: X:179.77, Y:-11.44, Z:-1.16 [[ 9.90824811e-01 1.35106427e-01 3.52818330e-03 1.79770551e+02] [-1.35105763e-01 9.90831091e-01 -4.26866487e-04 -1.14366951e+01] [-3.55350612e-03 -5.37279921e-05 9.99993685e-01 -1.16300521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.145769231 meters 0.033933089656773115 Centerline is valid? [True, True] Translation: X:179.83, Y:-11.42, Z:-1.17 [[ 9.89390372e-01 1.45262481e-01 2.34609048e-03 1.79833644e+02] [-1.45262214e-01 9.89393151e-01 -2.84567102e-04 -1.14161881e+01] [-2.36254277e-03 -5.92503463e-05 9.99997207e-01 -1.16823440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.205769231 meters 0.03414469252386334 Centerline is valid? [True, True] Translation: X:179.90, Y:-11.41, Z:-1.17 [[ 9.88981072e-01 1.48024815e-01 2.25700544e-03 1.79896063e+02] [-1.48024577e-01 9.88983645e-01 -2.72988167e-04 -1.14124387e+01] [-2.27255049e-03 -6.41121448e-05 9.99997416e-01 -1.16992870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26576923099998 meters 0.03494396544497526 Centerline is valid? [True, True] Translation: X:179.96, Y:-11.41, Z:-1.18 [[ 9.89379599e-01 1.45353921e-01 4.96864609e-04 1.79957939e+02] [-1.45353909e-01 9.89379724e-01 -6.01787597e-05 -1.14074329e+01] [-5.00334989e-04 -1.26815761e-05 9.99999875e-01 -1.17572263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32576923099998 meters 0.031027569237829445 Centerline is valid? [True, True] Translation: X:180.02, Y:-11.41, Z:-1.17 [[ 9.89549885e-01 1.44185408e-01 1.26245367e-03 1.80019142e+02] [-1.44185330e-01 9.89550690e-01 -1.53181795e-04 -1.14105151e+01] [-1.27134848e-03 -3.04462712e-05 9.99999191e-01 -1.17337580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38576923099998 meters 0.029415675704320524 Centerline is valid? [True, True] Translation: X:180.08, Y:-11.40, Z:-1.18 [[ 9.90185991e-01 1.39743372e-01 1.86917507e-03 1.80080088e+02] [-1.39743193e-01 9.90187754e-01 -2.27035940e-04 -1.14044379e+01] [-1.88256103e-03 -3.63966850e-05 9.99998227e-01 -1.17559436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44576923099999 meters 0.02163288112048713 Centerline is valid? [True, True] Translation: X:180.14, Y:-11.42, Z:-1.18 [[ 9.90918708e-01 1.34459994e-01 7.90505223e-04 1.80139714e+02] [-1.34459961e-01 9.90919023e-01 -9.58771077e-05 -1.14200079e+01] [-7.96218299e-04 -1.12848815e-05 9.99999683e-01 -1.17697785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.505769231 meters 0.015073676782399565 Centerline is valid? [True, True] Translation: X:180.20, Y:-11.43, Z:-1.17 [[ 9.91835665e-01 1.27496837e-01 2.56303362e-03 1.80199920e+02] [-1.27496459e-01 9.91838977e-01 -3.11273105e-04 -1.14306745e+01] [-2.58180298e-03 -1.80459434e-05 9.99996667e-01 -1.17287804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.565769231 meters 0.012215395365097808 Centerline is valid? [True, True] Translation: X:180.26, Y:-11.44, Z:-1.17 [[ 9.92381840e-01 1.23123766e-01 4.33836555e-03 1.80260227e+02] [-1.23122640e-01 9.92391323e-01 -5.26767568e-04 -1.14416603e+01] [-4.37021393e-03 -1.13964515e-05 9.99990451e-01 -1.16826453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.625769231 meters 0.011978349527953252 Centerline is valid? [True, True] Translation: X:180.32, Y:-11.45, Z:-1.17 [[ 9.92555527e-01 1.21756658e-01 2.97341602e-03 1.80322946e+02] [-1.21756123e-01 9.92559981e-01 -3.61020623e-04 -1.14461985e+01] [-2.99525041e-03 -3.69859331e-06 9.99995514e-01 -1.17058343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.685769231 meters 0.012281600302230937 Centerline is valid? [True, True] Translation: X:180.38, Y:-11.45, Z:-1.17 [[ 9.92359746e-01 1.23333300e-01 3.32141041e-03 1.80383598e+02] [-1.23332637e-01 9.92365304e-01 -4.04601798e-04 -1.14467808e+01] [-3.34595332e-03 -8.12776631e-06 9.99994402e-01 -1.16828526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.745769231 meters 0.012831994470895523 Centerline is valid? [True, True] Translation: X:180.44, Y:-11.45, Z:-1.17 [[ 9.92204068e-01 1.24571399e-01 3.61304694e-03 1.80444907e+02] [-1.24570623e-01 9.92210646e-01 -4.40137990e-04 -1.14506083e+01] [-3.63973224e-03 -1.33728019e-05 9.99993376e-01 -1.16741817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.805769231 meters 0.01604871867087215 Centerline is valid? [True, True] Translation: X:180.51, Y:-11.44, Z:-1.17 [[ 9.91665399e-01 1.28776836e-01 4.03266049e-03 1.80506240e+02] [-1.28775902e-01 9.91673598e-01 -4.91454721e-04 -1.14435114e+01] [-4.06237092e-03 -3.19508477e-05 9.99991748e-01 -1.16719205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.865769231 meters 0.021191295401717724 Centerline is valid? [True, True] Translation: X:180.57, Y:-11.44, Z:-1.17 [[ 9.91125799e-01 1.32915214e-01 1.78784996e-03 1.80565875e+02] [-1.32915037e-01 9.91127411e-01 -2.18014624e-04 -1.14394308e+01] [-1.80096457e-03 -2.15522260e-05 9.99998378e-01 -1.17051103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.925769231 meters 0.020942248219124878 Centerline is valid? [True, True] Translation: X:180.63, Y:-11.44, Z:-1.17 [[ 9.90724296e-01 1.35870058e-01 2.16719384e-03 1.80625556e+02] [-1.35869805e-01 9.90726666e-01 -2.64118330e-04 -1.14418479e+01] [-2.18298250e-03 -3.27877584e-05 9.99997617e-01 -1.16783568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98576923099998 meters 0.02510343349931685 Centerline is valid? [True, True] Translation: X:180.68, Y:-11.44, Z:-1.16 [[ 9.90329099e-01 1.38538502e-01 7.44044059e-03 1.80684819e+02] [-1.38535602e-01 9.90357040e-01 -9.06181532e-04 -1.14365790e+01] [-7.49423375e-03 -1.33347978e-04 9.99971909e-01 -1.16012309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04576923099998 meters 0.02926189299301544 Centerline is valid? [True, True] Translation: X:180.75, Y:-11.43, Z:-1.16 [[ 9.89908467e-01 1.41568795e-01 6.28521875e-03 1.80745064e+02] [-1.41566788e-01 9.89928411e-01 -7.65230661e-04 -1.14274422e+01] [-6.33024939e-03 -1.32269920e-04 9.99979955e-01 -1.16381988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10576923099998 meters 0.02555961399446603 Centerline is valid? [True, True] Translation: X:180.81, Y:-11.43, Z:-1.17 [[ 9.90422632e-01 1.37945772e-01 5.82872133e-03 1.80805064e+02] [-1.37943985e-01 9.90439778e-01 -7.09447532e-04 -1.14305026e+01] [-5.87086275e-03 -1.01384154e-04 9.99982761e-01 -1.16632983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16576923099998 meters 0.021564690942925843 Centerline is valid? [True, True] Translation: X:180.86, Y:-11.44, Z:-1.17 [[ 9.90950947e-01 1.34097080e-01 5.84760874e-03 1.80863687e+02] [-1.34095215e-01 9.90968197e-01 -7.11718824e-04 -1.14376851e+01] [-5.89023370e-03 -7.88579082e-05 9.99982649e-01 -1.16735851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.225769231 meters 0.01533627548017217 Centerline is valid? [True, True] Translation: X:180.92, Y:-11.45, Z:-1.17 [[ 9.91621745e-01 1.29093932e-01 4.59037398e-03 1.80923065e+02] [-1.29092729e-01 9.91632369e-01 -5.58516923e-04 -1.14459906e+01] [-4.62406457e-03 -3.87463806e-05 9.99989308e-01 -1.17226476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.285769231 meters 0.013509355053579369 Centerline is valid? [True, True] Translation: X:180.98, Y:-11.45, Z:-1.17 [[ 9.92078059e-01 1.25486152e-01 5.86091196e-03 1.80981605e+02] [-1.25484130e-01 9.92095371e-01 -7.12928423e-04 -1.14528315e+01] [-5.90404627e-03 -2.81707909e-05 9.99982571e-01 -1.17080982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.345769231 meters 0.012317285129794842 Centerline is valid? [True, True] Translation: X:181.04, Y:-11.46, Z:-1.17 [[ 9.92379240e-01 1.23089849e-01 5.68626778e-03 1.81039468e+02] [-1.23087907e-01 9.92395530e-01 -6.91500460e-04 -1.14617191e+01] [-5.72814342e-03 -1.36800998e-05 9.99983594e-01 -1.17135481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.405769231 meters 0.011991256690475342 Centerline is valid? [True, True] Translation: X:181.10, Y:-11.47, Z:-1.17 [[ 9.92690245e-01 1.20530981e-01 6.19355378e-03 1.81098704e+02] [-1.20528630e-01 9.92709566e-01 -7.52847635e-04 -1.14708443e+01] [-6.23914155e-03 8.43949581e-07 9.99980536e-01 -1.17213631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.465769231 meters 0.012182037497128163 Centerline is valid? [True, True] Translation: X:181.16, Y:-11.48, Z:-1.17 [[ 9.92697762e-01 1.20514029e-01 5.24608673e-03 1.81158097e+02] [-1.20512343e-01 9.92711624e-01 -6.37574873e-04 -1.14778897e+01] [-5.28468800e-03 7.00947019e-07 9.99986036e-01 -1.17386757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.525769231 meters 0.012534488334532724 Centerline is valid? [True, True] Translation: X:181.22, Y:-11.47, Z:-1.17 [[ 9.92273921e-01 1.23881851e-01 6.76406529e-03 1.81216989e+02] [-1.23879127e-01 9.92296975e-01 -8.21849639e-04 -1.14746801e+01] [-6.81377378e-03 -2.24265377e-05 9.99976786e-01 -1.16920359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.585769231 meters 0.01398473922873908 Centerline is valid? [True, True] Translation: X:181.28, Y:-11.47, Z:-1.17 [[ 9.91941678e-01 1.26562715e-01 5.79544074e-03 1.81276452e+02] [-1.26560763e-01 9.91958607e-01 -7.03850302e-04 -1.14749101e+01] [-5.83791853e-03 -3.52969510e-05 9.99982959e-01 -1.17102544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.645769231 meters 0.013485255217593887 Centerline is valid? [True, True] Translation: X:181.34, Y:-11.47, Z:-1.17 [[ 9.92047180e-01 1.25667169e-01 7.08202959e-03 1.81335360e+02] [-1.25664234e-01 9.92072458e-01 -8.59690421e-04 -1.14744351e+01] [-7.13392136e-03 -3.71043648e-05 9.99974553e-01 -1.16673510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.705769231 meters 0.013237411026891969 Centerline is valid? [True, True] Translation: X:181.39, Y:-11.48, Z:-1.17 [[ 9.92129129e-01 1.25020424e-01 7.04879331e-03 1.81392752e+02] [-1.25017502e-01 9.92154168e-01 -8.55318531e-04 -1.14782916e+01] [-7.10042195e-03 -3.26361058e-05 9.99974791e-01 -1.16655018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76576923099998 meters 0.014132869910550093 Centerline is valid? [True, True] Translation: X:181.45, Y:-11.47, Z:-1.17 [[ 9.92026761e-01 1.25951460e-01 4.37445706e-03 1.81451903e+02] [-1.25950344e-01 9.92036405e-01 -5.30704203e-04 -1.14743564e+01] [-4.40646363e-03 -2.44916005e-05 9.99990291e-01 -1.17160120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82576923099998 meters 0.013628701904578877 Centerline is valid? [True, True] Translation: X:181.51, Y:-11.48, Z:-1.17 [[ 9.92150841e-01 1.24983700e-01 3.97276990e-03 1.81510848e+02] [-1.24982773e-01 9.92158795e-01 -4.81740882e-04 -1.14792190e+01] [-4.00182835e-03 -1.85681751e-05 9.99991992e-01 -1.17240455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88576923099998 meters 0.012420492249205176 Centerline is valid? [True, True] Translation: X:181.57, Y:-11.49, Z:-1.17 [[ 9.92693835e-01 1.20611148e-01 3.44977906e-03 1.81567728e+02] [-1.20610423e-01 9.92699829e-01 -4.18244417e-04 -1.14905161e+01] [-3.47504002e-03 -8.90656604e-07 9.99993962e-01 -1.17426818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94576923099999 meters 0.012292111479927578 Centerline is valid? [True, True] Translation: X:181.63, Y:-11.50, Z:-1.17 [[ 9.92626235e-01 1.21126671e-01 4.63537054e-03 1.81626519e+02] [-1.21125370e-01 9.92637058e-01 -5.61557933e-04 -1.14966466e+01] [-4.66926022e-03 -4.04383286e-06 9.99989099e-01 -1.17183683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.005769231 meters 0.014428917513736384 Centerline is valid? [True, True] Translation: X:181.69, Y:-11.49, Z:-1.17 [[ 9.91934360e-01 1.26698655e-01 3.69805742e-03 1.81686325e+02] [-1.26697865e-01 9.91941253e-01 -4.47897828e-04 -1.14904545e+01] [-3.72500377e-03 -2.42507364e-05 9.99993062e-01 -1.17499124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.065769231 meters 0.016352621254884837 Centerline is valid? [True, True] Translation: X:181.74, Y:-11.49, Z:-1.18 [[ 9.91653691e-01 1.28914560e-01 1.99856055e-03 1.81744390e+02] [-1.28914333e-01 9.91655704e-01 -2.42178602e-04 -1.14916708e+01] [-2.01310432e-03 -1.74857965e-05 9.99997974e-01 -1.18020149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.125769231 meters 0.015651717389665056 Centerline is valid? [True, True] Translation: X:181.80, Y:-11.50, Z:-1.18 [[ 9.91847227e-01 1.27430229e-01 7.83578039e-04 1.81803670e+02] [-1.27430194e-01 9.91847537e-01 -9.50822467e-05 -1.14950128e+01] [-7.89306301e-04 -5.54443878e-06 9.99999688e-01 -1.18396106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.185769231 meters 0.015503809763310412 Centerline is valid? [True, True] Translation: X:181.86, Y:-11.50, Z:-1.18 [[ 9.91744908e-01 1.28214125e-01 1.78223743e-03 1.81861769e+02] [-1.28213944e-01 9.91746509e-01 -2.15892792e-04 -1.14968771e+01] [-1.79520825e-03 -1.43971134e-05 9.99998389e-01 -1.18198006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.245769231 meters 0.01611709493008147 Centerline is valid? [True, True] Translation: X:181.92, Y:-11.49, Z:-1.18 [[ 9.91650379e-01 1.28835066e-01 5.57245538e-03 1.81920524e+02] [-1.28833315e-01 9.91666034e-01 -6.73465421e-04 -1.14934271e+01] [-5.61278069e-03 -5.00756601e-05 9.99984247e-01 -1.17725755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.305769231 meters 0.013438702508484921 Centerline is valid? [True, True] Translation: X:181.98, Y:-11.51, Z:-1.19 [[ 9.92398693e-01 1.23054134e-01 1.58586809e-03 1.81978545e+02] [-1.23053984e-01 9.92399960e-01 -1.91797387e-04 -1.15053100e+01] [-1.59741689e-03 -4.80791054e-06 9.99998724e-01 -1.18630907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.365769231 meters 0.01437818243886309 Centerline is valid? [True, True] Translation: X:182.03, Y:-11.52, Z:-1.19 [[ 9.93433210e-01 1.14397110e-01 1.93880015e-03 1.82034797e+02] [-1.14396870e-01 9.93435102e-01 -2.34369698e-04 -1.15232789e+01] [-1.95288334e-03 1.10379717e-05 9.99998093e-01 -1.18657484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.425769231 meters 0.0169796431046085 Centerline is valid? [True, True] Translation: X:182.09, Y:-11.53, Z:-1.18 [[ 9.93947536e-01 1.09849915e-01 1.13686175e-03 1.82092956e+02] [-1.09849829e-01 9.93948186e-01 -1.37467494e-04 -1.15344162e+01] [-1.14508246e-03 1.17514077e-05 9.99999344e-01 -1.18468352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48576923099998 meters 0.015327081633080343 Centerline is valid? [True, True] Translation: X:182.15, Y:-11.54, Z:-1.19 [[ 9.93602990e-01 1.12928618e-01 4.74352190e-04 1.82151184e+02] [-1.12928604e-01 9.93603103e-01 -5.76040928e-05 -1.15370586e+01] [-4.77822959e-04 3.66766832e-06 9.99999886e-01 -1.18650107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54576923099998 meters 0.01406459166723436 Centerline is valid? [True, True] Translation: X:182.21, Y:-11.54, Z:-1.18 [[ 9.93479744e-01 1.13951871e-01 3.60129513e-03 1.82209748e+02] [-1.13951045e-01 9.93486271e-01 -4.34343174e-04 -1.15438681e+01] [-3.62733148e-03 2.11398032e-05 9.99993421e-01 -1.17877442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60576923099998 meters 0.014742164190240064 Centerline is valid? [True, True] Translation: X:182.27, Y:-11.55, Z:-1.18 [[ 9.93568086e-01 1.13234619e-01 6.16224256e-04 1.82268265e+02] [-1.13234595e-01 9.93568277e-01 -7.45683649e-05 -1.15534118e+01] [-6.20704592e-04 4.31084355e-06 9.99999807e-01 -1.18352378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66576923099998 meters 0.015157008824664543 Centerline is valid? [True, True] Translation: X:182.33, Y:-11.56, Z:-1.18 [[ 9.93634905e-01 1.12641887e-01 1.21719575e-03 1.82325360e+02] [-1.12641791e-01 9.93635650e-01 -1.46971986e-04 -1.15621511e+01] [-1.22600430e-03 8.92938592e-06 9.99999248e-01 -1.18301892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.725769231 meters 0.014308005083119683 Centerline is valid? [True, True] Translation: X:182.38, Y:-11.57, Z:-1.18 [[ 9.93507706e-01 1.13756281e-01 1.39514335e-03 1.82383155e+02] [-1.13756157e-01 9.93508686e-01 -1.68256457e-04 -1.15703894e+01] [-1.40522726e-03 8.45794068e-06 9.99999013e-01 -1.18121621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.785769231 meters 0.013000334327988252 Centerline is valid? [True, True] Translation: X:182.44, Y:-11.57, Z:-1.18 [[ 9.92998085e-01 1.18123749e-01 1.25854487e-03 1.82441154e+02] [-1.18123652e-01 9.92998882e-01 -1.51819947e-04 -1.15727023e+01] [-1.26766719e-03 2.09300045e-06 9.99999197e-01 -1.18192314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.845769231 meters 0.012547035345157354 Centerline is valid? [True, True] Translation: X:182.50, Y:-11.58, Z:-1.18 [[ 9.92892324e-01 1.18972722e-01 3.21299786e-03 1.82499888e+02] [-1.18972094e-01 9.92897523e-01 -3.86710622e-04 -1.15763920e+01] [-3.23618563e-03 1.70492542e-06 9.99994764e-01 -1.17776314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.905769231 meters 0.0130019128890407 Centerline is valid? [True, True] Translation: X:182.56, Y:-11.59, Z:-1.18 [[ 9.93058935e-01 1.17599289e-01 2.08760473e-03 1.82556883e+02] [-1.17599021e-01 9.93061130e-01 -2.51333620e-04 -1.15857037e+01] [-2.10267577e-03 4.08882493e-06 9.99997789e-01 -1.18246032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.965769231 meters 0.0131331024663356 Centerline is valid? [True, True] Translation: X:182.62, Y:-11.59, Z:-1.18 [[ 9.93218441e-01 1.16223087e-01 3.05337555e-03 1.82615667e+02] [-1.16222507e-01 9.93223134e-01 -3.67182324e-04 -1.15904881e+01] [-3.07535830e-03 9.82129305e-06 9.99995271e-01 -1.17981029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.025769231 meters 0.012453046239786391 Centerline is valid? [True, True] Translation: X:182.67, Y:-11.59, Z:-1.18 [[ 9.92994493e-01 1.18029593e-01 5.56354586e-03 1.82674731e+02] [-1.18027700e-01 9.93010078e-01 -6.68506208e-04 -1.15889027e+01] [-5.60356062e-03 7.17046145e-06 9.99984300e-01 -1.17621994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.085769231 meters 0.012985599612025696 Centerline is valid? [True, True] Translation: X:182.73, Y:-11.59, Z:-1.18 [[ 9.93187630e-01 1.16433307e-01 4.64930145e-03 1.82732550e+02] [-1.16431968e-01 9.93198512e-01 -5.58522280e-04 -1.15931952e+01] [-4.68270988e-03 1.33901030e-05 9.99989036e-01 -1.18119418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.145769231 meters 0.01568632629200999 Centerline is valid? [True, True] Translation: X:182.79, Y:-11.60, Z:-1.18 [[ 9.93823053e-01 1.10908289e-01 3.88474578e-03 1.82790197e+02] [-1.10907313e-01 9.93830645e-01 -4.66441019e-04 -1.16042880e+01] [-3.91251158e-03 3.27131208e-05 9.99992346e-01 -1.18304270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.205769231 meters 0.020620090296239943 Centerline is valid? [True, True] Translation: X:182.85, Y:-11.62, Z:-1.18 [[ 9.94466063e-01 1.04957484e-01 4.60173963e-03 1.82847771e+02] [-1.04956052e-01 9.94476708e-01 -5.52220583e-04 -1.16175323e+01] [-4.63428256e-03 6.61842043e-05 9.99989259e-01 -1.18273013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26576923099998 meters 0.024910029325539866 Centerline is valid? [True, True] Translation: X:182.91, Y:-11.63, Z:-1.18 [[ 9.94841484e-01 1.01273792e-01 5.83452432e-03 1.82905232e+02] [-1.01271428e-01 9.94858587e-01 -6.99885508e-04 -1.16311099e+01] [-5.87540668e-03 1.05404525e-04 9.99982734e-01 -1.18073926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32576923099998 meters 0.02981475117360296 Centerline is valid? [True, True] Translation: X:182.96, Y:-11.65, Z:-1.18 [[ 9.95357522e-01 9.61370980e-02 4.58929942e-03 1.82964425e+02] [-9.61355819e-02 9.95368096e-01 -5.50322941e-04 -1.16462969e+01] [-4.62094868e-03 1.06573108e-04 9.99989318e-01 -1.18282839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38576923099998 meters 0.03340053723317148 Centerline is valid? [True, True] Translation: X:183.02, Y:-11.66, Z:-1.18 [[ 9.95640616e-01 9.32113117e-02 3.37852607e-03 1.83021877e+02] [-9.32104728e-02 9.95646345e-01 -4.05256714e-04 -1.16581156e+01] [-3.40159164e-03 8.85760320e-05 9.99994211e-01 -1.18481346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44576923099999 meters 0.03530537653797735 Centerline is valid? [True, True] Translation: X:183.08, Y:-11.67, Z:-1.18 [[ 9.95722684e-01 9.23357846e-02 3.23096417e-03 1.83079921e+02] [-9.23350131e-02 9.95727922e-01 -3.87454896e-04 -1.16672127e+01] [-3.25293720e-03 8.74665092e-05 9.99994705e-01 -1.18366504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.505769231 meters 0.032180691893639694 Centerline is valid? [True, True] Translation: X:183.14, Y:-11.67, Z:-1.18 [[ 9.95481697e-01 9.48901835e-02 3.47058979e-03 1.83139790e+02] [-9.48893095e-02 9.95487743e-01 -4.16016669e-04 -1.16690030e+01] [-3.49440549e-03 8.48151106e-05 9.99993891e-01 -1.18128064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.565769231 meters 0.027826230133426704 Centerline is valid? [True, True] Translation: X:183.20, Y:-11.67, Z:-1.18 [[ 9.95272456e-01 9.70233633e-02 4.38235959e-03 1.83199437e+02] [-9.70219908e-02 9.95282099e-01 -5.25202987e-04 -1.16702802e+01] [-4.41264101e-03 9.75348151e-05 9.99990259e-01 -1.17949684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.625769231 meters 0.024732817114280513 Centerline is valid? [True, True] Translation: X:183.26, Y:-11.67, Z:-1.18 [[ 9.95002952e-01 9.98255578e-02 1.99605696e-03 1.83258017e+02] [-9.98252784e-02 9.95004953e-01 -2.39341242e-04 -1.16742896e+01] [-2.00997894e-03 3.88883000e-05 9.99997979e-01 -1.18358999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.685769231 meters 0.023597720238487253 Centerline is valid? [True, True] Translation: X:183.32, Y:-11.68, Z:-1.18 [[ 9.94877900e-01 1.01044335e-01 2.82948695e-03 1.83316080e+02] [-1.01043779e-01 9.94881923e-01 -3.39003572e-04 -1.16821081e+01] [-2.84925980e-03 5.13651071e-05 9.99995940e-01 -1.18105582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.745769231 meters 0.024332988684131925 Centerline is valid? [True, True] Translation: X:183.37, Y:-11.69, Z:-1.19 [[ 9.94652147e-01 1.03280099e-01 5.73103120e-04 1.83373455e+02] [-1.03280076e-01 9.94652312e-01 -6.89534915e-05 -1.16900307e+01] [-5.77159867e-04 9.39460443e-06 9.99999833e-01 -1.18743122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.805769231 meters 0.03118288043420053 Centerline is valid? [True, True] Translation: X:183.43, Y:-11.68, Z:-1.18 [[ 9.94273684e-01 1.06858635e-01 1.03593828e-03 1.83433222e+02] [-1.06858564e-01 9.94274224e-01 -1.24214381e-04 -1.16847229e+01] [-1.04328011e-03 1.28042132e-05 9.99999456e-01 -1.18114775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.865769231 meters 0.021044993062849675 Centerline is valid? [True, True] Translation: X:183.49, Y:-11.69, Z:-1.19 [[ 9.94500571e-01 1.04695631e-01 2.72757456e-03 1.83490673e+02] [-1.04695130e-01 9.94504310e-01 -3.26440576e-04 -1.16944809e+01] [-2.74676156e-03 3.90815670e-05 9.99996227e-01 -1.18589948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.925769231 meters 0.032598857822710464 Centerline is valid? [True, True] Translation: X:183.55, Y:-11.72, Z:-1.19 [[ 9.95572327e-01 9.39878536e-02 1.42335409e-03 1.83547477e+02] [-9.39877063e-02 9.95573343e-01 -1.70201531e-04 -1.17239357e+01] [-1.43305027e-03 3.56701487e-05 9.99998973e-01 -1.19140666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98576923099998 meters 0.04680670766029632 Centerline is valid? [True, True] Translation: X:183.60, Y:-11.76, Z:-1.19 [[ 9.96645447e-01 8.18197262e-02 1.84002744e-03 1.83603676e+02] [-8.18194595e-02 9.96647143e-01 -2.19892171e-04 -1.17588053e+01] [-1.85184961e-03 6.86044803e-05 9.99998283e-01 -1.19065830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04576923099998 meters 0.05024579304168006 Centerline is valid? [True, True] Translation: X:183.66, Y:-11.78, Z:-1.19 [[ 9.96825185e-01 7.95933574e-02 2.10892304e-03 1.83662344e+02] [-7.95930021e-02 9.96827413e-01 -2.51971268e-04 -1.17845394e+01] [-2.12228753e-03 8.33157899e-05 9.99997744e-01 -1.19137189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10576923099998 meters 0.041906124501047665 Centerline is valid? [True, True] Translation: X:183.72, Y:-11.79, Z:-1.19 [[ 9.96219586e-01 8.68592967e-02 1.41366854e-03 1.83721762e+02] [-8.68591442e-02 9.96220588e-01 -1.69014679e-04 -1.17945024e+01] [-1.42300621e-03 4.55856938e-05 9.99998986e-01 -1.19292063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16576923099998 meters 0.0332002784682779 Centerline is valid? [True, True] Translation: X:183.78, Y:-11.80, Z:-1.19 [[ 9.95653860e-01 9.31100243e-02 1.97837275e-03 1.83781842e+02] [-9.31097380e-02 9.95655824e-01 -2.36525163e-04 -1.18025186e+01] [-1.99180121e-03 5.12914230e-05 9.99998015e-01 -1.19281741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.225769231 meters 0.02682807126834783 Centerline is valid? [True, True] Translation: X:183.84, Y:-11.81, Z:-1.19 [[ 9.95058816e-01 9.92101516e-02 3.91139591e-03 1.83842005e+02] [-9.92090797e-02 9.95066500e-01 -4.67618653e-04 -1.18099547e+01] [-3.93849156e-03 7.72620741e-05 9.99992241e-01 -1.18797960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.285769231 meters 0.01922370945573889 Centerline is valid? [True, True] Translation: X:183.90, Y:-11.81, Z:-1.19 [[ 9.94315472e-01 1.06378171e-01 4.51957812e-03 1.83901964e+02] [-1.06376813e-01 9.94325742e-01 -5.40339989e-04 -1.18100178e+01] [-4.55141325e-03 5.64900933e-05 9.99989641e-01 -1.18634889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.345769231 meters 0.013225252750345955 Centerline is valid? [True, True] Translation: X:183.96, Y:-11.80, Z:-1.19 [[ 9.93505048e-01 1.13722503e-01 3.86165563e-03 1.83962508e+02] [-1.13721567e-01 9.93512553e-01 -4.61623204e-04 -1.18040906e+01] [-3.88910029e-03 1.94714518e-05 9.99992437e-01 -1.18686315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.405769231 meters 0.013004151438977745 Centerline is valid? [True, True] Translation: X:184.02, Y:-11.81, Z:-1.19 [[ 9.93352013e-01 1.15020570e-01 4.69546178e-03 1.84021111e+02] [-1.15019203e-01 9.93363110e-01 -5.61141195e-04 -1.18078621e+01] [-4.72884130e-03 1.73424647e-05 9.99988819e-01 -1.18605289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.465769231 meters 0.014548621974800441 Centerline is valid? [True, True] Translation: X:184.08, Y:-11.82, Z:-1.19 [[ 9.93747122e-01 1.11569067e-01 4.35899645e-03 1.84079911e+02] [-1.11567856e-01 9.93756682e-01 -5.20829895e-04 -1.18157023e+01] [-4.38989035e-03 3.12493214e-05 9.99990364e-01 -1.18539561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.525769231 meters 0.015988179335088542 Centerline is valid? [True, True] Translation: X:184.14, Y:-11.83, Z:-1.19 [[ 9.93969494e-01 1.09612566e-01 3.11926789e-03 1.84139121e+02] [-1.09611936e-01 9.93974388e-01 -3.72673462e-04 -1.18255886e+01] [-3.14132209e-03 2.85170591e-05 9.99995066e-01 -1.18823787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.585769231 meters 0.022071119763315286 Centerline is valid? [True, True] Translation: X:184.20, Y:-11.84, Z:-1.18 [[ 9.94633812e-01 1.03320723e-01 5.32985696e-03 1.84197009e+02] [-1.03318795e-01 9.94648089e-01 -6.36499034e-04 -1.18429992e+01] [-5.36709559e-03 8.24090614e-05 9.99985594e-01 -1.18485120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.645769231 meters 0.023248312862073572 Centerline is valid? [True, True] Translation: X:184.26, Y:-11.85, Z:-1.18 [[ 9.94869364e-01 1.01000971e-01 5.80961393e-03 1.84257103e+02] [-1.00998641e-01 9.94886322e-01 -6.93798903e-04 -1.18526344e+01] [-5.84997979e-03 1.03476160e-04 9.99982883e-01 -1.18448309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.705769231 meters 0.026840198274691352 Centerline is valid? [True, True] Translation: X:184.32, Y:-11.87, Z:-1.19 [[ 9.95187122e-01 9.79211914e-02 3.74587738e-03 1.84317262e+02] [-9.79202013e-02 9.95194169e-01 -4.47266473e-04 -1.18681399e+01] [-3.77167219e-03 7.83167672e-05 9.99992884e-01 -1.18977759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76576923099998 meters 0.035386548180495726 Centerline is valid? [True, True] Translation: X:184.37, Y:-11.89, Z:-1.19 [[ 9.95797611e-01 9.15010495e-02 3.83081380e-03 1.84374701e+02] [-9.14999659e-02 9.95804974e-01 -4.57565227e-04 -1.18937391e+01] [-3.85661114e-03 1.05123028e-04 9.99992558e-01 -1.19138339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82576923099998 meters 0.044267174101153495 Centerline is valid? [True, True] Translation: X:184.43, Y:-11.93, Z:-1.20 [[ 9.96581947e-01 8.26091278e-02 -3.93150218e-04 1.84431687e+02] [-8.26091157e-02 9.96582025e-01 4.69585267e-05 -1.19254923e+01] [ 3.95685644e-04 -1.43202281e-05 9.99999922e-01 -1.20210091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88576923099998 meters 0.04683210533313179 Centerline is valid? [True, True] Translation: X:184.49, Y:-11.94, Z:-1.20 [[ 9.96916148e-01 7.84656629e-02 -1.15502109e-03 1.84490665e+02] [-7.84655556e-02 9.96916816e-01 1.37985795e-04 -1.19444320e+01] [ 1.16228709e-03 -4.69308959e-05 9.99999323e-01 -1.20316994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94576923099999 meters 0.045288838982653255 Centerline is valid? [True, True] Translation: X:184.55, Y:-11.97, Z:-1.20 [[ 9.96598712e-01 8.23992779e-02 1.16910013e-03 1.84548163e+02] [-8.23991706e-02 9.96599397e-01 -1.39696959e-04 -1.19656537e+01] [-1.17663541e-03 4.28889288e-05 9.99999307e-01 -1.19954809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.005769231 meters 0.03952469342332463 Centerline is valid? [True, True] Translation: X:184.61, Y:-11.97, Z:-1.20 [[ 9.96327321e-01 8.56128402e-02 1.52030465e-03 1.84608523e+02] [-8.56126628e-02 9.96328479e-01 -1.81525840e-04 -1.19727429e+01] [-1.53026376e-03 5.07018241e-05 9.99998828e-01 -1.20053039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.065769231 meters 0.039314139508272575 Centerline is valid? [True, True] Translation: X:184.67, Y:-11.99, Z:-1.20 [[ 9.96127591e-01 8.78753888e-02 2.78189609e-03 1.84667539e+02] [-8.78748034e-02 9.96131472e-01 -3.32212850e-04 -1.19913526e+01] [-2.80032758e-03 8.64678139e-05 9.99996075e-01 -1.19849502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.125769231 meters 0.03556434099189731 Centerline is valid? [True, True] Translation: X:184.73, Y:-12.00, Z:-1.19 [[ 9.95894987e-01 9.02412301e-02 7.04953675e-03 1.84728748e+02] [-9.02375270e-02 9.95919916e-01 -8.42271525e-04 -1.20019462e+01] [-7.09678167e-03 2.02681226e-04 9.99974797e-01 -1.19011804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.185769231 meters 0.02717201805896492 Centerline is valid? [True, True] Translation: X:184.79, Y:-12.00, Z:-1.19 [[ 9.95235820e-01 9.72740117e-02 6.59008171e-03 1.84789225e+02] [-9.72709280e-02 9.95257628e-01 -7.87602480e-04 -1.20047497e+01] [-6.63544234e-03 1.42826837e-04 9.99977975e-01 -1.19016876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.245769231 meters 0.02145855349385875 Centerline is valid? [True, True] Translation: X:184.85, Y:-12.00, Z:-1.19 [[ 9.94528015e-01 1.04231120e-01 7.06407540e-03 1.84849474e+02] [-1.04227752e-01 9.94553097e-01 -8.44285260e-04 -1.20038402e+01] [-7.11359887e-03 1.03392645e-04 9.99974693e-01 -1.18930545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.305769231 meters 0.014328976363559811 Centerline is valid? [True, True] Translation: X:184.91, Y:-12.00, Z:-1.19 [[ 9.93704654e-01 1.11792144e-01 7.31963055e-03 1.84912550e+02] [-1.11788732e-01 9.93731611e-01 -8.74840964e-04 -1.19976875e+01] [-7.37154861e-03 5.10813182e-05 9.99972828e-01 -1.18805815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.365769231 meters 0.014528664938460957 Centerline is valid? [True, True] Translation: X:184.98, Y:-12.00, Z:-1.19 [[ 9.93710286e-01 1.11829721e-01 5.82925812e-03 1.84975671e+02] [-1.11827558e-01 9.93727383e-01 -6.96693036e-04 -1.20039374e+01] [-5.87060441e-03 4.04393331e-05 9.99982767e-01 -1.19119930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.425769231 meters 0.020316059790716615 Centerline is valid? [True, True] Translation: X:185.04, Y:-12.02, Z:-1.20 [[ 9.94429272e-01 1.05349985e-01 3.43567325e-03 1.85035657e+02] [-1.05349194e-01 9.94435206e-01 -4.10853128e-04 -1.20212856e+01] [-3.45983781e-03 4.66189680e-05 9.99994014e-01 -1.19628061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48576923099998 meters 0.02743337166819606 Centerline is valid? [True, True] Translation: X:185.09, Y:-12.04, Z:-1.20 [[ 9.95038438e-01 9.94804669e-02 1.46392024e-03 1.85094076e+02] [-9.94803163e-02 9.95039515e-01 -1.75517420e-04 -1.20377943e+01] [-1.47411904e-03 2.90153305e-05 9.99998913e-01 -1.20054251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54576923099998 meters 0.025247883214562353 Centerline is valid? [True, True] Translation: X:185.16, Y:-12.04, Z:-1.20 [[ 9.94862185e-01 1.01190395e-01 3.12042271e-03 1.85156773e+02] [-1.01189720e-01 9.94867077e-01 -3.73901975e-04 -1.20416913e+01] [-3.14224111e-03 5.62262371e-05 9.99995062e-01 -1.19682562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60576923099998 meters 0.02442637454753901 Centerline is valid? [True, True] Translation: X:185.22, Y:-12.05, Z:-1.20 [[ 9.94746722e-01 1.02300792e-01 3.67530108e-03 1.85218961e+02] [-1.02299863e-01 9.94753509e-01 -4.40334957e-04 -1.20465500e+01] [-3.70106526e-03 6.20389561e-05 9.99993149e-01 -1.19738665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66576923099998 meters 0.029375084754378514 Centerline is valid? [True, True] Translation: X:185.28, Y:-12.06, Z:-1.20 [[ 9.95321883e-01 9.65751145e-02 2.75614860e-03 1.85277994e+02] [-9.65745680e-02 9.95325697e-01 -3.31001568e-04 -1.20626594e+01] [-2.77523204e-03 6.32792437e-05 9.99996147e-01 -1.20236702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.725769231 meters 0.0411700120747463 Centerline is valid? [True, True] Translation: X:185.34, Y:-12.09, Z:-1.20 [[ 9.96077611e-01 8.84355964e-02 2.92199763e-03 1.85335416e+02] [-8.84349472e-02 9.96081893e-01 -3.50899315e-04 -1.20877223e+01] [-2.94158092e-03 9.11162456e-05 9.99995669e-01 -1.20352056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.785769231 meters 0.04531023376147226 Centerline is valid? [True, True] Translation: X:185.39, Y:-12.10, Z:-1.20 [[ 9.96492059e-01 8.35879239e-02 4.07873278e-03 1.85394892e+02] [-8.35866173e-02 9.96500395e-01 -4.90058954e-04 -1.21044954e+01] [-4.10542184e-03 1.47412380e-04 9.99991562e-01 -1.20266191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.845769231 meters 0.041975597796798894 Centerline is valid? [True, True] Translation: X:185.46, Y:-12.11, Z:-1.20 [[ 9.96511464e-01 8.32379505e-02 6.02877011e-03 1.85456847e+02] [-8.32350903e-02 9.96529676e-01 -7.24224273e-04 -1.21122055e+01] [-6.06813127e-03 2.19892566e-04 9.99981565e-01 -1.19963682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.905769231 meters 0.0430936573345187 Centerline is valid? [True, True] Translation: X:185.52, Y:-12.13, Z:-1.21 [[ 9.96517496e-01 8.33418418e-02 2.64903564e-03 1.85517369e+02] [-8.33412905e-02 9.96521012e-01 -3.18017944e-04 -1.21323795e+01] [-2.66632388e-03 9.61363970e-05 9.99996441e-01 -1.20761265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.965769231 meters 0.04479483282241562 Centerline is valid? [True, True] Translation: X:185.58, Y:-12.15, Z:-1.21 [[ 9.96536050e-01 8.31575690e-02 -8.48225969e-04 1.85576395e+02] [-8.31575111e-02 9.96536411e-01 1.03399517e-04 -1.21535833e+01] [ 8.53886515e-04 -3.25049862e-05 9.99999635e-01 -1.21299234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.025769231 meters 0.042836439223474666 Centerline is valid? [True, True] Translation: X:185.64, Y:-12.17, Z:-1.21 [[ 9.96380423e-01 8.50018685e-02 8.57500821e-04 1.85637128e+02] [-8.50018111e-02 9.96380791e-01 -1.03233490e-04 -1.21667861e+01] [-8.63172386e-04 2.99707059e-05 9.99999627e-01 -1.20825752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.085769231 meters 0.03769473957935599 Centerline is valid? [True, True] Translation: X:185.70, Y:-12.18, Z:-1.20 [[ 9.95891176e-01 9.03566333e-02 6.03691454e-03 1.85696127e+02] [-9.03538759e-02 9.95909457e-01 -7.28510445e-04 -1.21791721e+01] [-6.07804603e-03 1.80058496e-04 9.99981512e-01 -1.19979500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.145769231 meters 0.028803124058869416 Centerline is valid? [True, True] Translation: X:185.76, Y:-12.18, Z:-1.20 [[ 9.95344338e-01 9.61659854e-02 6.46156135e-03 1.85756498e+02] [-9.61629486e-02 9.95365299e-01 -7.79758819e-04 -1.21838946e+01] [-6.50660023e-03 1.54765733e-04 9.99978820e-01 -1.19911231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.205769231 meters 0.026070992711627803 Centerline is valid? [True, True] Translation: X:185.82, Y:-12.19, Z:-1.20 [[ 9.94962202e-01 1.00216580e-01 2.61815114e-03 1.85816691e+02] [-1.00216095e-01 9.94965645e-01 -3.15843404e-04 -1.21919250e+01] [-2.63662319e-03 5.18713639e-05 9.99996523e-01 -1.20406130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26576923099998 meters 0.027015103141987108 Centerline is valid? [True, True] Translation: X:185.88, Y:-12.20, Z:-1.21 [[ 9.94840988e-01 1.01421602e-01 2.25108401e-03 1.85876879e+02] [-1.01421248e-01 9.94843534e-01 -2.70980509e-04 -1.22033864e+01] [-2.26695965e-03 4.12747681e-05 9.99997430e-01 -1.20697551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32576923099998 meters 0.02390638134232559 Centerline is valid? [True, True] Translation: X:185.94, Y:-12.21, Z:-1.20 [[ 9.94811768e-01 1.01599894e-01 5.19690245e-03 1.85938646e+02] [-1.01598001e-01 9.94825338e-01 -6.27764374e-04 -1.22098367e+01] [-5.23379103e-03 9.65124884e-05 9.99986299e-01 -1.20120268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38576923099998 meters 0.02105191574263987 Centerline is valid? [True, True] Translation: X:186.00, Y:-12.21, Z:-1.20 [[ 9.94431328e-01 1.05292104e-01 4.46157729e-03 1.85999790e+02] [-1.05290743e-01 9.94441335e-01 -5.39575854e-04 -1.22138747e+01] [-4.49358995e-03 6.68083447e-05 9.99989902e-01 -1.20241502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44576923099999 meters 0.01835139728974704 Centerline is valid? [True, True] Translation: X:186.06, Y:-12.22, Z:-1.20 [[ 9.94232920e-01 1.07160844e-01 4.17771635e-03 1.86061831e+02] [-1.07159665e-01 9.94241696e-01 -5.05783139e-04 -1.22175505e+01] [-4.20785994e-03 5.51835630e-05 9.99991145e-01 -1.20329712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.505769231 meters 0.016193918722920676 Centerline is valid? [True, True] Translation: X:186.12, Y:-12.22, Z:-1.21 [[ 9.93763069e-01 1.11479769e-01 2.68768344e-03 1.86123451e+02] [-1.11479297e-01 9.93766703e-01 -3.25488423e-04 -1.22197257e+01] [-2.70721569e-03 2.38373137e-05 9.99996335e-01 -1.20715769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.565769231 meters 0.014868802869894839 Centerline is valid? [True, True] Translation: X:186.19, Y:-12.22, Z:-1.21 [[ 9.93597384e-01 1.12821110e-01 5.96949826e-03 1.86186003e+02] [-1.12818788e-01 9.93615315e-01 -7.25373326e-04 -1.22241831e+01] [-6.01322232e-03 4.72574791e-05 9.99981919e-01 -1.20512381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.625769231 meters 0.014933125916660378 Centerline is valid? [True, True] Translation: X:186.25, Y:-12.24, Z:-1.21 [[ 9.93619819e-01 1.12631015e-01 5.82324246e-03 1.86247371e+02] [-1.12628801e-01 9.93636882e-01 -7.07800712e-04 -1.22371555e+01] [-5.86590879e-03 4.74200013e-05 9.99982794e-01 -1.20641354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.685769231 meters 0.015546233749787511 Centerline is valid? [True, True] Translation: X:186.31, Y:-12.25, Z:-1.21 [[ 9.93676227e-01 1.12238028e-01 3.19065798e-03 1.86308675e+02] [-1.12237361e-01 9.93681349e-01 -3.87862060e-04 -1.22508399e+01] [-3.21403020e-03 2.72982754e-05 9.99994835e-01 -1.21207064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.745769231 meters 0.014584768737414471 Centerline is valid? [True, True] Translation: X:186.37, Y:-12.26, Z:-1.21 [[ 9.93464122e-01 1.14096392e-01 3.32454389e-03 1.86368710e+02] [-1.14095676e-01 9.93469684e-01 -4.04809753e-04 -1.22606278e+01] [-3.34902090e-03 2.28478819e-05 9.99994392e-01 -1.21353503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.805769231 meters 0.011826255988027896 Centerline is valid? [True, True] Translation: X:186.43, Y:-12.26, Z:-1.21 [[ 9.92614722e-01 1.21131183e-01 6.57643617e-03 1.86430118e+02] [-1.21128522e-01 9.92636508e-01 -8.02891548e-04 -1.22628846e+01] [-6.62526584e-03 3.67980353e-07 9.99978053e-01 -1.20638620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.865769231 meters 0.013039168146058305 Centerline is valid? [True, True] Translation: X:186.49, Y:-12.27, Z:-1.21 [[ 9.92039171e-01 1.25859278e-01 4.21022198e-03 1.86491885e+02] [-1.25858229e-01 9.92048105e-01 -5.14246226e-04 -1.22658686e+01] [-4.24146539e-03 -1.97386820e-05 9.99991005e-01 -1.21157795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.925769231 meters 0.014833302081942631 Centerline is valid? [True, True] Translation: X:186.55, Y:-12.27, Z:-1.21 [[ 9.91660386e-01 1.28862337e-01 2.04376138e-03 1.86553639e+02] [-1.28862097e-01 9.91662492e-01 -2.49363660e-04 -1.22703844e+01] [-2.05885509e-03 -1.60793133e-05 9.99997880e-01 -1.21426316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98576923099998 meters 0.017817167695868795 Centerline is valid? [True, True] Translation: X:186.62, Y:-12.27, Z:-1.20 [[ 9.91030280e-01 1.33516432e-01 5.68742771e-03 1.86616984e+02] [-1.33514630e-01 9.91046597e-01 -6.96975258e-04 -1.22672084e+01] [-5.72956352e-03 -6.86312222e-05 9.99983584e-01 -1.20459892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04576923099998 meters 0.02348593786483156 Centerline is valid? [True, True] Translation: X:186.68, Y:-12.26, Z:-1.20 [[ 9.90176248e-01 1.39557738e-01 8.63914584e-03 1.86679111e+02] [-1.39553796e-01 9.90213923e-01 -1.06048999e-03 -1.22601363e+01] [-8.70260208e-03 -1.55553592e-04 9.99962120e-01 -1.19983150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10576923099998 meters 0.024760271785165346 Centerline is valid? [True, True] Translation: X:186.74, Y:-12.26, Z:-1.20 [[ 9.89772135e-01 1.42446059e-01 7.76148054e-03 1.86741631e+02] [-1.42442965e-01 9.89802553e-01 -9.52865872e-04 -1.22630904e+01] [-7.81806524e-03 -1.62448210e-04 9.99969425e-01 -1.20250061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16576923099998 meters 0.021898580231841346 Centerline is valid? [True, True] Translation: X:186.80, Y:-12.27, Z:-1.21 [[ 9.90365346e-01 1.38371215e-01 5.46700676e-03 1.86800815e+02] [-1.38369616e-01 9.90380431e-01 -6.71308319e-04 -1.22747968e+01] [-5.50730626e-03 -9.16271326e-05 9.99984830e-01 -1.20673020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.225769231 meters 0.01854727826440176 Centerline is valid? [True, True] Translation: X:186.86, Y:-12.29, Z:-1.21 [[ 9.91009329e-01 1.33738047e-01 3.82674394e-03 1.86859506e+02] [-1.33737228e-01 9.91016717e-01 -4.70213469e-04 -1.22912740e+01] [-3.85525264e-03 -4.57921929e-05 9.99992567e-01 -1.21011501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.285769231 meters 0.020955182811720863 Centerline is valid? [True, True] Translation: X:186.92, Y:-12.30, Z:-1.21 [[ 9.90663598e-01 1.36255431e-01 4.48251978e-03 1.86921288e+02] [-1.36254334e-01 9.90673737e-01 -5.50489368e-04 -1.22986086e+01] [-4.51572179e-03 -6.54129708e-05 9.99989802e-01 -1.20923285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.345769231 meters 0.02436092951870789 Centerline is valid? [True, True] Translation: X:186.98, Y:-12.30, Z:-1.22 [[ 9.90090814e-01 1.40424079e-01 1.12205084e-03 1.86982526e+02] [-1.40424013e-01 9.90091449e-01 -1.37938522e-04 -1.23034690e+01] [-1.13030283e-03 -2.09912178e-05 9.99999361e-01 -1.21874681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.405769231 meters 0.023414385721566743 Centerline is valid? [True, True] Translation: X:187.04, Y:-12.32, Z:-1.22 [[ 9.90173844e-01 1.39837563e-01 1.10232797e-03 1.87043373e+02] [-1.39837499e-01 9.90174457e-01 -1.34700450e-04 -1.23175908e+01] [-1.11033318e-03 -2.07699236e-05 9.99999383e-01 -1.22015823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.465769231 meters 0.02379000109515031 Centerline is valid? [True, True] Translation: X:187.11, Y:-12.33, Z:-1.22 [[ 9.90055623e-01 1.40649995e-01 2.72797836e-03 1.87105165e+02] [-1.40649605e-01 9.90059380e-01 -3.35410015e-04 -1.23294446e+01] [-2.74803598e-03 -5.16145060e-05 9.99996223e-01 -1.21613158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.525769231 meters 0.030271917950968716 Centerline is valid? [True, True] Translation: X:187.17, Y:-12.32, Z:-1.22 [[ 9.89249968e-01 1.46219202e-01 2.10874474e-03 1.87166632e+02] [-1.46218979e-01 9.89252214e-01 -2.60239689e-04 -1.23237128e+01] [-2.12413244e-03 -5.08963990e-05 9.99997743e-01 -1.22005178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.585769231 meters 0.03450355291151414 Centerline is valid? [True, True] Translation: X:187.23, Y:-12.32, Z:-1.22 [[ 9.88622846e-01 1.50354789e-01 4.27851313e-03 1.87227710e+02] [-1.50353910e-01 9.88632097e-01 -5.28144081e-04 -1.23240121e+01] [-4.30928440e-03 -1.21155873e-04 9.99990708e-01 -1.21725778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.645769231 meters 0.03770792875658342 Centerline is valid? [True, True] Translation: X:187.29, Y:-12.32, Z:-1.22 [[ 9.88235482e-01 1.52862446e-01 4.86869724e-03 1.87287917e+02] [-1.52861338e-01 9.88247464e-01 -6.01089564e-04 -1.23236784e+01] [-4.90336172e-03 -1.50217541e-04 9.99987967e-01 -1.21612243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.705769231 meters 0.03974285141272458 Centerline is valid? [True, True] Translation: X:187.35, Y:-12.32, Z:-1.22 [[ 9.87703734e-01 1.56244462e-01 5.38530212e-03 1.87350493e+02] [-1.56243157e-01 9.87718398e-01 -6.64832445e-04 -1.23186697e+01] [-5.42303837e-03 -1.84759117e-04 9.99985278e-01 -1.21551379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76576923099998 meters 0.042967201998889135 Centerline is valid? [True, True] Translation: X:187.41, Y:-12.31, Z:-1.22 [[ 9.87061824e-01 1.60299993e-01 3.58705794e-03 1.87413158e+02] [-1.60299440e-01 9.87068333e-01 -4.42866977e-04 -1.23113536e+01] [-3.61166287e-03 -1.37866294e-04 9.99993468e-01 -1.21850540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82576923099998 meters 0.04298254844912501 Centerline is valid? [True, True] Translation: X:187.47, Y:-12.32, Z:-1.22 [[ 9.87067062e-01 1.60283803e-01 2.77800758e-03 1.87474223e+02] [-1.60283472e-01 9.87070966e-01 -3.43000013e-04 -1.23155828e+01] [-2.79706798e-03 -1.06704685e-04 9.99996083e-01 -1.22026260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88576923099998 meters 0.03908015012565715 Centerline is valid? [True, True] Translation: X:187.54, Y:-12.32, Z:-1.22 [[ 9.87495750e-01 1.57623195e-01 2.65940967e-03 1.87535034e+02] [-1.57622881e-01 9.87499326e-01 -3.28410665e-04 -1.23240537e+01] [-2.67793039e-03 -9.48796778e-05 9.99996410e-01 -1.22003430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94576923099999 meters 0.03990092806134472 Centerline is valid? [True, True] Translation: X:187.60, Y:-12.32, Z:-1.21 [[ 9.87684815e-01 1.56346324e-01 5.87640425e-03 1.87596157e+02] [-1.56344769e-01 9.87702276e-01 -7.26039596e-04 -1.23242757e+01] [-5.91765148e-03 -2.01646780e-04 9.99982470e-01 -1.21196605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.005769231 meters 0.044592076083165136 Centerline is valid? [True, True] Translation: X:187.66, Y:-12.32, Z:-1.21 [[ 9.87010482e-01 1.60548597e-01 5.86998816e-03 1.87657704e+02] [-1.60547118e-01 9.87027911e-01 -7.25338272e-04 -1.23186104e+01] [-5.91029419e-03 -2.26493203e-04 9.99982508e-01 -1.21417882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.065769231 meters 0.044401362157767126 Centerline is valid? [True, True] Translation: X:187.72, Y:-12.32, Z:-1.22 [[ 9.87135837e-01 1.59775143e-01 5.89432757e-03 1.87717593e+02] [-1.59773638e-01 9.87153410e-01 -7.28321165e-04 -1.23195156e+01] [-5.93497318e-03 -2.22806239e-04 9.99982363e-01 -1.21510600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.125769231 meters 0.044702024072686905 Centerline is valid? [True, True] Translation: X:187.78, Y:-12.32, Z:-1.22 [[ 9.87455830e-01 1.57854663e-01 3.59009378e-03 1.87776480e+02] [-1.57854092e-01 9.87462348e-01 -4.43620790e-04 -1.23217450e+01] [-3.61511005e-03 -1.28655058e-04 9.99993457e-01 -1.21938587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.185769231 meters 0.042676732002885534 Centerline is valid? [True, True] Translation: X:187.84, Y:-12.32, Z:-1.22 [[ 9.87443591e-01 1.57957672e-01 2.12784194e-03 1.87836798e+02] [-1.57957472e-01 9.87445881e-01 -2.62903747e-04 -1.23228888e+01] [-2.14265642e-03 -7.65059118e-05 9.99997702e-01 -1.22198421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.245769231 meters 0.051147550890404805 Centerline is valid? [True, True] Translation: X:187.90, Y:-12.30, Z:-1.22 [[ 9.86631153e-01 1.62874470e-01 5.55644250e-03 1.87898979e+02] [-1.62873185e-01 9.86646773e-01 -6.86097045e-04 -1.23047648e+01] [-5.59399376e-03 -2.28070768e-04 9.99984327e-01 -1.21776812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.305769231 meters 0.04633047930193365 Centerline is valid? [True, True] Translation: X:187.96, Y:-12.30, Z:-1.22 [[ 9.86909504e-01 1.61198445e-01 4.96917713e-03 1.87958334e+02] [-1.61197395e-01 9.86921994e-01 -6.13687116e-04 -1.23030609e+01] [-5.00311561e-03 -1.95364762e-04 9.99987465e-01 -1.21894750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.365769231 meters 0.046826471350666275 Centerline is valid? [True, True] Translation: X:188.02, Y:-12.30, Z:-1.22 [[ 9.87293447e-01 1.58833293e-01 4.86147094e-03 1.88017047e+02] [-1.58832261e-01 9.87305400e-01 -6.00112410e-04 -1.23041544e+01] [-4.89507434e-03 -1.79671368e-04 9.99988003e-01 -1.22016659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.425769231 meters 0.03323965287878744 Centerline is valid? [True, True] Translation: X:188.08, Y:-12.31, Z:-1.22 [[ 9.88869905e-01 1.48617634e-01 7.00781099e-03 1.88076513e+02] [-1.48615235e-01 9.88894718e-01 -8.64853130e-04 -1.23145822e+01] [-7.05851970e-03 -1.86240241e-04 9.99975071e-01 -1.21711553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48576923099998 meters 0.02139781057535149 Centerline is valid? [True, True] Translation: X:188.14, Y:-12.33, Z:-1.22 [[ 9.90385869e-01 1.38146979e-01 7.15841564e-03 1.88135764e+02] [-1.38144202e-01 9.90411732e-01 -8.83428300e-04 -1.23266581e+01] [-7.21182178e-03 -1.13958709e-04 9.99973988e-01 -1.21585343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54576923099998 meters 0.015528392372384783 Centerline is valid? [True, True] Translation: X:188.19, Y:-12.34, Z:-1.22 [[ 9.91273297e-01 1.31720235e-01 5.19906034e-03 1.88194960e+02] [-1.31718682e-01 9.91286930e-01 -6.41611257e-04 -1.23401007e+01] [-5.23827375e-03 -4.88012678e-05 9.99986279e-01 -1.21963864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60576923099998 meters 0.01174831664479025 Centerline is valid? [True, True] Translation: X:188.25, Y:-12.37, Z:-1.21 [[ 9.92770625e-01 1.19766653e-01 7.90158104e-03 1.88252348e+02] [-1.19762685e-01 9.92802069e-01 -9.75138140e-04 -1.23658065e+01] [-7.96149504e-03 2.17739367e-05 9.99968307e-01 -1.21492466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66576923099998 meters 0.023322279460881314 Centerline is valid? [True, True] Translation: X:188.31, Y:-12.40, Z:-1.22 [[ 9.94209678e-01 1.07192999e-01 7.53506956e-03 1.88307942e+02] [-1.07189028e-01 9.94238225e-01 -9.30015660e-04 -1.24045764e+01] [-7.59134535e-03 1.16953788e-04 9.99971178e-01 -1.21583511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.725769231 meters 0.032834816535530505 Centerline is valid? [True, True] Translation: X:188.36, Y:-12.44, Z:-1.23 [[ 9.95084802e-01 9.89819877e-02 2.96683400e-03 1.88364611e+02] [-9.89813353e-02 9.95089223e-01 -3.66310700e-04 -1.24356569e+01] [-2.98852270e-03 7.08490192e-05 9.99995532e-01 -1.22529027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.785769231 meters 0.031239868089366928 Centerline is valid? [True, True] Translation: X:188.43, Y:-12.45, Z:-1.22 [[ 9.95084331e-01 9.89617314e-02 3.70811611e-03 1.88425913e+02] [-9.89607142e-02 9.95091236e-01 -4.57254006e-04 -1.24503130e+01] [-3.73516450e-03 8.80484781e-05 9.99993020e-01 -1.22094291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.845769231 meters 0.026015850058881983 Centerline is valid? [True, True] Translation: X:188.49, Y:-12.46, Z:-1.22 [[ 9.94621071e-01 1.03552789e-01 2.39695638e-03 1.88486968e+02] [-1.03552376e-01 9.94623958e-01 -2.96240277e-04 -1.24592931e+01] [-2.41474675e-03 4.64362945e-05 9.99997083e-01 -1.22389500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.905769231 meters 0.01949639377272507 Centerline is valid? [True, True] Translation: X:188.55, Y:-12.46, Z:-1.23 [[ 9.93937585e-01 1.09918185e-01 2.46370461e-03 1.88548803e+02] [-1.09917768e-01 9.93940638e-01 -3.04581834e-04 -1.24627250e+01] [-2.48225521e-03 3.19304204e-05 9.99996919e-01 -1.22527095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.965769231 meters 0.015619941471383942 Centerline is valid? [True, True] Translation: X:188.61, Y:-12.46, Z:-1.22 [[ 9.93465674e-01 1.14084880e-01 3.25505866e-03 1.88611432e+02] [-1.14084174e-01 9.93471006e-01 -4.02120266e-04 -1.24648181e+01] [-3.27968225e-03 2.81420009e-05 9.99994621e-01 -1.22390882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.025769231 meters 0.011921713045379185 Centerline is valid? [True, True] Translation: X:188.67, Y:-12.46, Z:-1.22 [[ 9.92761854e-01 1.19974467e-01 5.47978370e-03 1.88673722e+02] [-1.19972549e-01 9.92776977e-01 -6.78675773e-04 -1.24619716e+01] [-5.52162686e-03 1.63398003e-05 9.99984756e-01 -1.22043760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.085769231 meters 0.01232361120259428 Centerline is valid? [True, True] Translation: X:188.74, Y:-12.45, Z:-1.22 [[ 9.91888257e-01 1.26977423e-01 5.86681158e-03 1.88736709e+02] [-1.26975340e-01 9.91905607e-01 -7.27721750e-04 -1.24506773e+01] [-5.91172754e-03 -2.31217362e-05 9.99982525e-01 -1.22178072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.145769231 meters 0.01320575879408181 Centerline is valid? [True, True] Translation: X:188.80, Y:-12.45, Z:-1.23 [[ 9.91733446e-01 1.28235930e-01 4.50760051e-03 1.88796918e+02] [-1.28234713e-01 9.91743690e-01 -5.59219916e-04 -1.24524948e+01] [-4.54209645e-03 -2.34337614e-05 9.99989684e-01 -1.22600881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.205769231 meters 0.011323312924715992 Centerline is valid? [True, True] Translation: X:188.86, Y:-12.47, Z:-1.22 [[ 9.92438729e-01 1.22606466e-01 5.74653406e-03 1.88857360e+02] [-1.22604394e-01 9.92455366e-01 -7.12827704e-04 -1.24677158e+01] [-5.79057585e-03 2.88749396e-06 9.99983234e-01 -1.22463789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26576923099998 meters 0.013445005909071809 Centerline is valid? [True, True] Translation: X:188.92, Y:-12.48, Z:-1.23 [[ 9.93005341e-01 1.18021543e-01 3.36261869e-03 1.88918044e+02] [-1.18020807e-01 9.93011035e-01 -4.17187212e-04 -1.24804923e+01] [-3.38835454e-03 1.74101582e-05 9.99994259e-01 -1.22999979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32576923099998 meters 0.014364753590117772 Centerline is valid? [True, True] Translation: X:188.98, Y:-12.49, Z:-1.23 [[ 9.93120374e-01 1.17084383e-01 1.78022572e-03 1.88979559e+02] [-1.17084176e-01 9.93121970e-01 -2.20623410e-04 -1.24895240e+01] [-1.79381283e-03 1.06693421e-05 9.99998391e-01 -1.23348315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38576923099998 meters 0.015760197216446906 Centerline is valid? [True, True] Translation: X:189.04, Y:-12.50, Z:-1.23 [[ 9.93379663e-01 1.14799302e-01 4.23845590e-03 1.89040788e+02] [-1.14798096e-01 9.93388705e-01 -5.27513888e-04 -1.25037256e+01] [-4.27099244e-03 3.74549005e-05 9.99990879e-01 -1.22791958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44576923099999 meters 0.019930149065308562 Centerline is valid? [True, True] Translation: X:189.10, Y:-12.52, Z:-1.23 [[ 9.93832373e-01 1.10854287e-01 2.92266243e-03 1.89099985e+02] [-1.10853696e-01 9.93836670e-01 -3.63929258e-04 -1.25214640e+01] [-2.94499222e-03 3.76967462e-05 9.99995663e-01 -1.22987905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.505769231 meters 0.02167160981772706 Centerline is valid? [True, True] Translation: X:189.16, Y:-12.54, Z:-1.23 [[ 9.94141275e-01 1.08043249e-01 3.12745052e-03 1.89160424e+02] [-1.08042557e-01 9.94146193e-01 -3.89913563e-04 -1.25369358e+01] [-3.15127056e-03 4.97314149e-05 9.99995033e-01 -1.22946471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.565769231 meters 0.02190274888085949 Centerline is valid? [True, True] Translation: X:189.22, Y:-12.55, Z:-1.23 [[ 9.94162845e-01 1.07873393e-01 1.88916461e-03 1.89220748e+02] [-1.07873140e-01 9.94164639e-01 -2.35376655e-04 -1.25546856e+01] [-1.90353154e-03 3.02126056e-05 9.99998188e-01 -1.23091049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.625769231 meters 0.01962479057771608 Centerline is valid? [True, True] Translation: X:189.28, Y:-12.56, Z:-1.23 [[ 9.93784611e-01 1.11282418e-01 2.89310491e-03 1.89281521e+02] [-1.11281837e-01 9.93788822e-01 -3.61632447e-04 -1.25626341e+01] [-2.91537865e-03 3.74347320e-05 9.99995750e-01 -1.22873743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.685769231 meters 0.013418544332791603 Centerline is valid? [True, True] Translation: X:189.34, Y:-12.56, Z:-1.23 [[ 9.93009362e-01 1.17955490e-01 4.34846737e-03 1.89343484e+02] [-1.17954233e-01 9.93018883e-01 -5.45129545e-04 -1.25620083e+01] [-4.38241123e-03 2.83986067e-05 9.99990397e-01 -1.22653122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.745769231 meters 0.013641028444931872 Centerline is valid? [True, True] Translation: X:189.40, Y:-12.58, Z:-1.23 [[ 9.92985138e-01 1.18187458e-01 3.49859337e-03 1.89404696e+02] [-1.18186648e-01 9.92991301e-01 -4.38100466e-04 -1.25750900e+01] [-3.52585077e-03 2.15402270e-05 9.99993784e-01 -1.23024455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.805769231 meters 0.01738850528032196 Centerline is valid? [True, True] Translation: X:189.46, Y:-12.59, Z:-1.23 [[ 9.93511751e-01 1.13688213e-01 3.06458445e-03 1.89464833e+02] [-1.13687569e-01 9.93516477e-01 -3.84197122e-04 -1.25925235e+01] [-3.08839383e-03 3.32991990e-05 9.99995230e-01 -1.23382295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.865769231 meters 0.018403061336903875 Centerline is valid? [True, True] Translation: X:189.53, Y:-12.61, Z:-1.23 [[ 9.93612697e-01 1.12767654e-01 4.15517160e-03 1.89526077e+02] [-1.12766456e-01 9.93621384e-01 -5.22035617e-04 -1.26063462e+01] [-4.18753609e-03 5.01372400e-05 9.99991231e-01 -1.23156956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.925769231 meters 0.014201458646786912 Centerline is valid? [True, True] Translation: X:189.59, Y:-12.61, Z:-1.23 [[ 9.93007599e-01 1.18006428e-01 3.22339638e-03 1.89588450e+02] [-1.18005734e-01 9.93012831e-01 -4.05253274e-04 -1.26096116e+01] [-3.24869646e-03 2.20403245e-05 9.99994723e-01 -1.23446987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98576923099998 meters 0.01160918627523456 Centerline is valid? [True, True] Translation: X:189.65, Y:-12.61, Z:-1.24 [[ 9.92174937e-01 1.24843616e-01 1.72217479e-03 1.89651296e+02] [-1.24843429e-01 9.92176432e-01 -2.16277329e-04 -1.26090987e+01] [-1.73570208e-03 -4.17259942e-07 9.99998494e-01 -1.23864392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04576923099998 meters 0.011601269245641985 Centerline is valid? [True, True] Translation: X:189.71, Y:-12.62, Z:-1.24 [[ 9.91892295e-01 1.27047763e-01 2.92251683e-03 1.89714174e+02] [-1.27047229e-01 9.91896600e-01 -3.68198035e-04 -1.26179727e+01] [-2.94561324e-03 -6.08487245e-06 9.99995662e-01 -1.23603647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10576923099998 meters 0.011063153441119945 Centerline is valid? [True, True] Translation: X:189.77, Y:-12.63, Z:-1.23 [[ 9.92120495e-01 1.25138672e-01 6.10207601e-03 1.89774343e+02] [-1.25136295e-01 9.92139261e-01 -7.71314905e-04 -1.26343727e+01] [-6.15063051e-03 1.64614380e-06 9.99981085e-01 -1.22984505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16576923099998 meters 0.011723893962800165 Centerline is valid? [True, True] Translation: X:189.84, Y:-12.65, Z:-1.23 [[ 9.92448888e-01 1.22484401e-01 6.54028953e-03 1.89835132e+02] [-1.22481605e-01 9.92470438e-01 -8.27907705e-04 -1.26512660e+01] [-6.59244980e-03 2.05909238e-05 9.99978269e-01 -1.22895699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.225769231 meters 0.011976881656603345 Centerline is valid? [True, True] Translation: X:189.90, Y:-12.67, Z:-1.23 [[ 9.92523459e-01 1.21946288e-01 5.12693183e-03 1.89897192e+02] [-1.21944560e-01 9.92536701e-01 -6.49636725e-04 -1.26660025e+01] [-5.16788879e-03 1.95782455e-05 9.99986646e-01 -1.23069800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.285769231 meters 0.011535072032790217 Centerline is valid? [True, True] Translation: X:189.96, Y:-12.67, Z:-1.23 [[ 9.92272132e-01 1.23994691e-01 4.61863026e-03 1.89958781e+02] [-1.23993307e-01 9.92282881e-01 -5.86021470e-04 -1.26723413e+01] [-4.65565130e-03 8.81353563e-06 9.99989162e-01 -1.23266719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.345769231 meters 0.014437241418351367 Centerline is valid? [True, True] Translation: X:190.02, Y:-12.66, Z:-1.23 [[ 9.91110878e-01 1.32998835e-01 3.24619898e-03 1.90022408e+02] [-1.32998198e-01 9.91116194e-01 -4.12186736e-04 -1.26631710e+01] [-3.27218073e-03 -2.32158575e-05 9.99994646e-01 -1.23398150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.405769231 meters 0.01788720363294778 Centerline is valid? [True, True] Translation: X:190.08, Y:-12.66, Z:-1.23 [[ 9.90402319e-01 1.38131242e-01 4.79653335e-03 1.90084419e+02] [-1.38129906e-01 9.90413932e-01 -6.10304616e-04 -1.26644132e+01] [-4.83485559e-03 -5.80975950e-05 9.99988310e-01 -1.23092846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.465769231 meters 0.015449085553983541 Centerline is valid? [True, True] Translation: X:190.14, Y:-12.68, Z:-1.23 [[ 9.90926670e-01 1.34313126e-01 4.93137122e-03 1.90144913e+02] [-1.34311662e-01 9.90938940e-01 -6.28243441e-04 -1.26756389e+01] [-4.97106911e-03 -3.97974852e-05 9.99987643e-01 -1.23301441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.525769231 meters 0.012299910925189977 Centerline is valid? [True, True] Translation: X:190.21, Y:-12.69, Z:-1.23 [[ 9.91478013e-01 1.30204179e-01 4.26866377e-03 1.90205918e+02] [-1.30203042e-01 9.91487202e-01 -5.44318638e-04 -1.26876277e+01] [-4.30319806e-03 -1.61130457e-05 9.99990741e-01 -1.23453613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.585769231 meters 0.011821193614015301 Centerline is valid? [True, True] Translation: X:190.27, Y:-12.70, Z:-1.24 [[ 9.91632498e-01 1.29082248e-01 1.66195529e-03 1.90268460e+02] [-1.29082075e-01 9.91633891e-01 -2.11289319e-04 -1.26955605e+01] [-1.67532489e-03 -5.00728271e-06 9.99998597e-01 -1.23953851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.645769231 meters 0.01216936956136285 Centerline is valid? [True, True] Translation: X:190.33, Y:-12.70, Z:-1.24 [[ 9.91660410e-01 1.28877994e-01 3.06178530e-04 1.90329233e+02] [-1.28877988e-01 9.91660457e-01 -3.85559766e-05 -1.27013135e+01] [-3.08594158e-04 -1.22523745e-06 9.99999952e-01 -1.24489446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.705769231 meters 0.01183881342132094 Centerline is valid? [True, True] Translation: X:190.39, Y:-12.71, Z:-1.24 [[ 9.92212758e-01 1.24517296e-01 3.04734607e-03 1.90389087e+02] [-1.24516687e-01 9.92217437e-01 -3.89603327e-04 -1.27149535e+01] [-3.07214226e-03 7.12395391e-06 9.99995281e-01 -1.23972967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76576923099998 meters 0.012681117213683757 Centerline is valid? [True, True] Translation: X:190.45, Y:-12.72, Z:-1.25 [[ 9.92354451e-01 1.23418691e-01 6.86016972e-04 1.90450389e+02] [-1.23418660e-01 9.92354688e-01 -8.68839030e-05 -1.27220193e+01] [-6.91495256e-04 1.55233217e-06 9.99999761e-01 -1.24505533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82576923099998 meters 0.01199551330252988 Centerline is valid? [True, True] Translation: X:190.51, Y:-12.73, Z:-1.24 [[ 9.92177412e-01 1.24808805e-01 2.59729454e-03 1.90512650e+02] [-1.24808362e-01 9.92180811e-01 -3.32675422e-04 -1.27263475e+01] [-2.61850663e-03 5.90896084e-06 9.99996572e-01 -1.24242300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88576923099998 meters 0.011496406429817 Centerline is valid? [True, True] Translation: X:190.57, Y:-12.73, Z:-1.24 [[ 9.92004061e-01 1.26162672e-01 3.30506658e-03 1.90574018e+02] [-1.26161959e-01 9.92009567e-01 -4.24178510e-04 -1.27349181e+01] [-3.33217316e-03 3.81312927e-06 9.99994448e-01 -1.24045349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94576923099999 meters 0.01129718981627774 Centerline is valid? [True, True] Translation: X:190.64, Y:-12.74, Z:-1.24 [[ 9.91628706e-01 1.29040214e-01 4.59695762e-03 1.90637205e+02] [-1.29038860e-01 9.91639361e-01 -5.91257072e-04 -1.27372596e+01] [-4.63482006e-03 -6.87868457e-06 9.99989259e-01 -1.23732333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.005769231 meters 0.023642788535493887 Centerline is valid? [True, True] Translation: X:190.70, Y:-12.74, Z:-1.23 [[ 9.91152580e-01 1.32622867e-01 5.26679164e-03 1.90699813e+02] [-1.32621133e-01 9.91166572e-01 -6.78720720e-04 -1.27376865e+01] [-5.31028171e-03 -2.57720829e-05 9.99985900e-01 -1.23194777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.065769231 meters 0.012229843544703698 Centerline is valid? [True, True] Translation: X:190.76, Y:-12.74, Z:-1.23 [[ 9.91198938e-01 1.32253629e-01 5.80024195e-03 1.90761429e+02] [-1.32251512e-01 9.91215908e-01 -7.48581863e-04 -1.27433996e+01] [-5.84829476e-03 -2.50972231e-05 9.99982898e-01 -1.23472635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.125769231 meters 0.012604147347222755 Centerline is valid? [True, True] Translation: X:190.82, Y:-12.77, Z:-1.24 [[ 9.92279865e-01 1.23998996e-01 2.21761648e-03 1.90821326e+02] [-1.23998667e-01 9.92282343e-01 -2.85894470e-04 -1.27667595e+01] [-2.23595231e-03 8.70583878e-06 9.99997500e-01 -1.24126484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.185769231 meters 0.01606546309254637 Centerline is valid? [True, True] Translation: X:190.88, Y:-12.79, Z:-1.24 [[ 9.92956347e-01 1.18438242e-01 3.17410082e-03 1.90881561e+02] [-1.18437536e-01 9.92961420e-01 -4.10232545e-04 -1.27869728e+01] [-3.20034688e-03 3.14103304e-05 9.99994878e-01 -1.24007855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.245769231 meters 0.016823370324977934 Centerline is valid? [True, True] Translation: X:190.94, Y:-12.80, Z:-1.24 [[ 9.93018056e-01 1.17875821e-01 4.52008720e-03 1.90942359e+02] [-1.17874377e-01 9.93028342e-01 -5.85459864e-04 -1.27982484e+01] [-4.55758627e-03 4.85697535e-05 9.99989613e-01 -1.23769883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.305769231 meters 0.01431297844642073 Centerline is valid? [True, True] Translation: X:191.00, Y:-12.80, Z:-1.24 [[ 9.92584259e-01 1.21551852e-01 1.27917611e-03 1.91004678e+02] [-1.21551739e-01 9.92585083e-01 -1.65698734e-04 -1.28048830e+01] [-1.28983211e-03 8.98387345e-06 9.99999168e-01 -1.24416893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.365769231 meters 0.014937847249760234 Centerline is valid? [True, True] Translation: X:191.07, Y:-12.82, Z:-1.25 [[ 9.92634729e-01 1.21144732e-01 4.99650297e-04 1.91065337e+02] [-1.21144715e-01 9.92634854e-01 -6.37933483e-05 -1.28185959e+01] [-5.03698528e-04 2.79349995e-06 9.99999873e-01 -1.24806868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.425769231 meters 0.0171087517607495 Centerline is valid? [True, True] Translation: X:191.12, Y:-12.84, Z:-1.24 [[ 9.92970181e-01 1.18315488e-01 3.41547270e-03 1.91123721e+02] [-1.18314661e-01 9.92976054e-01 -4.43843405e-04 -1.28401237e+01] [-3.44399615e-03 3.66227715e-05 9.99994069e-01 -1.24473816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48576923099998 meters 0.019548870470501706 Centerline is valid? [True, True] Translation: X:191.18, Y:-12.86, Z:-1.25 [[ 9.93223383e-01 1.16198244e-01 2.29765104e-03 1.91182901e+02] [-1.16197865e-01 9.93226040e-01 -2.98256411e-04 -1.28591628e+01] [-2.31674371e-03 2.92530961e-05 9.99997316e-01 -1.24724042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54576923099998 meters 0.0183078540622179 Centerline is valid? [True, True] Translation: X:191.24, Y:-12.87, Z:-1.25 [[ 9.93028478e-01 1.17852699e-01 2.27649158e-03 1.91243639e+02] [-1.17852331e-01 9.93031087e-01 -2.95803058e-04 -1.28726411e+01] [-2.29548810e-03 2.54510216e-05 9.99997365e-01 -1.24853009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60576923099998 meters 0.017431849282088793 Centerline is valid? [True, True] Translation: X:191.31, Y:-12.89, Z:-1.24 [[ 9.93047761e-01 1.17601958e-01 5.09143887e-03 1.91305798e+02] [-1.17600101e-01 9.93060812e-01 -6.63758868e-04 -1.28854095e+01] [-5.13416776e-03 6.03905331e-05 9.99986818e-01 -1.24280147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66576923099998 meters 0.019052634377273447 Centerline is valid? [True, True] Translation: X:191.37, Y:-12.91, Z:-1.24 [[ 9.93074083e-01 1.17274748e-01 7.10624085e-03 1.91365882e+02] [-1.17271107e-01 9.93099504e-01 -9.28358715e-04 -1.29061450e+01] [-7.16607730e-03 8.85722452e-05 9.99974319e-01 -1.23806959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.725769231 meters 0.01404969641062037 Centerline is valid? [True, True] Translation: X:191.43, Y:-12.91, Z:-1.24 [[ 9.92481074e-01 1.22317623e-01 4.44043312e-03 1.91428876e+02] [-1.22316249e-01 9.92491006e-01 -5.80656471e-04 -1.29082452e+01] [-4.47811446e-03 3.31534319e-05 9.99989973e-01 -1.24228289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.785769231 meters 0.011073860923669115 Centerline is valid? [True, True] Translation: X:191.49, Y:-12.91, Z:-1.24 [[ 9.91592508e-01 1.29309517e-01 4.83182519e-03 1.91490898e+02] [-1.29307972e-01 9.91604280e-01 -6.32176267e-04 -1.29143018e+01] [-4.87300495e-03 2.06773353e-06 9.99988127e-01 -1.23974264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.845769231 meters 0.013021818877868121 Centerline is valid? [True, True] Translation: X:191.55, Y:-12.92, Z:-1.24 [[ 9.90660523e-01 1.36244718e-01 5.39482036e-03 1.91553794e+02] [-1.36242889e-01 9.90675212e-01 -7.06889607e-04 -1.29153176e+01] [-5.44082478e-03 -3.47182803e-05 9.99985198e-01 -1.23905783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.905769231 meters 0.016320039244741662 Centerline is valid? [True, True] Translation: X:191.62, Y:-12.92, Z:-1.24 [[ 9.90070538e-01 1.40540598e-01 2.94457342e-03 1.91616047e+02] [-1.40540072e-01 9.90074916e-01 -3.85800967e-04 -1.29189599e+01] [-2.96956898e-03 -3.18603893e-05 9.99995590e-01 -1.24323309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.965769231 meters 0.023811816186537407 Centerline is valid? [True, True] Translation: X:191.68, Y:-12.91, Z:-1.25 [[ 9.88965593e-01 1.48138983e-01 1.37747736e-03 1.91678904e+02] [-1.48138875e-01 9.88966552e-01 -1.80888545e-04 -1.29113636e+01] [-1.38907568e-03 -2.51654000e-05 9.99999035e-01 -1.24591052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.025769231 meters 0.03038920045044229 Centerline is valid? [True, True] Translation: X:191.74, Y:-12.90, Z:-1.24 [[ 9.88094586e-01 1.53800489e-01 3.80776237e-03 1.91740275e+02] [-1.53799701e-01 9.88101919e-01 -5.00481220e-04 -1.29042909e+01] [-3.83943156e-03 -9.11099311e-05 9.99992625e-01 -1.24299832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.085769231 meters 0.02567645803410618 Centerline is valid? [True, True] Translation: X:191.80, Y:-12.92, Z:-1.24 [[ 9.88528846e-01 1.50977867e-01 4.05012223e-03 1.91800534e+02] [-1.50976952e-01 9.88537140e-01 -5.32266625e-04 -1.29166846e+01] [-4.08405672e-03 -8.53141983e-05 9.99991657e-01 -1.24479218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.145769231 meters 0.021132577714569018 Centerline is valid? [True, True] Translation: X:191.86, Y:-12.93, Z:-1.25 [[ 9.89450747e-01 1.44837854e-01 3.03555711e-03 1.91858935e+02] [-1.44837311e-01 9.89455403e-01 -3.99057356e-04 -1.29319987e+01] [-3.06134700e-03 -4.48143311e-05 9.99995313e-01 -1.24856052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.205769231 meters 0.014616568420651855 Centerline is valid? [True, True] Translation: X:191.92, Y:-12.95, Z:-1.25 [[ 9.90389569e-01 1.38275928e-01 2.87549705e-03 1.91918328e+02] [-1.38275414e-01 9.90393743e-01 -3.77918741e-04 -1.29526888e+01] [-2.90013135e-03 -2.33237655e-05 9.99995794e-01 -1.24871050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26576923099998 meters 0.012155193688974657 Centerline is valid? [True, True] Translation: X:191.98, Y:-12.97, Z:-1.25 [[ 9.90926990e-01 1.34364281e-01 3.15278499e-03 1.91979104e+02] [-1.34363644e-01 9.90932006e-01 -4.13898042e-04 -1.29703367e+01] [-3.17980867e-03 -1.34769383e-05 9.99994944e-01 -1.24931482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32576923099998 meters 0.013478863185245096 Centerline is valid? [True, True] Translation: X:192.04, Y:-12.98, Z:-1.25 [[ 9.90541433e-01 1.37155009e-01 4.02166490e-03 1.92040662e+02] [-1.37153992e-01 9.90549596e-01 -5.29008984e-04 -1.29750382e+01] [-4.05621478e-03 -2.75820787e-05 9.99991773e-01 -1.24735802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38576923099998 meters 0.017956220143572798 Centerline is valid? [True, True] Translation: X:192.10, Y:-12.98, Z:-1.24 [[ 9.89640445e-01 1.43425952e-01 6.38638151e-03 1.92103221e+02] [-1.43423506e-01 9.89661048e-01 -8.41759549e-04 -1.29763737e+01] [-6.44108318e-03 -8.29179332e-05 9.99979253e-01 -1.24202832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44576923099999 meters 0.026669606312324203 Centerline is valid? [True, True] Translation: X:192.17, Y:-12.97, Z:-1.24 [[ 9.88539619e-01 1.50817673e-01 6.59170166e-03 1.92165043e+02] [-1.50815228e-01 9.88561587e-01 -8.69163900e-04 -1.29696975e+01] [-6.64738833e-03 -1.34926041e-04 9.99977897e-01 -1.24204496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.505769231 meters 0.029784261215382357 Centerline is valid? [True, True] Translation: X:192.23, Y:-12.97, Z:-1.24 [[ 9.87706864e-01 1.56225760e-01 5.35384680e-03 1.92226208e+02] [-1.56224226e-01 9.87721364e-01 -7.05968317e-04 -1.29698947e+01] [-5.39839930e-03 -1.39110823e-04 9.99985419e-01 -1.24411843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.565769231 meters 0.034717739850159385 Centerline is valid? [True, True] Translation: X:192.29, Y:-12.97, Z:-1.25 [[ 9.87236472e-01 1.59195845e-01 4.56421847e-03 1.92287709e+02] [-1.59194762e-01 9.87247013e-01 -6.01921599e-04 -1.29654339e+01] [-4.60183447e-03 -1.32360719e-04 9.99989403e-01 -1.24649715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.625769231 meters 0.031041861269721197 Centerline is valid? [True, True] Translation: X:192.35, Y:-12.98, Z:-1.25 [[ 9.87737180e-01 1.56092702e-01 3.21432346e-03 1.92348054e+02] [-1.56092148e-01 9.87742407e-01 -4.23978660e-04 -1.29757568e+01] [-3.24110357e-03 -8.29511672e-05 9.99994744e-01 -1.24765194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.685769231 meters 0.026631109708454146 Centerline is valid? [True, True] Translation: X:192.41, Y:-12.98, Z:-1.25 [[ 9.88402278e-01 1.51819777e-01 3.41941988e-03 1.92408968e+02] [-1.51819124e-01 9.88408190e-01 -4.51122575e-04 -1.29836361e+01] [-3.44827195e-03 -7.32427506e-05 9.99994052e-01 -1.24856247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.745769231 meters 0.02696225017354232 Centerline is valid? [True, True] Translation: X:192.47, Y:-12.98, Z:-1.25 [[ 9.88224992e-01 1.52977950e-01 3.01853098e-03 1.92471255e+02] [-1.52977448e-01 9.88229600e-01 -3.97765872e-04 -1.29828900e+01] [-3.04385107e-03 -6.86849907e-05 9.99995365e-01 -1.24858808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.805769231 meters 0.03019653261781307 Centerline is valid? [True, True] Translation: X:192.53, Y:-12.98, Z:-1.25 [[ 9.88064950e-01 1.54009345e-01 2.96251243e-03 1.92533264e+02] [-1.54008865e-01 9.88069389e-01 -3.90831897e-04 -1.29808835e+01] [-2.98735961e-03 -7.00858777e-05 9.99995535e-01 -1.25033971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.865769231 meters 0.024999655725611296 Centerline is valid? [True, True] Translation: X:192.59, Y:-13.00, Z:-1.25 [[ 9.88487371e-01 1.51234770e-01 4.55645017e-03 1.92593462e+02] [-1.51233598e-01 9.88497868e-01 -6.02664990e-04 -1.29960139e+01] [-4.59518518e-03 -9.33616195e-05 9.99989438e-01 -1.24797894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.925769231 meters 0.026358146249009777 Centerline is valid? [True, True] Translation: X:192.65, Y:-13.00, Z:-1.25 [[ 9.88573553e-01 1.50572003e-01 7.09942758e-03 1.92654060e+02] [-1.50569138e-01 9.88599035e-01 -9.39424511e-04 -1.30044391e+01] [-7.15993829e-03 -1.40264464e-04 9.99974357e-01 -1.24545363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98576923099998 meters 0.027018117856456345 Centerline is valid? [True, True] Translation: X:192.72, Y:-13.01, Z:-1.24 [[ 9.88148452e-01 1.53291775e-01 8.01677989e-03 1.92715257e+02] [-1.53288200e-01 9.88180955e-01 -1.06218162e-03 -1.30125722e+01] [-8.08485292e-03 -1.79284637e-04 9.99967301e-01 -1.24323340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04576923099998 meters 0.03239650046238784 Centerline is valid? [True, True] Translation: X:192.78, Y:-13.02, Z:-1.25 [[ 9.87342644e-01 1.58494616e-01 5.82747225e-03 1.92776116e+02] [-1.58492813e-01 9.87359828e-01 -7.72875220e-04 -1.30158829e+01] [-5.87630856e-03 -1.60519805e-04 9.99982721e-01 -1.24847251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10576923099998 meters 0.03481836019431969 Centerline is valid? [True, True] Translation: X:192.84, Y:-13.02, Z:-1.25 [[ 9.87054885e-01 1.60277011e-01 5.82530913e-03 1.92837397e+02] [-1.60275241e-01 9.87072059e-01 -7.72498060e-04 -1.30200887e+01] [-5.87381356e-03 -1.71154839e-04 9.99982734e-01 -1.24822741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16576923099998 meters 0.037438798904915215 Centerline is valid? [True, True] Translation: X:192.90, Y:-13.02, Z:-1.25 [[ 9.86781750e-01 1.61985315e-01 4.74707854e-03 1.92899415e+02] [-1.61984155e-01 9.86793158e-01 -6.30321585e-04 -1.30215631e+01] [-4.78648746e-03 -1.46961670e-04 9.99988534e-01 -1.24952732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.225769231 meters 0.031799662443242366 Centerline is valid? [True, True] Translation: X:192.96, Y:-13.04, Z:-1.25 [[ 9.87422961e-01 1.58035549e-01 4.54541219e-03 1.92958700e+02] [-1.58034444e-01 9.87433416e-01 -6.03669059e-04 -1.30398055e+01] [-4.58369306e-03 -1.22254996e-04 9.99989487e-01 -1.25023283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.285769231 meters 0.030858916128881045 Centerline is valid? [True, True] Translation: X:193.02, Y:-13.05, Z:-1.25 [[ 9.87850760e-01 1.55357696e-01 3.85508797e-03 1.93018414e+02] [-1.55356880e-01 9.87858278e-01 -5.11984650e-04 -1.30532257e+01] [-3.88782132e-03 -9.31500137e-05 9.99992438e-01 -1.25175880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.345769231 meters 0.03667527669382409 Centerline is valid? [True, True] Translation: X:193.08, Y:-13.05, Z:-1.25 [[ 9.86708418e-01 1.62461513e-01 3.57123223e-03 1.93078973e+02] [-1.62460859e-01 9.86714875e-01 -4.74432332e-04 -1.30542312e+01] [-3.60086496e-03 -1.12059080e-04 9.99993511e-01 -1.24990840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.405769231 meters 0.04918019902953038 Centerline is valid? [True, True] Translation: X:193.14, Y:-13.04, Z:-1.25 [[ 9.84847424e-01 1.73402099e-01 2.69501930e-03 1.93141651e+02] [-1.73401768e-01 9.84851105e-01 -3.58052757e-04 -1.30387457e+01] [-2.71627984e-03 -1.14693775e-04 9.99996304e-01 -1.25270129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.465769231 meters 0.053738790332611114 Centerline is valid? [True, True] Translation: X:193.20, Y:-13.03, Z:-1.25 [[ 9.83901125e-01 1.78652065e-01 4.69204025e-03 1.93204095e+02] [-1.78651119e-01 9.83912287e-01 -6.23331766e-04 -1.30284736e+01] [-4.72791557e-03 -2.24941418e-04 9.99988798e-01 -1.25059823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.525769231 meters 0.04556819900314025 Centerline is valid? [True, True] Translation: X:193.26, Y:-13.03, Z:-1.25 [[ 9.84952833e-01 1.72720190e-01 5.97095975e-03 1.93264436e+02] [-1.72718549e-01 9.84970900e-01 -7.93247849e-04 -1.30302110e+01] [-6.01823152e-03 -2.49983791e-04 9.99981859e-01 -1.25036366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.585769231 meters 0.04081355537068449 Centerline is valid? [True, True] Translation: X:193.32, Y:-13.04, Z:-1.25 [[ 9.86179734e-01 1.65563213e-01 6.19310721e-03 1.93323396e+02] [-1.65561307e-01 9.86199157e-01 -8.22713048e-04 -1.30359504e+01] [-6.24384812e-03 -2.13995989e-04 9.99980484e-01 -1.25052282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.645769231 meters 0.025156889739424523 Centerline is valid? [True, True] Translation: X:193.38, Y:-13.06, Z:-1.26 [[ 9.88504638e-01 1.51097519e-01 5.30280278e-03 1.93381463e+02] [-1.51095914e-01 9.88518856e-01 -7.04360056e-04 -1.30568634e+01] [-5.34834760e-03 -1.04968648e-04 9.99985692e-01 -1.25516233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.705769231 meters 0.013580743788385873 Centerline is valid? [True, True] Translation: X:193.44, Y:-13.08, Z:-1.26 [[ 9.90360608e-01 1.38390918e-01 5.81552978e-03 1.93439118e+02] [-1.38388767e-01 9.90377682e-01 -7.72457050e-04 -1.30822601e+01] [-5.86647194e-03 -3.97929647e-05 9.99982791e-01 -1.25506020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76576923099998 meters 0.011663514204416778 Centerline is valid? [True, True] Translation: X:193.50, Y:-13.10, Z:-1.26 [[ 9.91058225e-01 1.33397988e-01 2.92784444e-03 1.93497997e+02] [-1.33397423e-01 9.91062549e-01 -3.88282637e-04 -1.31008374e+01] [-2.95347310e-03 -5.75620226e-06 9.99995638e-01 -1.25954301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82576923099998 meters 0.011843499296774893 Centerline is valid? [True, True] Translation: X:193.56, Y:-13.11, Z:-1.26 [[ 9.90849508e-01 1.34919733e-01 3.73071607e-03 1.93559734e+02] [-1.34918823e-01 9.90856531e-01 -4.95517554e-04 -1.31118047e+01] [-3.76345948e-03 -1.23604984e-05 9.99992918e-01 -1.25869423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88576923099998 meters 0.011936755217009673 Centerline is valid? [True, True] Translation: X:193.62, Y:-13.12, Z:-1.26 [[ 9.90740785e-01 1.35700264e-01 4.25865081e-03 1.93621388e+02] [-1.35699082e-01 9.90749937e-01 -5.66646231e-04 -1.31235351e+01] [-4.29615206e-03 -1.64954733e-05 9.99990771e-01 -1.25723188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94576923099999 meters 0.012433430595035305 Centerline is valid? [True, True] Translation: X:193.68, Y:-13.14, Z:-1.26 [[ 9.90627885e-01 1.36551275e-01 3.18475514e-03 1.93681814e+02] [-1.36550617e-01 9.90633004e-01 -4.24087335e-04 -1.31358620e+01] [-3.21283322e-03 -1.47675405e-05 9.99994839e-01 -1.25876505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.005769231 meters 0.01173775809868741 Centerline is valid? [True, True] Translation: X:193.74, Y:-13.15, Z:-1.25 [[ 9.90631704e-01 1.36409955e-01 6.41490580e-03 1.93742389e+02] [-1.36407267e-01 9.90652474e-01 -8.56642240e-04 -1.31506743e+01] [-6.47179683e-03 -2.64228087e-05 9.99979057e-01 -1.25283382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.065769231 meters 0.011593480893529495 Centerline is valid? [True, True] Translation: X:193.80, Y:-13.16, Z:-1.25 [[ 9.90669403e-01 1.36108856e-01 6.96515905e-03 1.93804137e+02] [-1.36105671e-01 9.90693888e-01 -9.31432771e-04 -1.31609476e+01] [-7.02711675e-03 -2.52556984e-05 9.99975309e-01 -1.25219285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.125769231 meters 0.01159691752073659 Centerline is valid? [True, True] Translation: X:193.87, Y:-13.17, Z:-1.25 [[ 9.90634171e-01 1.36370579e-01 6.85591849e-03 1.93865629e+02] [-1.36367490e-01 9.90657895e-01 -9.18155104e-04 -1.31725755e+01] [-6.91707912e-03 -2.53685770e-05 9.99976076e-01 -1.25256277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.185769231 meters 0.013164605473259894 Centerline is valid? [True, True] Translation: X:193.93, Y:-13.18, Z:-1.26 [[ 9.90248329e-01 1.39226899e-01 4.91090493e-03 1.93927490e+02] [-1.39225347e-01 9.90260506e-01 -6.58242760e-04 -1.31763772e+01] [-4.95472029e-03 -3.18986480e-05 9.99987725e-01 -1.25772039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.245769231 meters 0.01483522420791762 Centerline is valid? [True, True] Translation: X:193.99, Y:-13.18, Z:-1.26 [[ 9.89895304e-01 1.41701062e-01 5.30063422e-03 1.93989744e+02] [-1.41699283e-01 9.89909494e-01 -7.11473449e-04 -1.31800223e+01] [-5.34796468e-03 -4.68118446e-05 9.99985698e-01 -1.25874377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.305769231 meters 0.017079700039760833 Centerline is valid? [True, True] Translation: X:194.05, Y:-13.18, Z:-1.26 [[ 9.89493104e-01 1.44462040e-01 5.84092898e-03 1.94052435e+02] [-1.44459922e-01 9.89510341e-01 -7.85086493e-04 -1.31823768e+01] [-5.89307483e-03 -6.69424763e-05 9.99982633e-01 -1.25903307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.365769231 meters 0.020195230341562162 Centerline is valid? [True, True] Translation: X:194.11, Y:-13.18, Z:-1.26 [[ 9.89000979e-01 1.47871067e-01 3.34830189e-03 1.94114972e+02] [-1.47870389e-01 9.89006646e-01 -4.50399323e-04 -1.31806961e+01] [-3.37809385e-03 -4.96693318e-05 9.99994293e-01 -1.26473774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.425769231 meters 0.02419430161182523 Centerline is valid? [True, True] Translation: X:194.18, Y:-13.18, Z:-1.27 [[ 9.88496365e-01 1.51229292e-01 2.15362264e-03 1.94175577e+02] [-1.51229019e-01 9.88498710e-01 -2.90081498e-04 -1.31777158e+01] [-2.17272202e-03 -3.89457325e-05 9.99997639e-01 -1.26840952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48576923099998 meters 0.024640400561787137 Centerline is valid? [True, True] Translation: X:194.24, Y:-13.18, Z:-1.27 [[ 9.88543476e-01 1.50899396e-01 3.34189272e-03 1.94235764e+02] [-1.50898736e-01 9.88549123e-01 -4.50175891e-04 -1.31784842e+01] [-3.37155639e-03 -5.92689466e-05 9.99994315e-01 -1.26661889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54576923099998 meters 0.018386840594314224 Centerline is valid? [True, True] Translation: X:194.30, Y:-13.19, Z:-1.27 [[ 9.89172824e-01 1.46721100e-01 3.16899987e-03 1.94296073e+02] [-1.46720486e-01 9.89177900e-01 -4.26670675e-04 -1.31938037e+01] [-3.19730622e-03 -4.29061644e-05 9.99994888e-01 -1.26606740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60576923099998 meters 0.012317607965963838 Centerline is valid? [True, True] Translation: X:194.36, Y:-13.21, Z:-1.26 [[ 9.90345561e-01 1.38445290e-01 6.96935417e-03 1.94355361e+02] [-1.38442111e-01 9.90370083e-01 -9.38910711e-04 -1.32100928e+01] [-7.03222763e-03 -3.50060476e-05 9.99975273e-01 -1.25750001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66576923099998 meters 0.011903868329912387 Centerline is valid? [True, True] Translation: X:194.41, Y:-13.23, Z:-1.25 [[ 9.91460124e-01 1.30046763e-01 9.72941325e-03 1.94414864e+02] [-1.30040155e-01 9.91507861e-01 -1.31148182e-03 -1.32320773e+01] [-9.81734368e-03 3.50675196e-05 9.99951808e-01 -1.25203225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.725769231 meters 0.013274947595902106 Centerline is valid? [True, True] Translation: X:194.48, Y:-13.24, Z:-1.26 [[ 9.91784574e-01 1.27811826e-01 5.24371030e-03 1.94475609e+02] [-1.27809873e-01 9.91798435e-01 -7.07219624e-04 -1.32445732e+01] [-5.29109470e-03 3.12115641e-05 9.99986002e-01 -1.26167778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.785769231 meters 0.011448200309989174 Centerline is valid? [True, True] Translation: X:194.54, Y:-13.25, Z:-1.26 [[ 9.91050974e-01 1.33455182e-01 2.77160634e-03 1.94538425e+02] [-1.33454657e-01 9.91054849e-01 -3.74037264e-04 -1.32477333e+01] [-2.79673112e-03 8.06219985e-07 9.99996089e-01 -1.26401877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.845769231 meters 0.012848379999814799 Centerline is valid? [True, True] Translation: X:194.60, Y:-13.25, Z:-1.26 [[ 9.90125650e-01 1.40063223e-01 5.78712722e-03 1.94600905e+02] [-1.40061044e-01 9.90142562e-01 -7.82107667e-04 -1.32482377e+01] [-5.83962549e-03 -3.61662198e-05 9.99982949e-01 -1.25989140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.905769231 meters 0.017646233075009222 Centerline is valid? [True, True] Translation: X:194.66, Y:-13.25, Z:-1.26 [[ 9.89176410e-01 1.46434271e-01 9.32918914e-03 1.94663072e+02] [-1.46428869e-01 9.89220395e-01 -1.26313567e-03 -1.32461650e+01] [-9.41359053e-03 -1.16598608e-04 9.99955684e-01 -1.25576537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.965769231 meters 0.020857778018033547 Centerline is valid? [True, True] Translation: X:194.72, Y:-13.25, Z:-1.26 [[ 9.88719467e-01 1.49535123e-01 8.54765789e-03 1.94724408e+02] [-1.49530694e-01 9.88756405e-01 -1.15858250e-03 -1.32478489e+01] [-8.62480027e-03 -1.32624139e-04 9.99962797e-01 -1.25705698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.025769231 meters 0.021436886167055004 Centerline is valid? [True, True] Translation: X:194.79, Y:-13.25, Z:-1.27 [[ 9.88640367e-01 1.50276405e-01 2.68842243e-03 1.94786325e+02] [-1.50275969e-01 9.88644021e-01 -3.64635588e-04 -1.32482095e+01] [-2.71268889e-03 -4.35118244e-05 9.99996320e-01 -1.26946134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.085769231 meters 0.0200358427163536 Centerline is valid? [True, True] Translation: X:194.85, Y:-13.25, Z:-1.27 [[ 9.88983909e-01 1.47924356e-01 5.40494905e-03 1.94845361e+02] [-1.47922556e-01 9.88998675e-01 -7.33440488e-04 -1.32471334e+01] [-5.45398116e-03 -7.41530385e-05 9.99985124e-01 -1.26504550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.145769231 meters 0.01335530399961704 Centerline is valid? [True, True] Translation: X:194.91, Y:-13.26, Z:-1.27 [[ 9.89980505e-01 1.41120406e-01 4.86112771e-03 1.94905978e+02] [-1.41118869e-01 9.89992439e-01 -6.59496448e-04 -1.32576070e+01] [-4.90554808e-03 -3.31082191e-05 9.99987967e-01 -1.26568596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.205769231 meters 0.013174432720278548 Centerline is valid? [True, True] Translation: X:194.97, Y:-13.28, Z:-1.27 [[ 9.91708026e-01 1.28399449e-01 5.36397133e-03 1.94966441e+02] [-1.28397392e-01 9.91722532e-01 -7.27587666e-04 -1.32779529e+01] [-5.41299308e-03 3.28346007e-05 9.99985349e-01 -1.26665551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26576923099998 meters 0.02405337591970276 Centerline is valid? [True, True] Translation: X:195.02, Y:-13.30, Z:-1.27 [[ 9.93245449e-01 1.15959022e-01 4.12106231e-03 1.95023024e+02] [-1.15957696e-01 9.93253995e-01 -5.60090811e-04 -1.33030037e+01] [-4.15820918e-03 7.84387591e-05 9.99991352e-01 -1.26900055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32576923099998 meters 0.03281018485166419 Centerline is valid? [True, True] Translation: X:195.08, Y:-13.32, Z:-1.27 [[ 9.93905636e-01 1.10146363e-01 4.40056037e-03 1.95080648e+02] [-1.10144795e-01 9.93915372e-01 -5.97898452e-04 -1.33249811e+01] [-4.43964094e-03 1.09555820e-04 9.99990139e-01 -1.26621086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38576923099998 meters 0.03283211839741418 Centerline is valid? [True, True] Translation: X:195.14, Y:-13.33, Z:-1.26 [[ 9.93868305e-01 1.10417727e-01 5.80673812e-03 1.95142135e+02] [-1.10414999e-01 9.93885258e-01 -7.89201042e-04 -1.33344859e+01] [-5.85837320e-03 1.43210916e-04 9.99982829e-01 -1.26498738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44576923099999 meters 0.026322363815238288 Centerline is valid? [True, True] Translation: X:195.20, Y:-13.34, Z:-1.27 [[ 9.93504214e-01 1.13671979e-01 5.29691584e-03 1.95203669e+02] [-1.13669751e-01 9.93518328e-01 -7.20876667e-04 -1.33356158e+01] [-5.34452644e-03 1.14094904e-04 9.99985711e-01 -1.26515770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.505769231 meters 0.024549170388615524 Centerline is valid? [True, True] Translation: X:195.27, Y:-13.34, Z:-1.27 [[ 9.93371098e-01 1.14856053e-01 4.68502749e-03 1.95265693e+02] [-1.14854323e-01 9.93382141e-01 -6.37611884e-04 -1.33439792e+01] [-4.72725622e-03 9.52895588e-05 9.99988822e-01 -1.26782953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.565769231 meters 0.02487291682597733 Centerline is valid? [True, True] Translation: X:195.33, Y:-13.36, Z:-1.28 [[ 9.93105504e-01 1.17217070e-01 1.27155685e-03 1.95325856e+02] [-1.17216946e-01 9.93106318e-01 -1.72268633e-04 -1.33552396e+01] [-1.28298397e-03 2.20329170e-05 9.99999177e-01 -1.27660186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.625769231 meters 0.017436042787630748 Centerline is valid? [True, True] Translation: X:195.39, Y:-13.35, Z:-1.27 [[ 9.92334245e-01 1.23516094e-01 4.06459791e-03 1.95387644e+02] [-1.23514860e-01 9.92342568e-01 -5.54119616e-04 -1.33548477e+01] [-4.10191622e-03 4.78336276e-05 9.99991586e-01 -1.27144622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.685769231 meters 0.015359359308528423 Centerline is valid? [True, True] Translation: X:195.45, Y:-13.36, Z:-1.27 [[ 9.92043476e-01 1.25832816e-01 3.98052506e-03 1.95449709e+02] [-1.25831653e-01 9.92051461e-01 -5.42298849e-04 -1.33594923e+01] [-4.01712470e-03 3.71079875e-05 9.99991931e-01 -1.27361476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.745769231 meters 0.018849018904783483 Centerline is valid? [True, True] Translation: X:195.51, Y:-13.38, Z:-1.27 [[ 9.92454126e-01 1.22552055e-01 3.97499850e-03 1.95508718e+02] [-1.22550866e-01 9.92462086e-01 -5.42282888e-04 -1.33795048e+01] [-4.01149318e-03 5.10513820e-05 9.99991953e-01 -1.27407674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.805769231 meters 0.02314309122521197 Centerline is valid? [True, True] Translation: X:195.57, Y:-13.40, Z:-1.27 [[ 9.93026797e-01 1.17794620e-01 4.71247059e-03 1.95568928e+02] [-1.17792889e-01 9.93037975e-01 -6.44114656e-04 -1.33977452e+01] [-4.75553550e-03 8.45275871e-05 9.99988689e-01 -1.27338299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.865769231 meters 0.023420006880606966 Centerline is valid? [True, True] Translation: X:195.63, Y:-13.41, Z:-1.27 [[ 9.93013186e-01 1.17926336e-01 4.26528762e-03 1.95631185e+02] [-1.17924920e-01 9.93022343e-01 -5.82778257e-04 -1.34109974e+01] [-4.30425081e-03 7.57227916e-05 9.99990734e-01 -1.27425299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.925769231 meters 0.019503731239344905 Centerline is valid? [True, True] Translation: X:195.69, Y:-13.42, Z:-1.27 [[ 9.92545136e-01 1.21799370e-01 4.36649463e-03 1.95692025e+02] [-1.21797918e-01 9.92554739e-01 -5.97916180e-04 -1.34187859e+01] [-4.40681075e-03 6.16288439e-05 9.99990288e-01 -1.27279427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98576923099998 meters 0.017957792363359277 Centerline is valid? [True, True] Translation: X:195.75, Y:-13.43, Z:-1.27 [[ 9.92236497e-01 1.24266119e-01 4.96642576e-03 1.95752698e+02] [-1.24264272e-01 9.92248925e-01 -6.79949090e-04 -1.34270937e+01] [-5.01242525e-03 5.75210213e-05 9.99987436e-01 -1.27211486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04576923099998 meters 0.012758094381455453 Centerline is valid? [True, True] Translation: X:195.82, Y:-13.43, Z:-1.27 [[ 9.91377494e-01 1.30908132e-01 5.80730174e-03 1.95815152e+02] [-1.30905714e-01 9.91394503e-01 -7.96144319e-04 -1.34308090e+01] [-5.86154878e-03 2.90705801e-05 9.99982821e-01 -1.27069749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10576923099998 meters 0.011329506081423054 Centerline is valid? [True, True] Translation: X:195.88, Y:-13.43, Z:-1.27 [[ 9.90399766e-01 1.38003223e-01 7.96329462e-03 1.95877914e+02] [-1.37998892e-01 9.90431780e-01 -1.09347668e-03 -1.34329185e+01] [-8.03800337e-03 -1.59467909e-05 9.99967695e-01 -1.26582553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16576923099998 meters 0.016129579200199036 Centerline is valid? [True, True] Translation: X:195.94, Y:-13.43, Z:-1.27 [[ 9.89305194e-01 1.45797547e-01 4.27876388e-03 1.95940290e+02] [-1.45796368e-01 9.89314446e-01 -5.87931865e-04 -1.34277808e+01] [-4.31876194e-03 -4.21841829e-05 9.99990673e-01 -1.27433461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.225769231 meters 0.015021125700294312 Centerline is valid? [True, True] Translation: X:196.00, Y:-13.44, Z:-1.28 [[ 9.89487888e-01 1.44603622e-01 1.87420314e-03 1.96001485e+02] [-1.44603395e-01 9.89489663e-01 -2.56943955e-04 -1.34394206e+01] [-1.89165966e-03 -1.67732056e-05 9.99998211e-01 -1.28046396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.285769231 meters 0.011419568622193236 Centerline is valid? [True, True] Translation: X:196.06, Y:-13.46, Z:-1.28 [[ 9.90627498e-01 1.36536840e-01 3.85367404e-03 1.96061499e+02] [-1.36535809e-01 9.90634994e-01 -5.30405244e-04 -1.34632732e+01] [-3.89000422e-03 -7.30485419e-07 9.99992434e-01 -1.27692238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.345769231 meters 0.014814427463021612 Centerline is valid? [True, True] Translation: X:196.12, Y:-13.49, Z:-1.28 [[ 9.91632674e-01 1.29083044e-01 1.48602083e-03 1.96120614e+02] [-1.29082883e-01 9.91633787e-01 -2.03853852e-04 -1.34880914e+01] [-1.49990254e-03 1.03282875e-05 9.99998875e-01 -1.28343711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.405769231 meters 0.015081273969801601 Centerline is valid? [True, True] Translation: X:196.18, Y:-13.50, Z:-1.28 [[ 9.91694590e-01 1.28524066e-01 4.83784709e-03 1.96180896e+02] [-1.28522341e-01 9.91706389e-01 -6.67149599e-04 -1.35019409e+01] [-4.88346864e-03 3.98372162e-05 9.99988075e-01 -1.27692238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.465769231 meters 0.015409476741444696 Centerline is valid? [True, True] Translation: X:196.24, Y:-13.52, Z:-1.27 [[ 9.91768859e-01 1.27851826e-01 6.95989187e-03 1.96242751e+02] [-1.27848228e-01 9.91793278e-01 -9.61345972e-04 -1.35177038e+01] [-7.02568381e-03 6.36231555e-05 9.99975318e-01 -1.27300446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.525769231 meters 0.016572368986764598 Centerline is valid? [True, True] Translation: X:196.30, Y:-13.53, Z:-1.28 [[ 9.91793717e-01 1.27724262e-01 5.63343706e-03 1.96302619e+02] [-1.27721898e-01 9.91809715e-01 -7.78981695e-04 -1.35346547e+01] [-5.68679247e-03 5.30758775e-05 9.99983829e-01 -1.27623336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.585769231 meters 0.014828868768205241 Centerline is valid? [True, True] Translation: X:196.36, Y:-13.54, Z:-1.27 [[ 9.91507217e-01 1.29880407e-01 6.67222156e-03 1.96364525e+02] [-1.29877129e-01 9.91529665e-01 -9.24061817e-04 -1.35431967e+01] [-6.73572313e-03 4.96449795e-05 9.99977314e-01 -1.27361126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.645769231 meters 0.011682666161555895 Centerline is valid? [True, True] Translation: X:196.43, Y:-13.55, Z:-1.27 [[ 9.90838689e-01 1.34924677e-01 5.83304807e-03 1.96426962e+02] [-1.34922255e-01 9.90855858e-01 -8.08632470e-04 -1.35480067e+01] [-5.88881433e-03 1.42163384e-05 9.99982661e-01 -1.27440054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.705769231 meters 0.011287959428509912 Centerline is valid? [True, True] Translation: X:196.49, Y:-13.55, Z:-1.28 [[ 9.90378438e-01 1.38277586e-01 5.46440775e-03 1.96489944e+02] [-1.38275507e-01 9.90393512e-01 -7.58276866e-04 -1.35532923e+01] [-5.51676668e-03 -4.61269371e-06 9.99984783e-01 -1.27540250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76576923099998 meters 0.011164225604012732 Centerline is valid? [True, True] Translation: X:196.55, Y:-13.56, Z:-1.27 [[ 9.90374360e-01 1.38236268e-01 7.02577715e-03 1.96552244e+02] [-1.38232817e-01 9.90399280e-01 -9.76666467e-04 -1.35635970e+01] [-7.09333536e-03 -3.92754303e-06 9.99974842e-01 -1.27313712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82576923099998 meters 0.011763254220873463 Centerline is valid? [True, True] Translation: X:196.61, Y:-13.58, Z:-1.28 [[ 9.90626455e-01 1.36573154e-01 2.64597640e-03 1.96612307e+02] [-1.36572659e-01 9.90629988e-01 -3.67661837e-04 -1.35772921e+01] [-2.67139631e-03 2.84750869e-06 9.99996432e-01 -1.28246982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88576923099998 meters 0.012049213992541956 Centerline is valid? [True, True] Translation: X:196.67, Y:-13.59, Z:-1.28 [[ 9.90797075e-01 1.35308076e-01 3.58890935e-03 1.96673819e+02] [-1.35307154e-01 9.90803575e-01 -4.99498854e-04 -1.35937670e+01] [-3.62349044e-03 9.29689208e-06 9.99993435e-01 -1.28221075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94576923099999 meters 0.011363261215312987 Centerline is valid? [True, True] Translation: X:196.74, Y:-13.60, Z:-1.28 [[ 9.90522751e-01 1.37258693e-01 4.97292071e-03 1.96735765e+02] [-1.37256941e-01 9.90535235e-01 -6.93599284e-04 -1.36019517e+01] [-5.02105571e-03 4.45798853e-06 9.99987394e-01 -1.28085542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.005769231 meters 0.013204941163072213 Centerline is valid? [True, True] Translation: X:196.80, Y:-13.60, Z:-1.29 [[ 9.89539163e-01 1.44246521e-01 2.27739140e-03 1.96798701e+02] [-1.44246172e-01 9.89541783e-01 -3.17353484e-04 -1.36018832e+01] [-2.29935108e-03 -1.44712909e-05 9.99997356e-01 -1.28637199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.065769231 meters 0.016737264350680382 Centerline is valid? [True, True] Translation: X:196.86, Y:-13.60, Z:-1.28 [[ 9.88733719e-01 1.49639634e-01 3.68970499e-03 1.96860750e+02] [-1.49638751e-01 9.88740602e-01 -5.15577563e-04 -1.36039426e+01] [-3.72531198e-03 -4.23539270e-05 9.99993060e-01 -1.28304301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.125769231 meters 0.020854353935776775 Centerline is valid? [True, True] Translation: X:196.92, Y:-13.60, Z:-1.28 [[ 9.88096727e-01 1.53657572e-01 7.36265904e-03 1.96922108e+02] [-1.53654154e-01 9.88124151e-01 -1.03100543e-03 -1.36045125e+01] [-7.43364301e-03 -1.12570057e-04 9.99972364e-01 -1.27736905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.185769231 meters 0.02489829461762417 Centerline is valid? [True, True] Translation: X:196.98, Y:-13.61, Z:-1.28 [[ 9.87799674e-01 1.55618806e-01 5.88141267e-03 1.96983252e+02] [-1.55616659e-01 9.87817178e-01 -8.23692218e-04 -1.36056157e+01] [-5.93794246e-03 -1.01602885e-04 9.99982365e-01 -1.28005876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.245769231 meters 0.025849682242357834 Centerline is valid? [True, True] Translation: X:197.04, Y:-13.61, Z:-1.28 [[ 9.87298480e-01 1.58815370e-01 4.40342490e-03 1.97044610e+02] [-1.58814200e-01 9.87308295e-01 -6.16432046e-04 -1.36121163e+01] [-4.44543682e-03 -9.07239794e-05 9.99990115e-01 -1.28115849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.305769231 meters 0.03279591551611893 Centerline is valid? [True, True] Translation: X:197.11, Y:-13.61, Z:-1.28 [[ 9.86288861e-01 1.64902035e-01 6.44990481e-03 1.97106190e+02] [-1.64899644e-01 9.86309936e-01 -9.04470383e-04 -1.36051500e+01] [-6.51075421e-03 -1.71517943e-04 9.99978790e-01 -1.27737979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.365769231 meters 0.04039237224324362 Centerline is valid? [True, True] Translation: X:197.17, Y:-13.59, Z:-1.28 [[ 9.85271257e-01 1.70852304e-01 7.07399310e-03 1.97168082e+02] [-1.70849580e-01 9.85296624e-01 -9.91983953e-04 -1.35944959e+01] [-7.13946426e-03 -2.31215478e-04 9.99974487e-01 -1.27583884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.425769231 meters 0.04374786473560922 Centerline is valid? [True, True] Translation: X:197.23, Y:-13.59, Z:-1.28 [[ 9.84965179e-01 1.72695650e-01 4.45081352e-03 1.97227941e+02] [-1.72694590e-01 9.84975222e-01 -6.24130913e-04 -1.35875962e+01] [-4.49172573e-03 -1.53884203e-04 9.99989900e-01 -1.28221884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48576923099998 meters 0.037911257790257585 Centerline is valid? [True, True] Translation: X:197.29, Y:-13.60, Z:-1.28 [[ 9.85523305e-01 1.69492888e-01 3.99695521e-03 1.97286324e+02] [-1.69492008e-01 9.85531402e-01 -5.60429672e-04 -1.35991928e+01] [-4.03411372e-03 -1.25135461e-04 9.99991855e-01 -1.28340924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54576923099998 meters 0.034203856117758794 Centerline is valid? [True, True] Translation: X:197.35, Y:-13.61, Z:-1.28 [[ 9.86039576e-01 1.66474411e-01 3.49644287e-03 1.97345083e+02] [-1.66473719e-01 9.86045770e-01 -4.90190244e-04 -1.36077934e+01] [-3.52925684e-03 -9.87188673e-05 9.99993767e-01 -1.28460580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60576923099998 meters 0.0305989885916658 Centerline is valid? [True, True] Translation: X:197.40, Y:-13.62, Z:-1.29 [[ 9.86649268e-01 1.62829386e-01 3.13250783e-03 1.97404747e+02] [-1.62828812e-01 9.86654238e-01 -4.39066274e-04 -1.36152230e+01] [-3.16219502e-03 -7.68581106e-05 9.99994997e-01 -1.28715869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66576923099998 meters 0.029920402861948185 Centerline is valid? [True, True] Translation: X:197.46, Y:-13.62, Z:-1.29 [[ 9.86935316e-01 1.61070764e-01 3.85874575e-03 1.97463552e+02] [-1.61069880e-01 9.86942856e-01 -5.40830565e-04 -1.36215809e+01] [-3.89547354e-03 -8.77629305e-05 9.99992409e-01 -1.28686819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.725769231 meters 0.028406093155099593 Centerline is valid? [True, True] Translation: X:197.52, Y:-13.63, Z:-1.28 [[ 9.87037557e-01 1.60405658e-01 5.18518082e-03 1.97522515e+02] [-1.60404053e-01 9.87051170e-01 -7.26565084e-04 -1.36299324e+01] [-5.23458395e-03 -1.14576994e-04 9.99986293e-01 -1.28499709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.785769231 meters 0.026039913044984115 Centerline is valid? [True, True] Translation: X:197.58, Y:-13.64, Z:-1.29 [[ 9.87508106e-01 1.57530501e-01 3.44695400e-03 1.97580713e+02] [-1.57529774e-01 9.87514120e-01 -4.83012616e-04 -1.36373400e+01] [-3.48000496e-03 -6.60190113e-05 9.99993943e-01 -1.28871460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.845769231 meters 0.023912825464474756 Centerline is valid? [True, True] Translation: X:197.64, Y:-13.65, Z:-1.29 [[ 9.87874248e-01 1.55245074e-01 1.85393500e-03 1.97639210e+02] [-1.55244860e-01 9.87875987e-01 -2.59774200e-04 -1.36488192e+01] [-1.87178653e-03 -3.11896363e-05 9.99998248e-01 -1.29226538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.905769231 meters 0.022813154133713077 Centerline is valid? [True, True] Translation: X:197.70, Y:-13.66, Z:-1.29 [[ 9.87831448e-01 1.55506340e-01 2.60935980e-03 1.97698250e+02] [-1.55505917e-01 9.87834893e-01 -3.65504606e-04 -1.36580629e+01] [-2.63445495e-03 -4.47139449e-05 9.99996529e-01 -1.29049007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.965769231 meters 0.026702381023586984 Centerline is valid? [True, True] Translation: X:197.76, Y:-13.66, Z:-1.29 [[ 9.87201281e-01 1.59423091e-01 4.23196708e-03 1.97758386e+02] [-1.59422015e-01 9.87210347e-01 -5.92587576e-04 -1.36571907e+01] [-4.27231383e-03 -8.96655038e-05 9.99990870e-01 -1.28519501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.025769231 meters 0.038848736053015795 Centerline is valid? [True, True] Translation: X:197.82, Y:-13.64, Z:-1.28 [[ 9.86094889e-01 1.66061116e-01 6.36997132e-03 1.97820324e+02] [-1.66058818e-01 9.86115447e-01 -8.91718466e-04 -1.36393171e+01] [-6.42960687e-03 -1.78470885e-04 9.99979314e-01 -1.28110893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.085769231 meters 0.04775748284427067 Centerline is valid? [True, True] Translation: X:197.88, Y:-13.62, Z:-1.29 [[ 9.84853378e-01 1.73384139e-01 1.32793365e-03 1.97883041e+02] [-1.73384046e-01 9.84854273e-01 -1.85928704e-04 -1.36225674e+01] [-1.34005822e-03 -4.71299968e-05 9.99999101e-01 -1.29168945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.145769231 meters 0.049853034068381076 Centerline is valid? [True, True] Translation: X:197.94, Y:-13.61, Z:-1.29 [[ 9.84680184e-01 1.74328718e-01 3.79914573e-03 1.97943342e+02] [-1.74327962e-01 9.84687503e-01 -5.31960114e-04 -1.36106983e+01] [-3.83370724e-03 -1.38486748e-04 9.99992642e-01 -1.28599803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20576923099998 meters 0.04703358672111839 Centerline is valid? [True, True] Translation: X:198.00, Y:-13.61, Z:-1.28 [[ 9.85103322e-01 1.71856575e-01 6.06315253e-03 1.98004026e+02] [-1.71854605e-01 9.85121959e-01 -8.48387050e-04 -1.36082172e+01] [-6.11874559e-03 -2.06231781e-04 9.99981259e-01 -1.28311483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26576923099998 meters 0.044883963121519446 Centerline is valid? [True, True] Translation: X:198.06, Y:-13.61, Z:-1.29 [[ 9.85547052e-01 1.69323441e-01 5.15572520e-03 1.98064553e+02] [-1.69321982e-01 9.85560524e-01 -7.21307432e-04 -1.36098482e+01] [-5.20341348e-03 -1.62095198e-04 9.99986449e-01 -1.28629970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32576923099998 meters 0.029622422408872105 Centerline is valid? [True, True] Translation: X:198.12, Y:-13.63, Z:-1.29 [[ 9.86335689e-01 1.64673900e-01 4.94115603e-03 1.98123203e+02] [-1.64672502e-01 9.86348057e-01 -6.91271903e-04 -1.36263190e+01] [-4.98753409e-03 -1.31846377e-04 9.99987553e-01 -1.28622629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38576923099998 meters 0.0306315052739779 Centerline is valid? [True, True] Translation: X:198.18, Y:-13.63, Z:-1.29 [[ 9.87455322e-01 1.57861046e-01 3.44628409e-03 1.98183059e+02] [-1.57860324e-01 9.87461334e-01 -4.82093137e-04 -1.36273934e+01] [-3.47917601e-03 -6.79860901e-05 9.99993945e-01 -1.29246314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44576923099999 meters 0.02392413723220563 Centerline is valid? [True, True] Translation: X:198.24, Y:-13.64, Z:-1.29 [[ 9.88272950e-01 1.52611143e-01 5.13968244e-03 1.98241069e+02] [-1.52609468e-01 9.88286312e-01 -7.18762381e-04 -1.36433585e+01] [-5.18916895e-03 -7.40307843e-05 9.99986533e-01 -1.28911779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.505769231 meters 0.01845919674401052 Centerline is valid? [True, True] Translation: X:198.30, Y:-13.66, Z:-1.29 [[ 9.88701758e-01 1.49768538e-01 6.18204731e-03 1.98298257e+02] [-1.49766061e-01 9.88721083e-01 -8.64390109e-04 -1.36594218e+01] [-6.24177896e-03 -7.12368542e-05 9.99980517e-01 -1.28598796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.565769231 meters 0.015617900276584766 Centerline is valid? [True, True] Translation: X:198.36, Y:-13.68, Z:-1.29 [[ 9.89010039e-01 1.47735795e-01 5.76863776e-03 1.98355901e+02] [-1.47733605e-01 9.89026861e-01 -8.06330411e-04 -1.36753230e+01] [-5.82446156e-03 -5.47527817e-05 9.99983036e-01 -1.28652550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.625769231 meters 0.014135232432754679 Centerline is valid? [True, True] Translation: X:198.41, Y:-13.69, Z:-1.29 [[ 9.89412288e-01 1.45061390e-01 4.52962642e-03 1.98411948e+02] [-1.45060012e-01 9.89422656e-01 -6.33089220e-04 -1.36897807e+01] [-4.57355180e-03 -3.06814102e-05 9.99989541e-01 -1.28915949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.685769231 meters 0.012767622585574422 Centerline is valid? [True, True] Translation: X:198.47, Y:-13.70, Z:-1.29 [[ 9.89698477e-01 1.43090766e-01 4.68593238e-03 1.98469496e+02] [-1.43089270e-01 9.89709570e-01 -6.54608487e-04 -1.37044377e+01] [-4.73138055e-03 -2.26416215e-05 9.99988807e-01 -1.28871794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.745769231 meters 0.011707969358488928 Centerline is valid? [True, True] Translation: X:198.53, Y:-13.72, Z:-1.29 [[ 9.90030933e-01 1.40745488e-01 5.42763990e-03 1.98526419e+02] [-1.40743448e-01 9.90045811e-01 -7.57902744e-04 -1.37191157e+01] [-5.48028354e-03 -1.35575929e-05 9.99984983e-01 -1.28760115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.805769231 meters 0.012930538025815598 Centerline is valid? [True, True] Translation: X:198.58, Y:-13.73, Z:-1.29 [[ 9.89736398e-01 1.42866706e-01 3.31170412e-03 1.98583459e+02] [-1.42865958e-01 9.89741938e-01 -4.62476913e-04 -1.37259804e+01] [-3.34380500e-03 -1.53995481e-05 9.99994409e-01 -1.29236107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.865769231 meters 0.01635311075917735 Centerline is valid? [True, True] Translation: X:198.64, Y:-13.73, Z:-1.30 [[ 9.89048235e-01 1.47585184e-01 1.48419966e-03 1.98642785e+02] [-1.47585039e-01 9.89049348e-01 -2.07318385e-04 -1.37272019e+01] [-1.49854382e-03 -1.39977817e-05 9.99998877e-01 -1.29703877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.925769231 meters 0.02020574370986365 Centerline is valid? [True, True] Translation: X:198.70, Y:-13.73, Z:-1.30 [[ 9.88368723e-01 1.52064122e-01 1.94178956e-03 1.98701836e+02] [-1.52063883e-01 9.88370630e-01 -2.71099807e-04 -1.37271881e+01] [-1.96043233e-03 -2.73294895e-05 9.99998078e-01 -1.29537255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98576923099998 meters 0.02430571506887863 Centerline is valid? [True, True] Translation: X:198.76, Y:-13.72, Z:-1.29 [[ 9.87854055e-01 1.55325808e-01 4.27304646e-03 1.98760106e+02] [-1.55324683e-01 9.87863294e-01 -5.95841941e-04 -1.37248626e+01] [-4.31373539e-03 -7.51047107e-05 9.99990693e-01 -1.29149561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04576923099998 meters 0.025621395123191174 Centerline is valid? [True, True] Translation: X:198.82, Y:-13.72, Z:-1.29 [[ 9.87317355e-01 1.58623507e-01 6.55922288e-03 1.98820571e+02] [-1.58620935e-01 9.87339133e-01 -9.13873767e-04 -1.37228266e+01] [-6.62113929e-03 -1.38146634e-04 9.99978070e-01 -1.28820266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10576923099998 meters 0.025570519441108348 Centerline is valid? [True, True] Translation: X:198.88, Y:-13.72, Z:-1.29 [[ 9.87604213e-01 1.56896449e-01 4.62847214e-03 1.98879774e+02] [-1.56895150e-01 9.87615055e-01 -6.44861009e-04 -1.37197724e+01] [-4.67232517e-03 -8.93173794e-05 9.99989081e-01 -1.29174087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16576923099998 meters 0.019601153002822738 Centerline is valid? [True, True] Translation: X:198.94, Y:-13.73, Z:-1.29 [[ 9.88482926e-01 1.51272524e-01 4.25762753e-03 1.98938909e+02] [-1.51271373e-01 9.88492094e-01 -5.92948434e-04 -1.37278706e+01] [-4.29832796e-03 -5.79377612e-05 9.99990760e-01 -1.29304166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.225769231 meters 0.01334510382439413 Centerline is valid? [True, True] Translation: X:199.00, Y:-13.74, Z:-1.29 [[ 9.89664396e-01 1.43319788e-01 4.88068182e-03 1.98996260e+02] [-1.43318179e-01 9.89676431e-01 -6.79626425e-04 -1.37411305e+01] [-4.92769968e-03 -2.68883572e-05 9.99987858e-01 -1.29211608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.285769231 meters 0.011648552837568138 Centerline is valid? [True, True] Translation: X:199.05, Y:-13.76, Z:-1.29 [[ 9.90584302e-01 1.36840283e-01 4.18053728e-03 1.99052639e+02] [-1.36839046e-01 9.90593124e-01 -5.82014676e-04 -1.37565434e+01] [-4.22085454e-03 4.47386989e-06 9.99991092e-01 -1.29292908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.345769231 meters 0.017508732445092403 Centerline is valid? [True, True] Translation: X:199.11, Y:-13.78, Z:-1.29 [[ 9.91905042e-01 1.26931097e-01 3.58942434e-03 1.99108919e+02] [-1.26930121e-01 9.91911536e-01 -4.99485254e-04 -1.37817184e+01] [-3.62379162e-03 3.98358764e-05 9.99993433e-01 -1.29497101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.405769231 meters 0.02522817127772054 Centerline is valid? [True, True] Translation: X:199.16, Y:-13.81, Z:-1.29 [[ 9.92843182e-01 1.19300951e-01 5.44971219e-03 1.99164793e+02] [-1.19298587e-01 9.92858133e-01 -7.58017458e-04 -1.38090466e+01] [-5.50122327e-03 1.02449502e-04 9.99984863e-01 -1.29055504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.465769231 meters 0.02864733972077276 Centerline is valid? [True, True] Translation: X:199.22, Y:-13.83, Z:-1.29 [[ 9.93147735e-01 1.16705458e-01 6.11663225e-03 1.99221730e+02] [-1.16702432e-01 9.93166562e-01 -8.50601311e-04 -1.38308396e+01] [-6.17410443e-03 1.30946909e-04 9.99980931e-01 -1.29081127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.525769231 meters 0.028151833772049207 Centerline is valid? [True, True] Translation: X:199.28, Y:-13.85, Z:-1.30 [[ 9.93034061e-01 1.17808912e-01 2.10088056e-03 1.99280203e+02] [-1.17808557e-01 9.93036283e-01 -2.92157704e-04 -1.38474166e+01] [-2.12066941e-03 4.26208422e-05 9.99997750e-01 -1.29834298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.585769231 meters 0.025278665246507816 Centerline is valid? [True, True] Translation: X:199.34, Y:-13.86, Z:-1.30 [[ 9.92679405e-01 1.20773346e-01 1.18240190e-03 1.99339565e+02] [-1.20773235e-01 9.92680109e-01 -1.64558978e-04 -1.38558962e+01] [-1.19362118e-03 2.05518057e-05 9.99999287e-01 -1.30030413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.645769231 meters 0.016252213932439245 Centerline is valid? [True, True] Translation: X:199.40, Y:-13.85, Z:-1.30 [[ 9.91610245e-01 1.29217163e-01 3.47069954e-03 1.99400362e+02] [-1.29216266e-01 9.91616319e-01 -4.82650721e-04 -1.38522245e+01] [-3.50396905e-03 3.01305677e-05 9.99993861e-01 -1.29563538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70576923099998 meters 0.012824802622380463 Centerline is valid? [True, True] Translation: X:199.46, Y:-13.85, Z:-1.30 [[ 9.90991571e-01 1.33837977e-01 4.80641852e-03 1.99459965e+02] [-1.33836310e-01 9.91003227e-01 -6.68258689e-04 -1.38540097e+01] [-4.85261465e-03 1.89654098e-05 9.99988226e-01 -1.29502260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76576923099998 meters 0.012730690565006043 Centerline is valid? [True, True] Translation: X:199.52, Y:-13.86, Z:-1.29 [[ 9.90984385e-01 1.33882216e-01 5.04984465e-03 1.99518332e+02] [-1.33880377e-01 9.90997251e-01 -7.01946103e-04 -1.38626163e+01] [-5.09836026e-03 1.95425223e-05 9.99987003e-01 -1.29468616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82576923099998 meters 0.013998416629255593 Centerline is valid? [True, True] Translation: X:199.58, Y:-13.88, Z:-1.30 [[ 9.91481632e-01 1.30186309e-01 3.96217930e-03 1.99577394e+02] [-1.30185149e-01 9.91489548e-01 -5.50516235e-04 -1.38791396e+01] [-4.00012904e-03 3.00098344e-05 9.99991999e-01 -1.29593297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88576923099998 meters 0.01572751961923838 Centerline is valid? [True, True] Translation: X:199.63, Y:-13.90, Z:-1.29 [[ 9.91749471e-01 1.28057440e-01 5.85489718e-03 1.99634955e+02] [-1.28054868e-01 9.91766751e-01 -8.13509555e-04 -1.38962986e+01] [-5.91086831e-03 5.70495823e-05 9.99982529e-01 -1.29237290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94576923099999 meters 0.016279567812500163 Centerline is valid? [True, True] Translation: X:199.69, Y:-13.91, Z:-1.30 [[ 9.91792860e-01 1.27784382e-01 4.25145031e-03 1.99692925e+02] [-1.27783025e-01 9.91801971e-01 -5.90491869e-04 -1.39137184e+01] [-4.29205244e-03 4.23824393e-05 9.99990788e-01 -1.29619128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.005769231 meters 0.013933196443905862 Centerline is valid? [True, True] Translation: X:199.75, Y:-13.93, Z:-1.30 [[ 9.91315311e-01 1.31484934e-01 2.38059519e-03 1.99752786e+02] [-1.31484519e-01 9.91318169e-01 -3.30825247e-04 -1.39260231e+01] [-2.40342580e-03 1.49407196e-05 9.99997112e-01 -1.29895800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.065769231 meters 0.011779949901678383 Centerline is valid? [True, True] Translation: X:199.81, Y:-13.93, Z:-1.30 [[ 9.90554393e-01 1.37083760e-01 3.16823312e-03 1.99811706e+02] [-1.37083053e-01 9.90559459e-01 -4.40485186e-04 -1.39336795e+01] [-3.19870665e-03 2.01346824e-06 9.99994884e-01 -1.29750746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.125769231 meters 0.014363407230616534 Centerline is valid? [True, True] Translation: X:199.87, Y:-13.93, Z:-1.30 [[ 9.89550536e-01 1.44167039e-01 2.36662561e-03 1.99870818e+02] [-1.44166664e-01 9.89553366e-01 -3.29075499e-04 -1.39330386e+01] [-2.38934418e-03 -1.55516837e-05 9.99997145e-01 -1.30028467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.185769231 meters 0.016765311415534567 Centerline is valid? [True, True] Translation: X:199.93, Y:-13.94, Z:-1.30 [[ 9.89019965e-01 1.47771976e-01 1.71839846e-03 1.99929340e+02] [-1.47771784e-01 9.89021457e-01 -2.39012257e-04 -1.39385653e+01] [-1.73485227e-03 -1.75429119e-05 9.99998495e-01 -1.30236093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.245769231 meters 0.018015721529468058 Centerline is valid? [True, True] Translation: X:199.99, Y:-13.95, Z:-1.31 [[ 9.88916928e-01 1.48461235e-01 1.60356499e-03 1.99986575e+02] [-1.48461068e-01 9.88918228e-01 -2.23078408e-04 -1.39466708e+01] [-1.61891315e-03 -1.74609576e-05 9.99998689e-01 -1.30514940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.305769231 meters 0.0172250785071329 Centerline is valid? [True, True] Translation: X:200.04, Y:-13.96, Z:-1.31 [[ 9.89026317e-01 1.47739429e-01 6.66286648e-05 2.00043730e+02] [-1.47739429e-01 9.89026320e-01 -9.57811709e-06 -1.39602401e+01] [-6.73125687e-05 -3.70670997e-07 9.99999998e-01 -1.30727234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.365769231 meters 0.019886185110161783 Centerline is valid? [True, True] Translation: X:200.10, Y:-13.96, Z:-1.30 [[ 9.88464116e-01 1.51428162e-01 2.86399323e-03 2.00103457e+02] [-1.51427646e-01 9.88468265e-01 -3.97661531e-04 -1.39612510e+01] [-2.89118357e-03 -4.06135983e-05 9.99995820e-01 -1.30129151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.425769231 meters 0.025168473807056415 Centerline is valid? [True, True] Translation: X:200.16, Y:-13.96, Z:-1.30 [[ 9.87670439e-01 1.56451841e-01 5.47049192e-03 2.00163082e+02] [-1.56450036e-01 9.87685583e-01 -7.58981928e-04 -1.39572846e+01] [-5.52187012e-03 -1.06234645e-04 9.99984749e-01 -1.29687978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48576923099998 meters 0.02453166332864504 Centerline is valid? [True, True] Translation: X:200.22, Y:-13.96, Z:-1.29 [[ 9.87577608e-01 1.56947323e-01 7.61619004e-03 2.00221979e+02] [-1.56943842e-01 9.87606964e-01 -1.05629951e-03 -1.39621077e+01] [-7.68758570e-03 -1.52136389e-04 9.99970439e-01 -1.29374874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54576923099998 meters 0.022460209511687264 Centerline is valid? [True, True] Translation: X:200.28, Y:-13.97, Z:-1.30 [[ 9.88201992e-01 1.53095854e-01 4.29921241e-03 2.00279264e+02] [-1.53094709e-01 9.88211341e-01 -5.96227608e-04 -1.39701570e+01] [-4.33981043e-03 -6.89933606e-05 9.99990581e-01 -1.30085206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60576923099998 meters 0.013402725877912728 Centerline is valid? [True, True] Translation: X:200.34, Y:-14.00, Z:-1.30 [[ 9.89749165e-01 1.42738998e-01 4.70847571e-03 2.00335963e+02] [-1.42737508e-01 9.89760364e-01 -6.52590926e-04 -1.39960254e+01] [-4.75341281e-03 -2.61747676e-05 9.99988702e-01 -1.29995367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66576923099998 meters 0.012215907335890461 Centerline is valid? [True, True] Translation: X:200.39, Y:-14.02, Z:-1.30 [[ 9.90996401e-01 1.33815043e-01 4.43484329e-03 2.00394388e+02] [-1.33813634e-01 9.91006324e-01 -6.14453332e-04 -1.40237084e+01] [-4.47718084e-03 1.54785459e-05 9.99989977e-01 -1.30107942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.725769231 meters 0.012396686897762112 Centerline is valid? [True, True] Translation: X:200.45, Y:-14.03, Z:-1.31 [[ 9.90873690e-01 1.34789741e-01 1.02731071e-03 2.00453899e+02] [-1.34789665e-01 9.90874223e-01 -1.42373986e-04 -1.40319709e+01] [-1.03712626e-03 2.60377020e-06 9.99999462e-01 -1.30692364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.785769231 meters 0.013031708144426462 Centerline is valid? [True, True] Translation: X:200.51, Y:-14.03, Z:-1.31 [[ 9.89942867e-01 1.41460043e-01 1.47512274e-03 2.00514050e+02] [-1.41459895e-01 9.89943966e-01 -2.04697997e-04 -1.40281411e+01] [-1.48924545e-03 -6.03138624e-06 9.99998891e-01 -1.30691996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.845769231 meters 0.01575700938216018 Centerline is valid? [True, True] Translation: X:200.57, Y:-14.03, Z:-1.31 [[ 9.89256715e-01 1.46184134e-01 1.16194035e-03 2.00573706e+02] [-1.46184046e-01 9.89257398e-01 -1.61262907e-04 -1.40257578e+01] [-1.17303216e-03 -1.03267270e-05 9.99999312e-01 -1.30724761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.905769231 meters 0.02061366864172001 Centerline is valid? [True, True] Translation: X:200.63, Y:-14.02, Z:-1.31 [[ 9.88448944e-01 1.51553475e-01 4.78371373e-04 2.00633695e+02] [-1.51553461e-01 9.88449060e-01 -6.65662024e-05 -1.40177346e+01] [-4.82934073e-04 -6.70154475e-06 9.99999883e-01 -1.30893760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.965769231 meters 0.021878038637404996 Centerline is valid? [True, True] Translation: X:200.69, Y:-14.01, Z:-1.30 [[ 9.88171767e-01 1.53274758e-01 4.83814032e-03 2.00693980e+02] [-1.53273315e-01 9.88183607e-01 -6.69909774e-04 -1.40149438e+01] [-4.88365122e-03 -7.95718817e-05 9.99988072e-01 -1.30251422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.025769231 meters 0.020833931096891876 Centerline is valid? [True, True] Translation: X:200.75, Y:-14.02, Z:-1.31 [[ 9.88385154e-01 1.51923254e-01 3.75659683e-03 2.00753125e+02] [-1.51922374e-01 9.88392291e-01 -5.20009063e-04 -1.40199232e+01] [-3.79199282e-03 -5.67418716e-05 9.99992809e-01 -1.30563932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.085769231 meters 0.018730579805476516 Centerline is valid? [True, True] Translation: X:200.81, Y:-14.03, Z:-1.31 [[ 9.88828903e-01 1.49035342e-01 2.42214444e-03 2.00810657e+02] [-1.49034968e-01 9.88831869e-01 -3.35395686e-04 -1.40260004e+01] [-2.44507942e-03 -2.93352703e-05 9.99997010e-01 -1.30761210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.145769231 meters 0.016078196726051187 Centerline is valid? [True, True] Translation: X:200.87, Y:-14.04, Z:-1.30 [[ 9.89229777e-01 1.46259812e-01 5.70225753e-03 2.00868704e+02] [-1.46257696e-01 9.89246210e-01 -7.88674370e-04 -1.40369011e+01] [-5.75628802e-03 -5.38188765e-05 9.99983431e-01 -1.30169784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20576923099998 meters 0.0147267687947684 Centerline is valid? [True, True] Translation: X:200.93, Y:-14.05, Z:-1.31 [[ 9.89544580e-01 1.44180346e-01 3.68118235e-03 2.00926724e+02] [-1.44179450e-01 9.89551427e-01 -5.09043650e-04 -1.40502308e+01] [-3.71611334e-03 -2.70294613e-05 9.99993095e-01 -1.30597254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26576923099998 meters 0.013738007121513813 Centerline is valid? [True, True] Translation: X:200.98, Y:-14.06, Z:-1.31 [[ 9.89718903e-01 1.42984622e-01 3.44821409e-03 2.00983938e+02] [-1.42983828e-01 9.89724910e-01 -4.76767348e-04 -1.40633034e+01] [-3.48095377e-03 -2.11731945e-05 9.99993941e-01 -1.30583697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32576923099998 meters 0.012773319074492381 Centerline is valid? [True, True] Translation: X:201.04, Y:-14.08, Z:-1.30 [[ 9.89967400e-01 1.41229141e-01 4.34467777e-03 2.01041035e+02] [-1.41227866e-01 9.89976934e-01 -6.00419481e-04 -1.40763757e+01] [-4.38592750e-03 -1.91938583e-05 9.99990382e-01 -1.30483822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38576923099998 meters 0.012632032708447186 Centerline is valid? [True, True] Translation: X:201.10, Y:-14.09, Z:-1.31 [[ 9.89990074e-01 1.41081693e-01 3.95075769e-03 2.01098843e+02] [-1.41080639e-01 9.89997957e-01 -5.45826447e-04 -1.40886501e+01] [-3.98824816e-03 -1.70126523e-05 9.99992047e-01 -1.30511152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44576923099999 meters 0.015172225590395896 Centerline is valid? [True, True] Translation: X:201.16, Y:-14.09, Z:-1.31 [[ 9.89437755e-01 1.44936118e-01 2.53961725e-03 2.01157808e+02] [-1.44935695e-01 9.89441014e-01 -3.50863587e-04 -1.40906683e+01] [-2.56365427e-03 -2.09235114e-05 9.99996714e-01 -1.30870323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.505769231 meters 0.020103684414756864 Centerline is valid? [True, True] Translation: X:201.22, Y:-14.09, Z:-1.31 [[ 9.88416196e-01 1.51759830e-01 1.54181632e-03 2.01218114e+02] [-1.51759683e-01 9.88417398e-01 -2.13010707e-04 -1.40856829e+01] [-1.55628455e-03 -2.34423228e-05 9.99998789e-01 -1.31076070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.565769231 meters 0.02274537114351628 Centerline is valid? [True, True] Translation: X:201.28, Y:-14.08, Z:-1.31 [[ 9.88007661e-01 1.54402470e-01 8.59861660e-04 2.01278290e+02] [-1.54402424e-01 9.88008035e-01 -1.18952768e-04 -1.40820369e+01] [-8.67916830e-04 -1.52384791e-05 9.99999623e-01 -1.31369552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.625769231 meters 0.01971087087681958 Centerline is valid? [True, True] Translation: X:201.34, Y:-14.09, Z:-1.31 [[ 9.88596510e-01 1.50573748e-01 2.11815921e-03 2.01335422e+02] [-1.50573467e-01 9.88598779e-01 -2.92468039e-04 -1.40918682e+01] [-2.13804762e-03 -2.98056935e-05 9.99997714e-01 -1.31276070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.685769231 meters 0.014436355384331913 Centerline is valid? [True, True] Translation: X:201.39, Y:-14.11, Z:-1.31 [[ 9.89594531e-01 1.43845335e-01 3.34412548e-03 2.01392352e+02] [-1.43844598e-01 9.89600181e-01 -4.61242355e-04 -1.41080046e+01] [-3.37569474e-03 -2.45914725e-05 9.99994302e-01 -1.31184011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.745769231 meters 0.011840239757890869 Centerline is valid? [True, True] Translation: X:201.45, Y:-14.13, Z:-1.31 [[ 9.90857636e-01 1.34837157e-01 4.48168559e-03 2.01449422e+02] [-1.34835742e-01 9.90867772e-01 -6.17751311e-04 -1.41295812e+01] [-4.52405365e-03 7.81220328e-06 9.99989766e-01 -1.31053224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.805769231 meters 0.012555258345258676 Centerline is valid? [True, True] Translation: X:201.51, Y:-14.15, Z:-1.31 [[ 9.91189770e-01 1.32380728e-01 4.26419890e-03 2.01506444e+02] [-1.32379425e-01 9.91198942e-01 -5.87708137e-04 -1.41463816e+01] [-4.30447067e-03 1.80380948e-05 9.99990736e-01 -1.31006477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.865769231 meters 0.013684493317583483 Centerline is valid? [True, True] Translation: X:201.56, Y:-14.16, Z:-1.31 [[ 9.91457081e-01 1.30400458e-01 2.92862897e-03 2.01564885e+02] [-1.30399835e-01 9.91461406e-01 -4.03460258e-04 -1.41645814e+01] [-2.95623400e-03 1.81207958e-05 9.99995630e-01 -1.31270871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.925769231 meters 0.012556359147169623 Centerline is valid? [True, True] Translation: X:201.62, Y:-14.18, Z:-1.31 [[ 9.91116494e-01 1.32954485e-01 3.34672126e-03 2.01622278e+02] [-1.32953685e-01 9.91122144e-01 -4.61187936e-04 -1.41758275e+01] [-3.37832656e-03 1.21320450e-05 9.99994293e-01 -1.31249134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98576923099998 meters 0.011768682063799295 Centerline is valid? [True, True] Translation: X:201.68, Y:-14.18, Z:-1.31 [[ 9.90360098e-01 1.38403604e-01 5.59626524e-03 2.01681673e+02] [-1.38401458e-01 9.90375910e-01 -7.70830890e-04 -1.41757664e+01] [-5.64909206e-03 -1.11311113e-05 9.99984044e-01 -1.30773228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04576923099998 meters 0.013127115908836804 Centerline is valid? [True, True] Translation: X:201.74, Y:-14.18, Z:-1.31 [[ 9.89980032e-01 1.41177330e-01 2.91501982e-03 2.01741133e+02] [-1.41176760e-01 9.89984324e-01 -4.01436158e-04 -1.41783359e+01] [-2.94249761e-03 -1.41192738e-05 9.99995671e-01 -1.31288473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10576923099998 meters 0.012959044778732708 Centerline is valid? [True, True] Translation: X:201.80, Y:-14.18, Z:-1.31 [[ 9.90010359e-01 1.40934006e-01 4.13461153e-03 2.01798808e+02] [-1.40932857e-01 9.90018993e-01 -5.69331766e-04 -1.41848849e+01] [-4.17358215e-03 -1.90582722e-05 9.99991290e-01 -1.31176891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16576923099998 meters 0.012287909600690984 Centerline is valid? [True, True] Translation: X:201.86, Y:-14.19, Z:-1.31 [[ 9.90187980e-01 1.39653160e-01 4.97591023e-03 2.01857893e+02] [-1.39651482e-01 9.90200482e-01 -6.84692783e-04 -1.41932493e+01] [-5.02276821e-03 -1.69186739e-05 9.99987386e-01 -1.31107253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.225769231 meters 0.011811170238742239 Centerline is valid? [True, True] Translation: X:201.92, Y:-14.21, Z:-1.32 [[ 9.90637497e-01 1.36468080e-01 3.71651206e-03 2.01915995e+02] [-1.36467122e-01 9.90644469e-01 -5.11350824e-04 -1.42076576e+01] [-3.75152518e-03 -6.18403390e-07 9.99992963e-01 -1.31537716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.285769231 meters 0.012418364650832486 Centerline is valid? [True, True] Translation: X:201.97, Y:-14.22, Z:-1.32 [[ 9.90968481e-01 1.34084870e-01 1.64815923e-03 2.01974208e+02] [-1.34084679e-01 9.90969852e-01 -2.26757278e-04 -1.42228327e+01] [-1.66368083e-03 3.71641399e-06 9.99998616e-01 -1.31967088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.345769231 meters 0.012021268664489004 Centerline is valid? [True, True] Translation: X:202.03, Y:-14.23, Z:-1.32 [[ 9.90675347e-01 1.36207394e-01 3.14674167e-03 2.02033760e+02] [-1.36206706e-01 9.90680345e-01 -4.32867347e-04 -1.42283880e+01] [-3.17637485e-03 2.23691402e-07 9.99994955e-01 -1.31555014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.405769231 meters 0.012348980015447961 Centerline is valid? [True, True] Translation: X:202.09, Y:-14.23, Z:-1.32 [[ 9.90320687e-01 1.38755314e-01 3.44943893e-03 2.02092500e+02] [-1.38754503e-01 9.90326695e-01 -4.74490651e-04 -1.42303603e+01] [-3.48190956e-03 -8.72727858e-06 9.99993938e-01 -1.31565896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.465769231 meters 0.012819259094161104 Centerline is valid? [True, True] Translation: X:202.15, Y:-14.24, Z:-1.32 [[ 9.90149776e-01 1.39980311e-01 2.98905333e-03 2.02151630e+02] [-1.39979709e-01 9.90154287e-01 -4.10971988e-04 -1.42369854e+01] [-3.01715196e-03 -1.14829934e-05 9.99995448e-01 -1.31616255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.525769231 meters 0.012102585653001454 Centerline is valid? [True, True] Translation: X:202.21, Y:-14.25, Z:-1.31 [[ 9.90582373e-01 1.36879864e-01 3.23501830e-03 2.02210084e+02] [-1.36879141e-01 9.90587655e-01 -4.44699858e-04 -1.42515569e+01] [-3.26543965e-03 -2.29468629e-06 9.99994668e-01 -1.31439963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.585769231 meters 0.011840512058077774 Centerline is valid? [True, True] Translation: X:202.27, Y:-14.26, Z:-1.31 [[ 9.90635681e-01 1.36388641e-01 6.25191483e-03 2.02267796e+02] [-1.36385935e-01 9.90655409e-01 -8.59105440e-04 -1.42604553e+01] [-6.31066546e-03 -1.61274612e-06 9.99980088e-01 -1.30965084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.645769231 meters 0.01277147650769433 Centerline is valid? [True, True] Translation: X:202.33, Y:-14.27, Z:-1.32 [[ 9.90220396e-01 1.39486439e-01 2.66453671e-03 2.02327446e+02] [-1.39485959e-01 9.90223981e-01 -3.66141788e-04 -1.42650602e+01] [-2.68955996e-03 -9.10439205e-06 9.99996383e-01 -1.31734355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70576923099998 meters 0.013509561944255576 Centerline is valid? [True, True] Translation: X:202.39, Y:-14.27, Z:-1.32 [[ 9.90029483e-01 1.40845335e-01 2.05302496e-03 2.02385181e+02] [-1.40845053e-01 9.90031611e-01 -2.82159420e-04 -1.42731250e+01] [-2.07230044e-03 -9.81226399e-06 9.99997853e-01 -1.31897991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76576923099998 meters 0.013420566131561621 Centerline is valid? [True, True] Translation: X:202.44, Y:-14.28, Z:-1.32 [[ 9.89979074e-01 1.41142917e-01 4.48432583e-03 2.02444166e+02] [-1.41141576e-01 9.89989230e-01 -6.15814772e-04 -1.42832888e+01] [-4.52635217e-03 -2.32810758e-05 9.99989756e-01 -1.31548223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82576923099998 meters 0.014743905485481422 Centerline is valid? [True, True] Translation: X:202.50, Y:-14.29, Z:-1.32 [[ 9.89558332e-01 1.44048566e-01 4.93141876e-03 2.02503852e+02] [-1.44046980e-01 9.89570619e-01 -6.77078745e-04 -1.42867621e+01] [-4.97751934e-03 -4.03470685e-05 9.99987611e-01 -1.31632259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88576923099998 meters 0.016686067650223024 Centerline is valid? [True, True] Translation: X:202.56, Y:-14.29, Z:-1.32 [[ 9.89217100e-01 1.46352151e-01 5.52965086e-03 2.02562623e+02] [-1.46350194e-01 9.89232553e-01 -7.59108481e-04 -1.42862046e+01] [-5.58120779e-03 -5.83423829e-05 9.99984423e-01 -1.31628870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94576923099999 meters 0.017079649758937096 Centerline is valid? [True, True] Translation: X:202.62, Y:-14.29, Z:-1.32 [[ 9.89219946e-01 1.46356098e-01 4.87765645e-03 2.02620759e+02] [-1.46354577e-01 9.89231970e-01 -6.69349600e-04 -1.42879216e+01] [-4.92309709e-03 -5.17333695e-05 9.99987880e-01 -1.31781408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.005769231 meters 0.017989238033450244 Centerline is valid? [True, True] Translation: X:202.68, Y:-14.29, Z:-1.32 [[ 9.89203207e-01 1.46472918e-01 4.76437775e-03 2.02679474e+02] [-1.46471470e-01 9.89214679e-01 -6.53521342e-04 -1.42872956e+01] [-4.80871559e-03 -5.13800036e-05 9.99988437e-01 -1.31814692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.065769231 meters 0.01790936591669558 Centerline is valid? [True, True] Translation: X:202.74, Y:-14.29, Z:-1.31 [[ 9.89038059e-01 1.47508805e-01 6.69859334e-03 2.02739620e+02] [-1.47505969e-01 9.89060739e-01 -9.18266842e-04 -1.42853610e+01] [-6.76076813e-03 -7.98816440e-05 9.99977143e-01 -1.31472634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.125769231 meters 0.01649086918795295 Centerline is valid? [True, True] Translation: X:202.80, Y:-14.29, Z:-1.32 [[ 9.89456711e-01 1.44676981e-01 6.63229034e-03 2.02798515e+02] [-1.44674139e-01 9.89478937e-01 -9.08859422e-04 -1.42854771e+01] [-6.69400263e-03 -6.02438399e-05 9.99977593e-01 -1.31590361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.185769231 meters 0.012638469713638415 Centerline is valid? [True, True] Translation: X:202.86, Y:-14.30, Z:-1.32 [[ 9.90305363e-01 1.38833531e-01 4.53197664e-03 2.02856682e+02] [-1.38832143e-01 9.90315733e-01 -6.20932215e-04 -1.42959378e+01] [-4.57429398e-03 -1.42715252e-05 9.99989538e-01 -1.31971910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.245769231 meters 0.012224427966752572 Centerline is valid? [True, True] Translation: X:202.91, Y:-14.31, Z:-1.32 [[ 9.91006360e-01 1.33622187e-01 7.17675988e-03 2.02914166e+02] [-1.33618574e-01 9.91032346e-01 -9.82750579e-04 -1.43050170e+01] [-7.24371847e-03 1.49636547e-05 9.99973764e-01 -1.31500101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.305769231 meters 0.01378453479430155 Centerline is valid? [True, True] Translation: X:202.97, Y:-14.31, Z:-1.32 [[ 9.91543570e-01 1.29564027e-01 7.38323265e-03 2.02972457e+02] [-1.29560094e-01 9.91571057e-01 -1.01057215e-03 -1.43146434e+01] [-7.45193360e-03 4.54539986e-05 9.99972233e-01 -1.31627964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.365769231 meters 0.017694110784887796 Centerline is valid? [True, True] Translation: X:203.03, Y:-14.33, Z:-1.32 [[ 9.92306207e-01 1.23605514e-01 7.07596794e-03 2.03030358e+02] [-1.23601752e-01 9.92331431e-01 -9.68184582e-04 -1.43296215e+01] [-7.14137834e-03 8.61335354e-05 9.99974496e-01 -1.31828322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.425769231 meters 0.024680966059289468 Centerline is valid? [True, True] Translation: X:203.09, Y:-14.35, Z:-1.32 [[ 9.93023494e-01 1.17576810e-01 8.94612629e-03 2.03087869e+02] [-1.17570554e-01 9.93063778e-01 -1.22384611e-03 -1.43498229e+01] [-9.02796989e-03 1.63506921e-04 9.99959234e-01 -1.31507425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48576923099998 meters 0.032572928975309945 Centerline is valid? [True, True] Translation: X:203.14, Y:-14.37, Z:-1.32 [[ 9.93783590e-01 1.10902943e-01 9.73211492e-03 2.03144939e+02] [-1.10895220e-01 9.93831212e-01 -1.33131781e-03 -1.43737827e+01] [-9.81972663e-03 2.43796769e-04 9.99951756e-01 -1.31594381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54576923099998 meters 0.03230911452266916 Centerline is valid? [True, True] Translation: X:203.20, Y:-14.39, Z:-1.32 [[ 9.94151162e-01 1.07534453e-01 9.99046295e-03 2.03204773e+02] [-1.07526145e-01 9.94201318e-01 -1.36665948e-03 -1.43871471e+01] [-1.00794944e-02 2.84430146e-04 9.99949160e-01 -1.31752700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60576923099998 meters 0.038980135708883215 Centerline is valid? [True, True] Translation: X:203.26, Y:-14.41, Z:-1.32 [[ 9.94308990e-01 1.06039868e-01 1.02556929e-02 2.03263273e+02] [-1.06031027e-01 9.94361831e-01 -1.40354697e-03 -1.44113904e+01] [-1.03467015e-02 3.08137720e-04 9.99946424e-01 -1.31625253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66576923099998 meters 0.03754741614477371 Centerline is valid? [True, True] Translation: X:203.32, Y:-14.43, Z:-1.32 [[ 9.94145435e-01 1.07750914e-01 8.03708004e-03 2.03324004e+02] [-1.07745532e-01 9.94177896e-01 -1.10094304e-03 -1.44256730e+01] [-8.10891494e-03 2.28538031e-04 9.99967096e-01 -1.31903266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.725769231 meters 0.03155190636320709 Centerline is valid? [True, True] Translation: X:203.38, Y:-14.43, Z:-1.32 [[ 9.93492354e-01 1.13590168e-01 8.37953208e-03 2.03383085e+02] [-1.13584515e-01 9.93527673e-01 -1.14898499e-03 -1.44321337e+01] [-8.45581041e-03 1.89722716e-04 9.99964231e-01 -1.31857367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.785769231 meters 0.023134480401880264 Centerline is valid? [True, True] Translation: X:203.45, Y:-14.43, Z:-1.32 [[ 9.93016360e-01 1.17673277e-01 8.45626904e-03 2.03445460e+02] [-1.17667668e-01 9.93052353e-01 -1.15954816e-03 -1.44329691e+01] [-8.53396569e-03 1.56420835e-04 9.99963573e-01 -1.31779631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.845769231 meters 0.018658541219330943 Centerline is valid? [True, True] Translation: X:203.51, Y:-14.44, Z:-1.32 [[ 9.92366066e-01 1.23037153e-01 8.45275971e-03 2.03506032e+02] [-1.23031741e-01 9.92402059e-01 -1.15934194e-03 -1.44353233e+01] [-8.53117827e-03 1.10533861e-04 9.99963603e-01 -1.31785978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.905769231 meters 0.011964391475130115 Centerline is valid? [True, True] Translation: X:203.57, Y:-14.42, Z:-1.32 [[ 9.90875144e-01 1.34522233e-01 8.37955424e-03 2.03567419e+02] [-1.34517324e-01 9.90910575e-01 -1.14935201e-03 -1.44246883e+01] [-8.45800232e-03 1.16691268e-05 9.99964230e-01 -1.31784180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.965769231 meters 0.015042525681682937 Centerline is valid? [True, True] Translation: X:203.63, Y:-14.41, Z:-1.32 [[ 9.89632662e-01 1.43420419e-01 7.60118054e-03 2.03627163e+02] [-1.43416643e-01 9.89661851e-01 -1.04239860e-03 -1.44138490e+01] [-7.67209965e-03 -5.85440968e-05 9.99970567e-01 -1.32034261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.025769231 meters 0.019895590915861024 Centerline is valid? [True, True] Translation: X:203.69, Y:-14.41, Z:-1.32 [[ 9.88861783e-01 1.48652850e-01 7.39620410e-03 2.03687223e+02] [-1.48649424e-01 9.88889438e-01 -1.01386705e-03 -1.44093360e+01] [-7.46474235e-03 -9.68670989e-05 9.99972134e-01 -1.32184550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.085769231 meters 0.01916185608416647 Centerline is valid? [True, True] Translation: X:203.75, Y:-14.42, Z:-1.32 [[ 9.88989048e-01 1.47728628e-01 8.77015428e-03 2.03745934e+02] [-1.47723778e-01 9.89027927e-01 -1.20178101e-03 -1.44179383e+01] [-8.85146497e-03 -1.07012068e-04 9.99960819e-01 -1.32098347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.145769231 meters 0.01327247240303504 Centerline is valid? [True, True] Translation: X:203.80, Y:-14.44, Z:-1.32 [[ 9.90083156e-01 1.40165560e-01 9.43185222e-03 2.03803508e+02] [-1.40159614e-01 9.90128080e-01 -1.29186771e-03 -1.44413321e+01] [-9.51981708e-03 -4.29083069e-05 9.99954685e-01 -1.32076945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20576923099998 meters 0.012091252821663031 Centerline is valid? [True, True] Translation: X:203.86, Y:-14.47, Z:-1.32 [[ 9.91028115e-01 1.33385869e-01 8.45484818e-03 2.03861488e+02] [-1.33380844e-01 9.91064180e-01 -1.15799558e-03 -1.44675235e+01] [-8.53375743e-03 1.98913878e-05 9.99963587e-01 -1.32410718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26576923099998 meters 0.012569236682688728 Centerline is valid? [True, True] Translation: X:203.92, Y:-14.49, Z:-1.32 [[ 9.91171948e-01 1.32249775e-01 9.38971684e-03 2.03918815e+02] [-1.32243526e-01 9.91216422e-01 -1.28610398e-03 -1.44866813e+01] [-9.47732849e-03 3.30209259e-05 9.99955089e-01 -1.32083083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32576923099998 meters 0.011940237259497754 Centerline is valid? [True, True] Translation: X:203.98, Y:-14.50, Z:-1.32 [[ 9.90694684e-01 1.35579087e-01 1.19311848e-02 2.03977758e+02] [-1.35569239e-01 9.90766527e-01 -1.63409805e-03 -1.44992391e+01] [-1.20425680e-02 1.39060617e-06 9.99927486e-01 -1.31626747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38576923099998 meters 0.012570556953010025 Centerline is valid? [True, True] Translation: X:204.04, Y:-14.51, Z:-1.32 [[ 9.90199107e-01 1.39117253e-01 1.23336239e-02 2.04037244e+02] [-1.39107004e-01 9.90275915e-01 -1.68914979e-03 -1.45055714e+01] [-1.24486806e-02 -4.30988663e-05 9.99922511e-01 -1.31596692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44576923099999 meters 0.016533317337662435 Centerline is valid? [True, True] Translation: X:204.10, Y:-14.50, Z:-1.32 [[ 9.89274317e-01 1.45817154e-01 8.58384044e-03 2.04097832e+02] [-1.45812443e-01 9.89311553e-01 -1.17549963e-03 -1.45040299e+01] [-8.66350053e-03 -8.87391474e-05 9.99962467e-01 -1.32299671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.505769231 meters 0.019700169195864738 Centerline is valid? [True, True] Translation: X:204.16, Y:-14.51, Z:-1.32 [[ 9.88767597e-01 1.49257603e-01 7.79792330e-03 2.04157785e+02] [-1.49253824e-01 9.88798339e-01 -1.06770088e-03 -1.45057965e+01] [-7.86993608e-03 -1.08161841e-04 9.99969026e-01 -1.32449024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.565769231 meters 0.0185566607110197 Centerline is valid? [True, True] Translation: X:204.22, Y:-14.51, Z:-1.33 [[ 9.88828718e-01 1.48844094e-01 7.94995792e-03 2.04217105e+02] [-1.48840153e-01 9.88860670e-01 -1.08832316e-03 -1.45124649e+01] [-8.02339119e-03 -1.07107764e-04 9.99967806e-01 -1.32520207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.625769231 meters 0.017553881839062476 Centerline is valid? [True, True] Translation: X:204.28, Y:-14.52, Z:-1.33 [[ 9.89129751e-01 1.46808681e-01 8.33952720e-03 2.04275247e+02] [-1.46804274e-01 9.89164901e-01 -1.14142192e-03 -1.45196678e+01] [-8.41673825e-03 -9.52638586e-05 9.99964574e-01 -1.32602871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.685769231 meters 0.01763009737629636 Centerline is valid? [True, True] Translation: X:204.33, Y:-14.52, Z:-1.33 [[ 9.89266289e-01 1.45914221e-01 7.82624605e-03 2.04333093e+02] [-1.45910315e-01 9.89297242e-01 -1.07087511e-03 -1.45233894e+01] [-7.89873954e-03 -8.25493783e-05 9.99968801e-01 -1.32700620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.745769231 meters 0.018955435917448967 Centerline is valid? [True, True] Translation: X:204.39, Y:-14.53, Z:-1.33 [[ 9.89063243e-01 1.47349992e-01 6.47152173e-03 2.04392149e+02] [-1.47347354e-01 9.89084412e-01 -8.85168530e-04 -1.45264588e+01] [-6.53131084e-03 -7.80739477e-05 9.99978668e-01 -1.33033228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.805769231 meters 0.018447167383641428 Centerline is valid? [True, True] Translation: X:204.45, Y:-14.53, Z:-1.33 [[ 9.89011334e-01 1.47596396e-01 8.47845894e-03 2.04450918e+02] [-1.47591881e-01 9.89047670e-01 -1.15918532e-03 -1.45328459e+01] [-8.55669164e-03 -1.04904279e-04 9.99963385e-01 -1.32717634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.865769231 meters 0.016250840364110456 Centerline is valid? [True, True] Translation: X:204.51, Y:-14.55, Z:-1.33 [[ 9.89295023e-01 1.45665297e-01 8.77379747e-03 2.04508934e+02] [-1.45660390e-01 9.89333924e-01 -1.19917679e-03 -1.45456724e+01] [-8.85489392e-03 -9.16551297e-05 9.99960790e-01 -1.32680495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.925769231 meters 0.013335090158184142 Centerline is valid? [True, True] Translation: X:204.57, Y:-14.56, Z:-1.33 [[ 9.90035857e-01 1.40609783e-01 7.60857712e-03 2.04566027e+02] [-1.40605945e-01 9.90065092e-01 -1.03975950e-03 -1.45599959e+01] [-7.67918697e-03 -4.04119854e-05 9.99970514e-01 -1.32946320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98576923099998 meters 0.011835487939783696 Centerline is valid? [True, True] Translation: X:204.62, Y:-14.58, Z:-1.33 [[ 9.90460722e-01 1.37432577e-01 9.99219582e-03 2.04624328e+02] [-1.37425797e-01 9.90511124e-01 -1.36527294e-03 -1.45769651e+01] [-1.00850141e-02 -2.09362546e-05 9.99949145e-01 -1.32531545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04576923099998 meters 0.011489976954124773 Centerline is valid? [True, True] Translation: X:204.68, Y:-14.60, Z:-1.33 [[ 9.90773849e-01 1.35249702e-01 8.64279174e-03 2.04684096e+02] [-1.35244547e-01 9.90811545e-01 -1.18079428e-03 -1.45952962e+01] [-8.72307991e-03 1.00964178e-06 9.99961953e-01 -1.32637739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10576923099998 meters 0.01174544913349427 Centerline is valid? [True, True] Translation: X:204.74, Y:-14.61, Z:-1.33 [[ 9.90558482e-01 1.36905041e-01 7.13467403e-03 2.04742972e+02] [-1.36901570e-01 9.90584176e-01 -9.74890654e-04 -1.46067335e+01] [-7.20096264e-03 -1.10618733e-05 9.99974073e-01 -1.33057818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16576923099998 meters 0.011798116907398947 Centerline is valid? [True, True] Translation: X:204.80, Y:-14.62, Z:-1.33 [[ 9.90333259e-01 1.38437173e-01 8.67097154e-03 2.04803125e+02] [-1.38432106e-01 9.90371217e-01 -1.18475384e-03 -1.46221928e+01] [-8.75149462e-03 -2.70397221e-05 9.99961705e-01 -1.32865854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.225769231 meters 0.01229687847676468 Centerline is valid? [True, True] Translation: X:204.86, Y:-14.64, Z:-1.33 [[ 9.90189855e-01 1.39541520e-01 7.22605698e-03 2.04862737e+02] [-1.39538029e-01 9.90216220e-01 -9.87518634e-04 -1.46364324e+01] [-7.29315868e-03 -3.04788149e-05 9.99973404e-01 -1.33143657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.285769231 meters 0.012774703299226626 Centerline is valid? [True, True] Translation: X:204.92, Y:-14.65, Z:-1.33 [[ 9.90067685e-01 1.40446999e-01 6.37332335e-03 2.04923355e+02] [-1.40444296e-01 9.90088198e-01 -8.71965785e-04 -1.46479012e+01] [-6.43261720e-03 -3.17917612e-05 9.99979310e-01 -1.33346507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.345769231 meters 0.014475435240746164 Centerline is valid? [True, True] Translation: X:204.98, Y:-14.66, Z:-1.33 [[ 9.89627840e-01 1.43476470e-01 7.15822568e-03 2.04982850e+02] [-1.43473138e-01 9.89653727e-01 -9.79542291e-04 -1.46575955e+01] [-7.22470599e-03 -5.76307766e-05 9.99973900e-01 -1.33280176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.405769231 meters 0.016447810678374874 Centerline is valid? [True, True] Translation: X:205.04, Y:-14.67, Z:-1.33 [[ 9.89270108e-01 1.45938515e-01 6.82670981e-03 2.05041897e+02] [-1.45935543e-01 9.89293659e-01 -9.34177164e-04 -1.46670981e+01] [-6.88995316e-03 -7.21060620e-05 9.99976261e-01 -1.33390710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.465769231 meters 0.020084928381178323 Centerline is valid? [True, True] Translation: X:205.10, Y:-14.67, Z:-1.33 [[ 9.88647649e-01 1.50111776e-01 6.50236643e-03 2.05102647e+02] [-1.50109169e-01 9.88669027e-01 -8.89793532e-04 -1.46705187e+01] [-6.56225678e-03 -9.63725407e-05 9.99978464e-01 -1.33405904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.525769231 meters 0.02301427945986018 Centerline is valid? [True, True] Translation: X:205.16, Y:-14.67, Z:-1.33 [[ 9.88224367e-01 1.52872830e-01 6.51903620e-03 2.05162807e+02] [-1.52870270e-01 9.88245862e-01 -8.92085139e-04 -1.46728886e+01] [-6.57878613e-03 -1.14986554e-04 9.99978353e-01 -1.33386977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.585769231 meters 0.03217446937890184 Centerline is valid? [True, True] Translation: X:205.22, Y:-14.66, Z:-1.33 [[ 9.86917684e-01 1.61052439e-01 7.45634851e-03 2.05224267e+02] [-1.61049325e-01 9.86945831e-01 -1.02016136e-03 -1.46622972e+01] [-7.52331155e-03 -1.94024614e-04 9.99971681e-01 -1.33243688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.645769231 meters 0.03374981134672969 Centerline is valid? [True, True] Translation: X:205.28, Y:-14.66, Z:-1.33 [[ 9.86768166e-01 1.62001272e-01 6.64635670e-03 2.05283903e+02] [-1.61998819e-01 9.86790533e-01 -9.09364642e-04 -1.46595410e+01] [-6.70588010e-03 -1.79369856e-04 9.99977499e-01 -1.33484848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70576923099998 meters 0.024024217978892842 Centerline is valid? [True, True] Translation: X:205.34, Y:-14.68, Z:-1.33 [[ 9.88064222e-01 1.53881776e-01 7.03511099e-03 2.05342827e+02] [-1.53878824e-01 9.88089258e-01 -9.62213850e-04 -1.46769535e+01] [-7.09938478e-03 -1.31825528e-04 9.99974790e-01 -1.33499821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76576923099998 meters 0.01676618078916368 Centerline is valid? [True, True] Translation: X:205.40, Y:-14.69, Z:-1.33 [[ 9.89331291e-01 1.45489455e-01 7.51104287e-03 2.05401204e+02] [-1.45485848e-01 9.89359799e-01 -1.02729297e-03 -1.46937759e+01] [-7.58058416e-03 -7.64173622e-05 9.99971264e-01 -1.33452523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82576923099998 meters 0.011378687427291385 Centerline is valid? [True, True] Translation: X:205.46, Y:-14.72, Z:-1.34 [[ 9.90638213e-01 1.36387618e-01 5.86073310e-03 2.05460997e+02] [-1.36385263e-01 9.90655549e-01 -8.01395304e-04 -1.47174935e+01] [-5.91526817e-03 -5.42481518e-06 9.99982505e-01 -1.33919503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88576923099998 meters 0.011433184101041697 Centerline is valid? [True, True] Translation: X:205.52, Y:-14.73, Z:-1.34 [[ 9.90787314e-01 1.35370132e-01 3.92750688e-03 2.05521724e+02] [-1.35369063e-01 9.90795099e-01 -5.37750318e-04 -1.47269590e+01] [-3.96414990e-03 1.13326435e-06 9.99992143e-01 -1.34153442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94576923099999 meters 0.01166207227068412 Centerline is valid? [True, True] Translation: X:205.58, Y:-14.73, Z:-1.34 [[ 9.90461675e-01 1.37691397e-01 5.17194596e-03 2.05580838e+02] [-1.37689575e-01 9.90475178e-01 -7.08379225e-04 -1.47307904e+01] [-5.22022182e-03 -1.05005664e-05 9.99986374e-01 -1.34165980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.005769231 meters 0.011335375210072522 Centerline is valid? [True, True] Translation: X:205.64, Y:-14.74, Z:-1.34 [[ 9.90657454e-01 1.36273550e-01 5.22759176e-03 2.05639319e+02] [-1.36271670e-01 9.90671247e-01 -7.15897359e-04 -1.47436368e+01] [-5.27638272e-03 -3.16360310e-06 9.99986080e-01 -1.34285284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.065769231 meters 0.011462164931531424 Centerline is valid? [True, True] Translation: X:205.70, Y:-14.76, Z:-1.34 [[ 9.91005213e-01 1.33697505e-01 5.80034669e-03 2.05699852e+02] [-1.33695147e-01 9.91022188e-01 -7.94224777e-04 -1.47599437e+01] [-5.85445814e-03 1.16026936e-05 9.99982862e-01 -1.33905719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.125769231 meters 0.01141833315634857 Centerline is valid? [True, True] Translation: X:205.76, Y:-14.77, Z:-1.34 [[ 9.90919708e-01 1.34316436e-01 6.10149411e-03 2.05760470e+02] [-1.34313831e-01 9.90938492e-01 -8.36570214e-04 -1.47707578e+01] [-6.15857050e-03 9.45886394e-06 9.99981036e-01 -1.33855697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.185769231 meters 0.011378644013650237 Centerline is valid? [True, True] Translation: X:205.82, Y:-14.77, Z:-1.33 [[ 9.90321085e-01 1.38514620e-01 8.82314540e-03 2.05821618e+02] [-1.38509326e-01 9.90360389e-01 -1.21130423e-03 -1.47737709e+01] [-8.90587705e-03 -2.25077955e-05 9.99960342e-01 -1.33365089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.245769231 meters 0.013387222440609222 Centerline is valid? [True, True] Translation: X:205.88, Y:-14.78, Z:-1.33 [[ 9.89716821e-01 1.42684101e-01 1.00926412e-02 2.05882745e+02] [-1.42677389e-01 9.89768277e-01 -1.38566502e-03 -1.47800484e+01] [-1.01870884e-02 -6.85757093e-05 9.99948108e-01 -1.33030460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.305769231 meters 0.013826119321110629 Centerline is valid? [True, True] Translation: X:205.94, Y:-14.79, Z:-1.34 [[ 9.89672373e-01 1.43139837e-01 7.71893962e-03 2.05942859e+02] [-1.43135923e-01 9.89702472e-01 -1.06001407e-03 -1.47883623e+01] [-7.79118387e-03 -5.57908998e-05 9.99969647e-01 -1.33514559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.365769231 meters 0.013951451329501005 Centerline is valid? [True, True] Translation: X:206.00, Y:-14.80, Z:-1.34 [[ 9.89596840e-01 1.43634704e-01 8.19547793e-03 2.06003706e+02] [-1.43630299e-01 9.89630773e-01 -1.12662753e-03 -1.47985245e+01] [-8.27231997e-03 -6.22119055e-05 9.99965782e-01 -1.33591049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.425769231 meters 0.01464589737237553 Centerline is valid? [True, True] Translation: X:206.06, Y:-14.81, Z:-1.34 [[ 9.89534306e-01 1.44091723e-01 7.70926349e-03 2.06063656e+02] [-1.44087837e-01 9.89564334e-01 -1.05998660e-03 -1.48069828e+01] [-7.78154749e-03 -6.19180008e-05 9.99969721e-01 -1.33706354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48576923099998 meters 0.014832182158475494 Centerline is valid? [True, True] Translation: X:206.12, Y:-14.82, Z:-1.34 [[ 9.89453756e-01 1.44728108e-01 5.91942516e-03 2.06124121e+02] [-1.44725827e-01 9.89471461e-01 -8.14161541e-04 -1.48171780e+01] [-5.97493432e-03 -5.11185047e-05 9.99982149e-01 -1.34105033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54576923099998 meters 0.016221635987478198 Centerline is valid? [True, True] Translation: X:206.18, Y:-14.82, Z:-1.35 [[ 9.89338967e-01 1.45567814e-01 4.29182422e-03 2.06184043e+02] [-1.45566623e-01 9.89348275e-01 -5.90389146e-04 -1.48229842e+01] [-4.33205054e-03 -4.06513683e-05 9.99990616e-01 -1.34541808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60576923099998 meters 0.015437851652009199 Centerline is valid? [True, True] Translation: X:206.24, Y:-14.83, Z:-1.34 [[ 9.89333152e-01 1.45620126e-01 3.83315739e-03 2.06243650e+02] [-1.45619176e-01 9.89340577e-01 -5.27367214e-04 -1.48322535e+01] [-3.86909342e-03 -3.64393513e-05 9.99992514e-01 -1.34454437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66576923099998 meters 0.01604818710255575 Centerline is valid? [True, True] Translation: X:206.30, Y:-14.84, Z:-1.34 [[ 9.89212181e-01 1.46341629e-01 6.58702630e-03 2.06302982e+02] [-1.46338839e-01 9.89234109e-01 -9.06249919e-04 -1.48383422e+01] [-6.64873318e-03 -6.74643216e-05 9.99977895e-01 -1.34001061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.725769231 meters 0.016087275569483802 Centerline is valid? [True, True] Translation: X:206.36, Y:-14.84, Z:-1.34 [[ 9.89213419e-01 1.46265362e-01 7.95338917e-03 2.06363441e+02] [-1.46261292e-01 9.89245388e-01 -1.09413628e-03 -1.48446820e+01] [-8.02788779e-03 -8.09386863e-05 9.99967773e-01 -1.33723834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.785769231 meters 0.012585077128661705 Centerline is valid? [True, True] Translation: X:206.42, Y:-14.86, Z:-1.34 [[ 9.89864291e-01 1.41908911e-01 5.52690738e-03 2.06424740e+02] [-1.41906879e-01 9.89879720e-01 -7.60087997e-04 -1.48564975e+01] [-5.57883679e-03 -3.19222100e-05 9.99984438e-01 -1.34145237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.845769231 meters 0.011268050021724953 Centerline is valid? [True, True] Translation: X:206.48, Y:-14.87, Z:-1.34 [[ 9.90275057e-01 1.38998832e-01 5.88527161e-03 2.06484005e+02] [-1.38996469e-01 9.90292545e-01 -8.10549579e-04 -1.48670583e+01] [-5.94080605e-03 -1.53649451e-05 9.99982353e-01 -1.34082946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.905769231 meters 0.011481015514034807 Centerline is valid? [True, True] Translation: X:206.54, Y:-14.89, Z:-1.34 [[ 9.91044653e-01 1.33393791e-01 6.04915078e-03 2.06544233e+02] [-1.33391189e-01 9.91063114e-01 -8.33392519e-04 -1.48882501e+01] [-6.10625959e-03 1.90257869e-05 9.99981356e-01 -1.34147616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.965769231 meters 0.01530071637954212 Centerline is valid? [True, True] Translation: X:206.60, Y:-14.91, Z:-1.34 [[ 9.91838865e-01 1.27285796e-01 7.34798104e-03 2.06604543e+02] [-1.27281776e-01 9.91866080e-01 -1.01404069e-03 -1.49089431e+01] [-7.41728612e-03 7.05008824e-05 9.99972489e-01 -1.34010086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.025769231 meters 0.019016894916789612 Centerline is valid? [True, True] Translation: X:206.66, Y:-14.93, Z:-1.34 [[ 9.92197092e-01 1.24518052e-01 6.33913165e-03 2.06663142e+02] [-1.24514998e-01 9.92217339e-01 -8.75786397e-04 -1.49290152e+01] [-6.39884756e-03 7.96357512e-05 9.99979524e-01 -1.34256349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.085769231 meters 0.019074286704587055 Centerline is valid? [True, True] Translation: X:206.72, Y:-14.94, Z:-1.34 [[ 9.92299781e-01 1.23692839e-01 6.42078973e-03 2.06724068e+02] [-1.23689685e-01 9.92320550e-01 -8.87631958e-04 -1.49404627e+01] [-6.48127532e-03 8.66115403e-05 9.99978993e-01 -1.34271030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.145769231 meters 0.01684827381127943 Centerline is valid? [True, True] Translation: X:206.79, Y:-14.95, Z:-1.34 [[ 9.91966499e-01 1.26273814e-01 7.57548170e-03 2.06786061e+02] [-1.26269487e-01 9.91995422e-01 -1.04873252e-03 -1.49486571e+01] [-7.64727062e-03 8.37553365e-05 9.99970756e-01 -1.34127363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20576923099998 meters 0.012528547728495494 Centerline is valid? [True, True] Translation: X:206.85, Y:-14.95, Z:-1.34 [[ 9.91218200e-01 1.32032240e-01 7.34631881e-03 2.06848787e+02] [-1.32028320e-01 9.91245422e-01 -1.01819759e-03 -1.49488359e+01] [-7.41643980e-03 3.93338460e-05 9.99972497e-01 -1.34293029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26576923099998 meters 0.01110557341584586 Centerline is valid? [True, True] Translation: X:206.91, Y:-14.95, Z:-1.35 [[ 9.90696963e-01 1.35992025e-01 5.06923203e-03 2.06910889e+02] [-1.35990208e-01 9.90709932e-01 -7.03078126e-04 -1.49509741e+01] [-5.11775153e-03 7.17144524e-06 9.99986904e-01 -1.34714819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32576923099998 meters 0.011370432352212086 Centerline is valid? [True, True] Translation: X:206.97, Y:-14.96, Z:-1.35 [[ 9.90776285e-01 1.35452072e-01 3.88452644e-03 2.06972496e+02] [-1.35450999e-01 9.90783900e-01 -5.39109568e-04 -1.49587308e+01] [-3.92174977e-03 7.97398842e-06 9.99992310e-01 -1.34968159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38576923099998 meters 0.011412029356860543 Centerline is valid? [True, True] Translation: X:207.03, Y:-14.97, Z:-1.35 [[ 9.90801216e-01 1.35252797e-01 4.43079563e-03 2.07034913e+02] [-1.35251396e-01 9.90811123e-01 -6.15859917e-04 -1.49682676e+01] [-4.47337836e-03 1.09234622e-05 9.99989994e-01 -1.34874096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44576923099999 meters 0.010802028449093073 Centerline is valid? [True, True] Translation: X:207.10, Y:-14.97, Z:-1.34 [[ 9.90661455e-01 1.36152682e-01 7.23391043e-03 2.07097655e+02] [-1.36148954e-01 9.90687866e-01 -1.00763056e-03 -1.49741711e+01] [-7.30373889e-03 1.33314160e-05 9.99973327e-01 -1.34311533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.505769231 meters 0.010680485399843738 Centerline is valid? [True, True] Translation: X:207.16, Y:-14.98, Z:-1.34 [[ 9.90404694e-01 1.38030225e-01 6.79695910e-03 2.07159685e+02] [-1.38026969e-01 9.90428017e-01 -9.48041964e-04 -1.49781094e+01] [-6.86275717e-03 7.81547748e-07 9.99976451e-01 -1.34461129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.565769231 meters 0.010789742492165124 Centerline is valid? [True, True] Translation: X:207.22, Y:-14.99, Z:-1.35 [[ 9.90510842e-01 1.37323926e-01 5.51460029e-03 2.07221892e+02] [-1.37321768e-01 9.90526193e-01 -7.69956835e-04 -1.49883390e+01] [-5.56808952e-03 5.37593206e-06 9.99984498e-01 -1.34778978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.625769231 meters 0.010712332650051266 Centerline is valid? [True, True] Translation: X:207.28, Y:-15.00, Z:-1.35 [[ 9.90407844e-01 1.38044001e-01 6.01309711e-03 2.07282282e+02] [-1.38041439e-01 9.90426097e-01 -8.40888523e-04 -1.49959571e+01] [-6.07160792e-03 2.76600828e-06 9.99981568e-01 -1.34807808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.685769231 meters 0.01073130083061236 Centerline is valid? [True, True] Translation: X:207.34, Y:-15.00, Z:-1.35 [[ 9.90190823e-01 1.39592898e-01 5.99639691e-03 2.07343986e+02] [-1.39590377e-01 9.90208979e-01 -8.39019596e-04 -1.50046194e+01] [-6.05480724e-03 -6.24980038e-06 9.99981669e-01 -1.34882508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.745769231 meters 0.011587834759797034 Centerline is valid? [True, True] Translation: X:207.41, Y:-15.01, Z:-1.35 [[ 9.89797445e-01 1.42303871e-01 7.11521609e-03 2.07405519e+02] [-1.42300381e-01 9.89823018e-01 -9.96962842e-04 -1.50092867e+01] [-7.18467634e-03 -2.57066860e-05 9.99974190e-01 -1.34764843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.805769231 meters 0.01329982560900923 Centerline is valid? [True, True] Translation: X:207.47, Y:-15.02, Z:-1.35 [[ 9.89445721e-01 1.44839389e-01 4.32632569e-03 2.07465937e+02] [-1.44838121e-01 9.89455179e-01 -6.06521445e-04 -1.50168150e+01] [-4.36855356e-03 -2.64968369e-05 9.99990457e-01 -1.35328234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.865769231 meters 0.01565039224147788 Centerline is valid? [True, True] Translation: X:207.53, Y:-15.02, Z:-1.35 [[ 9.88953906e-01 1.48133772e-01 5.15346412e-03 2.07525959e+02] [-1.48132018e-01 9.88967332e-01 -7.22667396e-04 -1.50229182e+01] [-5.20365911e-03 -4.87082945e-05 9.99986460e-01 -1.35252040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.925769231 meters 0.01939733500877514 Centerline is valid? [True, True] Translation: X:207.59, Y:-15.02, Z:-1.35 [[ 9.88343111e-01 1.52077614e-01 7.09180660e-03 2.07586980e+02] [-1.52074393e-01 9.88368550e-01 -9.94480079e-04 -1.50242980e+01] [-7.16055676e-03 -9.55946460e-05 9.99974358e-01 -1.34770751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98576923099998 meters 0.03131489534119985 Centerline is valid? [True, True] Translation: X:207.65, Y:-15.02, Z:-1.35 [[ 9.86685129e-01 1.62554598e-01 5.33461253e-03 2.07648018e+02] [-1.62552928e-01 9.86699542e-01 -7.48070530e-04 -1.50155897e+01] [-5.38526204e-03 -1.29046817e-04 9.99985491e-01 -1.35210310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04576923099998 meters 0.036324452184401446 Centerline is valid? [True, True] Translation: X:207.71, Y:-15.02, Z:-1.35 [[ 9.85978615e-01 1.66795832e-01 5.03193849e-03 2.07709150e+02] [-1.66794401e-01 9.85991445e-01 -7.05623460e-04 -1.50164775e+01] [-5.07914336e-03 -1.43569524e-04 9.99987091e-01 -1.35355396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10576923099998 meters 0.04108436801103682 Centerline is valid? [True, True] Translation: X:207.77, Y:-15.02, Z:-1.35 [[ 9.85130433e-01 1.71694408e-01 6.24976647e-03 2.07769802e+02] [-1.71692299e-01 9.85150235e-01 -8.76406024e-04 -1.50162448e+01] [-6.30743293e-03 -2.09662527e-04 9.99980086e-01 -1.35128999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16576923099998 meters 0.04098025269823949 Centerline is valid? [True, True] Translation: X:207.83, Y:-15.02, Z:-1.35 [[ 9.84351235e-01 1.76085468e-01 6.82305782e-03 2.07829922e+02] [-1.76083060e-01 9.84374848e-01 -9.56716385e-04 -1.50197278e+01] [-6.88491035e-03 -2.59679944e-04 9.99976265e-01 -1.35142271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.225769231 meters 0.05058926516576628 Centerline is valid? [True, True] Translation: X:207.89, Y:-15.01, Z:-1.35 [[ 9.83949025e-01 1.78318118e-01 6.85314906e-03 2.07890460e+02] [-1.78315744e-01 9.83972851e-01 -9.60855533e-04 -1.50111470e+01] [-6.91465058e-03 -2.76591507e-04 9.99976055e-01 -1.35258584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.285769231 meters 0.04284683995224846 Centerline is valid? [True, True] Translation: X:207.95, Y:-15.03, Z:-1.36 [[ 9.84324627e-01 1.76297011e-01 4.93897266e-03 2.07947103e+02] [-1.76295753e-01 9.84336999e-01 -6.92390120e-04 -1.50284868e+01] [-4.98367984e-03 -1.89183258e-04 9.99987563e-01 -1.35611485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.345769231 meters 0.04807950883989236 Centerline is valid? [True, True] Translation: X:208.01, Y:-15.03, Z:-1.36 [[ 9.85057626e-01 1.72202960e-01 2.75927956e-03 2.08006484e+02] [-1.72202551e-01 9.85061486e-01 -3.86736808e-04 -1.50298911e+01] [-2.78465725e-03 -9.41969368e-05 9.99996118e-01 -1.36244912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.405769231 meters 0.03656297218430173 Centerline is valid? [True, True] Translation: X:208.06, Y:-15.05, Z:-1.36 [[ 9.85587552e-01 1.69104224e-01 4.57577924e-03 2.08064260e+02] [-1.69103069e-01 9.85598164e-01 -6.41089722e-04 -1.50488765e+01] [-4.61829060e-03 -1.41928261e-04 9.99989326e-01 -1.35689859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.465769231 meters 0.0404193333091794 Centerline is valid? [True, True] Translation: X:208.12, Y:-15.05, Z:-1.36 [[ 9.85169778e-01 1.71557218e-01 2.93761625e-03 2.08122754e+02] [-1.71556752e-01 9.85174153e-01 -4.11696684e-04 -1.50490276e+01] [-2.96469314e-03 -9.83767724e-05 9.99995600e-01 -1.36025857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.525769231 meters 0.04219582705345519 Centerline is valid? [True, True] Translation: X:208.18, Y:-15.05, Z:-1.36 [[ 9.85040206e-01 1.72257769e-01 4.80147540e-03 2.08180550e+02] [-1.72256534e-01 9.85051894e-01 -6.72540777e-04 -1.50510754e+01] [-4.84555281e-03 -1.64605807e-04 9.99988247e-01 -1.35703325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.585769231 meters 0.0422255360839275 Centerline is valid? [True, True] Translation: X:208.24, Y:-15.06, Z:-1.36 [[ 9.85065948e-01 1.72091078e-01 5.45339876e-03 2.08238780e+02] [-1.72089486e-01 9.85081025e-01 -7.63469807e-04 -1.50582399e+01] [-5.50342598e-03 -1.86404479e-04 9.99984839e-01 -1.35569703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.645769231 meters 0.04315472586127849 Centerline is valid? [True, True] Translation: X:208.30, Y:-15.06, Z:-1.36 [[ 9.85139788e-01 1.71711816e-01 3.82762774e-03 2.08297255e+02] [-1.71711029e-01 9.85147215e-01 -5.35817809e-04 -1.50577207e+01] [-3.86278306e-03 -1.29390455e-04 9.99992531e-01 -1.36028668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70576923099998 meters 0.04201311659953848 Centerline is valid? [True, True] Translation: X:208.35, Y:-15.06, Z:-1.36 [[ 9.85394091e-01 1.70195747e-01 5.64730552e-03 2.08354936e+02] [-1.70194012e-01 9.85410257e-01 -7.90040995e-04 -1.50641099e+01] [-5.69937440e-03 -1.82635854e-04 9.99983742e-01 -1.35677770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76576923099998 meters 0.034421531914731164 Centerline is valid? [True, True] Translation: X:208.41, Y:-15.08, Z:-1.35 [[ 9.85787000e-01 1.67849679e-01 7.10462531e-03 2.08412374e+02] [-1.67846874e-01 9.85812579e-01 -9.93422457e-04 -1.50810469e+01] [-7.17057464e-03 -2.13186207e-04 9.99974268e-01 -1.35497556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82576923099998 meters 0.03341044630605068 Centerline is valid? [True, True] Translation: X:208.47, Y:-15.09, Z:-1.36 [[ 9.86105167e-01 1.66013263e-01 6.01636945e-03 2.08469778e+02] [-1.66011219e-01 9.86123505e-01 -8.41087491e-04 -1.50913351e+01] [-6.07251501e-03 -1.69384107e-04 9.99981548e-01 -1.35863451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88576923099998 meters 0.03412546810014408 Centerline is valid? [True, True] Translation: X:208.53, Y:-15.10, Z:-1.36 [[ 9.86114007e-01 1.66024857e-01 3.86158637e-03 2.08526193e+02] [-1.66024015e-01 9.86121562e-01 -5.39818789e-04 -1.51019307e+01] [-3.89761692e-03 -1.08793202e-04 9.99992398e-01 -1.36185782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94576923099999 meters 0.03647574190283307 Centerline is valid? [True, True] Translation: X:208.58, Y:-15.11, Z:-1.36 [[ 9.85651711e-01 1.68769696e-01 2.73748885e-03 2.08584942e+02] [-1.68769283e-01 9.85655509e-01 -3.82594077e-04 -1.51107331e+01] [-2.76279125e-03 -8.48995235e-05 9.99996180e-01 -1.36323185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.005769231 meters 0.04140532586300812 Centerline is valid? [True, True] Translation: X:208.64, Y:-15.11, Z:-1.36 [[ 9.84979874e-01 1.72639604e-01 3.19601882e-03 2.08644779e+02] [-1.72639064e-01 9.84985053e-01 -4.46340787e-04 -1.51125852e+01] [-3.22508686e-03 -1.12121004e-04 9.99994793e-01 -1.36240506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.065769231 meters 0.05635163371609994 Centerline is valid? [True, True] Translation: X:208.71, Y:-15.10, Z:-1.36 [[ 9.84070756e-01 1.77709217e-01 4.91747091e-03 2.08707011e+02] [-1.77708001e-01 9.84083022e-01 -6.86615704e-04 -1.50995153e+01] [-4.96121758e-03 -1.98195492e-04 9.99987673e-01 -1.36031114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.125769231 meters 0.05276834664721319 Centerline is valid? [True, True] Translation: X:208.77, Y:-15.11, Z:-1.36 [[ 9.83496569e-01 1.80879709e-01 4.12658063e-03 2.08766130e+02] [-1.80878881e-01 9.83505210e-01 -5.76145308e-04 -1.51092582e+01] [-4.16272654e-03 -1.79774351e-04 9.99991320e-01 -1.36124019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.185769231 meters 0.05576524064092079 Centerline is valid? [True, True] Translation: X:208.83, Y:-15.11, Z:-1.36 [[ 9.83074211e-01 1.83169462e-01 3.74751009e-03 2.08827108e+02] [-1.83168796e-01 9.83081339e-01 -5.23184678e-04 -1.51081511e+01] [-3.77993870e-03 -1.72097547e-04 9.99992841e-01 -1.36134549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.245769231 meters 0.04744094460414122 Centerline is valid? [True, True] Translation: X:208.88, Y:-15.12, Z:-1.36 [[ 9.83106950e-01 1.82973295e-01 4.63657824e-03 2.08883929e+02] [-1.82972273e-01 9.83117861e-01 -6.47322543e-04 -1.51232949e+01] [-4.67674562e-03 -2.11977969e-04 9.99989041e-01 -1.35988321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.305769231 meters 0.05692091868354893 Centerline is valid? [True, True] Translation: X:208.94, Y:-15.12, Z:-1.36 [[ 9.83190977e-01 1.82472523e-01 6.26754251e-03 2.08942971e+02] [-1.82470647e-01 9.83210912e-01 -8.74603785e-04 -1.51180745e+01] [-6.32190735e-03 -2.83739990e-04 9.99979976e-01 -1.35751878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.365769231 meters 0.052783893554727186 Centerline is valid? [True, True] Translation: X:209.00, Y:-15.13, Z:-1.36 [[ 9.83423018e-01 1.81199781e-01 6.76803685e-03 2.09001599e+02] [-1.81197567e-01 9.83446262e-01 -9.43995456e-04 -1.51264866e+01] [-6.82705231e-03 -2.98004948e-04 9.99976651e-01 -1.35861129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.425769231 meters 0.05382757459257009 Centerline is valid? [True, True] Translation: X:209.06, Y:-15.13, Z:-1.36 [[ 9.83359762e-01 1.81584525e-01 5.53514545e-03 2.09060622e+02] [-1.81583051e-01 9.83375310e-01 -7.71903638e-04 -1.51272832e+01] [-5.58329112e-03 -2.46029620e-04 9.99984383e-01 -1.36074192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48576923099998 meters 0.05900434860014835 Centerline is valid? [True, True] Translation: X:209.12, Y:-15.12, Z:-1.36 [[ 9.83345716e-01 1.81622799e-01 6.66043699e-03 2.09120125e+02] [-1.81620668e-01 9.83368228e-01 -9.28476586e-04 -1.51181078e+01] [-6.71829464e-03 -2.96659541e-04 9.99977388e-01 -1.35933914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54576923099998 meters 0.04320052577044642 Centerline is valid? [True, True] Translation: X:209.18, Y:-15.14, Z:-1.37 [[ 9.84271763e-01 1.76622709e-01 3.67631539e-03 2.09178021e+02] [-1.76622026e-01 9.84278618e-01 -5.12165982e-04 -1.51431052e+01] [-3.70897878e-03 -1.45207758e-04 9.99993111e-01 -1.36508670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60576923099998 meters 0.03121555217424065 Centerline is valid? [True, True] Translation: X:209.24, Y:-15.16, Z:-1.36 [[ 9.86476716e-01 1.63853398e-01 3.96901576e-03 2.09235328e+02] [-1.63852498e-01 9.86484695e-01 -5.52972748e-04 -1.51612592e+01] [-4.00597976e-03 -1.04838406e-04 9.99991971e-01 -1.36459661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66576923099998 meters 0.01890794882583458 Centerline is valid? [True, True] Translation: X:209.29, Y:-15.18, Z:-1.36 [[ 9.88418830e-01 1.51618104e-01 6.33782272e-03 2.09293034e+02] [-1.51615559e-01 9.88439145e-01 -8.82828444e-04 -1.51835984e+01] [-6.39840484e-03 -8.83082782e-05 9.99979526e-01 -1.36124040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.725769231 meters 0.014051426446655234 Centerline is valid? [True, True] Translation: X:209.35, Y:-15.20, Z:-1.37 [[ 9.89383936e-01 1.45282305e-01 3.53255330e-03 2.09348774e+02] [-1.45281473e-01 9.89390242e-01 -4.92245770e-04 -1.52001714e+01] [-3.56658837e-03 -2.61944897e-05 9.99993639e-01 -1.36566746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.785769231 meters 0.011222628568370595 Centerline is valid? [True, True] Translation: X:209.41, Y:-15.22, Z:-1.36 [[ 9.90022853e-01 1.40776518e-01 6.05995732e-03 2.09406454e+02] [-1.40773991e-01 9.90041399e-01 -8.43746863e-04 -1.52165150e+01] [-6.11838837e-03 -1.77557002e-05 9.99981282e-01 -1.36049093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.845769231 meters 0.010757728468123812 Centerline is valid? [True, True] Translation: X:209.46, Y:-15.23, Z:-1.36 [[ 9.90332433e-01 1.38530379e-01 7.14187593e-03 2.09462635e+02] [-1.38526812e-01 9.90358185e-01 -9.94078999e-04 -1.52302465e+01] [-7.21072542e-03 -4.87263186e-06 9.99974002e-01 -1.36045296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.905769231 meters 0.010848905494133632 Centerline is valid? [True, True] Translation: X:209.52, Y:-15.24, Z:-1.36 [[ 9.90289406e-01 1.38819784e-01 7.48059442e-03 2.09520875e+02] [-1.38815883e-01 9.90317660e-01 -1.04076647e-03 -1.52384050e+01] [-7.55264374e-03 -7.76531450e-06 9.99971478e-01 -1.35909866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.965769231 meters 0.012165703951946947 Centerline is valid? [True, True] Translation: X:209.58, Y:-15.24, Z:-1.36 [[ 9.89780512e-01 1.42498242e-01 5.36561780e-03 2.09579684e+02] [-1.42496290e-01 9.89795055e-01 -7.46348292e-04 -1.52396733e+01] [-5.41721528e-03 -2.58596330e-05 9.99985326e-01 -1.36342413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.025769231 meters 0.01436342325008582 Centerline is valid? [True, True] Translation: X:209.64, Y:-15.24, Z:-1.37 [[ 9.89346627e-01 1.45522274e-01 4.06444588e-03 2.09638741e+02] [-1.45521180e-01 9.89354975e-01 -5.65245302e-04 -1.52407091e+01] [-4.10343553e-03 -3.22394276e-05 9.99991580e-01 -1.36622782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.085769231 meters 0.013532023737646013 Centerline is valid? [True, True] Translation: X:209.70, Y:-15.25, Z:-1.37 [[ 9.89502948e-01 1.44433837e-01 4.77314123e-03 2.09697017e+02] [-1.44432316e-01 9.89514460e-01 -6.63515635e-04 -1.52468295e+01] [-4.81892638e-03 -3.28451685e-05 9.99988388e-01 -1.36608732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.145769231 meters 0.01226625418708412 Centerline is valid? [True, True] Translation: X:209.76, Y:-15.26, Z:-1.37 [[ 9.89819896e-01 1.42279440e-01 3.62408902e-03 2.09755080e+02] [-1.42278550e-01 9.89826531e-01 -5.03695974e-04 -1.52583232e+01] [-3.65888504e-03 -1.70618334e-05 9.99993306e-01 -1.36821264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20576923099998 meters 0.011732672681914724 Centerline is valid? [True, True] Translation: X:209.81, Y:-15.27, Z:-1.37 [[ 9.90014186e-01 1.40913581e-01 3.90822476e-03 2.09813306e+02] [-1.40912535e-01 9.90021900e-01 -5.42966727e-04 -1.52690684e+01] [-3.94573949e-03 -1.31730979e-05 9.99992215e-01 -1.36810973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26576923099998 meters 0.011273494951113237 Centerline is valid? [True, True] Translation: X:209.87, Y:-15.28, Z:-1.36 [[ 9.90138523e-01 1.39958913e-01 6.09991396e-03 2.09871838e+02] [-1.39956351e-01 9.90157312e-01 -8.46968997e-04 -1.52770020e+01] [-6.15841527e-03 -1.51050654e-05 9.99981037e-01 -1.36478423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32576923099998 meters 0.01097379476266484 Centerline is valid? [True, True] Translation: X:209.93, Y:-15.29, Z:-1.36 [[ 9.90283532e-01 1.38912294e-01 6.47304378e-03 2.09929346e+02] [-1.38909389e-01 9.90304688e-01 -8.98443188e-04 -1.52883958e+01] [-6.53509040e-03 -9.45306033e-06 9.99978646e-01 -1.36360489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38576923099998 meters 0.010854766703646157 Centerline is valid? [True, True] Translation: X:209.99, Y:-15.30, Z:-1.36 [[ 9.90466062e-01 1.37485294e-01 8.64717519e-03 2.09987901e+02] [-1.37480060e-01 9.90503808e-01 -1.19967609e-03 -1.52979110e+01] [-8.72999778e-03 -5.75713502e-07 9.99961893e-01 -1.36073891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44576923099999 meters 0.010966561902833308 Centerline is valid? [True, True] Translation: X:210.05, Y:-15.30, Z:-1.37 [[ 9.90470343e-01 1.37575236e-01 6.44629375e-03 2.10045616e+02] [-1.37572330e-01 9.90491320e-01 -8.94112567e-04 -1.53033178e+01] [-6.50800575e-03 -1.23967105e-06 9.99978823e-01 -1.36558819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.505769231 meters 0.011145941009430236 Centerline is valid? [True, True] Translation: X:210.10, Y:-15.31, Z:-1.37 [[ 9.90526434e-01 1.37212902e-01 5.47751570e-03 2.10102912e+02] [-1.37210800e-01 9.90541579e-01 -7.59472112e-04 -1.53129942e+01] [-5.52991642e-03 7.02889213e-07 9.99984710e-01 -1.36914565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.565769231 meters 0.01141125090502015 Centerline is valid? [True, True] Translation: X:210.16, Y:-15.33, Z:-1.37 [[ 9.90722440e-01 1.35830509e-01 4.37270951e-03 2.10160365e+02] [-1.35829157e-01 9.90732089e-01 -6.06082857e-04 -1.53256762e+01] [-4.41450818e-03 6.51844107e-06 9.99990256e-01 -1.37069086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.625769231 meters 0.011381848535814323 Centerline is valid? [True, True] Translation: X:210.22, Y:-15.33, Z:-1.37 [[ 9.90446993e-01 1.37828129e-01 4.26151198e-03 2.10219294e+02] [-1.37826864e-01 9.90456161e-01 -5.90471771e-04 -1.53286876e+01] [-4.30222442e-03 -2.51984412e-06 9.99990745e-01 -1.37103585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.685769231 meters 0.013028561343668352 Centerline is valid? [True, True] Translation: X:210.28, Y:-15.33, Z:-1.37 [[ 9.89717889e-01 1.42884831e-01 6.51347512e-03 2.10278817e+02] [-1.42881988e-01 9.89739321e-01 -9.02014330e-04 -1.53311296e+01] [-6.57552661e-03 -3.79185581e-05 9.99978380e-01 -1.36849586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.745769231 meters 0.014133310283568795 Centerline is valid? [True, True] Translation: X:210.34, Y:-15.34, Z:-1.37 [[ 9.89501229e-01 1.44414124e-01 5.64618429e-03 2.10338005e+02] [-1.44412015e-01 9.89517336e-01 -7.81680945e-04 -1.53353227e+01] [-5.69988301e-03 -4.19025942e-05 9.99983755e-01 -1.36887227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.805769231 meters 0.014064729250625695 Centerline is valid? [True, True] Translation: X:210.40, Y:-15.34, Z:-1.37 [[ 9.89524658e-01 1.44245398e-01 5.84950773e-03 2.10397032e+02] [-1.44243133e-01 9.89541946e-01 -8.09536536e-04 -1.53387425e+01] [-5.90510518e-03 -4.26949578e-05 9.99982564e-01 -1.36961658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.865769231 meters 0.013856345557439967 Centerline is valid? [True, True] Translation: X:210.45, Y:-15.35, Z:-1.37 [[ 9.89615789e-01 1.43653439e-01 4.92749772e-03 2.10454650e+02] [-1.43651825e-01 9.89628056e-01 -6.81773911e-04 -1.53453378e+01] [-4.97432915e-03 -3.31498128e-05 9.99987627e-01 -1.37118972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.925769231 meters 0.012891518300419649 Centerline is valid? [True, True] Translation: X:210.51, Y:-15.35, Z:-1.37 [[ 9.89789379e-01 1.42416448e-01 5.87706937e-03 2.10513429e+02] [-1.42414133e-01 9.89806827e-01 -8.12710308e-04 -1.53527521e+01] [-5.93290670e-03 -3.25657082e-05 9.99982400e-01 -1.36858610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98576923099998 meters 0.011601359551620397 Centerline is valid? [True, True] Translation: X:210.57, Y:-15.36, Z:-1.37 [[ 9.90173117e-01 1.39640583e-01 7.59647365e-03 2.10571803e+02] [-1.39636637e-01 9.90202256e-01 -1.05000437e-03 -1.53624069e+01] [-7.66866857e-03 -2.10599314e-05 9.99970595e-01 -1.36692904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04576923099998 meters 0.011360556483872863 Centerline is valid? [True, True] Translation: X:210.63, Y:-15.37, Z:-1.37 [[ 9.90421103e-01 1.37867741e-01 7.65018473e-03 2.10628636e+02] [-1.37863689e-01 9.90450648e-01 -1.05703199e-03 -1.53725493e+01] [-7.72286103e-03 -7.77589695e-06 9.99970178e-01 -1.36755770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10576923099998 meters 0.01138869560912268 Centerline is valid? [True, True] Translation: X:210.69, Y:-15.38, Z:-1.37 [[ 9.90583852e-01 1.36815164e-01 5.02415048e-03 2.10686457e+02] [-1.36813404e-01 9.90596593e-01 -6.93982143e-04 -1.53834284e+01] [-5.07185363e-03 7.63746526e-08 9.99987138e-01 -1.37264352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16576923099998 meters 0.01135658305114995 Centerline is valid? [True, True] Translation: X:210.74, Y:-15.39, Z:-1.37 [[ 9.90554289e-01 1.36955920e-01 6.72883305e-03 2.10744007e+02] [-1.36952769e-01 9.90577143e-01 -9.29008959e-04 -1.53919431e+01] [-6.79266150e-03 -1.29850760e-06 9.99976930e-01 -1.37119116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.225769231 meters 0.01133921709180625 Centerline is valid? [True, True] Translation: X:210.80, Y:-15.40, Z:-1.37 [[ 9.90579376e-01 1.36773082e-01 6.75459043e-03 2.10801756e+02] [-1.36769905e-01 9.90602405e-01 -9.32154130e-04 -1.54031938e+01] [-6.81860712e-03 -4.52036017e-07 9.99976753e-01 -1.37070822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.285769231 meters 0.011411875980043777 Centerline is valid? [True, True] Translation: X:210.86, Y:-15.41, Z:-1.37 [[ 9.90459380e-01 1.37653067e-01 6.46919921e-03 2.10860020e+02] [-1.37650174e-01 9.90480506e-01 -8.92475236e-04 -1.54121495e+01] [-6.53046766e-03 -6.52592612e-06 9.99978676e-01 -1.37081327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.345769231 meters 0.012884646462595664 Centerline is valid? [True, True] Translation: X:210.92, Y:-15.41, Z:-1.37 [[ 9.89931126e-01 1.41382131e-01 6.88902704e-03 2.10919520e+02] [-1.41378943e-01 9.89955096e-01 -9.50047732e-04 -1.54135599e+01] [-6.95414720e-03 -3.34815422e-05 9.99975819e-01 -1.37043561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.405769231 meters 0.017391012157898678 Centerline is valid? [True, True] Translation: X:210.98, Y:-15.41, Z:-1.37 [[ 9.89000906e-01 1.47776155e-01 6.27818637e-03 2.10979371e+02] [-1.47773637e-01 9.89020830e-01 -8.65551322e-04 -1.54074840e+01] [-6.33716494e-03 -7.17193942e-05 9.99979917e-01 -1.37032942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.465769231 meters 0.02358583110122706 Centerline is valid? [True, True] Translation: X:211.04, Y:-15.40, Z:-1.38 [[ 9.88138623e-01 1.53537820e-01 2.86364556e-03 2.11039752e+02] [-1.53537320e-01 9.88142771e-01 -3.94804245e-04 -1.53956001e+01] [-2.89030805e-03 -4.95551431e-05 9.99995822e-01 -1.37657128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.525769231 meters 0.024908064101671182 Centerline is valid? [True, True] Translation: X:211.10, Y:-15.39, Z:-1.38 [[ 9.88013820e-01 1.54306087e-01 4.28055557e-03 2.11099594e+02] [-1.54304979e-01 9.88023090e-01 -5.89812065e-04 -1.53876347e+01] [-4.32029933e-03 -7.77685667e-05 9.99990664e-01 -1.37518397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.585769231 meters 0.016518252882590248 Centerline is valid? [True, True] Translation: X:211.16, Y:-15.40, Z:-1.37 [[ 9.89146476e-01 1.46692016e-01 8.40841329e-03 2.11158440e+02] [-1.46687474e-01 9.89182210e-01 -1.15774358e-03 -1.53966154e+01] [-8.48728458e-03 -8.82309253e-05 9.99963978e-01 -1.36881582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.645769231 meters 0.011683952117748756 Centerline is valid? [True, True] Translation: X:211.22, Y:-15.42, Z:-1.37 [[ 9.90705498e-01 1.35885593e-01 6.14182832e-03 2.11215500e+02] [-1.35882962e-01 9.90724536e-01 -8.45576562e-04 -1.54151122e+01] [-6.19976168e-03 3.14752549e-06 9.99980781e-01 -1.37340859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70576923099998 meters 0.013703628439806458 Centerline is valid? [True, True] Translation: X:211.27, Y:-15.43, Z:-1.38 [[ 9.91389957e-01 1.30867192e-01 4.44187970e-03 2.11271918e+02] [-1.30865766e-01 9.91399908e-01 -6.11441970e-04 -1.54283141e+01] [-4.48369682e-03 2.48874379e-05 9.99989948e-01 -1.37738247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76576923099998 meters 0.01619223610491629 Centerline is valid? [True, True] Translation: X:211.33, Y:-15.44, Z:-1.38 [[ 9.91946700e-01 1.26552635e-01 5.11618025e-03 2.11329593e+02] [-1.26550688e-01 9.91959892e-01 -7.03870928e-04 -1.54383150e+01] [-5.16412233e-03 5.07463140e-05 9.99986665e-01 -1.37643614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82576923099998 meters 0.01978331004320866 Centerline is valid? [True, True] Translation: X:211.39, Y:-15.45, Z:-1.38 [[ 9.92416813e-01 1.22801270e-01 5.35880159e-03 2.11386056e+02] [-1.22799080e-01 9.92431279e-01 -7.36997181e-04 -1.54538515e+01] [-5.40874650e-03 7.33524884e-05 9.99985370e-01 -1.37650977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88576923099998 meters 0.023816312848903502 Centerline is valid? [True, True] Translation: X:211.44, Y:-15.47, Z:-1.38 [[ 9.92909697e-01 1.18745313e-01 5.46665389e-03 2.11443962e+02] [-1.18742974e-01 9.92924741e-01 -7.51448561e-04 -1.54701881e+01] [-5.51720689e-03 9.69938202e-05 9.99984775e-01 -1.37691043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94576923099999 meters 0.029499198790357707 Centerline is valid? [True, True] Translation: X:211.50, Y:-15.49, Z:-1.38 [[ 9.93479859e-01 1.13969324e-01 2.96021954e-03 2.11501427e+02] [-1.13968617e-01 9.93484267e-01 -4.06871452e-04 -1.54879159e+01] [-2.98730241e-03 6.68464641e-05 9.99995536e-01 -1.38111337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.005769231 meters 0.02960921038471439 Centerline is valid? [True, True] Translation: X:211.56, Y:-15.50, Z:-1.38 [[ 9.93738691e-01 1.11584682e-01 5.68096698e-03 2.11559749e+02] [-1.11582041e-01 9.93754919e-01 -7.80706470e-04 -1.55010462e+01] [-5.73260377e-03 1.41924332e-04 9.99983558e-01 -1.37566206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.065769231 meters 0.03632638717919541 Centerline is valid? [True, True] Translation: X:211.62, Y:-15.53, Z:-1.38 [[ 9.94056572e-01 1.08750017e-01 4.99644135e-03 2.11615914e+02] [-1.08747939e-01 9.94069120e-01 -6.86512205e-04 -1.55295167e+01] [-5.04146627e-03 1.39079269e-04 9.99987282e-01 -1.37897140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.125769231 meters 0.0335328933722738 Centerline is valid? [True, True] Translation: X:211.67, Y:-15.54, Z:-1.38 [[ 9.94076593e-01 1.08536220e-01 5.62287180e-03 2.11674824e+02] [-1.08533585e-01 9.94092483e-01 -7.72522373e-04 -1.55408717e+01] [-5.67350124e-03 1.57675975e-04 9.99983893e-01 -1.37742801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.185769231 meters 0.030954479928875088 Centerline is valid? [True, True] Translation: X:211.73, Y:-15.55, Z:-1.38 [[ 9.93730328e-01 1.11675272e-01 5.35424530e-03 2.11733665e+02] [-1.11672929e-01 9.93744744e-01 -7.35460144e-04 -1.55541295e+01] [-5.40288583e-03 1.32924795e-04 9.99985395e-01 -1.37886508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.245769231 meters 0.025652827462214402 Centerline is valid? [True, True] Translation: X:211.79, Y:-15.56, Z:-1.38 [[ 9.93057487e-01 1.17584001e-01 3.29082369e-03 2.11791984e+02] [-1.17583148e-01 9.93062938e-01 -4.52112883e-04 -1.55635032e+01] [-3.32115629e-03 6.20286749e-05 9.99994483e-01 -1.38367220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.305769231 meters 0.019375373282239584 Centerline is valid? [True, True] Translation: X:211.85, Y:-15.57, Z:-1.38 [[ 9.92308825e-01 1.23644107e-01 5.94390100e-03 2.11851421e+02] [-1.23641435e-01 9.92326624e-01 -8.16341379e-04 -1.55691781e+01] [-5.99922702e-03 7.51503073e-05 9.99982002e-01 -1.37835247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.365769231 meters 0.015364690056789166 Centerline is valid? [True, True] Translation: X:211.91, Y:-15.57, Z:-1.38 [[ 9.91704186e-01 1.28495977e-01 3.40473319e-03 2.11911369e+02] [-1.28495129e-01 9.91710030e-01 -4.67598600e-04 -1.55732236e+01] [-3.43659259e-03 2.62278590e-05 9.99994095e-01 -1.38470593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.425769231 meters 0.014566155098222525 Centerline is valid? [True, True] Translation: X:211.97, Y:-15.58, Z:-1.39 [[ 9.91594531e-01 1.29358756e-01 2.56883495e-03 2.11969523e+02] [-1.29358276e-01 9.91597858e-01 -3.52884898e-04 -1.55814760e+01] [-2.59289998e-03 1.76186755e-05 9.99996638e-01 -1.38596921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48576923099998 meters 0.015332760517976355 Centerline is valid? [True, True] Translation: X:212.03, Y:-15.60, Z:-1.38 [[ 9.91773166e-01 1.27841741e-01 6.51734996e-03 2.12027054e+02] [-1.27838623e-01 9.91794579e-01 -8.94487664e-04 -1.55951897e+01] [-6.57822522e-03 5.39598208e-05 9.99978362e-01 -1.37880888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54576923099998 meters 0.015972666835049974 Centerline is valid? [True, True] Translation: X:212.09, Y:-15.61, Z:-1.38 [[ 9.91955540e-01 1.26445518e-01 5.97806999e-03 2.12086739e+02] [-1.26442871e-01 9.91973552e-01 -8.20249777e-04 -1.56078037e+01] [-6.03380423e-03 5.77669767e-05 9.99981795e-01 -1.38059042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60576923099998 meters 0.019939524306091656 Centerline is valid? [True, True] Translation: X:212.15, Y:-15.63, Z:-1.38 [[ 9.92499544e-01 1.22167402e-01 4.44754874e-03 2.12145260e+02] [-1.22165894e-01 9.92509507e-01 -6.10187583e-04 -1.56316988e+01] [-4.48877944e-03 6.22721296e-05 9.99989923e-01 -1.38439102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66576923099998 meters 0.023636333633778112 Centerline is valid? [True, True] Translation: X:212.20, Y:-15.66, Z:-1.39 [[ 9.92957133e-01 1.18421133e-01 3.54516458e-03 2.12204203e+02] [-1.18420153e-01 9.92963459e-01 -4.85985807e-04 -1.56571913e+01] [-3.57776987e-03 6.27441429e-05 9.99993598e-01 -1.38551047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.725769231 meters 0.022532003002469516 Centerline is valid? [True, True] Translation: X:212.26, Y:-15.67, Z:-1.38 [[ 9.92694074e-01 1.20563780e-01 4.78015567e-03 2.12264031e+02] [-1.20562017e-01 9.92705580e-01 -6.56404979e-04 -1.56723596e+01] [-4.82442587e-03 7.53041249e-05 9.99988360e-01 -1.38401339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.785769231 meters 0.017263990356943294 Centerline is valid? [True, True] Translation: X:212.32, Y:-15.68, Z:-1.38 [[ 9.92083005e-01 1.25437221e-01 6.06744955e-03 2.12324946e+02] [-1.25434463e-01 9.92101557e-01 -8.34508598e-04 -1.56800159e+01] [-6.12420458e-03 6.68345253e-05 9.99981245e-01 -1.38272096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.845769231 meters 0.016220928466374497 Centerline is valid? [True, True] Translation: X:212.39, Y:-15.69, Z:-1.39 [[ 9.91920553e-01 1.26795696e-01 4.05808161e-03 2.12386267e+02] [-1.26794475e-01 9.91928853e-01 -5.57766961e-04 -1.56889057e+01] [-4.09605068e-03 3.87181864e-05 9.99991610e-01 -1.38774270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.905769231 meters 0.017647091789828855 Centerline is valid? [True, True] Translation: X:212.45, Y:-15.70, Z:-1.39 [[ 9.92199760e-01 1.24640204e-01 2.11079215e-03 2.12446967e+02] [-1.24639869e-01 9.92202005e-01 -2.89879933e-04 -1.57048117e+01] [-2.13046290e-03 2.45299430e-05 9.99997730e-01 -1.39164990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.965769231 meters 0.017996379641724153 Centerline is valid? [True, True] Translation: X:212.51, Y:-15.72, Z:-1.39 [[ 9.92215860e-01 1.24423231e-01 5.15230286e-03 2.12507225e+02] [-1.24421220e-01 9.92229235e-01 -7.10253919e-04 -1.57167147e+01] [-5.20063761e-03 6.36693937e-05 9.99986475e-01 -1.38660882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.025769231 meters 0.015413799399286969 Centerline is valid? [True, True] Translation: X:212.57, Y:-15.72, Z:-1.39 [[ 9.91675736e-01 1.28645128e-01 5.44664809e-03 2.12568527e+02] [-1.28642939e-01 9.91690692e-01 -7.51857638e-04 -1.57202335e+01] [-5.49811303e-03 4.49261582e-05 9.99984884e-01 -1.38632334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.085769231 meters 0.011739581418502948 Centerline is valid? [True, True] Translation: X:212.63, Y:-15.71, Z:-1.39 [[ 9.90742937e-01 1.35663277e-01 4.88955146e-03 2.12630009e+02] [-1.35661595e-01 9.90755003e-01 -6.75560289e-04 -1.57144360e+01] [-4.93599629e-03 5.98223300e-06 9.99987818e-01 -1.38676137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.145769231 meters 0.011607577259413625 Centerline is valid? [True, True] Translation: X:212.69, Y:-15.72, Z:-1.39 [[ 9.90624937e-01 1.36507017e-01 5.29790250e-03 2.12690040e+02] [-1.36505054e-01 9.90639104e-01 -7.31979728e-04 -1.57214637e+01] [-5.34822976e-03 1.92690375e-06 9.99985698e-01 -1.38669478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20576923099998 meters 0.011628075965024088 Centerline is valid? [True, True] Translation: X:212.75, Y:-15.73, Z:-1.39 [[ 9.90600173e-01 1.36702317e-01 4.87575387e-03 2.12750347e+02] [-1.36700657e-01 9.90612173e-01 -6.73604542e-04 -1.57297102e+01] [-4.92206444e-03 7.54017839e-07 9.99987887e-01 -1.38740262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26576923099998 meters 0.011880650160523393 Centerline is valid? [True, True] Translation: X:212.81, Y:-15.74, Z:-1.39 [[ 9.90854450e-01 1.34822103e-01 5.51903546e-03 2.12809269e+02] [-1.34819947e-01 9.90869820e-01 -7.62584812e-04 -1.57424252e+01] [-5.57145896e-03 1.15344876e-05 9.99984479e-01 -1.38618716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32576923099998 meters 0.01129587958233254 Centerline is valid? [True, True] Translation: X:212.87, Y:-15.75, Z:-1.38 [[ 9.90608300e-01 1.36511702e-01 7.72988543e-03 2.12869999e+02] [-1.36507519e-01 9.90638458e-01 -1.06861573e-03 -1.57495788e+01] [-7.80340034e-03 3.39212983e-06 9.99969553e-01 -1.38201735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38576923099998 meters 0.011386706971629414 Centerline is valid? [True, True] Translation: X:212.93, Y:-15.76, Z:-1.39 [[ 9.90576671e-01 1.36805082e-01 6.49826268e-03 2.12931182e+02] [-1.36802132e-01 9.90597986e-01 -8.98415404e-04 -1.57622983e+01] [-6.56007371e-03 9.73149452e-07 9.99978482e-01 -1.38648247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44576923099999 meters 0.011812136006224078 Centerline is valid? [True, True] Translation: X:212.99, Y:-15.78, Z:-1.39 [[ 9.90865587e-01 1.34711929e-01 6.17127292e-03 2.12991941e+02] [-1.34709222e-01 9.90884805e-01 -8.54169290e-04 -1.57825771e+01] [-6.23008735e-03 1.50395841e-05 9.99980593e-01 -1.38752228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.505769231 meters 0.01268734297751187 Centerline is valid? [True, True] Translation: X:213.05, Y:-15.80, Z:-1.39 [[ 9.91078518e-01 1.33184520e-01 5.02533579e-03 2.13051802e+02] [-1.33182702e-01 9.91091259e-01 -6.96302998e-04 -1.58045904e+01] [-5.07330316e-03 2.08031462e-05 9.99987130e-01 -1.39054279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.565769231 meters 0.012435613095147726 Centerline is valid? [True, True] Translation: X:213.11, Y:-15.82, Z:-1.39 [[ 9.90949579e-01 1.34136326e-01 5.13592078e-03 2.13113118e+02] [-1.34134435e-01 9.90962888e-01 -7.12551011e-04 -1.58195641e+01] [-5.18508587e-03 1.71982948e-05 9.99986557e-01 -1.39095196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.625769231 meters 0.012132045328992393 Centerline is valid? [True, True] Translation: X:213.17, Y:-15.83, Z:-1.39 [[ 9.90038798e-01 1.40700368e-01 5.15601142e-03 2.13174279e+02] [-1.40698546e-01 9.90052224e-01 -7.16358050e-04 -1.58284410e+01] [-5.20551242e-03 -1.62210450e-05 9.99986451e-01 -1.39015658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.685769231 meters 0.018080810262836644 Centerline is valid? [True, True] Translation: X:213.24, Y:-15.83, Z:-1.39 [[ 9.88828682e-01 1.48940694e-01 5.87430814e-03 2.13235197e+02] [-1.48938466e-01 9.88846128e-01 -8.17423311e-04 -1.58305553e+01] [-5.93053446e-03 -6.66188288e-05 9.99982412e-01 -1.38842071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.745769231 meters 0.025543607906686503 Centerline is valid? [True, True] Translation: X:213.30, Y:-15.83, Z:-1.39 [[ 9.87626525e-01 1.56734261e-01 5.31210193e-03 2.13297015e+02] [-1.56732551e-01 9.87640806e-01 -7.39316947e-04 -1.58279410e+01] [-5.36232492e-03 -1.02410257e-04 9.99985617e-01 -1.38978839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.805769231 meters 0.028518118592186736 Centerline is valid? [True, True] Translation: X:213.36, Y:-15.83, Z:-1.39 [[ 9.87136097e-01 1.59788057e-01 5.48656491e-03 2.13358260e+02] [-1.59786279e-01 9.87151337e-01 -7.63681201e-04 -1.58276204e+01] [-5.53809702e-03 -1.22820514e-04 9.99984657e-01 -1.39000658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.865769231 meters 0.026724845248643835 Centerline is valid? [True, True] Translation: X:213.42, Y:-15.84, Z:-1.39 [[ 9.87244539e-01 1.59116761e-01 5.48418957e-03 2.13418802e+02] [-1.59114975e-01 9.87259764e-01 -7.63333054e-04 -1.58351744e+01] [-5.53577878e-03 -1.19020294e-04 9.99984670e-01 -1.39144440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.925769231 meters 0.022180171692314888 Centerline is valid? [True, True] Translation: X:213.48, Y:-15.84, Z:-1.39 [[ 9.88108014e-01 1.53687659e-01 4.75984044e-03 2.13478831e+02] [-1.53686250e-01 9.88119475e-01 -6.62532663e-04 -1.58426622e+01] [-4.80511413e-03 -7.68681938e-05 9.99988452e-01 -1.39425576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98576923099998 meters 0.019329430891636235 Centerline is valid? [True, True] Translation: X:213.54, Y:-15.85, Z:-1.40 [[ 9.88426557e-01 1.51652332e-01 3.80952895e-03 2.13539075e+02] [-1.51651414e-01 9.88433896e-01 -5.30311198e-04 -1.58527535e+01] [-3.84589047e-03 -5.35467810e-05 9.99992603e-01 -1.39582108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04576923099998 meters 0.019154611990602786 Centerline is valid? [True, True] Translation: X:213.60, Y:-15.86, Z:-1.40 [[ 9.88469167e-01 1.51366926e-01 4.09392070e-03 2.13599516e+02] [-1.51365863e-01 9.88477643e-01 -5.70080954e-04 -1.58582774e+01] [-4.13304048e-03 -5.61723930e-05 9.99991457e-01 -1.39583152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10576923099998 meters 0.022438866554919973 Centerline is valid? [True, True] Translation: X:213.66, Y:-15.86, Z:-1.40 [[ 9.88027583e-01 1.54232081e-01 3.73631522e-03 2.13659388e+02] [-1.54231215e-01 9.88034646e-01 -5.20322529e-04 -1.58586652e+01] [-3.77185931e-03 -6.21634265e-05 9.99992885e-01 -1.39697258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16576923099998 meters 0.025291760710753626 Centerline is valid? [True, True] Translation: X:213.72, Y:-15.86, Z:-1.40 [[ 9.87633387e-01 1.56744130e-01 3.40142694e-03 2.13719870e+02] [-1.56743428e-01 9.87639243e-01 -4.73693593e-04 -1.58597055e+01] [-3.43363141e-03 -6.53157102e-05 9.99994103e-01 -1.39729072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.225769231 meters 0.027540280559474162 Centerline is valid? [True, True] Translation: X:213.78, Y:-15.86, Z:-1.40 [[ 9.87069852e-01 1.60234574e-01 4.24136385e-03 2.13780541e+02] [-1.60233515e-01 9.87078959e-01 -5.90528307e-04 -1.58570714e+01] [-4.28118407e-03 -9.67159511e-05 9.99990831e-01 -1.39568090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.285769231 meters 0.027049243545590046 Centerline is valid? [True, True] Translation: X:213.84, Y:-15.87, Z:-1.39 [[ 9.87327220e-01 1.58561023e-01 6.58497950e-03 2.13838606e+02] [-1.58558435e-01 9.87349170e-01 -9.16583944e-04 -1.58651565e+01] [-6.64700852e-03 -1.39135763e-04 9.99977899e-01 -1.39273630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.345769231 meters 0.020058715426942087 Centerline is valid? [True, True] Translation: X:213.90, Y:-15.88, Z:-1.39 [[ 9.88201918e-01 1.52938061e-01 8.18040448e-03 2.13897014e+02] [-1.52933876e-01 9.88235768e-01 -1.13834670e-03 -1.58843912e+01] [-8.25826484e-03 -1.26144578e-04 9.99965892e-01 -1.39041364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.405769231 meters 0.018615390995640857 Centerline is valid? [True, True] Translation: X:213.96, Y:-15.89, Z:-1.39 [[ 9.88497350e-01 1.51048419e-01 7.57388066e-03 2.13957390e+02] [-1.51044776e-01 9.88526360e-01 -1.05396063e-03 -1.58948964e+01] [-7.64617977e-03 -1.02157817e-04 9.99970762e-01 -1.39119018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.465769231 meters 0.019283188616661198 Centerline is valid? [True, True] Translation: X:214.02, Y:-15.90, Z:-1.40 [[ 9.88548962e-01 1.50832854e-01 4.51663136e-03 2.14016908e+02] [-1.50831556e-01 9.88559278e-01 -6.28652299e-04 -1.59006774e+01] [-4.55977926e-03 -5.97969581e-05 9.99989602e-01 -1.39735655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.525769231 meters 0.01778975607019891 Centerline is valid? [True, True] Translation: X:214.08, Y:-15.91, Z:-1.40 [[ 9.88727497e-01 1.49600679e-01 6.12972621e-03 2.14076452e+02] [-1.49598265e-01 9.88746495e-01 -8.53058664e-04 -1.59116997e+01] [-6.18836346e-03 -7.35538476e-05 9.99980849e-01 -1.39544597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.585769231 meters 0.014617945716174596 Centerline is valid? [True, True] Translation: X:214.14, Y:-15.93, Z:-1.40 [[ 9.89366886e-01 1.45372476e-01 4.47304408e-03 2.14136508e+02] [-1.45371148e-01 9.89376997e-01 -6.22443569e-04 -1.59273533e+01] [-4.51601308e-03 -3.44264953e-05 9.99989802e-01 -1.39917989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.645769231 meters 0.012093994310238217 Centerline is valid? [True, True] Translation: X:214.20, Y:-15.95, Z:-1.40 [[ 9.90222038e-01 1.39484679e-01 2.08313180e-03 2.14195483e+02] [-1.39484379e-01 9.90224229e-01 -2.89207554e-04 -1.59456633e+01] [-2.10310760e-03 -4.18465164e-06 9.99997788e-01 -1.40433469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70576923099998 meters 0.011667030503387658 Centerline is valid? [True, True] Translation: X:214.26, Y:-15.95, Z:-1.40 [[ 9.90213180e-01 1.39477350e-01 4.89155230e-03 2.14256202e+02] [-1.39475684e-01 9.90225262e-01 -6.81605100e-04 -1.59523444e+01] [-4.93880713e-03 -7.31825149e-06 9.99987804e-01 -1.39897028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76576923099998 meters 0.013062927187976312 Centerline is valid? [True, True] Translation: X:214.32, Y:-15.95, Z:-1.40 [[ 9.89684205e-01 1.43200294e-01 4.34166863e-03 2.14317252e+02] [-1.43199018e-01 9.89693728e-01 -6.04995187e-04 -1.59514911e+01] [-4.38355770e-03 -2.29685042e-05 9.99990392e-01 -1.39956155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82576923099998 meters 0.01422816556309057 Centerline is valid? [True, True] Translation: X:214.38, Y:-15.95, Z:-1.40 [[ 9.89384549e-01 1.45227290e-01 5.22005597e-03 2.14378043e+02] [-1.45225473e-01 9.89398319e-01 -7.27395157e-04 -1.59532915e+01] [-5.27035222e-03 -3.84115685e-05 9.99986111e-01 -1.39883695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88576923099998 meters 0.012548655398945448 Centerline is valid? [True, True] Translation: X:214.44, Y:-15.96, Z:-1.40 [[ 9.89785344e-01 1.42481078e-01 4.91082177e-03 2.14437842e+02] [-1.42479436e-01 9.89797526e-01 -6.84304535e-04 -1.59609188e+01] [-4.95821968e-03 -2.23765175e-05 9.99987708e-01 -1.39949238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94576923099999 meters 0.012202205773447489 Centerline is valid? [True, True] Translation: X:214.50, Y:-15.97, Z:-1.40 [[ 9.89949164e-01 1.41359678e-01 4.25373238e-03 2.14497762e+02] [-1.41358436e-01 9.89958303e-01 -5.92741602e-04 -1.59687029e+01] [-4.29480745e-03 -1.45169028e-05 9.99990777e-01 -1.40061461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.005769231 meters 0.011965253932461057 Centerline is valid? [True, True] Translation: X:214.56, Y:-15.98, Z:-1.40 [[ 9.89932616e-01 1.41433808e-01 5.46753005e-03 2.14557531e+02] [-1.41431757e-01 9.89947715e-01 -7.61879739e-04 -1.59757102e+01] [-5.52032443e-03 -1.90727802e-05 9.99984763e-01 -1.39814788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.065769231 meters 0.012492181658143232 Centerline is valid? [True, True] Translation: X:214.62, Y:-15.98, Z:-1.40 [[ 9.89762685e-01 1.42581662e-01 6.34803968e-03 2.14616590e+02] [-1.42578922e-01 9.89783041e-01 -8.84568780e-04 -1.59803190e+01] [-6.40930531e-03 -2.95834818e-05 9.99979460e-01 -1.39757473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.125769231 meters 0.013573626732054552 Centerline is valid? [True, True] Translation: X:214.68, Y:-15.99, Z:-1.40 [[ 9.89565756e-01 1.43981025e-01 5.39256768e-03 2.14676130e+02] [-1.43979068e-01 9.89580448e-01 -7.51477326e-04 -1.59850733e+01] [-5.44457801e-03 -3.27806394e-05 9.99985178e-01 -1.40085343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.185769231 meters 0.013262817597642845 Centerline is valid? [True, True] Translation: X:214.73, Y:-15.99, Z:-1.40 [[ 9.89674259e-01 1.43252817e-01 4.84679238e-03 2.14734250e+02] [-1.43251227e-01 9.89686127e-01 -6.75557026e-04 -1.59902131e+01] [-4.89357862e-03 -2.57275536e-05 9.99988026e-01 -1.40263775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.245769231 meters 0.01129404268215018 Centerline is valid? [True, True] Translation: X:214.79, Y:-16.01, Z:-1.40 [[ 9.90387791e-01 1.38138981e-01 7.04598272e-03 2.14793126e+02] [-1.38135492e-01 9.90412854e-01 -9.81733460e-04 -1.60058877e+01] [-7.11404752e-03 -1.00345900e-06 9.99974695e-01 -1.39889701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.305769231 meters 0.01218108494917966 Centerline is valid? [True, True] Translation: X:214.85, Y:-16.02, Z:-1.40 [[ 9.90876686e-01 1.34714509e-01 3.92361157e-03 2.14853888e+02] [-1.34713402e-01 9.90884454e-01 -5.46153075e-04 -1.60177886e+01] [-3.96142045e-03 1.26072859e-05 9.99992153e-01 -1.40421736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.365769231 meters 0.012531697046619232 Centerline is valid? [True, True] Translation: X:214.91, Y:-16.02, Z:-1.41 [[ 9.90856849e-01 1.34908468e-01 1.55250572e-03 2.14912840e+02] [-1.34908294e-01 9.90858065e-01 -2.16535675e-04 -1.60246876e+01] [-1.56752531e-03 5.10995766e-06 9.99998771e-01 -1.40838523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.425769231 meters 0.011453961841724546 Centerline is valid? [True, True] Translation: X:214.97, Y:-16.03, Z:-1.40 [[ 9.90379464e-01 1.38303381e-01 4.54881567e-03 2.14972555e+02] [-1.38301925e-01 9.90389910e-01 -6.34697665e-04 -1.60264499e+01] [-4.59288198e-03 -5.18429997e-07 9.99989453e-01 -1.40362553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48576923099998 meters 0.011961076625641913 Centerline is valid? [True, True] Translation: X:215.03, Y:-16.03, Z:-1.41 [[ 9.90029653e-01 1.40807217e-01 3.82279399e-03 2.15031739e+02] [-1.40806208e-01 9.90037033e-01 -5.33330183e-04 -1.60308955e+01] [-3.85980436e-03 -1.02604292e-05 9.99992551e-01 -1.40522203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54576923099998 meters 0.013111780392098704 Centerline is valid? [True, True] Translation: X:215.09, Y:-16.03, Z:-1.40 [[ 9.89645189e-01 1.43480166e-01 3.98022137e-03 2.15092032e+02] [-1.43479093e-01 9.89653193e-01 -5.55189934e-04 -1.60338483e+01] [-4.01869753e-03 -2.16375068e-05 9.99991925e-01 -1.40481606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60576923099998 meters 0.014531844200341948 Centerline is valid? [True, True] Translation: X:215.15, Y:-16.03, Z:-1.40 [[ 9.89270795e-01 1.45899786e-01 7.51975696e-03 2.15151324e+02] [-1.45896030e-01 9.89299373e-01 -1.04856864e-03 -1.60343740e+01] [-7.59227678e-03 -5.97843564e-05 9.99971176e-01 -1.39860815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66576923099998 meters 0.015200429115239196 Centerline is valid? [True, True] Translation: X:215.21, Y:-16.04, Z:-1.40 [[ 9.89204171e-01 1.46266885e-01 9.00595647e-03 2.15209012e+02] [-1.46261517e-01 9.89245163e-01 -1.25529083e-03 -1.60367591e+01] [-9.09270636e-03 -7.54859320e-05 9.99958658e-01 -1.39772347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.725769231 meters 0.01357849740096483 Centerline is valid? [True, True] Translation: X:215.27, Y:-16.04, Z:-1.40 [[ 9.89396489e-01 1.45012899e-01 8.11463529e-03 2.15268254e+02] [-1.45008502e-01 9.89429763e-01 -1.13065747e-03 -1.60405770e+01] [-8.19282159e-03 -5.80225829e-05 9.99966437e-01 -1.39894779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.785769231 meters 0.014552601465893076 Centerline is valid? [True, True] Translation: X:215.33, Y:-16.04, Z:-1.40 [[ 9.89388446e-01 1.45202595e-01 5.16814276e-03 2.15326465e+02] [-1.45200814e-01 9.89401943e-01 -7.20115082e-04 -1.60419057e+01] [-5.21793307e-03 -3.79449943e-05 9.99986386e-01 -1.40420525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.845769231 meters 0.012654326716309994 Centerline is valid? [True, True] Translation: X:215.39, Y:-16.05, Z:-1.40 [[ 9.89687706e-01 1.43126922e-01 5.73838184e-03 2.15385010e+02] [-1.43124695e-01 9.89704341e-01 -7.99116799e-04 -1.60463240e+01] [-5.79367655e-03 -3.04280786e-05 9.99983216e-01 -1.40445150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.905769231 meters 0.011437791650355024 Centerline is valid? [True, True] Translation: X:215.44, Y:-16.06, Z:-1.41 [[ 9.90324437e-01 1.38682866e-01 4.95696392e-03 2.15442532e+02] [-1.38681149e-01 9.90336843e-01 -6.90070948e-04 -1.60593124e+01] [-5.00476501e-03 -4.04332636e-06 9.99987476e-01 -1.40585714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.965769231 meters 0.013477477220158863 Centerline is valid? [True, True] Translation: X:215.50, Y:-16.08, Z:-1.41 [[ 9.91318227e-01 1.31392593e-01 4.91521108e-03 2.15499539e+02] [-1.31390816e-01 9.91330412e-01 -6.84050294e-04 -1.60798819e+01] [-4.96247736e-03 3.22979314e-05 9.99987686e-01 -1.40716518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.025769231 meters 0.013560361129212174 Centerline is valid? [True, True] Translation: X:215.56, Y:-16.09, Z:-1.40 [[ 9.91386978e-01 1.30788355e-01 6.80198458e-03 2.15559588e+02] [-1.30784940e-01 9.91410311e-01 -9.46400266e-04 -1.60897999e+01] [-6.86733578e-03 4.86517535e-05 9.99976418e-01 -1.40332324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.085769231 meters 0.012456443352933362 Centerline is valid? [True, True] Translation: X:215.62, Y:-16.09, Z:-1.41 [[ 9.91070695e-01 1.33243350e-01 5.00865424e-03 2.15618557e+02] [-1.33241530e-01 9.91083351e-01 -6.96954994e-04 -1.60932625e+01] [-5.05685844e-03 2.33709175e-05 9.99987214e-01 -1.40861618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.145769231 meters 0.012705348668172583 Centerline is valid? [True, True] Translation: X:215.68, Y:-16.10, Z:-1.41 [[ 9.91152334e-01 1.32624022e-01 5.28398083e-03 2.15677057e+02] [-1.32621987e-01 9.91166418e-01 -7.35079004e-04 -1.61023479e+01] [-5.33479349e-03 2.78032314e-05 9.99985770e-01 -1.40802159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20576923099998 meters 0.014215871982936126 Centerline is valid? [True, True] Translation: X:215.74, Y:-16.11, Z:-1.41 [[ 9.91414729e-01 1.30615695e-01 6.03125374e-03 2.15735200e+02] [-1.30613010e-01 9.91433073e-01 -8.38673497e-04 -1.61126333e+01] [-6.08912835e-03 4.37130531e-05 9.99981460e-01 -1.40807467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26576923099998 meters 0.014513782142496134 Centerline is valid? [True, True] Translation: X:215.79, Y:-16.12, Z:-1.41 [[ 9.91502774e-01 1.29853915e-01 7.75945354e-03 2.15794246e+02] [-1.29849449e-01 9.91533134e-01 -1.07875436e-03 -1.61201450e+01] [-7.83383577e-03 6.20271758e-05 9.99969313e-01 -1.40562880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32576923099998 meters 0.017529960628037845 Centerline is valid? [True, True] Translation: X:215.85, Y:-16.14, Z:-1.41 [[ 9.91900084e-01 1.26882632e-01 5.91783894e-03 2.15851534e+02] [-1.26879982e-01 9.91917735e-01 -8.22610649e-04 -1.61375286e+01] [-5.97438440e-03 6.50922734e-05 9.99982151e-01 -1.40951356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38576923099998 meters 0.022117299004817757 Centerline is valid? [True, True] Translation: X:215.91, Y:-16.16, Z:-1.41 [[ 9.92498541e-01 1.22198097e-01 3.77780190e-03 2.15910480e+02] [-1.22196984e-01 9.92505729e-01 -5.25008213e-04 -1.61580948e+01] [-3.81364503e-03 5.94338874e-05 9.99992726e-01 -1.41402892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44576923099999 meters 0.023881293371223727 Centerline is valid? [True, True] Translation: X:215.97, Y:-16.18, Z:-1.41 [[ 9.92602945e-01 1.21320123e-01 4.56309648e-03 2.15968954e+02] [-1.21318488e-01 9.92613430e-01 -6.34309718e-04 -1.61761763e+01] [-4.60634539e-03 7.60297270e-05 9.99989388e-01 -1.41289976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.505769231 meters 0.01813618075654829 Centerline is valid? [True, True] Translation: X:216.03, Y:-16.18, Z:-1.41 [[ 9.91946917e-01 1.26499987e-01 6.25037587e-03 2.16029862e+02] [-1.26497023e-01 9.91966606e-01 -8.68957375e-04 -1.61803575e+01] [-6.31008724e-03 7.13056518e-05 9.99980089e-01 -1.40877836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.565769231 meters 0.012217760351904647 Centerline is valid? [True, True] Translation: X:216.09, Y:-16.18, Z:-1.41 [[ 9.90964872e-01 1.34043263e-01 4.58545627e-03 2.16091056e+02] [-1.34041748e-01 9.90975481e-01 -6.37521288e-04 -1.61825472e+01] [-4.62953017e-03 1.71186291e-05 9.99989284e-01 -1.41347957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.625769231 meters 0.011542092319797668 Centerline is valid? [True, True] Translation: X:216.15, Y:-16.19, Z:-1.41 [[ 9.90433202e-01 1.37929647e-01 4.18141639e-03 2.16149901e+02] [-1.37928422e-01 9.90442029e-01 -5.81458210e-04 -1.61882991e+01] [-4.22165086e-03 -8.40645794e-07 9.99991089e-01 -1.41433208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.685769231 meters 0.011851312443855632 Centerline is valid? [True, True] Translation: X:216.21, Y:-16.20, Z:-1.41 [[ 9.90067800e-01 1.40474421e-01 5.71737406e-03 2.16209818e+02] [-1.40472173e-01 9.90084308e-01 -7.94929585e-04 -1.61992074e+01] [-5.77234962e-03 -1.60977730e-05 9.99983340e-01 -1.41371286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.745769231 meters 0.012267872282143603 Centerline is valid? [True, True] Translation: X:216.27, Y:-16.21, Z:-1.42 [[ 9.89983520e-01 1.41107450e-01 4.61710803e-03 2.16268522e+02] [-1.41105991e-01 9.89994286e-01 -6.41980682e-04 -1.62093575e+01] [-4.66149883e-03 -1.59513071e-05 9.99989135e-01 -1.41557682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.805769231 meters 0.012998258055331651 Centerline is valid? [True, True] Translation: X:216.33, Y:-16.22, Z:-1.41 [[ 9.89731940e-01 1.42788489e-01 6.49107317e-03 2.16328282e+02] [-1.42785641e-01 9.89753225e-01 -9.02432495e-04 -1.62155566e+01] [-6.55341757e-03 -3.36657789e-05 9.99978526e-01 -1.41265623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.865769231 meters 0.013215732546508568 Centerline is valid? [True, True] Translation: X:216.39, Y:-16.22, Z:-1.41 [[ 9.89661247e-01 1.43233974e-01 7.39221148e-03 2.16388034e+02] [-1.43230294e-01 9.89688854e-01 -1.02751547e-03 -1.62213622e+01] [-7.46316443e-03 -4.18963812e-05 9.99972149e-01 -1.41204045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.925769231 meters 0.012944067787100342 Centerline is valid? [True, True] Translation: X:216.45, Y:-16.23, Z:-1.41 [[ 9.89717987e-01 1.42868812e-01 6.84167992e-03 2.16447860e+02] [-1.42865653e-01 9.89741634e-01 -9.50838043e-04 -1.62300840e+01] [-6.90734057e-03 -3.63795546e-05 9.99976143e-01 -1.41261065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98576923099998 meters 0.011843458887632106 Centerline is valid? [True, True] Translation: X:216.51, Y:-16.24, Z:-1.41 [[ 9.90116436e-01 1.40114400e-01 6.11536122e-03 2.16507995e+02] [-1.40111824e-01 9.90135321e-01 -8.49896248e-04 -1.62391359e+01] [-6.17411785e-03 -1.53381693e-05 9.99980940e-01 -1.41448760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04576923099998 meters 0.012451243043995785 Centerline is valid? [True, True] Translation: X:216.57, Y:-16.26, Z:-1.41 [[ 9.91038163e-01 1.33396164e-01 6.98740363e-03 2.16568120e+02] [-1.33392632e-01 9.91062794e-01 -9.71095431e-04 -1.62561648e+01] [-7.05449618e-03 3.03244674e-05 9.99975116e-01 -1.41448675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10576923099998 meters 0.016172499750194972 Centerline is valid? [True, True] Translation: X:216.63, Y:-16.27, Z:-1.41 [[ 9.91751065e-01 1.27953119e-01 7.60422167e-03 2.16627533e+02] [-1.27948766e-01 9.91780214e-01 -1.05824719e-03 -1.62738639e+01] [-7.67712263e-03 7.65670006e-05 9.99970528e-01 -1.41432016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16576923099998 meters 0.020064450238040876 Centerline is valid? [True, True] Translation: X:216.69, Y:-16.29, Z:-1.42 [[ 9.92357744e-01 1.23296154e-01 4.91595783e-03 2.16687790e+02] [-1.23294275e-01 9.92369917e-01 -6.84754952e-04 -1.62914194e+01] [-4.96287631e-03 7.34124242e-05 9.99987682e-01 -1.41928729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.225769231 meters 0.023314512707944265 Centerline is valid? [True, True] Translation: X:216.75, Y:-16.31, Z:-1.42 [[ 9.92757114e-01 1.20013905e-01 5.47487704e-03 2.16747658e+02] [-1.20011523e-01 9.92772206e-01 -7.62753313e-04 -1.63079795e+01] [-5.52684676e-03 1.00180445e-04 9.99984722e-01 -1.41745832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.285769231 meters 0.027152669730829644 Centerline is valid? [True, True] Translation: X:216.81, Y:-16.33, Z:-1.42 [[ 9.93123309e-01 1.16894083e-01 6.47037011e-03 2.16805931e+02] [-1.16890681e-01 9.93144377e-01 -9.02703978e-04 -1.63290467e+01] [-6.53153244e-03 1.40170392e-04 9.99978659e-01 -1.41689000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.345769231 meters 0.028336091848897196 Centerline is valid? [True, True] Translation: X:216.87, Y:-16.35, Z:-1.42 [[ 9.93101509e-01 1.17044438e-01 7.07047359e-03 2.16866241e+02] [-1.17040375e-01 9.93126667e-01 -9.87080833e-04 -1.63454138e+01] [-7.13740819e-03 1.52740581e-04 9.99974517e-01 -1.41653551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.405769231 meters 0.023835559245873494 Centerline is valid? [True, True] Translation: X:216.93, Y:-16.36, Z:-1.41 [[ 9.92753990e-01 1.19817557e-01 9.12513117e-03 2.16927748e+02] [-1.19810894e-01 9.92795912e-01 -1.27535456e-03 -1.63564261e+01] [-9.21220279e-03 1.72823205e-04 9.99957552e-01 -1.41219588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.465769231 meters 0.022353214824179183 Centerline is valid? [True, True] Translation: X:216.99, Y:-16.37, Z:-1.42 [[ 9.92406830e-01 1.22759745e-01 7.66346070e-03 2.16987470e+02] [-1.22755124e-01 9.92436411e-01 -1.07216875e-03 -1.63697422e+01] [-7.73711659e-03 1.23298520e-04 9.99970060e-01 -1.41575861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.525769231 meters 0.017752398109263344 Centerline is valid? [True, True] Translation: X:217.05, Y:-16.38, Z:-1.41 [[ 9.91849037e-01 1.27075387e-01 9.34530202e-03 2.17049636e+02] [-1.27068691e-01 9.91893056e-01 -1.30920124e-03 -1.63760134e+01] [-9.43590743e-03 1.11034697e-04 9.99955475e-01 -1.41378267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.585769231 meters 0.014392740683691998 Centerline is valid? [True, True] Translation: X:217.11, Y:-16.38, Z:-1.42 [[ 9.91307986e-01 1.31393831e-01 6.64357073e-03 2.17112070e+02] [-1.31390539e-01 9.91330247e-01 -9.31489693e-04 -1.63796028e+01] [-6.70836462e-03 5.04908307e-05 9.99977497e-01 -1.41935037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.645769231 meters 0.013065700619644589 Centerline is valid? [True, True] Translation: X:217.17, Y:-16.38, Z:-1.42 [[ 9.90879042e-01 1.34695882e-01 3.96789919e-03 2.17173428e+02] [-1.34694733e-01 9.90886986e-01 -5.56579641e-04 -1.63827081e+01] [-4.00670866e-03 1.70479805e-05 9.99991973e-01 -1.42463592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70576923099998 meters 0.011826940378396343 Centerline is valid? [True, True] Translation: X:217.24, Y:-16.38, Z:-1.42 [[ 9.90435453e-01 1.37867663e-01 5.48827318e-03 2.17235607e+02] [-1.37865507e-01 9.90450659e-01 -7.71124534e-04 -1.63839659e+01] [-5.54217692e-03 7.10551464e-06 9.99984642e-01 -1.42158694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76576923099998 meters 0.014871942771467752 Centerline is valid? [True, True] Translation: X:217.30, Y:-16.40, Z:-1.42 [[ 9.91274081e-01 1.31678103e-01 6.04754737e-03 2.17295036e+02] [-1.31675362e-01 9.91292527e-01 -8.50928120e-04 -1.64028951e+01] [-6.10693712e-03 4.71900019e-05 9.99981351e-01 -1.42313919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82576923099998 meters 0.028297846904681647 Centerline is valid? [True, True] Translation: X:217.35, Y:-16.44, Z:-1.42 [[ 9.92872422e-01 1.18993546e-01 6.69992833e-03 2.17349096e+02] [-1.18989884e-01 9.92895018e-01 -9.43989249e-04 -1.64427975e+01] [-6.76465409e-03 1.40037196e-04 9.99977110e-01 -1.42277387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88576923099998 meters 0.03427177696994456 Centerline is valid? [True, True] Translation: X:217.41, Y:-16.48, Z:-1.43 [[ 9.93721124e-01 1.11770490e-01 5.06800438e-03 2.17405269e+02] [-1.11768301e-01 9.93734037e-01 -7.13999138e-04 -1.64757547e+01] [-5.11605248e-03 1.43073789e-04 9.99986903e-01 -1.42588473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94576923099999 meters 0.030655291779656795 Centerline is valid? [True, True] Translation: X:217.47, Y:-16.49, Z:-1.42 [[ 9.93562874e-01 1.13114344e-01 6.16114681e-03 2.17465938e+02] [-1.13111136e-01 9.93581963e-01 -8.67900013e-04 -1.64893605e+01] [-6.21977628e-03 1.65418920e-04 9.99980643e-01 -1.42328499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.005769231 meters 0.021256616297596363 Centerline is valid? [True, True] Translation: X:217.53, Y:-16.50, Z:-1.42 [[ 9.92249952e-01 1.23990700e-01 8.14484900e-03 2.17525443e+02] [-1.23985445e-01 9.92283371e-01 -1.14893578e-03 -1.64973040e+01] [-8.22445558e-03 1.30188739e-04 9.99966170e-01 -1.42080435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.065769231 meters 0.011716050669010691 Centerline is valid? [True, True] Translation: X:217.59, Y:-16.49, Z:-1.42 [[ 9.90033541e-01 1.40680238e-01 6.53128600e-03 2.17587088e+02] [-1.40677222e-01 9.90055085e-01 -9.21319331e-04 -1.64897970e+01] [-6.59594433e-03 -6.66612890e-06 9.99978246e-01 -1.42280200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.125769231 meters 0.021967118419524395 Centerline is valid? [True, True] Translation: X:217.65, Y:-16.47, Z:-1.42 [[ 9.87840654e-01 1.55273016e-01 7.81878940e-03 2.17651020e+02] [-1.55269148e-01 9.87871588e-01 -1.10294782e-03 -1.64739265e+01] [-7.89521793e-03 -1.24480073e-04 9.99968825e-01 -1.42083407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.185769231 meters 0.02778863876563775 Centerline is valid? [True, True] Translation: X:217.71, Y:-16.47, Z:-1.42 [[ 9.86975369e-01 1.60703465e-01 7.34968914e-03 2.17714090e+02] [-1.60700198e-01 9.87002721e-01 -1.03686028e-03 -1.64669226e+01] [-7.42079022e-03 -1.57740940e-04 9.99972453e-01 -1.42265001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.245769231 meters 0.026745158462335144 Centerline is valid? [True, True] Translation: X:217.78, Y:-16.47, Z:-1.43 [[ 9.86801280e-01 1.61851515e-01 5.22699624e-03 2.17776057e+02] [-1.61849879e-01 9.86815116e-01 -7.37222483e-04 -1.64697526e+01] [-5.27739948e-03 -1.18496621e-04 9.99986067e-01 -1.42580736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.305769231 meters 0.03360051646553697 Centerline is valid? [True, True] Translation: X:217.84, Y:-16.45, Z:-1.43 [[ 9.86137696e-01 1.65845079e-01 5.27769181e-03 2.17838621e+02] [-1.65843463e-01 9.86151809e-01 -7.45559470e-04 -1.64534061e+01] [-5.32825270e-03 -1.40046388e-04 9.99985795e-01 -1.42577512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.365769231 meters 0.037916847047086595 Centerline is valid? [True, True] Translation: X:217.90, Y:-16.44, Z:-1.42 [[ 9.85459369e-01 1.69757200e-01 7.23361044e-03 2.17901331e+02] [-1.69754268e-01 9.85485893e-01 -1.02186148e-03 -1.64394698e+01] [-7.30208938e-03 -2.20933276e-04 9.99973315e-01 -1.42377387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.425769231 meters 0.033489394835788514 Centerline is valid? [True, True] Translation: X:217.96, Y:-16.44, Z:-1.42 [[ 9.85775803e-01 1.67897811e-01 7.50945213e-03 2.17961254e+02] [-1.67894598e-01 9.85804382e-01 -1.06073906e-03 -1.64445260e+01] [-7.58094658e-03 -2.15145551e-04 9.99971241e-01 -1.42332081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48576923099998 meters 0.025743169543435074 Centerline is valid? [True, True] Translation: X:218.02, Y:-16.45, Z:-1.42 [[ 9.87154811e-01 1.59477398e-01 9.60930293e-03 2.18020455e+02] [-1.59471739e-01 9.87201561e-01 -1.35720813e-03 -1.64506961e+01] [-9.70276287e-03 -1.92637717e-04 9.99952909e-01 -1.42018433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54576923099998 meters 0.021230300635861482 Centerline is valid? [True, True] Translation: X:218.08, Y:-16.45, Z:-1.42 [[ 9.87780788e-01 1.55464572e-01 1.09490124e-02 2.18080304e+02] [-1.55456981e-01 9.87841453e-01 -1.54622119e-03 -1.64548553e+01] [-1.10562710e-02 -1.74772827e-04 9.99938862e-01 -1.41803829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60576923099998 meters 0.02034052184907199 Centerline is valid? [True, True] Translation: X:218.14, Y:-16.46, Z:-1.42 [[ 9.87940788e-01 1.54568101e-01 9.03884615e-03 2.18140315e+02] [-1.54562891e-01 9.87982127e-01 -1.27627931e-03 -1.64583773e+01] [-9.12749051e-03 -1.36181808e-04 9.99958334e-01 -1.42177308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66576923099998 meters 0.018259249341002246 Centerline is valid? [True, True] Translation: X:218.20, Y:-16.46, Z:-1.42 [[ 9.88343052e-01 1.52071863e-01 7.22213714e-03 2.18199937e+02] [-1.52068471e-01 9.88369435e-01 -1.01962021e-03 -1.64645613e+01] [-7.29319515e-03 -9.05248051e-05 9.99973400e-01 -1.42423116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.725769231 meters 0.013896377075953967 Centerline is valid? [True, True] Translation: X:218.26, Y:-16.48, Z:-1.42 [[ 9.89207002e-01 1.46210587e-01 9.59021723e-03 2.18258271e+02] [-1.46204335e-01 9.89253486e-01 -1.35365871e-03 -1.64770407e+01] [-9.68507507e-03 -6.30826594e-05 9.99953097e-01 -1.42003590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.785769231 meters 0.011919245161154982 Centerline is valid? [True, True] Translation: X:218.32, Y:-16.50, Z:-1.43 [[ 9.90109136e-01 1.40063029e-01 8.13916265e-03 2.18317561e+02] [-1.40058319e-01 9.90142590e-01 -1.14872781e-03 -1.64952708e+01] [-8.21982589e-03 -2.59153607e-06 9.99966217e-01 -1.42504763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.845769231 meters 0.01210626573529583 Centerline is valid? [True, True] Translation: X:218.38, Y:-16.51, Z:-1.43 [[ 9.90374275e-01 1.38245615e-01 6.85171811e-03 2.18376451e+02] [-1.38242232e-01 9.90397976e-01 -9.67163651e-04 -1.65081518e+01] [-6.91963388e-03 1.06571953e-05 9.99976059e-01 -1.42817596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.905769231 meters 0.014004692434312006 Centerline is valid? [True, True] Translation: X:218.44, Y:-16.53, Z:-1.43 [[ 9.90972788e-01 1.34014437e-01 3.61450875e-03 2.18436376e+02] [-1.34013469e-01 9.90979379e-01 -5.09693593e-04 -1.65276274e+01] [-3.65020994e-03 2.06996240e-05 9.99993338e-01 -1.43315990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.965769231 meters 0.01498005044129421 Centerline is valid? [True, True] Translation: X:218.50, Y:-16.55, Z:-1.43 [[ 9.91258165e-01 1.31816483e-01 5.62713646e-03 2.18496270e+02] [-1.31814093e-01 9.91274136e-01 -7.95088140e-04 -1.65477075e+01] [-5.68284055e-03 4.64017214e-05 9.99983851e-01 -1.43033266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.025769231 meters 0.017158533618541208 Centerline is valid? [True, True] Translation: X:218.55, Y:-16.57, Z:-1.43 [[ 9.91496095e-01 1.29993779e-01 6.09191461e-03 2.18554236e+02] [-1.29990937e-01 9.91514807e-01 -8.61953737e-04 -1.65712729e+01] [-6.15227216e-03 6.27300789e-05 9.99981073e-01 -1.43054246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.085769231 meters 0.017801510928559777 Centerline is valid? [True, True] Translation: X:218.61, Y:-16.59, Z:-1.43 [[ 9.91521139e-01 1.29803439e-01 6.07433878e-03 2.18614049e+02] [-1.29800604e-01 9.91539744e-01 -8.60257313e-04 -1.65897369e+01] [-6.13461267e-03 6.45104666e-05 9.99981181e-01 -1.43148810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.145769231 meters 0.01454812355365426 Centerline is valid? [True, True] Translation: X:218.68, Y:-16.60, Z:-1.43 [[ 9.90977427e-01 1.33837746e-01 7.15521668e-03 2.18675392e+02] [-1.33833907e-01 9.91003257e-01 -1.01477957e-03 -1.66029846e+01] [-7.22665885e-03 4.80130410e-05 9.99973886e-01 -1.42885685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20576923099998 meters 0.011904282848169858 Centerline is valid? [True, True] Translation: X:218.74, Y:-16.61, Z:-1.43 [[ 9.90053037e-01 1.40522962e-01 6.94845091e-03 2.18736063e+02] [-1.40519504e-01 9.90077420e-01 -9.85846092e-04 -1.66084272e+01] [-7.01803836e-03 -3.52956945e-07 9.99975373e-01 -1.42952864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26576923099998 meters 0.014872701035569324 Centerline is valid? [True, True] Translation: X:218.80, Y:-16.61, Z:-1.43 [[ 9.89088007e-01 1.47217046e-01 5.66184986e-03 2.18796689e+02] [-1.47214856e-01 9.89104211e-01 -8.03794034e-04 -1.66132168e+01] [-5.71849172e-03 -3.84853742e-05 9.99983649e-01 -1.43315252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32576923099998 meters 0.017773400838607848 Centerline is valid? [True, True] Translation: X:218.86, Y:-16.62, Z:-1.43 [[ 9.88317746e-01 1.52310584e-01 5.43315599e-03 2.18857883e+02] [-1.52308646e-01 9.88332678e-01 -7.71238392e-04 -1.66203208e+01] [-5.48723338e-03 -6.52880405e-05 9.99984943e-01 -1.43340358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38576923099998 meters 0.024809639119149688 Centerline is valid? [True, True] Translation: X:218.92, Y:-16.62, Z:-1.43 [[ 9.87136221e-01 1.59784288e-01 5.57333385e-03 2.18918662e+02] [-1.59782361e-01 9.87151949e-01 -7.92262098e-04 -1.66188218e+01] [-5.62831841e-03 -1.08449827e-04 9.99984155e-01 -1.43382189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44576923099999 meters 0.032998191655773626 Centerline is valid? [True, True] Translation: X:218.98, Y:-16.61, Z:-1.44 [[ 9.85549641e-01 1.69289589e-01 5.73932515e-03 2.18980454e+02] [-1.69287706e-01 9.85566338e-01 -8.15857642e-04 -1.66128953e+01] [-5.79460187e-03 -1.67528983e-04 9.99983197e-01 -1.43554290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.505769231 meters 0.04090627518479578 Centerline is valid? [True, True] Translation: X:219.04, Y:-16.61, Z:-1.44 [[ 9.84533173e-01 1.75125313e-01 5.05524590e-03 2.19041354e+02] [-1.75123928e-01 9.84546136e-01 -7.18642282e-04 -1.66081149e+01] [-5.10297527e-03 -1.77767355e-04 9.99986964e-01 -1.43723235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.565769231 meters 0.042049646096703516 Centerline is valid? [True, True] Translation: X:219.10, Y:-16.61, Z:-1.44 [[ 9.84039773e-01 1.77889163e-01 4.60122679e-03 2.19100951e+02] [-1.77888046e-01 9.84050514e-01 -6.54100497e-04 -1.66091952e+01] [-4.64419698e-03 -1.74842341e-04 9.99989200e-01 -1.43757271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.625769231 meters 0.045921265265712295 Centerline is valid? [True, True] Translation: X:219.16, Y:-16.60, Z:-1.43 [[ 9.84006877e-01 1.77985372e-01 7.18848468e-03 2.19160202e+02] [-1.77982652e-01 9.84033095e-01 -1.02149078e-03 -1.66046648e+01] [-7.25551725e-03 -2.74271614e-04 9.99973641e-01 -1.43477414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.685769231 meters 0.04493232921343333 Centerline is valid? [True, True] Translation: X:219.22, Y:-16.61, Z:-1.44 [[ 9.84379425e-01 1.76029059e-01 3.30426476e-03 2.19218996e+02] [-1.76028474e-01 9.84384963e-01 -4.69513707e-04 -1.66078457e+01] [-3.33531660e-03 -1.19465049e-04 9.99994431e-01 -1.44163639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.745769231 meters 0.03849041350811017 Centerline is valid? [True, True] Translation: X:219.28, Y:-16.62, Z:-1.44 [[ 9.84944368e-01 1.72861911e-01 1.83097622e-03 2.19277547e+02] [-1.72861726e-01 9.84946068e-01 -2.60144266e-04 -1.66227445e+01] [-1.84838186e-03 -6.02780792e-05 9.99998290e-01 -1.44413772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.805769231 meters 0.03706112083868445 Centerline is valid? [True, True] Translation: X:219.34, Y:-16.63, Z:-1.44 [[ 9.85602659e-01 1.68974092e-01 5.92920065e-03 2.19336791e+02] [-1.68972083e-01 9.85620478e-01 -8.41783012e-04 -1.66264663e+01] [-5.98618110e-03 -1.72205811e-04 9.99982068e-01 -1.43656383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.865769231 meters 0.032834063470660806 Centerline is valid? [True, True] Translation: X:219.39, Y:-16.63, Z:-1.44 [[ 9.86019591e-01 1.66540942e-01 5.42954831e-03 2.19394938e+02] [-1.66539220e-01 9.86034530e-01 -7.70767464e-04 -1.66343675e+01] [-5.48208646e-03 -1.44240923e-04 9.99984963e-01 -1.43828662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.925769231 meters 0.0323409113099511 Centerline is valid? [True, True] Translation: X:219.45, Y:-16.64, Z:-1.44 [[ 9.86448016e-01 1.63965210e-01 5.97668185e-03 2.19453176e+02] [-1.63963080e-01 9.86466112e-01 -8.48124493e-04 -1.66396667e+01] [-6.03485701e-03 -1.43324437e-04 9.99981780e-01 -1.43822689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98576923099998 meters 0.027576397214765555 Centerline is valid? [True, True] Translation: X:219.51, Y:-16.65, Z:-1.44 [[ 9.86774727e-01 1.62012969e-01 5.23801179e-03 2.19510265e+02] [-1.62011306e-01 9.86788622e-01 -7.43102278e-04 -1.66542617e+01] [-5.28920264e-03 -1.15342582e-04 9.99986005e-01 -1.43994656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04576923099998 meters 0.02697210116736965 Centerline is valid? [True, True] Translation: X:219.57, Y:-16.66, Z:-1.44 [[ 9.87082113e-01 1.60189242e-01 2.88237029e-03 2.19567049e+02] [-1.60188731e-01 9.87086320e-01 -4.08971969e-04 -1.66626368e+01] [-2.91066119e-03 -5.80343225e-05 9.99995762e-01 -1.44471493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10576923099998 meters 0.02854426451515904 Centerline is valid? [True, True] Translation: X:219.63, Y:-16.67, Z:-1.44 [[ 9.86577773e-01 1.63234570e-01 4.33285618e-03 2.19626819e+02] [-1.63233446e-01 9.86587282e-01 -6.14221704e-04 -1.66670181e+01] [-4.37500302e-03 -1.01289564e-04 9.99990424e-01 -1.44210972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16576923099998 meters 0.03037613413892285 Centerline is valid? [True, True] Translation: X:219.69, Y:-16.67, Z:-1.44 [[ 9.86263315e-01 1.65107841e-01 4.90655763e-03 2.19685904e+02] [-1.65106423e-01 9.86275512e-01 -6.95457566e-04 -1.66711892e+01] [-4.95404314e-03 -1.24199896e-04 9.99987721e-01 -1.44044294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.225769231 meters 0.03342527053847471 Centerline is valid? [True, True] Translation: X:219.75, Y:-16.67, Z:-1.44 [[ 9.85922909e-01 1.67143867e-01 4.35257810e-03 2.19745321e+02] [-1.67142771e-01 9.85932510e-01 -6.16731139e-04 -1.66706047e+01] [-4.39443108e-03 -1.19452608e-04 9.99990337e-01 -1.44310581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.285769231 meters 0.03631430405907225 Centerline is valid? [True, True] Translation: X:219.80, Y:-16.67, Z:-1.44 [[ 9.85743553e-01 1.68192485e-01 4.57557947e-03 2.19803776e+02] [-1.68191287e-01 9.85754164e-01 -6.48183159e-04 -1.66673936e+01] [-4.61941605e-03 -1.30630229e-04 9.99989322e-01 -1.44215984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.345769231 meters 0.033471478592998885 Centerline is valid? [True, True] Translation: X:219.86, Y:-16.67, Z:-1.44 [[ 9.86317451e-01 1.64816653e-01 3.65478442e-03 2.19862634e+02] [-1.64815866e-01 9.86324218e-01 -5.17548303e-04 -1.66715157e+01] [-3.69010297e-03 -9.18995365e-05 9.99993187e-01 -1.44397294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.405769231 meters 0.027756951286075807 Centerline is valid? [True, True] Translation: X:219.92, Y:-16.69, Z:-1.44 [[ 9.87251728e-01 1.59088152e-01 4.99860540e-03 2.19920103e+02] [-1.59086608e-01 9.87264377e-01 -7.07672090e-04 -1.66851869e+01] [-5.04752729e-03 -9.65606839e-05 9.99987256e-01 -1.44195357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.465769231 meters 0.016233960026779598 Centerline is valid? [True, True] Translation: X:219.98, Y:-16.71, Z:-1.44 [[ 9.88902521e-01 1.48394395e-01 7.13490796e-03 2.19977348e+02] [-1.48390971e-01 9.88928258e-01 -1.00989331e-03 -1.67144144e+01] [-7.20577461e-03 -6.00698741e-05 9.99974036e-01 -1.43957187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.525769231 meters 0.012400179822786508 Centerline is valid? [True, True] Translation: X:220.04, Y:-16.74, Z:-1.44 [[ 9.90084179e-01 1.40383943e-01 5.06633272e-03 2.20035448e+02] [-1.40382111e-01 9.90097141e-01 -7.17040771e-04 -1.67420576e+01] [-5.11682256e-03 -1.29176301e-06 9.99986909e-01 -1.44236700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.585769231 meters 0.012648270580147274 Centerline is valid? [True, True] Translation: X:220.09, Y:-16.76, Z:-1.45 [[ 9.90094514e-01 1.40374203e-01 2.81734677e-03 2.20094114e+02] [-1.40373636e-01 9.90098522e-01 -3.98833473e-04 -1.67568332e+01] [-2.84543681e-03 -5.98377521e-07 9.99995952e-01 -1.44679222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.645769231 meters 0.013211265310912887 Centerline is valid? [True, True] Translation: X:220.15, Y:-16.76, Z:-1.44 [[ 9.89618348e-01 1.43674236e-01 3.63861525e-03 2.20152893e+02] [-1.43673313e-01 9.89625037e-01 -5.15174004e-04 -1.67640563e+01] [-3.67488198e-03 -1.29462607e-05 9.99993248e-01 -1.44447746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70576923099998 meters 0.014442772817528138 Centerline is valid? [True, True] Translation: X:220.21, Y:-16.77, Z:-1.44 [[ 9.89176361e-01 1.46544994e-01 7.39539712e-03 2.20212008e+02] [-1.46541263e-01 9.89204004e-01 -1.04673207e-03 -1.67735158e+01] [-7.46894979e-03 -4.83282149e-05 9.99972106e-01 -1.43779283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76576923099998 meters 0.013662968393381594 Centerline is valid? [True, True] Translation: X:220.27, Y:-16.79, Z:-1.44 [[ 9.89373223e-01 1.45182883e-01 7.90930180e-03 2.20271935e+02] [-1.45178574e-01 9.89404836e-01 -1.11931638e-03 -1.67886906e+01] [-7.98800703e-03 -4.08395039e-05 9.99968095e-01 -1.43855064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82576923099998 meters 0.012765021472260371 Centerline is valid? [True, True] Translation: X:220.33, Y:-16.81, Z:-1.44 [[ 9.89706691e-01 1.42995774e-01 5.73363803e-03 2.20330858e+02] [-1.42993473e-01 9.89723299e-01 -8.11352162e-04 -1.68052487e+01] [-5.79073508e-03 -1.68721514e-05 9.99983233e-01 -1.44441871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88576923099998 meters 0.012528778335318054 Centerline is valid? [True, True] Translation: X:220.39, Y:-16.82, Z:-1.45 [[ 9.89804929e-01 1.42383192e-01 3.63719337e-03 2.20391483e+02] [-1.42382262e-01 9.89811612e-01 -5.14812389e-04 -1.68224133e+01] [-3.67343686e-03 -8.30797781e-06 9.99993253e-01 -1.44715423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94576923099999 meters 0.01416849718089362 Centerline is valid? [True, True] Translation: X:220.45, Y:-16.83, Z:-1.45 [[ 9.89371140e-01 1.45406175e-01 1.33831806e-03 2.20451430e+02] [-1.45406052e-01 9.89372045e-01 -1.89565825e-04 -1.68313921e+01] [-1.35165852e-03 -7.04858860e-06 9.99999086e-01 -1.45299229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.005769231 meters 0.014609170124500172 Centerline is valid? [True, True] Translation: X:220.51, Y:-16.84, Z:-1.45 [[ 9.89134684e-01 1.46996782e-01 2.12661578e-03 2.20511314e+02] [-1.46996473e-01 9.89136970e-01 -3.01657137e-04 -1.68429473e+01] [-2.14785692e-03 -1.42254822e-05 9.99997693e-01 -1.45159339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.065769231 meters 0.014273406217320928 Centerline is valid? [True, True] Translation: X:220.57, Y:-16.86, Z:-1.45 [[ 9.89195238e-01 1.46590150e-01 2.02712243e-03 2.20572124e+02] [-1.46589870e-01 9.89197315e-01 -2.86883882e-04 -1.68587629e+01] [-2.04727842e-03 -1.33714440e-05 9.99997904e-01 -1.45211579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.125769231 meters 0.014532340964483435 Centerline is valid? [True, True] Translation: X:220.63, Y:-16.87, Z:-1.46 [[ 9.89137494e-01 1.46993067e-01 -2.36460916e-04 2.20633422e+02] [-1.46993063e-01 9.89137522e-01 3.48254650e-05 -1.68720473e+01] [ 2.39011467e-04 3.10941162e-07 9.99999971e-01 -1.45519065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.185769231 meters 0.015208295324016878 Centerline is valid? [True, True] Translation: X:220.69, Y:-16.88, Z:-1.45 [[ 9.88748311e-01 1.49566748e-01 2.56240766e-03 2.20694680e+02] [-1.49566307e-01 9.88751631e-01 -3.63759450e-04 -1.68801623e+01] [-2.58799107e-03 -2.35833093e-05 9.99996651e-01 -1.44903632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.245769231 meters 0.01582563790893343 Centerline is valid? [True, True] Translation: X:220.76, Y:-16.89, Z:-1.44 [[ 9.88590688e-01 1.50491378e-01 6.38720256e-03 2.20756691e+02] [-1.50488641e-01 9.88611320e-01 -9.09688991e-04 -1.68881464e+01] [-6.45136110e-03 -6.18913685e-05 9.99979188e-01 -1.44369212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.305769231 meters 0.01795802012521152 Centerline is valid? [True, True] Translation: X:220.82, Y:-16.89, Z:-1.45 [[ 9.88239850e-01 1.52828218e-01 5.05315128e-03 2.20818022e+02] [-1.52826532e-01 9.88252767e-01 -7.20423300e-04 -1.68924189e+01] [-5.10389174e-03 -6.03045703e-05 9.99986973e-01 -1.44603683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.365769231 meters 0.022545257247231873 Centerline is valid? [True, True] Translation: X:220.88, Y:-16.89, Z:-1.45 [[ 9.87384216e-01 1.58301711e-01 3.60267404e-03 2.20879698e+02] [-1.58300887e-01 9.87390786e-01 -5.14366146e-04 -1.68899413e+01] [-3.63867220e-03 -6.24294846e-05 9.99993378e-01 -1.44849465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.425769231 meters 0.025232703518785475 Centerline is valid? [True, True] Translation: X:220.94, Y:-16.89, Z:-1.45 [[ 9.86998995e-01 1.60714663e-01 1.94422847e-03 2.20940742e+02] [-1.60714428e-01 9.87000910e-01 -2.77629778e-04 -1.68888328e+01] [-1.96357445e-03 -3.84452541e-05 9.99998071e-01 -1.45404637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48576923099998 meters 0.0232744053369847 Centerline is valid? [True, True] Translation: X:221.00, Y:-16.90, Z:-1.45 [[ 9.87467374e-01 1.57812879e-01 1.81097448e-03 2.20999710e+02] [-1.57812670e-01 9.87469035e-01 -2.58601523e-04 -1.69000820e+01] [-1.82909187e-03 -3.04341511e-05 9.99998327e-01 -1.45384960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54576923099998 meters 0.021406172331556755 Centerline is valid? [True, True] Translation: X:221.06, Y:-16.91, Z:-1.45 [[ 9.87700851e-01 1.56342542e-01 2.00956231e-03 2.21059056e+02] [-1.56342281e-01 9.87702895e-01 -2.87018181e-04 -1.69098816e+01] [-2.02972366e-03 -3.06914539e-05 9.99997940e-01 -1.45340055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60576923099998 meters 0.021466244412679303 Centerline is valid? [True, True] Translation: X:221.12, Y:-16.92, Z:-1.46 [[ 9.87704457e-01 1.56330928e-01 7.39629538e-04 2.21119111e+02] [-1.56330893e-01 9.87704734e-01 -1.05607982e-04 -1.69180155e+01] [-7.47045390e-04 -1.13174714e-05 9.99999721e-01 -1.45666124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66576923099998 meters 0.02580304760815932 Centerline is valid? [True, True] Translation: X:221.18, Y:-16.92, Z:-1.46 [[ 9.87165480e-01 1.59700475e-01 -2.70145074e-04 2.21177817e+02] [-1.59700471e-01 9.87165517e-01 3.84423334e-05 -1.69181690e+01] [ 2.72817161e-04 5.19335090e-06 9.99999963e-01 -1.45831030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.725769231 meters 0.02764612288530538 Centerline is valid? [True, True] Translation: X:221.24, Y:-16.92, Z:-1.45 [[ 9.86776929e-01 1.62078740e-01 1.33211199e-03 2.21237150e+02] [-1.62078630e-01 9.86777828e-01 -1.90380129e-04 -1.69213400e+01] [-1.34535515e-03 -2.80441680e-05 9.99999095e-01 -1.45472655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.785769231 meters 0.03220607477368574 Centerline is valid? [True, True] Translation: X:221.30, Y:-16.92, Z:-1.45 [[ 9.86272724e-01 1.65090507e-01 3.35236031e-03 2.21297335e+02] [-1.65089833e-01 9.86278418e-01 -4.78613504e-04 -1.69152740e+01] [-3.38537517e-03 -8.13971614e-05 9.99994266e-01 -1.45116416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.845769231 meters 0.03631403720705718 Centerline is valid? [True, True] Translation: X:221.36, Y:-16.91, Z:-1.45 [[ 9.85650211e-01 1.68782972e-01 2.44324831e-03 2.21358393e+02] [-1.68782626e-01 9.85653237e-01 -3.48744079e-04 -1.69088632e+01] [-2.46705767e-03 -6.86381912e-05 9.99996954e-01 -1.45331355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.905769231 meters 0.033972945929935376 Centerline is valid? [True, True] Translation: X:221.42, Y:-16.91, Z:-1.45 [[ 9.85576348e-01 1.69215271e-01 2.33556259e-03 2.21417630e+02] [-1.69214955e-01 9.85579113e-01 -3.33446331e-04 -1.69104052e+01] [-2.35830591e-03 -6.65753021e-05 9.99997217e-01 -1.45219483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.965769231 meters 0.03242000665589392 Centerline is valid? [True, True] Translation: X:221.48, Y:-16.92, Z:-1.45 [[ 9.85995130e-01 1.66755486e-01 2.49208670e-03 2.21475833e+02] [-1.66755120e-01 9.85998278e-01 -3.55649274e-04 -1.69151202e+01] [-2.51649966e-03 -6.48997629e-05 9.99996832e-01 -1.45293831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.025769231 meters 0.02703021338014974 Centerline is valid? [True, True] Translation: X:221.53, Y:-16.93, Z:-1.45 [[ 9.86985455e-01 1.60756718e-01 4.12178969e-03 2.21533511e+02] [-1.60755665e-01 9.86994058e-01 -5.87685652e-04 -1.69263328e+01] [-4.16265635e-03 -8.25638506e-05 9.99991333e-01 -1.44939821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.085769231 meters 0.01898083265616119 Centerline is valid? [True, True] Translation: X:221.59, Y:-16.95, Z:-1.45 [[ 9.88085770e-01 1.53833375e-01 4.66947842e-03 2.21591540e+02] [-1.53831946e-01 9.88096801e-01 -6.65808228e-04 -1.69459532e+01] [-4.71632021e-03 -6.04393172e-05 9.99988876e-01 -1.44963413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.145769231 meters 0.01732021349060592 Centerline is valid? [True, True] Translation: X:221.65, Y:-16.96, Z:-1.45 [[ 9.88568855e-01 1.50711627e-01 4.19810657e-03 2.21648960e+02] [-1.50710444e-01 9.88577768e-01 -5.98570382e-04 -1.69590879e+01] [-4.24036634e-03 -4.09704675e-05 9.99991009e-01 -1.45098184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20576923099998 meters 0.018812900373227113 Centerline is valid? [True, True] Translation: X:221.71, Y:-16.97, Z:-1.46 [[ 9.88377194e-01 1.52013132e-01 1.59042659e-03 2.21707680e+02] [-1.52012964e-01 9.88378474e-01 -2.26917004e-04 -1.69661957e+01] [-1.60643777e-03 -1.74858680e-05 9.99998710e-01 -1.45553530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26576923099998 meters 0.02206926038533015 Centerline is valid? [True, True] Translation: X:221.77, Y:-16.97, Z:-1.46 [[ 9.87858102e-01 1.55354489e-01 1.16329822e-03 2.21766499e+02] [-1.55354402e-01 9.87858787e-01 -1.66008576e-04 -1.69713127e+01] [-1.17496455e-03 -1.67305824e-05 9.99999310e-01 -1.45692087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32576923099998 meters 0.020899603895903115 Centerline is valid? [True, True] Translation: X:221.82, Y:-16.99, Z:-1.46 [[ 9.87873614e-01 1.55256400e-01 1.08305630e-03 2.21823446e+02] [-1.55256324e-01 9.87874208e-01 -1.54541358e-04 -1.69865953e+01] [-1.09391691e-03 -1.54840093e-05 9.99999402e-01 -1.45682938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38576923099998 meters 0.020664287855387167 Centerline is valid? [True, True] Translation: X:221.88, Y:-17.00, Z:-1.46 [[ 9.87935401e-01 1.54863701e-01 9.36869608e-04 2.21881309e+02] [-1.54863644e-01 9.87935845e-01 -1.33681178e-04 -1.70010065e+01] [-9.46269429e-04 -1.30186734e-05 9.99999552e-01 -1.45698510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44576923099999 meters 0.020996760472437797 Centerline is valid? [True, True] Translation: X:221.94, Y:-17.01, Z:-1.46 [[ 9.87784851e-01 1.55823523e-01 -3.44413002e-04 2.21939585e+02] [-1.55823516e-01 9.87784911e-01 4.86615952e-05 -1.70108302e+01] [ 3.47788587e-04 5.60045828e-06 9.99999940e-01 -1.45883209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.505769231 meters 0.026650041187885606 Centerline is valid? [True, True] Translation: X:222.00, Y:-17.01, Z:-1.46 [[ 9.86945311e-01 1.61054256e-01 6.92974505e-04 2.21998656e+02] [-1.61054227e-01 9.86945554e-01 -9.88266447e-05 -1.70134054e+01] [-6.99844559e-04 -1.40699794e-05 9.99999755e-01 -1.45705729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.565769231 meters 0.03166603073572374 Centerline is valid? [True, True] Translation: X:222.06, Y:-17.01, Z:-1.46 [[ 9.86393550e-01 1.64398566e-01 -9.36262701e-04 2.22057792e+02] [-1.64398514e-01 9.86393994e-01 1.32820301e-04 -1.70141248e+01] [ 9.45359372e-04 2.29071083e-05 9.99999553e-01 -1.46156268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.625769231 meters 0.029218869580905225 Centerline is valid? [True, True] Translation: X:222.12, Y:-17.03, Z:-1.46 [[ 9.86420351e-01 1.64234443e-01 -1.39220791e-03 2.22115648e+02] [-1.64234328e-01 9.86421333e-01 1.97567623e-04 -1.70261946e+01] [ 1.40575099e-03 3.37636056e-05 9.99999011e-01 -1.46172743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.685769231 meters 0.027643711248442743 Centerline is valid? [True, True] Translation: X:222.17, Y:-17.04, Z:-1.46 [[ 9.86670106e-01 1.62721040e-01 1.99143759e-03 2.22174033e+02] [-1.62720800e-01 9.86672114e-01 -2.83268105e-04 -1.70373212e+01] [-2.01098962e-03 -4.45561454e-05 9.99997977e-01 -1.45607824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.745769231 meters 0.026705326579928683 Centerline is valid? [True, True] Translation: X:222.23, Y:-17.05, Z:-1.46 [[ 9.86943626e-01 1.61059200e-01 1.48752704e-03 2.22231025e+02] [-1.61059064e-01 9.86944747e-01 -2.11663404e-04 -1.70505598e+01] [-1.50219733e-03 -3.06798655e-05 9.99998871e-01 -1.45924935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.805769231 meters 0.024188168152460856 Centerline is valid? [True, True] Translation: X:222.29, Y:-17.07, Z:-1.46 [[ 9.87424898e-01 1.58088772e-01 -1.03505637e-04 2.22289206e+02] [-1.58088771e-01 9.87424904e-01 1.46209479e-05 -1.70680231e+01] [ 1.04515451e-04 1.92599096e-06 9.99999995e-01 -1.46253993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.865769231 meters 0.022470727574613304 Centerline is valid? [True, True] Translation: X:222.35, Y:-17.09, Z:-1.46 [[ 9.87797796e-01 1.55740338e-01 6.79697738e-04 2.22346198e+02] [-1.55740309e-01 9.87798029e-01 -9.67032369e-05 -1.70875960e+01] [-6.86464681e-04 -1.03330914e-05 9.99999764e-01 -1.46037671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.925769231 meters 0.02360614504742649 Centerline is valid? [True, True] Translation: X:222.41, Y:-17.10, Z:-1.46 [[ 9.87594346e-01 1.57012077e-01 2.14849059e-03 2.22405075e+02] [-1.57011785e-01 9.87596682e-01 -3.05267944e-04 -1.70972304e+01] [-2.16977293e-03 -3.58574462e-05 9.99997645e-01 -1.45713492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98576923099998 meters 0.028123811604602787 Centerline is valid? [True, True] Translation: X:222.46, Y:-17.10, Z:-1.46 [[ 9.86935029e-01 1.61093780e-01 2.83594822e-03 2.22464914e+02] [-1.61093288e-01 9.86939102e-01 -4.02827726e-04 -1.70990575e+01] [-2.86380123e-03 -5.92874285e-05 9.99995898e-01 -1.45715613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04576923099998 meters 0.03249069978426073 Centerline is valid? [True, True] Translation: X:222.53, Y:-17.10, Z:-1.46 [[ 9.86128128e-01 1.65978513e-01 1.56461136e-03 2.22525575e+02] [-1.65978369e-01 9.86129369e-01 -2.22217568e-04 -1.70973461e+01] [-1.57979256e-03 -4.05566475e-05 9.99998751e-01 -1.45871818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10576923099998 meters 0.038467367730936106 Centerline is valid? [True, True] Translation: X:222.59, Y:-17.09, Z:-1.46 [[ 9.85590936e-01 1.69145293e-01 -6.13043060e-04 2.22585123e+02] [-1.69145272e-01 9.85591127e-01 8.66866981e-05 -1.70909983e+01] [ 6.18872448e-04 1.82557112e-05 9.99999808e-01 -1.46376499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16576923099998 meters 0.041403762948843265 Centerline is valid? [True, True] Translation: X:222.65, Y:-17.08, Z:-1.46 [[ 9.84837266e-01 1.73456769e-01 2.88243006e-03 2.22647081e+02] [-1.73456313e-01 9.84841480e-01 -4.09099426e-04 -1.70849357e+01] [-2.90969775e-03 -9.70793328e-05 9.99995762e-01 -1.45731610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.225769231 meters 0.04821953171255086 Centerline is valid? [True, True] Translation: X:222.71, Y:-17.07, Z:-1.46 [[ 9.84292826e-01 1.76534281e-01 1.81103350e-03 2.22707878e+02] [-1.76534107e-01 9.84294490e-01 -2.57069593e-04 -1.70748834e+01] [-1.82797189e-03 -6.66774250e-05 9.99998327e-01 -1.46182600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.285769231 meters 0.03955337659807834 Centerline is valid? [True, True] Translation: X:222.77, Y:-17.09, Z:-1.47 [[ 9.84803429e-01 1.73666813e-01 -1.42958166e-03 2.22766301e+02] [-1.73666703e-01 9.84804466e-01 2.02267116e-04 -1.70860464e+01] [ 1.44298549e-03 4.90773827e-05 9.99998958e-01 -1.46790691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.345769231 meters 0.034208685665907984 Centerline is valid? [True, True] Translation: X:222.83, Y:-17.10, Z:-1.47 [[ 9.85628146e-01 1.68929354e-01 1.75271472e-04 2.22825929e+02] [-1.68929352e-01 9.85628162e-01 -2.48836261e-05 -1.70982225e+01] [-1.76956074e-04 -5.08249400e-06 9.99999984e-01 -1.46536019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.405769231 meters 0.02791043190842287 Centerline is valid? [True, True] Translation: X:222.88, Y:-17.11, Z:-1.46 [[ 9.86704653e-01 1.62522012e-01 7.24066391e-04 2.22884682e+02] [-1.62521980e-01 9.86704918e-01 -1.02799210e-04 -1.71108277e+01] [-7.31147004e-04 -1.62442449e-05 9.99999733e-01 -1.46313127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.465769231 meters 0.027201791837012892 Centerline is valid? [True, True] Translation: X:222.94, Y:-17.12, Z:-1.47 [[ 9.86843108e-01 1.61680778e-01 -8.04641399e-05 2.22943039e+02] [-1.61680777e-01 9.86843111e-01 1.10724701e-05 -1.71179060e+01] [ 8.11956877e-05 2.08271391e-06 9.99999997e-01 -1.46597787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.525769231 meters 0.027046689863535957 Centerline is valid? [True, True] Translation: X:223.00, Y:-17.13, Z:-1.46 [[ 9.86988911e-01 1.60779064e-01 1.72692027e-03 2.23000383e+02] [-1.60778881e-01 9.86990421e-01 -2.45156796e-04 -1.71272852e+01] [-1.74386985e-03 -3.56852703e-05 9.99998479e-01 -1.46336815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.585769231 meters 0.0277277237703443 Centerline is valid? [True, True] Translation: X:223.06, Y:-17.13, Z:-1.46 [[ 9.86925142e-01 1.61160977e-01 2.42969033e-03 2.23058654e+02] [-1.61160616e-01 9.86928132e-01 -3.44553668e-04 -1.71325577e+01] [-2.45345835e-03 -5.15217145e-05 9.99996989e-01 -1.46205839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.645769231 meters 0.03195007280162895 Centerline is valid? [True, True] Translation: X:223.12, Y:-17.13, Z:-1.46 [[ 9.86361459e-01 1.64567185e-01 2.95199347e-03 2.23117463e+02] [-1.64566669e-01 9.86365874e-01 -4.18411372e-04 -1.71325391e+01] [-2.98060240e-03 -7.30948808e-05 9.99995555e-01 -1.46102796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70576923099998 meters 0.03874803498955436 Centerline is valid? [True, True] Translation: X:223.18, Y:-17.13, Z:-1.46 [[ 9.85443915e-01 1.69961719e-01 3.64765889e-03 2.23179210e+02] [-1.69960969e-01 9.85450659e-01 -5.16649079e-04 -1.71258842e+01] [-3.68239842e-03 -1.10830950e-04 9.99993214e-01 -1.46105005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76576923099998 meters 0.0430197550023038 Centerline is valid? [True, True] Translation: X:223.24, Y:-17.12, Z:-1.47 [[ 9.84913620e-01 1.73039640e-01 1.56310299e-03 2.23240273e+02] [-1.73039506e-01 9.84914859e-01 -2.21422727e-04 -1.71217455e+01] [-1.57783827e-03 -5.23963100e-05 9.99998754e-01 -1.46597219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82576923099998 meters 0.04288831242908159 Centerline is valid? [True, True] Translation: X:223.30, Y:-17.12, Z:-1.47 [[ 9.84961785e-01 1.72762035e-01 1.88731232e-03 2.23299669e+02] [-1.72761839e-01 9.84963591e-01 -2.67482810e-04 -1.71201110e+01] [-1.90514479e-03 -6.25952023e-05 9.99998183e-01 -1.46692372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88576923099998 meters 0.04245499286715998 Centerline is valid? [True, True] Translation: X:223.36, Y:-17.12, Z:-1.47 [[ 9.85066666e-01 1.72164580e-01 1.73816923e-03 2.23358896e+02] [-1.72164413e-01 9.85068198e-01 -2.46290642e-04 -1.71229297e+01] [-1.75461775e-03 -5.66381827e-05 9.99998459e-01 -1.46707044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94576923099999 meters 0.03982702963523618 Centerline is valid? [True, True] Translation: X:223.42, Y:-17.12, Z:-1.47 [[ 9.85691842e-01 1.68554396e-01 -1.00378561e-03 2.23418010e+02] [-1.68554339e-01 9.85692353e-01 1.41783674e-04 -1.71243462e+01] [ 1.01332206e-03 2.94374086e-05 9.99999486e-01 -1.47235331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.005769231 meters 0.03569670696249674 Centerline is valid? [True, True] Translation: X:223.48, Y:-17.13, Z:-1.47 [[ 9.86332898e-01 1.64760971e-01 1.11208678e-03 2.23477816e+02] [-1.64760898e-01 9.86333525e-01 -1.57403457e-04 -1.71303122e+01] [-1.12282242e-03 -2.79762095e-05 9.99999369e-01 -1.46906085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.065769231 meters 0.027899637001351733 Centerline is valid? [True, True] Translation: X:223.54, Y:-17.15, Z:-1.47 [[ 9.87402717e-01 1.58197658e-01 3.06189089e-03 2.23536623e+02] [-1.58197075e-01 9.87407463e-01 -4.33179413e-04 -1.71464716e+01] [-3.09186188e-03 -5.66596526e-05 9.99995219e-01 -1.46717787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.125769231 meters 0.02059658887644094 Centerline is valid? [True, True] Translation: X:223.59, Y:-17.17, Z:-1.47 [[ 9.88389650e-01 1.51881473e-01 4.23299345e-03 2.23593273e+02] [-1.51880301e-01 9.88398713e-01 -5.98884222e-04 -1.71658252e+01] [-4.27484470e-03 -5.09773525e-05 9.99990862e-01 -1.46589002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.185769231 meters 0.012923736736279126 Centerline is valid? [True, True] Translation: X:223.65, Y:-17.19, Z:-1.46 [[ 9.89645201e-01 1.43426782e-01 5.57975494e-03 2.23647973e+02] [-1.43424612e-01 9.89660931e-01 -7.89315981e-04 -1.71930284e+01] [-5.63527452e-03 -1.91314127e-05 9.99984122e-01 -1.46215398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.245769231 meters 0.011986356462237948 Centerline is valid? [True, True] Translation: X:223.70, Y:-17.21, Z:-1.46 [[ 9.90228675e-01 1.39365558e-01 4.94089283e-03 2.23704792e+02] [-1.39363807e-01 9.90241002e-01 -6.98698005e-04 -1.72125745e+01] [-4.99004910e-03 3.28916708e-06 9.99987550e-01 -1.46464487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.305769231 meters 0.011859456445991358 Centerline is valid? [True, True] Translation: X:223.76, Y:-17.22, Z:-1.46 [[ 9.90138299e-01 1.39996411e-01 5.21088974e-03 2.23762277e+02] [-1.39994473e-01 9.90152011e-01 -7.36642490e-04 -1.72233428e+01] [-5.26270026e-03 -1.17821771e-07 9.99986152e-01 -1.46383897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.365769231 meters 0.012604711738223175 Centerline is valid? [True, True] Translation: X:223.82, Y:-17.23, Z:-1.47 [[ 9.89768764e-01 1.42613655e-01 4.37492361e-03 2.23820548e+02] [-1.42612315e-01 9.89778432e-01 -6.18320468e-04 -1.72327446e+01] [-4.41838598e-03 -1.19237007e-05 9.99990239e-01 -1.46500742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.425769231 meters 0.01383593995892971 Centerline is valid? [True, True] Translation: X:223.88, Y:-17.24, Z:-1.47 [[ 9.89493374e-01 1.44534578e-01 3.55227571e-03 2.23877943e+02] [-1.44533707e-01 9.89499750e-01 -5.01990074e-04 -1.72409394e+01] [-3.58753085e-03 -1.67077266e-05 9.99993565e-01 -1.46800601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48576923099998 meters 0.013226547963929774 Centerline is valid? [True, True] Translation: X:223.94, Y:-17.25, Z:-1.47 [[ 9.89452153e-01 1.44778266e-01 4.86720674e-03 2.23936146e+02] [-1.44776637e-01 9.89464124e-01 -6.87392408e-04 -1.72503469e+01] [-4.91544593e-03 -2.45159222e-05 9.99987919e-01 -1.46566375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54576923099998 meters 0.012741605991012114 Centerline is valid? [True, True] Translation: X:223.99, Y:-17.26, Z:-1.46 [[ 9.89551444e-01 1.44062230e-01 5.83214318e-03 2.23994122e+02] [-1.44059879e-01 9.89568630e-01 -8.23319818e-04 -1.72613612e+01] [-5.88991522e-03 -2.54605265e-05 9.99982654e-01 -1.46479423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60576923099998 meters 0.01184864978166128 Centerline is valid? [True, True] Translation: X:224.05, Y:-17.28, Z:-1.47 [[ 9.90108715e-01 1.40214001e-01 4.97656300e-03 2.24050919e+02] [-1.40212242e-01 9.90121222e-01 -7.02348154e-04 -1.72793412e+01] [-5.02587968e-03 -2.37402743e-06 9.99987370e-01 -1.46680236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66576923099998 meters 0.012400569411222829 Centerline is valid? [True, True] Translation: X:224.11, Y:-17.30, Z:-1.47 [[ 9.90597813e-01 1.36754230e-01 3.77542068e-03 2.24108790e+02] [-1.36753193e-01 9.90605007e-01 -5.32652365e-04 -1.72963843e+01] [-3.81279310e-03 1.13434358e-05 9.99992731e-01 -1.47040762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.725769231 meters 0.013671555612273447 Centerline is valid? [True, True] Translation: X:224.17, Y:-17.32, Z:-1.47 [[ 9.91013149e-01 1.33693611e-01 4.35386281e-03 2.24166651e+02] [-1.33692203e-01 9.91022713e-01 -6.14128535e-04 -1.73154029e+01] [-4.39688200e-03 2.65319413e-05 9.99990333e-01 -1.46916501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.785769231 meters 0.01357996327388121 Centerline is valid? [True, True] Translation: X:224.22, Y:-17.33, Z:-1.47 [[ 9.90960925e-01 1.34058904e-01 4.96538788e-03 2.24224631e+02] [-1.34057079e-01 9.90973365e-01 -7.00218744e-04 -1.73283265e+01] [-5.01443769e-03 2.82440207e-05 9.99987427e-01 -1.46833551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.845769231 meters 0.01473936528502846 Centerline is valid? [True, True] Translation: X:224.28, Y:-17.35, Z:-1.48 [[ 9.91165320e-01 1.32605702e-01 2.65271173e-03 2.24282894e+02] [-1.32605176e-01 9.91168869e-01 -3.73990244e-04 -1.73456674e+01] [-2.67887853e-03 1.89228536e-05 9.99996412e-01 -1.47500678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.905769231 meters 0.01607717152459885 Centerline is valid? [True, True] Translation: X:224.34, Y:-17.36, Z:-1.48 [[ 9.91551999e-01 1.29694868e-01 1.96825773e-03 2.24342114e+02] [-1.29694573e-01 9.91553953e-01 -2.77428404e-04 -1.73619732e+01] [-1.98761477e-03 1.98123429e-05 9.99998024e-01 -1.47606842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.965769231 meters 0.016736272147369113 Centerline is valid? [True, True] Translation: X:224.40, Y:-17.38, Z:-1.47 [[ 9.91604785e-01 1.29193746e-01 5.37833537e-03 2.24402046e+02] [-1.29191533e-01 9.91619369e-01 -7.58306696e-04 -1.73778912e+01] [-5.43123001e-03 5.71051574e-05 9.99985249e-01 -1.46934247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.025769231 meters 0.013623909883485271 Centerline is valid? [True, True] Translation: X:224.46, Y:-17.38, Z:-1.47 [[ 9.90882191e-01 1.34658812e-01 4.41458811e-03 2.24462224e+02] [-1.34657371e-01 9.90892024e-01 -6.23346570e-04 -1.73804020e+01] [-4.45831926e-03 2.32061838e-05 9.99990061e-01 -1.47310771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.085769231 meters 0.012023933359384445 Centerline is valid? [True, True] Translation: X:224.52, Y:-17.38, Z:-1.48 [[ 9.90220026e-01 1.39469949e-01 3.52597327e-03 2.24524050e+02] [-1.39469060e-01 9.90226304e-01 -4.97872799e-04 -1.73781362e+01] [-3.56094977e-03 1.23943779e-06 9.99993660e-01 -1.47602334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.145769231 meters 0.012172597238722138 Centerline is valid? [True, True] Translation: X:224.58, Y:-17.38, Z:-1.48 [[ 9.90052770e-01 1.40671670e-01 2.64472142e-03 2.24583564e+02] [-1.40671174e-01 9.90056302e-01 -3.73542856e-04 -1.73841000e+01] [-2.67097001e-03 -2.20892917e-06 9.99996433e-01 -1.47763397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20576923099998 meters 0.012211930698692267 Centerline is valid? [True, True] Translation: X:224.64, Y:-17.39, Z:-1.48 [[ 9.90063229e-01 1.40591163e-01 2.98781941e-03 2.24642556e+02] [-1.40590530e-01 9.90067738e-01 -4.21907089e-04 -1.73895292e+01] [-3.01746001e-03 -2.34441806e-06 9.99995447e-01 -1.47645675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26576923099998 meters 0.012192623471830614 Centerline is valid? [True, True] Translation: X:224.70, Y:-17.39, Z:-1.48 [[ 9.89969388e-01 1.41232773e-01 3.73012810e-03 2.24702460e+02] [-1.41231791e-01 9.89976416e-01 -5.26597473e-04 -1.73949195e+01] [-3.76711167e-03 -5.49729369e-06 9.99992904e-01 -1.47649400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32576923099998 meters 0.012167572896465655 Centerline is valid? [True, True] Translation: X:224.76, Y:-17.40, Z:-1.48 [[ 9.90008594e-01 1.40973180e-01 3.08964475e-03 2.24761483e+02] [-1.40972505e-01 9.90013415e-01 -4.36134268e-04 -1.74029952e+01] [-3.12027299e-03 -3.77828781e-06 9.99995132e-01 -1.47722166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38576923099998 meters 0.011887873735776534 Centerline is valid? [True, True] Translation: X:224.82, Y:-17.42, Z:-1.47 [[ 9.90261938e-01 1.39132764e-01 4.83414260e-03 2.24821350e+02] [-1.39131092e-01 9.90273737e-01 -6.82124245e-04 -1.74151088e+01] [-4.88203029e-03 2.90213890e-06 9.99988083e-01 -1.47453695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44576923099999 meters 0.012464408327255117 Centerline is valid? [True, True] Translation: X:224.88, Y:-17.43, Z:-1.47 [[ 9.90657011e-01 1.36266815e-01 5.48097952e-03 2.24879467e+02] [-1.36264622e-01 9.90672173e-01 -7.73414777e-04 -1.74284864e+01] [-5.53524466e-03 1.93251700e-05 9.99984680e-01 -1.47495762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.505769231 meters 0.013456459237449904 Centerline is valid? [True, True] Translation: X:224.94, Y:-17.44, Z:-1.48 [[ 9.90923422e-01 1.34348158e-01 4.61991560e-03 2.24939656e+02] [-1.34346579e-01 9.90934191e-01 -6.51838424e-04 -1.74381318e+01] [-4.66560563e-03 2.52521051e-05 9.99989116e-01 -1.47555502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.565769231 meters 0.012933814179582174 Centerline is valid? [True, True] Translation: X:225.00, Y:-17.44, Z:-1.48 [[ 9.90801410e-01 1.35238277e-01 4.81403848e-03 2.25000432e+02] [-1.35236574e-01 9.90813104e-01 -6.79227831e-04 -1.74429849e+01] [-4.86167002e-03 2.19458232e-05 9.99988182e-01 -1.47543733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.625769231 meters 0.0134326921677769 Centerline is valid? [True, True] Translation: X:225.06, Y:-17.45, Z:-1.48 [[ 9.90919663e-01 1.34349288e-01 5.33755962e-03 2.25060033e+02] [-1.34347180e-01 9.90934038e-01 -7.53093075e-04 -1.74505148e+01] [-5.39034702e-03 2.91686518e-05 9.99985472e-01 -1.47647262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.685769231 meters 0.019320647431276535 Centerline is valid? [True, True] Translation: X:225.12, Y:-17.47, Z:-1.48 [[ 9.91913793e-01 1.26861431e-01 3.63373476e-03 2.25120146e+02] [-1.26860404e-01 9.91920448e-01 -5.12537514e-04 -1.74687137e+01] [-3.66939705e-03 4.74159701e-05 9.99993267e-01 -1.48005536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.745769231 meters 0.023320573066417192 Centerline is valid? [True, True] Translation: X:225.18, Y:-17.48, Z:-1.48 [[ 9.92476885e-01 1.22399019e-01 2.84838496e-03 2.25180836e+02] [-1.22398370e-01 9.92480971e-01 -4.01825507e-04 -1.74841760e+01] [-2.87615091e-03 5.01648528e-05 9.99995863e-01 -1.48189592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.805769231 meters 0.026306383073747223 Centerline is valid? [True, True] Translation: X:225.24, Y:-17.50, Z:-1.48 [[ 9.92676981e-01 1.20735020e-01 3.93272199e-03 2.25239970e+02] [-1.20733769e-01 9.92684768e-01 -5.54789526e-04 -1.75003581e+01] [-3.97093575e-03 7.59144441e-05 9.99992113e-01 -1.47906104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.865769231 meters 0.02504980284547197 Centerline is valid? [True, True] Translation: X:225.30, Y:-17.51, Z:-1.48 [[ 9.92480489e-01 1.22340792e-01 3.89996751e-03 2.25301011e+02] [-1.22339572e-01 9.92488149e-01 -5.50741608e-04 -1.75108513e+01] [-3.93804970e-03 6.94799421e-05 9.99992243e-01 -1.48108187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.925769231 meters 0.02356042352024031 Centerline is valid? [True, True] Translation: X:225.36, Y:-17.52, Z:-1.48 [[ 9.92243569e-01 1.24253517e-01 3.70980019e-03 2.25361169e+02] [-1.24252424e-01 9.92250503e-01 -5.24467872e-04 -1.75212018e+01] [-3.74621808e-03 5.94482058e-05 9.99992981e-01 -1.48226402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98576923099998 meters 0.022619052343664684 Centerline is valid? [True, True] Translation: X:225.42, Y:-17.54, Z:-1.48 [[ 9.92058626e-01 1.25730112e-01 3.40891078e-03 2.25421102e+02] [-1.25729197e-01 9.92064482e-01 -4.82356982e-04 -1.75353475e+01] [-3.44250610e-03 4.99267904e-05 9.99994073e-01 -1.48407604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04576923099998 meters 0.023720080676028092 Centerline is valid? [True, True] Translation: X:225.48, Y:-17.55, Z:-1.49 [[ 9.92100637e-01 1.25439640e-01 1.10545442e-03 2.25480659e+02] [-1.25439544e-01 9.92101253e-01 -1.56243844e-04 -1.75509211e+01] [-1.11632188e-03 1.63419193e-05 9.99999377e-01 -1.48896410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10576923099998 meters 0.02203125581984589 Centerline is valid? [True, True] Translation: X:225.54, Y:-17.56, Z:-1.49 [[ 9.91886710e-01 1.27102400e-01 2.39450465e-03 2.25541717e+02] [-1.27101952e-01 9.91889600e-01 -3.39034748e-04 -1.75628251e+01] [-2.41817639e-03 3.19378450e-05 9.99997076e-01 -1.48525143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16576923099998 meters 0.017500902662802017 Centerline is valid? [True, True] Translation: X:225.60, Y:-17.57, Z:-1.48 [[ 9.91438631e-01 1.30527251e-01 3.47536381e-03 2.25604021e+02] [-1.30526324e-01 9.91444721e-01 -4.93068264e-04 -1.75660683e+01] [-3.50998995e-03 3.52204606e-05 9.99993839e-01 -1.48334808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.225769231 meters 0.013891671835893288 Centerline is valid? [True, True] Translation: X:225.67, Y:-17.57, Z:-1.48 [[ 9.90829207e-01 1.35033158e-01 4.85070426e-03 2.25665994e+02] [-1.35031400e-01 9.90841080e-01 -6.89677001e-04 -1.75695709e+01] [-4.89940631e-03 2.83547281e-05 9.99987997e-01 -1.48239081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.285769231 meters 0.014334500120298027 Centerline is valid? [True, True] Translation: X:225.73, Y:-17.58, Z:-1.49 [[ 9.90728004e-01 1.35817241e-01 3.42047831e-03 2.25726372e+02] [-1.35816373e-01 9.90733908e-01 -4.86028580e-04 -1.75776577e+01] [-3.45479491e-03 1.69651674e-05 9.99994032e-01 -1.48699952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.345769231 meters 0.013599846928275995 Centerline is valid? [True, True] Translation: X:225.79, Y:-17.59, Z:-1.49 [[ 9.90635472e-01 1.36509968e-01 2.52798109e-03 2.25787680e+02] [-1.36509494e-01 9.90638697e-01 -3.59881948e-04 -1.75852362e+01] [-2.55344336e-03 1.14184042e-05 9.99996740e-01 -1.48811777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.405769231 meters 0.012670416086572045 Centerline is valid? [True, True] Translation: X:225.85, Y:-17.59, Z:-1.49 [[ 9.90405890e-01 1.38134756e-01 3.86799380e-03 2.25847884e+02] [-1.38133658e-01 9.90413444e-01 -5.50892113e-04 -1.75884939e+01] [-3.90701041e-03 1.13066622e-05 9.99992368e-01 -1.48541219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.465769231 meters 0.012431657278917008 Centerline is valid? [True, True] Translation: X:225.91, Y:-17.59, Z:-1.49 [[ 9.90278990e-01 1.39050127e-01 3.54741963e-03 2.25908662e+02] [-1.39049209e-01 9.90285344e-01 -5.05234909e-04 -1.75934031e+01] [-3.58321065e-03 7.05762107e-06 9.99993580e-01 -1.48659728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.525769231 meters 0.012198641977450374 Centerline is valid? [True, True] Translation: X:225.97, Y:-17.59, Z:-1.49 [[ 9.90033380e-01 1.40775907e-01 4.00627282e-03 2.25968488e+02] [-1.40774751e-01 9.90041486e-01 -5.70549457e-04 -1.75945569e+01] [-4.04669591e-03 8.80948453e-07 9.99991812e-01 -1.48568538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.585769231 meters 0.012411123653928918 Centerline is valid? [True, True] Translation: X:226.03, Y:-17.60, Z:-1.49 [[ 9.89754901e-01 1.42730225e-01 3.64942877e-03 2.26029800e+02] [-1.42729278e-01 9.89761629e-01 -5.19808923e-04 -1.75952100e+01] [-3.68625701e-03 -6.39690616e-06 9.99993206e-01 -1.48635461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.645769231 meters 0.012504540741745384 Centerline is valid? [True, True] Translation: X:226.09, Y:-17.60, Z:-1.49 [[ 9.89623781e-01 1.43624578e-01 4.09307520e-03 2.26090511e+02] [-1.43623395e-01 9.89632245e-01 -5.83000010e-04 -1.75968290e+01] [-4.13437233e-03 -1.09106826e-05 9.99991453e-01 -1.48574642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70576923099998 meters 0.012246225435371783 Centerline is valid? [True, True] Translation: X:226.15, Y:-17.61, Z:-1.49 [[ 9.89994488e-01 1.41064081e-01 3.44065587e-03 2.26149378e+02] [-1.41063229e-01 9.90000467e-01 -4.90116082e-04 -1.76056337e+01] [-3.47538869e-03 -1.37807180e-07 9.99993961e-01 -1.48799791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76576923099998 meters 0.014926016071898153 Centerline is valid? [True, True] Translation: X:226.21, Y:-17.63, Z:-1.49 [[ 9.90938938e-01 1.34296428e-01 2.11899478e-03 2.26207406e+02] [-1.34296090e-01 9.90941204e-01 -3.01737096e-04 -1.76279293e+01] [-2.14032145e-03 1.44303249e-05 9.99997709e-01 -1.49208089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82576923099998 meters 0.02154616129902652 Centerline is valid? [True, True] Translation: X:226.26, Y:-17.65, Z:-1.49 [[ 9.91908163e-01 1.26853223e-01 5.14353509e-03 2.26264812e+02] [-1.26851130e-01 9.91921496e-01 -7.32471975e-04 -1.76545713e+01] [-5.19489945e-03 7.40816951e-05 9.99986504e-01 -1.48622475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88576923099998 meters 0.021844984135060527 Centerline is valid? [True, True] Translation: X:226.32, Y:-17.67, Z:-1.48 [[ 9.92092095e-01 1.25362918e-01 6.11671540e-03 2.26324861e+02] [-1.25359926e-01 9.92110946e-01 -8.71590593e-04 -1.76731161e+01] [-6.17772544e-03 9.79071440e-05 9.99980913e-01 -1.48480206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94576923099999 meters 0.0197572720066223 Centerline is valid? [True, True] Translation: X:226.39, Y:-17.68, Z:-1.49 [[ 9.91577051e-01 1.29430206e-01 4.77225147e-03 2.26385747e+02] [-1.29428429e-01 9.91588533e-01 -6.80720822e-04 -1.76804532e+01] [-4.82021567e-03 5.73221371e-05 9.99988381e-01 -1.48688499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.005769231 meters 0.012733183909715914 Centerline is valid? [True, True] Translation: X:226.45, Y:-17.67, Z:-1.49 [[ 9.90329329e-01 1.38693075e-01 3.47147214e-03 2.26448586e+02] [-1.38692190e-01 9.90335413e-01 -4.95572878e-04 -1.76719443e+01] [-3.50665433e-03 9.31427999e-06 9.99993852e-01 -1.49004127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.065769231 meters 0.012332546394560084 Centerline is valid? [True, True] Translation: X:226.51, Y:-17.68, Z:-1.49 [[ 9.90014176e-01 1.40883452e-01 4.87691699e-03 2.26509188e+02] [-1.40881731e-01 9.90026188e-01 -6.96445539e-04 -1.76752200e+01] [-4.92639319e-03 2.42245034e-06 9.99987865e-01 -1.48781667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.125769231 meters 0.013147360421598076 Centerline is valid? [True, True] Translation: X:226.57, Y:-17.68, Z:-1.49 [[ 9.90528382e-01 1.37215090e-01 5.05415363e-03 2.26569882e+02] [-1.37213193e-01 9.90541276e-01 -7.21708778e-04 -1.76831469e+01] [-5.10537712e-03 2.13764690e-05 9.99986967e-01 -1.48882708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.185769231 meters 0.016085338119880305 Centerline is valid? [True, True] Translation: X:226.63, Y:-17.70, Z:-1.49 [[ 9.91174070e-01 1.32475419e-01 4.92204826e-03 2.26630108e+02] [-1.32473563e-01 9.91186290e-01 -7.02689109e-04 -1.76969904e+01] [-4.97175579e-03 4.44459552e-05 9.99987640e-01 -1.48931726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.245769231 meters 0.022163182827569027 Centerline is valid? [True, True] Translation: X:226.69, Y:-17.72, Z:-1.49 [[ 9.91892311e-01 1.27002072e-01 4.48521552e-03 2.26688683e+02] [-1.27000471e-01 9.91902449e-01 -6.41272435e-04 -1.77164444e+01] [-4.53033919e-03 6.64487143e-05 9.99989736e-01 -1.49132491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.305769231 meters 0.021938020133008492 Centerline is valid? [True, True] Translation: X:226.75, Y:-17.72, Z:-1.50 [[ 9.91984661e-01 1.26336953e-01 2.32538201e-03 2.26750380e+02] [-1.26336523e-01 9.91987386e-01 -3.31778332e-04 -1.77243230e+01] [-2.34866548e-03 3.53383404e-05 9.99997241e-01 -1.49537401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.365769231 meters 0.017615921823733498 Centerline is valid? [True, True] Translation: X:226.81, Y:-17.72, Z:-1.49 [[ 9.91459217e-01 1.30384475e-01 2.91699153e-03 2.26813378e+02] [-1.30383810e-01 9.91463508e-01 -4.17505609e-04 -1.77213792e+01] [-2.94652690e-03 3.36113140e-05 9.99995658e-01 -1.49288041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42576923099998 meters 0.01739612128979149 Centerline is valid? [True, True] Translation: X:226.87, Y:-17.72, Z:-1.50 [[ 9.91086547e-01 1.33209637e-01 1.62752926e-03 2.26873727e+02] [-1.33209433e-01 9.91087883e-01 -2.33092177e-04 -1.77228555e+01] [-1.64407466e-03 1.42122704e-05 9.99998648e-01 -1.49773597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48576923099998 meters 0.016828020794703774 Centerline is valid? [True, True] Translation: X:226.93, Y:-17.73, Z:-1.50 [[ 9.91215733e-01 1.32241047e-01 1.91714119e-03 2.26934102e+02] [-1.32240763e-01 9.91217587e-01 -2.74569941e-04 -1.77255984e+01] [-1.93661348e-03 1.86338323e-05 9.99998125e-01 -1.49732669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54576923099998 meters 0.02055468214135191 Centerline is valid? [True, True] Translation: X:226.99, Y:-17.74, Z:-1.50 [[ 9.91800419e-01 1.27752166e-01 3.36338878e-03 2.26993720e+02] [-1.27751267e-01 9.91806121e-01 -4.81655975e-04 -1.77372320e+01] [-3.39736217e-03 4.80294202e-05 9.99994228e-01 -1.49504234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60576923099998 meters 0.02061814100877889 Centerline is valid? [True, True] Translation: X:227.05, Y:-17.74, Z:-1.49 [[ 9.91782209e-01 1.27801473e-01 5.90200496e-03 2.27053528e+02] [-1.27798705e-01 9.91799766e-01 -8.45346974e-04 -1.77435423e+01] [-5.96164373e-03 8.41315000e-05 9.99982226e-01 -1.49002398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66576923099998 meters 0.02033365536246147 Centerline is valid? [True, True] Translation: X:227.11, Y:-17.75, Z:-1.49 [[ 9.91711178e-01 1.28431603e-01 3.77658836e-03 2.27113780e+02] [-1.28430474e-01 9.91718368e-01 -5.40922544e-04 -1.77498837e+01] [-3.81478359e-03 5.14099001e-05 9.99992722e-01 -1.49496768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.725769231 meters 0.02188261405276906 Centerline is valid? [True, True] Translation: X:227.17, Y:-17.76, Z:-1.49 [[ 9.91994981e-01 1.26191274e-01 4.66048224e-03 2.27173881e+02] [-1.26189530e-01 9.92005926e-01 -6.67468047e-04 -1.77637715e+01] [-4.70745464e-03 7.40208870e-05 9.99988917e-01 -1.49354223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.785769231 meters 0.026046456495795848 Centerline is valid? [True, True] Translation: X:227.23, Y:-17.78, Z:-1.49 [[ 9.92339477e-01 1.23473897e-01 4.06921167e-03 2.27232526e+02] [-1.23472546e-01 9.92347818e-01 -5.82692992e-04 -1.77817689e+01] [-4.11002069e-03 7.57933348e-05 9.99991551e-01 -1.49497949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.845769231 meters 0.02537896402815309 Centerline is valid? [True, True] Translation: X:227.29, Y:-17.79, Z:-1.50 [[ 9.92238275e-01 1.24309882e-01 3.20282919e-03 2.27293791e+02] [-1.24309048e-01 9.92243443e-01 -4.58999856e-04 -1.77896759e+01] [-3.23504448e-03 5.72965769e-05 9.99994766e-01 -1.49745280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.905769231 meters 0.022051654817688435 Centerline is valid? [True, True] Translation: X:227.35, Y:-17.79, Z:-1.50 [[ 9.91983961e-01 1.26330387e-01 2.90774536e-03 2.27354918e+02] [-1.26329708e-01 9.91988221e-01 -4.16759167e-04 -1.77947740e+01] [-2.93709850e-03 4.60837857e-05 9.99995686e-01 -1.49700127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.965769231 meters 0.022821126057278627 Centerline is valid? [True, True] Translation: X:227.42, Y:-17.81, Z:-1.50 [[ 9.92070194e-01 1.25659095e-01 2.55375957e-03 2.27415312e+02] [-1.25658571e-01 9.92073480e-01 -3.65426493e-04 -1.78088088e+01] [-2.57943631e-03 4.16269546e-05 9.99996672e-01 -1.49863383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.025769231 meters 0.027370956156856616 Centerline is valid? [True, True] Translation: X:227.47, Y:-17.83, Z:-1.50 [[ 9.92284543e-01 1.23940063e-01 3.20095390e-03 2.27474052e+02] [-1.23939227e-01 9.92289704e-01 -4.58920707e-04 -1.78276869e+01] [-3.23315226e-03 5.86561715e-05 9.99994772e-01 -1.49786936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.085769231 meters 0.0259207368413332 Centerline is valid? [True, True] Translation: X:227.54, Y:-17.83, Z:-1.50 [[ 9.92096552e-01 1.25423089e-01 3.67163203e-03 2.27535001e+02] [-1.25421995e-01 9.92103344e-01 -5.27575780e-04 -1.78347139e+01] [-3.70880860e-03 6.29026967e-05 9.99993120e-01 -1.49679277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.145769231 meters 0.018838293986931934 Centerline is valid? [True, True] Translation: X:227.60, Y:-17.83, Z:-1.49 [[ 9.91521625e-01 1.29805674e-01 5.94593027e-03 2.27597095e+02] [-1.29802883e-01 9.91539450e-01 -8.54605508e-04 -1.78306800e+01] [-6.00655708e-03 7.55609518e-05 9.99981958e-01 -1.49194574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20576923099998 meters 0.015901750803050018 Centerline is valid? [True, True] Translation: X:227.66, Y:-17.83, Z:-1.49 [[ 9.91045606e-01 1.33434925e-01 4.87118055e-03 2.27659372e+02] [-1.33433095e-01 9.91057576e-01 -7.00122655e-04 -1.78316315e+01] [-4.92104120e-03 4.38767822e-05 9.99987891e-01 -1.49474414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26576923099998 meters 0.016430493540751132 Centerline is valid? [True, True] Translation: X:227.72, Y:-17.84, Z:-1.50 [[ 9.90993382e-01 1.33889627e-01 2.38409096e-03 2.27719274e+02] [-1.33889190e-01 9.90996250e-01 -3.42730451e-04 -1.78398544e+01] [-2.40851326e-03 2.04396015e-05 9.99997099e-01 -1.49958540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32576923099998 meters 0.016550610992062644 Centerline is valid? [True, True] Translation: X:227.78, Y:-17.85, Z:-1.50 [[ 9.91066744e-01 1.33317248e-01 3.63605238e-03 2.27779455e+02] [-1.33316227e-01 9.91073413e-01 -5.22841129e-04 -1.78453908e+01] [-3.67329858e-03 3.34256693e-05 9.99993253e-01 -1.49701442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38576923099998 meters 0.017390612467656504 Centerline is valid? [True, True] Translation: X:227.84, Y:-17.86, Z:-1.50 [[ 9.91214575e-01 1.32202316e-01 4.02653989e-03 2.27838685e+02] [-1.32201055e-01 9.91222753e-01 -5.78990742e-04 -1.78555936e+01] [-4.06774188e-03 4.15912420e-05 9.99991726e-01 -1.49675186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44576923099999 meters 0.02027166461867075 Centerline is valid? [True, True] Translation: X:227.90, Y:-17.87, Z:-1.50 [[ 9.91682572e-01 1.28665146e-01 3.31000399e-03 2.27898239e+02] [-1.28664274e-01 9.91688095e-01 -4.75869461e-04 -1.78713958e+01] [-3.34371937e-03 4.60321894e-05 9.99994409e-01 -1.49904146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.505769231 meters 0.018776464147669467 Centerline is valid? [True, True] Translation: X:227.96, Y:-17.88, Z:-1.50 [[ 9.91495540e-01 1.30130779e-01 1.60473505e-03 2.27959039e+02] [-1.30130577e-01 9.91496838e-01 -2.30657697e-04 -1.78805575e+01] [-1.62110540e-03 1.98709799e-05 9.99998686e-01 -1.50144341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.565769231 meters 0.01426438628306514 Centerline is valid? [True, True] Translation: X:228.02, Y:-17.88, Z:-1.50 [[ 9.90476892e-01 1.37662394e-01 2.14302845e-03 2.28018457e+02] [-1.37662049e-01 9.90479210e-01 -3.08434144e-04 -1.78780861e+01] [-2.16508490e-03 1.04832058e-05 9.99997656e-01 -1.49969800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.625769231 meters 0.012949977986018034 Centerline is valid? [True, True] Translation: X:228.08, Y:-17.88, Z:-1.50 [[ 9.89722196e-01 1.42957488e-01 3.62378343e-03 2.28078695e+02] [-1.42956538e-01 9.89728830e-01 -5.21201689e-04 -1.78775624e+01] [-3.66107261e-03 -2.19865218e-06 9.99993298e-01 -1.49837499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.685769231 meters 0.013302505623147852 Centerline is valid? [True, True] Translation: X:228.14, Y:-17.88, Z:-1.50 [[ 9.89328607e-01 1.45590734e-01 5.67858638e-03 2.28137660e+02] [-1.45588445e-01 9.89344903e-01 -8.16538135e-04 -1.78817657e+01] [-5.73696088e-03 -1.89120267e-05 9.99983543e-01 -1.49558410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.745769231 meters 0.013204355940011752 Centerline is valid? [True, True] Translation: X:228.20, Y:-17.89, Z:-1.50 [[ 9.89437572e-01 1.44892804e-01 4.40083012e-03 2.28196834e+02] [-1.44891424e-01 9.89447358e-01 -6.32611770e-04 -1.78877828e+01] [-4.44605063e-03 -1.17126892e-05 9.99990116e-01 -1.49727989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.805769231 meters 0.013476920086429691 Centerline is valid? [True, True] Translation: X:228.26, Y:-17.89, Z:-1.50 [[ 9.89443372e-01 1.44884001e-01 3.23116167e-03 2.28255757e+02] [-1.44883257e-01 9.89448648e-01 -4.64484270e-04 -1.78900797e+01] [-3.26436489e-03 -8.56034437e-06 9.99994672e-01 -1.50050083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.865769231 meters 0.013088754372566415 Centerline is valid? [True, True] Translation: X:228.31, Y:-17.90, Z:-1.50 [[ 9.89756558e-01 1.42719475e-01 3.62033856e-03 2.28313500e+02] [-1.42718526e-01 9.89763180e-01 -5.20329568e-04 -1.78957045e+01] [-3.65753897e-03 -1.68978100e-06 9.99993311e-01 -1.50033990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92576923099998 meters 0.013368621089320274 Centerline is valid? [True, True] Translation: X:228.37, Y:-17.91, Z:-1.50 [[ 9.90120467e-01 1.40196340e-01 2.53915830e-03 2.28372790e+02] [-1.40195866e-01 9.90123723e-01 -3.64762660e-04 -1.79052729e+01] [-2.56521926e-03 5.17947928e-06 9.99996710e-01 -1.50237620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98576923099998 meters 0.01475966385390334 Centerline is valid? [True, True] Translation: X:228.43, Y:-17.92, Z:-1.50 [[ 9.90754728e-01 1.35608998e-01 3.90751933e-03 2.28430870e+02] [-1.35607840e-01 9.90762433e-01 -5.61148444e-04 -1.79187173e+01] [-3.94752014e-03 2.60702192e-05 9.99992208e-01 -1.49971380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04576923099998 meters 0.016881963414360674 Centerline is valid? [True, True] Translation: X:228.49, Y:-17.93, Z:-1.50 [[ 9.91151804e-01 1.32657441e-01 4.48375791e-03 2.28489024e+02] [-1.32655886e-01 9.91161945e-01 -6.43733140e-04 -1.79341075e+01] [-4.52952621e-03 4.32403847e-05 9.99989741e-01 -1.49836993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10576923099998 meters 0.01697712618524934 Centerline is valid? [True, True] Translation: X:228.55, Y:-17.95, Z:-1.50 [[ 9.91162531e-01 1.32631534e-01 2.39012436e-03 2.28548515e+02] [-1.32631092e-01 9.91165413e-01 -3.43105174e-04 -1.79479304e+01] [-2.41451516e-03 2.30681889e-05 9.99997085e-01 -1.50362973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16576923099998 meters 0.015688428004884743 Centerline is valid? [True, True] Translation: X:228.61, Y:-17.96, Z:-1.50 [[ 9.90952345e-01 1.34168339e-01 3.50813703e-03 2.28608463e+02] [-1.34167397e-01 9.90958554e-01 -5.03597214e-04 -1.79585062e+01] [-3.54398520e-03 2.83632249e-05 9.99993720e-01 -1.50145649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.225769231 meters 0.016386031889320522 Centerline is valid? [True, True] Translation: X:228.67, Y:-17.97, Z:-1.50 [[ 9.91092523e-01 1.33128651e-01 3.51760698e-03 2.28666922e+02] [-1.33127697e-01 9.91098765e-01 -5.04956637e-04 -1.79738023e+01] [-3.55352013e-03 3.21678300e-05 9.99993686e-01 -1.50195103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.285769231 meters 0.018334134817837962 Centerline is valid? [True, True] Translation: X:228.73, Y:-17.99, Z:-1.51 [[ 9.91375403e-01 1.31043979e-01 1.51196928e-03 2.28726811e+02] [-1.31043800e-01 9.91376556e-01 -2.16912998e-04 -1.79903631e+01] [-1.52735604e-03 1.69080110e-05 9.99998833e-01 -1.50621324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.345769231 meters 0.021587237217651895 Centerline is valid? [True, True] Translation: X:228.79, Y:-18.01, Z:-1.50 [[ 9.91918450e-01 1.26812781e-01 4.03823914e-03 2.28786314e+02] [-1.26811473e-01 9.91926668e-01 -5.79292402e-04 -1.80145680e+01] [-4.07909878e-03 6.25157664e-05 9.99991678e-01 -1.50230837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.405769231 meters 0.024264983096858768 Centerline is valid? [True, True] Translation: X:228.85, Y:-18.03, Z:-1.50 [[ 9.92265569e-01 1.24053284e-01 4.45228076e-03 2.28846145e+02] [-1.24051663e-01 9.92275554e-01 -6.39578790e-04 -1.80339440e+01] [-4.49723121e-03 8.23191824e-05 9.99989884e-01 -1.50231117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.465769231 meters 0.02433773725030756 Centerline is valid? [True, True] Translation: X:228.91, Y:-18.05, Z:-1.51 [[ 9.92223648e-01 1.24439166e-01 2.66951881e-03 2.28906536e+02] [-1.24438584e-01 9.92227238e-01 -3.83348407e-04 -1.80530954e+01] [-2.69647283e-03 4.81762136e-05 9.99996363e-01 -1.50525613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.525769231 meters 0.01780515880146766 Centerline is valid? [True, True] Translation: X:228.97, Y:-18.06, Z:-1.50 [[ 9.91240263e-01 1.32003204e-01 4.23018770e-03 2.28966177e+02] [-1.32001804e-01 9.91249289e-01 -6.09649305e-04 -1.80559384e+01] [-4.27364621e-03 4.59165304e-05 9.99990867e-01 -1.50268971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.585769231 meters 0.014522735768203628 Centerline is valid? [True, True] Translation: X:229.03, Y:-18.06, Z:-1.50 [[ 9.90576777e-01 1.36873944e-01 4.81372523e-03 2.29027988e+02] [-1.36872191e-01 9.90588473e-01 -6.93290068e-04 -1.80604446e+01] [-4.86331407e-03 2.78919216e-05 9.99988174e-01 -1.50290277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.645769231 meters 0.014213482131070706 Centerline is valid? [True, True] Translation: X:229.09, Y:-18.07, Z:-1.50 [[ 9.90490705e-01 1.37510675e-01 4.35642568e-03 2.29090007e+02] [-1.37509243e-01 9.90500285e-01 -6.27982767e-04 -1.80749703e+01] [-4.40139521e-03 2.29622935e-05 9.99990314e-01 -1.50300421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70576923099998 meters 0.015992350172081463 Centerline is valid? [True, True] Translation: X:229.15, Y:-18.09, Z:-1.50 [[ 9.90862168e-01 1.34805236e-01 4.43994775e-03 2.29149985e+02] [-1.34803717e-01 9.90872114e-01 -6.40984877e-04 -1.80942889e+01] [-4.48582853e-03 3.66062036e-05 9.99989938e-01 -1.50419579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76576923099998 meters 0.01589274132819815 Centerline is valid? [True, True] Translation: X:229.21, Y:-18.11, Z:-1.50 [[ 9.90743674e-01 1.35666833e-01 4.63504410e-03 2.29209383e+02] [-1.35665182e-01 9.90754515e-01 -6.70024693e-04 -1.81082677e+01] [-4.68309100e-03 3.50086214e-05 9.99989034e-01 -1.50371817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82576923099998 meters 0.013108518649992339 Centerline is valid? [True, True] Translation: X:229.27, Y:-18.11, Z:-1.50 [[ 9.90021616e-01 1.40826448e-01 5.01115588e-03 2.29271471e+02] [-1.40824581e-01 9.90034298e-01 -7.25242923e-04 -1.81148895e+01] [-5.06334958e-03 1.23122424e-05 9.99987181e-01 -1.50309719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88576923099998 meters 0.012892010198492641 Centerline is valid? [True, True] Translation: X:229.33, Y:-18.12, Z:-1.50 [[ 9.89454130e-01 1.44766082e-01 4.82771510e-03 2.29334329e+02] [-1.44764393e-01 9.89465907e-01 -6.99416670e-04 -1.81215949e+01] [-4.87811131e-03 -6.84053197e-06 9.99988102e-01 -1.50381151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94576923099999 meters 0.01377008567263195 Centerline is valid? [True, True] Translation: X:229.40, Y:-18.13, Z:-1.51 [[ 9.88960021e-01 1.48117609e-01 4.38747048e-03 2.29396641e+02] [-1.48116243e-01 9.88969754e-01 -6.36422329e-04 -1.81275443e+01] [-4.43334095e-03 -2.04594051e-05 9.99990172e-01 -1.50590780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.005769231 meters 0.014406178766638947 Centerline is valid? [True, True] Translation: X:229.46, Y:-18.13, Z:-1.50 [[ 9.88694625e-01 1.49797633e-01 6.60361659e-03 2.29459727e+02] [-1.49794565e-01 9.88716677e-01 -9.59584002e-04 -1.81316157e+01] [-6.67284926e-03 -4.04503307e-05 9.99977735e-01 -1.50174296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.065769231 meters 0.015606319601046779 Centerline is valid? [True, True] Translation: X:229.52, Y:-18.13, Z:-1.50 [[ 9.88366851e-01 1.51980460e-01 5.73644648e-03 2.29522327e+02] [-1.51978176e-01 9.88383497e-01 -8.34517900e-04 -1.81316812e+01] [-5.79663945e-03 -4.70048436e-05 9.99983198e-01 -1.50325512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.125769231 meters 0.016189911690558702 Centerline is valid? [True, True] Translation: X:229.58, Y:-18.13, Z:-1.50 [[ 9.88219860e-01 1.52909313e-01 6.34438609e-03 2.29583013e+02] [-1.52906530e-01 9.88240223e-01 -9.24262528e-04 -1.81326490e+01] [-6.41110587e-03 -5.67234777e-05 9.99979447e-01 -1.50277778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.185769231 meters 0.01716134099434055 Centerline is valid? [True, True] Translation: X:229.64, Y:-18.13, Z:-1.50 [[ 9.88033983e-01 1.54052495e-01 7.52840053e-03 2.29644588e+02] [-1.54048609e-01 9.88062661e-01 -1.09685165e-03 -1.81313674e+01] [-7.60750420e-03 -7.60129289e-05 9.99971060e-01 -1.50102894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.245769231 meters 0.01659012038941968 Centerline is valid? [True, True] Translation: X:229.71, Y:-18.13, Z:-1.50 [[ 9.88093174e-01 1.53695038e-01 7.05092888e-03 2.29705571e+02] [-1.53691620e-01 9.88118328e-01 -1.02728633e-03 -1.81343709e+01] [-7.12504087e-03 -6.86140741e-05 9.99974614e-01 -1.50181371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.305769231 meters 0.016074413964793078 Centerline is valid? [True, True] Translation: X:229.77, Y:-18.14, Z:-1.50 [[ 9.88274691e-01 1.52568447e-01 6.00032870e-03 2.29765424e+02] [-1.52565951e-01 9.88292905e-01 -8.74205391e-04 -1.81361634e+01] [-6.06345844e-03 -5.14907895e-05 9.99981616e-01 -1.50392089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.365769231 meters 0.01563924414249708 Centerline is valid? [True, True] Translation: X:229.83, Y:-18.13, Z:-1.50 [[ 9.88330896e-01 1.52165241e-01 6.91232361e-03 2.29826059e+02] [-1.52161918e-01 9.88355066e-01 -1.00719169e-03 -1.81345640e+01] [-6.98508962e-03 -5.63537516e-05 9.99975602e-01 -1.50237753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42576923099998 meters 0.017180468775946166 Centerline is valid? [True, True] Translation: X:229.89, Y:-18.13, Z:-1.50 [[ 9.87866173e-01 1.55123004e-01 7.56818177e-03 2.29886396e+02] [-1.55119109e-01 9.87895160e-01 -1.10254093e-03 -1.81262996e+01] [-7.64759960e-03 -8.48067250e-05 9.99970753e-01 -1.50190879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48576923099998 meters 0.01701785438772192 Centerline is valid? [True, True] Translation: X:229.94, Y:-18.13, Z:-1.50 [[ 9.88014562e-01 1.54134678e-01 8.35026260e-03 2.29944618e+02] [-1.54129905e-01 9.88049844e-01 -1.21600016e-03 -1.81251485e+01] [-8.43790345e-03 -8.55993190e-05 9.99964397e-01 -1.50021042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54576923099998 meters 0.016302458135096426 Centerline is valid? [True, True] Translation: X:230.00, Y:-18.13, Z:-1.50 [[ 9.88208881e-01 1.52935220e-01 7.35027576e-03 2.30003369e+02] [-1.52931491e-01 9.88236214e-01 -1.06997175e-03 -1.81259953e+01] [-7.42744505e-03 -6.67330471e-05 9.99972414e-01 -1.50271200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60576923099998 meters 0.01659285252786808 Centerline is valid? [True, True] Translation: X:230.06, Y:-18.13, Z:-1.50 [[ 9.88215953e-01 1.52858919e-01 7.96119519e-03 2.30061555e+02] [-1.52854547e-01 9.88248018e-01 -1.15838320e-03 -1.81294783e+01] [-8.04470458e-03 -7.21721255e-05 9.99967638e-01 -1.50195423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66576923099998 meters 0.017892827592703463 Centerline is valid? [True, True] Translation: X:230.12, Y:-18.13, Z:-1.50 [[ 9.87875816e-01 1.54975613e-01 9.16136830e-03 2.30121370e+02] [-1.54969920e-01 9.87918290e-01 -1.33239191e-03 -1.81277864e+01] [-9.25717157e-03 -1.03498768e-04 9.99957146e-01 -1.50029772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.725769231 meters 0.020751509718965062 Centerline is valid? [True, True] Translation: X:230.18, Y:-18.13, Z:-1.50 [[ 9.87199557e-01 1.59229580e-01 9.10910164e-03 2.30181788e+02] [-1.59224136e-01 9.87241572e-01 -1.32440203e-03 -1.81269404e+01] [-9.20376780e-03 -1.42939744e-04 9.99957634e-01 -1.50065956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.785769231 meters 0.0234598786763036 Centerline is valid? [True, True] Translation: X:230.24, Y:-18.13, Z:-1.50 [[ 9.86660487e-01 1.62523481e-01 9.33822848e-03 2.30242028e+02] [-1.62517909e-01 9.86704660e-01 -1.35747712e-03 -1.81251303e+01] [-9.43469547e-03 -1.78260336e-04 9.99955476e-01 -1.50053769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.845769231 meters 0.02860077544063197 Centerline is valid? [True, True] Translation: X:230.30, Y:-18.12, Z:-1.50 [[ 9.86013574e-01 1.66384037e-01 9.67388703e-03 2.30301999e+02] [-1.66378246e-01 9.86061003e-01 -1.40595468e-03 -1.81166691e+01] [-9.77297116e-03 -2.23233962e-04 9.99952218e-01 -1.50121431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.905769231 meters 0.029664807344243507 Centerline is valid? [True, True] Translation: X:230.36, Y:-18.11, Z:-1.50 [[ 9.86052122e-01 1.66188289e-01 9.09203467e-03 2.30360292e+02] [-1.66183171e-01 9.86094016e-01 -1.32080563e-03 -1.81126027e+01] [-9.18510342e-03 -2.08559965e-04 9.99957794e-01 -1.50343259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.965769231 meters 0.0242310794215955 Centerline is valid? [True, True] Translation: X:230.42, Y:-18.12, Z:-1.50 [[ 9.86802799e-01 1.61542421e-01 1.11481562e-02 2.30419092e+02] [-1.61534443e-01 9.86865748e-01 -1.61836091e-03 -1.81213243e+01] [-1.12631674e-02 -2.03808113e-04 9.99936548e-01 -1.49916223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.025769231 meters 0.0205713837810524 Centerline is valid? [True, True] Translation: X:230.48, Y:-18.13, Z:-1.50 [[ 9.87477461e-01 1.57328707e-01 1.16594466e-02 2.30476753e+02] [-1.57319692e-01 9.87546278e-01 -1.69213059e-03 -1.81275751e+01] [-1.17804638e-02 -1.63319717e-04 9.99930595e-01 -1.49889366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.085769231 meters 0.01522325825711593 Centerline is valid? [True, True] Translation: X:230.53, Y:-18.14, Z:-1.50 [[ 9.88449230e-01 1.51048183e-01 1.23517987e-02 2.30534240e+02] [-1.51037583e-01 9.88526397e-01 -1.79191319e-03 -1.81400719e+01] [-1.24807443e-02 -9.43706107e-05 9.99922108e-01 -1.50050471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.145769231 meters 0.012510915923965601 Centerline is valid? [True, True] Translation: X:230.59, Y:-18.16, Z:-1.50 [[ 9.89759832e-01 1.42232187e-01 1.20614858e-02 2.30591120e+02] [-1.42221430e-01 9.89833322e-01 -1.74928599e-03 -1.81609300e+01] [-1.21876653e-02 1.59712462e-05 9.99925728e-01 -1.50173987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20576923099998 meters 0.016706913699970714 Centerline is valid? [True, True] Translation: X:230.65, Y:-18.19, Z:-1.50 [[ 9.90916713e-01 1.33980625e-01 1.15438244e-02 2.30646135e+02] [-1.33970217e-01 9.90983945e-01 -1.67375504e-03 -1.81876543e+01] [-1.16639954e-02 1.12023185e-04 9.99931967e-01 -1.50340534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26576923099998 meters 0.017908790946250797 Centerline is valid? [True, True] Translation: X:230.70, Y:-18.20, Z:-1.50 [[ 9.91130967e-01 1.32164765e-01 1.38521258e-02 2.30703322e+02] [-1.32149611e-01 9.91227748e-01 -2.00771482e-03 -1.82023175e+01] [-1.39959607e-02 1.59355291e-04 9.99902039e-01 -1.50086654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32576923099998 meters 0.015742886129632233 Centerline is valid? [True, True] Translation: X:230.76, Y:-18.21, Z:-1.50 [[ 9.90756172e-01 1.35035231e-01 1.29496641e-02 2.30761936e+02] [-1.35022240e-01 9.90840792e-01 -1.87631555e-03 -1.82100818e+01] [-1.30844241e-02 1.10478556e-04 9.99914389e-01 -1.50361453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38576923099998 meters 0.012888302424590325 Centerline is valid? [True, True] Translation: X:230.82, Y:-18.21, Z:-1.51 [[ 9.90024078e-01 1.40522142e-01 1.02885098e-02 2.30820190e+02] [-1.40514242e-01 9.90077536e-01 -1.49028098e-03 -1.82118057e+01] [-1.03958399e-02 2.97319002e-05 9.99945961e-01 -1.50959012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44576923099999 meters 0.012856291093791104 Centerline is valid? [True, True] Translation: X:230.88, Y:-18.21, Z:-1.51 [[ 9.89334433e-01 1.45259776e-01 1.08156170e-02 2.30878289e+02] [-1.45251337e-01 9.89393550e-01 -1.56590289e-03 -1.82115307e+01] [-1.09283644e-02 -2.17811726e-05 9.99940283e-01 -1.50883671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.505769231 meters 0.013742823117621587 Centerline is valid? [True, True] Translation: X:230.94, Y:-18.21, Z:-1.51 [[ 9.89053661e-01 1.47049202e-01 1.22224388e-02 2.30937161e+02] [-1.47038572e-01 9.89129178e-01 -1.76870353e-03 -1.82130408e+01] [-1.23496572e-02 -4.78272429e-05 9.99923739e-01 -1.50835900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.565769231 meters 0.013514246350867348 Centerline is valid? [True, True] Translation: X:230.99, Y:-18.22, Z:-1.51 [[ 9.89149785e-01 1.46395588e-01 1.22896285e-02 2.30994780e+02] [-1.46384800e-01 9.89226127e-01 -1.77773771e-03 -1.82210639e+01] [-1.24174746e-02 -4.05659326e-05 9.99922899e-01 -1.51011190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.625769231 meters 0.012849950886549055 Centerline is valid? [True, True] Translation: X:231.05, Y:-18.23, Z:-1.51 [[ 9.89609397e-01 1.43313314e-01 1.15989155e-02 2.31052264e+02] [-1.43303500e-01 9.89677369e-01 -1.67715971e-03 -1.82323305e+01] [-1.17195435e-02 -2.43218655e-06 9.99931324e-01 -1.51168928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.685769231 meters 0.02762588642655146 Centerline is valid? [True, True] Translation: X:231.11, Y:-18.25, Z:-1.51 [[ 9.89871284e-01 1.41511277e-01 1.13753977e-02 2.31110316e+02] [-1.41501724e-01 9.89936644e-01 -1.64432573e-03 -1.82453085e+01] [-1.14936136e-02 1.80324298e-05 9.99933946e-01 -1.50654490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.745769231 meters 0.013424479247054118 Centerline is valid? [True, True] Translation: X:231.17, Y:-18.26, Z:-1.51 [[ 9.90080807e-01 1.39944837e-01 1.24674450e-02 2.31168057e+02] [-1.39933246e-01 9.90159301e-01 -1.80158313e-03 -1.82569373e+01] [-1.25968789e-02 3.91028344e-05 9.99920655e-01 -1.51109404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.805769231 meters 0.014387343415382182 Centerline is valid? [True, True] Translation: X:231.23, Y:-18.27, Z:-1.51 [[ 9.90454247e-01 1.37143576e-01 1.38572668e-02 2.31225221e+02] [-1.37128991e-01 9.90551176e-01 -2.00172618e-03 -1.82717411e+01] [-1.40008558e-02 8.23851760e-05 9.99901980e-01 -1.51207394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.865769231 meters 0.01438835414971779 Centerline is valid? [True, True] Translation: X:231.28, Y:-18.28, Z:-1.51 [[ 9.90528004e-01 1.36717351e-01 1.27530354e-02 2.31282724e+02] [-1.36704971e-01 9.90610095e-01 -1.84161192e-03 -1.82845354e+01] [-1.28850659e-02 8.07648408e-05 9.99916981e-01 -1.51468686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92576923099998 meters 0.01535184639903463 Centerline is valid? [True, True] Translation: X:231.34, Y:-18.30, Z:-1.51 [[ 9.90495970e-01 1.36895202e-01 1.33205230e-02 2.31339440e+02] [-1.36881722e-01 9.90585532e-01 -1.92280136e-03 -1.82981915e+01] [-1.34583397e-02 8.11908707e-05 9.99909429e-01 -1.51176223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98576923099998 meters 0.015019874575038759 Centerline is valid? [True, True] Translation: X:231.40, Y:-18.31, Z:-1.51 [[ 9.90591744e-01 1.35996289e-01 1.52645100e-02 2.31398228e+02] [-1.35978491e-01 9.90709341e-01 -2.20271586e-03 -1.83111306e+01] [-1.54222538e-02 1.06347117e-04 9.99881064e-01 -1.51184116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04576923099998 meters 0.014684621184607677 Centerline is valid? [True, True] Translation: X:231.46, Y:-18.32, Z:-1.51 [[ 9.90515397e-01 1.36643900e-01 1.44115261e-02 2.31455367e+02] [-1.36628110e-01 9.90620228e-01 -2.07919592e-03 -1.83238742e+01] [-1.45604588e-02 9.04559884e-05 9.99893987e-01 -1.51452099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10576923099998 meters 0.015276565646764124 Centerline is valid? [True, True] Translation: X:231.51, Y:-18.34, Z:-1.52 [[ 9.90639581e-01 1.35731960e-01 1.44932745e-02 2.31513656e+02] [-1.35715899e-01 9.90745590e-01 -2.09055536e-03 -1.83392270e+01] [-1.46429030e-02 1.04019094e-04 9.99892782e-01 -1.51507842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16576923099998 meters 0.0151174125572274 Centerline is valid? [True, True] Translation: X:231.57, Y:-18.35, Z:-1.51 [[ 9.90595848e-01 1.36050591e-01 1.44949099e-02 2.31572707e+02] [-1.36034566e-01 9.90701886e-01 -2.09044365e-03 -1.83492297e+01] [-1.46445406e-02 9.89760257e-05 9.99892758e-01 -1.51447032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.225769231 meters 0.013270352753834109 Centerline is valid? [True, True] Translation: X:231.63, Y:-18.35, Z:-1.51 [[ 9.89941427e-01 1.40742974e-01 1.44009355e-02 2.31632588e+02] [-1.40727658e-01 9.90046168e-01 -2.07654842e-03 -1.83543745e+01] [-1.45498506e-02 2.90513798e-05 9.99894145e-01 -1.51457472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.285769231 meters 0.014037346483451731 Centerline is valid? [True, True] Translation: X:231.69, Y:-18.36, Z:-1.51 [[ 9.89214072e-01 1.45462157e-01 1.72127873e-02 2.31690432e+02] [-1.45441003e-01 9.89363815e-01 -2.48120071e-03 -1.83593631e+01] [-1.73906297e-02 -4.90063774e-05 9.99848770e-01 -1.51208614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.345769231 meters 0.01395803587708642 Centerline is valid? [True, True] Translation: X:231.75, Y:-18.37, Z:-1.52 [[ 9.89153838e-01 1.46245955e-01 1.36676566e-02 2.31747624e+02] [-1.46232700e-01 9.89248259e-01 -1.96961342e-03 -1.83733139e+01] [-1.38087535e-02 -5.04076485e-05 9.99904653e-01 -1.51958867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.405769231 meters 0.014038568597809158 Centerline is valid? [True, True] Translation: X:231.81, Y:-18.39, Z:-1.52 [[ 9.89150767e-01 1.46358462e-01 1.26475297e-02 2.31805834e+02] [-1.46347127e-01 9.89231620e-01 -1.82218267e-03 -1.83851518e+01] [-1.27780281e-02 -4.85162384e-05 9.99918356e-01 -1.52267780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.465769231 meters 0.01629823248605453 Centerline is valid? [True, True] Translation: X:231.86, Y:-18.39, Z:-1.52 [[ 9.88615691e-01 1.49919197e-01 1.27768966e-02 2.31863561e+02] [-1.49907933e-01 9.88698248e-01 -1.84020072e-03 -1.83912900e+01] [-1.29083767e-02 -9.61068590e-05 9.99916679e-01 -1.52333061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.525769231 meters 0.018679936910623744 Centerline is valid? [True, True] Translation: X:231.92, Y:-18.40, Z:-1.53 [[ 9.88095815e-01 1.53355332e-01 1.21984725e-02 2.31921802e+02] [-1.53345335e-01 9.88171100e-01 -1.75621716e-03 -1.83985172e+01] [-1.23235033e-02 -1.35268044e-04 9.99924054e-01 -1.52628871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.585769231 meters 0.018068075077222773 Centerline is valid? [True, True] Translation: X:231.98, Y:-18.41, Z:-1.53 [[ 9.88179334e-01 1.52713049e-01 1.34286480e-02 2.31979323e+02] [-1.52700884e-01 9.88270563e-01 -1.93266028e-03 -1.84149392e+01] [-1.35662799e-02 -1.40751470e-04 9.99907964e-01 -1.52518213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.645769231 meters 0.01680391238834122 Centerline is valid? [True, True] Translation: X:232.04, Y:-18.43, Z:-1.53 [[ 9.88359132e-01 1.51490559e-01 1.40298359e-02 2.32037347e+02] [-1.51477165e-01 9.88458696e-01 -2.01866687e-03 -1.84317045e+01] [-1.41737222e-02 -1.30031918e-04 9.99899539e-01 -1.52648362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70576923099998 meters 0.02044264931533467 Centerline is valid? [True, True] Translation: X:232.09, Y:-18.44, Z:-1.52 [[ 9.88064988e-01 1.53319843e-01 1.48527711e-02 2.32094835e+02] [-1.53305043e-01 9.88176603e-01 -2.13665634e-03 -1.84435042e+01] [-1.50047527e-02 -1.65849384e-04 9.99887409e-01 -1.52400466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76576923099998 meters 0.022175315528475445 Centerline is valid? [True, True] Translation: X:232.15, Y:-18.45, Z:-1.53 [[ 9.87822666e-01 1.54963046e-01 1.38865274e-02 2.32152783e+02] [-1.54950279e-01 9.87920251e-01 -1.99716098e-03 -1.84529225e+01] [-1.40282678e-02 -1.78880420e-04 9.99901583e-01 -1.52644591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82576923099998 meters 0.02334126242602386 Centerline is valid? [True, True] Translation: X:232.21, Y:-18.47, Z:-1.54 [[ 9.87739070e-01 1.55776350e-01 1.02595931e-02 2.32209517e+02] [-1.55769429e-01 9.87792341e-01 -1.47520635e-03 -1.84679926e+01] [-1.03641498e-02 -1.41012009e-04 9.99946281e-01 -1.53520047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88576923099998 meters 0.01963673859882527 Centerline is valid? [True, True] Translation: X:232.27, Y:-18.49, Z:-1.54 [[ 9.87830681e-01 1.55155946e-01 1.08248745e-02 2.32267166e+02] [-1.55148206e-01 9.87889980e-01 -1.55625124e-03 -1.84925476e+01] [-1.09352467e-02 -1.42147137e-04 9.99940198e-01 -1.53697978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94576923099999 meters 0.02226604025326242 Centerline is valid? [True, True] Translation: X:232.33, Y:-18.50, Z:-1.54 [[ 9.87408907e-01 1.57851300e-01 1.03256158e-02 2.32325259e+02] [-1.57844406e-01 9.87462880e-01 -1.48443443e-03 -1.85039650e+01] [-1.04304822e-02 -1.64096914e-04 9.99945588e-01 -1.53731451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.005769231 meters 0.03423379523302521 Centerline is valid? [True, True] Translation: X:232.39, Y:-18.50, Z:-1.53 [[ 9.85460735e-01 1.69377799e-01 1.33529383e-02 2.32385875e+02] [-1.69367326e-01 9.85551127e-01 -1.91947283e-03 -1.85022804e+01] [-1.34851195e-02 -3.69986360e-04 9.99909003e-01 -1.53282244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.065769231 meters 0.04131270432081557 Centerline is valid? [True, True] Translation: X:232.45, Y:-18.50, Z:-1.54 [[ 9.84337052e-01 1.75871132e-01 1.22438689e-02 2.32446797e+02] [-1.75862829e-01 9.84413108e-01 -1.75996000e-03 -1.85026083e+01] [-1.23625512e-02 -4.20847592e-04 9.99923492e-01 -1.53615998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.125769231 meters 0.04632018853350283 Centerline is valid? [True, True] Translation: X:232.51, Y:-18.50, Z:-1.54 [[ 9.83738794e-01 1.79208988e-01 1.19215927e-02 2.32507088e+02] [-1.79201363e-01 9.83810925e-01 -1.71355747e-03 -1.85025827e+01] [-1.20356780e-02 -4.50672696e-04 9.99927467e-01 -1.53708110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.185769231 meters 0.033220369631729973 Centerline is valid? [True, True] Translation: X:232.56, Y:-18.53, Z:-1.54 [[ 9.85086877e-01 1.71656223e-01 1.17467776e-02 2.32564192e+02] [-1.71648283e-01 9.85156849e-01 -1.68834703e-03 -1.85287613e+01] [-1.18622337e-02 -3.53145708e-04 9.99929579e-01 -1.53996591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.245769231 meters 0.025459321870670105 Centerline is valid? [True, True] Translation: X:232.62, Y:-18.55, Z:-1.54 [[ 9.86992708e-01 1.60489985e-01 9.39991908e-03 2.32621342e+02] [-1.60484395e-01 9.87037453e-01 -1.35099854e-03 -1.85481988e+01] [-9.49489393e-03 -1.75114617e-04 9.99954907e-01 -1.54323358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.305769231 meters 0.01786105344064944 Centerline is valid? [True, True] Translation: X:232.68, Y:-18.57, Z:-1.55 [[ 9.88123742e-01 1.53353515e-01 9.70409587e-03 2.32679957e+02] [-1.53347212e-01 9.88171386e-01 -1.39468978e-03 -1.85701306e+01] [-9.80319045e-03 -1.09969967e-04 9.99951942e-01 -1.54506760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.365769231 meters 0.013869799473816636 Centerline is valid? [True, True] Translation: X:232.74, Y:-18.59, Z:-1.54 [[ 9.89427334e-01 1.44581395e-01 1.13917321e-02 2.32738186e+02] [-1.44572117e-01 9.89492910e-01 -1.63816313e-03 -1.85937071e+01] [-1.15088860e-02 -2.60834392e-05 9.99933770e-01 -1.54194390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42576923099998 meters 0.013832665544969829 Centerline is valid? [True, True] Translation: X:232.80, Y:-18.61, Z:-1.55 [[ 9.89887429e-01 1.41541851e-01 9.42241658e-03 2.32796975e+02] [-1.41535355e-01 9.89932273e-01 -1.35612836e-03 -1.86137866e+01] [-9.51950318e-03 8.80934224e-06 9.99954688e-01 -1.54586392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48576923099998 meters 0.013828772351357476 Centerline is valid? [True, True] Translation: X:232.86, Y:-18.63, Z:-1.55 [[ 9.89826438e-01 1.41959232e-01 9.54981321e-03 2.32859054e+02] [-1.41952567e-01 9.89872505e-01 -1.37562870e-03 -1.86268194e+01] [-9.64838072e-03 6.01315672e-06 9.99953453e-01 -1.54746977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54576923099998 meters 0.014003078741540135 Centerline is valid? [True, True] Translation: X:232.92, Y:-18.65, Z:-1.55 [[ 9.90041729e-01 1.40447865e-01 9.57973623e-03 2.32917829e+02] [-1.40441069e-01 9.90088075e-01 -1.38180297e-03 -1.86523585e+01] [-9.67885388e-03 2.26541981e-05 9.99953159e-01 -1.54906776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60576923099998 meters 0.013820279522641256 Centerline is valid? [True, True] Translation: X:232.98, Y:-18.67, Z:-1.55 [[ 9.90014831e-01 1.40617399e-01 9.86822621e-03 2.32978785e+02] [-1.40610178e-01 9.90064011e-01 -1.42529943e-03 -1.86678570e+01] [-9.97059753e-03 2.34945367e-05 9.99950292e-01 -1.54888636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66576923099998 meters 0.014015757611474387 Centerline is valid? [True, True] Translation: X:233.04, Y:-18.68, Z:-1.55 [[ 9.89236921e-01 1.46072485e-01 8.55240965e-03 2.33041622e+02] [-1.46067252e-01 9.89273890e-01 -1.23674090e-03 -1.86763468e+01] [-8.64132937e-03 -2.57972166e-05 9.99962663e-01 -1.55130893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.725769231 meters 0.017521244791668802 Centerline is valid? [True, True] Translation: X:233.10, Y:-18.68, Z:-1.55 [[ 9.88208768e-01 1.52801940e-01 9.74668657e-03 2.33102398e+02] [-1.52795454e-01 9.88256828e-01 -1.41106199e-03 -1.86804673e+01] [-9.84784257e-03 -9.48255712e-05 9.99951504e-01 -1.55048240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.785769231 meters 0.01840841397200174 Centerline is valid? [True, True] Translation: X:233.16, Y:-18.69, Z:-1.55 [[ 9.87988738e-01 1.54236012e-01 9.46074812e-03 2.33163557e+02] [-1.54229961e-01 9.88034029e-01 -1.37024718e-03 -1.86940760e+01] [-9.55888254e-03 -1.05342027e-04 9.99954307e-01 -1.55281603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.845769231 meters 0.01565553641444271 Centerline is valid? [True, True] Translation: X:233.22, Y:-18.72, Z:-1.55 [[ 9.88532890e-01 1.50642052e-01 1.04736205e-02 2.33222683e+02] [-1.50634415e-01 9.88588370e-01 -1.51882245e-03 -1.87210152e+01] [-1.05828979e-02 -7.62817411e-05 9.99943997e-01 -1.55224272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.905769231 meters 0.015703345244187903 Centerline is valid? [True, True] Translation: X:233.28, Y:-18.74, Z:-1.55 [[ 9.88552433e-01 1.50560038e-01 9.78578098e-03 2.33283057e+02] [-1.50553350e-01 9.88600865e-01 -1.42067586e-03 -1.87358598e+01] [-9.88812855e-03 -6.88695324e-05 9.99951109e-01 -1.55367161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.965769231 meters 0.01942759833382401 Centerline is valid? [True, True] Translation: X:233.34, Y:-18.75, Z:-1.56 [[ 9.87646278e-01 1.56636049e-01 4.46961269e-03 2.33343920e+02] [-1.56634716e-01 9.87656390e-01 -6.49061166e-04 -1.87461197e+01] [-4.51610791e-03 -5.90536668e-05 9.99989801e-01 -1.56311105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.025769231 meters 0.028687115194533073 Centerline is valid? [True, True] Translation: X:233.41, Y:-18.74, Z:-1.56 [[ 9.85897744e-01 1.67274113e-01 5.00084447e-03 2.33405732e+02] [-1.67272574e-01 9.85910420e-01 -7.27432017e-04 -1.87441745e+01] [-5.05206522e-03 -1.19330543e-04 9.99987231e-01 -1.56342373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.085769231 meters 0.033826466458537555 Centerline is valid? [True, True] Translation: X:233.47, Y:-18.75, Z:-1.56 [[ 9.85517958e-01 1.69481924e-01 5.49833672e-03 2.33466933e+02] [-1.69480098e-01 9.85533286e-01 -7.99588131e-04 -1.87471599e+01] [-5.55430959e-03 -1.43850186e-04 9.99984564e-01 -1.56332284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.145769231 meters 0.03313487783991359 Centerline is valid? [True, True] Translation: X:233.53, Y:-18.76, Z:-1.56 [[ 9.85375917e-01 1.70315671e-01 5.18408484e-03 2.33527784e+02] [-1.70314056e-01 9.85389544e-01 -7.54618899e-04 -1.87614305e+01] [-5.23686642e-03 -1.39339225e-04 9.99986278e-01 -1.56458867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20576923099998 meters 0.02706135097432977 Centerline is valid? [True, True] Translation: X:233.59, Y:-18.78, Z:-1.57 [[ 9.86118490e-01 1.65991827e-01 4.12771857e-03 2.33586775e+02] [-1.65990762e-01 9.86127124e-01 -6.01597581e-04 -1.87837685e+01] [-4.17031553e-03 -9.19166524e-05 9.99991300e-01 -1.56841104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26576923099998 meters 0.023486253423156203 Centerline is valid? [True, True] Translation: X:233.64, Y:-18.80, Z:-1.57 [[ 9.87017899e-01 1.60534585e-01 4.93084692e-03 2.33644058e+02] [-1.60532995e-01 9.87030212e-01 -7.19116294e-04 -1.88032308e+01] [-4.98233792e-03 -8.17829722e-05 9.99987585e-01 -1.56784971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32576923099998 meters 0.021303736256692293 Centerline is valid? [True, True] Translation: X:233.70, Y:-18.82, Z:-1.57 [[ 9.87460421e-01 1.57848108e-01 2.42730528e-03 2.33703851e+02] [-1.57847717e-01 9.87463404e-01 -3.53227304e-04 -1.88227689e+01] [-2.45263140e-03 -3.43466140e-05 9.99996992e-01 -1.57397815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38576923099998 meters 0.019217985270231976 Centerline is valid? [True, True] Translation: X:233.76, Y:-18.84, Z:-1.58 [[ 9.87867135e-01 1.55300163e-01 6.18144369e-04 2.33763356e+02] [-1.55300138e-01 9.87867329e-01 -8.92154383e-05 -1.88444684e+01] [-6.24499799e-04 -7.86490599e-06 9.99999805e-01 -1.57739916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44576923099999 meters 0.017070997522367893 Centerline is valid? [True, True] Translation: X:233.82, Y:-18.86, Z:-1.58 [[ 9.88192208e-01 1.53219288e-01 1.04008324e-04 2.33823076e+02] [-1.53219287e-01 9.88192213e-01 -1.40385286e-05 -1.88645163e+01] [-1.04931189e-04 -2.06331672e-06 9.99999994e-01 -1.57893042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.505769231 meters 0.018091109116577412 Centerline is valid? [True, True] Translation: X:233.88, Y:-18.88, Z:-1.58 [[ 9.87915630e-01 1.54981443e-01 1.86019787e-03 2.33883701e+02] [-1.54981207e-01 9.87917381e-01 -2.71259429e-04 -1.88754061e+01] [-1.87976198e-03 -2.03142817e-05 9.99998233e-01 -1.57614190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.565769231 meters 0.020511779919347686 Centerline is valid? [True, True] Translation: X:233.94, Y:-18.88, Z:-1.58 [[ 9.87345853e-01 1.58574010e-01 1.56503920e-03 2.33944567e+02] [-1.58573847e-01 9.87347093e-01 -2.28810893e-04 -1.88847785e+01] [-1.58152037e-03 -2.22587996e-05 9.99998749e-01 -1.57811517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.625769231 meters 0.021807778009460165 Centerline is valid? [True, True] Translation: X:234.01, Y:-18.90, Z:-1.58 [[ 9.87089677e-01 1.60158421e-01 1.80270113e-03 2.34005659e+02] [-1.60158207e-01 9.87091323e-01 -2.63388220e-04 -1.88964687e+01] [-1.82161448e-03 -2.87295868e-05 9.99998340e-01 -1.57853780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.685769231 meters 0.024660928523124806 Centerline is valid? [True, True] Translation: X:234.07, Y:-18.90, Z:-1.58 [[ 9.86573304e-01 1.63315821e-01 1.02921258e-03 2.34067525e+02] [-1.63315753e-01 9.86573840e-01 -1.50754747e-04 -1.89043413e+01] [-1.04001485e-03 -1.93560191e-05 9.99999459e-01 -1.57912001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.745769231 meters 0.028111269028247135 Centerline is valid? [True, True] Translation: X:234.13, Y:-18.91, Z:-1.58 [[ 9.86029695e-01 1.66567448e-01 8.51818306e-04 2.34128399e+02] [-1.66567403e-01 9.86030063e-01 -1.24115039e-04 -1.89094402e+01] [-8.60591983e-04 -1.95040496e-05 9.99999629e-01 -1.57999667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.805769231 meters 0.0289336156280091 Centerline is valid? [True, True] Translation: X:234.19, Y:-18.92, Z:-1.58 [[ 9.85853658e-01 1.67607724e-01 4.64876624e-04 2.34189880e+02] [-1.67607711e-01 9.85853767e-01 -6.72537170e-05 -1.89173073e+01] [-4.69572613e-04 -1.16145840e-05 9.99999890e-01 -1.58170262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.865769231 meters 0.029405968430999394 Centerline is valid? [True, True] Translation: X:234.25, Y:-18.93, Z:-1.59 [[ 9.85980670e-01 1.66838397e-01 -2.65865718e-03 2.34250217e+02] [-1.66837944e-01 9.85984253e-01 3.92782024e-04 -1.89338687e+01] [ 2.68692524e-03 5.62894140e-05 9.99996389e-01 -1.58961539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92576923099998 meters 0.03190891211980416 Centerline is valid? [True, True] Translation: X:234.31, Y:-18.94, Z:-1.59 [[ 9.85705365e-01 1.68470234e-01 -1.64709206e-03 2.34311225e+02] [-1.68470063e-01 9.85706741e-01 2.43317464e-04 -1.89401838e+01] [ 1.66454150e-03 3.76463738e-05 9.99998614e-01 -1.58793913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98576923099998 meters 0.03839213215910003 Centerline is valid? [True, True] Translation: X:234.37, Y:-18.94, Z:-1.59 [[ 9.84772758e-01 1.73842350e-01 -1.20512419e-03 2.34373009e+02] [-1.73842262e-01 9.84773495e-01 1.77777350e-04 -1.89418207e+01] [ 1.21767959e-03 3.44312227e-05 9.99999258e-01 -1.58670887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04576923099998 meters 0.04353986510511775 Centerline is valid? [True, True] Translation: X:234.43, Y:-18.94, Z:-1.59 [[ 9.83133414e-01 1.82886130e-01 -1.16368875e-03 2.34434450e+02] [-1.82886054e-01 9.83134102e-01 1.71529551e-04 -1.89407148e+01] [ 1.17543247e-03 4.41860110e-05 9.99999308e-01 -1.58640850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10576923099998 meters 0.0515456187957411 Centerline is valid? [True, True] Translation: X:234.50, Y:-18.93, Z:-1.59 [[ 9.81476182e-01 1.91567806e-01 -2.50576806e-03 2.34496819e+02] [-1.91567486e-01 9.81479374e-01 3.69357880e-04 -1.89323959e+01] [ 2.53011674e-03 1.17507726e-04 9.99996792e-01 -1.58906640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16576923099998 meters 0.05874671960914702 Centerline is valid? [True, True] Translation: X:234.56, Y:-18.93, Z:-1.60 [[ 9.80925448e-01 1.94223392e-01 -7.90822237e-03 2.34558088e+02] [-1.94220290e-01 9.80957247e-01 1.16573808e-03 -1.89250170e+01] [ 7.98404165e-03 3.92435098e-04 9.99968050e-01 -1.60121143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.225769231 meters 0.060984872168244025 Centerline is valid? [True, True] Translation: X:234.62, Y:-18.93, Z:-1.61 [[ 9.81877020e-01 1.89318539e-01 -8.71831550e-03 2.34617967e+02] [-1.89314578e-01 9.81915648e-01 1.28491394e-03 -1.89256708e+01] [ 8.80390844e-03 3.88876744e-04 9.99961169e-01 -1.60626506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.285769231 meters 0.042973059965021154 Centerline is valid? [True, True] Translation: X:234.68, Y:-18.95, Z:-1.60 [[ 9.82712208e-01 1.85009271e-01 -6.94883628e-03 2.34675053e+02] [-1.85006647e-01 9.82736736e-01 1.02419167e-03 -1.89540742e+01] [ 7.01836164e-03 2.79095247e-04 9.99975332e-01 -1.59748229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.345769231 meters 0.039839980412218694 Centerline is valid? [True, True] Translation: X:234.73, Y:-18.96, Z:-1.60 [[ 9.84011220e-01 1.78017489e-01 -5.62963592e-03 2.34734425e+02] [-1.78015652e-01 9.84027306e-01 8.29839483e-04 -1.89632736e+01] [ 5.68744141e-03 1.85591946e-04 9.99983809e-01 -1.59677682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.405769231 meters 0.034326106434917555 Centerline is valid? [True, True] Translation: X:234.79, Y:-18.98, Z:-1.60 [[ 9.85104720e-01 1.71874118e-01 -5.28946793e-03 2.34793121e+02] [-1.71872408e-01 9.85118910e-01 7.79660267e-04 -1.89778768e+01] [ 5.34475830e-03 1.41066581e-04 9.99985707e-01 -1.59645522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.465769231 meters 0.028058734204404624 Centerline is valid? [True, True] Translation: X:234.85, Y:-19.00, Z:-1.58 [[ 9.86400938e-01 1.64349364e-01 1.57336985e-03 2.34850371e+02] [-1.64349203e-01 9.86402193e-01 -2.31976883e-04 -1.89959800e+01] [-1.59010072e-03 -2.97598651e-05 9.99998735e-01 -1.58480799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.525769231 meters 0.02082320775349953 Centerline is valid? [True, True] Translation: X:234.91, Y:-19.02, Z:-1.58 [[ 9.86968118e-01 1.60879904e-01 3.40452004e-03 2.34909216e+02] [-1.60879131e-01 9.86973988e-01 -5.01689711e-04 -1.90174698e+01] [-3.44088451e-03 -5.25644748e-05 9.99994079e-01 -1.57984581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.585769231 meters 0.02162033492456874 Centerline is valid? [True, True] Translation: X:234.97, Y:-19.03, Z:-1.58 [[ 9.86821283e-01 1.61802637e-01 1.91378291e-03 2.34970597e+02] [-1.61802396e-01 9.86823138e-01 -2.81250760e-04 -1.90259586e+01] [-1.93407237e-03 -3.21104236e-05 9.99998129e-01 -1.58253517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.645769231 meters 0.02408773688461612 Centerline is valid? [True, True] Translation: X:235.03, Y:-19.03, Z:-1.59 [[ 9.86530385e-01 1.63575609e-01 9.05316759e-04 2.35031479e+02] [-1.63575555e-01 9.86530800e-01 -1.33073442e-04 -1.90345120e+01] [-9.14890437e-04 -1.68066981e-05 9.99999581e-01 -1.58502945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70576923099998 meters 0.024298697613000846 Centerline is valid? [True, True] Translation: X:235.09, Y:-19.05, Z:-1.58 [[ 9.86148691e-01 1.65860293e-01 1.05908482e-03 2.35092386e+02] [-1.65860222e-01 9.86149260e-01 -1.55377460e-04 -1.90456324e+01] [-1.07018667e-03 -2.24347648e-05 9.99999427e-01 -1.58392190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76576923099998 meters 0.027337028718405723 Centerline is valid? [True, True] Translation: X:235.15, Y:-19.05, Z:-1.59 [[ 9.85708799e-01 1.68448588e-01 -1.79930124e-03 2.35152657e+02] [-1.68448382e-01 9.85710440e-01 2.66759474e-04 -1.90517661e+01] [ 1.81852528e-03 4.01422224e-05 9.99998346e-01 -1.58878934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82576923099998 meters 0.033219553220621055 Centerline is valid? [True, True] Translation: X:235.21, Y:-19.05, Z:-1.59 [[ 9.84622049e-01 1.74696877e-01 -6.49748156e-04 2.35214507e+02] [-1.74696852e-01 9.84622263e-01 9.62901043e-05 -1.90475087e+01] [ 6.56578081e-04 1.86995977e-05 9.99999784e-01 -1.58697809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88576923099998 meters 0.038082138411526134 Centerline is valid? [True, True] Translation: X:235.28, Y:-19.05, Z:-1.59 [[ 9.83676947e-01 1.79943458e-01 -1.23654754e-04 2.35276092e+02] [-1.79943457e-01 9.83676955e-01 1.83193630e-05 -1.90457333e+01] [ 1.24932782e-04 4.23052886e-06 9.99999992e-01 -1.58612224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94576923099999 meters 0.047661278084502406 Centerline is valid? [True, True] Translation: X:235.34, Y:-19.03, Z:-1.59 [[ 9.82122557e-01 1.88242579e-01 1.16956202e-04 2.35338812e+02] [-1.88242578e-01 9.82122564e-01 -1.73885416e-05 -1.90302620e+01] [-1.18138589e-04 -4.93845804e-06 9.99999993e-01 -1.58566646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.005769231 meters 0.04959184782799691 Centerline is valid? [True, True] Translation: X:235.40, Y:-19.03, Z:-1.59 [[ 9.81661484e-01 1.90629299e-01 1.09622791e-03 2.35401441e+02] [-1.90629237e-01 9.81662094e-01 -1.62039043e-04 -1.90278158e+01] [-1.10701478e-03 -4.99056036e-05 9.99999386e-01 -1.58531856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.065769231 meters 0.047260219915394634 Centerline is valid? [True, True] Translation: X:235.46, Y:-19.03, Z:-1.59 [[ 9.82336954e-01 1.87112932e-01 -1.69098871e-03 2.35462656e+02] [-1.87112778e-01 9.82338407e-01 2.50309237e-04 -1.90307031e+01] [ 1.70795925e-03 7.05175801e-05 9.99998539e-01 -1.59086137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.125769231 meters 0.04128337285457281 Centerline is valid? [True, True] Translation: X:235.52, Y:-19.04, Z:-1.59 [[ 9.83608640e-01 1.80297190e-01 -2.63937952e-03 2.35522278e+02] [-1.80296791e-01 9.83612177e-01 3.90559785e-04 -1.90371536e+01] [ 2.66654267e-03 9.17136780e-05 9.99996441e-01 -1.59387712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.185769231 meters 0.03675318819100583 Centerline is valid? [True, True] Translation: X:235.58, Y:-19.05, Z:-1.59 [[ 9.84401251e-01 1.75936792e-01 -6.49684833e-04 2.35582279e+02] [-1.75936767e-01 9.84401465e-01 9.61863683e-05 -1.90480166e+01] [ 6.56473423e-04 1.96174678e-05 9.99999784e-01 -1.58946192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.245769231 meters 0.030251125898907036 Centerline is valid? [True, True] Translation: X:235.64, Y:-19.06, Z:-1.59 [[ 9.85398539e-01 1.70262730e-01 5.67391148e-04 2.35641627e+02] [-1.70262710e-01 9.85398702e-01 -8.39129382e-05 -1.90588669e+01] [-5.73393747e-04 -1.39178679e-05 9.99999836e-01 -1.58730932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.305769231 meters 0.026516897689430247 Centerline is valid? [True, True] Translation: X:235.70, Y:-19.07, Z:-1.59 [[ 9.86337204e-01 1.64724125e-01 -2.20948926e-03 2.35701159e+02] [-1.64723805e-01 9.86339678e-01 3.27200425e-04 -1.90722640e+01] [ 2.23320473e-03 4.12255251e-05 9.99997506e-01 -1.59458787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.365769231 meters 0.02048765081239838 Centerline is valid? [True, True] Translation: X:235.76, Y:-19.09, Z:-1.60 [[ 9.87469877e-01 1.57745417e-01 -4.43009137e-03 2.35760695e+02] [-1.57744061e-01 9.87479813e-01 6.56106179e-04 -1.90910367e+01] [ 4.47812354e-03 5.09355135e-05 9.99989972e-01 -1.59894832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42576923099998 meters 0.016371471606829245 Centerline is valid? [True, True] Translation: X:235.82, Y:-19.11, Z:-1.60 [[ 9.88359595e-01 1.52037473e-01 -5.46978013e-03 2.35820463e+02] [-1.52035308e-01 9.88374730e-01 8.11833008e-04 -1.91101083e+01] [ 5.52962149e-03 2.92167639e-05 9.99984711e-01 -1.60075531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48576923099998 meters 0.014813360358888743 Centerline is valid? [True, True] Translation: X:235.88, Y:-19.13, Z:-1.60 [[ 9.88879229e-01 1.48680169e-01 -3.47537846e-03 2.35880074e+02] [-1.48679271e-01 9.88885336e-01 5.16799945e-04 -1.91283421e+01] [ 3.51358870e-03 5.66400646e-06 9.99993827e-01 -1.59917059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54576923099998 meters 0.014851323190533137 Centerline is valid? [True, True] Translation: X:235.94, Y:-19.14, Z:-1.60 [[ 9.89024406e-01 1.47700917e-01 -3.89396521e-03 2.35940261e+02] [-1.47699779e-01 9.89032072e-01 5.79643781e-04 -1.91434455e+01] [ 3.93687040e-03 1.85595725e-06 9.99992250e-01 -1.60029676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60576923099998 meters 0.02772220319147632 Centerline is valid? [True, True] Translation: X:236.00, Y:-19.15, Z:-1.60 [[ 9.88746011e-01 1.49480654e-01 -6.07125499e-03 2.36001575e+02] [-1.49477922e-01 9.88764650e-01 9.03957378e-04 -1.91518768e+01] [ 6.13816645e-03 1.37343257e-05 9.99981161e-01 -1.59800062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66576923099998 meters 0.01754430933850767 Centerline is valid? [True, True] Translation: X:236.06, Y:-19.16, Z:-1.61 [[ 9.88145511e-01 1.53381753e-01 -6.51812613e-03 2.36062836e+02] [-1.53378688e-01 9.88167008e-01 9.70468726e-04 -1.91572856e+01] [ 6.58984939e-03 4.07773201e-05 9.99978286e-01 -1.60606877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.725769231 meters 0.019365786531966262 Centerline is valid? [True, True] Translation: X:236.12, Y:-19.16, Z:-1.60 [[ 9.87605696e-01 1.56910723e-01 -3.74360782e-03 2.36124463e+02] [-1.56909735e-01 9.87612790e-01 5.57974426e-04 -1.91618428e+01] [ 3.78478713e-03 3.63497879e-05 9.99992837e-01 -1.60158594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.785769231 meters 0.02304029587878963 Centerline is valid? [True, True] Translation: X:236.19, Y:-19.17, Z:-1.60 [[ 9.86937557e-01 1.61077873e-01 -2.85952106e-03 2.36186699e+02] [-1.61077311e-01 9.86941699e-01 4.27254319e-04 -1.91666143e+01] [ 2.89100179e-03 3.89306298e-05 9.99995820e-01 -1.60034195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.845769231 meters 0.025793433960064022 Centerline is valid? [True, True] Translation: X:236.25, Y:-19.17, Z:-1.60 [[ 9.86531927e-01 1.63557750e-01 -1.90249319e-03 2.36247362e+02] [-1.63557507e-01 9.86533761e-01 2.83738990e-04 -1.91711841e+01] [ 1.92328147e-03 3.12494702e-05 9.99998150e-01 -1.59967870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.905769231 meters 0.025473203793474022 Centerline is valid? [True, True] Translation: X:236.31, Y:-19.18, Z:-1.60 [[ 9.86585388e-01 1.63244048e-01 -8.07878122e-04 2.36307816e+02] [-1.63244003e-01 9.86585719e-01 1.21593398e-04 -1.91838781e+01] [ 8.16890416e-04 1.19189895e-05 9.99999666e-01 -1.59741189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.965769231 meters 0.02331154740065052 Centerline is valid? [True, True] Translation: X:236.37, Y:-19.20, Z:-1.59 [[ 9.86913194e-01 1.61249129e-01 1.03273648e-03 2.36368965e+02] [-1.61249056e-01 9.86913734e-01 -1.53780426e-04 -1.91985140e+01] [-1.04401877e-03 -1.47598506e-05 9.99999455e-01 -1.59431928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.025769231 meters 0.022396093986982175 Centerline is valid? [True, True] Translation: X:236.43, Y:-19.21, Z:-1.59 [[ 9.86681431e-01 1.62648349e-01 2.29544463e-03 2.36429460e+02] [-1.62647994e-01 9.86684100e-01 -3.41879980e-04 -1.92136195e+01] [-2.32048494e-03 -3.60228371e-05 9.99997307e-01 -1.59112368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.085769231 meters 0.031121861874953208 Centerline is valid? [True, True] Translation: X:236.49, Y:-19.21, Z:-1.60 [[ 9.85925434e-01 1.67175365e-01 -1.85373759e-03 2.36490481e+02] [-1.67175139e-01 9.85927176e-01 2.76995793e-04 -1.92110697e+01] [ 1.87395714e-03 3.68016435e-05 9.99998243e-01 -1.60101609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.145769231 meters 0.030214920990626917 Centerline is valid? [True, True] Translation: X:236.55, Y:-19.22, Z:-1.60 [[ 9.85486457e-01 1.69753686e-01 3.58872155e-04 2.36552179e+02] [-1.69753678e-01 9.85486523e-01 -5.25829238e-05 -1.92195836e+01] [-3.62589817e-04 -9.10010882e-06 9.99999934e-01 -1.59514075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20576923099998 meters 0.03549030931339053 Centerline is valid? [True, True] Translation: X:236.61, Y:-19.22, Z:-1.60 [[ 9.85386231e-01 1.70326359e-01 -1.70530200e-03 2.36614023e+02] [-1.70326171e-01 9.85387705e-01 2.55807736e-04 -1.92211970e+01] [ 1.72395442e-03 3.83881387e-05 9.99998513e-01 -1.60330401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26576923099998 meters 0.027413097596144947 Centerline is valid? [True, True] Translation: X:236.67, Y:-19.24, Z:-1.60 [[ 9.85639919e-01 1.68851048e-01 -1.80953969e-03 2.36674360e+02] [-1.68850834e-01 9.85641579e-01 2.71624221e-04 -1.92419460e+01] [ 1.82942159e-03 3.78186091e-05 9.99998326e-01 -1.60119182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32576923099998 meters 0.031331360958371184 Centerline is valid? [True, True] Translation: X:236.74, Y:-19.24, Z:-1.60 [[ 9.85529255e-01 1.69486354e-01 -2.54229302e-03 2.36736056e+02] [-1.69485931e-01 9.85532533e-01 3.82178648e-04 -1.92424992e+01] [ 2.57028654e-03 5.42346619e-05 9.99996695e-01 -1.60342682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38576923099998 meters 0.028353261633743014 Centerline is valid? [True, True] Translation: X:236.80, Y:-19.25, Z:-1.60 [[ 9.85595436e-01 1.69080611e-01 -3.65834099e-03 2.36797867e+02] [-1.69079732e-01 9.85602223e-01 5.50396546e-04 -1.92524623e+01] [ 3.69873039e-03 7.60829912e-05 9.99993157e-01 -1.60376287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44576923099999 meters 0.02183134107627454 Centerline is valid? [True, True] Translation: X:236.86, Y:-19.27, Z:-1.61 [[ 9.86678229e-01 1.62641739e-01 -3.70629050e-03 2.36857183e+02] [-1.62640796e-01 9.86685189e-01 5.56427724e-04 -1.92695005e+01] [ 3.74744032e-03 5.37789162e-05 9.99992977e-01 -1.60600050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.505769231 meters 0.016681727153978587 Centerline is valid? [True, True] Translation: X:236.92, Y:-19.29, Z:-1.61 [[ 9.87763181e-01 1.55875683e-01 -5.16431992e-03 2.36917083e+02] [-1.55873749e-01 9.87776680e-01 7.77282796e-04 -1.92881870e+01] [ 5.22235427e-03 3.72105790e-05 9.99986363e-01 -1.60653375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.565769231 meters 0.01474629369122132 Centerline is valid? [True, True] Translation: X:236.98, Y:-19.31, Z:-1.60 [[ 9.89041857e-01 1.47578010e-01 -4.11521694e-03 2.36976551e+02] [-1.47576707e-01 9.89050419e-01 6.20326000e-04 -1.93071902e+01] [ 4.16170352e-03 -6.21821588e-06 9.99991340e-01 -1.60427581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.625769231 meters 0.015014254128845172 Centerline is valid? [True, True] Translation: X:237.04, Y:-19.31, Z:-1.61 [[ 9.89164774e-01 1.46722664e-01 -5.05071175e-03 2.37038656e+02] [-1.46720686e-01 9.89177668e-01 7.61918587e-04 -1.93131317e+01] [ 5.10784199e-03 -1.26191330e-05 9.99986955e-01 -1.60653732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.685769231 meters 0.015027245827190994 Centerline is valid? [True, True] Translation: X:237.10, Y:-19.32, Z:-1.61 [[ 9.89193833e-01 1.46532820e-01 -4.86756573e-03 2.37100815e+02] [-1.46530975e-01 9.89205809e-01 7.35448986e-04 -1.93214156e+01] [ 4.92279170e-03 -1.42524518e-05 9.99987883e-01 -1.60614614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.745769231 meters 0.017031689711701267 Centerline is valid? [True, True] Translation: X:237.16, Y:-19.34, Z:-1.60 [[ 9.90039164e-01 1.40790450e-01 -7.09290083e-04 2.37160141e+02] [-1.40790409e-01 9.90039418e-01 1.08262686e-04 -1.93427651e+01] [ 7.17467493e-04 -7.32305793e-06 9.99999743e-01 -1.60071824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.805769231 meters 0.020554701809569212 Centerline is valid? [True, True] Translation: X:237.22, Y:-19.37, Z:-1.60 [[ 9.90558962e-01 1.37087218e-01 -1.94830820e-04 2.37218915e+02] [-1.37087214e-01 9.90558981e-01 3.05261853e-05 -1.93656121e+01] [ 1.97176168e-04 -3.52917210e-06 9.99999981e-01 -1.59980175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.865769231 meters 0.020059016128692313 Centerline is valid? [True, True] Translation: X:237.28, Y:-19.38, Z:-1.60 [[ 9.90492504e-01 1.37562261e-01 -1.10587162e-03 2.37280988e+02] [-1.37562159e-01 9.90493122e-01 1.68681123e-04 -1.93761724e+01] [ 1.11856239e-03 -1.49513004e-05 9.99999374e-01 -1.60130121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92576923099998 meters 0.018635719962931622 Centerline is valid? [True, True] Translation: X:237.34, Y:-19.39, Z:-1.61 [[ 9.90243363e-01 1.39307001e-01 -3.41197221e-03 2.37342517e+02] [-1.39306041e-01 9.90249240e-01 5.18373704e-04 -1.93871176e+01] [ 3.45091597e-03 -3.80077785e-05 9.99994045e-01 -1.60579543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98576923099998 meters 0.014462421200615286 Centerline is valid? [True, True] Translation: X:237.41, Y:-19.38, Z:-1.61 [[ 9.88398423e-01 1.51830265e-01 -4.01591777e-03 2.37405776e+02] [-1.51829038e-01 9.88406582e-01 6.10397405e-04 -1.93838641e+01] [ 4.06203636e-03 6.41709835e-06 9.99991750e-01 -1.60520303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04576923099998 meters 0.019240202297702416 Centerline is valid? [True, True] Translation: X:237.47, Y:-19.38, Z:-1.61 [[ 9.87081514e-01 1.60176813e-01 -3.67068763e-03 2.37468374e+02] [-1.60175843e-01 9.87088338e-01 5.58501410e-04 -1.93789192e+01] [ 3.71275192e-03 3.66690690e-05 9.99993107e-01 -1.60653583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10576923099998 meters 0.026521878832495772 Centerline is valid? [True, True] Translation: X:237.53, Y:-19.37, Z:-1.60 [[ 9.85795710e-01 1.67941392e-01 -1.58337282e-03 2.37531525e+02] [-1.67941222e-01 9.85796981e-01 2.40720335e-04 -1.93701254e+01] [ 1.60131106e-03 2.86124931e-05 9.99998717e-01 -1.59982904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16576923099998 meters 0.031086471929346833 Centerline is valid? [True, True] Translation: X:237.59, Y:-19.36, Z:-1.60 [[ 9.84885353e-01 1.73189159e-01 -2.52113309e-03 2.37593345e+02] [-1.73188746e-01 9.84888578e-01 3.82928798e-04 -1.93632477e+01] [ 2.54935430e-03 5.94909156e-05 9.99996749e-01 -1.60470052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.225769231 meters 0.03432352690757621 Centerline is valid? [True, True] Translation: X:237.66, Y:-19.36, Z:-1.61 [[ 9.84458419e-01 1.75525955e-01 -5.67975023e-03 2.37656242e+02] [-1.75523896e-01 9.84474793e-01 8.62973152e-04 -1.93580875e+01] [ 5.74304512e-03 1.47370703e-04 9.99983498e-01 -1.61122439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.285769231 meters 0.03463643823805429 Centerline is valid? [True, True] Translation: X:237.72, Y:-19.36, Z:-1.61 [[ 9.84422839e-01 1.75775506e-01 -3.82700102e-03 2.37716943e+02] [-1.75774575e-01 9.84430272e-01 5.81114518e-04 -1.93568822e+01] [ 3.86956135e-03 1.00627073e-04 9.99992508e-01 -1.60894284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.345769231 meters 0.03445420006164495 Centerline is valid? [True, True] Translation: X:237.78, Y:-19.36, Z:-1.61 [[ 9.84487957e-01 1.75437362e-01 -2.27912687e-03 2.37777417e+02] [-1.75437031e-01 9.84490593e-01 3.46065917e-04 -1.93594187e+01] [ 2.30449185e-03 5.91455229e-05 9.99997343e-01 -1.60646983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.405769231 meters 0.03204970328485365 Centerline is valid? [True, True] Translation: X:237.84, Y:-19.36, Z:-1.62 [[ 9.85135017e-01 1.71674828e-01 -6.06240682e-03 2.37836818e+02] [-1.71672412e-01 9.85153661e-01 9.20441620e-04 -1.93622140e+01] [ 6.13041893e-03 1.33988732e-04 9.99981200e-01 -1.61564267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.465769231 meters 0.027006054921443767 Centerline is valid? [True, True] Translation: X:237.90, Y:-19.37, Z:-1.62 [[ 9.85937658e-01 1.67001074e-01 -6.12991708e-03 2.37895855e+02] [-1.66998515e-01 9.85956708e-01 9.30557460e-04 -1.93733345e+01] [ 6.19923696e-03 1.06215405e-04 9.99980779e-01 -1.61549173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.525769231 meters 0.01953742220076189 Centerline is valid? [True, True] Translation: X:237.96, Y:-19.39, Z:-1.61 [[ 9.87139064e-01 1.59827730e-01 -3.40087853e-03 2.37955489e+02] [-1.59826899e-01 9.87144921e-01 5.16488441e-04 -1.93888211e+01] [ 3.43970914e-03 3.37059522e-05 9.99994084e-01 -1.60993979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.585769231 meters 0.016779481491513103 Centerline is valid? [True, True] Translation: X:238.01, Y:-19.40, Z:-1.61 [[ 9.87749420e-01 1.56003733e-01 -3.73088465e-03 2.38014590e+02] [-1.56002706e-01 9.87756465e-01 5.66629217e-04 -1.94004279e+01] [ 3.77360171e-03 2.23404208e-05 9.99992880e-01 -1.61041203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.645769231 meters 0.0177067837379928 Centerline is valid? [True, True] Translation: X:238.08, Y:-19.40, Z:-1.61 [[ 9.87282655e-01 1.58914563e-01 -4.37282403e-03 2.38075481e+02] [-1.58913181e-01 9.87292338e-01 6.64101450e-04 -1.93996819e+01] [ 4.42279105e-03 3.92435327e-05 9.99990219e-01 -1.60801988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70576923099998 meters 0.02041148378144496 Centerline is valid? [True, True] Translation: X:238.13, Y:-19.40, Z:-1.61 [[ 9.86730054e-01 1.62316038e-01 -4.15978778e-03 2.38134768e+02] [-1.62314820e-01 9.86738821e-01 6.31179367e-04 -1.93964849e+01] [ 4.20707462e-03 5.23915520e-05 9.99991149e-01 -1.60783233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76576923099998 meters 0.0206356811173635 Centerline is valid? [True, True] Translation: X:238.19, Y:-19.40, Z:-1.61 [[ 9.86657834e-01 1.62748028e-01 -4.40435618e-03 2.38193972e+02] [-1.62746667e-01 9.86667662e-01 6.68094145e-04 -1.93956623e+01] [ 4.45436682e-03 5.76139667e-05 9.99990078e-01 -1.60874255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82576923099998 meters 0.023974827936150554 Centerline is valid? [True, True] Translation: X:238.25, Y:-19.39, Z:-1.61 [[ 9.86112387e-01 1.65938485e-01 -6.83955064e-03 2.38254466e+02] [-1.65935279e-01 9.86136099e-01 1.03750934e-03 -1.93906700e+01] [ 6.91689052e-03 1.11821933e-04 9.99976072e-01 -1.61381100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88576923099998 meters 0.030242765906549805 Centerline is valid? [True, True] Translation: X:238.32, Y:-19.38, Z:-1.62 [[ 9.85363150e-01 1.70221959e-01 -9.16225542e-03 2.38316646e+02] [-1.70216390e-01 9.85405728e-01 1.38999040e-03 -1.93781473e+01] [ 9.26514586e-03 1.89920726e-04 9.99957060e-01 -1.61963019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94576923099999 meters 0.026684412735162887 Centerline is valid? [True, True] Translation: X:238.38, Y:-19.38, Z:-1.62 [[ 9.85701494e-01 1.68320439e-01 -7.79710629e-03 2.38375986e+02] [-1.68316350e-01 9.85732321e-01 1.18242824e-03 -1.93832349e+01] [ 7.88488652e-03 1.46859184e-04 9.99968903e-01 -1.61569287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.005769231 meters 0.025804353582291262 Centerline is valid? [True, True] Translation: X:238.43, Y:-19.39, Z:-1.61 [[ 9.86013117e-01 1.66515772e-01 -7.11557477e-03 2.38434421e+02] [-1.66512323e-01 9.86038784e-01 1.07863527e-03 -1.93867837e+01] [ 7.19584247e-03 1.21282361e-04 9.99974102e-01 -1.61470730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.065769231 meters 0.026856364617585664 Centerline is valid? [True, True] Translation: X:238.49, Y:-19.39, Z:-1.62 [[ 9.86558751e-01 1.63278829e-01 -6.46949285e-03 2.38492002e+02] [-1.63275911e-01 9.86579959e-01 9.80218502e-04 -1.93907051e+01] [ 6.54272092e-03 8.92691984e-05 9.99978592e-01 -1.62137647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.125769231 meters 0.021910210083538512 Centerline is valid? [True, True] Translation: X:238.55, Y:-19.40, Z:-1.63 [[ 9.86992205e-01 1.60338123e-01 -1.17504707e-02 2.38549407e+02] [-1.60328290e-01 9.87062141e-01 1.78022397e-03 -1.94049596e+01] [ 1.18838825e-02 1.26865698e-04 9.99929376e-01 -1.62502443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.185769231 meters 0.028297286191141358 Centerline is valid? [True, True] Translation: X:238.61, Y:-19.40, Z:-1.63 [[ 9.86347541e-01 1.64137953e-01 -1.33139567e-02 2.38609715e+02] [-1.64125680e-01 9.86437375e-01 2.01675886e-03 -1.94001097e+01] [ 1.34644112e-02 1.95937050e-04 9.99909332e-01 -1.63206576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.245769231 meters 0.028734856026159415 Centerline is valid? [True, True] Translation: X:238.67, Y:-19.40, Z:-1.62 [[ 9.85738263e-01 1.68065111e-01 -8.61369450e-03 2.38669747e+02] [-1.68060128e-01 9.85775883e-01 1.30422053e-03 -1.93992208e+01] [ 8.71036627e-03 1.61998524e-04 9.99962051e-01 -1.61817477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.305769231 meters 0.031200780941483083 Centerline is valid? [True, True] Translation: X:238.73, Y:-19.40, Z:-1.61 [[ 9.85344619e-01 1.70456873e-01 -6.35886911e-03 2.38728994e+02] [-1.70454211e-01 9.85365128e-01 9.62290499e-04 -1.93979870e+01] [ 6.42983690e-03 1.35708251e-04 9.99979319e-01 -1.61316452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.365769231 meters 0.03143912492388316 Centerline is valid? [True, True] Translation: X:238.79, Y:-19.40, Z:-1.61 [[ 9.84873542e-01 1.73199335e-01 -5.10857160e-03 2.38788811e+02] [-1.73197655e-01 9.84886783e-01 7.72821791e-04 -1.93954882e+01] [ 5.16521687e-03 1.23660888e-04 9.99986653e-01 -1.60976215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42576923099998 meters 0.03126564927910125 Centerline is valid? [True, True] Translation: X:238.85, Y:-19.39, Z:-1.61 [[ 9.84960629e-01 1.72662048e-01 -6.35429905e-03 2.38848555e+02] [-1.72659439e-01 9.84981114e-01 9.61054591e-04 -1.93928908e+01] [ 6.42480221e-03 1.50528775e-04 9.99979349e-01 -1.61092145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48576923099998 meters 0.030641379504455776 Centerline is valid? [True, True] Translation: X:238.91, Y:-19.39, Z:-1.62 [[ 9.85253378e-01 1.70888274e-01 -8.54281131e-03 2.38907217e+02] [-1.70883495e-01 9.85290395e-01 1.29158659e-03 -1.93925654e+01] [ 8.63786694e-03 1.87285403e-04 9.99962675e-01 -1.61730715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54576923099998 meters 0.026609325109026558 Centerline is valid? [True, True] Translation: X:238.97, Y:-19.40, Z:-1.61 [[ 9.85715562e-01 1.68334299e-01 -5.32863901e-03 2.38967347e+02] [-1.68332403e-01 9.85729960e-01 8.05594891e-04 -1.93950621e+01] [ 5.38820836e-03 1.02895186e-04 9.99985478e-01 -1.61016482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60576923099998 meters 0.02463206248289724 Centerline is valid? [True, True] Translation: X:239.03, Y:-19.40, Z:-1.61 [[ 9.86166951e-01 1.65725611e-01 -3.12512379e-03 2.39025421e+02] [-1.65724947e-01 9.86171901e-01 4.71957154e-04 -1.93966040e+01] [ 3.16012466e-03 5.24824269e-05 9.99995005e-01 -1.60635063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66576923099998 meters 0.022333823105645675 Centerline is valid? [True, True] Translation: X:239.08, Y:-19.40, Z:-1.60 [[ 9.86338411e-01 1.64702968e-01 -3.07756998e-03 2.39083894e+02] [-1.64702320e-01 9.86343211e-01 4.64691126e-04 -1.94013565e+01] [ 3.11207627e-03 4.85402083e-05 9.99995156e-01 -1.60390386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.725769231 meters 0.022890986836715404 Centerline is valid? [True, True] Translation: X:239.14, Y:-19.40, Z:-1.61 [[ 9.86352712e-01 1.64596842e-01 -4.02581799e-03 2.39144062e+02] [-1.64595732e-01 9.86360926e-01 6.07780881e-04 -1.93993772e+01] [ 4.07094837e-03 6.31461398e-05 9.99991712e-01 -1.60789864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.785769231 meters 0.02213837893243997 Centerline is valid? [True, True] Translation: X:239.20, Y:-19.40, Z:-1.61 [[ 9.86536192e-01 1.63488878e-01 -4.21053379e-03 2.39203172e+02] [-1.63487654e-01 9.86545175e-01 6.35480014e-04 -1.94006430e+01] [ 4.25777571e-03 6.14462593e-05 9.99990934e-01 -1.60946307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.845769231 meters 0.019331542960184807 Centerline is valid? [True, True] Translation: X:239.26, Y:-19.41, Z:-1.62 [[ 9.87254717e-01 1.58980486e-01 -7.30262068e-03 2.39261066e+02] [-1.58976683e-01 9.87281723e-01 1.10205406e-03 -1.94078171e+01] [ 7.38494901e-03 7.29383471e-05 9.99972728e-01 -1.61686610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.905769231 meters 0.01686796032153431 Centerline is valid? [True, True] Translation: X:239.32, Y:-19.43, Z:-1.62 [[ 9.89155821e-01 1.46462664e-01 -1.09293070e-02 2.39316911e+02] [-1.46453384e-01 9.89216198e-01 1.64899814e-03 -1.94299427e+01] [ 1.10529641e-02 -3.04821251e-05 9.99938914e-01 -1.62367800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.965769231 meters 0.024366407979040418 Centerline is valid? [True, True] Translation: X:239.37, Y:-19.46, Z:-1.62 [[ 9.91091927e-01 1.32936165e-01 -8.04783813e-03 2.39371795e+02] [-1.32930689e-01 9.91124593e-01 1.21395550e-03 -1.94594610e+01] [ 8.13778888e-03 -1.33336834e-04 9.99966879e-01 -1.61787402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.025769231 meters 0.03625427964225483 Centerline is valid? [True, True] Translation: X:239.43, Y:-19.49, Z:-1.62 [[ 9.92757391e-01 1.19970830e-01 -6.30570030e-03 2.39427644e+02] [-1.19967205e-01 9.92777399e-01 9.51377820e-04 -1.94942627e+01] [ 6.37429433e-03 -1.88010119e-04 9.99979666e-01 -1.61508593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.085769231 meters 0.03905601949723017 Centerline is valid? [True, True] Translation: X:239.48, Y:-19.51, Z:-1.61 [[ 9.93123795e-01 1.17020124e-01 -3.37915700e-03 2.39484950e+02] [-1.17019067e-01 9.93129538e-01 5.09583792e-04 -1.95148884e+01] [ 3.41557218e-03 -1.10653992e-04 9.99994161e-01 -1.60843465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.145769231 meters 0.03461395967018497 Centerline is valid? [True, True] Translation: X:239.54, Y:-19.52, Z:-1.60 [[ 9.92736247e-01 1.20291688e-01 -2.15732261e-03 2.39544889e+02] [-1.20291265e-01 9.92738589e-01 3.25324148e-04 -1.95215737e+01] [ 2.18079120e-03 -6.34540074e-05 9.99997620e-01 -1.60469918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20576923099998 meters 0.03117531752678967 Centerline is valid? [True, True] Translation: X:239.60, Y:-19.53, Z:-1.61 [[ 9.92223957e-01 1.24436181e-01 -2.69351847e-03 2.39603144e+02] [-1.24435537e-01 9.92227611e-01 4.06056320e-04 -1.95337799e+01] [ 2.72311149e-03 -6.77293908e-05 9.99996290e-01 -1.60767657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26576923099998 meters 0.030478714682570476 Centerline is valid? [True, True] Translation: X:239.66, Y:-19.55, Z:-1.61 [[ 9.92064300e-01 1.25711942e-01 -2.22103365e-03 2.39659316e+02] [-1.25711508e-01 9.92066785e-01 3.34420417e-04 -1.95482961e+01] [ 2.24545435e-03 -5.25570677e-05 9.99997478e-01 -1.60669950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32576923099998 meters 0.03239600030998026 Centerline is valid? [True, True] Translation: X:239.72, Y:-19.57, Z:-1.61 [[ 9.92409146e-01 1.22935715e-01 -3.30116684e-03 2.39716323e+02] [-1.22934740e-01 9.92414632e-01 4.97421130e-04 -1.95693120e+01] [ 3.33727710e-03 -8.78171906e-05 9.99994427e-01 -1.60855348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38576923099998 meters 0.036784829546289706 Centerline is valid? [True, True] Translation: X:239.77, Y:-19.60, Z:-1.62 [[ 9.92873210e-01 1.18997466e-01 -6.51093795e-03 2.39773178e+02] [-1.18993587e-01 9.92894538e-01 9.81272004e-04 -1.95950356e+01] [ 6.58144361e-03 -1.99518822e-04 9.99978322e-01 -1.61638028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44576923099999 meters 0.040682950112490054 Centerline is valid? [True, True] Translation: X:239.83, Y:-19.62, Z:-1.62 [[ 9.92971035e-01 1.18070065e-01 -8.24525411e-03 2.39828786e+02] [-1.18063818e-01 9.93005233e-01 1.24201313e-03 -1.96158381e+01] [ 8.33422505e-03 -2.59816883e-04 9.99965236e-01 -1.62160396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.505769231 meters 0.04547382822690812 Centerline is valid? [True, True] Translation: X:239.89, Y:-19.64, Z:-1.62 [[ 9.93082361e-01 1.16785720e-01 -1.21868384e-02 2.39886349e+02] [-1.16771972e-01 9.93157055e-01 1.83613918e-03 -1.96369005e+01] [ 1.23178794e-02 -4.00356282e-04 9.99924052e-01 -1.62259496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.565769231 meters 0.039925381653225574 Centerline is valid? [True, True] Translation: X:239.94, Y:-19.65, Z:-1.62 [[ 9.92919787e-01 1.18325321e-01 -1.04601470e-02 2.39944669e+02] [-1.18315280e-01 9.92974829e-01 1.57581162e-03 -1.96541685e+01] [ 1.05731211e-02 -3.27059321e-04 9.99944050e-01 -1.62471286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.625769231 meters 0.03706560903648618 Centerline is valid? [True, True] Translation: X:240.00, Y:-19.67, Z:-1.63 [[ 9.92450856e-01 1.22204260e-01 -1.03641809e-02 2.40002070e+02] [-1.22194619e-01 9.92504931e-01 1.56082955e-03 -1.96673486e+01] [ 1.04772406e-02 -2.82599491e-04 9.99945072e-01 -1.62601782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.685769231 meters 0.035815915453645854 Centerline is valid? [True, True] Translation: X:240.06, Y:-19.68, Z:-1.63 [[ 9.92467731e-01 1.22021330e-01 -1.08902241e-02 2.40060812e+02] [-1.22010676e-01 9.92527433e-01 1.63987865e-03 -1.96808981e+01] [ 1.10089463e-02 -2.98803040e-04 9.99939355e-01 -1.62563674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.745769231 meters 0.03699400649852056 Centerline is valid? [True, True] Translation: X:240.12, Y:-19.70, Z:-1.62 [[ 9.93026383e-01 1.17634365e-01 -7.79478317e-03 2.40119149e+02] [-1.17628771e-01 9.93056944e-01 1.17387821e-03 -1.96994804e+01] [ 7.87875197e-03 -2.48801270e-04 9.99968931e-01 -1.61950467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.805769231 meters 0.05091736084648806 Centerline is valid? [True, True] Translation: X:240.18, Y:-19.73, Z:-1.61 [[ 9.93635615e-01 1.12526324e-01 -5.10787008e-03 2.40175254e+02] [-1.12523855e-01 9.93648726e-01 7.69234659e-04 -1.97283615e+01] [ 5.16198774e-03 -1.89581724e-04 9.99986659e-01 -1.60940942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.865769231 meters 0.047063776179675436 Centerline is valid? [True, True] Translation: X:240.23, Y:-19.75, Z:-1.62 [[ 9.93321699e-01 1.15263846e-01 -5.12336768e-03 2.40232228e+02] [-1.15261394e-01 9.93334895e-01 7.72419014e-04 -1.97531825e+01] [ 5.17825189e-03 -1.76734067e-04 9.99986577e-01 -1.61749189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92576923099998 meters 0.03480115636016018 Centerline is valid? [True, True] Translation: X:240.29, Y:-19.75, Z:-1.62 [[ 9.92799174e-01 1.19588051e-01 -6.96401138e-03 2.40293068e+02] [-1.19583630e-01 9.92823577e-01 1.04925640e-03 -1.97549651e+01] [ 7.03951322e-03 -2.08919124e-04 9.99975200e-01 -1.61723833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98576923099998 meters 0.036735499451298316 Centerline is valid? [True, True] Translation: X:240.35, Y:-19.76, Z:-1.62 [[ 9.91869833e-01 1.26991332e-01 -8.21196404e-03 2.40351822e+02] [-1.26985439e-01 9.91903810e-01 1.23716686e-03 -1.97644682e+01] [ 8.30258788e-03 -1.84308628e-04 9.99965516e-01 -1.61524220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04576923099998 meters 0.026352623202463392 Centerline is valid? [True, True] Translation: X:240.41, Y:-19.78, Z:-1.62 [[ 9.91365659e-01 1.30922955e-01 -7.30141698e-03 2.40411662e+02] [-1.30918400e-01 9.91392537e-01 1.10038333e-03 -1.97750280e+01] [ 7.38263574e-03 -1.34992408e-04 9.99972739e-01 -1.62043417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10576923099998 meters 0.018220284771142903 Centerline is valid? [True, True] Translation: X:240.47, Y:-19.78, Z:-1.62 [[ 9.89939438e-01 1.41225379e-01 -8.67761030e-03 2.40471845e+02] [-1.41219342e-01 9.89977468e-01 1.30758604e-03 -1.97803018e+01] [ 8.77530301e-03 -6.89845694e-05 9.99961494e-01 -1.62052627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16576923099998 meters 0.016000175500641287 Centerline is valid? [True, True] Translation: X:240.53, Y:-19.78, Z:-1.62 [[ 9.88897508e-01 1.48378492e-01 -8.09576095e-03 2.40531845e+02] [-1.48373474e-01 9.88930646e-01 1.22028305e-03 -1.97833845e+01] [ 8.18720987e-03 -5.53869303e-06 9.99966484e-01 -1.62190121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.225769231 meters 0.019284225636396903 Centerline is valid? [True, True] Translation: X:240.59, Y:-19.78, Z:-1.62 [[ 9.87174966e-01 1.59551583e-01 -5.37399146e-03 2.40592828e+02] [-1.59549541e-01 9.87189591e-01 8.09320317e-04 -1.97762050e+01] [ 5.43427677e-03 5.84771153e-05 9.99985232e-01 -1.61671511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.285769231 meters 0.025949431062861964 Centerline is valid? [True, True] Translation: X:240.65, Y:-19.77, Z:-1.62 [[ 9.85861862e-01 1.67434828e-01 -6.47819761e-03 2.40654225e+02] [-1.67432029e-01 9.85883139e-01 9.75854366e-04 -1.97729256e+01] [ 6.55013781e-03 1.22600169e-04 9.99978540e-01 -1.61910398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.345769231 meters 0.023931356488476427 Centerline is valid? [True, True] Translation: X:240.71, Y:-19.78, Z:-1.62 [[ 9.86186593e-01 1.65488550e-01 -7.03868153e-03 2.40712955e+02] [-1.65485198e-01 9.86211704e-01 1.06003418e-03 -1.97841364e+01] [ 7.11705363e-03 1.19406112e-04 9.99974666e-01 -1.61914658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.405769231 meters 0.02413486175438395 Centerline is valid? [True, True] Translation: X:240.77, Y:-19.79, Z:-1.62 [[ 9.86392811e-01 1.64341938e-01 -4.57708637e-03 2.40772128e+02] [-1.64340509e-01 9.86403428e-01 6.89147079e-04 -1.97892543e+01] [ 4.62810945e-03 7.24309810e-05 9.99989288e-01 -1.61692602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.465769231 meters 0.02281679607926522 Centerline is valid? [True, True] Translation: X:240.83, Y:-19.80, Z:-1.61 [[ 9.86279034e-01 1.65070322e-01 -2.33558515e-03 2.40832044e+02] [-1.65069953e-01 9.86281799e-01 3.51514451e-04 -1.97951582e+01] [ 2.36156973e-03 3.88435972e-05 9.99997211e-01 -1.61106002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.525769231 meters 0.026330133448435215 Centerline is valid? [True, True] Translation: X:240.89, Y:-19.79, Z:-1.62 [[ 9.85799556e-01 1.67838839e-01 -5.41840290e-03 2.40891857e+02] [-1.67836890e-01 9.85814441e-01 8.15566095e-04 -1.97880538e+01] [ 5.47842349e-03 1.05423199e-04 9.99984988e-01 -1.61712863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.585769231 meters 0.030970479606803575 Centerline is valid? [True, True] Translation: X:240.95, Y:-19.78, Z:-1.61 [[ 9.85087713e-01 1.72032114e-01 -2.67380197e-03 2.40952058e+02] [-1.72031656e-01 9.85091340e-01 4.02166295e-04 -1.97782894e+01] [ 2.70312468e-03 6.38095043e-05 9.99996345e-01 -1.61175865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.645769231 meters 0.027271680931524458 Centerline is valid? [True, True] Translation: X:241.01, Y:-19.78, Z:-1.61 [[ 9.85553699e-01 1.69363081e-01 2.30411924e-04 2.41011477e+02] [-1.69363077e-01 9.85553726e-01 -3.48407815e-05 -1.97828171e+01] [-2.32984072e-04 -4.68581132e-06 9.99999973e-01 -1.60659363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70576923099998 meters 0.024921461704197283 Centerline is valid? [True, True] Translation: X:241.07, Y:-19.79, Z:-1.61 [[ 9.86017751e-01 1.66639933e-01 -3.56949509e-04 2.41069573e+02] [-1.66639925e-01 9.86017816e-01 5.33684019e-05 -1.97935367e+01] [ 3.60851882e-04 6.85984769e-06 9.99999935e-01 -1.60872757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76576923099998 meters 0.018464950268017342 Centerline is valid? [True, True] Translation: X:241.13, Y:-19.81, Z:-1.61 [[ 9.87416453e-01 1.58107695e-01 -3.27173758e-03 2.41126034e+02] [-1.58106933e-01 9.87421873e-01 4.91838191e-04 -1.98129496e+01] [ 3.30834866e-03 3.16352723e-05 9.99994527e-01 -1.61470758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82576923099998 meters 0.016517219470038796 Centerline is valid? [True, True] Translation: X:241.18, Y:-19.83, Z:-1.61 [[ 9.87791449e-01 1.55779162e-01 -9.51347566e-04 2.41183517e+02] [-1.55779097e-01 9.87791908e-01 1.42715500e-04 -1.98273456e+01] [ 9.61965528e-04 7.22691335e-06 9.99999537e-01 -1.61035833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88576923099998 meters 0.016211071598973906 Centerline is valid? [True, True] Translation: X:241.24, Y:-19.84, Z:-1.61 [[ 9.87854548e-01 1.55375861e-01 -1.31647190e-03 2.41240920e+02] [-1.55375736e-01 9.87855426e-01 1.97541978e-04 -1.98388951e+01] [ 1.33117717e-03 9.40504912e-06 9.99999114e-01 -1.61109451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94576923099999 meters 0.018190312463780195 Centerline is valid? [True, True] Translation: X:241.30, Y:-19.85, Z:-1.62 [[ 9.87621474e-01 1.56803646e-01 -4.05474959e-03 2.41297915e+02] [-1.56802465e-01 9.87629797e-01 6.09403503e-04 -1.98509296e+01] [ 4.10014820e-03 3.39347457e-05 9.99991594e-01 -1.61816227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.005769231 meters 0.022707227520567815 Centerline is valid? [True, True] Translation: X:241.36, Y:-19.86, Z:-1.62 [[ 9.86741343e-01 1.62215842e-01 -5.24813798e-03 2.41357422e+02] [-1.62213942e-01 9.86755297e-01 7.88530050e-04 -1.98556539e+01] [ 5.30654001e-03 7.32459496e-05 9.99985918e-01 -1.61918338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.065769231 meters 0.029908406840548404 Centerline is valid? [True, True] Translation: X:241.42, Y:-19.85, Z:-1.62 [[ 9.85408579e-01 1.70137249e-01 -4.82167558e-03 2.41419080e+02] [-1.70135740e-01 9.85420370e-01 7.24464298e-04 -1.98510877e+01] [ 4.87463569e-03 1.06446005e-04 9.99988113e-01 -1.61712127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.125769231 meters 0.030503661212786595 Centerline is valid? [True, True] Translation: X:241.48, Y:-19.86, Z:-1.62 [[ 9.85288603e-01 1.70856635e-01 -3.79199522e-03 2.41477296e+02] [-1.70855709e-01 9.85295896e-01 5.69313001e-04 -1.98567615e+01] [ 3.83350823e-03 8.69464191e-05 9.99992648e-01 -1.61602357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.185769231 meters 0.029488838937332854 Centerline is valid? [True, True] Translation: X:241.54, Y:-19.87, Z:-1.61 [[ 9.85774096e-01 1.68066494e-01 -1.75637582e-03 2.41535785e+02] [-1.68066290e-01 9.85775660e-01 2.63643237e-04 -1.98665811e+01] [ 1.77570213e-03 3.52948958e-05 9.99998423e-01 -1.61360019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.245769231 meters 0.02306357226455712 Centerline is valid? [True, True] Translation: X:241.59, Y:-19.88, Z:-1.61 [[ 9.86390300e-01 1.64419564e-01 -6.19195544e-04 2.41594222e+02] [-1.64419539e-01 9.86390494e-01 9.29115555e-05 -1.98832839e+01] [ 6.26045076e-04 1.01607886e-05 9.99999804e-01 -1.60873568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.305769231 meters 0.018387853244285733 Centerline is valid? [True, True] Translation: X:241.65, Y:-19.90, Z:-1.61 [[ 9.87523602e-01 1.57464403e-01 -1.44846040e-03 2.41651650e+02] [-1.57464254e-01 9.87524664e-01 2.17339669e-04 -1.98997388e+01] [ 1.46461363e-03 1.34526831e-05 9.99998927e-01 -1.61323827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.365769231 meters 0.01382852064860913 Centerline is valid? [True, True] Translation: X:241.71, Y:-19.92, Z:-1.61 [[ 9.88672797e-01 1.50084156e-01 9.20298917e-04 2.41709943e+02] [-1.50084093e-01 9.88673225e-01 -1.38194467e-04 -1.99213166e+01] [-9.30615698e-04 -1.49311739e-06 9.99999567e-01 -1.60710327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42576923099998 meters 0.015031566382389904 Centerline is valid? [True, True] Translation: X:241.77, Y:-19.94, Z:-1.61 [[ 9.89467165e-01 1.44756770e-01 -4.53841459e-04 2.41768124e+02] [-1.44756754e-01 9.89467270e-01 6.93094207e-05 -1.99438448e+01] [ 4.59094277e-04 -2.88277967e-06 9.99999895e-01 -1.61057291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48576923099998 meters 0.015802707125426578 Centerline is valid? [True, True] Translation: X:241.83, Y:-19.96, Z:-1.61 [[ 9.89668015e-01 1.43373692e-01 -1.09775033e-03 2.41828297e+02] [-1.43373597e-01 9.89668623e-01 1.65200489e-04 -1.99577815e+01] [ 1.11009447e-03 -6.10522570e-06 9.99999384e-01 -1.61169677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54576923099998 meters 0.013646768330473989 Centerline is valid? [True, True] Translation: X:241.89, Y:-19.97, Z:-1.61 [[ 9.89063856e-01 1.47471279e-01 2.21602963e-03 2.41888473e+02] [-1.47470903e-01 9.89066338e-01 -3.33163553e-04 -1.99659259e+01] [-2.24093236e-03 2.72013839e-06 9.99997489e-01 -1.60517777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60576923099998 meters 0.015603926220761566 Centerline is valid? [True, True] Translation: X:241.95, Y:-19.97, Z:-1.61 [[ 9.87914082e-01 1.54995785e-01 -1.43976145e-03 2.41948929e+02] [-1.54995634e-01 9.87915131e-01 2.16457413e-04 -1.99699349e+01] [ 1.45591211e-03 9.31541254e-06 9.99998940e-01 -1.61048475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66576923099998 meters 0.01846602414270591 Centerline is valid? [True, True] Translation: X:242.01, Y:-19.98, Z:-1.61 [[ 9.87247540e-01 1.59185728e-01 -1.48268132e-03 2.42007941e+02] [-1.59185573e-01 9.87248653e-01 2.22805915e-04 -1.99768158e+01] [ 1.49924265e-03 1.60568833e-05 9.99998876e-01 -1.61057610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.725769231 meters 0.01966429878775108 Centerline is valid? [True, True] Translation: X:242.07, Y:-19.99, Z:-1.61 [[ 9.86978697e-01 1.60834929e-01 -2.27546523e-03 2.42067393e+02] [-1.60834567e-01 9.86981319e-01 3.42071131e-04 -1.99883419e+01] [ 2.30085866e-03 2.83565472e-05 9.99997353e-01 -1.61255757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.785769231 meters 0.02081247958683166 Centerline is valid? [True, True] Translation: X:242.13, Y:-20.00, Z:-1.61 [[ 9.86767836e-01 1.62122496e-01 -2.35241192e-03 2.42126969e+02] [-1.62122114e-01 9.86770640e-01 3.53638541e-04 -1.99971335e+01] [ 2.37862377e-03 3.24188547e-05 9.99997171e-01 -1.61177014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.845769231 meters 0.024125621767109126 Centerline is valid? [True, True] Translation: X:242.19, Y:-20.00, Z:-1.61 [[ 9.86161959e-01 1.65778708e-01 1.41771397e-03 2.42185849e+02] [-1.65778573e-01 9.86162978e-01 -2.13323084e-04 -1.99985660e+01] [-1.43346145e-03 -2.46554880e-05 9.99998972e-01 -1.60539025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.905769231 meters 0.02551595187374686 Centerline is valid? [True, True] Translation: X:242.24, Y:-20.00, Z:-1.61 [[ 9.86015369e-01 1.66646171e-01 1.65673928e-03 2.42243712e+02] [-1.66645987e-01 9.86016761e-01 -2.49247307e-04 -2.00047599e+01] [-1.67510881e-03 -3.03272779e-05 9.99998597e-01 -1.60555162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.965769231 meters 0.028008100083660534 Centerline is valid? [True, True] Translation: X:242.30, Y:-20.01, Z:-1.61 [[ 9.85665504e-01 1.68709946e-01 6.84134307e-04 2.42303626e+02] [-1.68709915e-01 9.85665741e-01 -1.02935043e-04 -2.00082432e+01] [-6.91693914e-04 -1.39607198e-05 9.99999761e-01 -1.60696870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.025769231 meters 0.03269635361823277 Centerline is valid? [True, True] Translation: X:242.36, Y:-20.01, Z:-1.61 [[ 9.84939706e-01 1.72889405e-01 1.74030864e-03 2.42363301e+02] [-1.72889213e-01 9.84941243e-01 -2.61616462e-04 -2.00091249e+01] [-1.75933247e-03 -4.32041491e-05 9.99998451e-01 -1.60500857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.085769231 meters 0.04248626698238501 Centerline is valid? [True, True] Translation: X:242.43, Y:-20.00, Z:-1.60 [[ 9.83473800e-01 1.81037490e-01 2.17089341e-03 2.42426066e+02] [-1.81037211e-01 9.83476193e-01 -3.26042402e-04 -1.99970266e+01] [-2.19404788e-03 -7.23583282e-05 9.99997590e-01 -1.60342576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.145769231 meters 0.041892764875174966 Centerline is valid? [True, True] Translation: X:242.49, Y:-20.00, Z:-1.61 [[ 9.82922717e-01 1.84017877e-01 5.94257693e-04 2.42486651e+02] [-1.84017856e-01 9.82922897e-01 -8.93280166e-05 -1.99990749e+01] [-6.00547445e-04 -2.15514899e-05 9.99999819e-01 -1.60784071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20576923099998 meters 0.042282539090997266 Centerline is valid? [True, True] Translation: X:242.55, Y:-20.00, Z:-1.61 [[ 9.83819994e-01 1.79156195e-01 -1.13047775e-03 2.42546932e+02] [-1.79156118e-01 9.83820643e-01 1.69626323e-04 -1.99950681e+01] [ 1.14257695e-03 3.56502365e-05 9.99999347e-01 -1.61383112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26576923099998 meters 0.03338256424230241 Centerline is valid? [True, True] Translation: X:242.61, Y:-20.01, Z:-1.61 [[ 9.84442558e-01 1.75706020e-01 4.94443997e-04 2.42605458e+02] [-1.75706005e-01 9.84442682e-01 -7.43237029e-05 -2.00102792e+01] [-4.99810896e-04 -1.37093629e-05 9.99999875e-01 -1.60874130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32576923099998 meters 0.02931275271785084 Centerline is valid? [True, True] Translation: X:242.66, Y:-20.02, Z:-1.62 [[ 9.85920968e-01 1.67179414e-01 -3.29976856e-03 2.42664118e+02] [-1.67178693e-01 9.85926488e-01 4.95301922e-04 -2.00164341e+01] [ 3.33613351e-03 6.33224428e-05 9.99994433e-01 -1.61880622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38576923099998 meters 0.017614743599980803 Centerline is valid? [True, True] Translation: X:242.72, Y:-20.04, Z:-1.62 [[ 9.87638604e-01 1.56679146e-01 -4.65110104e-03 2.42720763e+02] [-1.56677595e-01 9.87649555e-01 6.98144641e-04 -2.00423403e+01] [ 4.70304257e-03 3.92087264e-05 9.99988940e-01 -1.61821654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44576923099999 meters 0.014791543543692458 Centerline is valid? [True, True] Translation: X:242.78, Y:-20.07, Z:-1.61 [[ 9.89484146e-01 1.44636674e-01 -1.16515758e-03 2.42776823e+02] [-1.44636569e-01 9.89484832e-01 1.74718292e-04 -2.00687369e+01] [ 1.17817643e-03 -4.35658546e-06 9.99999306e-01 -1.61321998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.505769231 meters 0.017730483310562595 Centerline is valid? [True, True] Translation: X:242.83, Y:-20.09, Z:-1.61 [[ 9.90286095e-01 1.39043410e-01 6.17068381e-04 2.42834351e+02] [-1.39043379e-01 9.90286287e-01 -9.25766169e-05 -2.00864877e+01] [-6.23946525e-04 5.87806347e-06 9.99999805e-01 -1.60980459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.565769231 meters 0.021193425001756656 Centerline is valid? [True, True] Translation: X:242.89, Y:-20.11, Z:-1.61 [[ 9.90856021e-01 1.34913666e-01 -1.62721834e-03 2.42893841e+02] [-1.34913446e-01 9.90857357e-01 2.44991447e-04 -2.01061755e+01] [ 1.64539396e-03 -2.32176174e-05 9.99998646e-01 -1.61426222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.625769231 meters 0.03393878024615554 Centerline is valid? [True, True] Translation: X:242.95, Y:-20.12, Z:-1.61 [[ 9.91088088e-01 1.33206182e-01 -7.17402927e-04 2.42952894e+02] [-1.33206139e-01 9.91088348e-01 1.07839396e-04 -2.01215913e+01] [ 7.25374555e-04 -1.13158669e-05 9.99999737e-01 -1.60727538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.685769231 meters 0.02313872173160961 Centerline is valid? [True, True] Translation: X:243.01, Y:-20.14, Z:-1.61 [[ 9.91198191e-01 1.32360879e-01 2.59691390e-03 2.43012942e+02] [-1.32360313e-01 9.91201592e-01 -3.89322099e-04 -2.01375187e+01] [-2.62559621e-03 4.21670239e-05 9.99996552e-01 -1.60548748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.745769231 meters 0.024099795974442693 Centerline is valid? [True, True] Translation: X:243.07, Y:-20.16, Z:-1.61 [[ 9.91198915e-01 1.32355657e-01 2.58664046e-03 2.43072953e+02] [-1.32355095e-01 9.91202289e-01 -3.88173287e-04 -2.01565150e+01] [-2.61526088e-03 4.24018978e-05 9.99996579e-01 -1.60701845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.805769231 meters 0.020973748380503615 Centerline is valid? [True, True] Translation: X:243.13, Y:-20.17, Z:-1.61 [[ 9.90768263e-01 1.35546783e-01 2.30619768e-03 2.43134620e+02] [-1.35546344e-01 9.90770947e-01 -3.46424877e-04 -2.01653035e+01] [-2.33187044e-03 3.06301094e-05 9.99997281e-01 -1.60842705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.865769231 meters 0.01908204914530595 Centerline is valid? [True, True] Translation: X:243.20, Y:-20.18, Z:-1.61 [[ 9.90407575e-01 1.38173312e-01 9.86031278e-04 2.43196282e+02] [-1.38173233e-01 9.90408065e-01 -1.48045963e-04 -2.01763655e+01] [-9.97029332e-04 1.03827138e-05 9.99999503e-01 -1.61116209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92576923099998 meters 0.021178916751857825 Centerline is valid? [True, True] Translation: X:243.26, Y:-20.20, Z:-1.61 [[ 9.90691008e-01 1.36129595e-01 -2.45255108e-04 2.43256110e+02] [-1.36129589e-01 9.90691038e-01 3.81932486e-05 -2.01978663e+01] [ 2.48171269e-04 -4.45123077e-06 9.99999969e-01 -1.61360866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98576923099998 meters 0.019586225462928156 Centerline is valid? [True, True] Translation: X:243.32, Y:-20.21, Z:-1.62 [[ 9.90355699e-01 1.38532669e-01 -2.07111594e-03 2.43317673e+02] [-1.38532315e-01 9.90357864e-01 3.14218088e-04 -2.02087380e+01] [ 2.09467542e-03 -2.42711900e-05 9.99997806e-01 -1.61846093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04576923099998 meters 0.014865751085800101 Centerline is valid? [True, True] Translation: X:243.38, Y:-20.21, Z:-1.62 [[ 9.89275119e-01 1.46057930e-01 -1.34942634e-03 2.43380213e+02] [-1.46057787e-01 9.89276039e-01 2.04266782e-04 -2.02078187e+01] [ 1.36478992e-03 -4.98182048e-06 9.99999069e-01 -1.61659968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10576923099998 meters 0.014455455766073301 Centerline is valid? [True, True] Translation: X:243.44, Y:-20.21, Z:-1.62 [[ 9.88733799e-01 1.49665457e-01 -2.39273487e-03 2.43441985e+02] [-1.49665019e-01 9.88736694e-01 3.61973861e-04 -2.02125492e+01] [ 2.41995975e-03 2.12918862e-07 9.99997072e-01 -1.61948606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16576923099998 meters 0.01418377020819306 Centerline is valid? [True, True] Translation: X:243.50, Y:-20.23, Z:-1.62 [[ 9.88949831e-01 1.48250568e-01 -6.66009956e-06 2.43501315e+02] [-1.48250568e-01 9.88949831e-01 2.07479760e-06 -2.02277806e+01] [ 6.89409424e-06 -1.06450720e-06 1.00000000e+00 -1.61756427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.225769231 meters 0.014770933906678526 Centerline is valid? [True, True] Translation: X:243.56, Y:-20.24, Z:-1.61 [[ 9.89348436e-01 1.45560909e-01 1.30133160e-03 2.43562706e+02] [-1.45560777e-01 9.89349292e-01 -1.95910427e-04 -2.02429160e+01] [-1.31598839e-03 4.40083661e-06 9.99999134e-01 -1.61256860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.285769231 meters 0.014190998231214716 Centerline is valid? [True, True] Translation: X:243.62, Y:-20.24, Z:-1.62 [[ 9.88474110e-01 1.51386479e-01 -1.03340283e-03 2.43624641e+02] [-1.51386398e-01 9.88474650e-01 1.56806558e-04 -2.02403781e+01] [ 1.04523089e-03 1.44390882e-06 9.99999454e-01 -1.61734966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.345769231 meters 0.01672001668125931 Centerline is valid? [True, True] Translation: X:243.69, Y:-20.24, Z:-1.61 [[ 9.87494785e-01 1.57643068e-01 1.64689909e-03 2.43685001e+02] [-1.57642871e-01 9.87496158e-01 -2.49583305e-04 -2.02383761e+01] [-1.66565161e-03 -1.31596885e-05 9.99998613e-01 -1.61318018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.405769231 meters 0.01747731336892983 Centerline is valid? [True, True] Translation: X:243.75, Y:-20.25, Z:-1.62 [[ 9.87352067e-01 1.58538198e-01 1.23930279e-03 2.43745361e+02] [-1.58538087e-01 9.87352845e-01 -1.87861645e-04 -2.02459067e+01] [-1.25341238e-03 -1.09911099e-05 9.99999214e-01 -1.61528535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.465769231 meters 0.016812554992337914 Centerline is valid? [True, True] Translation: X:243.80, Y:-20.26, Z:-1.62 [[ 9.87459004e-01 1.57875411e-01 2.65507012e-04 2.43804876e+02] [-1.57875406e-01 9.87459039e-01 -4.02472944e-05 -2.02572530e+01] [-2.68531357e-04 -2.17447403e-06 9.99999964e-01 -1.61669132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.525769231 meters 0.017256205900669865 Centerline is valid? [True, True] Translation: X:243.86, Y:-20.26, Z:-1.61 [[ 9.87199463e-01 1.59484133e-01 1.42558852e-03 2.43864675e+02] [-1.59483987e-01 9.87200492e-01 -2.16100059e-04 -2.02635073e+01] [-1.44180622e-03 -1.40246793e-05 9.99998960e-01 -1.61460139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.585769231 meters 0.019239817540684222 Centerline is valid? [True, True] Translation: X:243.93, Y:-20.27, Z:-1.61 [[ 9.86719030e-01 1.62425090e-01 1.90955845e-03 2.43925564e+02] [-1.62424834e-01 9.86720877e-01 -2.89463394e-04 -2.02683509e+01] [-1.93121730e-03 -2.45406744e-05 9.99998135e-01 -1.61277039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.645769231 meters 0.025809658004729927 Centerline is valid? [True, True] Translation: X:243.99, Y:-20.26, Z:-1.61 [[ 9.85566006e-01 1.69286311e-01 1.33869563e-03 2.43986986e+02] [-1.69286192e-01 9.85566915e-01 -2.02995596e-04 -2.02609136e+01] [-1.35373849e-03 -2.65571254e-05 9.99999083e-01 -1.61396761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70576923099998 meters 0.028922349271885684 Centerline is valid? [True, True] Translation: X:244.05, Y:-20.26, Z:-1.61 [[ 9.84890371e-01 1.73148062e-01 3.27195628e-03 2.44047350e+02] [-1.73147369e-01 9.84895803e-01 -4.96079168e-04 -2.02590594e+01] [-3.30843116e-03 -7.79470252e-05 9.99994524e-01 -1.61073398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76576923099998 meters 0.031083439711614168 Centerline is valid? [True, True] Translation: X:244.11, Y:-20.25, Z:-1.61 [[ 9.84584148e-01 1.74879938e-01 3.32603079e-03 2.44107971e+02] [-1.74879232e-01 9.84589762e-01 -5.04194905e-04 -2.02543062e+01] [-3.36294944e-03 -8.52313984e-05 9.99994342e-01 -1.61111384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82576923099998 meters 0.029396578481114457 Centerline is valid? [True, True] Translation: X:244.17, Y:-20.26, Z:-1.62 [[ 9.85002975e-01 1.72531986e-01 1.36099526e-03 2.44165907e+02] [-1.72531865e-01 9.85003915e-01 -2.06443310e-04 -2.02610310e+01] [-1.37620373e-03 -3.14677750e-05 9.99999053e-01 -1.61506529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88576923099998 meters 0.023327100025916397 Centerline is valid? [True, True] Translation: X:244.22, Y:-20.28, Z:-1.62 [[ 9.86052841e-01 1.66427251e-01 1.32850002e-03 2.44223807e+02] [-1.66427131e-01 9.86053736e-01 -2.01258308e-04 -2.02778607e+01] [-1.34346728e-03 -2.26471208e-05 9.99999097e-01 -1.61616537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94576923099999 meters 0.01698332797121538 Centerline is valid? [True, True] Translation: X:244.28, Y:-20.30, Z:-1.62 [[ 9.87333969e-01 1.58646834e-01 1.67809772e-03 2.44279855e+02] [-1.58646631e-01 9.87335395e-01 -2.54240509e-04 -2.03012923e+01] [-1.69717973e-03 -1.52042588e-05 9.99998560e-01 -1.61503729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.005769231 meters 0.016006104714979166 Centerline is valid? [True, True] Translation: X:244.34, Y:-20.31, Z:-1.62 [[ 9.87656674e-01 1.56628786e-01 1.31079893e-03 2.44337249e+02] [-1.56628660e-01 9.87657544e-01 -1.98662619e-04 -2.03146910e+01] [-1.32573674e-03 -9.09821812e-06 9.99999121e-01 -1.61684404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.065769231 meters 0.014975325820188798 Centerline is valid? [True, True] Translation: X:244.40, Y:-20.33, Z:-1.61 [[ 9.87822910e-01 1.55560698e-01 2.60133072e-03 2.44395882e+02] [-1.55560200e-01 9.87826335e-01 -3.93817784e-04 -2.03293082e+01] [-2.63092556e-03 -1.56412974e-05 9.99996539e-01 -1.61404682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.125769231 meters 0.014318378739795724 Centerline is valid? [True, True] Translation: X:244.45, Y:-20.35, Z:-1.61 [[ 9.87992708e-01 1.54463698e-01 3.37272707e-03 2.44454817e+02] [-1.54462856e-01 9.87998464e-01 -5.10492955e-04 -2.03450888e+01] [-3.41110180e-03 -1.65977369e-05 9.99994182e-01 -1.61189562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.185769231 meters 0.013876059221268175 Centerline is valid? [True, True] Translation: X:244.51, Y:-20.36, Z:-1.61 [[ 9.88073709e-01 1.53903141e-01 4.91624514e-03 2.44514631e+02] [-1.53901344e-01 9.88085939e-01 -7.44068759e-04 -2.03588522e+01] [-4.97218721e-03 -2.14219540e-05 9.99987638e-01 -1.61136252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.245769231 meters 0.013224572168624273 Centerline is valid? [True, True] Translation: X:244.57, Y:-20.38, Z:-1.61 [[ 9.88335112e-01 1.52191147e-01 5.61795623e-03 2.44573863e+02] [-1.52188772e-01 9.88351079e-01 -8.50257564e-04 -2.03757129e+01] [-5.68191477e-03 -1.46504571e-05 9.99983858e-01 -1.61076051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.305769231 meters 0.013603682584535762 Centerline is valid? [True, True] Translation: X:244.64, Y:-20.39, Z:-1.61 [[ 9.88255047e-01 1.52775356e-01 3.41374798e-03 2.44635407e+02] [-1.52774483e-01 9.88260943e-01 -5.16640654e-04 -2.03871664e+01] [-3.45260376e-03 -1.09608481e-05 9.99994040e-01 -1.61406628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.365769231 meters 0.017483006080673307 Centerline is valid? [True, True] Translation: X:244.70, Y:-20.39, Z:-1.61 [[ 9.87143896e-01 1.59796130e-01 3.48217538e-03 2.44696444e+02] [-1.59795260e-01 9.87150037e-01 -5.28364036e-04 -2.03867682e+01] [-3.52186009e-03 -3.48637877e-05 9.99993798e-01 -1.61460906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42576923099998 meters 0.01928274388433497 Centerline is valid? [True, True] Translation: X:244.76, Y:-20.39, Z:-1.62 [[ 9.86859667e-01 1.61574748e-01 1.26400843e-03 2.44756378e+02] [-1.61574635e-01 9.86860477e-01 -1.91792923e-04 -2.03940714e+01] [-1.27838886e-03 -1.49590002e-05 9.99999183e-01 -1.62012113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48576923099998 meters 0.01909920241742739 Centerline is valid? [True, True] Translation: X:244.81, Y:-20.40, Z:-1.62 [[ 9.86948997e-01 1.61031584e-01 7.10891470e-04 2.44814889e+02] [-1.61031548e-01 9.86949253e-01 -1.07789381e-04 -2.04046332e+01] [-7.18971301e-04 -8.09333241e-06 9.99999742e-01 -1.62201571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54576923099998 meters 0.019196503027530423 Centerline is valid? [True, True] Translation: X:244.87, Y:-20.41, Z:-1.62 [[ 9.86855605e-01 1.61575114e-01 3.08189173e-03 2.44874984e+02] [-1.61574441e-01 9.86860416e-01 -4.67665477e-04 -2.04137959e+01] [-3.11696006e-03 -3.64366385e-05 9.99995142e-01 -1.61690801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60576923099998 meters 0.022566671953117158 Centerline is valid? [True, True] Translation: X:244.94, Y:-20.42, Z:-1.62 [[ 9.86280890e-01 1.65066528e-01 1.74553716e-03 2.44935329e+02] [-1.65066318e-01 9.86282434e-01 -2.64999924e-04 -2.04156934e+01] [-1.76533526e-03 -2.67650309e-05 9.99998441e-01 -1.61929856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66576923099998 meters 0.029420164740193218 Centerline is valid? [True, True] Translation: X:245.00, Y:-20.41, Z:-1.62 [[ 9.85202690e-01 1.71393288e-01 -1.34689077e-05 2.44996914e+02] [-1.71393288e-01 9.85202690e-01 1.96291303e-06 -2.04113437e+01] [ 1.36060342e-05 3.74613180e-07 1.00000000e+00 -1.62441360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.725769231 meters 0.03807122440912372 Centerline is valid? [True, True] Translation: X:245.06, Y:-20.41, Z:-1.63 [[ 9.84690013e-01 1.74314250e-01 -3.47814287e-04 2.45056478e+02] [-1.74314242e-01 9.84690074e-01 5.24327398e-05 -2.04065968e+01] [ 3.51629050e-04 8.99898863e-06 9.99999938e-01 -1.62867630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.785769231 meters 0.024214703612328914 Centerline is valid? [True, True] Translation: X:245.11, Y:-20.44, Z:-1.62 [[ 9.85714783e-01 1.68385563e-01 3.55944471e-03 2.45112759e+02] [-1.68384711e-01 9.85721207e-01 -5.39877754e-04 -2.04368097e+01] [-3.59952776e-03 -6.71905862e-05 9.99993519e-01 -1.61734406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.845769231 meters 0.020663719102962275 Centerline is valid? [True, True] Translation: X:245.17, Y:-20.46, Z:-1.62 [[ 9.86742117e-01 1.62238231e-01 4.33026417e-03 2.45171068e+02] [-1.62236911e-01 9.86751617e-01 -6.56646150e-04 -2.04581444e+01] [-4.37942828e-03 -5.45882711e-05 9.99990409e-01 -1.61795652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.905769231 meters 0.01958054967835487 Centerline is valid? [True, True] Translation: X:245.23, Y:-20.47, Z:-1.62 [[ 9.86515595e-01 1.63642525e-01 2.84698325e-03 2.45231021e+02] [-1.63641961e-01 9.86519702e-01 -4.31728141e-04 -2.04713437e+01] [-2.87925415e-03 -3.99793771e-05 9.99995854e-01 -1.61957775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.965769231 meters 0.026480309204376974 Centerline is valid? [True, True] Translation: X:245.29, Y:-20.47, Z:-1.62 [[ 9.85242921e-01 1.71132113e-01 3.19154775e-03 2.45290666e+02] [-1.71131442e-01 9.85248088e-01 -4.84265480e-04 -2.04725906e+01] [-3.22733970e-03 -6.90550323e-05 9.99994790e-01 -1.61859210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.025769231 meters 0.033102992018744344 Centerline is valid? [True, True] Translation: X:245.35, Y:-20.48, Z:-1.61 [[ 9.84157605e-01 1.77229690e-01 4.84206116e-03 2.45349629e+02] [-1.77228220e-01 9.84169507e-01 -7.34495575e-04 -2.04755093e+01] [-4.89558337e-03 -1.35290475e-04 9.99988007e-01 -1.61454311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.085769231 meters 0.03333521275039485 Centerline is valid? [True, True] Translation: X:245.41, Y:-20.49, Z:-1.61 [[ 9.83713799e-01 1.79455682e-01 1.01400540e-02 2.45409627e+02] [-1.79449356e-01 9.83766011e-01 -1.53779881e-03 -2.04858154e+01] [-1.02514073e-02 -3.06872250e-04 9.99947406e-01 -1.60694644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.145769231 meters 0.03826172148618584 Centerline is valid? [True, True] Translation: X:245.47, Y:-20.49, Z:-1.61 [[ 9.83124312e-01 1.82713330e-01 9.07891940e-03 2.45469053e+02] [-1.82708398e-01 9.83166184e-01 -1.37681948e-03 -2.04863548e+01] [-9.17764982e-03 -3.05210115e-04 9.99957838e-01 -1.60963394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20576923099998 meters 0.04132141486661424 Centerline is valid? [True, True] Translation: X:245.53, Y:-20.49, Z:-1.62 [[ 9.82438671e-01 1.86515903e-01 5.10634389e-03 2.45529848e+02] [-1.86514394e-01 9.82451923e-01 -7.74282539e-04 -2.04893965e+01] [-5.16115338e-03 -1.91721530e-04 9.99986663e-01 -1.61781073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26576923099998 meters 0.03408099472509628 Centerline is valid? [True, True] Translation: X:245.59, Y:-20.51, Z:-1.62 [[ 9.83775549e-01 1.79344330e-01 4.61302220e-03 2.45587650e+02] [-1.79343020e-01 9.83786355e-01 -6.99481247e-04 -2.05098003e+01] [-4.66367629e-03 -1.39180785e-04 9.99989115e-01 -1.61946777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32576923099998 meters 0.03172259497920485 Centerline is valid? [True, True] Translation: X:245.65, Y:-20.52, Z:-1.62 [[ 9.84523758e-01 1.75206532e-01 3.95481928e-03 2.45646258e+02] [-1.75205536e-01 9.84531696e-01 -5.99672075e-04 -2.05246317e+01] [-3.99871140e-03 -1.02514825e-04 9.99992000e-01 -1.62036844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38576923099998 meters 0.036895880892941615 Centerline is valid? [True, True] Translation: X:245.70, Y:-20.54, Z:-1.62 [[ 9.84980396e-01 1.72622800e-01 3.87148783e-03 2.45704086e+02] [-1.72621825e-01 9.84988000e-01 -5.87072542e-04 -2.05387378e+01] [-3.91471117e-03 -9.00483518e-05 9.99992333e-01 -1.61746681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44576923099999 meters 0.0291961431390124 Centerline is valid? [True, True] Translation: X:245.76, Y:-20.55, Z:-1.62 [[ 9.84997633e-01 1.72528324e-01 3.69321996e-03 2.45762770e+02] [-1.72527436e-01 9.85004553e-01 -5.59962244e-04 -2.05537861e+01] [-3.73444783e-03 -8.56202863e-05 9.99993023e-01 -1.62171420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.505769231 meters 0.03651392118720961 Centerline is valid? [True, True] Translation: X:245.82, Y:-20.55, Z:-1.63 [[ 9.83898608e-01 1.78727021e-01 -4.25171729e-04 2.45823942e+02] [-1.78727010e-01 9.83898700e-01 6.44585398e-05 -2.05517265e+01] [ 4.29846395e-04 1.25690043e-05 9.99999908e-01 -1.62857902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.565769231 meters 0.04212652058469583 Centerline is valid? [True, True] Translation: X:245.89, Y:-20.55, Z:-1.63 [[ 9.82998071e-01 1.83615864e-01 8.55929004e-05 2.45885336e+02] [-1.83615864e-01 9.82998075e-01 -1.30542576e-05 -2.05497394e+01] [-8.65346251e-05 -2.88390425e-06 9.99999996e-01 -1.62874553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.625769231 meters 0.046142590717377766 Centerline is valid? [True, True] Translation: X:245.95, Y:-20.55, Z:-1.62 [[ 9.81741361e-01 1.90190892e-01 3.36527785e-03 2.45947451e+02] [-1.90190259e-01 9.81747119e-01 -5.10216210e-04 -2.05451274e+01] [-3.40089031e-03 -1.39142708e-04 9.99994207e-01 -1.62150846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.685769231 meters 0.04385504840700572 Centerline is valid? [True, True] Translation: X:246.01, Y:-20.55, Z:-1.62 [[ 9.81817813e-01 1.89812664e-01 2.22135868e-03 2.46006896e+02] [-1.89812386e-01 9.81820322e-01 -3.36994654e-04 -2.05478636e+01] [-2.24494095e-03 -9.07740376e-05 9.99997476e-01 -1.62470032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.745769231 meters 0.038930578747202925 Centerline is valid? [True, True] Translation: X:246.07, Y:-20.55, Z:-1.62 [[ 9.82876460e-01 1.84230733e-01 3.59185720e-03 2.46066763e+02] [-1.84229973e-01 9.82883015e-01 -5.44365512e-04 -2.05540244e+01] [-3.63066429e-03 -1.26683706e-04 9.99993401e-01 -1.62272768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.805769231 meters 0.03672391090516359 Centerline is valid? [True, True] Translation: X:246.12, Y:-20.56, Z:-1.62 [[ 9.83538284e-01 1.80659569e-01 3.81638803e-03 2.46124904e+02] [-1.80658683e-01 9.83545680e-01 -5.78492652e-04 -2.05608583e+01] [-3.85810219e-03 -1.20493964e-04 9.99992550e-01 -1.62248481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.865769231 meters 0.030790106966371262 Centerline is valid? [True, True] Translation: X:246.18, Y:-20.57, Z:-1.63 [[ 9.84727860e-01 1.74074385e-01 3.02481747e-03 2.46183487e+02] [-1.74073798e-01 9.84732503e-01 -4.58361039e-04 -2.05727222e+01] [-3.05842500e-03 -7.51805789e-05 9.99995320e-01 -1.62534835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92576923099998 meters 0.027414193396140134 Centerline is valid? [True, True] Translation: X:246.24, Y:-20.59, Z:-1.62 [[ 9.85371999e-01 1.70374278e-01 3.82468924e-03 2.46241181e+02] [-1.70373311e-01 9.85379419e-01 -5.79517269e-04 -2.05854682e+01] [-3.86750489e-03 -8.05848789e-05 9.99992518e-01 -1.62400598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98576923099998 meters 0.026538193164801147 Centerline is valid? [True, True] Translation: X:246.30, Y:-20.59, Z:-1.63 [[ 9.85353715e-01 1.70514153e-01 1.72617104e-03 2.46299158e+02] [-1.70513956e-01 9.85355227e-01 -2.61729843e-04 -2.05930069e+01] [-1.74552030e-03 -3.64397803e-05 9.99998476e-01 -1.62698147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04576923099998 meters 0.029455082219592334 Centerline is valid? [True, True] Translation: X:246.36, Y:-20.60, Z:-1.63 [[ 9.85140653e-01 1.71748623e-01 5.50843790e-04 2.46357371e+02] [-1.71748603e-01 9.85140807e-01 -8.38583798e-05 -2.05959466e+01] [-5.57061257e-04 -1.19943525e-05 9.99999845e-01 -1.63177310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10576923099998 meters 0.029805326170571456 Centerline is valid? [True, True] Translation: X:246.42, Y:-20.60, Z:-1.63 [[ 9.84914972e-01 1.73033151e-01 1.42334846e-03 2.46415551e+02] [-1.73033020e-01 9.84916000e-01 -2.15701495e-04 -2.06026519e+01] [-1.43920218e-03 -3.38386491e-05 9.99998964e-01 -1.62895183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16576923099998 meters 0.025703741977538497 Centerline is valid? [True, True] Translation: X:246.47, Y:-20.62, Z:-1.63 [[ 9.85739846e-01 1.68255446e-01 2.65725907e-03 2.46473118e+02] [-1.68254973e-01 9.85743426e-01 -4.02174088e-04 -2.06179865e+01] [-2.68704364e-03 -5.06580303e-05 9.99996389e-01 -1.62849147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.225769231 meters 0.01707017088455084 Centerline is valid? [True, True] Translation: X:246.53, Y:-20.64, Z:-1.63 [[ 9.87294572e-01 1.58862074e-01 3.50271529e-03 2.46530646e+02] [-1.58861193e-01 9.87300785e-01 -5.29953816e-04 -2.06424847e+01] [-3.54242312e-03 -3.32250048e-05 9.99993725e-01 -1.62755477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.285769231 meters 0.013611315787866117 Centerline is valid? [True, True] Translation: X:246.59, Y:-20.67, Z:-1.63 [[ 9.88420277e-01 1.51738795e-01 8.33100841e-04 2.46588587e+02] [-1.51738743e-01 9.88420628e-01 -1.25885364e-04 -2.06671401e+01] [-8.42555750e-04 -1.98602769e-06 9.99999645e-01 -1.63254746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.345769231 meters 0.01357485540725082 Centerline is valid? [True, True] Translation: X:246.65, Y:-20.69, Z:-1.63 [[ 9.88977730e-01 1.48063543e-01 4.86025749e-04 2.46646183e+02] [-1.48063525e-01 9.88977850e-01 -7.34602084e-05 -2.06866340e+01] [-4.91545479e-04 6.87824624e-07 9.99999879e-01 -1.63345375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.405769231 meters 0.01384938856194831 Centerline is valid? [True, True] Translation: X:246.71, Y:-20.70, Z:-1.63 [[ 9.89151183e-01 1.46899728e-01 6.37538125e-04 2.46705694e+02] [-1.46899697e-01 9.89151389e-01 -9.63209175e-05 -2.07038369e+01] [-6.44771238e-04 1.62179224e-06 9.99999792e-01 -1.63279511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.465769231 meters 0.013326256186179377 Centerline is valid? [True, True] Translation: X:246.77, Y:-20.72, Z:-1.63 [[ 9.89033035e-01 1.47677884e-01 2.21326520e-03 2.46765447e+02] [-1.47677505e-01 9.89035511e-01 -3.34833842e-04 -2.07173844e+01] [-2.23844543e-03 4.31224928e-06 9.99997495e-01 -1.62941713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.525769231 meters 0.014110135165365505 Centerline is valid? [True, True] Translation: X:246.83, Y:-20.72, Z:-1.63 [[ 9.88014994e-01 1.54316106e-01 3.59315961e-03 2.46825059e+02] [-1.54315149e-01 9.88021528e-01 -5.43816058e-04 -2.07198787e+01] [-3.63403863e-03 -1.71805409e-05 9.99993397e-01 -1.62757910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.585769231 meters 0.019787552136677686 Centerline is valid? [True, True] Translation: X:246.89, Y:-20.72, Z:-1.63 [[ 9.86935738e-01 1.61094782e-01 2.51408108e-03 2.46885144e+02] [-1.61094336e-01 9.86938939e-01 -3.80601466e-04 -2.07208898e+01] [-2.54255743e-03 -2.93750329e-05 9.99996767e-01 -1.62991062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.645769231 meters 0.02369346588446767 Centerline is valid? [True, True] Translation: X:246.94, Y:-20.72, Z:-1.63 [[ 9.86351617e-01 1.64599016e-01 4.20144208e-03 2.46943606e+02] [-1.64597800e-01 9.86360563e-01 -6.36038634e-04 -2.07239559e+01] [-4.24882811e-03 -6.41903872e-05 9.99990972e-01 -1.62617245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70576923099998 meters 0.023660419584741462 Centerline is valid? [True, True] Translation: X:247.00, Y:-20.73, Z:-1.63 [[ 9.86365998e-01 1.64488694e-01 5.05845438e-03 2.47002776e+02] [-1.64486931e-01 9.86378966e-01 -7.65449203e-04 -2.07339451e+01] [-5.11546074e-03 -7.70365699e-05 9.99986913e-01 -1.62584607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76576923099998 meters 0.02084149262149338 Centerline is valid? [True, True] Translation: X:247.06, Y:-20.75, Z:-1.63 [[ 9.86862308e-01 1.61552444e-01 1.89544800e-03 2.47062237e+02] [-1.61552191e-01 9.86864128e-01 -2.86708658e-04 -2.07486035e+01] [-1.91686812e-03 -2.32718094e-05 9.99998163e-01 -1.63299421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82576923099998 meters 0.015843646528994598 Centerline is valid? [True, True] Translation: X:247.12, Y:-20.77, Z:-1.63 [[ 9.87449051e-01 1.57928386e-01 1.73123882e-03 2.47121856e+02] [-1.57928171e-01 9.87450568e-01 -2.61066083e-04 -2.07681700e+01] [-1.75074250e-03 -1.56219236e-05 9.99998467e-01 -1.63163418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88576923099998 meters 0.012727669657238391 Centerline is valid? [True, True] Translation: X:247.18, Y:-20.79, Z:-1.63 [[ 9.88374291e-01 1.52003128e-01 3.36307964e-03 2.47181029e+02] [-1.52002276e-01 9.88380013e-01 -5.08769819e-04 -2.07917713e+01] [-3.40133530e-03 -8.34075212e-06 9.99994215e-01 -1.62850549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94576923099999 meters 0.012630722694074312 Centerline is valid? [True, True] Translation: X:247.24, Y:-20.81, Z:-1.63 [[ 9.88880825e-01 1.48682124e-01 2.88801822e-03 2.47241069e+02] [-1.48681481e-01 9.88885042e-01 -4.37445142e-04 -2.08124793e+01] [-2.92095829e-03 3.18628699e-06 9.99995734e-01 -1.62868946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.005769231 meters 0.012725164206445757 Centerline is valid? [True, True] Translation: X:247.30, Y:-20.83, Z:-1.63 [[ 9.89053244e-01 1.47455563e-01 5.52599768e-03 2.47301014e+02] [-1.47453180e-01 9.89068682e-01 -8.38422245e-04 -2.08285061e+01] [-5.58922126e-03 1.44183115e-05 9.99984380e-01 -1.62659646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.065769231 meters 0.014683804055231661 Centerline is valid? [True, True] Translation: X:247.36, Y:-20.85, Z:-1.63 [[ 9.89496540e-01 1.44531287e-01 2.70251049e-03 2.47360122e+02] [-1.44530706e-01 9.89500231e-01 -4.09973910e-04 -2.08516233e+01] [-2.73338881e-03 1.50720170e-05 9.99996264e-01 -1.63381636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.125769231 meters 0.017447876069657812 Centerline is valid? [True, True] Translation: X:247.42, Y:-20.88, Z:-1.64 [[ 9.89844695e-01 1.42134720e-01 -2.28070467e-03 2.47419230e+02] [-1.42134297e-01 9.89847322e-01 3.47367140e-04 -2.08752518e+01] [ 2.30692234e-03 -1.96731665e-05 9.99997339e-01 -1.64251463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.185769231 meters 0.015000117048630721 Centerline is valid? [True, True] Translation: X:247.48, Y:-20.89, Z:-1.64 [[ 9.89489119e-01 1.44601195e-01 1.33361658e-03 2.47479932e+02] [-1.44601054e-01 9.89490017e-01 -2.02025532e-04 -2.08855886e+01] [-1.34881342e-03 7.05970337e-06 9.99999090e-01 -1.63552865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.245769231 meters 0.012460307189244743 Centerline is valid? [True, True] Translation: X:247.54, Y:-20.89, Z:-1.63 [[ 9.88280411e-01 1.52590263e-01 4.24741272e-03 2.47542020e+02] [-1.52588894e-01 9.88289538e-01 -6.46545326e-04 -2.08896473e+01] [-4.29633008e-03 -9.13992816e-06 9.99990771e-01 -1.63042111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.305769231 meters 0.01787682256009029 Centerline is valid? [True, True] Translation: X:247.60, Y:-20.89, Z:-1.63 [[ 9.86821741e-01 1.61794295e-01 2.33629816e-03 2.47604636e+02] [-1.61793905e-01 9.86824506e-01 -3.56050387e-04 -2.08932138e+01] [-2.36312320e-03 -2.66405408e-05 9.99997207e-01 -1.63280946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.365769231 meters 0.023857919095503805 Centerline is valid? [True, True] Translation: X:247.67, Y:-20.90, Z:-1.63 [[ 9.85801576e-01 1.67869799e-01 3.87096563e-03 2.47666428e+02] [-1.67868776e-01 9.85809173e-01 -5.90012633e-04 -2.08950567e+01] [-3.91507873e-03 -6.81788773e-05 9.99992334e-01 -1.63043091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42576923099998 meters 0.026855527862223633 Centerline is valid? [True, True] Translation: X:247.73, Y:-20.90, Z:-1.63 [[ 9.85364321e-01 1.70402495e-01 4.48823531e-03 2.47726760e+02] [-1.70401141e-01 9.85374539e-01 -6.85259978e-04 -2.09015352e+01] [-4.53936281e-03 -8.95696864e-05 9.99989693e-01 -1.62945589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48576923099998 meters 0.031721905082112326 Centerline is valid? [True, True] Translation: X:247.79, Y:-20.91, Z:-1.64 [[ 9.84643257e-01 1.74569913e-01 1.73277799e-03 2.47788019e+02] [-1.74569718e-01 9.84644780e-01 -2.64502722e-04 -2.09058437e+01] [-1.75234502e-03 -4.20497429e-05 9.99998464e-01 -1.63613337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54576923099998 meters 0.03426858255147087 Centerline is valid? [True, True] Translation: X:247.85, Y:-20.91, Z:-1.63 [[ 9.84268508e-01 1.76623282e-01 4.44075498e-03 2.47850412e+02] [-1.76622020e-01 9.84278519e-01 -6.77877271e-04 -2.09108642e+01] [-4.49066865e-03 -1.17121867e-04 9.99989910e-01 -1.63083518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60576923099998 meters 0.04083423193593263 Centerline is valid? [True, True] Translation: X:247.91, Y:-20.90, Z:-1.63 [[ 9.83350050e-01 1.81675289e-01 4.09494798e-03 2.47912574e+02] [-1.81674255e-01 9.83358568e-01 -6.26083826e-04 -2.09039730e+01] [-4.14054614e-03 -1.28287064e-04 9.99991420e-01 -1.63059496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66576923099998 meters 0.042440602232556274 Centerline is valid? [True, True] Translation: X:247.97, Y:-20.90, Z:-1.63 [[ 9.83116816e-01 1.82937538e-01 3.89657082e-03 2.47973361e+02] [-1.82936612e-01 9.83124530e-01 -5.95773639e-04 -2.09043801e+01] [-3.93980371e-03 -1.27110380e-04 9.99992231e-01 -1.63339009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.725769231 meters 0.03224065574171939 Centerline is valid? [True, True] Translation: X:248.03, Y:-20.93, Z:-1.63 [[ 9.83954150e-01 1.78374385e-01 4.09992948e-03 2.48032085e+02] [-1.78373321e-01 9.83962685e-01 -6.26832494e-04 -2.09257091e+01] [-4.14598848e-03 -1.14543603e-04 9.99991399e-01 -1.63215903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.785769231 meters 0.029038947095468906 Centerline is valid? [True, True] Translation: X:248.09, Y:-20.94, Z:-1.63 [[ 9.85354316e-01 1.70469393e-01 4.13015365e-03 2.48090649e+02] [-1.70468243e-01 9.85362968e-01 -6.31534156e-04 -2.09399236e+01] [-4.17735770e-03 -8.17751291e-05 9.99991271e-01 -1.63323226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.845769231 meters 0.022074440901508344 Centerline is valid? [True, True] Translation: X:248.15, Y:-20.96, Z:-1.63 [[ 9.85870427e-01 1.67431593e-01 5.11492319e-03 2.48149269e+02] [-1.67429789e-01 9.85883692e-01 -7.82078941e-04 -2.09621348e+01] [-5.17366409e-03 -8.53620094e-05 9.99986613e-01 -1.63112497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.905769231 meters 0.0261296763704968 Centerline is valid? [True, True] Translation: X:248.21, Y:-20.97, Z:-1.63 [[ 9.85161576e-01 1.71546618e-01 5.33177512e-03 2.48210518e+02] [-1.71544717e-01 9.85175997e-01 -8.15161517e-04 -2.09688889e+01] [-5.39257507e-03 -1.11572051e-04 9.99985454e-01 -1.63113067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.965769231 meters 0.03214529587582115 Centerline is valid? [True, True] Translation: X:248.27, Y:-20.97, Z:-1.63 [[ 9.84190928e-01 1.77033121e-01 5.24326839e-03 2.48271803e+02] [-1.77031356e-01 9.84204885e-01 -8.02658311e-04 -2.09706377e+01] [-5.30254747e-03 -1.38253884e-04 9.99985932e-01 -1.63187796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.025769231 meters 0.03816524101449135 Centerline is valid? [True, True] Translation: X:248.33, Y:-20.97, Z:-1.63 [[ 9.83324557e-01 1.81794160e-01 4.86811774e-03 2.48332848e+02] [-1.81792696e-01 9.83336596e-01 -7.45280198e-04 -2.09705544e+01] [-4.92248591e-03 -1.52135930e-04 9.99987873e-01 -1.63460349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.085769231 meters 0.03651986195879208 Centerline is valid? [True, True] Translation: X:248.39, Y:-20.98, Z:-1.64 [[ 9.83695207e-01 1.79812499e-01 3.34744096e-03 2.48393550e+02] [-1.79811795e-01 9.83700897e-01 -5.12405016e-04 -2.09818867e+01] [-3.38501750e-03 -9.78590111e-05 9.99994266e-01 -1.63755126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.145769231 meters 0.03517560487630881 Centerline is valid? [True, True] Translation: X:248.45, Y:-20.99, Z:-1.64 [[ 9.84016574e-01 1.78065542e-01 2.01101110e-03 2.48454475e+02] [-1.78065285e-01 9.84018628e-01 -3.07526546e-04 -2.09900173e+01] [-2.03363227e-03 -5.54800462e-05 9.99997931e-01 -1.63979607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20576923099998 meters 0.030884614236369335 Centerline is valid? [True, True] Translation: X:248.51, Y:-21.00, Z:-1.64 [[ 9.84727304e-01 1.74081337e-01 2.79745276e-03 2.48514149e+02] [-1.74080822e-01 9.84731275e-01 -4.28624237e-04 -2.10016788e+01] [-2.82935470e-03 -6.49048854e-05 9.99995995e-01 -1.63904550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26576923099998 meters 0.024263113337118287 Centerline is valid? [True, True] Translation: X:248.57, Y:-21.02, Z:-1.64 [[ 9.85806683e-01 1.67855342e-01 3.12539600e-03 2.48572339e+02] [-1.67854667e-01 9.85811636e-01 -4.78958493e-04 -2.10182342e+01] [-3.16144749e-03 -5.24518216e-05 9.99995001e-01 -1.64045371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32576923099998 meters 0.017633413322690736 Centerline is valid? [True, True] Translation: X:248.63, Y:-21.04, Z:-1.64 [[ 9.86720031e-01 1.62427294e-01 9.77162175e-04 2.48631395e+02] [-1.62427226e-01 9.86720515e-01 -1.49457798e-04 -2.10396084e+01] [-9.88461990e-04 -1.12447384e-05 9.99999511e-01 -1.64376868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38576923099998 meters 0.014800792507736771 Centerline is valid? [True, True] Translation: X:248.69, Y:-21.06, Z:-1.64 [[ 9.87262573e-01 1.59082580e-01 2.31175784e-03 2.48691834e+02] [-1.59082188e-01 9.87265280e-01 -3.53610555e-04 -2.10566425e+01] [-2.33857153e-03 -1.86530297e-05 9.99997265e-01 -1.64161238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44576923099999 meters 0.013248002972750288 Centerline is valid? [True, True] Translation: X:248.75, Y:-21.07, Z:-1.64 [[ 9.87713335e-01 1.56201575e-01 4.84112016e-03 2.48751711e+02] [-1.56199811e-01 9.87725198e-01 -7.42608784e-04 -2.10709218e+01] [-4.89769304e-03 -2.26974568e-05 9.99988006e-01 -1.63896327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.505769231 meters 0.016089759319217512 Centerline is valid? [True, True] Translation: X:248.81, Y:-21.08, Z:-1.65 [[ 9.87298508e-01 1.58874128e-01 -8.17496404e-04 2.48812608e+02] [-1.58874078e-01 9.87298846e-01 1.26675402e-04 -2.10764143e+01] [ 8.27238700e-04 4.81255174e-06 9.99999658e-01 -1.65016863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.565769231 meters 0.015845875201479245 Centerline is valid? [True, True] Translation: X:248.87, Y:-21.09, Z:-1.65 [[ 9.87020369e-01 1.60593248e-01 7.74084037e-04 2.48874947e+02] [-1.60593205e-01 9.87020673e-01 -1.17853617e-04 -2.10855304e+01] [-7.82963442e-04 -7.98871603e-06 9.99999693e-01 -1.64717368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.625769231 meters 0.014887338836274694 Centerline is valid? [True, True] Translation: X:248.94, Y:-21.10, Z:-1.64 [[ 9.87012764e-01 1.60596571e-01 3.81372299e-03 2.48936628e+02] [-1.60595503e-01 9.87020132e-01 -5.86564571e-04 -2.10956247e+01] [-3.85842163e-03 -3.35200424e-05 9.99992556e-01 -1.64032062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.685769231 meters 0.015642333159311628 Centerline is valid? [True, True] Translation: X:249.00, Y:-21.10, Z:-1.64 [[ 9.87038117e-01 1.60431063e-01 4.19884325e-03 2.48998240e+02] [-1.60429764e-01 9.87047047e-01 -6.46617819e-04 -2.11037442e+01] [-4.24819341e-03 -3.53829960e-05 9.99990976e-01 -1.64138848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.745769231 meters 0.014358800499525473 Centerline is valid? [True, True] Translation: X:249.06, Y:-21.12, Z:-1.64 [[ 9.87176816e-01 1.59606438e-01 2.77838295e-03 2.49060049e+02] [-1.59605865e-01 9.87180725e-01 -4.27904068e-04 -2.11174675e+01] [-2.81106234e-03 -2.10292395e-05 9.99996049e-01 -1.64322076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.805769231 meters 0.015062386205499673 Centerline is valid? [True, True] Translation: X:249.12, Y:-21.12, Z:-1.64 [[ 9.87128930e-01 1.59887386e-01 3.53552112e-03 2.49121430e+02] [-1.59886457e-01 9.87135261e-01 -5.45618223e-04 -2.11244147e+01] [-3.57727503e-03 -2.66864135e-05 9.99993601e-01 -1.64162651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.865769231 meters 0.016108601350289558 Centerline is valid? [True, True] Translation: X:249.18, Y:-21.13, Z:-1.64 [[ 9.86771331e-01 1.61977374e-01 6.75798184e-03 2.49182795e+02] [-1.61974013e-01 9.86794470e-01 -1.04528405e-03 -2.11335738e+01] [-6.83805147e-03 -6.31611080e-05 9.99976618e-01 -1.63657535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92576923099998 meters 0.016788717445556364 Centerline is valid? [True, True] Translation: X:249.25, Y:-21.14, Z:-1.64 [[ 9.86345653e-01 1.64628889e-01 4.42503687e-03 2.49245136e+02] [-1.64627474e-01 9.86355578e-01 -6.84731743e-04 -2.11395151e+01] [-4.47738643e-03 -5.31004630e-05 9.99989975e-01 -1.64063765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98576923099998 meters 0.01674403166081642 Centerline is valid? [True, True] Translation: X:249.31, Y:-21.15, Z:-1.64 [[ 9.86456419e-01 1.63993855e-01 3.12242443e-03 2.49305867e+02] [-1.63993146e-01 9.86461360e-01 -4.83316132e-04 -2.11491269e+01] [-3.15941193e-03 -3.52859064e-05 9.99995008e-01 -1.64380045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04576923099998 meters 0.013693047911781936 Centerline is valid? [True, True] Translation: X:249.37, Y:-21.16, Z:-1.64 [[ 9.87212585e-01 1.59325979e-01 5.15213818e-03 2.49365641e+02] [-1.59323976e-01 9.87226029e-01 -7.99357980e-04 -2.11647955e+01] [-5.21368341e-03 -3.17228843e-05 9.99986408e-01 -1.64043674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10576923099998 meters 0.012442306120739526 Centerline is valid? [True, True] Translation: X:249.43, Y:-21.18, Z:-1.64 [[ 9.87660600e-01 1.56548231e-01 4.38072133e-03 2.49426517e+02] [-1.56546754e-01 9.87670315e-01 -6.80171392e-04 -2.11778896e+01] [-4.43318804e-03 -1.40092188e-05 9.99990173e-01 -1.64256089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16576923099998 meters 0.013109346713752903 Centerline is valid? [True, True] Translation: X:249.49, Y:-21.19, Z:-1.65 [[ 9.87467941e-01 1.57805940e-01 2.08604482e-03 2.49487588e+02] [-1.57805609e-01 9.87470144e-01 -3.23618805e-04 -2.11878097e+01] [-2.11097595e-03 -9.62637871e-06 9.99997772e-01 -1.64891448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.225769231 meters 0.013467976609697004 Centerline is valid? [True, True] Translation: X:249.55, Y:-21.20, Z:-1.65 [[ 9.87332765e-01 1.58653378e-01 1.76529493e-03 2.49549354e+02] [-1.58653141e-01 9.87334343e-01 -2.73851950e-04 -2.12001032e+01] [-1.78638385e-03 -9.68658333e-06 9.99998404e-01 -1.64997686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.285769231 meters 0.013666172935446256 Centerline is valid? [True, True] Translation: X:249.61, Y:-21.21, Z:-1.64 [[ 9.87064292e-01 1.60218872e-01 5.83059841e-03 2.49610826e+02] [-1.60216299e-01 9.87081512e-01 -9.08783480e-04 -2.12137159e+01] [-5.90088016e-03 -3.71291737e-05 9.99982589e-01 -1.64252104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.345769231 meters 0.0160157159971638 Centerline is valid? [True, True] Translation: X:249.67, Y:-21.23, Z:-1.64 [[ 9.86573049e-01 1.63168350e-01 7.05050242e-03 2.49671035e+02] [-1.63164651e-01 9.86598239e-01 -1.10057782e-03 -2.12257474e+01] [-7.13559274e-03 -6.45923476e-05 9.99974539e-01 -1.64192676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.405769231 meters 0.019538472849169177 Centerline is valid? [True, True] Translation: X:249.73, Y:-21.24, Z:-1.65 [[ 9.85727652e-01 1.68319715e-01 3.07716693e-03 2.49732326e+02] [-1.68319035e-01 9.85732454e-01 -4.80627268e-04 -2.12354391e+01] [-3.11416235e-03 -4.41781790e-05 9.99995150e-01 -1.64932996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.465769231 meters 0.02364045217438719 Centerline is valid? [True, True] Translation: X:249.79, Y:-21.24, Z:-1.65 [[ 9.84981897e-01 1.72640967e-01 2.39961667e-03 2.49793064e+02] [-1.72640567e-01 9.84984819e-01 -3.74351702e-04 -2.12434729e+01] [-2.42821443e-03 -4.55415335e-05 9.99997051e-01 -1.65016434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.525769231 meters 0.02952547554593875 Centerline is valid? [True, True] Translation: X:249.85, Y:-21.25, Z:-1.65 [[ 9.83994368e-01 1.78169766e-01 3.25843143e-03 2.49854358e+02] [-1.78169054e-01 9.83999760e-01 -5.09723071e-04 -2.12489062e+01] [-3.29711299e-03 -7.89870150e-05 9.99994561e-01 -1.64835731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.585769231 meters 0.03682314840667236 Centerline is valid? [True, True] Translation: X:249.92, Y:-21.25, Z:-1.65 [[ 9.82740967e-01 1.84944430e-01 3.96848586e-03 2.49915410e+02] [-1.84943428e-01 9.82748972e-01 -6.20992635e-04 -2.12500299e+01] [-4.01487453e-03 -1.23670477e-04 9.99991933e-01 -1.64831548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.645769231 meters 0.04039279040740113 Centerline is valid? [True, True] Translation: X:249.98, Y:-21.25, Z:-1.65 [[ 9.82269835e-01 1.87428397e-01 4.07037488e-03 2.49975578e+02] [-1.87427365e-01 9.82278259e-01 -6.36785457e-04 -2.12526050e+01] [-4.11759242e-03 -1.37404493e-04 9.99991513e-01 -1.64892586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70576923099998 meters 0.039185222415140504 Centerline is valid? [True, True] Translation: X:250.03, Y:-21.26, Z:-1.65 [[ 9.82609796e-01 1.85648577e-01 3.54889770e-03 2.50034634e+02] [-1.85647780e-01 9.82616198e-01 -5.55513392e-04 -2.12647268e+01] [-3.59033464e-03 -1.12992079e-04 9.99993548e-01 -1.65059306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76576923099998 meters 0.03595977883706446 Centerline is valid? [True, True] Translation: X:250.09, Y:-21.28, Z:-1.65 [[ 9.83285796e-01 1.81995773e-01 5.15572185e-03 2.50092637e+02] [-1.81994041e-01 9.83299302e-01 -8.07065929e-04 -2.12795410e+01] [-5.21650028e-03 -1.44734189e-04 9.99986383e-01 -1.64735395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82576923099998 meters 0.038183982156338905 Centerline is valid? [True, True] Translation: X:250.15, Y:-21.28, Z:-1.64 [[ 9.82964287e-01 1.83638342e-01 7.62688544e-03 2.50154141e+02] [-1.83634597e-01 9.82993849e-01 -1.19445891e-03 -2.12849805e+01] [-7.71652993e-03 -2.26449585e-04 9.99970201e-01 -1.64190112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88576923099998 meters 0.04450847952176074 Centerline is valid? [True, True] Translation: X:250.22, Y:-21.28, Z:-1.64 [[ 9.82068198e-01 1.88401948e-01 6.83821204e-03 2.50216054e+02] [-1.88399046e-01 9.82091977e-01 -1.07184509e-03 -2.12842661e+01] [-6.91769088e-03 -2.35687644e-04 9.99976045e-01 -1.64362498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94576923099999 meters 0.039460753420061084 Centerline is valid? [True, True] Translation: X:250.28, Y:-21.30, Z:-1.64 [[ 9.81956288e-01 1.88943244e-01 7.89300550e-03 2.50276720e+02] [-1.88939393e-01 9.81987971e-01 -1.23744561e-03 -2.13009514e+01] [-7.98464344e-03 -2.76182172e-04 9.99968084e-01 -1.64378654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.005769231 meters 0.032293391324315066 Centerline is valid? [True, True] Translation: X:250.33, Y:-21.32, Z:-1.65 [[ 9.82991719e-01 1.83491638e-01 7.62227923e-03 2.50334985e+02] [-1.83487874e-01 9.83021246e-01 -1.19611786e-03 -2.13183458e+01] [-7.71234005e-03 -2.22821865e-04 9.99970235e-01 -1.64561093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.065769231 meters 0.039473370864951444 Centerline is valid? [True, True] Translation: X:250.40, Y:-21.32, Z:-1.65 [[ 9.83076114e-01 1.83134941e-01 4.79024173e-03 2.50397394e+02] [-1.83133452e-01 9.83087775e-01 -7.51510847e-04 -2.13177708e+01] [-4.84685599e-03 -1.38461140e-04 9.99988244e-01 -1.65131294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.125769231 meters 0.0343186688777487 Centerline is valid? [True, True] Translation: X:250.46, Y:-21.33, Z:-1.65 [[ 9.82566293e-01 1.85866081e-01 4.15692362e-03 2.50457992e+02] [-1.85864984e-01 9.82575077e-01 -6.52290843e-04 -2.13289609e+01] [-4.20572829e-03 -1.31707545e-04 9.99991147e-01 -1.65313299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.185769231 meters 0.03817409620052796 Centerline is valid? [True, True] Translation: X:250.52, Y:-21.33, Z:-1.65 [[ 9.81987742e-01 1.88768443e-01 8.15776534e-03 2.50518805e+02] [-1.88764296e-01 9.82021586e-01 -1.28233607e-03 -2.13284521e+01] [-8.25316624e-03 -2.80656532e-04 9.99965903e-01 -1.64621507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.245769231 meters 0.039349364887553806 Centerline is valid? [True, True] Translation: X:250.58, Y:-21.33, Z:-1.65 [[ 9.81858181e-01 1.89574194e-01 4.01706627e-03 2.50580463e+02] [-1.89573196e-01 9.81866388e-01 -6.31199628e-04 -2.13332785e+01] [-4.06388151e-03 -1.41779574e-04 9.99991732e-01 -1.65318013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.305769231 meters 0.03957847235555598 Centerline is valid? [True, True] Translation: X:250.64, Y:-21.34, Z:-1.66 [[ 9.81897207e-01 1.89414035e-01 -4.45201476e-04 2.50642256e+02] [-1.89414023e-01 9.81897308e-01 7.13080812e-05 -2.13375605e+01] [ 4.50648882e-04 1.43101967e-05 9.99999898e-01 -1.66325162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.365769231 meters 0.03853122105613619 Centerline is valid? [True, True] Translation: X:250.70, Y:-21.34, Z:-1.66 [[ 9.82176080e-01 1.87934362e-01 3.28997583e-03 2.50703061e+02] [-1.87933679e-01 9.82181584e-01 -5.18301131e-04 -2.13440381e+01] [-3.32876026e-03 -1.09234289e-04 9.99994454e-01 -1.65595410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42576923099998 meters 0.03767868509749538 Centerline is valid? [True, True] Translation: X:250.76, Y:-21.35, Z:-1.65 [[ 9.82353350e-01 1.86874011e-01 7.74601046e-03 2.50764166e+02] [-1.86870188e-01 9.82383857e-01 -1.22076840e-03 -2.13512279e+01] [-7.83768552e-03 -2.48272504e-04 9.99969254e-01 -1.64809235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48576923099998 meters 0.037782906793622804 Centerline is valid? [True, True] Translation: X:250.83, Y:-21.36, Z:-1.65 [[ 9.82410268e-01 1.86575010e-01 7.73505657e-03 2.50826176e+02] [-1.86571183e-01 9.82440688e-01 -1.21974371e-03 -2.13603804e+01] [-7.82680799e-03 -2.44849914e-04 9.99969340e-01 -1.65002028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54576923099998 meters 0.037281729085973096 Centerline is valid? [True, True] Translation: X:250.89, Y:-21.37, Z:-1.66 [[ 9.82601121e-01 1.85659639e-01 5.05321315e-03 2.50888159e+02] [-1.85657994e-01 9.82614103e-01 -7.96801277e-04 -2.13660756e+01] [-5.11329234e-03 -1.55231587e-04 9.99986915e-01 -1.65517331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60576923099998 meters 0.03677054690759597 Centerline is valid? [True, True] Translation: X:250.95, Y:-21.38, Z:-1.66 [[ 9.82895889e-01 1.84114595e-01 4.18168033e-03 2.50947868e+02] [-1.84113451e-01 9.82904777e-01 -6.60274696e-04 -2.13755473e+01] [-4.23175978e-03 -1.20922313e-04 9.99991039e-01 -1.65625106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66576923099998 meters 0.03337174680611977 Centerline is valid? [True, True] Translation: X:251.01, Y:-21.38, Z:-1.65 [[ 9.83254714e-01 1.82136645e-01 6.03410732e-03 2.51008376e+02] [-1.82134225e-01 9.83273215e-01 -9.52861213e-04 -2.13846759e+01] [-6.10672705e-03 -1.62112179e-04 9.99981341e-01 -1.65366902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.725769231 meters 0.03024800088626086 Centerline is valid? [True, True] Translation: X:251.07, Y:-21.40, Z:-1.65 [[ 9.83992505e-01 1.78086501e-01 6.62937682e-03 2.51067995e+02] [-1.78083487e-01 9.84014825e-01 -1.04703233e-03 -2.13976286e+01] [-6.70986739e-03 -1.50310573e-04 9.99977477e-01 -1.65250446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.785769231 meters 0.02045320247699669 Centerline is valid? [True, True] Translation: X:251.13, Y:-21.42, Z:-1.65 [[ 9.85388393e-01 1.70220322e-01 5.89544646e-03 2.51125593e+02] [-1.70217796e-01 9.85406025e-01 -9.31253705e-04 -2.14202819e+01] [-5.96792677e-03 -8.58633121e-05 9.99982188e-01 -1.65447189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.845769231 meters 0.018924599475372502 Centerline is valid? [True, True] Translation: X:251.19, Y:-21.43, Z:-1.66 [[ 9.85704789e-01 1.68463461e-01 2.47619518e-03 2.51185945e+02] [-1.68463011e-01 9.85707899e-01 -3.90406618e-04 -2.14341131e+01] [-2.50657440e-03 -3.23216244e-05 9.99996858e-01 -1.66052927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.905769231 meters 0.027406516492218615 Centerline is valid? [True, True] Translation: X:251.25, Y:-21.43, Z:-1.65 [[ 9.84523531e-01 1.75146209e-01 6.10097909e-03 2.51248361e+02] [-1.75143593e-01 9.84542427e-01 -9.64698000e-04 -2.14265661e+01] [-6.17563596e-03 -1.18779516e-04 9.99980924e-01 -1.65357757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.965769231 meters 0.030923122626183613 Centerline is valid? [True, True] Translation: X:251.31, Y:-21.43, Z:-1.66 [[ 9.83218465e-01 1.82353124e-01 5.36547302e-03 2.51309601e+02] [-1.82351206e-01 9.83233094e-01 -8.48608285e-04 -2.14264629e+01] [-5.43025701e-03 -1.44033142e-04 9.99985246e-01 -1.65547701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.025769231 meters 0.03466204139736886 Centerline is valid? [True, True] Translation: X:251.37, Y:-21.43, Z:-1.66 [[ 9.82782268e-01 1.84701652e-01 4.93084900e-03 2.51370678e+02] [-1.84700062e-01 9.82794627e-01 -7.79800310e-04 -2.14253800e+01] [-4.99004231e-03 -1.44354198e-04 9.99987539e-01 -1.65737025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.085769231 meters 0.03037088687922684 Centerline is valid? [True, True] Translation: X:251.43, Y:-21.43, Z:-1.66 [[ 9.83334721e-01 1.81691459e-01 6.40629476e-03 2.51430794e+02] [-1.81688709e-01 9.83355574e-01 -1.01352128e-03 -2.14331213e+01] [-6.48381383e-03 -1.67320756e-04 9.99978966e-01 -1.65551232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.145769231 meters 0.026893235124261894 Centerline is valid? [True, True] Translation: X:251.49, Y:-21.44, Z:-1.66 [[ 9.84102908e-01 1.77522589e-01 5.21510734e-03 2.51491234e+02] [-1.77520708e-01 9.84116719e-01 -8.25025510e-04 -2.14400394e+01] [-5.27873499e-03 -1.13879546e-04 9.99986061e-01 -1.65826999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20576923099998 meters 0.020422603346453915 Centerline is valid? [True, True] Translation: X:251.55, Y:-21.46, Z:-1.66 [[ 9.85292610e-01 1.70804120e-01 4.94224737e-03 2.51549561e+02] [-1.70802345e-01 9.85305002e-01 -7.82017515e-04 -2.14573113e+01] [-5.00319287e-03 -7.36313649e-05 9.99987481e-01 -1.65958449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26576923099998 meters 0.012972514213061823 Centerline is valid? [True, True] Translation: X:251.61, Y:-21.48, Z:-1.66 [[ 9.86964517e-01 1.60848753e-01 5.35923611e-03 2.51607940e+02] [-1.60846520e-01 9.86979067e-01 -8.47960004e-04 -2.14812897e+01] [-5.42584716e-03 -2.51080428e-05 9.99985280e-01 -1.65936010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32576923099998 meters 0.01244398765588488 Centerline is valid? [True, True] Translation: X:251.67, Y:-21.51, Z:-1.66 [[ 9.88187675e-01 1.53175925e-01 4.71758890e-03 2.51665352e+02] [-1.53174107e-01 9.88198935e-01 -7.46373370e-04 -2.15067002e+01] [-4.77624276e-03 1.49445000e-05 9.99988594e-01 -1.66221934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38576923099998 meters 0.015517827264644903 Centerline is valid? [True, True] Translation: X:251.72, Y:-21.53, Z:-1.66 [[ 9.88925744e-01 1.48348751e-01 4.30363537e-03 2.51723223e+02] [-1.48347191e-01 9.88935108e-01 -6.81245206e-04 -2.15304646e+01] [-4.35707798e-03 3.52687055e-05 9.99990507e-01 -1.66433632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44576923099999 meters 0.015533441550087516 Centerline is valid? [True, True] Translation: X:251.78, Y:-21.55, Z:-1.66 [[ 9.89104143e-01 1.47140760e-01 4.75297605e-03 2.51782975e+02] [-1.47138842e-01 9.89115562e-01 -7.52670539e-04 -2.15522407e+01] [-4.81199109e-03 4.51221550e-05 9.99988421e-01 -1.66101314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.505769231 meters 0.01243706484137196 Centerline is valid? [True, True] Translation: X:251.84, Y:-21.56, Z:-1.66 [[ 9.88066767e-01 1.53950691e-01 4.82164834e-03 2.51844179e+02] [-1.53948794e-01 9.88078532e-01 -7.64444989e-04 -2.15565139e+01] [-4.88185404e-03 1.30357431e-05 9.99988084e-01 -1.66245722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.565769231 meters 0.012405700963501555 Centerline is valid? [True, True] Translation: X:251.91, Y:-21.56, Z:-1.66 [[ 9.87036162e-01 1.60416923e-01 5.10157451e-03 2.51907808e+02] [-1.60414881e-01 9.87049345e-01 -8.09674218e-04 -2.15600442e+01] [-5.16539123e-03 -1.91907365e-05 9.99986659e-01 -1.65962680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.625769231 meters 0.018527257589458106 Centerline is valid? [True, True] Translation: X:251.97, Y:-21.55, Z:-1.66 [[ 9.85482303e-01 1.69636749e-01 6.92851208e-03 2.51972630e+02] [-1.69633197e-01 9.85506654e-01 -1.10139117e-03 -2.15497796e+01] [-7.01493118e-03 -8.99041510e-05 9.99975391e-01 -1.65793985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.685769231 meters 0.021731419910806668 Centerline is valid? [True, True] Translation: X:252.03, Y:-21.55, Z:-1.66 [[ 9.84910359e-01 1.72909384e-01 7.34365872e-03 2.52034885e+02] [-1.72905482e-01 9.84937729e-01 -1.16780363e-03 -2.15518752e+01] [-7.43497075e-03 -1.19576953e-04 9.99972353e-01 -1.65655308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.745769231 meters 0.022320561090677603 Centerline is valid? [True, True] Translation: X:252.10, Y:-21.55, Z:-1.67 [[ 9.84822081e-01 1.73522523e-01 3.92451737e-03 2.52097825e+02] [-1.73521413e-01 9.84829899e-01 -6.24156279e-04 -2.15541952e+01] [-3.97328721e-03 -6.63049138e-05 9.99992104e-01 -1.66544139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.805769231 meters 0.01925852251252177 Centerline is valid? [True, True] Translation: X:252.16, Y:-21.57, Z:-1.66 [[ 9.85455561e-01 1.69856236e-01 5.11829191e-03 2.52156703e+02] [-1.69854291e-01 9.85468850e-01 -8.15504152e-04 -2.15662960e+01] [-5.18243571e-03 -6.57207396e-05 9.99986569e-01 -1.66310849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.865769231 meters 0.016520574227342672 Centerline is valid? [True, True] Translation: X:252.22, Y:-21.58, Z:-1.66 [[ 9.85978439e-01 1.66762156e-01 6.07463378e-03 2.52217873e+02] [-1.66759358e-01 9.85997150e-01 -9.67835092e-04 -2.15794168e+01] [-6.15096986e-03 -5.87374970e-05 9.99981081e-01 -1.66153229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92576923099998 meters 0.015793056397865515 Centerline is valid? [True, True] Translation: X:252.28, Y:-21.59, Z:-1.66 [[ 9.86109885e-01 1.65940746e-01 7.13894312e-03 2.52278290e+02] [-1.65936850e-01 9.86135723e-01 -1.13877184e-03 -2.15943625e+01] [-7.22893549e-03 -6.16595625e-05 9.99973869e-01 -1.66015475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98576923099998 meters 0.02098245549029373 Centerline is valid? [True, True] Translation: X:252.34, Y:-21.59, Z:-1.66 [[ 9.85092310e-01 1.71838659e-01 8.03843268e-03 2.52340356e+02] [-1.71833905e-01 9.85125099e-01 -1.28356611e-03 -2.15912435e+01] [-8.13942807e-03 -1.16844171e-04 9.99966867e-01 -1.65936385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.045769231 meters 0.028236980999336914 Centerline is valid? [True, True] Translation: X:252.40, Y:-21.59, Z:-1.66 [[ 9.83841402e-01 1.78828315e-01 8.74811835e-03 2.52401649e+02] [-1.78822957e-01 9.83880276e-01 -1.39717260e-03 -2.15890465e+01] [-8.85695512e-03 -1.89768145e-04 9.99960758e-01 -1.65886009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.105769231 meters 0.027077460318547866 Centerline is valid? [True, True] Translation: X:252.46, Y:-21.59, Z:-1.66 [[ 9.83784120e-01 1.79217669e-01 7.05918231e-03 2.52461805e+02] [-1.79214191e-01 9.83809434e-01 -1.12736539e-03 -2.15949370e+01] [-7.14693395e-03 -1.56021481e-04 9.99974448e-01 -1.66300478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.165769231 meters 0.02571757181037106 Centerline is valid? [True, True] Translation: X:252.52, Y:-21.61, Z:-1.67 [[ 9.84125387e-01 1.77394072e-01 5.34465580e-03 2.52521931e+02] [-1.77392052e-01 9.84139894e-01 -8.53514119e-04 -2.16054560e+01] [-5.41129734e-03 -1.08134547e-04 9.99985353e-01 -1.66673946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.225769231 meters 0.019001160459881754 Centerline is valid? [True, True] Translation: X:252.58, Y:-21.62, Z:-1.67 [[ 9.85428175e-01 1.70006743e-01 5.38690849e-03 2.52579475e+02] [-1.70004579e-01 9.85442897e-01 -8.60428459e-04 -2.16247219e+01] [-5.45476935e-03 -6.79086653e-05 9.99985120e-01 -1.66657036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.285769231 meters 0.01564026045292123 Centerline is valid? [True, True] Translation: X:252.64, Y:-21.64, Z:-1.66 [[ 9.86013627e-01 1.66525773e-01 6.80403350e-03 2.52640222e+02] [-1.66522238e-01 9.86037100e-01 -1.08675740e-03 -2.16407794e+01] [-6.89000258e-03 -6.14652854e-05 9.99976262e-01 -1.66421283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.345769231 meters 0.017299949780842927 Centerline is valid? [True, True] Translation: X:252.70, Y:-21.64, Z:-1.67 [[ 9.85723291e-01 1.68301694e-01 4.91258217e-03 2.52701489e+02] [-1.68299870e-01 9.85735531e-01 -7.85313718e-04 -2.16431744e+01] [-4.97467643e-03 -5.26849207e-05 9.99987625e-01 -1.66869971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.405769231 meters 0.017032669264376715 Centerline is valid? [True, True] Translation: X:252.76, Y:-21.65, Z:-1.67 [[ 9.85791738e-01 1.67866011e-01 5.97088881e-03 2.52761899e+02] [-1.67863304e-01 9.85809819e-01 -9.55260452e-04 -2.16501861e+01] [-6.04651657e-03 -6.06052621e-05 9.99981718e-01 -1.66610719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.465769231 meters 0.01709369413033652 Centerline is valid? [True, True] Translation: X:252.82, Y:-21.66, Z:-1.67 [[ 9.86022575e-01 1.66474980e-01 6.75002440e-03 2.52822400e+02] [-1.66471488e-01 9.86045677e-01 -1.07988290e-03 -2.16617465e+01] [-6.83560587e-03 -5.88976907e-05 9.99976635e-01 -1.66694431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.525769231 meters 0.014989445209114426 Centerline is valid? [True, True] Translation: X:252.88, Y:-21.68, Z:-1.67 [[ 9.86252263e-01 1.65202061e-01 3.84100239e-03 2.52882669e+02] [-1.65200920e-01 9.86259742e-01 -6.14582625e-04 -2.16799306e+01] [-3.88975634e-03 -2.84036249e-05 9.99992434e-01 -1.67491774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58576923100003 meters 0.01570277150672198 Centerline is valid? [True, True] Translation: X:252.94, Y:-21.69, Z:-1.67 [[ 9.86056482e-01 1.66308858e-01 5.82910385e-03 2.52943539e+02] [-1.66306240e-01 9.86073710e-01 -9.34408273e-04 -2.16902662e+01] [-5.90332643e-03 -4.80370077e-05 9.99982574e-01 -1.67101689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64576923100003 meters 0.016671883630682272 Centerline is valid? [True, True] Translation: X:253.01, Y:-21.70, Z:-1.67 [[ 9.85793504e-01 1.67782326e-01 7.76263563e-03 2.53005074e+02] [-1.67777726e-01 9.85824064e-01 -1.24470705e-03 -2.16998284e+01] [-7.86143285e-03 -7.53732302e-05 9.99969096e-01 -1.66838906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70576923100003 meters 0.01709860938647528 Centerline is valid? [True, True] Translation: X:253.07, Y:-21.71, Z:-1.67 [[ 9.85715548e-01 1.68226695e-01 8.03977573e-03 2.53066674e+02] [-1.68221764e-01 9.85748331e-01 -1.29050719e-03 -2.17112256e+01] [-8.14229327e-03 -8.03922593e-05 9.99966848e-01 -1.66849134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76576923100004 meters 0.014880829287881278 Centerline is valid? [True, True] Translation: X:253.13, Y:-21.73, Z:-1.67 [[ 9.86228570e-01 1.65265457e-01 6.36682738e-03 2.53125517e+02] [-1.65262298e-01 9.86249120e-01 -1.02278164e-03 -2.17309970e+01] [-6.44830838e-03 -4.35000485e-05 9.99979208e-01 -1.67222515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82576923100004 meters 0.013369744924068045 Centerline is valid? [True, True] Translation: X:253.19, Y:-21.75, Z:-1.67 [[ 9.86622161e-01 1.62871930e-01 7.03182834e-03 2.53185682e+02] [-1.62868007e-01 9.86647218e-01 -1.13077065e-03 -2.17473642e+01] [-7.12210467e-03 -2.96164856e-05 9.99974637e-01 -1.67096233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88576923100004 meters 0.01696176840489772 Centerline is valid? [True, True] Translation: X:253.25, Y:-21.75, Z:-1.68 [[ 9.85815353e-01 1.67796951e-01 3.50316482e-03 2.53248015e+02] [-1.67796009e-01 9.85821577e-01 -5.63337492e-04 -2.17488814e+01] [-3.54802178e-03 -3.24703248e-05 9.99993705e-01 -1.67822447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94576923100004 meters 0.026815041861790522 Centerline is valid? [True, True] Translation: X:253.31, Y:-21.74, Z:-1.68 [[ 9.84204033e-01 1.76957293e-01 5.34207747e-03 2.53308630e+02] [-1.76955227e-01 9.84218526e-01 -8.60716970e-04 -2.17420704e+01] [-5.41008176e-03 -9.81874195e-05 9.99985361e-01 -1.67663217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00576923100004 meters 0.02862053445095149 Centerline is valid? [True, True] Translation: X:253.37, Y:-21.75, Z:-1.67 [[ 9.83926402e-01 1.78430625e-01 7.16572520e-03 2.53367794e+02] [-1.78426946e-01 9.83952484e-01 -1.15457662e-03 -2.17477366e+01] [-7.25674494e-03 -1.42540045e-04 9.99973659e-01 -1.67315219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.065769231 meters 0.02440439684724921 Centerline is valid? [True, True] Translation: X:253.43, Y:-21.76, Z:-1.67 [[ 9.84361676e-01 1.76007186e-01 7.31859530e-03 2.53427395e+02] [-1.76003283e-01 9.84388873e-01 -1.17906023e-03 -2.17617576e+01] [-7.41186686e-03 -1.27475100e-04 9.99972524e-01 -1.67429868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.125769231 meters 0.020043804092231856 Centerline is valid? [True, True] Translation: X:253.49, Y:-21.78, Z:-1.67 [[ 9.84929644e-01 1.72755373e-01 8.31733541e-03 2.53487891e+02] [-1.72750212e-01 9.84964754e-01 -1.34037395e-03 -2.17762337e+01] [-8.42383903e-03 -1.16647425e-04 9.99964512e-01 -1.67360710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.185769231 meters 0.01974418466089094 Centerline is valid? [True, True] Translation: X:253.55, Y:-21.78, Z:-1.68 [[ 9.85122002e-01 1.71757760e-01 5.82346818e-03 2.53548729e+02] [-1.71755209e-01 9.85139212e-01 -9.39118150e-04 -2.17822867e+01] [-5.89822768e-03 -7.50650420e-05 9.99982602e-01 -1.67850818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.245769231 meters 0.018589451139472607 Centerline is valid? [True, True] Translation: X:253.61, Y:-21.79, Z:-1.67 [[ 9.85585907e-01 1.68974336e-01 8.25185759e-03 2.53608041e+02] [-1.68969104e-01 9.85620448e-01 -1.33225563e-03 -2.17919134e+01] [-8.35831659e-03 -8.12566111e-05 9.99965065e-01 -1.67382842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.305769231 meters 0.015057075767865137 Centerline is valid? [True, True] Translation: X:253.67, Y:-21.81, Z:-1.68 [[ 9.86099548e-01 1.65953251e-01 8.19756694e-03 2.53668780e+02] [-1.65947980e-01 9.86133619e-01 -1.32376513e-03 -2.18081485e+01] [-8.30357948e-03 -5.50054803e-05 9.99965523e-01 -1.67502119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.365769231 meters 0.014874547044870247 Centerline is valid? [True, True] Translation: X:253.73, Y:-21.82, Z:-1.68 [[ 9.85998195e-01 1.66620803e-01 6.71327485e-03 2.53730455e+02] [-1.66617278e-01 9.86021047e-01 -1.08491745e-03 -2.18194328e+01] [-6.80020011e-03 -4.88209339e-05 9.99976877e-01 -1.67890527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.425769231 meters 0.018874688257967464 Centerline is valid? [True, True] Translation: X:253.79, Y:-21.82, Z:-1.68 [[ 9.85381166e-01 1.70311074e-01 4.25389787e-03 2.53791726e+02] [-1.70309691e-01 9.85390347e-01 -6.87889295e-04 -2.18241464e+01] [-4.30890506e-03 -4.66468767e-05 9.99990716e-01 -1.68334405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.485769231 meters 0.024922192988802324 Centerline is valid? [True, True] Translation: X:253.85, Y:-21.82, Z:-1.68 [[ 9.84127738e-01 1.77368930e-01 5.73217829e-03 2.53852838e+02] [-1.77366530e-01 9.84144426e-01 -9.28383753e-04 -2.18229414e+01] [-5.80595774e-03 -1.03048372e-04 9.99983140e-01 -1.68143857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.545769231 meters 0.0315515416760294 Centerline is valid? [True, True] Translation: X:253.92, Y:-21.82, Z:-1.68 [[ 9.82662479e-01 1.85279066e-01 6.79116945e-03 2.53915003e+02] [-1.85275887e-01 9.82685930e-01 -1.09980288e-03 -2.18189429e+01] [-6.87735711e-03 -1.77504912e-04 9.99976335e-01 -1.67904486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.605769231 meters 0.03981394865258388 Centerline is valid? [True, True] Translation: X:253.98, Y:-21.81, Z:-1.68 [[ 9.81008977e-01 1.93863665e-01 6.18592469e-03 2.53978683e+02] [-1.93861198e-01 9.81028456e-01 -1.00176566e-03 -2.18052362e+01] [-6.26277411e-03 -2.16469669e-04 9.99980365e-01 -1.68051758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.665769231 meters 0.04282546520305369 Centerline is valid? [True, True] Translation: X:254.04, Y:-21.80, Z:-1.68 [[ 9.80509354e-01 1.96372482e-01 6.26537121e-03 2.54039057e+02] [-1.96370002e-01 9.80529343e-01 -1.01466295e-03 -2.18021954e+01] [-6.34263220e-03 -2.35444441e-04 9.99979858e-01 -1.68031682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.725769231 meters 0.040498898535016876 Centerline is valid? [True, True] Translation: X:254.10, Y:-21.80, Z:-1.68 [[ 9.81123267e-01 1.93233544e-01 7.61126493e-03 2.54099776e+02] [-1.93229792e-01 9.81152755e-01 -1.23230899e-03 -2.17999671e+01] [-7.70593699e-03 -2.61676118e-04 9.99970275e-01 -1.67986591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.785769231 meters 0.031002217202536264 Centerline is valid? [True, True] Translation: X:254.16, Y:-21.81, Z:-1.68 [[ 9.82973012e-01 1.83525164e-01 9.08689173e-03 2.54158372e+02] [-1.83519403e-01 9.83014987e-01 -1.47100089e-03 -2.18117314e+01] [-9.20251644e-03 -2.21666771e-04 9.99957631e-01 -1.67790426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.845769231 meters 0.022579253883906917 Centerline is valid? [True, True] Translation: X:254.22, Y:-21.82, Z:-1.67 [[ 9.84499331e-01 1.75079366e-01 1.04059198e-02 2.54218452e+02] [-1.75071339e-01 9.84554310e-01 -1.68441753e-03 -2.18209496e+01] [-1.05401000e-02 -1.63470395e-04 9.99944438e-01 -1.67487367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.905769231 meters 0.019980143889009202 Centerline is valid? [True, True] Translation: X:254.28, Y:-21.82, Z:-1.68 [[ 9.85024775e-01 1.72163379e-01 9.27167085e-03 2.54276783e+02] [-1.72156879e-01 9.85068402e-01 -1.50064901e-03 -2.18224983e+01] [-9.39158680e-03 -1.18005470e-04 9.99955891e-01 -1.67859194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.965769231 meters 0.017523769896735597 Centerline is valid? [True, True] Translation: X:254.34, Y:-21.83, Z:-1.68 [[ 9.85547688e-01 1.69209196e-01 8.00019481e-03 2.54335313e+02] [-1.69204262e-01 9.85580155e-01 -1.29446114e-03 -2.18276763e+01] [-8.10386797e-03 -7.79138718e-05 9.99967160e-01 -1.68204847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.025769231 meters 0.013076572987038501 Centerline is valid? [True, True] Translation: X:254.39, Y:-21.84, Z:-1.68 [[ 9.86784440e-01 1.61883277e-01 7.09036477e-03 2.54391763e+02] [-1.61879215e-01 9.86809913e-01 -1.14695549e-03 -2.18383573e+01] [-7.18251516e-03 -1.59848475e-05 9.99974205e-01 -1.68374261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08576923100003 meters 0.013305608944640498 Centerline is valid? [True, True] Translation: X:254.45, Y:-21.85, Z:-1.68 [[ 9.87665441e-01 1.56329757e-01 8.83086541e-03 2.54448786e+02] [-1.56323239e-01 9.87704919e-01 -1.42792241e-03 -2.18534451e+01] [-8.94551597e-03 2.98401311e-05 9.99959988e-01 -1.68203056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14576923100003 meters 0.017188827499786827 Centerline is valid? [True, True] Translation: X:254.51, Y:-21.87, Z:-1.68 [[ 9.88725237e-01 1.49542326e-01 7.71348117e-03 2.54505882e+02] [-1.49537148e-01 9.88755322e-01 -1.24694148e-03 -2.18703097e+01] [-7.81321609e-03 7.94305298e-05 9.99969473e-01 -1.68462815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20576923100003 meters 0.027464624025089878 Centerline is valid? [True, True] Translation: X:254.56, Y:-21.90, Z:-1.69 [[ 9.89967438e-01 1.41238652e-01 4.01426546e-03 2.54562415e+02] [-1.41237182e-01 9.89975574e-01 -6.48772159e-04 -2.18986425e+01] [-4.06565645e-03 7.52997709e-05 9.99991732e-01 -1.69061441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26576923100004 meters 0.03729423951247983 Centerline is valid? [True, True] Translation: X:254.62, Y:-21.93, Z:-1.69 [[ 9.91055776e-01 1.33242816e-01 7.40277131e-03 2.54619009e+02] [-1.33237592e-01 9.91083403e-01 -1.19656269e-03 -2.19306940e+01] [-7.49619716e-03 1.99532946e-04 9.99971883e-01 -1.68594858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32576923100004 meters 0.03562663567591123 Centerline is valid? [True, True] Translation: X:254.68, Y:-21.96, Z:-1.70 [[ 9.91503483e-01 1.30067776e-01 1.79339776e-03 2.54676945e+02] [-1.30067465e-01 9.91505104e-01 -2.89821068e-04 -2.19551684e+01] [-1.81585941e-03 5.40958986e-05 9.99998350e-01 -1.69527511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38576923100004 meters 0.04096218178267135 Centerline is valid? [True, True] Translation: X:254.73, Y:-21.99, Z:-1.69 [[ 9.91271600e-01 1.31733957e-01 5.17483670e-03 2.54732301e+02] [-1.31731383e-01 9.91285097e-01 -8.36497438e-04 -2.19893843e+01] [-5.23993362e-03 1.47507756e-04 9.99986261e-01 -1.68969466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44576923100004 meters 0.030412607282404247 Centerline is valid? [True, True] Translation: X:254.79, Y:-22.00, Z:-1.69 [[ 9.90634971e-01 1.36446596e-01 4.96786554e-03 2.54792177e+02] [-1.36444284e-01 9.90647421e-01 -8.03120692e-04 -2.19968142e+01] [-5.03098627e-03 1.17762590e-04 9.99987338e-01 -1.69034024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50576923100004 meters 0.023423749483234824 Centerline is valid? [True, True] Translation: X:254.85, Y:-22.01, Z:-1.70 [[ 9.89261288e-01 1.46133598e-01 2.66006080e-03 2.54849604e+02] [-1.46132969e-01 9.89264864e-01 -4.30074053e-04 -2.20147729e+01] [-2.69435295e-03 3.67330278e-05 9.99996370e-01 -1.69738416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.565769231 meters 0.012893627604895964 Centerline is valid? [True, True] Translation: X:254.91, Y:-22.02, Z:-1.69 [[ 9.87697693e-01 1.56242796e-01 6.43868704e-03 2.54911361e+02] [-1.56239331e-01 9.87718679e-01 -1.04081879e-03 -2.20197662e+01] [-6.52223190e-03 2.20381618e-05 9.99978730e-01 -1.68913473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.625769231 meters 0.014798506180601712 Centerline is valid? [True, True] Translation: X:254.97, Y:-22.03, Z:-1.70 [[ 9.86097319e-01 1.66134113e-01 3.39605549e-03 2.54971696e+02] [-1.66133209e-01 9.86103167e-01 -5.48541788e-04 -2.20269888e+01] [-3.43999258e-03 -2.32820103e-05 9.99994083e-01 -1.69627182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.685769231 meters 0.02251753673229749 Centerline is valid? [True, True] Translation: X:255.03, Y:-22.03, Z:-1.71 [[ 9.84625536e-01 1.74678067e-01 -3.56244974e-04 2.55031914e+02] [-1.74678058e-01 9.84625600e-01 5.77468674e-05 -2.20320842e+01] [ 3.60855033e-04 5.36914005e-06 9.99999935e-01 -1.70532426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.745769231 meters 0.028549639288031715 Centerline is valid? [True, True] Translation: X:255.09, Y:-22.04, Z:-1.70 [[ 9.83641518e-01 1.80111009e-01 3.06408460e-03 2.55091168e+02] [-1.80110338e-01 9.83646288e-01 -4.95979990e-04 -2.20386965e+01] [-3.10330690e-03 -6.40068015e-05 9.99995183e-01 -1.69885403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.805769231 meters 0.02682193533086184 Centerline is valid? [True, True] Translation: X:255.15, Y:-22.05, Z:-1.70 [[ 9.83361726e-01 1.81594095e-01 4.82700434e-03 2.55151656e+02] [-1.81592448e-01 9.83373567e-01 -7.80972464e-04 -2.20510191e+01] [-4.88856847e-03 -1.08569104e-04 9.99988045e-01 -1.69678076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.865769231 meters 0.029172695439053566 Centerline is valid? [True, True] Translation: X:255.21, Y:-22.06, Z:-1.70 [[ 9.83424160e-01 1.81274571e-01 4.05604799e-03 2.55211790e+02] [-1.81273403e-01 9.83432520e-01 -6.56715033e-04 -2.20620740e+01] [-4.10789523e-03 -8.94241926e-05 9.99991559e-01 -1.69944697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.925769231 meters 0.029202405096347382 Centerline is valid? [True, True] Translation: X:255.27, Y:-22.07, Z:-1.70 [[ 9.82980929e-01 1.83636082e-01 5.12675538e-03 2.55272391e+02] [-1.83634241e-01 9.82994290e-01 -8.31416719e-04 -2.20697041e+01] [-5.19224937e-03 -1.24181056e-04 9.99986512e-01 -1.69565577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.985769231 meters 0.032068489139598866 Centerline is valid? [True, True] Translation: X:255.33, Y:-22.08, Z:-1.70 [[ 9.82500818e-01 1.86245568e-01 2.17511866e-03 2.55333816e+02] [-1.86245243e-01 9.82503224e-01 -3.52700044e-04 -2.20757450e+01] [-2.20274992e-03 -5.85774217e-05 9.99997572e-01 -1.70259240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.045769231 meters 0.037245791626821734 Centerline is valid? [True, True] Translation: X:255.39, Y:-22.07, Z:-1.71 [[ 9.82124028e-01 1.88232077e-01 1.03896209e-03 2.55394411e+02] [-1.88232003e-01 9.82124577e-01 -1.68748290e-04 -2.20674726e+01] [-1.05215405e-03 -2.98341660e-05 9.99999446e-01 -1.70557508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.105769231 meters 0.04355882822195211 Centerline is valid? [True, True] Translation: X:255.46, Y:-22.06, Z:-1.71 [[ 9.81456548e-01 1.91684459e-01 3.34569477e-04 2.55455879e+02] [-1.91684451e-01 9.81456605e-01 -5.43405422e-05 -2.20608187e+01] [-3.38781661e-04 -1.07988856e-05 9.99999943e-01 -1.70532442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.165769231 meters 0.03911507099912677 Centerline is valid? [True, True] Translation: X:255.52, Y:-22.06, Z:-1.70 [[ 9.80988225e-01 1.94044941e-01 2.94325714e-03 2.55516126e+02] [-1.94044381e-01 9.80992635e-01 -4.77530003e-04 -2.20585504e+01] [-2.97997586e-03 -1.02671198e-04 9.99995555e-01 -1.70107862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.225769231 meters 0.03451209042921168 Centerline is valid? [True, True] Translation: X:255.58, Y:-22.06, Z:-1.70 [[ 9.82016219e-01 1.88766526e-01 3.36822268e-03 2.55578058e+02] [-1.88765762e-01 9.82021990e-01 -5.46126668e-04 -2.20570958e+01] [-3.41075917e-03 -9.94998757e-05 9.99994178e-01 -1.69887389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.285769231 meters 0.029443314981300053 Centerline is valid? [True, True] Translation: X:255.64, Y:-22.05, Z:-1.70 [[ 9.83059953e-01 1.83259327e-01 3.02443435e-03 2.55639646e+02] [-1.83258685e-01 9.83064603e-01 -4.90416940e-04 -2.20528859e+01] [-3.06308783e-03 -7.21446080e-05 9.99995306e-01 -1.70244329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.345769231 meters 0.01913021847192668 Centerline is valid? [True, True] Translation: X:255.70, Y:-22.07, Z:-1.70 [[ 9.85105803e-01 1.71926693e-01 2.78723581e-03 2.55699187e+02] [-1.71926103e-01 9.85109746e-01 -4.51836157e-04 -2.20658755e+01] [-2.82341585e-03 -3.40921695e-05 9.99996014e-01 -1.70349103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.405769231 meters 0.013372182602827538 Centerline is valid? [True, True] Translation: X:255.76, Y:-22.08, Z:-1.70 [[ 9.86903526e-01 1.61275883e-01 3.39414103e-03 2.55755812e+02] [-1.61274944e-01 9.86909362e-01 -5.50433399e-04 -2.20818143e+01] [-3.43848119e-03 -4.16524203e-06 9.99994088e-01 -1.70232374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.465769231 meters 0.01662579965113654 Centerline is valid? [True, True] Translation: X:255.81, Y:-22.10, Z:-1.70 [[ 9.88541947e-01 1.50925330e-01 2.52249481e-03 2.55813582e+02] [-1.50924778e-01 9.88545165e-01 -4.09001263e-04 -2.20988788e+01] [-2.55532870e-03 2.36079357e-05 9.99996735e-01 -1.70446931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.525769231 meters 0.017065752029255477 Centerline is valid? [True, True] Translation: X:255.87, Y:-22.10, Z:-1.71 [[ 9.88471833e-01 1.51396544e-01 -1.58783473e-03 2.55871756e+02] [-1.51396327e-01 9.88473109e-01 2.56822195e-04 -2.21009325e+01] [ 1.60841392e-03 -1.34691610e-05 9.99998706e-01 -1.71101301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58576923100003 meters 0.014952995479753917 Centerline is valid? [True, True] Translation: X:255.93, Y:-22.11, Z:-1.71 [[ 9.88024622e-01 1.54286118e-01 1.77193889e-03 2.55930864e+02] [-1.54285851e-01 9.88026211e-01 -2.87325729e-04 -2.21055378e+01] [-1.79505244e-03 1.04997949e-05 9.99998389e-01 -1.70514254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64576923100003 meters 0.014979490338451178 Centerline is valid? [True, True] Translation: X:255.99, Y:-22.11, Z:-1.71 [[ 9.88011103e-01 1.54362924e-01 2.47936442e-03 2.55988340e+02] [-1.54362402e-01 9.88014214e-01 -4.01833942e-04 -2.21145271e+01] [-2.51167555e-03 1.42957493e-05 9.99996846e-01 -1.70501222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70576923100003 meters 0.013401000865226186 Centerline is valid? [True, True] Translation: X:256.05, Y:-22.12, Z:-1.70 [[ 9.87523651e-01 1.57392684e-01 4.95792569e-03 2.56047627e+02] [-1.57390637e-01 9.87536097e-01 -8.02849527e-04 -2.21195691e+01] [-5.02249323e-03 1.25018144e-05 9.99987387e-01 -1.69946960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76576923100004 meters 0.013448864127839605 Centerline is valid? [True, True] Translation: X:256.11, Y:-22.13, Z:-1.70 [[ 9.87517037e-01 1.57480950e-01 3.13880981e-03 2.56106037e+02] [-1.57480131e-01 9.87522025e-01 -5.08135134e-04 -2.21282335e+01] [-3.17966542e-03 7.49192191e-06 9.99994945e-01 -1.70371270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82576923100004 meters 0.013980624997992052 Centerline is valid? [True, True] Translation: X:256.16, Y:-22.14, Z:-1.70 [[ 9.87793831e-01 1.55736548e-01 3.07814180e-03 2.56163354e+02] [-1.55735752e-01 9.87798627e-01 -4.98170527e-04 -2.21432983e+01] [-3.11816760e-03 1.27130461e-05 9.99995138e-01 -1.70462828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88576923100004 meters 0.014994675403148042 Centerline is valid? [True, True] Translation: X:256.22, Y:-22.16, Z:-1.71 [[ 9.88077650e-01 1.53953186e-01 -9.86506982e-04 2.56221000e+02] [-1.53953104e-01 9.88078143e-01 1.59345733e-04 -2.21620302e+01] [ 9.99277770e-04 -5.57014576e-06 9.99999501e-01 -1.71169425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94576923100004 meters 0.015190419205628398 Centerline is valid? [True, True] Translation: X:256.28, Y:-22.17, Z:-1.71 [[ 9.88030566e-01 1.54240829e-01 -2.31665686e-03 2.56279014e+02] [-1.54240376e-01 9.88033282e-01 3.74146198e-04 -2.21731924e+01] [ 2.34664270e-03 -1.23458552e-05 9.99997247e-01 -1.71453605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00576923100004 meters 0.01433455858580813 Centerline is valid? [True, True] Translation: X:256.34, Y:-22.19, Z:-1.71 [[ 9.87745654e-01 1.56068688e-01 -1.04308524e-03 2.56335597e+02] [-1.56068598e-01 9.87746205e-01 1.68101749e-04 -2.21872187e+01] [ 1.05653891e-03 -3.24892105e-06 9.99999442e-01 -1.71132052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.065769231 meters 0.013393135342658354 Centerline is valid? [True, True] Translation: X:256.39, Y:-22.20, Z:-1.71 [[ 9.87484418e-01 1.57679946e-01 3.39985980e-03 2.56392565e+02] [-1.57678988e-01 9.87490271e-01 -5.49560377e-04 -2.22033462e+01] [-3.44398313e-03 6.59585581e-06 9.99994069e-01 -1.70571808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.125769231 meters 0.013145784937752075 Centerline is valid? [True, True] Translation: X:256.45, Y:-22.22, Z:-1.71 [[ 9.87180662e-01 1.59560520e-01 3.84456860e-03 2.56451173e+02] [-1.59559311e-01 9.87188148e-01 -6.21126213e-04 -2.22165278e+01] [-3.89441978e-03 -2.72929559e-07 9.99992417e-01 -1.70533859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.185769231 meters 0.014032738398507992 Centerline is valid? [True, True] Translation: X:256.51, Y:-22.23, Z:-1.71 [[ 9.86845521e-01 1.61666005e-01 1.40763520e-04 2.56507827e+02] [-1.61666003e-01 9.86845531e-01 -2.29293125e-05 -2.22328364e+01] [-1.42618741e-04 -1.28986311e-07 9.99999990e-01 -1.71171535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.245769231 meters 0.014236000000958912 Centerline is valid? [True, True] Translation: X:256.57, Y:-22.24, Z:-1.71 [[ 9.86544101e-01 1.63487310e-01 1.62390765e-03 2.56566670e+02] [-1.63487099e-01 9.86545437e-01 -2.62367750e-04 -2.22429020e+01] [-1.64495248e-03 -6.65059565e-06 9.99998647e-01 -1.70895121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.305769231 meters 0.015793838767832774 Centerline is valid? [True, True] Translation: X:256.62, Y:-22.25, Z:-1.71 [[ 9.86010075e-01 1.66650622e-01 3.42092539e-03 2.56624719e+02] [-1.66649708e-01 9.86016009e-01 -5.52517965e-04 -2.22512554e+01] [-3.46516466e-03 -2.53079366e-05 9.99993996e-01 -1.70610559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.365769231 meters 0.015400526492499332 Centerline is valid? [True, True] Translation: X:256.68, Y:-22.27, Z:-1.71 [[ 9.86169355e-01 1.65731082e-01 1.79236532e-03 2.56681261e+02] [-1.65730829e-01 9.86170983e-01 -2.89496188e-04 -2.22659426e+01] [-1.81555718e-03 -1.15579210e-05 9.99998352e-01 -1.71014153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.425769231 meters 0.013236057273862236 Centerline is valid? [True, True] Translation: X:256.74, Y:-22.29, Z:-1.71 [[ 9.87446164e-01 1.57931339e-01 2.78644488e-03 2.56739980e+02] [-1.57930701e-01 9.87450096e-01 -4.48928275e-04 -2.22910289e+01] [-2.82237511e-03 3.22730897e-06 9.99996017e-01 -1.70794861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.485769231 meters 0.01789415102745001 Centerline is valid? [True, True] Translation: X:256.80, Y:-22.32, Z:-1.71 [[ 9.88538068e-01 1.50959846e-01 1.90094115e-03 2.56797013e+02] [-1.50959536e-01 9.88539895e-01 -3.06280255e-04 -2.23200150e+01] [-1.92539219e-03 1.58044970e-05 9.99998146e-01 -1.71123815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.545769231 meters 0.020203067395383665 Centerline is valid? [True, True] Translation: X:256.86, Y:-22.34, Z:-1.72 [[ 9.88906567e-01 1.48533302e-01 -1.28859309e-03 2.56857154e+02] [-1.48533154e-01 9.88907406e-01 2.09705925e-04 -2.23355548e+01] [ 1.30544757e-03 -1.59807692e-05 9.99999148e-01 -1.71832907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.605769231 meters 0.02139972085178499 Centerline is valid? [True, True] Translation: X:256.92, Y:-22.35, Z:-1.72 [[ 9.89324669e-01 1.45728161e-01 -4.86495233e-05 2.56917654e+02] [-1.45728161e-01 9.89324670e-01 9.07538557e-06 -2.23526430e+01] [ 4.94527128e-05 -1.88889728e-06 9.99999999e-01 -1.71590021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.665769231 meters 0.02335110788993504 Centerline is valid? [True, True] Translation: X:256.98, Y:-22.37, Z:-1.71 [[ 9.89700401e-01 1.43127702e-01 2.75258577e-03 2.56977648e+02] [-1.43127017e-01 9.89704228e-01 -4.45343236e-04 -2.23720680e+01] [-2.78798673e-03 4.67869887e-05 9.99996112e-01 -1.70941257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.725769231 meters 0.029805921104920106 Centerline is valid? [True, True] Translation: X:257.04, Y:-22.40, Z:-1.71 [[ 9.90011882e-01 1.40975270e-01 1.56427684e-03 2.57035585e+02] [-1.40975046e-01 9.90013117e-01 -2.52913846e-04 -2.23961181e+01] [-1.58430918e-03 2.98637138e-05 9.99998745e-01 -1.71485311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.785769231 meters 0.021892589803698074 Centerline is valid? [True, True] Translation: X:257.10, Y:-22.39, Z:-1.71 [[ 9.89488996e-01 1.44592922e-01 2.10109238e-03 2.57098196e+02] [-1.44592523e-01 9.89491226e-01 -3.41063203e-04 -2.23942029e+01] [-2.12832780e-03 3.36760365e-05 9.99997735e-01 -1.71065524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.845769231 meters 0.018453478984422685 Centerline is valid? [True, True] Translation: X:257.16, Y:-22.40, Z:-1.71 [[ 9.88889987e-01 1.48638348e-01 1.79854880e-03 2.57160224e+02] [-1.48638065e-01 9.88891622e-01 -2.91189122e-04 -2.23981570e+01] [-1.82185171e-03 2.06211944e-05 9.99998340e-01 -1.71120761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.905769231 meters 0.014949458071401137 Centerline is valid? [True, True] Translation: X:257.22, Y:-22.40, Z:-1.71 [[ 9.87984599e-01 1.54534086e-01 2.37641802e-03 2.57222104e+02] [-1.54533606e-01 9.87987457e-01 -3.85632345e-04 -2.23970093e+01] [-2.40746454e-03 1.37623721e-05 9.99997102e-01 -1.71268466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.965769231 meters 0.013890760465495445 Centerline is valid? [True, True] Translation: X:257.28, Y:-22.40, Z:-1.72 [[ 9.87202201e-01 1.59471992e-01 -7.06395748e-04 2.57283841e+02] [-1.59471950e-01 9.87202453e-01 1.15686363e-04 -2.23972714e+01] [ 7.15804350e-04 -1.55552430e-06 9.99999744e-01 -1.71906079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.025769231 meters 0.013649158942953944 Centerline is valid? [True, True] Translation: X:257.34, Y:-22.41, Z:-1.72 [[ 9.87187424e-01 1.59564938e-01 -1.43370904e-04 2.57344820e+02] [-1.59564936e-01 9.87187434e-01 2.35174845e-05 -2.24051116e+01] [ 1.45286521e-04 -3.39195834e-07 9.99999989e-01 -1.71809762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08576923100003 meters 0.013994837060272452 Centerline is valid? [True, True] Translation: X:257.41, Y:-22.42, Z:-1.72 [[ 9.87484214e-01 1.57717860e-01 -6.82628705e-05 2.57405168e+02] [-1.57717860e-01 9.87484216e-01 1.23232153e-05 -2.24186384e+01] [ 6.93520983e-05 -1.40270676e-06 9.99999998e-01 -1.71936877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14576923100003 meters 0.014662859301177646 Centerline is valid? [True, True] Translation: X:257.47, Y:-22.43, Z:-1.72 [[ 9.87620745e-01 1.56860088e-01 -4.19820663e-04 2.57466311e+02] [-1.56860072e-01 9.87620835e-01 6.97912299e-05 -2.24298260e+01] [ 4.25571092e-04 -3.07416703e-06 9.99999909e-01 -1.72078649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20576923100003 meters 0.014252983088313034 Centerline is valid? [True, True] Translation: X:257.53, Y:-22.44, Z:-1.72 [[ 9.87567740e-01 1.57194016e-01 -8.55638744e-06 2.57527256e+02] [-1.57194016e-01 9.87567740e-01 2.57803104e-06 -2.24430842e+01] [ 8.85526324e-06 -1.20096739e-06 1.00000000e+00 -1.71913361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26576923100004 meters 0.01455033428043753 Centerline is valid? [True, True] Translation: X:257.59, Y:-22.46, Z:-1.72 [[ 9.87664087e-01 1.56585682e-01 7.58871769e-04 2.57587764e+02] [-1.56585634e-01 9.87664378e-01 -1.23248466e-04 -2.24587844e+01] [-7.68809559e-04 2.89966623e-06 9.99999704e-01 -1.71834084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32576923100004 meters 0.015894279917235642 Centerline is valid? [True, True] Translation: X:257.65, Y:-22.48, Z:-1.72 [[ 9.87979678e-01 1.54583793e-01 8.19599642e-05 2.57647556e+02] [-1.54583792e-01 9.87979681e-01 -1.22394224e-05 -2.24768584e+01] [-8.28667957e-05 -5.77381477e-07 9.99999997e-01 -1.72089197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38576923100004 meters 0.01829621231039704 Centerline is valid? [True, True] Translation: X:257.71, Y:-22.50, Z:-1.73 [[ 9.88403113e-01 1.51841896e-01 -1.82350201e-03 2.57707647e+02] [-1.51841601e-01 9.88404795e-01 2.99960198e-04 -2.24954651e+01] [ 1.84790466e-03 -1.95981290e-05 9.99998292e-01 -1.72534876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44576923100004 meters 0.018569982536029015 Centerline is valid? [True, True] Translation: X:257.77, Y:-22.51, Z:-1.73 [[ 9.88180075e-01 1.53185245e-01 -5.86678261e-03 2.57767819e+02] [-1.53182225e-01 9.88197489e-01 9.63286456e-04 -2.25058968e+01] [ 5.94510112e-03 -5.32136659e-05 9.99982326e-01 -1.73341330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50576923100004 meters 0.014054472152989743 Centerline is valid? [True, True] Translation: X:257.83, Y:-22.51, Z:-1.72 [[ 9.87257195e-01 1.59131617e-01 -5.99496953e-04 2.57828730e+02] [-1.59131587e-01 9.87257377e-01 9.84130552e-05 -2.25068001e+01] [ 6.07518418e-04 -1.76009537e-06 9.99999815e-01 -1.72241932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.565769231 meters 0.013832095218734568 Centerline is valid? [True, True] Translation: X:257.89, Y:-22.51, Z:-1.72 [[ 9.86652778e-01 1.62834314e-01 -1.13232492e-03 2.57890486e+02] [-1.62834208e-01 9.86653428e-01 1.85910036e-04 -2.25110898e+01] [ 1.14748480e-03 9.52578719e-07 9.99999342e-01 -1.72430350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.625769231 meters 0.014708565649074648 Centerline is valid? [True, True] Translation: X:257.95, Y:-22.52, Z:-1.73 [[ 9.86194779e-01 1.65561414e-01 -3.04555001e-03 2.57951452e+02] [-1.65560656e-01 9.86199482e-01 5.01152154e-04 -2.25202902e+01] [ 3.08649130e-03 9.98962067e-06 9.99995237e-01 -1.72817162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.685769231 meters 0.013687483388860501 Centerline is valid? [True, True] Translation: X:258.01, Y:-22.54, Z:-1.72 [[ 9.86812299e-01 1.61865170e-01 -1.07359273e-03 2.58011102e+02] [-1.61865072e-01 9.86812883e-01 1.77604162e-04 -2.25376959e+01] [ 1.08818306e-03 -1.48480692e-06 9.99999408e-01 -1.72395252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.745769231 meters 0.014702486781102324 Centerline is valid? [True, True] Translation: X:258.07, Y:-22.56, Z:-1.72 [[ 9.87545144e-01 1.57335509e-01 3.56122989e-04 2.58070963e+02] [-1.57335498e-01 9.87545208e-01 -5.73033648e-05 -2.25640158e+01] [-3.60703406e-04 5.58871612e-07 9.99999935e-01 -1.72145132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.805769231 meters 0.017038503353263523 Centerline is valid? [True, True] Translation: X:258.13, Y:-22.59, Z:-1.72 [[ 9.88045028e-01 1.54163881e-01 7.21271263e-04 2.58130066e+02] [-1.54163836e-01 9.88045291e-01 -1.17675666e-04 -2.25868068e+01] [-7.30790013e-04 5.07491195e-06 9.99999733e-01 -1.72255604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.865769231 meters 0.017367234878983742 Centerline is valid? [True, True] Translation: X:258.19, Y:-22.60, Z:-1.72 [[ 9.88230622e-01 1.52970040e-01 6.35759560e-04 2.58190361e+02] [-1.52970005e-01 9.88230827e-01 -1.03714752e-04 -2.26000293e+01] [-6.44142445e-04 5.24195125e-06 9.99999793e-01 -1.72199977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.925769231 meters 0.018715837636918076 Centerline is valid? [True, True] Translation: X:258.25, Y:-22.62, Z:-1.72 [[ 9.88283604e-01 1.52584685e-01 3.66493268e-03 2.58249354e+02] [-1.52583495e-01 9.88290399e-01 -6.03734153e-04 -2.26182093e+01] [-3.71413837e-03 3.74523250e-05 9.99993102e-01 -1.71661853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.985769231 meters 0.012979975065000027 Centerline is valid? [True, True] Translation: X:258.31, Y:-22.62, Z:-1.72 [[ 9.86990908e-01 1.60689522e-01 5.27497851e-03 2.58312455e+02] [-1.60687165e-01 9.87005004e-01 -8.70275244e-04 -2.26174786e+01] [-5.34627430e-03 1.13324081e-05 9.99985709e-01 -1.71542429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.045769231 meters 0.015432977254083352 Centerline is valid? [True, True] Translation: X:258.38, Y:-22.62, Z:-1.73 [[ 9.85700475e-01 1.68506812e-01 1.66103773e-04 2.58375061e+02] [-1.68506810e-01 9.85700489e-01 -2.68417438e-05 -2.26155899e+01] [-1.68251587e-04 -1.53169727e-06 9.99999986e-01 -1.72512753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.105769231 meters 0.0180044038642697 Centerline is valid? [True, True] Translation: X:258.44, Y:-22.62, Z:-1.72 [[ 9.85107349e-01 1.71940380e-01 1.29892391e-04 2.58437278e+02] [-1.71940378e-01 9.85107358e-01 -2.04152505e-05 -2.26210917e+01] [-1.31468156e-04 -2.22253364e-06 9.99999991e-01 -1.72494682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.165769231 meters 0.017806092025441214 Centerline is valid? [True, True] Translation: X:258.50, Y:-22.63, Z:-1.73 [[ 9.85173058e-01 1.71563473e-01 -1.43057575e-04 2.58497847e+02] [-1.71563471e-01 9.85173068e-01 2.48263941e-05 -2.26328376e+01] [ 1.45195772e-04 8.51595316e-08 9.99999989e-01 -1.72857226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.225769231 meters 0.019471644440653225 Centerline is valid? [True, True] Translation: X:258.56, Y:-22.64, Z:-1.73 [[ 9.84863828e-01 1.73329859e-01 -3.35216654e-05 2.58559631e+02] [-1.73329859e-01 9.84863828e-01 6.60093206e-06 -2.26407640e+01] [ 3.41584143e-05 -6.90713689e-07 9.99999999e-01 -1.72649784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.285769231 meters 0.028962960436084408 Centerline is valid? [True, True] Translation: X:258.62, Y:-22.63, Z:-1.72 [[ 9.82570311e-01 1.85891045e-01 -3.19838718e-04 2.58622734e+02] [-1.85891038e-01 9.82570363e-01 5.30131559e-05 -2.26306725e+01] [ 3.24118716e-04 7.36599818e-06 9.99999947e-01 -1.72432364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.345769231 meters 0.039127632019249875 Centerline is valid? [True, True] Translation: X:258.69, Y:-22.62, Z:-1.73 [[ 9.80713832e-01 1.95436200e-01 -2.25189351e-03 2.58685650e+02] [-1.95435858e-01 9.80716415e-01 3.73148184e-04 -2.26170396e+01] [ 2.28139559e-03 7.41491543e-05 9.99997395e-01 -1.72717789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.405769231 meters 0.03645235797926158 Centerline is valid? [True, True] Translation: X:258.75, Y:-22.62, Z:-1.72 [[ 9.80935145e-01 1.94333866e-01 -7.68257144e-04 2.58745934e+02] [-1.94333826e-01 9.80935445e-01 1.27079488e-04 -2.26214586e+01] [ 7.78306512e-04 2.46416143e-05 9.99999697e-01 -1.72408014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.465769231 meters 0.032411314441173296 Centerline is valid? [True, True] Translation: X:258.81, Y:-22.63, Z:-1.72 [[ 9.81748109e-01 1.90177274e-01 1.80426386e-03 2.58805138e+02] [-1.90177045e-01 9.81749765e-01 -2.99099272e-04 -2.26291960e+01] [-1.82821750e-03 -4.94894245e-05 9.99998328e-01 -1.72041494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.525769231 meters 0.028759014439446725 Centerline is valid? [True, True] Translation: X:258.87, Y:-22.63, Z:-1.72 [[ 9.82334684e-01 1.87060374e-01 5.19477042e-03 2.58866015e+02] [-1.87058436e-01 9.82348411e-01 -8.60693570e-04 -2.26288551e+01] [-5.26407613e-03 -1.26236486e-04 9.99986137e-01 -1.71504715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58576923100003 meters 0.027095497211707186 Centerline is valid? [True, True] Translation: X:258.92, Y:-22.63, Z:-1.72 [[ 9.82798734e-01 1.84610549e-01 5.05902108e-03 2.58924872e+02] [-1.84608679e-01 9.82811749e-01 -8.38164740e-04 -2.26344089e+01] [-5.12679941e-03 -1.10191953e-04 9.99986852e-01 -1.71719240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64576923100003 meters 0.02016106534870099 Centerline is valid? [True, True] Translation: X:258.98, Y:-22.65, Z:-1.73 [[ 9.84245059e-01 1.76800263e-01 -1.82483390e-03 2.58983576e+02] [-1.76800006e-01 9.84246751e-01 3.02272870e-04 -2.26507288e+01] [ 1.84952876e-03 2.51200651e-05 9.99998289e-01 -1.72923809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70576923100003 meters 0.015334367583787097 Centerline is valid? [True, True] Translation: X:259.04, Y:-22.67, Z:-1.72 [[ 9.85362190e-01 1.70458124e-01 2.31982212e-03 2.59041298e+02] [-1.70457692e-01 9.85364921e-01 -3.84376702e-04 -2.26655695e+01] [-2.35139147e-03 -1.66812548e-05 9.99997235e-01 -1.72195527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76576923100004 meters 0.016002407447738537 Centerline is valid? [True, True] Translation: X:259.10, Y:-22.67, Z:-1.73 [[ 9.85060264e-01 1.72208390e-01 7.39502806e-04 2.59101753e+02] [-1.72208346e-01 9.85060541e-01 -1.22631732e-04 -2.26663066e+01] [-7.49573247e-04 -6.54890899e-06 9.99999719e-01 -1.72530414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82576923100004 meters 0.026090479681427227 Centerline is valid? [True, True] Translation: X:259.16, Y:-22.65, Z:-1.74 [[ 9.83583687e-01 1.80405439e-01 -4.12420514e-03 2.59164550e+02] [-1.80404161e-01 9.83592330e-01 6.82809337e-04 -2.26510254e+01] [ 4.17971906e-03 7.24236442e-05 9.99991262e-01 -1.73532725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88576923100004 meters 0.03567150732944547 Centerline is valid? [True, True] Translation: X:259.23, Y:-22.64, Z:-1.73 [[ 9.81329510e-01 1.92293317e-01 -3.95902032e-03 2.59228203e+02] [-1.92292236e-01 9.81337489e-01 6.55421231e-04 -2.26353261e+01] [ 4.01116818e-03 1.18104675e-04 9.99991948e-01 -1.73323480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94576923100004 meters 0.04300015391266344 Centerline is valid? [True, True] Translation: X:259.29, Y:-22.63, Z:-1.74 [[ 9.80647829e-01 1.95722728e-01 -4.73814613e-03 2.59289799e+02] [-1.95721220e-01 9.80659262e-01 7.84359584e-04 -2.26272918e+01] [ 4.80002388e-03 1.58175217e-04 9.99988467e-01 -1.73746709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00576923100004 meters 0.039604931950508605 Centerline is valid? [True, True] Translation: X:259.35, Y:-22.63, Z:-1.74 [[ 9.81373100e-01 1.92068544e-01 -4.06367214e-03 2.59347844e+02] [-1.92067404e-01 9.81381506e-01 6.72631832e-04 -2.26348689e+01] [ 4.11720410e-03 1.20396171e-04 9.99991517e-01 -1.73890266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.065769231 meters 0.02800174709494304 Centerline is valid? [True, True] Translation: X:259.41, Y:-22.65, Z:-1.73 [[ 9.82982056e-01 1.83698896e-01 -9.96268486e-04 2.59405557e+02] [-1.83698823e-01 9.82982561e-01 1.64759616e-04 -2.26539223e+01] [ 1.00958071e-03 2.10576021e-05 9.99999490e-01 -1.73226629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.125769231 meters 0.02272325091793881 Centerline is valid? [True, True] Translation: X:259.46, Y:-22.67, Z:-1.73 [[ 9.83532544e-01 1.80725912e-01 1.37101911e-03 2.59463185e+02] [-1.80725771e-01 9.83533499e-01 -2.27217442e-04 -2.26650154e+01] [-1.38950730e-03 -2.43027366e-05 9.99999034e-01 -1.72672945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.185769231 meters 0.024653341247093778 Centerline is valid? [True, True] Translation: X:259.52, Y:-22.67, Z:-1.72 [[ 9.83405666e-01 1.81380148e-01 3.81280322e-03 2.59520926e+02] [-1.81379063e-01 9.83413055e-01 -6.31316788e-04 -2.26674002e+01] [-3.86406880e-03 -7.07221680e-05 9.99992532e-01 -1.72196416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.245769231 meters 0.021480308128933763 Centerline is valid? [True, True] Translation: X:259.58, Y:-22.68, Z:-1.72 [[ 9.83790934e-01 1.79268292e-01 4.27511627e-03 2.59578952e+02] [-1.79266912e-01 9.83800221e-01 -7.07010694e-04 -2.26793673e+01] [-4.33260493e-03 -7.08361822e-05 9.99990612e-01 -1.72295152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.305769231 meters 0.018139735166609477 Centerline is valid? [True, True] Translation: X:259.64, Y:-22.69, Z:-1.73 [[ 9.84646705e-01 1.74527886e-01 3.29907824e-03 2.59635860e+02] [-1.74527038e-01 9.84652231e-01 -5.45507260e-04 -2.26925574e+01] [-3.34365098e-03 -3.86464283e-05 9.99994409e-01 -1.72549369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.365769231 meters 0.016718503874453377 Centerline is valid? [True, True] Translation: X:259.69, Y:-22.70, Z:-1.73 [[ 9.85158608e-01 1.71637933e-01 -1.71371690e-03 2.59692970e+02] [-1.71637701e-01 9.85160099e-01 2.82767733e-04 -2.27048722e+01] [ 1.73681917e-03 1.55673617e-05 9.99998492e-01 -1.73429990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.425769231 meters 0.01398481871149541 Centerline is valid? [True, True] Translation: X:259.75, Y:-22.72, Z:-1.74 [[ 9.86008984e-01 1.66671142e-01 -2.64849524e-03 2.59749445e+02] [-1.66670570e-01 9.86012541e-01 4.37050872e-04 -2.27237349e+01] [ 2.68429328e-03 1.04901233e-05 9.99996397e-01 -1.73605675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.485769231 meters 0.012936909312042203 Centerline is valid? [True, True] Translation: X:259.81, Y:-22.74, Z:-1.73 [[ 9.86501147e-01 1.63754079e-01 -2.97102883e-04 2.59805822e+02] [-1.63754072e-01 9.86501192e-01 4.86021200e-05 -2.27399185e+01] [ 3.01051144e-04 7.05759813e-07 9.99999955e-01 -1.73333182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.545769231 meters 0.012916557692332855 Centerline is valid? [True, True] Translation: X:259.86, Y:-22.75, Z:-1.73 [[ 9.86546383e-01 1.63481563e-01 -1.12245387e-04 2.59862719e+02] [-1.63481562e-01 9.86546389e-01 1.81076102e-05 -2.27526843e+01] [ 1.13695541e-04 4.86053766e-07 9.99999994e-01 -1.73318853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.605769231 meters 0.015283985623874903 Centerline is valid? [True, True] Translation: X:259.92, Y:-22.75, Z:-1.74 [[ 9.85681322e-01 1.68610489e-01 -1.68374486e-03 2.59921489e+02] [-1.68610261e-01 9.85682760e-01 2.77351172e-04 -2.27513431e+01] [ 1.70640259e-03 1.05167904e-05 9.99998544e-01 -1.73622578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.665769231 meters 0.027239174440680042 Centerline is valid? [True, True] Translation: X:259.99, Y:-22.73, Z:-1.73 [[ 9.82974677e-01 1.83739251e-01 8.19467162e-04 2.59985607e+02] [-1.83739202e-01 9.82975019e-01 -1.35192704e-04 -2.27334138e+01] [-8.30355955e-04 -1.76772378e-05 9.99999655e-01 -1.72905502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.725769231 meters 0.034242387782547984 Centerline is valid? [True, True] Translation: X:260.05, Y:-22.72, Z:-1.72 [[ 9.81858373e-01 1.89574840e-01 3.93905079e-03 2.60048048e+02] [-1.89573757e-01 9.81866268e-01 -6.49874380e-04 -2.27197137e+01] [-3.99082093e-03 -1.08656059e-04 9.99992031e-01 -1.72451501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.785769231 meters 0.03235226122214454 Centerline is valid? [True, True] Translation: X:260.11, Y:-22.73, Z:-1.73 [[ 9.82006195e-01 1.88809829e-01 3.83174079e-03 2.60106617e+02] [-1.88808799e-01 9.82013665e-01 -6.32158650e-04 -2.27283504e+01] [-3.88217958e-03 -1.02682666e-04 9.99992459e-01 -1.72650812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.845769231 meters 0.023999898711833105 Centerline is valid? [True, True] Translation: X:260.17, Y:-22.75, Z:-1.73 [[ 9.83573591e-01 1.80503155e-01 1.26601623e-03 2.60165213e+02] [-1.80503036e-01 9.83574405e-01 -2.08770852e-04 -2.27452276e+01] [-1.28290496e-03 -2.31782773e-05 9.99999177e-01 -1.73234147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.905769231 meters 0.013153728560193348 Centerline is valid? [True, True] Translation: X:260.22, Y:-22.77, Z:-1.73 [[ 9.86124291e-01 1.66006847e-01 7.80989345e-04 2.60221755e+02] [-1.66006797e-01 9.86124600e-01 -1.28828932e-04 -2.27700760e+01] [-7.91539290e-04 -2.60819961e-06 9.99999687e-01 -1.73271059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.965769231 meters 0.016272038706786035 Centerline is valid? [True, True] Translation: X:260.28, Y:-22.80, Z:-1.74 [[ 9.88072210e-01 1.53991215e-01 1.14691180e-04 2.60276057e+02] [-1.53991214e-01 9.88072217e-01 -1.93256665e-05 -2.27970433e+01] [-1.16299151e-04 1.43372005e-06 9.99999993e-01 -1.73593215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.025769231 meters 0.019979515989041144 Centerline is valid? [True, True] Translation: X:260.33, Y:-22.81, Z:-1.74 [[ 9.88730854e-01 1.49691464e-01 -1.94009545e-03 2.60334211e+02] [-1.49691125e-01 9.88732757e-01 3.19552652e-04 -2.28114736e+01] [ 1.96607023e-03 -2.55364957e-05 9.99998067e-01 -1.73852022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08576923100003 meters 0.020820862948174562 Centerline is valid? [True, True] Translation: X:260.39, Y:-22.82, Z:-1.74 [[ 9.88821637e-01 1.49067503e-01 -3.26348232e-03 2.60392650e+02] [-1.49066541e-01 9.88827021e-01 5.37318665e-04 -2.28195719e+01] [ 3.30711625e-03 -4.48363010e-05 9.99994530e-01 -1.74105152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14576923100003 meters 0.021559689641191135 Centerline is valid? [True, True] Translation: X:260.45, Y:-22.83, Z:-1.74 [[ 9.88817629e-01 1.49080340e-01 -3.84043710e-03 2.60449205e+02] [-1.49079010e-01 9.88825085e-01 6.31934600e-04 -2.28287402e+01] [ 3.89172956e-03 -5.23395121e-05 9.99992426e-01 -1.74487886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20576923100003 meters 0.02379138126636942 Centerline is valid? [True, True] Translation: X:260.51, Y:-22.85, Z:-1.74 [[ 9.89504681e-01 1.44496743e-01 -1.08501810e-03 2.60506175e+02] [-1.44496634e-01 9.89505276e-01 1.78285297e-04 -2.28451315e+01] [ 1.09939278e-03 -1.96326718e-05 9.99999395e-01 -1.73833193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26576923100004 meters 0.026273665774393138 Centerline is valid? [True, True] Translation: X:260.56, Y:-22.86, Z:-1.74 [[ 9.89847352e-01 1.42133230e-01 6.04602425e-04 2.60562796e+02] [-1.42133195e-01 9.89847536e-01 -9.97630273e-05 -2.28646809e+01] [-6.12643862e-04 1.28160938e-05 9.99999812e-01 -1.73577891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32576923100004 meters 0.024451282096070857 Centerline is valid? [True, True] Translation: X:260.62, Y:-22.88, Z:-1.74 [[ 9.89543962e-01 1.44231557e-01 7.75413521e-05 2.60621056e+02] [-1.44231556e-01 9.89543965e-01 -1.30091150e-05 -2.28761764e+01] [-7.86069019e-05 1.68918128e-06 9.99999997e-01 -1.73735018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38576923100004 meters 0.01719217824774135 Centerline is valid? [True, True] Translation: X:260.68, Y:-22.88, Z:-1.74 [[ 9.88377708e-01 1.52016065e-01 7.88343953e-04 2.60681123e+02] [-1.52016009e-01 9.88378023e-01 -1.29800482e-04 -2.28819266e+01] [-7.98913596e-04 8.45100093e-06 9.99999681e-01 -1.73517795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44576923100004 meters 0.012216057989686717 Centerline is valid? [True, True] Translation: X:260.74, Y:-22.89, Z:-1.73 [[ 9.86973341e-01 1.60867809e-01 2.27430228e-03 2.60739293e+02] [-1.60867373e-01 9.86975961e-01 -3.74501434e-04 -2.28857809e+01] [-2.30492690e-03 3.76189849e-06 9.99997344e-01 -1.73278562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50576923100004 meters 0.012666530083900045 Centerline is valid? [True, True] Translation: X:260.80, Y:-22.89, Z:-1.73 [[ 9.86258904e-01 1.65187551e-01 2.53927635e-03 2.60798159e+02] [-1.65187023e-01 9.86262172e-01 -4.17872851e-04 -2.28919942e+01] [-2.57341960e-03 -7.32468018e-06 9.99996689e-01 -1.73310699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.565769231 meters 0.016676008341867183 Centerline is valid? [True, True] Translation: X:260.86, Y:-22.89, Z:-1.74 [[ 9.85234692e-01 1.71205620e-01 1.11214992e-03 2.60857605e+02] [-1.71205522e-01 9.85235320e-01 -1.83151794e-04 -2.28917681e+01] [-1.12708600e-03 -9.95870517e-06 9.99999365e-01 -1.73508704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.625769231 meters 0.024769285201623314 Centerline is valid? [True, True] Translation: X:260.92, Y:-22.88, Z:-1.74 [[ 9.83888195e-01 1.78784836e-01 -4.84578240e-05 2.60919162e+02] [-1.78784836e-01 9.83888196e-01 7.88464680e-06 -2.28845502e+01] [ 4.90867363e-05 9.05913184e-07 9.99999999e-01 -1.73866238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.685769231 meters 0.028983946027207472 Centerline is valid? [True, True] Translation: X:260.98, Y:-22.88, Z:-1.73 [[ 9.83148801e-01 1.82791836e-01 2.36236100e-03 2.60980229e+02] [-1.82791430e-01 9.83151637e-01 -3.88424913e-04 -2.28825154e+01] [-2.39355998e-03 -4.99398572e-05 9.99997134e-01 -1.73479071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.745769231 meters 0.027936282176521516 Centerline is valid? [True, True] Translation: X:261.04, Y:-22.89, Z:-1.74 [[ 9.83037103e-01 1.83406673e-01 2.17491739e-04 2.61038715e+02] [-1.83406670e-01 9.83037127e-01 -3.60689907e-05 -2.28885719e+01] [-2.20417748e-04 -4.43227950e-06 9.99999976e-01 -1.73912835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.805769231 meters 0.023682863818129465 Centerline is valid? [True, True] Translation: X:261.10, Y:-22.90, Z:-1.74 [[ 9.83880391e-01 1.78815046e-01 -2.13457510e-03 2.61096279e+02] [-1.78814707e-01 9.83882705e-01 3.50007297e-04 -2.29035537e+01] [ 2.16275809e-03 3.73281050e-05 9.99997661e-01 -1.74410934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.865769231 meters 0.01782428076126829 Centerline is valid? [True, True] Translation: X:261.15, Y:-22.92, Z:-1.74 [[ 9.85073317e-01 1.72128434e-01 -1.53685345e-03 2.61153942e+02] [-1.72128250e-01 9.85074516e-01 2.52292381e-04 -2.29225222e+01] [ 1.55734186e-03 1.60094015e-05 9.99998787e-01 -1.74421234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.925769231 meters 0.015249240063003353 Centerline is valid? [True, True] Translation: X:261.21, Y:-22.94, Z:-1.75 [[ 9.85803741e-01 1.67881761e-01 -2.58827398e-03 2.61209781e+02] [-1.67881225e-01 9.85807138e-01 4.24583049e-04 -2.29423963e+01] [ 2.62281872e-03 1.59670479e-05 9.99996560e-01 -1.74723167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.985769231 meters 0.013988863250273476 Centerline is valid? [True, True] Translation: X:261.27, Y:-22.96, Z:-1.75 [[ 9.86318987e-01 1.64827670e-01 -2.58738904e-03 2.61265313e+02] [-1.64827124e-01 9.86322381e-01 4.24207963e-04 -2.29608985e+01] [ 2.62192093e-03 8.06752607e-06 9.99996563e-01 -1.74767106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.045769231 meters 0.01576100325488752 Centerline is valid? [True, True] Translation: X:261.32, Y:-22.96, Z:-1.74 [[ 9.85447598e-01 1.69974470e-01 -1.30770125e-03 2.61324750e+02] [-1.69974336e-01 9.85448466e-01 2.14195246e-04 -2.29646691e+01] [ 1.32507992e-03 1.11974611e-05 9.99999122e-01 -1.74282669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.105769231 meters 0.02381258200972769 Centerline is valid? [True, True] Translation: X:261.39, Y:-22.96, Z:-1.75 [[ 9.84012210e-01 1.78060021e-01 -3.82084993e-03 2.61385363e+02] [-1.78058930e-01 9.84019626e-01 6.26582159e-04 -2.29587673e+01] [ 3.87136055e-03 6.37719567e-05 9.99992504e-01 -1.74791761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.165769231 meters 0.02831137632443834 Centerline is valid? [True, True] Translation: X:261.45, Y:-22.96, Z:-1.75 [[ 9.83115200e-01 1.82964445e-01 -2.91817565e-03 2.61446280e+02] [-1.82963830e-01 9.83119529e-01 4.78446006e-04 -2.29568725e+01] [ 2.95645407e-03 6.35530525e-05 9.99995628e-01 -1.74568112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.225769231 meters 0.03141639912875753 Centerline is valid? [True, True] Translation: X:261.50, Y:-22.96, Z:-1.74 [[ 9.83017433e-01 1.83508775e-01 1.12102136e-03 2.61504533e+02] [-1.83508684e-01 9.83018072e-01 -1.84371173e-04 -2.29571353e+01] [-1.13581798e-03 -2.44770763e-05 9.99999355e-01 -1.73974635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.285769231 meters 0.02258863749301038 Centerline is valid? [True, True] Translation: X:261.56, Y:-22.98, Z:-1.74 [[ 9.83987395e-01 1.78234456e-01 1.13323576e-03 2.61562164e+02] [-1.78234360e-01 9.83988048e-01 -1.85833741e-04 -2.29785480e+01] [-1.14821242e-03 -1.91234911e-05 9.99999341e-01 -1.74010802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.345769231 meters 0.016179692485004418 Centerline is valid? [True, True] Translation: X:261.62, Y:-23.00, Z:-1.75 [[ 9.85415593e-01 1.70159525e-01 -1.35850365e-03 2.61618727e+02] [-1.70159380e-01 9.85416529e-01 2.22471690e-04 -2.30023875e+01] [ 1.37654763e-03 1.19350665e-05 9.99999052e-01 -1.74521949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.405769231 meters 0.013723435334037214 Centerline is valid? [True, True] Translation: X:261.67, Y:-23.02, Z:-1.74 [[ 9.86102312e-01 1.66138793e-01 -3.63778578e-04 2.61674693e+02] [-1.66138783e-01 9.86102379e-01 5.91771715e-05 -2.30208106e+01] [ 3.68554545e-04 2.08298444e-06 9.99999932e-01 -1.74366504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.465769231 meters 0.013055829359521704 Centerline is valid? [True, True] Translation: X:261.73, Y:-23.03, Z:-1.74 [[ 9.86212990e-01 1.65470234e-01 1.88138737e-03 2.61731413e+02] [-1.65469946e-01 9.86214785e-01 -3.08566299e-04 -2.30333352e+01] [-1.90651058e-03 -7.00097553e-06 9.99998183e-01 -1.73887480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.525769231 meters 0.012740628955553526 Centerline is valid? [True, True] Translation: X:261.79, Y:-23.05, Z:-1.74 [[ 9.86891085e-01 1.61387527e-01 -2.30149479e-04 2.61786620e+02] [-1.61387523e-01 9.86891112e-01 3.72681772e-05 -2.30540181e+01] [ 2.33147094e-04 3.63622343e-07 9.99999973e-01 -1.74458392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58576923100003 meters 0.015840981545962345 Centerline is valid? [True, True] Translation: X:261.84, Y:-23.08, Z:-1.74 [[ 9.88229442e-01 1.52963389e-01 2.18431058e-03 2.61841260e+02] [-1.52962972e-01 9.88231856e-01 -3.57795792e-04 -2.30837830e+01] [-2.21333496e-03 1.94656983e-05 9.99997550e-01 -1.73919551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64576923100003 meters 0.018216796359981406 Centerline is valid? [True, True] Translation: X:261.90, Y:-23.10, Z:-1.75 [[ 9.88649803e-01 1.50234081e-01 -1.13458844e-03 2.61897957e+02] [-1.50233967e-01 9.88650454e-01 1.85480399e-04 -2.31044925e+01] [ 1.14957685e-03 -1.29214385e-05 9.99999339e-01 -1.74636419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70576923100003 meters 0.018864032825063 Centerline is valid? [True, True] Translation: X:261.96, Y:-23.12, Z:-1.75 [[ 9.88626806e-01 1.50379218e-01 -1.76871646e-03 2.61955314e+02] [-1.50378942e-01 9.88628388e-01 2.89095967e-04 -2.31176483e+01] [ 1.79207733e-03 -1.98303132e-05 9.99998394e-01 -1.74890603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76576923100004 meters 0.017159078512257356 Centerline is valid? [True, True] Translation: X:262.01, Y:-23.13, Z:-1.75 [[ 9.88355632e-01 1.52160917e-01 -4.46727191e-04 2.62012235e+02] [-1.52160900e-01 9.88355733e-01 7.27366394e-05 -2.31341397e+01] [ 4.52593054e-04 -3.91525575e-06 9.99999898e-01 -1.74660597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82576923100004 meters 0.021528714292249472 Centerline is valid? [True, True] Translation: X:262.07, Y:-23.14, Z:-1.74 [[ 9.87385650e-01 1.58330956e-01 9.41026017e-04 2.62071099e+02] [-1.58330881e-01 9.87386099e-01 -1.54046242e-04 -2.31432776e+01] [-9.53546296e-04 3.10956984e-06 9.99999545e-01 -1.73755541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88576923100004 meters 0.012702608500474753 Centerline is valid? [True, True] Translation: X:262.13, Y:-23.15, Z:-1.74 [[ 9.86386950e-01 1.64415537e-01 2.88382813e-03 2.62129286e+02] [-1.64414860e-01 9.86391165e-01 -4.71822479e-04 -2.31453862e+01] [-2.92215754e-03 -8.74466332e-06 9.99995730e-01 -1.73994200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94576923100004 meters 0.015969091404400955 Centerline is valid? [True, True] Translation: X:262.19, Y:-23.15, Z:-1.74 [[ 9.85367321e-01 1.70431673e-01 2.07071272e-03 2.62188547e+02] [-1.70431338e-01 9.85369496e-01 -3.38707551e-04 -2.31484664e+01] [-2.09814364e-03 -1.91629863e-05 9.99997799e-01 -1.74229154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00576923100004 meters 0.019776645782313 Centerline is valid? [True, True] Translation: X:262.25, Y:-23.15, Z:-1.75 [[ 9.84733866e-01 1.74054315e-01 -2.07571844e-03 2.62247437e+02] [-1.74053987e-01 9.84736053e-01 3.38858398e-04 -2.31500460e+01] [ 2.10301455e-03 2.76017299e-05 9.99997788e-01 -1.74935894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.065769231 meters 0.017429022395266114 Centerline is valid? [True, True] Translation: X:262.31, Y:-23.16, Z:-1.74 [[ 9.85072346e-01 1.72102470e-01 3.63502514e-03 2.62305925e+02] [-1.72101450e-01 9.85079052e-01 -5.94012432e-04 -2.31576592e+01] [-3.68301812e-03 -4.04478767e-05 9.99993217e-01 -1.73989647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.125769231 meters 0.01228101276375585 Centerline is valid? [True, True] Translation: X:262.36, Y:-23.18, Z:-1.74 [[ 9.86309517e-01 1.64819195e-01 5.30742562e-03 2.62362661e+02] [-1.64816916e-01 9.86323797e-01 -8.66857307e-04 -2.31789806e+01] [-5.37771492e-03 -1.97639134e-05 9.99985540e-01 -1.73784691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.185769231 meters 0.013350106289120228 Centerline is valid? [True, True] Translation: X:262.42, Y:-23.21, Z:-1.74 [[ 9.87784750e-01 1.55796544e-01 2.95383086e-03 2.62420603e+02] [-1.55795798e-01 9.87789166e-01 -4.82250435e-04 -2.32050870e+01] [-2.99289507e-03 1.61651894e-05 9.99995521e-01 -1.74034071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.245769231 meters 0.01336453905943479 Centerline is valid? [True, True] Translation: X:262.48, Y:-23.21, Z:-1.75 [[ 9.87565555e-01 1.57206781e-01 5.50087238e-04 2.62479603e+02] [-1.57206755e-01 9.87565708e-01 -8.99208194e-05 -2.32124389e+01] [-5.57383455e-04 2.32527420e-06 9.99999845e-01 -1.74617685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.305769231 meters 0.012900667360617776 Centerline is valid? [True, True] Translation: X:262.54, Y:-23.21, Z:-1.75 [[ 9.86786585e-01 1.62023760e-01 -7.33225540e-04 2.62538075e+02] [-1.62023717e-01 9.86786857e-01 1.19294216e-04 -2.32142925e+01] [ 7.42865824e-04 1.08199537e-06 9.99999724e-01 -1.75007797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.365769231 meters 0.012101864423555259 Centerline is valid? [True, True] Translation: X:262.60, Y:-23.22, Z:-1.74 [[ 9.86606857e-01 1.63056658e-01 4.40863603e-03 2.62595233e+02] [-1.63055070e-01 9.86616707e-01 -7.19855493e-04 -2.32240199e+01] [-4.46701119e-03 -8.63608847e-06 9.99990023e-01 -1.74038878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.425769231 meters 0.012033551343916064 Centerline is valid? [True, True] Translation: X:262.65, Y:-23.23, Z:-1.74 [[ 9.86576598e-01 1.63235472e-01 4.56043220e-03 2.62653926e+02] [-1.63233775e-01 9.86587138e-01 -7.44294665e-04 -2.32318954e+01] [-4.62075904e-03 -1.01128656e-05 9.99989324e-01 -1.74091898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.485769231 meters 0.016261741163400442 Centerline is valid? [True, True] Translation: X:262.71, Y:-23.23, Z:-1.74 [[ 9.85426566e-01 1.70092531e-01 1.73597078e-03 2.62713743e+02] [-1.70092295e-01 9.85428095e-01 -2.83569624e-04 -2.32265258e+01] [-1.75890746e-03 -1.58382140e-05 9.99998453e-01 -1.74487389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.545769231 meters 0.01920219786200864 Centerline is valid? [True, True] Translation: X:262.77, Y:-23.23, Z:-1.75 [[ 9.84901967e-01 1.73102847e-01 1.87583704e-03 2.62772925e+02] [-1.73102578e-01 9.84903754e-01 -3.06206475e-04 -2.32267058e+01] [-1.90052416e-03 -2.31288687e-05 9.99998194e-01 -1.74744361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.605769231 meters 0.017661171824596627 Centerline is valid? [True, True] Translation: X:262.83, Y:-23.24, Z:-1.75 [[ 9.85211930e-01 1.71338593e-01 7.34869552e-04 2.62830755e+02] [-1.71338551e-01 9.85212204e-01 -1.20124354e-04 -2.32366336e+01] [-7.44584389e-04 -7.56353738e-06 9.99999723e-01 -1.75066110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.665769231 meters 0.015101841479052065 Centerline is valid? [True, True] Translation: X:262.89, Y:-23.25, Z:-1.75 [[ 9.85794211e-01 1.67952299e-01 1.34091779e-03 2.62887609e+02] [-1.67952157e-01 9.85795123e-01 -2.18854343e-04 -2.32505996e+01] [-1.35862731e-03 -9.46469075e-06 9.99999077e-01 -1.74997664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.725769231 meters 0.013532134250127878 Centerline is valid? [True, True] Translation: X:262.95, Y:-23.26, Z:-1.75 [[ 9.86145885e-01 1.65839112e-01 3.69889537e-03 2.62945368e+02] [-1.65838017e-01 9.86152822e-01 -6.02955667e-04 -2.32638803e+01] [-3.74766974e-03 -1.88152205e-05 9.99992977e-01 -1.74529817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.785769231 meters 0.012290026723436952 Centerline is valid? [True, True] Translation: X:263.00, Y:-23.28, Z:-1.75 [[ 9.86572592e-01 1.63274297e-01 4.00299000e-03 2.63002693e+02] [-1.63272994e-01 9.86580713e-01 -6.52312929e-04 -2.32792708e+01] [-4.05577867e-03 -1.00261056e-05 9.99991775e-01 -1.74572584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.845769231 meters 0.012109755543602404 Centerline is valid? [True, True] Translation: X:263.06, Y:-23.29, Z:-1.75 [[ 9.86930602e-01 1.61122556e-01 2.74041173e-03 2.63060823e+02] [-1.61121937e-01 9.86934406e-01 -4.46448116e-04 -2.32928364e+01] [-2.77653948e-03 -9.27138663e-07 9.99996145e-01 -1.74787830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.905769231 meters 0.012781859326911761 Centerline is valid? [True, True] Translation: X:263.12, Y:-23.30, Z:-1.75 [[ 9.87473599e-01 1.57779460e-01 1.23782960e-03 2.63119542e+02] [-1.57779331e-01 9.87474375e-01 -2.01725001e-04 -2.33032166e+01] [-1.25415308e-03 3.89418574e-06 9.99999214e-01 -1.75046392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.965769231 meters 0.013131185473694995 Centerline is valid? [True, True] Translation: X:263.18, Y:-23.31, Z:-1.75 [[ 9.87719469e-01 1.56208103e-01 3.04628071e-03 2.63177120e+02] [-1.56207316e-01 9.87724166e-01 -4.96161472e-04 -2.33148376e+01] [-3.08638952e-03 1.42170126e-05 9.99995237e-01 -1.74795642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.025769231 meters 0.01398710321533653 Centerline is valid? [True, True] Translation: X:263.24, Y:-23.33, Z:-1.75 [[ 9.87931659e-01 1.54881530e-01 1.65808703e-03 2.63235078e+02] [-1.54881295e-01 9.87933050e-01 -2.70112771e-04 -2.33268786e+01] [-1.67991446e-03 1.00462918e-05 9.99998589e-01 -1.75034561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08576923100003 meters 0.016016050516053187 Centerline is valid? [True, True] Translation: X:263.29, Y:-23.34, Z:-1.75 [[ 9.88379220e-01 1.51997796e-01 1.78532888e-03 2.63293481e+02] [-1.51997519e-01 9.88380832e-01 -2.90569671e-04 -2.33437569e+01] [-1.80875080e-03 1.58274633e-05 9.99998364e-01 -1.75170788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14576923100003 meters 0.0194200280133672 Centerline is valid? [True, True] Translation: X:263.35, Y:-23.37, Z:-1.75 [[ 9.89062907e-01 1.47454018e-01 3.44638622e-03 2.63351264e+02] [-1.47452959e-01 9.89068911e-01 -5.60871160e-04 -2.33671208e+01] [-3.49141617e-03 4.65570154e-05 9.99993904e-01 -1.74921700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20576923100003 meters 0.02391835162795632 Centerline is valid? [True, True] Translation: X:263.41, Y:-23.40, Z:-1.75 [[ 9.89717653e-01 1.43021341e-01 1.96568962e-03 2.63408999e+02] [-1.43020989e-01 9.89719604e-01 -3.19162549e-04 -2.33962758e+01] [-1.99112860e-03 3.47459350e-05 9.99998017e-01 -1.75264796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26576923100004 meters 0.02408633424592076 Centerline is valid? [True, True] Translation: X:263.47, Y:-23.42, Z:-1.75 [[ 9.89573164e-01 1.44025289e-01 1.29188232e-03 2.63466822e+02] [-1.44025138e-01 9.89574007e-01 -2.09599056e-04 -2.34208574e+01] [-1.30860073e-03 2.13500706e-05 9.99999144e-01 -1.75335405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32576923100004 meters 0.018112948231937886 Centerline is valid? [True, True] Translation: X:263.53, Y:-23.43, Z:-1.76 [[ 9.88615502e-01 1.50461450e-01 -8.61031975e-04 2.63527615e+02] [-1.50461384e-01 9.88615877e-01 1.40698171e-04 -2.34325598e+01] [ 8.72399532e-04 -9.54433006e-06 9.99999619e-01 -1.75656674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38576923100004 meters 0.014432274856767345 Centerline is valid? [True, True] Translation: X:263.59, Y:-23.44, Z:-1.76 [[ 9.87687739e-01 1.56426196e-01 -1.94276195e-03 2.63587334e+02] [-1.56425876e-01 9.87689650e-01 3.17001701e-04 -2.34390664e+01] [ 1.96843324e-03 -9.20045477e-06 9.99998063e-01 -1.76043942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44576923100004 meters 0.014064935385839286 Centerline is valid? [True, True] Translation: X:263.65, Y:-23.43, Z:-1.75 [[ 9.85797171e-01 1.67882335e-01 4.41137139e-03 2.63648949e+02] [-1.67880795e-01 9.85807040e-01 -7.19682163e-04 -2.34329494e+01] [-4.46958290e-03 -3.11238978e-05 9.99990011e-01 -1.74652906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50576923100004 meters 0.019488912239746355 Centerline is valid? [True, True] Translation: X:263.71, Y:-23.43, Z:-1.75 [[ 9.84972869e-01 1.72688796e-01 2.65087837e-03 2.63709135e+02] [-1.72688258e-01 9.84976436e-01 -4.32419763e-04 -2.34347311e+01] [-2.68572677e-03 -3.18538324e-05 9.99996393e-01 -1.75308991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.565769231 meters 0.01991038703700041 Centerline is valid? [True, True] Translation: X:263.77, Y:-23.45, Z:-1.76 [[ 9.84967794e-01 1.72736616e-01 7.11613747e-04 2.63767679e+02] [-1.72736577e-01 9.84968051e-01 -1.16197732e-04 -2.34452810e+01] [-7.20988409e-04 -8.47069951e-06 9.99999740e-01 -1.75809025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.625769231 meters 0.014857133576201081 Centerline is valid? [True, True] Translation: X:263.83, Y:-23.46, Z:-1.75 [[ 9.85860756e-01 1.67552579e-01 2.16873888e-03 2.63826557e+02] [-1.67552207e-01 9.85863141e-01 -3.53545194e-04 -2.34648607e+01] [-2.19731713e-03 -1.48306524e-05 9.99997586e-01 -1.75361882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.685769231 meters 0.013739207002033559 Centerline is valid? [True, True] Translation: X:263.89, Y:-23.48, Z:-1.75 [[ 9.85887877e-01 1.67378126e-01 3.10770827e-03 2.63887759e+02] [-1.67377360e-01 9.85892774e-01 -5.06598944e-04 -2.34789989e+01] [-3.14866071e-03 -2.07102489e-05 9.99995043e-01 -1.75168503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.745769231 meters 0.017521043120417273 Centerline is valid? [True, True] Translation: X:263.95, Y:-23.48, Z:-1.76 [[ 9.85272612e-01 1.70987617e-01 -1.05622677e-03 2.63948483e+02] [-1.70987530e-01 9.85273178e-01 1.72700795e-04 -2.34812054e+01] [ 1.07020160e-03 1.04442428e-05 9.99999427e-01 -1.76270759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.805769231 meters 0.018452504366082728 Centerline is valid? [True, True] Translation: X:264.01, Y:-23.49, Z:-1.75 [[ 9.84921129e-01 1.72997027e-01 1.54894271e-03 2.64007908e+02] [-1.72996843e-01 9.84922346e-01 -2.52789850e-04 -2.34933957e+01] [-1.56932018e-03 -1.89841355e-05 9.99998768e-01 -1.75398680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.865769231 meters 0.020911582671225254 Centerline is valid? [True, True] Translation: X:264.07, Y:-23.50, Z:-1.75 [[ 9.84423104e-01 1.75739764e-01 5.16602245e-03 2.64068257e+02] [-1.75737759e-01 9.84436656e-01 -8.43123944e-04 -2.34963806e+01] [-5.23379227e-03 -7.78745192e-05 9.99986301e-01 -1.75003305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.925769231 meters 0.017801433272305565 Centerline is valid? [True, True] Translation: X:264.13, Y:-23.51, Z:-1.75 [[ 9.84884448e-01 1.73156121e-01 4.42513326e-03 2.64129497e+02] [-1.73154625e-01 9.84894388e-01 -7.21903539e-04 -2.35105234e+01] [-4.48329093e-03 -5.52407195e-05 9.99989948e-01 -1.75080543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.985769231 meters 0.015361599100728015 Centerline is valid? [True, True] Translation: X:264.19, Y:-23.53, Z:-1.75 [[ 9.85460658e-01 1.69868702e-01 3.45176031e-03 2.64190337e+02] [-1.69867772e-01 9.85466703e-01 -5.63013554e-04 -2.35259908e+01] [-3.49723324e-03 -3.15151267e-05 9.99993884e-01 -1.75166898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.045769231 meters 0.015081950880895994 Centerline is valid? [True, True] Translation: X:264.25, Y:-23.54, Z:-1.75 [[ 9.85604183e-01 1.69041707e-01 3.04889241e-03 2.64249292e+02] [-1.69040976e-01 9.85608898e-01 -4.97741135e-04 -2.35414597e+01] [-3.08915450e-03 -2.48120036e-05 9.99995228e-01 -1.75240350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.105769231 meters 0.01373157917931905 Centerline is valid? [True, True] Translation: X:264.31, Y:-23.56, Z:-1.75 [[ 9.85715655e-01 1.68342282e-01 5.05208686e-03 2.64310477e+02] [-1.68340258e-01 9.85728601e-01 -8.26246172e-04 -2.35552483e+01] [-5.11907868e-03 -3.60258192e-05 9.99986897e-01 -1.74813535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.165769231 meters 0.014970772769051274 Centerline is valid? [True, True] Translation: X:264.37, Y:-23.56, Z:-1.75 [[ 9.85611886e-01 1.69001732e-01 2.76116465e-03 2.64370508e+02] [-1.69001129e-01 9.85615754e-01 -4.51845991e-04 -2.35642017e+01] [-2.79781013e-03 -2.12951646e-05 9.99996086e-01 -1.75195582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.225769231 meters 0.01702495536075202 Centerline is valid? [True, True] Translation: X:264.43, Y:-23.57, Z:-1.76 [[ 9.85119806e-01 1.71852977e-01 -2.35006706e-03 2.64431958e+02] [-1.71852546e-01 9.85122608e-01 3.85369592e-04 -2.35667436e+01] [ 2.38133111e-03 2.42297915e-05 9.99997164e-01 -1.76091226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.285769231 meters 0.015998748997028828 Centerline is valid? [True, True] Translation: X:264.49, Y:-23.58, Z:-1.75 [[ 9.85251624e-01 1.71098026e-01 2.16855716e-03 2.64491392e+02] [-1.71097658e-01 9.85254010e-01 -3.55447322e-04 -2.35769167e+01] [-2.19739598e-03 -2.08300003e-05 9.99997586e-01 -1.75377212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.345769231 meters 0.013024231597353789 Centerline is valid? [True, True] Translation: X:264.55, Y:-23.59, Z:-1.75 [[ 9.86014807e-01 1.66584143e-01 4.95206354e-03 2.64550941e+02] [-1.66582169e-01 9.86027242e-01 -8.11379340e-04 -2.35900913e+01] [-5.01803249e-03 -2.48934411e-05 9.99987409e-01 -1.75004607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.405769231 meters 0.012548762651272668 Centerline is valid? [True, True] Translation: X:264.61, Y:-23.60, Z:-1.76 [[ 9.86540670e-01 1.63515498e-01 4.33086088e-04 2.64611935e+02] [-1.63515483e-01 9.86540766e-01 -6.99655690e-05 -2.36039219e+01] [-4.38697536e-04 -1.79240139e-06 9.99999904e-01 -1.75810040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.465769231 meters 0.012463915789300903 Centerline is valid? [True, True] Translation: X:264.67, Y:-23.61, Z:-1.76 [[ 9.86723632e-01 1.62407856e-01 4.03582719e-04 2.64672972e+02] [-1.62407843e-01 9.86723714e-01 -6.51978666e-05 -2.36146911e+01] [-4.08813286e-04 -1.21272311e-06 9.99999916e-01 -1.75871545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.525769231 meters 0.013169155199115254 Centerline is valid? [True, True] Translation: X:264.73, Y:-23.62, Z:-1.76 [[ 9.86345515e-01 1.64681314e-01 -1.60917838e-03 2.64733483e+02] [-1.64681101e-01 9.86346828e-01 2.64755304e-04 -2.36221920e+01] [ 1.63080824e-03 3.86106155e-06 9.99998670e-01 -1.76174521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58576923100003 meters 0.01350016182386491 Centerline is valid? [True, True] Translation: X:264.79, Y:-23.63, Z:-1.76 [[ 9.86022148e-01 1.66613996e-01 3.16493603e-04 2.64792689e+02] [-1.66613988e-01 9.86022199e-01 -5.21183354e-05 -2.36311513e+01] [-3.20753362e-04 -1.34242814e-06 9.99999949e-01 -1.75943395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64576923100003 meters 0.01495531799584631 Centerline is valid? [True, True] Translation: X:264.85, Y:-23.64, Z:-1.76 [[ 9.85642945e-01 1.68843070e-01 4.62643514e-05 2.64852202e+02] [-1.68843069e-01 9.85642946e-01 -7.68648968e-06 -2.36384604e+01] [-4.68979421e-05 -2.35280757e-07 9.99999999e-01 -1.76043015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70576923100003 meters 0.016143694593140932 Centerline is valid? [True, True] Translation: X:264.91, Y:-23.65, Z:-1.76 [[ 9.85253117e-01 1.71102293e-01 -5.49104913e-04 2.64911503e+02] [-1.71102269e-01 9.85253270e-01 9.02734174e-05 -2.36483824e+01] [ 5.56453400e-04 5.01093091e-06 9.99999845e-01 -1.76226518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76576923100004 meters 0.014249113355401563 Centerline is valid? [True, True] Translation: X:264.97, Y:-23.67, Z:-1.76 [[ 9.85743564e-01 1.68253040e-01 -7.35387834e-04 2.64971274e+02] [-1.68252996e-01 9.85743838e-01 1.22183763e-04 -2.36668156e+01] [ 7.45461815e-04 3.28934829e-06 9.99999722e-01 -1.76214569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82576923100004 meters 0.01324188486660127 Centerline is valid? [True, True] Translation: X:265.03, Y:-23.68, Z:-1.76 [[ 9.86027204e-01 1.66584338e-01 1.10096955e-04 2.65031202e+02] [-1.66584337e-01 9.86027210e-01 -1.69823781e-05 -2.36843278e+01] [-1.11387592e-04 -1.59534154e-06 9.99999994e-01 -1.76228127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88576923100004 meters 0.01353794175077026 Centerline is valid? [True, True] Translation: X:265.09, Y:-23.70, Z:-1.76 [[ 9.85816410e-01 1.67817387e-01 1.82493812e-03 2.65091052e+02] [-1.67817119e-01 9.85818099e-01 -3.00157195e-04 -2.36987873e+01] [-1.84942862e-03 -1.03559691e-05 9.99998290e-01 -1.75854424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94576923100004 meters 0.01682833646991922 Centerline is valid? [True, True] Translation: X:265.15, Y:-23.70, Z:-1.75 [[ 9.84777557e-01 1.73789198e-01 3.23700357e-03 2.65153711e+02] [-1.73788385e-01 9.84782876e-01 -5.32912891e-04 -2.37034451e+01] [-3.28036019e-03 -3.77529669e-05 9.99994619e-01 -1.75467402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00576923100004 meters 0.022814528331046333 Centerline is valid? [True, True] Translation: X:265.21, Y:-23.71, Z:-1.75 [[ 9.83874766e-01 1.78771306e-01 5.59154789e-03 2.65214357e+02] [-1.78768949e-01 9.83890650e-01 -9.22548939e-04 -2.37057030e+01] [-5.66639696e-03 -9.19225167e-05 9.99983942e-01 -1.75125462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.065769231 meters 0.02265384917495001 Centerline is valid? [True, True] Translation: X:265.28, Y:-23.72, Z:-1.75 [[ 9.83664988e-01 1.79973945e-01 3.54539006e-03 2.65275005e+02] [-1.79973007e-01 9.83671376e-01 -5.84578989e-04 -2.37197569e+01] [-3.59270771e-03 -6.30446262e-05 9.99993544e-01 -1.75374829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.125769231 meters 0.022423953978726117 Centerline is valid? [True, True] Translation: X:265.33, Y:-23.73, Z:-1.77 [[ 9.83866157e-01 1.78894446e-01 -2.03997298e-03 2.65334751e+02] [-1.78894128e-01 9.83868272e-01 3.38404489e-04 -2.37347986e+01] [ 2.06760338e-03 3.19944647e-05 9.99997862e-01 -1.76609353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.185769231 meters 0.020717900038402598 Centerline is valid? [True, True] Translation: X:265.39, Y:-23.75, Z:-1.76 [[ 9.84141023e-01 1.77386180e-01 -7.67742328e-04 2.65394965e+02] [-1.77386134e-01 9.84141323e-01 1.28227078e-04 -2.37495332e+01] [ 7.78312662e-04 9.99331549e-06 9.99999697e-01 -1.76236085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.245769231 meters 0.022208797748780255 Centerline is valid? [True, True] Translation: X:265.46, Y:-23.76, Z:-1.76 [[ 9.83872607e-01 1.78865986e-01 1.28553005e-03 2.65456088e+02] [-1.78865860e-01 9.83873447e-01 -2.12662020e-04 -2.37551015e+01] [-1.30283689e-03 -2.07051023e-05 9.99999151e-01 -1.75907200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.305769231 meters 0.022439173566978565 Centerline is valid? [True, True] Translation: X:265.52, Y:-23.76, Z:-1.76 [[ 9.83556855e-01 1.80585322e-01 2.20339063e-03 2.65517653e+02] [-1.80584960e-01 9.83559322e-01 -3.63976282e-04 -2.37638010e+01] [-2.23289417e-03 -3.99078398e-05 9.99997506e-01 -1.75942908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.365769231 meters 0.026963326759426542 Centerline is valid? [True, True] Translation: X:265.58, Y:-23.77, Z:-1.77 [[ 9.83179144e-01 1.82633475e-01 -1.94536016e-03 2.65578984e+02] [-1.82633191e-01 9.83181068e-01 3.23773224e-04 -2.37681200e+01] [ 1.97177311e-03 3.69602533e-05 9.99998055e-01 -1.76692237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.425769231 meters 0.034825453525556986 Centerline is valid? [True, True] Translation: X:265.64, Y:-23.76, Z:-1.77 [[ 9.82017289e-01 1.88764839e-01 -3.14331692e-03 2.65639819e+02] [-1.88764137e-01 9.82022316e-01 5.21340874e-04 -2.37602180e+01] [ 3.18521818e-03 8.13797526e-05 9.99994924e-01 -1.77110709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.485769231 meters 0.037620815244469065 Centerline is valid? [True, True] Translation: X:265.70, Y:-23.76, Z:-1.77 [[ 9.81492940e-01 1.91496921e-01 -7.33142324e-04 2.65699362e+02] [-1.91496884e-01 9.81493214e-01 1.21347391e-04 -2.37633561e+01] [ 7.42811868e-04 2.12928625e-05 9.99999724e-01 -1.76684643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.545769231 meters 0.034688583368682725 Centerline is valid? [True, True] Translation: X:265.76, Y:-23.77, Z:-1.76 [[ 9.81316529e-01 1.92391615e-01 1.82683537e-03 2.65758071e+02] [-1.92391384e-01 9.81318227e-01 -3.03202603e-04 -2.37712284e+01] [-1.85104049e-03 -5.39296588e-05 9.99998285e-01 -1.76105681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.605769231 meters 0.03667908212407572 Centerline is valid? [True, True] Translation: X:265.82, Y:-23.78, Z:-1.77 [[ 9.81886036e-01 1.89467794e-01 1.32914812e-03 2.65816998e+02] [-1.89467669e-01 9.81886935e-01 -2.20491773e-04 -2.37772353e+01] [-1.34684926e-03 -3.53328023e-05 9.99999092e-01 -1.76548023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.665769231 meters 0.03070743229230393 Centerline is valid? [True, True] Translation: X:265.88, Y:-23.79, Z:-1.78 [[ 9.82967602e-01 1.83739063e-01 -3.82742446e-03 2.65875146e+02] [-1.83737986e-01 9.82975051e-01 6.34222757e-04 -2.37907461e+01] [ 3.87879424e-03 7.98228382e-05 9.99992474e-01 -1.77612371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.725769231 meters 0.03216853513734974 Centerline is valid? [True, True] Translation: X:265.93, Y:-23.80, Z:-1.77 [[ 9.82769495e-01 1.84813550e-01 -2.84121982e-03 2.65933849e+02] [-1.84812961e-01 9.82773600e-01 4.70490390e-04 -2.37963503e+01] [ 2.87922883e-03 6.27106467e-05 9.99995853e-01 -1.77164681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.785769231 meters 0.03163143096034185 Centerline is valid? [True, True] Translation: X:265.99, Y:-23.80, Z:-1.76 [[ 9.82842863e-01 1.84424204e-01 2.76046320e-03 2.65990880e+02] [-1.84423646e-01 9.82846738e-01 -4.57620853e-04 -2.38048331e+01] [-2.79750861e-03 -5.93252981e-05 9.99996085e-01 -1.76140943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.845769231 meters 0.02471639463923219 Centerline is valid? [True, True] Translation: X:266.05, Y:-23.83, Z:-1.76 [[ 9.83474279e-01 1.81026636e-01 2.77474510e-03 2.66047558e+02] [-1.81026060e-01 9.83478192e-01 -4.59733108e-04 -2.38271523e+01] [-2.81212523e-03 -5.01654849e-05 9.99996045e-01 -1.76139876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.905769231 meters 0.021128615660827316 Centerline is valid? [True, True] Translation: X:266.11, Y:-23.85, Z:-1.76 [[ 9.84139560e-01 1.77384230e-01 2.03977156e-03 2.66106498e+02] [-1.77383911e-01 9.84141674e-01 -3.37796586e-04 -2.38451750e+01] [-2.06734398e-03 -2.93836727e-05 9.99997863e-01 -1.76212790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.965769231 meters 0.021691390828620295 Centerline is valid? [True, True] Translation: X:266.17, Y:-23.86, Z:-1.76 [[ 9.84424700e-01 1.75781304e-01 2.99064986e-03 2.66165847e+02] [-1.75780610e-01 9.84429242e-01 -4.95316700e-04 -2.38579559e+01] [-3.03115059e-03 -3.80962636e-05 9.99995405e-01 -1.76141867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.025769231 meters 0.016626994169599247 Centerline is valid? [True, True] Translation: X:266.23, Y:-23.88, Z:-1.76 [[ 9.84656054e-01 1.74472252e-01 3.44800503e-03 2.66225059e+02] [-1.74471323e-01 9.84662090e-01 -5.70554041e-04 -2.38827374e+01] [-3.49466569e-03 -3.97785092e-05 9.99993893e-01 -1.75976483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08576923100003 meters 0.01514694041750204 Centerline is valid? [True, True] Translation: X:266.28, Y:-23.90, Z:-1.76 [[ 9.85032084e-01 1.72352497e-01 2.53195163e-03 2.66283963e+02] [-1.72351989e-01 9.85035338e-01 -4.19152838e-04 -2.39000567e+01] [-2.56630387e-03 -2.35079059e-05 9.99996707e-01 -1.76177332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14576923100003 meters 0.014348476267126273 Centerline is valid? [True, True] Translation: X:266.34, Y:-23.92, Z:-1.76 [[ 9.85285960e-01 1.70908154e-01 1.40698412e-03 2.66343063e+02] [-1.70907996e-01 9.85286965e-01 -2.32667446e-04 -2.39198633e+01] [-1.42604788e-03 -1.12208702e-05 9.99998983e-01 -1.76332293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20576923100003 meters 0.01771172283420327 Centerline is valid? [True, True] Translation: X:266.40, Y:-23.93, Z:-1.76 [[ 9.84510577e-01 1.75317636e-01 1.62826877e-03 2.66404774e+02] [-1.75317429e-01 9.84511923e-01 -2.69630441e-04 -2.39263296e+01] [-1.65032099e-03 -2.00098740e-05 9.99998638e-01 -1.76367357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26576923100004 meters 0.021546369312836378 Centerline is valid? [True, True] Translation: X:266.47, Y:-23.93, Z:-1.76 [[ 9.83707510e-01 1.79753791e-01 2.84782873e-03 2.66466395e+02] [-1.79753174e-01 9.83711631e-01 -4.73250261e-04 -2.39323076e+01] [-2.88651077e-03 -4.63664184e-05 9.99995833e-01 -1.76177224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32576923100004 meters 0.02447862173122214 Centerline is valid? [True, True] Translation: X:266.53, Y:-23.94, Z:-1.77 [[ 9.83465885e-01 1.81093480e-01 6.89638260e-05 2.66527243e+02] [-1.81093480e-01 9.83465887e-01 -1.08654839e-05 -2.39388844e+01] [-6.97912386e-05 -1.80306650e-06 9.99999998e-01 -1.76878196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38576923100004 meters 0.01836500050293174 Centerline is valid? [True, True] Translation: X:266.59, Y:-23.96, Z:-1.77 [[ 9.84484282e-01 1.75460814e-01 -2.04993957e-03 2.66585769e+02] [-1.75460483e-01 9.84486415e-01 3.41476381e-04 -2.39607272e+01] [ 2.07805339e-03 2.35052582e-05 9.99997841e-01 -1.77183315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44576923100004 meters 0.014234592966220611 Centerline is valid? [True, True] Translation: X:266.65, Y:-23.98, Z:-1.77 [[ 9.85316176e-01 1.70736758e-01 9.96084810e-04 2.66645142e+02] [-1.70736678e-01 9.85316680e-01 -1.65640038e-04 -2.39801441e+01] [-1.00973982e-03 -6.86040217e-06 9.99999490e-01 -1.76531983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50576923100004 meters 0.014500132393070908 Centerline is valid? [True, True] Translation: X:266.71, Y:-23.99, Z:-1.76 [[ 9.85175243e-01 1.71520419e-01 3.23823064e-03 2.66706886e+02] [-1.71519574e-01 9.85180565e-01 -5.38677901e-04 -2.39891791e+01] [-3.28263615e-03 -2.47278103e-05 9.99994612e-01 -1.76143830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.565769231 meters 0.019644140786792445 Centerline is valid? [True, True] Translation: X:266.77, Y:-23.99, Z:-1.76 [[ 9.83997745e-01 1.78168769e-01 2.08024787e-03 2.66769913e+02] [-1.78168436e-01 9.83999943e-01 -3.46019605e-04 -2.39873613e+01] [-2.10861367e-03 -3.01519984e-05 9.99997776e-01 -1.76374204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.625769231 meters 0.023345560335121418 Centerline is valid? [True, True] Translation: X:266.83, Y:-23.99, Z:-1.76 [[ 9.83050833e-01 1.83295554e-01 3.71464777e-03 2.66831980e+02] [-1.83294522e-01 9.83057849e-01 -6.19283042e-04 -2.39897054e+01] [-3.76522548e-03 -7.20878780e-05 9.99992909e-01 -1.76058524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.685769231 meters 0.022452338571891634 Centerline is valid? [True, True] Translation: X:266.89, Y:-24.00, Z:-1.76 [[ 9.83293111e-01 1.81950872e-01 5.34215503e-03 2.66892620e+02] [-1.81948710e-01 9.83307618e-01 -8.92039450e-04 -2.39966522e+01] [-5.41528910e-03 -9.48619695e-05 9.99985333e-01 -1.75941319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.745769231 meters 0.016658445202760493 Centerline is valid? [True, True] Translation: X:266.95, Y:-24.01, Z:-1.76 [[ 9.84535199e-01 1.75132694e-01 4.35671827e-03 2.66951787e+02] [-1.75131187e-01 9.84544838e-01 -7.27976002e-04 -2.40121949e+01] [-4.41687688e-03 -4.62792425e-05 9.99990244e-01 -1.76297372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.805769231 meters 0.012834628738843917 Centerline is valid? [True, True] Translation: X:267.01, Y:-24.03, Z:-1.76 [[ 9.85422444e-01 1.70101596e-01 2.83793161e-03 2.67011988e+02] [-1.70100936e-01 9.85426530e-01 -4.74047521e-04 -2.40314952e+01] [-2.87720934e-03 -1.55977565e-05 9.99995861e-01 -1.76499319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.865769231 meters 0.011888854726823262 Centerline is valid? [True, True] Translation: X:267.07, Y:-24.05, Z:-1.77 [[ 9.86547811e-01 1.63458607e-01 2.16797756e-03 2.67070620e+02] [-1.63458207e-01 9.86550193e-01 -3.61697807e-04 -2.40526816e+01] [-2.19794130e-03 2.45845446e-06 9.99997585e-01 -1.76757314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.925769231 meters 0.012627198882607915 Centerline is valid? [True, True] Translation: X:267.13, Y:-24.07, Z:-1.77 [[ 9.86971390e-01 1.60868662e-01 2.95800452e-03 2.67131501e+02] [-1.60867903e-01 9.86975822e-01 -4.94260392e-04 -2.40687899e+01] [-2.99898995e-03 1.19728819e-05 9.99995503e-01 -1.76590985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.985769231 meters 0.012266103436027817 Centerline is valid? [True, True] Translation: X:267.20, Y:-24.07, Z:-1.77 [[ 9.85722669e-01 1.68374093e-01 9.92150201e-04 2.67195427e+02] [-1.68374013e-01 9.85723168e-01 -1.65045857e-04 -2.40657924e+01] [-1.00577489e-03 -4.36286733e-06 9.99999494e-01 -1.76792695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.045769231 meters 0.021891423434248748 Centerline is valid? [True, True] Translation: X:267.26, Y:-24.05, Z:-1.77 [[ 9.83510236e-01 1.80851575e-01 -5.69409835e-04 2.67258984e+02] [-1.80851550e-01 9.83510400e-01 9.55210803e-05 -2.40493564e+01] [ 5.77295633e-04 9.03269105e-06 9.99999833e-01 -1.77204672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.105769231 meters 0.025332566143156297 Centerline is valid? [True, True] Translation: X:267.32, Y:-24.05, Z:-1.77 [[ 9.82758123e-01 1.84895185e-01 4.92712346e-04 2.67320823e+02] [-1.84895167e-01 9.82758246e-01 -8.26547289e-05 -2.40468384e+01] [-4.99499583e-04 -9.87052532e-06 9.99999875e-01 -1.77075252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.165769231 meters 0.028365480838623884 Centerline is valid? [True, True] Translation: X:267.38, Y:-24.04, Z:-1.77 [[ 9.82795012e-01 1.84680719e-01 2.64511308e-03 2.67381081e+02] [-1.84680193e-01 9.82798570e-01 -4.43881777e-04 -2.40416499e+01] [-2.68158976e-03 -5.22551970e-05 9.99996403e-01 -1.76721680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.225769231 meters 0.024435962365541235 Centerline is valid? [True, True] Translation: X:267.44, Y:-24.05, Z:-1.76 [[ 9.82851390e-01 1.84328371e-01 5.11825937e-03 2.67439758e+02] [-1.84326398e-01 9.82864712e-01 -8.58472932e-04 -2.40509929e+01] [-5.18879744e-03 -9.96790015e-05 9.99986533e-01 -1.76243323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.285769231 meters 0.02036072563253503 Centerline is valid? [True, True] Translation: X:267.50, Y:-24.06, Z:-1.76 [[ 9.83491072e-01 1.80772821e-01 8.15465469e-03 2.67500397e+02] [-1.80767695e-01 9.83524870e-01 -1.36750998e-03 -2.40587788e+01] [-8.26751433e-03 -1.29164273e-04 9.99965815e-01 -1.75808746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.345769231 meters 0.018080095661179813 Centerline is valid? [True, True] Translation: X:267.56, Y:-24.06, Z:-1.76 [[ 9.84076375e-01 1.77693992e-01 4.30495061e-03 2.67559287e+02] [-1.77692534e-01 9.84085790e-01 -7.22003257e-04 -2.40649459e+01] [-4.36473636e-03 -5.44512320e-05 9.99990473e-01 -1.76483921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.405769231 meters 0.017214638413946638 Centerline is valid? [True, True] Translation: X:267.62, Y:-24.08, Z:-1.77 [[ 9.84270308e-01 1.76652759e-01 2.40065580e-03 2.67618571e+02] [-1.76652303e-01 9.84273235e-01 -4.02578252e-04 -2.40752821e+01] [-2.43401781e-03 -2.78355546e-05 9.99997037e-01 -1.76814402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.465769231 meters 0.015629396805426733 Centerline is valid? [True, True] Translation: X:267.68, Y:-24.08, Z:-1.77 [[ 9.84663675e-01 1.74437366e-01 3.00879096e-03 2.67676632e+02] [-1.74436638e-01 9.84668271e-01 -5.04701591e-04 -2.40843775e+01] [-3.05069981e-03 -2.78820561e-05 9.99995346e-01 -1.76733926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.525769231 meters 0.01417410011647266 Centerline is valid? [True, True] Translation: X:267.74, Y:-24.10, Z:-1.77 [[ 9.84942826e-01 1.72843487e-01 3.57201728e-03 2.67735274e+02] [-1.72842452e-01 9.84949302e-01 -5.98880403e-04 -2.40985333e+01] [-3.62176851e-03 -2.75332695e-05 9.99993441e-01 -1.76719803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58576923100003 meters 0.01294775848923785 Centerline is valid? [True, True] Translation: X:267.79, Y:-24.12, Z:-1.78 [[ 9.85760174e-01 1.68148637e-01 -1.70770505e-03 2.67793289e+02] [-1.68148391e-01 9.85761653e-01 2.87671119e-04 -2.41195265e+01] [ 1.73176166e-03 3.57312496e-06 9.99998500e-01 -1.77881511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64576923100003 meters 0.01203158668585266 Centerline is valid? [True, True] Translation: X:267.85, Y:-24.14, Z:-1.77 [[ 9.86147286e-01 1.65871996e-01 -1.04424120e-04 2.67852099e+02] [-1.65871995e-01 9.86147292e-01 1.75240661e-05 -2.41353739e+01] [ 1.05884315e-04 3.97269044e-08 9.99999994e-01 -1.77487399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70576923100003 meters 0.011866556824093745 Centerline is valid? [True, True] Translation: X:267.91, Y:-24.15, Z:-1.77 [[ 9.86205747e-01 1.65519611e-01 1.21773541e-03 2.67911028e+02] [-1.65519486e-01 9.86206499e-01 -2.03992085e-04 -2.41482459e+01] [-1.23470327e-03 -3.80772482e-07 9.99999238e-01 -1.77318229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76576923100004 meters 0.011913582680078557 Centerline is valid? [True, True] Translation: X:267.97, Y:-24.16, Z:-1.77 [[ 9.86051078e-01 1.66442335e-01 4.69774535e-04 2.67971894e+02] [-1.66442316e-01 9.86051190e-01 -7.87100702e-05 -2.41563040e+01] [-4.76322427e-04 -5.78212217e-07 9.99999887e-01 -1.77433052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82576923100004 meters 0.011730475595117794 Centerline is valid? [True, True] Translation: X:268.03, Y:-24.17, Z:-1.77 [[ 9.85871952e-01 1.67481600e-01 2.53124343e-03 2.68031374e+02] [-1.67481061e-01 9.85875202e-01 -4.24730684e-04 -2.41683179e+01] [-2.56662471e-03 -5.20526744e-06 9.99996706e-01 -1.77221750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88576923100004 meters 0.013700515849485579 Centerline is valid? [True, True] Translation: X:268.09, Y:-24.17, Z:-1.77 [[ 9.85103522e-01 1.71961991e-01 3.52398420e-04 2.68092084e+02] [-1.71961981e-01 9.85103585e-01 -5.91912001e-05 -2.41697447e+01] [-3.57327583e-04 -2.28967048e-06 9.99999936e-01 -1.77494113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94576923100004 meters 0.017858021873794656 Centerline is valid? [True, True] Translation: X:268.15, Y:-24.17, Z:-1.77 [[ 9.84231354e-01 1.76880120e-01 1.43686941e-03 2.68150939e+02] [-1.76879956e-01 9.84232403e-01 -2.41545586e-04 -2.41731949e+01] [-1.45693805e-03 -1.64166600e-05 9.99998939e-01 -1.77370358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00576923100004 meters 0.020054752957699956 Centerline is valid? [True, True] Translation: X:268.21, Y:-24.18, Z:-1.77 [[ 9.83839029e-01 1.79014776e-01 3.80468504e-03 2.68209148e+02] [-1.79013643e-01 9.83846384e-01 -6.39068200e-04 -2.41781033e+01] [-3.85762827e-03 -5.23502912e-05 9.99992558e-01 -1.76886262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.065769231 meters 0.019906339471720654 Centerline is valid? [True, True] Translation: X:268.27, Y:-24.19, Z:-1.77 [[ 9.83783954e-01 1.79304146e-01 4.37674459e-03 2.68268584e+02] [-1.79302651e-01 9.83793687e-01 -7.34843963e-04 -2.41873451e+01] [-4.43757426e-03 -6.18342075e-05 9.99990152e-01 -1.76808811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.125769231 meters 0.022180054448558688 Centerline is valid? [True, True] Translation: X:268.33, Y:-24.19, Z:-1.77 [[ 9.83485367e-01 1.80955354e-01 3.41932435e-03 2.68327264e+02] [-1.80954452e-01 9.83491310e-01 -5.74071867e-04 -2.41909756e+01] [-3.46675717e-03 -5.41506828e-05 9.99993989e-01 -1.77221366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.185769231 meters 0.02260951212313072 Centerline is valid? [True, True] Translation: X:268.39, Y:-24.20, Z:-1.77 [[ 9.83224750e-01 1.82359475e-01 3.75680457e-03 2.68385779e+02] [-1.82358396e-01 9.83231925e-01 -6.30657776e-04 -2.41963219e+01] [-3.80881661e-03 -6.50065215e-05 9.99992744e-01 -1.77067587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.245769231 meters 0.026592841836716924 Centerline is valid? [True, True] Translation: X:268.44, Y:-24.20, Z:-1.77 [[ 9.82891462e-01 1.84161522e-01 2.98444785e-03 2.68444219e+02] [-1.84160849e-01 9.82895992e-01 -5.00925332e-04 -2.41992757e+01] [-3.02565301e-03 -5.72632190e-05 9.99995421e-01 -1.77378901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.305769231 meters 0.020965366506772935 Centerline is valid? [True, True] Translation: X:268.50, Y:-24.22, Z:-1.77 [[ 9.83636550e-01 1.80093733e-01 5.03825660e-03 2.68502137e+02] [-1.80091766e-01 9.83649451e-01 -8.45118419e-04 -2.42183001e+01] [-5.10807887e-03 -7.60591638e-05 9.99986951e-01 -1.76982926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.365769231 meters 0.013277523397187312 Centerline is valid? [True, True] Translation: X:268.56, Y:-24.25, Z:-1.78 [[ 9.85192310e-01 1.71437194e-01 2.32408119e-03 2.68559198e+02] [-1.71436752e-01 9.85195051e-01 -3.89693449e-04 -2.42472370e+01] [-2.35648123e-03 -1.45099405e-05 9.99997223e-01 -1.77635064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.425769231 meters 0.012149494718524846 Centerline is valid? [True, True] Translation: X:268.62, Y:-24.28, Z:-1.78 [[ 9.86699641e-01 1.62551847e-01 8.46253796e-04 2.68615283e+02] [-1.62551786e-01 9.86700004e-01 -1.41013016e-04 -2.42832543e+01] [-8.57920550e-04 1.57742636e-06 9.99999632e-01 -1.77988353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.485769231 meters 0.01629998056518714 Centerline is valid? [True, True] Translation: X:268.67, Y:-24.31, Z:-1.77 [[ 9.87681459e-01 1.56447470e-01 3.08631984e-03 2.68672579e+02] [-1.56446616e-01 9.87686280e-01 -5.17612034e-04 -2.43117430e+01] [-3.12929485e-03 2.83915136e-05 9.99995103e-01 -1.77472153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.545769231 meters 0.019559652137872745 Centerline is valid? [True, True] Translation: X:268.73, Y:-24.35, Z:-1.79 [[ 9.88314033e-01 1.52401676e-01 -3.01672203e-03 2.68728875e+02] [-1.52400837e-01 9.88318637e-01 5.07231902e-04 -2.43452601e+01] [ 3.05878559e-03 -4.15534446e-05 9.99995321e-01 -1.78628509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.605769231 meters 0.019574301985678836 Centerline is valid? [True, True] Translation: X:268.79, Y:-24.36, Z:-1.78 [[ 9.88255322e-01 1.52799525e-01 -1.92972672e-03 2.68788119e+02] [-1.52799180e-01 9.88257206e-01 3.25779111e-04 -2.43639703e+01] [ 1.95684523e-03 -2.70922790e-05 9.99998085e-01 -1.78380724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.665769231 meters 0.01616915077978747 Centerline is valid? [True, True] Translation: X:268.85, Y:-24.38, Z:-1.77 [[ 9.87835487e-01 1.55469337e-01 3.21504284e-03 2.68847202e+02] [-1.55468401e-01 9.87840718e-01 -5.40817956e-04 -2.43815655e+01] [-3.26003084e-03 3.44015996e-05 9.99994685e-01 -1.77424310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.725769231 meters 0.013381369719922803 Centerline is valid? [True, True] Translation: X:268.91, Y:-24.40, Z:-1.77 [[ 9.87134507e-01 1.59834978e-01 4.27149615e-03 2.68907331e+02] [-1.59833366e-01 9.87143748e-01 -7.18303638e-04 -2.43964085e+01] [-4.33139077e-03 2.63346987e-05 9.99990619e-01 -1.77197383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.785769231 meters 0.010855154341943464 Centerline is valid? [True, True] Translation: X:268.97, Y:-24.40, Z:-1.77 [[ 9.86043091e-01 1.66416689e-01 4.95053725e-03 2.68970357e+02] [-1.66414602e-01 9.86055519e-01 -8.33539669e-04 -2.43989089e+01] [-5.02021948e-03 -1.93565102e-06 9.99987399e-01 -1.77051654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.845769231 meters 0.016376261557802405 Centerline is valid? [True, True] Translation: X:269.03, Y:-24.39, Z:-1.77 [[ 9.84367151e-01 1.75983487e-01 7.15007106e-03 2.69032610e+02] [-1.75979372e-01 9.84393116e-01 -1.20555704e-03 -2.43946396e+01] [-7.25063887e-03 -7.15542665e-05 9.99973711e-01 -1.76851884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.905769231 meters 0.021189392627274945 Centerline is valid? [True, True] Translation: X:269.09, Y:-24.40, Z:-1.78 [[ 9.83391846e-01 1.81463927e-01 3.36470988e-03 2.69093947e+02] [-1.81463048e-01 9.83397600e-01 -5.67309870e-04 -2.43992002e+01] [-3.41179390e-03 -5.26826105e-05 9.99994178e-01 -1.77588196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.965769231 meters 0.022372105319075287 Centerline is valid? [True, True] Translation: X:269.16, Y:-24.40, Z:-1.78 [[ 9.83278722e-01 1.82094171e-01 2.16069957e-03 2.69155332e+02] [-1.82093811e-01 9.83281095e-01 -3.63694788e-04 -2.44033242e+01] [-2.19080174e-03 -3.58366727e-05 9.99997600e-01 -1.77948430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.025769231 meters 0.022092454027279277 Centerline is valid? [True, True] Translation: X:269.22, Y:-24.41, Z:-1.77 [[ 9.83157413e-01 1.82678976e-01 5.46750834e-03 2.69218260e+02] [-1.82676669e-01 9.83172611e-01 -9.22665872e-04 -2.44070596e+01] [-5.54405610e-03 -9.16604187e-05 9.99984627e-01 -1.77288752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08576923100003 meters 0.02306784038985739 Centerline is valid? [True, True] Translation: X:269.28, Y:-24.41, Z:-1.78 [[ 9.83087546e-01 1.83123811e-01 2.13240024e-03 2.69279518e+02] [-1.83123461e-01 9.83089858e-01 -3.59935733e-04 -2.44103560e+01] [-2.16225385e-03 -3.66441750e-05 9.99997662e-01 -1.78095869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14576923100003 meters 0.016731181232228488 Centerline is valid? [True, True] Translation: X:269.34, Y:-24.43, Z:-1.78 [[ 9.83990816e-01 1.78176031e-01 3.92114345e-03 2.69339615e+02] [-1.78174804e-01 9.83998628e-01 -6.62868542e-04 -2.44263428e+01] [-3.97650706e-03 -4.63924067e-05 9.99992093e-01 -1.77612591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20576923100003 meters 0.01595403221535537 Centerline is valid? [True, True] Translation: X:269.40, Y:-24.43, Z:-1.78 [[ 9.84128971e-01 1.77438170e-01 2.42146005e-03 2.69402052e+02] [-1.77437702e-01 9.84131950e-01 -4.08620865e-04 -2.44324555e+01] [-2.45554114e-03 -2.75226758e-05 9.99996985e-01 -1.77833701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26576923100004 meters 0.018987091350355693 Centerline is valid? [True, True] Translation: X:269.46, Y:-24.43, Z:-1.78 [[ 9.83745554e-01 1.79545897e-01 2.82050874e-03 2.69463836e+02] [-1.79545267e-01 9.83749597e-01 -4.77191904e-04 -2.44312102e+01] [-2.86035218e-03 -3.69735801e-05 9.99995909e-01 -1.77799749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32576923100004 meters 0.019054314095469198 Centerline is valid? [True, True] Translation: X:269.53, Y:-24.43, Z:-1.78 [[ 9.83630505e-01 1.80120938e-01 5.24180633e-03 2.69525785e+02] [-1.80118764e-01 9.83644470e-01 -8.87896324e-04 -2.44349658e+01] [-5.31600252e-03 -7.07857641e-05 9.99985867e-01 -1.77511521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38576923100004 meters 0.0184507502730992 Centerline is valid? [True, True] Translation: X:269.59, Y:-24.44, Z:-1.78 [[ 9.83625967e-01 1.80156192e-01 4.86854568e-03 2.69588523e+02] [-1.80154318e-01 9.83638014e-01 -8.24428148e-04 -2.44431312e+01] [-4.93741243e-03 -6.61605908e-05 9.99987809e-01 -1.77545820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44576923100004 meters 0.01795569391023164 Centerline is valid? [True, True] Translation: X:269.65, Y:-24.45, Z:-1.78 [[ 9.84072041e-01 1.77740710e-01 3.23406254e-03 2.69649456e+02] [-1.77739869e-01 9.84077354e-01 -5.47962465e-04 -2.44479541e+01] [-3.27996295e-03 -3.55873103e-05 9.99994620e-01 -1.77912359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50576923100004 meters 0.013475079265551262 Centerline is valid? [True, True] Translation: X:269.71, Y:-24.46, Z:-1.77 [[ 9.84633777e-01 1.74480104e-01 7.28132030e-03 2.69710623e+02] [-1.74475733e-01 9.84660698e-01 -1.23615782e-03 -2.44601712e+01] [-7.38531487e-03 -5.32509489e-05 9.99972727e-01 -1.77198343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.565769231 meters 0.013009178776368974 Centerline is valid? [True, True] Translation: X:269.77, Y:-24.47, Z:-1.78 [[ 9.84784933e-01 1.73706650e-01 4.96344687e-03 2.69773205e+02] [-1.73704607e-01 9.84797440e-01 -8.43112841e-04 -2.44651459e+01] [-5.03444408e-03 -3.18887636e-05 9.99987327e-01 -1.77635722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.625769231 meters 0.012949897973261019 Centerline is valid? [True, True] Translation: X:269.83, Y:-24.47, Z:-1.78 [[ 9.84853289e-01 1.73362738e-01 3.05942086e-03 2.69834863e+02] [-1.73361958e-01 9.84858041e-01 -5.20307213e-04 -2.44707312e+01] [-3.10329711e-03 -1.79609188e-05 9.99995185e-01 -1.78055870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.685769231 meters 0.011584934814864304 Centerline is valid? [True, True] Translation: X:269.90, Y:-24.48, Z:-1.78 [[ 9.85259320e-01 1.71010384e-01 4.41832362e-03 2.69895098e+02] [-1.71008733e-01 9.85269226e-01 -7.51588373e-04 -2.44832923e+01] [-4.48176771e-03 -1.50624742e-05 9.99989957e-01 -1.77852112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.745769231 meters 0.011038905151503041 Centerline is valid? [True, True] Translation: X:269.96, Y:-24.49, Z:-1.78 [[ 9.85803869e-01 1.67857659e-01 3.81296962e-03 2.69956411e+02] [-1.67856405e-01 9.85811243e-01 -6.48681539e-04 -2.44888127e+01] [-3.86775448e-03 -5.58601422e-07 9.99992520e-01 -1.78098198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.805769231 meters 0.011529070478715703 Centerline is valid? [True, True] Translation: X:270.02, Y:-24.49, Z:-1.78 [[ 9.85512442e-01 1.69589154e-01 2.17835973e-03 2.70016059e+02] [-1.69588748e-01 9.85514850e-01 -3.70745165e-04 -2.44917533e+01] [-2.20968022e-03 -4.05132695e-06 9.99997559e-01 -1.78359243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.865769231 meters 0.011436686996982038 Centerline is valid? [True, True] Translation: X:270.08, Y:-24.50, Z:-1.78 [[ 9.85482725e-01 1.69753864e-01 2.72460557e-03 2.70076206e+02] [-1.69753231e-01 9.85486492e-01 -4.63609958e-04 -2.45013027e+01] [-2.76376157e-03 -5.63099434e-06 9.99996181e-01 -1.78348777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.925769231 meters 0.011060262370392246 Centerline is valid? [True, True] Translation: X:270.14, Y:-24.51, Z:-1.78 [[ 9.86032985e-01 1.66488491e-01 4.53153199e-03 2.70135773e+02] [-1.66486706e-01 9.86043398e-01 -7.71070638e-04 -2.45116405e+01] [-4.59666158e-03 5.86125038e-06 9.99989435e-01 -1.78031453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.985769231 meters 0.014822835100663252 Centerline is valid? [True, True] Translation: X:270.19, Y:-24.53, Z:-1.78 [[ 9.87110353e-01 1.59896075e-01 6.81148794e-03 2.70194114e+02] [-1.59891884e-01 9.87133852e-01 -1.15900970e-03 -2.45327190e+01] [-6.90917144e-03 5.49688403e-05 9.99976130e-01 -1.77602372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.045769231 meters 0.019319971497778955 Centerline is valid? [True, True] Translation: X:270.25, Y:-24.56, Z:-1.78 [[ 9.87961355e-01 1.54604947e-01 5.44713497e-03 2.70252922e+02] [-1.54602184e-01 9.87976369e-01 -9.27254542e-04 -2.45554773e+01] [-5.52499877e-03 7.39526910e-05 9.99984734e-01 -1.78074087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.105769231 meters 0.023494632507608634 Centerline is valid? [True, True] Translation: X:270.31, Y:-24.58, Z:-1.78 [[ 9.88474774e-01 1.51328787e-01 4.14963320e-03 2.70310849e+02] [-1.51327154e-01 9.88483482e-01 -7.06406370e-04 -2.45787897e+01] [-4.20874349e-03 7.03126932e-05 9.99991141e-01 -1.78292175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.165769231 meters 0.025002994084734678 Centerline is valid? [True, True] Translation: X:270.37, Y:-24.60, Z:-1.78 [[ 9.88621603e-01 1.50275195e-01 6.68522934e-03 2.70370251e+02] [-1.50270923e-01 9.88644198e-01 -1.13973382e-03 -2.46015168e+01] [-6.78058693e-03 1.22169890e-04 9.99977004e-01 -1.77777651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.225769231 meters 0.018790958593154113 Centerline is valid? [True, True] Translation: X:270.43, Y:-24.62, Z:-1.78 [[ 9.87803389e-01 1.55660305e-01 3.78605418e-03 2.70430001e+02] [-1.55658972e-01 9.87810643e-01 -6.46036849e-04 -2.46155397e+01] [-3.84046691e-03 4.88240876e-05 9.99992624e-01 -1.78393079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.285769231 meters 0.011312638299257462 Centerline is valid? [True, True] Translation: X:270.49, Y:-24.62, Z:-1.79 [[ 9.85866005e-01 1.67507409e-01 3.08021638e-03 2.70491056e+02] [-1.67506584e-01 9.85870817e-01 -5.25685627e-04 -2.46162835e+01] [-3.12475167e-03 2.29906598e-06 9.99995118e-01 -1.78632178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.345769231 meters 0.02032321609478165 Centerline is valid? [True, True] Translation: X:270.55, Y:-24.61, Z:-1.79 [[ 9.83432178e-01 1.81276370e-01 -1.71414711e-04 2.70553887e+02] [-1.81276367e-01 9.83432193e-01 2.92591630e-05 -2.46077450e+01] [ 1.73878740e-04 2.29903375e-06 9.99999985e-01 -1.79254297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.405769231 meters 0.034733099498167525 Centerline is valid? [True, True] Translation: X:270.62, Y:-24.59, Z:-1.79 [[ 9.80427847e-01 1.96872141e-01 1.61141839e-03 2.70618070e+02] [-1.96871954e-01 9.80429170e-01 -2.75104775e-04 -2.45907290e+01] [-1.63404206e-03 -4.75227054e-05 9.99998664e-01 -1.78761807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.465769231 meters 0.043394576828767455 Centerline is valid? [True, True] Translation: X:270.68, Y:-24.58, Z:-1.79 [[ 9.78739949e-01 2.05103518e-01 8.11490411e-04 2.70681000e+02] [-2.05103474e-01 9.78740285e-01 -1.38555231e-04 -2.45816971e+01] [-8.22656521e-04 -3.08299626e-05 9.99999661e-01 -1.79056077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.525769231 meters 0.04444043693729652 Centerline is valid? [True, True] Translation: X:270.74, Y:-24.58, Z:-1.79 [[ 9.78954433e-01 2.04072598e-01 1.61045367e-03 2.70739093e+02] [-2.04072421e-01 9.78955756e-01 -2.75176202e-04 -2.45828858e+01] [-1.63271881e-03 -5.92642162e-05 9.99998665e-01 -1.79015317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58576923100003 meters 0.035955168829904446 Centerline is valid? [True, True] Translation: X:270.80, Y:-24.60, Z:-1.79 [[ 9.80363469e-01 1.97187560e-01 2.12939578e-03 2.70797432e+02] [-1.97187236e-01 9.80365780e-01 -3.63397843e-04 -2.45953174e+01] [-2.15924429e-03 -6.36276990e-05 9.99997667e-01 -1.79053396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64576923100003 meters 0.02858670570479948 Centerline is valid? [True, True] Translation: X:270.86, Y:-24.61, Z:-1.78 [[ 9.81747412e-01 1.90077329e-01 6.52906586e-03 2.70857076e+02] [-1.90074122e-01 9.81769111e-01 -1.11385091e-03 -2.46058328e+01] [-6.62175299e-03 -1.47486210e-04 9.99978065e-01 -1.78092640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70576923100003 meters 0.022913683094231932 Centerline is valid? [True, True] Translation: X:270.92, Y:-24.61, Z:-1.78 [[ 9.82655515e-01 1.85331121e-01 6.36501625e-03 2.70916033e+02] [-1.85327974e-01 9.82676123e-01 -1.08586359e-03 -2.46141520e+01] [-6.45599381e-03 -1.12585724e-04 9.99979154e-01 -1.78327018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76576923100004 meters 0.014578482404898825 Centerline is valid? [True, True] Translation: X:270.97, Y:-24.63, Z:-1.79 [[ 9.84368302e-01 1.76064024e-01 4.52827288e-03 2.70973170e+02] [-1.76062334e-01 9.84378717e-01 -7.72456821e-04 -2.46321824e+01] [-4.59353731e-03 -3.68762817e-05 9.99989449e-01 -1.78652242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82576923100004 meters 0.011009330111878893 Centerline is valid? [True, True] Translation: X:271.03, Y:-24.65, Z:-1.79 [[ 9.85794355e-01 1.67902467e-01 4.27214268e-03 2.71029388e+02] [-1.67900886e-01 9.85803612e-01 -7.28703524e-04 -2.46492809e+01] [-4.33384480e-03 1.05528106e-06 9.99990609e-01 -1.78783111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88576923100004 meters 0.016591601642693413 Centerline is valid? [True, True] Translation: X:271.09, Y:-24.68, Z:-1.79 [[ 9.87337220e-01 1.58598833e-01 3.40949253e-03 2.71087270e+02] [-1.58597772e-01 9.87343106e-01 -5.80831646e-04 -2.46768012e+01] [-3.45845817e-03 3.27387822e-05 9.99994019e-01 -1.79047440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94576923100004 meters 0.02148632736275928 Centerline is valid? [True, True] Translation: X:271.15, Y:-24.70, Z:-1.79 [[ 9.88109159e-01 1.53670048e-01 5.07997081e-03 2.71145099e+02] [-1.53667621e-01 9.88122214e-01 -8.66935542e-04 -2.46980594e+01] [-5.15285403e-03 7.59999217e-05 9.99986721e-01 -1.78642445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00576923100004 meters 0.020261169407128344 Centerline is valid? [True, True] Translation: X:271.21, Y:-24.71, Z:-1.79 [[ 9.88094019e-01 1.53766233e-01 5.11412132e-03 2.71206554e+02] [-1.53763776e-01 9.88107251e-01 -8.72575840e-04 -2.47114745e+01] [-5.18747306e-03 7.58203646e-05 9.99986542e-01 -1.78702219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.065769231 meters 0.02172897646245865 Centerline is valid? [True, True] Translation: X:271.27, Y:-24.73, Z:-1.79 [[ 9.88260309e-01 1.52775196e-01 1.14039502e-03 2.71265883e+02] [-1.52775074e-01 9.88260967e-01 -1.93892828e-04 -2.47332024e+01] [-1.15662990e-03 1.73926527e-05 9.99999331e-01 -1.79428106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.125769231 meters 0.022837295549778844 Centerline is valid? [True, True] Translation: X:271.32, Y:-24.76, Z:-1.79 [[ 9.88101498e-01 1.53724708e-01 4.91373117e-03 2.71323900e+02] [-1.53722429e-01 9.88113712e-01 -8.40314372e-04 -2.47575706e+01] [-4.98450223e-03 7.49651972e-05 9.99987574e-01 -1.78755703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.185769231 meters 0.019792575304485024 Centerline is valid? [True, True] Translation: X:271.38, Y:-24.77, Z:-1.79 [[ 9.87871931e-01 1.55164877e-01 5.73661541e-03 2.71384983e+02] [-1.55161793e-01 9.87888584e-01 -9.81618807e-04 -2.47675888e+01] [-5.81944964e-03 7.96101346e-05 9.99983064e-01 -1.78560079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.245769231 meters 0.011117394739678136 Centerline is valid? [True, True] Translation: X:271.45, Y:-24.77, Z:-1.79 [[ 9.85707036e-01 1.68441087e-01 3.03954996e-03 2.71447804e+02] [-1.68440283e-01 9.85711723e-01 -5.20627942e-04 -2.47650401e+01] [-3.08381517e-03 1.20397011e-06 9.99995245e-01 -1.79061662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.305769231 meters 0.014019804105511294 Centerline is valid? [True, True] Translation: X:271.51, Y:-24.77, Z:-1.79 [[ 9.84365636e-01 1.76134764e-01 9.16505141e-04 2.71508313e+02] [-1.76134694e-01 9.84366062e-01 -1.56961633e-04 -2.47670143e+01] [-9.29822957e-04 -6.92071466e-06 9.99999568e-01 -1.79452235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.365769231 meters 0.02267419762342921 Centerline is valid? [True, True] Translation: X:271.57, Y:-24.76, Z:-1.79 [[ 9.82707081e-01 1.85148779e-01 2.59266598e-03 2.71568871e+02] [-1.85148251e-01 9.82710500e-01 -4.44367613e-04 -2.47617210e+01] [-2.63011420e-03 -4.33443714e-05 9.99996540e-01 -1.79255047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.425769231 meters 0.027565170096856897 Centerline is valid? [True, True] Translation: X:271.63, Y:-24.76, Z:-1.79 [[ 9.81602435e-01 1.90913309e-01 2.96106636e-03 2.71630629e+02] [-1.90912647e-01 9.81606899e-01 -5.07318552e-04 -2.47605542e+01] [-3.00345703e-03 -6.73198911e-05 9.99995487e-01 -1.79270100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.485769231 meters 0.02712381420894716 Centerline is valid? [True, True] Translation: X:271.69, Y:-24.77, Z:-1.79 [[ 9.81700431e-01 1.90418566e-01 2.24345369e-03 2.71688655e+02] [-1.90418184e-01 9.81702993e-01 -3.84594482e-04 -2.47684543e+01] [-2.27563913e-03 -4.96378091e-05 9.99997409e-01 -1.79436919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.545769231 meters 0.02185686233439296 Centerline is valid? [True, True] Translation: X:271.75, Y:-24.78, Z:-1.79 [[ 9.82729307e-01 1.84950839e-01 6.02471079e-03 2.71746580e+02] [-1.84947988e-01 9.82747769e-01 -1.03193376e-03 -2.47848086e+01] [-6.11162810e-03 -1.00146590e-04 9.99981319e-01 -1.78822280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.605769231 meters 0.016178887574198827 Centerline is valid? [True, True] Translation: X:271.80, Y:-24.81, Z:-1.79 [[ 9.83882681e-01 1.78722778e-01 5.74790519e-03 2.71804141e+02] [-1.78720076e-01 9.83899469e-01 -9.84415339e-04 -2.48077417e+01] [-5.83129831e-03 -5.87168528e-05 9.99982996e-01 -1.78900015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.665769231 meters 0.01418779400921912 Centerline is valid? [True, True] Translation: X:271.86, Y:-24.82, Z:-1.79 [[ 9.84371499e-01 1.76065811e-01 3.68549102e-03 2.71863990e+02] [-1.76064682e-01 9.84378397e-01 -6.31224956e-04 -2.48233029e+01] [-3.73905487e-03 -2.75249477e-05 9.99993009e-01 -1.79368810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.725769231 meters 0.017846115867466872 Centerline is valid? [True, True] Translation: X:271.92, Y:-24.83, Z:-1.80 [[ 9.83665057e-01 1.80006463e-01 8.54299152e-04 2.71923838e+02] [-1.80006403e-01 9.83665428e-01 -1.46426788e-04 -2.48297609e+01] [-8.66702308e-04 -9.74440253e-06 9.99999624e-01 -1.79831118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.785769231 meters 0.027655336888533312 Centerline is valid? [True, True] Translation: X:271.98, Y:-24.82, Z:-1.79 [[ 9.81960894e-01 1.89069547e-01 2.34723495e-03 2.71984416e+02] [-1.89069125e-01 9.81963698e-01 -4.02199500e-04 -2.48246233e+01] [-2.38094318e-03 -4.88454773e-05 9.99997164e-01 -1.79440093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.845769231 meters 0.03343635037814775 Centerline is valid? [True, True] Translation: X:272.05, Y:-24.82, Z:-1.79 [[ 9.80642983e-01 1.95665305e-01 7.37752867e-03 2.72046294e+02] [-1.95661331e-01 9.80670713e-01 -1.26363218e-03 -2.48198854e+01] [-7.48217527e-03 -2.04325052e-04 9.99971987e-01 -1.78664477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.905769231 meters 0.03646948869018722 Centerline is valid? [True, True] Translation: X:272.11, Y:-24.81, Z:-1.79 [[ 9.79729326e-01 2.00297097e-01 3.39424387e-03 2.72108059e+02] [-2.00296284e-01 9.79735199e-01 -5.81375342e-04 -2.48144231e+01] [-3.44190799e-03 -1.10263964e-04 9.99994071e-01 -1.79232087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.965769231 meters 0.037464684805535164 Centerline is valid? [True, True] Translation: X:272.17, Y:-24.81, Z:-1.79 [[ 9.79647996e-01 2.00682800e-01 4.02720616e-03 2.72168346e+02] [-2.00681658e-01 9.79656264e-01 -6.89796369e-04 -2.48094056e+01] [-4.08370800e-03 -1.32428779e-04 9.99991653e-01 -1.79373168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.025769231 meters 0.030533003581138626 Centerline is valid? [True, True] Translation: X:272.23, Y:-24.82, Z:-1.79 [[ 9.80868139e-01 1.94473858e-01 8.80980120e-03 2.72228176e+02] [-1.94468150e-01 9.80907673e-01 -1.50824010e-03 -2.48159512e+01] [-8.93491487e-03 -2.33841078e-04 9.99960056e-01 -1.78574625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08576923100003 meters 0.025593117685373236 Centerline is valid? [True, True] Translation: X:272.29, Y:-24.83, Z:-1.79 [[ 9.81885537e-01 1.89323240e-01 7.58307858e-03 2.72287496e+02] [-1.89318858e-01 9.81914805e-01 -1.29819649e-03 -2.48253903e+01] [-7.69171590e-03 -1.60939414e-04 9.99970405e-01 -1.78901043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14576923100003 meters 0.019863537198217134 Centerline is valid? [True, True] Translation: X:272.35, Y:-24.84, Z:-1.80 [[ 9.83101474e-01 1.83046250e-01 2.35854687e-03 2.72346145e+02] [-1.83045808e-01 9.83104302e-01 -4.03804272e-04 -2.48392525e+01] [-2.39261243e-03 -3.47415436e-05 9.99997137e-01 -1.79892499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20576923100003 meters 0.015242431632800884 Centerline is valid? [True, True] Translation: X:272.40, Y:-24.85, Z:-1.79 [[ 9.84100837e-01 1.77505660e-01 6.10597351e-03 2.72402930e+02] [-1.77502591e-01 9.84119778e-01 -1.04520863e-03 -2.48546173e+01] [-6.19453974e-03 -5.52354304e-05 9.99980812e-01 -1.79101111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26576923100004 meters 0.012939382885923164 Centerline is valid? [True, True] Translation: X:272.46, Y:-24.87, Z:-1.79 [[ 9.84605967e-01 1.74610636e-01 7.88770965e-03 2.72459476e+02] [-1.74605425e-01 9.84637559e-01 -1.34983207e-03 -2.48735628e+01] [-8.00223021e-03 -4.81841903e-05 9.99967980e-01 -1.78954979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32576923100004 meters 0.011127396395391799 Centerline is valid? [True, True] Translation: X:272.52, Y:-24.90, Z:-1.79 [[ 9.85524458e-01 1.69356111e-01 7.74923293e-03 2.72516126e+02] [-1.69350922e-01 9.85554924e-01 -1.32580095e-03 -2.48988280e+01] [-7.86182716e-03 -5.73047452e-06 9.99969095e-01 -1.78987771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38576923100004 meters 0.011525569388102853 Centerline is valid? [True, True] Translation: X:272.57, Y:-24.92, Z:-1.79 [[ 9.86100114e-01 1.66033026e-01 6.29282660e-03 2.72573613e+02] [-1.66029537e-01 9.86120192e-01 -1.07659180e-03 -2.49210612e+01] [-6.38423317e-03 1.68322150e-05 9.99979620e-01 -1.79196819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44576923100004 meters 0.01395889388986054 Centerline is valid? [True, True] Translation: X:272.63, Y:-24.95, Z:-1.80 [[ 9.86789681e-01 1.61959440e-01 3.90696840e-03 2.72632356e+02] [-1.61958064e-01 9.86797415e-01 -6.68139558e-04 -2.49479266e+01] [-3.96359783e-03 2.65481812e-05 9.99992145e-01 -1.79894739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50576923100004 meters 0.015085824991023155 Centerline is valid? [True, True] Translation: X:272.69, Y:-24.97, Z:-1.80 [[ 9.86939349e-01 1.61069020e-01 2.73718346e-03 2.72690744e+02] [-1.61068341e-01 9.86943144e-01 -4.68363252e-04 -2.49662479e+01] [-2.77688326e-03 2.13725244e-05 9.99996144e-01 -1.80083763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.565769231 meters 0.015283588697312368 Centerline is valid? [True, True] Translation: X:272.75, Y:-24.98, Z:-1.80 [[ 9.86952122e-01 1.60927346e-01 5.28182328e-03 2.72750025e+02] [-1.60924806e-01 9.86966254e-01 -9.05305164e-04 -2.49832517e+01] [-5.35866969e-03 4.35164684e-05 9.99985641e-01 -1.79565798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.625769231 meters 0.013100254917274125 Centerline is valid? [True, True] Translation: X:272.81, Y:-24.99, Z:-1.79 [[ 9.86537225e-01 1.63383671e-01 7.07675342e-03 2.72811725e+02] [-1.63379163e-01 9.86562605e-01 -1.21441242e-03 -2.49897923e+01] [-7.18007545e-03 4.18690086e-05 9.99974222e-01 -1.79316194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.685769231 meters 0.01289523034183131 Centerline is valid? [True, True] Translation: X:272.87, Y:-25.00, Z:-1.80 [[ 9.86375303e-01 1.64479198e-01 3.21788765e-03 2.72873763e+02] [-1.64478272e-01 9.86380552e-01 -5.52022871e-04 -2.50011339e+01] [-3.26485807e-03 1.52291276e-05 9.99994670e-01 -1.80163579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.745769231 meters 0.014580397120892832 Centerline is valid? [True, True] Translation: X:272.93, Y:-25.02, Z:-1.80 [[ 9.86856406e-01 1.61533988e-01 4.60491825e-03 2.72933466e+02] [-1.61532053e-01 9.86867149e-01 -7.91493269e-04 -2.50215132e+01] [-4.67229560e-03 3.72483031e-05 9.99989084e-01 -1.79741780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.805769231 meters 0.015862022296927954 Centerline is valid? [True, True] Translation: X:272.99, Y:-25.04, Z:-1.79 [[ 9.86980433e-01 1.60549292e-01 9.67209989e-03 2.72992136e+02] [-1.60540680e-01 9.87027820e-01 -1.66538762e-03 -2.50401128e+01] [-9.81400847e-03 9.09395050e-05 9.99951837e-01 -1.78918782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.865769231 meters 0.011081727529279535 Centerline is valid? [True, True] Translation: X:273.06, Y:-25.03, Z:-1.79 [[ 9.85342315e-01 1.70401201e-01 7.99701129e-03 2.73056306e+02] [-1.70395629e-01 9.85374767e-01 -1.37806032e-03 -2.50341688e+01] [-8.11487626e-03 -4.79462564e-06 9.99967074e-01 -1.79223719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.925769231 meters 0.015237888615953585 Centerline is valid? [True, True] Translation: X:273.12, Y:-25.03, Z:-1.80 [[ 9.84000174e-01 1.78119552e-01 4.13313919e-03 2.73117963e+02] [-1.78118129e-01 9.84008854e-01 -7.12823615e-04 -2.50294661e+01] [-4.19401338e-03 -3.47684596e-05 9.99991204e-01 -1.80014418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.985769231 meters 0.018578257910973048 Centerline is valid? [True, True] Translation: X:273.18, Y:-25.03, Z:-1.80 [[ 9.83101929e-01 1.83002948e-01 4.52963711e-03 2.73178538e+02] [-1.83001290e-01 9.83112363e-01 -7.81357919e-04 -2.50290289e+01] [-4.59613305e-03 -6.07749575e-05 9.99989436e-01 -1.79896302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.045769231 meters 0.01573968221268894 Centerline is valid? [True, True] Translation: X:273.24, Y:-25.04, Z:-1.80 [[ 9.83726483e-01 1.79539374e-01 6.91519748e-03 2.73237393e+02] [-1.79535426e-01 9.83750786e-01 -1.19260711e-03 -2.50372878e+01] [-7.01695089e-03 -6.83237288e-05 9.99975379e-01 -1.79639096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.105769231 meters 0.011291484587805517 Centerline is valid? [True, True] Translation: X:273.30, Y:-25.06, Z:-1.80 [[ 9.85162117e-01 1.71497407e-01 6.65157513e-03 2.73296075e+02] [-1.71493572e-01 9.85184571e-01 -1.14693853e-03 -2.50557140e+01] [-6.74972618e-03 -1.07819842e-05 9.99977220e-01 -1.79848227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.165769231 meters 0.014060038995087135 Centerline is valid? [True, True] Translation: X:273.36, Y:-25.08, Z:-1.80 [[ 9.86566371e-01 1.63267525e-01 5.52358643e-03 2.73355317e+02] [-1.63264747e-01 9.86581833e-01 -9.53101387e-04 -2.50801835e+01] [-5.60508053e-03 3.84908339e-05 9.99984291e-01 -1.80167758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.225769231 meters 0.028688434367996316 Centerline is valid? [True, True] Translation: X:273.41, Y:-25.12, Z:-1.80 [[ 9.88651412e-01 1.50132951e-01 5.33683028e-03 2.73408666e+02] [-1.50130161e-01 9.88665810e-01 -9.21979334e-04 -2.51193302e+01] [-5.41476111e-03 1.10296984e-04 9.99985334e-01 -1.80219590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.285769231 meters 0.037148099920494046 Centerline is valid? [True, True] Translation: X:273.47, Y:-25.15, Z:-1.80 [[ 9.89927703e-01 1.41442764e-01 6.08989488e-03 2.73465035e+02] [-1.41438966e-01 9.89946419e-01 -1.05215439e-03 -2.51487627e+01] [-6.17748926e-03 1.80208347e-04 9.99980903e-01 -1.80146055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.345769231 meters 0.036889839550950335 Centerline is valid? [True, True] Translation: X:273.52, Y:-25.17, Z:-1.80 [[ 9.89806811e-01 1.42246843e-01 6.95066189e-03 2.73524925e+02] [-1.42241914e-01 9.89831196e-01 -1.20089601e-03 -2.51684897e+01] [-7.05080563e-03 1.99979605e-04 9.99975123e-01 -1.80078244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.405769231 meters 0.028171275812130275 Centerline is valid? [True, True] Translation: X:273.58, Y:-25.17, Z:-1.81 [[ 9.88585111e-01 1.50613283e-01 3.88816723e-03 2.73584837e+02] [-1.50611803e-01 9.88592754e-01 -6.72369111e-04 -2.51747973e+01] [-3.94508167e-03 7.90902166e-05 9.99992215e-01 -1.80738401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.465769231 meters 0.018343599778501224 Centerline is valid? [True, True] Translation: X:273.65, Y:-25.17, Z:-1.81 [[ 9.87143446e-01 1.59774819e-01 4.45235517e-03 2.73645141e+02] [-1.59772970e-01 9.87153486e-01 -7.70053559e-04 -2.51748036e+01] [-4.51819309e-03 4.87873135e-05 9.99989792e-01 -1.80547921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.525769231 meters 0.01139312911521213 Centerline is valid? [True, True] Translation: X:273.71, Y:-25.17, Z:-1.80 [[ 9.85417828e-01 1.69983431e-01 7.57208482e-03 2.73708745e+02] [-1.69978387e-01 9.85446921e-01 -1.30950303e-03 -2.51660236e+01] [-7.68448149e-03 3.31687232e-06 9.99970474e-01 -1.80016468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58576923100003 meters 0.015359784891198358 Centerline is valid? [True, True] Translation: X:273.77, Y:-25.15, Z:-1.81 [[ 9.83832844e-01 1.79047823e-01 3.84875433e-03 2.73772795e+02] [-1.79046589e-01 9.83840371e-01 -6.65601969e-04 -2.51546233e+01] [-3.90573447e-03 -3.42652568e-05 9.99992372e-01 -1.80840472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64576923100003 meters 0.018465733306616487 Centerline is valid? [True, True] Translation: X:273.83, Y:-25.15, Z:-1.81 [[ 9.83077219e-01 1.83164832e-01 3.13479580e-03 2.73834458e+02] [-1.83164033e-01 9.83082216e-01 -5.42266535e-04 -2.51531992e+01] [-3.18108616e-03 -4.10919659e-05 9.99994939e-01 -1.80923049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70576923100003 meters 0.019131851843664997 Centerline is valid? [True, True] Translation: X:273.89, Y:-25.15, Z:-1.81 [[ 9.83164175e-01 1.82684507e-01 3.81779048e-03 2.73894477e+02] [-1.82683319e-01 9.83171587e-01 -6.60526004e-04 -2.51507455e+01] [-3.87421099e-03 -4.80411333e-05 9.99992494e-01 -1.80887072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76576923100004 meters 0.013165956880311238 Centerline is valid? [True, True] Translation: X:273.95, Y:-25.17, Z:-1.81 [[ 9.84466575e-01 1.75506091e-01 4.81403220e-03 2.73953220e+02] [-1.75504118e-01 9.84478345e-01 -8.32570790e-04 -2.51655177e+01] [-4.88543170e-03 -2.52443591e-05 9.99988066e-01 -1.80900935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82576923100004 meters 0.012475035731228936 Centerline is valid? [True, True] Translation: X:274.01, Y:-25.18, Z:-1.81 [[ 9.85827239e-01 1.67758316e-01 1.34257574e-03 2.74012953e+02] [-1.67758155e-01 9.85828153e-01 -2.32059278e-04 -2.51818951e+01] [-1.36247883e-03 3.54232796e-06 9.99999072e-01 -1.81405657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88576923100004 meters 0.014857015561594208 Centerline is valid? [True, True] Translation: X:274.07, Y:-25.20, Z:-1.81 [[ 9.86633232e-01 1.62898060e-01 4.36883708e-03 2.74072798e+02] [-1.62896311e-01 9.86642904e-01 -7.55619882e-04 -2.51978437e+01] [-4.43357112e-03 3.38522438e-05 9.99990171e-01 -1.80882508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94576923100004 meters 0.02042195513689405 Centerline is valid? [True, True] Translation: X:274.13, Y:-25.22, Z:-1.81 [[ 9.87661129e-01 1.56478998e-01 6.31015450e-03 2.74131879e+02] [-1.56475217e-01 9.87681282e-01 -1.09159469e-03 -2.52220000e+01] [-6.40323313e-03 9.07428456e-05 9.99979495e-01 -1.80753998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.005769231 meters 0.025888634694207834 Centerline is valid? [True, True] Translation: X:274.19, Y:-25.25, Z:-1.81 [[ 9.88572474e-01 1.50664207e-01 4.97602837e-03 2.74189433e+02] [-1.50661780e-01 9.88584992e-01 -8.61019788e-04 -2.52502606e+01] [-5.04895183e-03 1.01483169e-04 9.99987249e-01 -1.80914832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.065769231 meters 0.02707020486203042 Centerline is valid? [True, True] Translation: X:274.25, Y:-25.27, Z:-1.81 [[ 9.88451379e-01 1.51462255e-01 4.80168889e-03 2.74248921e+02] [-1.51460006e-01 9.88463037e-01 -8.30659972e-04 -2.52680127e+01] [-4.87210562e-03 9.38031654e-05 9.99988127e-01 -1.80926815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.125769231 meters 0.019611736614979326 Centerline is valid? [True, True] Translation: X:274.31, Y:-25.27, Z:-1.81 [[ 9.87332894e-01 1.58622561e-01 3.55523246e-03 2.74309177e+02] [-1.58621371e-01 9.87339294e-01 -6.15889896e-04 -2.52732645e+01] [-3.60791474e-03 4.41525054e-05 9.99993490e-01 -1.81135392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.185769231 meters 0.012791879880491528 Centerline is valid? [True, True] Translation: X:274.37, Y:-25.27, Z:-1.81 [[ 9.85938273e-01 1.67097499e-01 2.03650098e-03 2.74370996e+02] [-1.67097127e-01 9.85940376e-01 -3.52673594e-04 -2.52742862e+01] [-2.06679942e-03 7.42093082e-06 9.99997864e-01 -1.81361283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.245769231 meters 0.012080399091900054 Centerline is valid? [True, True] Translation: X:274.43, Y:-25.28, Z:-1.81 [[ 9.85643094e-01 1.68814600e-01 3.05331576e-03 2.74431982e+02] [-1.68813774e-01 9.85647823e-01 -5.28337962e-04 -2.52840709e+01] [-3.09868519e-03 5.31090754e-06 9.99995199e-01 -1.81186363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.305769231 meters 0.012507669204910485 Centerline is valid? [True, True] Translation: X:274.49, Y:-25.29, Z:-1.82 [[ 9.84875019e-01 1.73259308e-01 1.55222264e-03 2.74493649e+02] [-1.73259100e-01 9.84876242e-01 -2.68214426e-04 -2.52903959e+01] [-1.57521785e-03 -4.77901109e-06 9.99998759e-01 -1.81702478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.365769231 meters 0.01609217671083444 Centerline is valid? [True, True] Translation: X:274.55, Y:-25.29, Z:-1.82 [[ 9.83729542e-01 1.79655546e-01 2.70938323e-04 2.74554588e+02] [-1.79655540e-01 9.83729579e-01 -4.71985873e-05 -2.52868195e+01] [-2.75009530e-04 -2.24492596e-06 9.99999962e-01 -1.81826370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.425769231 meters 0.01849772377065561 Centerline is valid? [True, True] Translation: X:274.62, Y:-25.29, Z:-1.81 [[ 9.83031938e-01 1.83388828e-01 4.09235816e-03 2.74615600e+02] [-1.83387459e-01 9.83040454e-01 -7.10483383e-04 -2.52863759e+01] [-4.15324834e-03 -5.20593092e-05 9.99991374e-01 -1.81190657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.485769231 meters 0.02054624638506814 Centerline is valid? [True, True] Translation: X:274.68, Y:-25.29, Z:-1.82 [[ 9.82729411e-01 1.85041515e-01 1.59457707e-03 2.74676119e+02] [-1.85041309e-01 9.82730704e-01 -2.76900075e-04 -2.52882693e+01] [-1.61827786e-03 -2.29447815e-05 9.99998690e-01 -1.81883790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.545769231 meters 0.019277895051420378 Centerline is valid? [True, True] Translation: X:274.74, Y:-25.30, Z:-1.83 [[ 9.83059170e-01 1.83281380e-01 -1.61381451e-03 2.74735262e+02] [-1.83281168e-01 9.83060494e-01 2.79866889e-04 -2.52990656e+01] [ 1.63777168e-03 2.06560955e-05 9.99998659e-01 -1.82536777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.605769231 meters 0.014031214223317701 Centerline is valid? [True, True] Translation: X:274.79, Y:-25.32, Z:-1.82 [[ 9.84423344e-01 1.75811946e-01 -9.16219017e-04 2.74793143e+02] [-1.75811875e-01 9.84423770e-01 1.58985233e-04 -2.53193839e+01] [ 9.29899283e-04 4.57340873e-06 9.99999568e-01 -1.82405051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.665769231 meters 0.01402289448965496 Centerline is valid? [True, True] Translation: X:274.85, Y:-25.33, Z:-1.82 [[ 9.84311914e-01 1.76437035e-01 1.68112618e-04 2.74852484e+02] [-1.76437032e-01 9.84311929e-01 -2.93375757e-05 -2.53277870e+01] [-1.70651490e-04 -7.83966107e-07 9.99999985e-01 -1.82205856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.725769231 meters 0.019232634635430262 Centerline is valid? [True, True] Translation: X:274.91, Y:-25.32, Z:-1.82 [[ 9.83104675e-01 1.83043674e-01 -4.59068615e-04 2.74913074e+02] [-1.83043657e-01 9.83104783e-01 7.93787243e-05 -2.53203828e+01] [ 4.65842324e-04 5.99200297e-06 9.99999891e-01 -1.82372380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.785769231 meters 0.024668233882939764 Centerline is valid? [True, True] Translation: X:274.97, Y:-25.32, Z:-1.82 [[ 9.81974369e-01 1.89013578e-01 -4.54175324e-04 2.74974327e+02] [-1.89013562e-01 9.81974474e-01 7.86040697e-05 -2.53177474e+01] [ 4.60845812e-04 8.65811423e-06 9.99999894e-01 -1.82384102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.845769231 meters 0.021050231811421776 Centerline is valid? [True, True] Translation: X:275.03, Y:-25.33, Z:-1.82 [[ 9.82709170e-01 1.85154184e-01 7.84523514e-04 2.75032815e+02] [-1.85154134e-01 9.82709483e-01 -1.36286701e-04 -2.53272772e+01] [-7.96192750e-04 -1.13275819e-05 9.99999683e-01 -1.82182703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.905769231 meters 0.014509152588531953 Centerline is valid? [True, True] Translation: X:275.09, Y:-25.35, Z:-1.82 [[ 9.84179987e-01 1.77147435e-01 2.92228936e-03 2.75088923e+02] [-1.77146711e-01 9.84184325e-01 -5.06724445e-04 -2.53481493e+01] [-2.96583632e-03 -1.89658908e-05 9.99995602e-01 -1.81912089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.965769231 meters 0.01316596552728953 Centerline is valid? [True, True] Translation: X:275.14, Y:-25.37, Z:-1.83 [[ 9.85401476e-01 1.70241481e-01 -1.33041060e-03 2.75144827e+02] [-1.70241325e-01 9.85402374e-01 2.30601481e-04 -2.53714036e+01] [ 1.35024770e-03 -7.44175880e-07 9.99999088e-01 -1.82841687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.025769231 meters 0.013291331725506506 Centerline is valid? [True, True] Translation: X:275.20, Y:-25.39, Z:-1.83 [[ 9.85630534e-01 1.68908727e-01 -1.51429707e-03 2.75203238e+02] [-1.68908523e-01 9.85631697e-01 2.62361449e-04 -2.53858387e+01] [ 1.53685433e-03 -2.81377210e-06 9.99998819e-01 -1.82796088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08576923100003 meters 0.014784951374410861 Centerline is valid? [True, True] Translation: X:275.26, Y:-25.41, Z:-1.82 [[ 9.86302397e-01 1.64947159e-01 1.29486423e-04 2.75259648e+02] [-1.64947158e-01 9.86302405e-01 -2.23671462e-05 -2.54116524e+01] [-1.31402168e-04 7.02352436e-07 9.99999991e-01 -1.82499131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14576923100003 meters 0.01357331150526377 Centerline is valid? [True, True] Translation: X:275.32, Y:-25.43, Z:-1.83 [[ 9.85810714e-01 1.67860425e-01 -3.37606153e-04 2.75318267e+02] [-1.67860414e-01 9.85810772e-01 5.85340221e-05 -2.54267535e+01] [ 3.42641328e-04 -1.03275739e-06 9.99999941e-01 -1.82625551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20576923100003 meters 0.013304081249244197 Centerline is valid? [True, True] Translation: X:275.38, Y:-25.44, Z:-1.82 [[ 9.84528890e-01 1.75157917e-01 4.75072915e-03 2.75376766e+02] [-1.75155982e-01 9.84540351e-01 -8.23705109e-04 -2.54376333e+01] [-4.82156302e-03 -2.11571515e-05 9.99988376e-01 -1.81507110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26576923100004 meters 0.02092391367639284 Centerline is valid? [True, True] Translation: X:275.44, Y:-25.44, Z:-1.82 [[ 9.82928005e-01 1.83985648e-01 1.34872455e-03 2.75437856e+02] [-1.83985500e-01 9.82928930e-01 -2.33889600e-04 -2.54375913e+01] [-1.36873270e-03 -1.82491219e-05 9.99999063e-01 -1.82299181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32576923100004 meters 0.02803383915427861 Centerline is valid? [True, True] Translation: X:275.50, Y:-25.44, Z:-1.83 [[ 9.81739400e-01 1.90216972e-01 -2.29197017e-03 2.75498489e+02] [-1.90216563e-01 9.81742075e-01 3.97222167e-04 -2.54384018e+01] [ 2.32568195e-03 4.60020368e-05 9.99997295e-01 -1.82992976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38576923100004 meters 0.029430105470870844 Centerline is valid? [True, True] Translation: X:275.56, Y:-25.44, Z:-1.82 [[ 9.80833747e-01 1.94845314e-01 -6.82119458e-04 2.75558309e+02] [-1.94845279e-01 9.80833984e-01 1.18055318e-04 -2.54428788e+01] [ 6.92048471e-04 1.71151159e-05 9.99999760e-01 -1.82462242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44576923100004 meters 0.031972684276310545 Centerline is valid? [True, True] Translation: X:275.62, Y:-25.45, Z:-1.82 [[ 9.80716433e-01 1.95425749e-01 2.01345554e-03 2.75616962e+02] [-1.95425443e-01 9.80718499e-01 -3.49270455e-04 -2.54450650e+01] [-2.04288953e-03 -5.09451668e-05 9.99997912e-01 -1.82022091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.505769231 meters 0.026422028179404315 Centerline is valid? [True, True] Translation: X:275.68, Y:-25.46, Z:-1.82 [[ 9.81516716e-01 1.91361988e-01 2.35079126e-03 2.75676121e+02] [-1.91361561e-01 9.81519530e-01 -4.07353103e-04 -2.54562499e+01] [-2.38529943e-03 -5.00272039e-05 9.99997154e-01 -1.82149676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.565769231 meters 0.0191329078207716 Centerline is valid? [True, True] Translation: X:275.73, Y:-25.47, Z:-1.83 [[ 9.83152401e-01 1.82787545e-01 -2.64666967e-04 2.75734033e+02] [-1.82787540e-01 9.83152436e-01 4.58528975e-05 -2.54744078e+01] [ 2.68589312e-04 3.29743761e-06 9.99999964e-01 -1.82536433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.625769231 meters 0.01480288156882428 Centerline is valid? [True, True] Translation: X:275.79, Y:-25.49, Z:-1.82 [[ 9.84300160e-01 1.76500721e-01 8.31301831e-04 2.75791971e+02] [-1.76500662e-01 9.84300511e-01 -1.44020986e-04 -2.54917353e+01] [-8.43670625e-04 -4.96544436e-06 9.99999644e-01 -1.82414752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.685769231 meters 0.013489172591936572 Centerline is valid? [True, True] Translation: X:275.85, Y:-25.50, Z:-1.82 [[ 9.84644534e-01 1.74567031e-01 1.22169619e-03 2.75851054e+02] [-1.74566903e-01 9.84645292e-01 -2.11655843e-04 -2.55036685e+01] [-1.23988554e-03 -4.86195089e-06 9.99999231e-01 -1.82383603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.745769231 meters 0.01562751177259541 Centerline is valid? [True, True] Translation: X:275.91, Y:-25.51, Z:-1.82 [[ 9.83990468e-01 1.78220184e-01 5.69556490e-04 2.75910696e+02] [-1.78220157e-01 9.83990633e-01 -9.88274049e-05 -2.55103086e+01] [-5.78051290e-04 -4.26122250e-06 9.99999833e-01 -1.82377756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.805769231 meters 0.019056132664978277 Centerline is valid? [True, True] Translation: X:275.97, Y:-25.51, Z:-1.82 [[ 9.83125715e-01 1.82929899e-01 6.92531733e-04 2.75971502e+02] [-1.82929860e-01 9.83125959e-01 -1.20114108e-04 -2.55102722e+01] [-7.02818386e-04 -8.59746493e-06 9.99999753e-01 -1.82394253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.865769231 meters 0.023179408124536012 Centerline is valid? [True, True] Translation: X:276.03, Y:-25.51, Z:-1.82 [[ 9.82317664e-01 1.87200383e-01 2.83268059e-03 2.76030590e+02] [-1.87199746e-01 9.82321747e-01 -4.90764128e-04 -2.55147991e+01] [-2.87447497e-03 -4.81908144e-05 9.99995868e-01 -1.82061471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.925769231 meters 0.024491404574355048 Centerline is valid? [True, True] Translation: X:276.09, Y:-25.52, Z:-1.83 [[ 9.82244970e-01 1.87597368e-01 -1.43045090e-03 2.76089489e+02] [-1.87597206e-01 9.82246011e-01 2.47310114e-04 -2.55197868e+01] [ 1.45144941e-03 2.54294758e-05 9.99998946e-01 -1.82948036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.985769231 meters 0.02299578726773443 Centerline is valid? [True, True] Translation: X:276.15, Y:-25.53, Z:-1.83 [[ 9.82560890e-01 1.85940208e-01 5.80156176e-04 2.76146067e+02] [-1.85940181e-01 9.82561061e-01 -1.00791236e-04 -2.55319266e+01] [-5.88780012e-04 -8.84081747e-06 9.99999827e-01 -1.82506898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.045769231 meters 0.022550787638848494 Centerline is valid? [True, True] Translation: X:276.20, Y:-25.54, Z:-1.82 [[ 9.82677814e-01 1.85304987e-01 2.52509993e-03 2.76202868e+02] [-1.85304475e-01 9.82681057e-01 -4.37246905e-04 -2.55412119e+01] [-2.56239190e-03 -3.82394850e-05 9.99996716e-01 -1.82185544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.105769231 meters 0.019305054408319672 Centerline is valid? [True, True] Translation: X:276.26, Y:-25.56, Z:-1.82 [[ 9.82953778e-01 1.83786016e-01 4.95693255e-03 2.76260406e+02] [-1.83784028e-01 9.82966274e-01 -8.57611266e-04 -2.55579986e+01] [-5.03011447e-03 -6.80127957e-05 9.99987347e-01 -1.81804548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.165769231 meters 0.018429184253372137 Centerline is valid? [True, True] Translation: X:276.32, Y:-25.57, Z:-1.82 [[ 9.83317600e-01 1.81866284e-01 3.33960634e-03 2.76318047e+02] [-1.81865370e-01 9.83323270e-01 -5.77809598e-04 -2.55686697e+01] [-3.38899671e-03 -3.91883970e-05 9.99994257e-01 -1.82260668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.225769231 meters 0.014578336079008507 Centerline is valid? [True, True] Translation: X:276.37, Y:-25.59, Z:-1.82 [[ 9.84364296e-01 1.76109410e-01 3.52251460e-03 2.76374845e+02] [-1.76108357e-01 9.84370599e-01 -6.09230341e-04 -2.55911863e+01] [-3.57475101e-03 -2.06396635e-05 9.99993610e-01 -1.82257860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.285769231 meters 0.012493136939334236 Centerline is valid? [True, True] Translation: X:276.43, Y:-25.61, Z:-1.82 [[ 9.85357820e-01 1.70427786e-01 4.93319720e-03 2.76434294e+02] [-1.70425651e-01 9.85370169e-01 -8.53050957e-04 -2.56097555e+01] [-5.00640895e-03 -1.82913774e-07 9.99987468e-01 -1.82138259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.345769231 meters 0.014569341445292563 Centerline is valid? [True, True] Translation: X:276.49, Y:-25.63, Z:-1.83 [[ 9.86213026e-01 1.65466543e-01 2.16598851e-03 2.76491889e+02] [-1.65466121e-01 9.86215404e-01 -3.73901980e-04 -2.56339868e+01] [-2.19799951e-03 1.03492861e-05 9.99997584e-01 -1.82702709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.405769231 meters 0.016280750849327494 Centerline is valid? [True, True] Translation: X:276.55, Y:-25.65, Z:-1.83 [[ 9.86657655e-01 1.62807525e-01 6.18354000e-04 2.76551784e+02] [-1.62807491e-01 9.86657848e-01 -1.05975183e-04 -2.56537525e+01] [-6.27357384e-04 3.88856264e-06 9.99999803e-01 -1.82847186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.465769231 meters 0.013438685622081012 Centerline is valid? [True, True] Translation: X:276.61, Y:-25.66, Z:-1.83 [[ 9.85679080e-01 1.68626075e-01 1.41362558e-03 2.76612537e+02] [-1.68625898e-01 9.85680094e-01 -2.44019030e-04 -2.56644068e+01] [-1.43453057e-03 2.15056957e-06 9.99998971e-01 -1.82632263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.525769231 meters 0.012870595174554945 Centerline is valid? [True, True] Translation: X:276.67, Y:-25.67, Z:-1.82 [[ 9.85065347e-01 1.72158024e-01 2.80651052e-03 2.76673590e+02] [-1.72157336e-01 9.85069345e-01 -4.86661581e-04 -2.56697736e+01] [-2.84839018e-03 -3.76791500e-06 9.99995943e-01 -1.82381821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58576923100003 meters 0.01439587620287417 Centerline is valid? [True, True] Translation: X:276.73, Y:-25.67, Z:-1.82 [[ 9.84259249e-01 1.76669449e-01 4.65153638e-03 2.76734285e+02] [-1.76667609e-01 9.84270240e-01 -8.06869608e-04 -2.56736771e+01] [-4.72091804e-03 -2.76069351e-05 9.99988856e-01 -1.82025523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64576923100003 meters 0.013710710316478357 Centerline is valid? [True, True] Translation: X:276.80, Y:-25.68, Z:-1.82 [[ 9.84463613e-01 1.75551550e-01 3.61222380e-03 2.76795141e+02] [-1.75550435e-01 9.84470240e-01 -6.26033025e-04 -2.56846316e+01] [-3.66602790e-03 -1.78207268e-05 9.99993280e-01 -1.82339027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70576923100003 meters 0.013377021193371636 Centerline is valid? [True, True] Translation: X:276.86, Y:-25.71, Z:-1.83 [[ 9.85582737e-01 1.69187476e-01 1.50560554e-03 2.76855275e+02] [-1.69187276e-01 9.85583887e-01 -2.60387432e-04 -2.57061387e+01] [-1.52795485e-03 1.90405848e-06 9.99998833e-01 -1.82868176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76576923100004 meters 0.013456755101560695 Centerline is valid? [True, True] Translation: X:276.92, Y:-25.72, Z:-1.82 [[ 9.85863417e-01 1.67507990e-01 3.79421976e-03 2.76916748e+02] [-1.67506695e-01 9.85870718e-01 -6.58904488e-04 -2.57186152e+01] [-3.85098193e-03 1.40326186e-05 9.99992585e-01 -1.82220236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82576923100004 meters 0.01253311393421005 Centerline is valid? [True, True] Translation: X:276.98, Y:-25.72, Z:-1.82 [[ 9.84935242e-01 1.72836540e-01 5.48633100e-03 2.76979455e+02] [-1.72833905e-01 9.84950522e-01 -9.54460187e-04 -2.57192239e+01] [-5.56873018e-03 -8.14253486e-06 9.99984494e-01 -1.81925905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88576923100004 meters 0.016176773565119283 Centerline is valid? [True, True] Translation: X:277.04, Y:-25.71, Z:-1.82 [[ 9.83685599e-01 1.79855753e-01 3.81451976e-03 2.77041211e+02] [-1.79854528e-01 9.83692994e-01 -6.64493019e-04 -2.57101198e+01] [-3.87182926e-03 -3.24064387e-05 9.99992504e-01 -1.82405033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94576923100004 meters 0.016152213687436873 Centerline is valid? [True, True] Translation: X:277.10, Y:-25.72, Z:-1.82 [[ 9.83498404e-01 1.80887361e-01 3.26360000e-03 2.77101207e+02] [-1.80886470e-01 9.83503819e-01 -5.68449517e-04 -2.57201641e+01] [-3.31258840e-03 -3.12718920e-05 9.99994513e-01 -1.82464192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.005769231 meters 0.012904148052358988 Centerline is valid? [True, True] Translation: X:277.16, Y:-25.74, Z:-1.82 [[ 9.84751842e-01 1.73920907e-01 3.91508766e-03 2.77159931e+02] [-1.73919572e-01 9.84759624e-01 -6.81626103e-04 -2.57398647e+01] [-3.97396928e-03 -9.67780778e-06 9.99992104e-01 -1.82413628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.065769231 meters 0.015674963902817016 Centerline is valid? [True, True] Translation: X:277.22, Y:-25.77, Z:-1.83 [[ 9.86255703e-01 1.65180219e-01 3.89660918e-03 2.77216972e+02] [-1.65178827e-01 9.86263400e-01 -6.78612495e-04 -2.57678110e+01] [-3.95517638e-03 2.56481106e-05 9.99992178e-01 -1.82718564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.125769231 meters 0.01705722729275898 Centerline is valid? [True, True] Translation: X:277.28, Y:-25.78, Z:-1.83 [[ 9.86543901e-01 1.63488645e-01 1.61057992e-03 2.77277578e+02] [-1.63488406e-01 9.86545216e-01 -2.80077801e-04 -2.57824062e+01] [-1.63469946e-03 1.29979018e-05 9.99998664e-01 -1.83171932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.185769231 meters 0.015207486553589517 Centerline is valid? [True, True] Translation: X:277.34, Y:-25.79, Z:-1.83 [[ 9.86098833e-01 1.66159366e-01 -3.94519901e-04 2.77339277e+02] [-1.66159351e-01 9.86098912e-01 7.03155195e-05 -2.57936924e+01] [ 4.00719227e-04 -3.78488095e-06 9.99999920e-01 -1.83480502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.245769231 meters 0.013954351145386422 Centerline is valid? [True, True] Translation: X:277.40, Y:-25.81, Z:-1.83 [[ 9.85796659e-01 1.67927578e-01 2.29702717e-03 2.77399235e+02] [-1.67927100e-01 9.85799335e-01 -4.00730416e-04 -2.58092341e+01] [-2.33170154e-03 9.30559489e-06 9.99997282e-01 -1.82872244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.305769231 meters 0.01290980306380073 Centerline is valid? [True, True] Translation: X:277.46, Y:-25.82, Z:-1.83 [[ 9.85372494e-01 1.70364090e-01 4.13827099e-03 2.77459527e+02] [-1.70362553e-01 9.85381184e-01 -7.23621854e-04 -2.58202328e+01] [-4.20105354e-03 8.03066013e-06 9.99991176e-01 -1.82608342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.365769231 meters 0.013464227890780642 Centerline is valid? [True, True] Translation: X:277.52, Y:-25.83, Z:-1.83 [[ 9.84735410e-01 1.74057902e-01 -1.38873809e-04 2.77521618e+02] [-1.74057900e-01 9.84735420e-01 2.54697710e-05 -2.58266185e+01] [ 1.41187174e-04 -9.08901752e-07 9.99999990e-01 -1.83471393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.425769231 meters 0.014089213980963163 Centerline is valid? [True, True] Translation: X:277.58, Y:-25.83, Z:-1.83 [[ 9.84258876e-01 1.76732305e-01 3.97612367e-04 2.77583489e+02] [-1.76732292e-01 9.84258956e-01 -6.95430547e-05 -2.58317115e+01] [-4.03644037e-04 -1.82257607e-06 9.99999919e-01 -1.83299481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.485769231 meters 0.013359929898281657 Centerline is valid? [True, True] Translation: X:277.64, Y:-25.84, Z:-1.83 [[ 9.84205829e-01 1.76974724e-01 4.33964310e-03 2.77644695e+02] [-1.76973092e-01 9.84215396e-01 -7.60326701e-04 -2.58428487e+01] [-4.40570216e-03 -1.96820851e-05 9.99990295e-01 -1.82642791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.545769231 meters 0.01259997391173037 Centerline is valid? [True, True] Translation: X:277.70, Y:-25.86, Z:-1.83 [[ 9.84949685e-01 1.72741738e-01 5.86595537e-03 2.77703261e+02] [-1.72738671e-01 9.84967153e-01 -1.02923845e-03 -2.58633130e+01] [-5.95556579e-03 4.70754940e-07 9.99982265e-01 -1.82595453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.605769231 meters 0.013109584112689861 Centerline is valid? [True, True] Translation: X:277.76, Y:-25.88, Z:-1.83 [[ 9.85305573e-01 1.70686105e-01 6.25943203e-03 2.77763792e+02] [-1.70682568e-01 9.85325456e-01 -1.09887103e-03 -2.58782368e+01] [-6.35513973e-03 1.43478166e-05 9.99979806e-01 -1.82642624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.665769231 meters 0.012872285516528222 Centerline is valid? [True, True] Translation: X:277.83, Y:-25.89, Z:-1.83 [[ 9.84986301e-01 1.72581808e-01 4.18411383e-03 2.77826568e+02] [-1.72580243e-01 9.84995188e-01 -7.34837352e-04 -2.58871346e+01] [-4.24815154e-03 1.70934302e-06 9.99990977e-01 -1.82962225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.725769231 meters 0.013284482452345382 Centerline is valid? [True, True] Translation: X:277.89, Y:-25.89, Z:-1.83 [[ 9.84364321e-01 1.76090851e-01 4.34689064e-03 2.77889208e+02] [-1.76089192e-01 9.84373919e-01 -7.64304245e-04 -2.58939717e+01] [-4.41355276e-03 -1.30866329e-05 9.99990260e-01 -1.82930341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.785769231 meters 0.013803283954257433 Centerline is valid? [True, True] Translation: X:277.95, Y:-25.90, Z:-1.83 [[ 9.84043048e-01 1.77833824e-01 5.86608913e-03 2.77950004e+02] [-1.77830825e-01 9.84060532e-01 -1.03306261e-03 -2.59035391e+01] [-5.95630026e-03 -2.65933918e-05 9.99982261e-01 -1.82897510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.845769231 meters 0.014887856408009636 Centerline is valid? [True, True] Translation: X:278.01, Y:-25.91, Z:-1.84 [[ 9.83697766e-01 1.79829624e-01 -1.09966877e-04 2.78011681e+02] [-1.79829623e-01 9.83697772e-01 2.06310618e-05 -2.59127504e+01] [ 1.11884248e-04 -5.19427424e-07 9.99999994e-01 -1.83699743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.905769231 meters 0.017703330173582492 Centerline is valid? [True, True] Translation: X:278.07, Y:-25.92, Z:-1.84 [[ 9.83063842e-01 1.83261327e-01 8.76708560e-04 2.78072671e+02] [-1.83261263e-01 9.83064233e-01 -1.53756161e-04 -2.59169427e+01] [-8.90038386e-04 -9.51459559e-06 9.99999604e-01 -1.83693596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.965769231 meters 0.02089134482939876 Centerline is valid? [True, True] Translation: X:278.13, Y:-25.92, Z:-1.83 [[ 9.82260480e-01 1.87482253e-01 3.84119722e-03 2.78133018e+02] [-1.87481033e-01 9.82267989e-01 -6.78586870e-04 -2.59248426e+01] [-3.90030807e-03 -5.36025589e-05 9.99992392e-01 -1.83206128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.025769231 meters 0.021079287613360427 Centerline is valid? [True, True] Translation: X:278.19, Y:-25.94, Z:-1.83 [[ 9.82033898e-01 1.88561588e-01 7.34511236e-03 2.78193517e+02] [-1.88557156e-01 9.82061360e-01 -1.29759965e-03 -2.59360445e+01] [-7.45802849e-03 -1.10686650e-04 9.99972182e-01 -1.82540890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08576923100003 meters 0.02100164098438515 Centerline is valid? [True, True] Translation: X:278.26, Y:-25.95, Z:-1.83 [[ 9.81915416e-01 1.89205951e-01 6.57447245e-03 2.78255717e+02] [-1.89202414e-01 9.81937420e-01 -1.16153885e-03 -2.59486361e+01] [-6.67549058e-03 -1.03373152e-04 9.99977713e-01 -1.82822680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14576923100003 meters 0.02103623379741765 Centerline is valid? [True, True] Translation: X:278.32, Y:-25.96, Z:-1.83 [[ 9.81910018e-01 1.89309894e-01 3.80532741e-03 2.78317315e+02] [-1.89308709e-01 9.81917390e-01 -6.72473960e-04 -2.59630954e+01] [-3.86382313e-03 -6.00727004e-05 9.99992534e-01 -1.83370850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20576923100003 meters 0.02207018602031338 Centerline is valid? [True, True] Translation: X:278.38, Y:-25.97, Z:-1.83 [[ 9.81793372e-01 1.89917878e-01 3.60213783e-03 2.78377842e+02] [-1.89916817e-01 9.81799978e-01 -6.37322531e-04 -2.59731544e+01] [-3.65761779e-03 -5.83875164e-05 9.99993309e-01 -1.83380945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26576923100004 meters 0.02312628488127422 Centerline is valid? [True, True] Translation: X:278.44, Y:-25.98, Z:-1.83 [[ 9.81546187e-01 1.91115855e-01 6.46633625e-03 2.78438729e+02] [-1.91112451e-01 9.81567480e-01 -1.14603389e-03 -2.59834922e+01] [-6.56617062e-03 -1.10912175e-04 9.99978436e-01 -1.83023452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32576923100004 meters 0.026184802378079446 Centerline is valid? [True, True] Translation: X:278.50, Y:-25.99, Z:-1.83 [[ 9.80923569e-01 1.94281875e-01 6.59578261e-03 2.78499545e+02] [-1.94278404e-01 9.80945735e-01 -1.16913557e-03 -2.59913430e+01] [-6.69724667e-03 -1.34585486e-04 9.99977564e-01 -1.82932544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38576923100004 meters 0.030569808447813554 Centerline is valid? [True, True] Translation: X:278.56, Y:-25.99, Z:-1.83 [[ 9.79711553e-01 2.00363727e-01 4.43273021e-03 2.78560428e+02] [-2.00362221e-01 9.79721574e-01 -7.85803733e-04 -2.59946187e+01] [-4.50028798e-03 -1.18290674e-04 9.99989867e-01 -1.83421418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44576923100004 meters 0.036015964855755325 Centerline is valid? [True, True] Translation: X:278.62, Y:-25.99, Z:-1.84 [[ 9.78792221e-01 2.04836449e-01 2.79597266e-03 2.78620943e+02] [-2.04835868e-01 9.78796210e-01 -4.95754577e-04 -2.59948434e+01] [-2.83823606e-03 -8.74747652e-05 9.99995968e-01 -1.83808374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.505769231 meters 0.03960129992149417 Centerline is valid? [True, True] Translation: X:278.68, Y:-26.00, Z:-1.83 [[ 9.77905048e-01 2.08996449e-01 4.71178045e-03 2.78681505e+02] [-2.08994847e-01 9.77916385e-01 -8.35305181e-04 -2.59998394e+01] [-4.78230312e-03 -1.67888679e-04 9.99988551e-01 -1.83304125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.565769231 meters 0.04078942247864477 Centerline is valid? [True, True] Translation: X:278.74, Y:-26.00, Z:-1.83 [[ 9.77983075e-01 2.08593544e-01 6.15125598e-03 2.78739861e+02] [-2.08590806e-01 9.78002396e-01 -1.09054192e-03 -2.60023304e+01] [-6.24342309e-03 -2.16563903e-04 9.99980486e-01 -1.83451915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.625769231 meters 0.04018657386326979 Centerline is valid? [True, True] Translation: X:278.80, Y:-26.01, Z:-1.84 [[ 9.78324032e-01 2.06998610e-01 5.80206646e-03 2.78797281e+02] [-2.06996148e-01 9.78341217e-01 -1.02829320e-03 -2.60125041e+01] [-5.88925602e-03 -1.95001463e-04 9.99982639e-01 -1.83541333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.685769231 meters 0.0362182903471951 Centerline is valid? [True, True] Translation: X:278.86, Y:-26.02, Z:-1.84 [[ 9.79033819e-01 2.03673313e-01 3.15641786e-03 2.78855996e+02] [-2.03672567e-01 9.79038903e-01 -5.59320166e-04 -2.60236072e+01] [-3.20417447e-03 -9.52823697e-05 9.99994862e-01 -1.83987638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.745769231 meters 0.03407247158151311 Centerline is valid? [True, True] Translation: X:278.91, Y:-26.03, Z:-1.84 [[ 9.79714098e-01 2.00392583e-01 1.76024480e-03 2.78914184e+02] [-2.00392346e-01 9.79715678e-01 -3.11946363e-04 -2.60343040e+01] [-1.78705117e-03 -4.71213345e-05 9.99998402e-01 -1.84391081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.805769231 meters 0.031717304876499874 Centerline is valid? [True, True] Translation: X:278.97, Y:-26.05, Z:-1.84 [[ 9.80076786e-01 1.98612392e-01 1.61605699e-03 2.78971881e+02] [-1.98612189e-01 9.80078117e-01 -2.86493984e-04 -2.60470115e+01] [-1.64076335e-03 -4.01825143e-05 9.99998653e-01 -1.84437721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.865769231 meters 0.024549326575522425 Centerline is valid? [True, True] Translation: X:279.03, Y:-26.07, Z:-1.84 [[ 9.81617529e-01 1.90849829e-01 1.83560745e-03 2.79028613e+02] [-1.90849555e-01 9.81619245e-01 -3.25106013e-04 -2.60675290e+01] [-1.86391403e-03 -3.11951039e-05 9.99998262e-01 -1.84490050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.925769231 meters 0.018074502549826007 Centerline is valid? [True, True] Translation: X:279.09, Y:-26.09, Z:-1.84 [[ 9.82862632e-01 1.84301506e-01 3.74178552e-03 2.79085566e+02] [-1.84300320e-01 9.82869754e-01 -6.62410201e-04 -2.60869023e+01] [-3.79977101e-03 -3.85540334e-05 9.99992780e-01 -1.84220687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.985769231 meters 0.013902347950315681 Centerline is valid? [True, True] Translation: X:279.14, Y:-26.11, Z:-1.84 [[ 9.83808494e-01 1.79109836e-01 6.36502987e-03 2.79144965e+02] [-1.79106292e-01 9.83829083e-01 -1.12727347e-03 -2.61109632e+01] [-6.46400727e-03 -3.09956795e-05 9.99979108e-01 -1.83685214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.045769231 meters 0.013683646909920364 Centerline is valid? [True, True] Translation: X:279.21, Y:-26.13, Z:-1.85 [[ 9.84038533e-01 1.77939636e-01 2.37726112e-03 2.79206044e+02] [-1.77939140e-01 9.84041405e-01 -4.20341516e-04 -2.61251264e+01] [-2.41411879e-03 -9.37555092e-06 9.99997086e-01 -1.84531736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.105769231 meters 0.014213789428393426 Centerline is valid? [True, True] Translation: X:279.27, Y:-26.13, Z:-1.84 [[ 9.83791601e-01 1.79285214e-01 3.30113725e-03 2.79267218e+02] [-1.79284259e-01 9.83797139e-01 -5.85371173e-04 -2.61318873e+01] [-3.35259778e-03 -1.59587030e-05 9.99994380e-01 -1.84319043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.165769231 meters 0.01578317465035417 Centerline is valid? [True, True] Translation: X:279.33, Y:-26.14, Z:-1.84 [[ 9.83318382e-01 1.81828161e-01 4.84563190e-03 2.79326612e+02] [-1.81826133e-01 9.83330320e-01 -8.59453770e-04 -2.61403092e+01] [-4.92112967e-03 -3.59458201e-05 9.99987891e-01 -1.84045921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.225769231 meters 0.017524539683109252 Centerline is valid? [True, True] Translation: X:279.39, Y:-26.15, Z:-1.84 [[ 9.83012800e-01 1.83507256e-01 3.30474166e-03 2.79386491e+02] [-1.83506322e-01 9.83018355e-01 -5.86203949e-04 -2.61503133e+01] [-3.35619439e-03 -3.01950021e-05 9.99994368e-01 -1.84483864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.285769231 meters 0.017596787399502167 Centerline is valid? [True, True] Translation: X:279.45, Y:-26.16, Z:-1.84 [[ 9.83034270e-01 1.83374209e-01 4.18609104e-03 2.79445280e+02] [-1.83372709e-01 9.83043182e-01 -7.42569915e-04 -2.61614661e+01] [-4.25127643e-03 -3.76431817e-05 9.99990963e-01 -1.84300404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.345769231 meters 0.018242694780672163 Centerline is valid? [True, True] Translation: X:279.50, Y:-26.17, Z:-1.84 [[ 9.82928821e-01 1.83934086e-01 4.38005468e-03 2.79503937e+02] [-1.83932450e-01 9.82938579e-01 -7.76925400e-04 -2.61714125e+01] [-4.44822778e-03 -4.19718205e-05 9.99990106e-01 -1.84367700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.405769231 meters 0.01658812533417236 Centerline is valid? [True, True] Translation: X:279.56, Y:-26.19, Z:-1.84 [[ 9.83280460e-01 1.82038354e-01 4.64484310e-03 2.79562352e+02] [-1.82036494e-01 9.83291430e-01 -8.23813799e-04 -2.61859437e+01] [-4.71720012e-03 -3.54909407e-05 9.99988873e-01 -1.84465166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.465769231 meters 0.013334692609679616 Centerline is valid? [True, True] Translation: X:279.62, Y:-26.20, Z:-1.85 [[ 9.83957934e-01 1.78363088e-01 3.65972518e-03 2.79622385e+02] [-1.78361910e-01 9.83964739e-01 -6.48546479e-04 -2.62023153e+01] [-3.71671729e-03 -1.46131194e-05 9.99993093e-01 -1.84517818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.525769231 meters 0.013126414713156682 Centerline is valid? [True, True] Translation: X:279.68, Y:-26.21, Z:-1.85 [[ 9.84194011e-01 1.77077607e-01 2.38097358e-03 2.79684964e+02] [-1.77077105e-01 9.84196891e-01 -4.21800427e-04 -2.62115027e+01] [-2.41803821e-03 -6.48245463e-06 9.99997077e-01 -1.84790794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58576923100003 meters 0.013141857794082681 Centerline is valid? [True, True] Translation: X:279.75, Y:-26.22, Z:-1.85 [[ 9.84223995e-01 1.76915692e-01 1.99144926e-03 2.79746452e+02] [-1.76915340e-01 9.84226010e-01 -3.53032837e-04 -2.62195042e+01] [-2.02249321e-03 -4.85453376e-06 9.99997955e-01 -1.84955599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64576923100003 meters 0.01296117568927822 Centerline is valid? [True, True] Translation: X:279.81, Y:-26.22, Z:-1.84 [[ 9.84029570e-01 1.77953846e-01 4.27019612e-03 2.79808141e+02] [-1.77952225e-01 9.84038835e-01 -7.59635439e-04 -2.62218354e+01] [-4.33721886e-03 -1.23871676e-05 9.99990594e-01 -1.84434580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70576923100003 meters 0.012797656338595354 Centerline is valid? [True, True] Translation: X:279.87, Y:-26.23, Z:-1.84 [[ 9.84046658e-01 1.77854084e-01 4.48330590e-03 2.79870041e+02] [-1.77852297e-01 9.84056871e-01 -7.97290443e-04 -2.62272753e+01] [-4.55362934e-03 -1.27952577e-05 9.99989632e-01 -1.84456859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76576923100004 meters 0.012550225124874725 Centerline is valid? [True, True] Translation: X:279.93, Y:-26.24, Z:-1.84 [[ 9.84220154e-01 1.76896364e-01 4.28548219e-03 2.79931221e+02] [-1.76894718e-01 9.84229484e-01 -7.63012334e-04 -2.62352553e+01] [-4.35287203e-03 -7.10704754e-06 9.99990526e-01 -1.84453478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82576923100004 meters 0.012349545486282167 Centerline is valid? [True, True] Translation: X:279.99, Y:-26.24, Z:-1.84 [[ 9.84294439e-01 1.76455011e-01 5.29959471e-03 2.79992652e+02] [-1.76452486e-01 9.84308706e-01 -9.44114222e-04 -2.62447485e+01] [-5.38303090e-03 -5.84028140e-06 9.99985511e-01 -1.84285664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88576923100004 meters 0.012838169567069823 Centerline is valid? [True, True] Translation: X:280.05, Y:-26.25, Z:-1.84 [[ 9.83908399e-01 1.78607549e-01 4.85858591e-03 2.80053620e+02] [-1.78605447e-01 9.83920395e-01 -8.66662905e-04 -2.62466195e+01] [-4.93525430e-03 -1.50529992e-05 9.99987821e-01 -1.84397386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94576923100004 meters 0.013158227873937155 Centerline is valid? [True, True] Translation: X:280.11, Y:-26.25, Z:-1.84 [[ 9.83644016e-01 1.80000659e-01 6.64928282e-03 2.80113982e+02] [-1.79996753e-01 9.83666489e-01 -1.18620343e-03 -2.62502929e+01] [-6.75419409e-03 -3.00474100e-05 9.99977190e-01 -1.84266680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.005769231 meters 0.012596484021357195 Centerline is valid? [True, True] Translation: X:280.17, Y:-26.26, Z:-1.85 [[ 9.84191434e-01 1.77070913e-01 3.62132487e-03 2.80172909e+02] [-1.77069734e-01 9.84198096e-01 -6.45988796e-04 -2.62625098e+01] [-3.67848687e-03 -5.45039281e-06 9.99993234e-01 -1.85122579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.065769231 meters 0.013827961408959744 Centerline is valid? [True, True] Translation: X:280.23, Y:-26.28, Z:-1.86 [[ 9.85084387e-01 1.72071895e-01 -1.12546253e-04 2.80231064e+02] [-1.72071894e-01 9.85084394e-01 2.02500534e-05 -2.62834942e+01] [ 1.14352022e-04 -5.81964555e-07 9.99999993e-01 -1.85820490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.125769231 meters 0.01919251171351192 Centerline is valid? [True, True] Translation: X:280.29, Y:-26.31, Z:-1.86 [[ 9.86531477e-01 1.63567022e-01 1.21382389e-03 2.80289133e+02] [-1.63566881e-01 9.86532224e-01 -2.15675384e-04 -2.63093475e+01] [-1.23275376e-03 1.42291679e-05 9.99999240e-01 -1.85735094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.185769231 meters 0.02523597348824122 Centerline is valid? [True, True] Translation: X:280.34, Y:-26.34, Z:-1.86 [[ 9.87390037e-01 1.58305464e-01 5.43245464e-04 2.80344407e+02] [-1.58305435e-01 9.87390186e-01 -9.66322513e-05 -2.63404824e+01] [-5.51692654e-04 9.41501263e-06 9.99999848e-01 -1.85945409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.245769231 meters 0.023501299499275034 Centerline is valid? [True, True] Translation: X:280.41, Y:-26.35, Z:-1.87 [[ 9.86942206e-01 1.61025948e-01 -3.96560341e-03 2.80405400e+02] [-1.61024393e-01 9.86950171e-01 7.10542700e-04 -2.63544927e+01] [ 4.02826877e-03 -6.27056985e-05 9.99991885e-01 -1.86637625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.305769231 meters 0.017941375407675857 Centerline is valid? [True, True] Translation: X:280.47, Y:-26.36, Z:-1.86 [[ 9.85943944e-01 1.67049974e-01 -2.97409404e-03 2.80466641e+02] [-1.67049128e-01 9.85948429e-01 5.32134753e-04 -2.63591380e+01] [ 3.02119644e-03 -2.78352212e-05 9.99995436e-01 -1.86406107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.365769231 meters 0.012949689801112389 Centerline is valid? [True, True] Translation: X:280.53, Y:-26.35, Z:-1.86 [[ 9.84155378e-01 1.77304775e-01 1.09981662e-03 2.80527675e+02] [-1.77304665e-01 9.84155992e-01 -1.96928212e-04 -2.63527418e+01] [-1.11730743e-03 -1.19465907e-06 9.99999376e-01 -1.85778837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.425769231 meters 0.01406937270050621 Centerline is valid? [True, True] Translation: X:280.59, Y:-26.36, Z:-1.86 [[ 9.83695612e-01 1.79841192e-01 -2.96869489e-04 2.80586516e+02] [-1.79841184e-01 9.83695657e-01 5.30062991e-05 -2.63591500e+01] [ 3.01561943e-04 1.24729655e-06 9.99999955e-01 -1.86060998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.485769231 meters 0.012985869382812206 Centerline is valid? [True, True] Translation: X:280.65, Y:-26.38, Z:-1.86 [[ 9.84043622e-01 1.77920923e-01 1.51472311e-03 2.80646118e+02] [-1.77920717e-01 9.84044788e-01 -2.70739261e-04 -2.63753582e+01] [-1.53872556e-03 -3.08137834e-06 9.99998816e-01 -1.85597561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.545769231 meters 0.01219712264225559 Centerline is valid? [True, True] Translation: X:280.71, Y:-26.40, Z:-1.85 [[ 9.84417210e-01 1.75756830e-01 5.68274111e-03 2.80705484e+02] [-1.75753893e-01 9.84433612e-01 -1.01612388e-03 -2.63957018e+01] [-5.77287207e-03 1.52596140e-06 9.99983337e-01 -1.84931310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.605769231 meters 0.012386686359157042 Centerline is valid? [True, True] Translation: X:280.76, Y:-26.42, Z:-1.85 [[ 9.84321179e-01 1.76341848e-01 3.92043949e-03 2.80764548e+02] [-1.76340453e-01 9.84328986e-01 -7.01260285e-04 -2.64170645e+01] [-3.98266376e-03 -1.06672662e-06 9.99992069e-01 -1.85204411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.665769231 meters 0.014041845716102943 Centerline is valid? [True, True] Translation: X:280.82, Y:-26.43, Z:-1.85 [[ 9.83404264e-01 1.81403941e-01 2.94332949e-03 2.80824233e+02] [-1.81403176e-01 9.83408669e-01 -5.26787415e-04 -2.64282372e+01] [-2.99005705e-03 -1.58843287e-05 9.99995530e-01 -1.85389458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.725769231 meters 0.014918323529865775 Centerline is valid? [True, True] Translation: X:280.89, Y:-26.44, Z:-1.85 [[ 9.83141125e-01 1.82826286e-01 2.84218484e-03 2.80885541e+02] [-1.82825578e-01 9.83145233e-01 -5.09019040e-04 -2.64399251e+01] [-2.88734253e-03 -1.91865349e-05 9.99995831e-01 -1.85492890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.785769231 meters 0.01824648300428751 Centerline is valid? [True, True] Translation: X:280.94, Y:-26.45, Z:-1.85 [[ 9.82471602e-01 1.86384340e-01 3.22950785e-03 2.80944450e+02] [-1.86383442e-01 9.82476909e-01 -5.79604751e-04 -2.64509069e+01] [-3.28094614e-03 -3.24815809e-05 9.99994617e-01 -1.85477404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.845769231 meters 0.0197050012492226 Centerline is valid? [True, True] Translation: X:281.00, Y:-26.47, Z:-1.85 [[ 9.81611785e-01 1.90866542e-01 2.87520573e-03 2.81004446e+02] [-1.90865850e-01 9.81615995e-01 -5.15817616e-04 -2.64669284e+01] [-2.92080026e-03 -4.24459353e-05 9.99995734e-01 -1.85383473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.905769231 meters 0.02748188110131393 Centerline is valid? [True, True] Translation: X:281.07, Y:-26.47, Z:-1.86 [[ 9.80727286e-01 1.95380603e-01 6.40135555e-04 2.81065963e+02] [-1.95380570e-01 9.80727495e-01 -1.14841127e-04 -2.64670654e+01] [-6.50236268e-04 -1.24422223e-05 9.99999789e-01 -1.86097337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.965769231 meters 0.03413998969305462 Centerline is valid? [True, True] Translation: X:281.13, Y:-26.47, Z:-1.86 [[ 9.79418646e-01 2.01837528e-01 -8.52957264e-04 2.81127711e+02] [-2.01837471e-01 9.79419018e-01 1.53185912e-04 -2.64673690e+01] [ 8.66321231e-04 2.21255986e-05 9.99999624e-01 -1.86146179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.025769231 meters 0.03407467819629652 Centerline is valid? [True, True] Translation: X:281.19, Y:-26.47, Z:-1.85 [[ 9.78947246e-01 2.04083578e-01 3.49045991e-03 2.81187270e+02] [-2.04082639e-01 9.78953463e-01 -6.26757939e-04 -2.64719880e+01] [-3.54490882e-03 -9.87793125e-05 9.99993712e-01 -1.85435816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08576923100003 meters 0.03757641958132522 Centerline is valid? [True, True] Translation: X:281.25, Y:-26.47, Z:-1.86 [[ 9.79715504e-01 2.00392904e-01 4.64878065e-04 2.81247642e+02] [-2.00392886e-01 9.79715614e-01 -8.35286808e-05 -2.64711575e+01] [-4.72186854e-04 -1.13239138e-05 9.99999888e-01 -1.86384747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14576923100003 meters 0.02658990618571851 Centerline is valid? [True, True] Translation: X:281.31, Y:-26.49, Z:-1.86 [[ 9.80618567e-01 1.95924952e-01 -7.99366618e-04 2.81305557e+02] [-1.95924901e-01 9.80618893e-01 1.43489954e-04 -2.64913941e+01] [ 8.11987271e-04 1.59069119e-05 9.99999670e-01 -1.86455445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20576923100003 meters 0.021456637005654727 Centerline is valid? [True, True] Translation: X:281.37, Y:-26.50, Z:-1.86 [[ 9.81629124e-01 1.90798982e-01 1.09817891e-04 2.81365144e+02] [-1.90798981e-01 9.81629130e-01 -1.97128123e-05 -2.65009167e+01] [-1.11561625e-04 -1.60247095e-06 9.99999994e-01 -1.86165969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26576923100004 meters 0.02116073259515878 Centerline is valid? [True, True] Translation: X:281.43, Y:-26.50, Z:-1.85 [[ 9.81483004e-01 1.91522363e-01 3.20891423e-03 2.81425287e+02] [-1.91521503e-01 9.81488249e-01 -5.76104134e-04 -2.65026378e+01] [-3.25984844e-03 -4.91396606e-05 9.99994685e-01 -1.85491190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32576923100004 meters 0.021192650095024378 Centerline is valid? [True, True] Translation: X:281.49, Y:-26.50, Z:-1.85 [[ 9.81459633e-01 1.91617566e-01 4.43803409e-03 2.81485688e+02] [-1.91615923e-01 9.81469665e-01 -7.96600209e-04 -2.65045549e+01] [-4.50843843e-03 -6.85670497e-05 9.99989835e-01 -1.85463506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38576923100004 meters 0.021587116708011726 Centerline is valid? [True, True] Translation: X:281.55, Y:-26.51, Z:-1.85 [[ 9.81444133e-01 1.91685945e-01 4.89000575e-03 2.81545316e+02] [-1.91683951e-01 9.81456312e-01 -8.77590397e-04 -2.65094870e+01] [-4.96754875e-03 -7.60296741e-05 9.99987659e-01 -1.85415482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44576923100004 meters 0.020539392786404185 Centerline is valid? [True, True] Translation: X:281.60, Y:-26.51, Z:-1.86 [[ 9.81727409e-01 1.90243661e-01 4.31779568e-03 2.81603806e+02] [-1.90242093e-01 9.81736902e-01 -7.74875912e-04 -2.65144775e+01] [-4.38635459e-03 -6.07095655e-05 9.99990378e-01 -1.85645691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.505769231 meters 0.023407550135878325 Centerline is valid? [True, True] Translation: X:281.66, Y:-26.51, Z:-1.86 [[ 9.81316931e-01 1.92390001e-01 1.77999153e-03 2.81662814e+02] [-1.92389737e-01 9.81318545e-01 -3.19606362e-04 -2.65108508e+01] [-1.80822777e-03 -2.88169693e-05 9.99998365e-01 -1.86240604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.565769231 meters 0.024850196818157307 Centerline is valid? [True, True] Translation: X:281.72, Y:-26.51, Z:-1.86 [[ 9.81077443e-01 1.93600829e-01 2.40188352e-03 2.81722179e+02] [-1.93600354e-01 9.81080383e-01 -4.30929907e-04 -2.65128876e+01] [-2.43986919e-03 -4.22298894e-05 9.99997023e-01 -1.86080956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.625769231 meters 0.01903905606445153 Centerline is valid? [True, True] Translation: X:281.78, Y:-26.52, Z:-1.86 [[ 9.82252277e-01 1.87562155e-01 9.49976679e-04 2.81781119e+02] [-1.87562078e-01 9.82252736e-01 -1.70380201e-04 -2.65246875e+01] [-9.65074070e-04 -1.08232597e-05 9.99999534e-01 -1.86390974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.685769231 meters 0.015562439170863985 Centerline is valid? [True, True] Translation: X:281.84, Y:-26.54, Z:-1.86 [[ 9.83021878e-01 1.83452088e-01 3.64947664e-03 2.81837164e+02] [-1.83450922e-01 9.83028652e-01 -6.54420817e-04 -2.65393210e+01] [-3.70759497e-03 -2.61898751e-05 9.99993127e-01 -1.85811323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.745769231 meters 0.013150005411654835 Centerline is valid? [True, True] Translation: X:281.89, Y:-26.55, Z:-1.86 [[ 9.84017741e-01 1.78060889e-01 1.84536828e-03 2.81894251e+02] [-1.78060582e-01 9.84019471e-01 -3.30940956e-04 -2.65547596e+01] [-1.87480596e-03 -2.93557799e-06 9.99998243e-01 -1.86232540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.805769231 meters 0.014315269050564553 Centerline is valid? [True, True] Translation: X:281.95, Y:-26.58, Z:-1.86 [[ 9.85180445e-01 1.71480291e-01 3.74186314e-03 2.81950375e+02] [-1.71478981e-01 9.85187550e-01 -6.70491966e-04 -2.65750862e+01] [-3.80141314e-03 1.89046937e-05 9.99992774e-01 -1.85933117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.865769231 meters 0.019263394549943455 Centerline is valid? [True, True] Translation: X:282.01, Y:-26.60, Z:-1.86 [[ 9.86150028e-01 1.65775161e-01 5.16899927e-03 2.82006656e+02] [-1.65772585e-01 9.86163573e-01 -9.25957247e-04 -2.65965655e+01] [-5.25097950e-03 5.62543953e-05 9.99986212e-01 -1.85783063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.925769231 meters 0.024668915943723738 Centerline is valid? [True, True] Translation: X:282.06, Y:-26.62, Z:-1.86 [[ 9.86918040e-01 1.61166790e-01 4.24826745e-03 2.82064795e+02] [-1.61165007e-01 9.86927181e-01 -7.60986700e-04 -2.66189394e+01] [-4.31537640e-03 6.63594485e-05 9.99990687e-01 -1.86062773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.985769231 meters 0.03170334532753989 Centerline is valid? [True, True] Translation: X:282.12, Y:-26.65, Z:-1.87 [[ 9.87775695e-01 1.55862135e-01 2.48426238e-03 2.82121648e+02] [-1.55861508e-01 9.87778817e-01 -4.44976282e-04 -2.66461050e+01] [-2.52325671e-03 5.23358744e-05 9.99996815e-01 -1.86572221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.045769231 meters 0.028667012524474244 Centerline is valid? [True, True] Translation: X:282.18, Y:-26.66, Z:-1.87 [[ 9.88013029e-01 1.54369177e-01 6.41905494e-04 2.82181477e+02] [-1.54369136e-01 9.88013237e-01 -1.14463039e-04 -2.66615056e+01] [-6.51880690e-04 1.40005771e-05 9.99999787e-01 -1.86810624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.105769231 meters 0.02910734285632331 Centerline is valid? [True, True] Translation: X:282.24, Y:-26.69, Z:-1.86 [[ 9.87951970e-01 1.54737220e-01 2.70153143e-03 2.82239068e+02] [-1.54736475e-01 9.87955662e-01 -4.83669400e-04 -2.66858310e+01] [-2.74383493e-03 5.98166849e-05 9.99996234e-01 -1.86294511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.165769231 meters 0.028392364369748308 Centerline is valid? [True, True] Translation: X:282.30, Y:-26.71, Z:-1.86 [[ 9.87714515e-01 1.56204328e-01 4.49932964e-03 2.82296859e+02] [-1.56202272e-01 9.87724759e-01 -8.06973950e-04 -2.67090708e+01] [-4.57015211e-03 9.42543711e-05 9.99989552e-01 -1.86124786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.225769231 meters 0.02561829253040505 Centerline is valid? [True, True] Translation: X:282.36, Y:-26.72, Z:-1.87 [[ 9.87261251e-01 1.59103512e-01 1.13750489e-03 2.82357801e+02] [-1.59103383e-01 9.87261907e-01 -2.03328277e-04 -2.67225420e+01] [-1.15536549e-03 1.97572529e-05 9.99999332e-01 -1.86769886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.285769231 meters 0.020423732735530064 Centerline is valid? [True, True] Translation: X:282.42, Y:-26.73, Z:-1.87 [[ 9.85961001e-01 1.66974431e-01 6.66369863e-04 2.82416984e+02] [-1.66974389e-01 9.85961226e-01 -1.19784959e-04 -2.67304759e+01] [-6.77015873e-04 6.83659792e-06 9.99999771e-01 -1.86976643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.345769231 meters 0.013818870828808404 Centerline is valid? [True, True] Translation: X:282.48, Y:-26.73, Z:-1.87 [[ 9.84875610e-01 1.73262871e-01 1.00428952e-04 2.82479552e+02] [-1.73262871e-01 9.84875615e-01 -1.68927566e-05 -2.67335017e+01] [-1.01836913e-04 -7.63344585e-07 9.99999995e-01 -1.86856636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.405769231 meters 0.013019591895228857 Centerline is valid? [True, True] Translation: X:282.54, Y:-26.74, Z:-1.87 [[ 9.84050692e-01 1.77885550e-01 9.82948025e-04 2.82540768e+02] [-1.77885462e-01 9.84051183e-01 -1.76290590e-04 -2.67389184e+01] [-9.98630716e-04 -1.37328684e-06 9.99999501e-01 -1.86838464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.465769231 meters 0.01321652703869088 Centerline is valid? [True, True] Translation: X:282.60, Y:-26.74, Z:-1.86 [[ 9.83486135e-01 1.80929020e-01 4.43984791e-03 2.82602690e+02] [-1.80927258e-01 9.83496156e-01 -7.98866916e-04 -2.67439991e+01] [-4.51111156e-03 -1.76149716e-05 9.99989825e-01 -1.86086662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.525769231 meters 0.015201948766659574 Centerline is valid? [True, True] Translation: X:282.67, Y:-26.74, Z:-1.86 [[ 9.82809865e-01 1.84576169e-01 4.05055705e-03 2.82665681e+02] [-1.84574728e-01 9.82818212e-01 -7.29800848e-04 -2.67416451e+01] [-4.11566508e-03 -3.03749954e-05 9.99991530e-01 -1.86200621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58576923100003 meters 0.016077972462886964 Centerline is valid? [True, True] Translation: X:282.73, Y:-26.75, Z:-1.87 [[ 9.82610938e-01 1.85659961e-01 2.47467423e-03 2.82727176e+02] [-1.85659427e-01 9.82614054e-01 -4.45863810e-04 -2.67470718e+01] [-2.51442874e-03 -2.13359427e-05 9.99996839e-01 -1.86551374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64576923100003 meters 0.015018315778232738 Centerline is valid? [True, True] Translation: X:282.79, Y:-26.76, Z:-1.87 [[ 9.82934624e-01 1.83935755e-01 2.67637865e-03 2.82786980e+02] [-1.83935124e-01 9.82938267e-01 -4.82282847e-04 -2.67587690e+01] [-2.71942405e-03 -1.82275287e-05 9.99996302e-01 -1.86573661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70576923100003 meters 0.01276358141261807 Centerline is valid? [True, True] Translation: X:282.85, Y:-26.78, Z:-1.86 [[ 9.84050876e-01 1.77845913e-01 3.83466741e-03 2.82847172e+02] [-1.77844571e-01 9.84058348e-01 -6.90734961e-04 -2.67772419e+01] [-3.89638087e-03 -2.25643833e-06 9.99992409e-01 -1.86366407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76576923100004 meters 0.01359762443738018 Centerline is valid? [True, True] Translation: X:282.91, Y:-26.79, Z:-1.87 [[ 9.84741344e-01 1.73988599e-01 3.52880613e-03 2.82906560e+02] [-1.73987436e-01 9.84747667e-01 -6.36172084e-04 -2.67928036e+01] [-3.58567029e-03 1.24970234e-05 9.99993571e-01 -1.86520214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82576923100004 meters 0.01750320244796468 Centerline is valid? [True, True] Translation: X:282.97, Y:-26.82, Z:-1.87 [[ 9.85617824e-01 1.68979991e-01 1.80746187e-03 2.82965266e+02] [-1.68979678e-01 9.85619482e-01 -3.25559849e-04 -2.68155338e+01] [-1.83648273e-03 1.54532664e-05 9.99998314e-01 -1.86959312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88576923100004 meters 0.02606537829023676 Centerline is valid? [True, True] Translation: X:283.02, Y:-26.85, Z:-1.87 [[ 9.86930102e-01 1.61147038e-01 7.78333792e-04 2.83020961e+02] [-1.61146978e-01 9.86930409e-01 -1.40502471e-04 -2.68464790e+01] [-7.90802845e-04 1.32399801e-05 9.99999687e-01 -1.87250556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94576923100004 meters 0.029964789560687318 Centerline is valid? [True, True] Translation: X:283.08, Y:-26.87, Z:-1.86 [[ 9.87503574e-01 1.57539569e-01 4.23978397e-03 2.83080221e+02] [-1.57537730e-01 9.87512672e-01 -7.66288326e-04 -2.68677264e+01] [-4.30756113e-03 8.87865181e-05 9.99990718e-01 -1.86457272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.005769231 meters 0.026628615531150708 Centerline is valid? [True, True] Translation: X:283.14, Y:-26.88, Z:-1.86 [[ 9.86988285e-01 1.60679950e-01 6.00649328e-03 2.83140786e+02] [-1.60676316e-01 9.87006556e-01 -1.08601521e-03 -2.68797050e+01] [-6.10294912e-03 1.06783076e-04 9.99981371e-01 -1.86120347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.065769231 meters 0.01715305050461486 Centerline is valid? [True, True] Translation: X:283.20, Y:-26.88, Z:-1.87 [[ 9.85470956e-01 1.69828614e-01 2.28839908e-03 2.83203013e+02] [-1.69828111e-01 9.85473613e-01 -4.13847329e-04 -2.68757335e+01] [-2.32544002e-03 1.92000300e-05 9.99997296e-01 -1.86941008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.125769231 meters 0.01717448005693938 Centerline is valid? [True, True] Translation: X:283.27, Y:-26.89, Z:-1.87 [[ 9.85444465e-01 1.69982251e-01 2.28930120e-03 2.83265440e+02] [-1.69981750e-01 9.85447124e-01 -4.13168324e-04 -2.68869456e+01] [-2.32621656e-03 1.80150145e-05 9.99997294e-01 -1.86901562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.185769231 meters 0.022446635169345145 Centerline is valid? [True, True] Translation: X:283.32, Y:-26.91, Z:-1.87 [[ 9.86519892e-01 1.63597645e-01 3.78321169e-03 2.83324316e+02] [-1.63596222e-01 9.86527145e-01 -6.84719094e-04 -2.69126338e+01] [-3.84425946e-03 5.65698671e-05 9.99992609e-01 -1.86736177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.245769231 meters 0.026514055500907883 Centerline is valid? [True, True] Translation: X:283.38, Y:-26.94, Z:-1.87 [[ 9.87098700e-01 1.60079913e-01 3.25247319e-03 2.83382769e+02] [-1.60078843e-01 9.87104056e-01 -5.88381155e-04 -2.69350338e+01] [-3.30471749e-03 6.01381278e-05 9.99994538e-01 -1.86862292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.305769231 meters 0.026566277039458384 Centerline is valid? [True, True] Translation: X:283.44, Y:-26.95, Z:-1.87 [[ 9.86751307e-01 1.62226488e-01 2.10339872e-03 2.83441569e+02] [-1.62226045e-01 9.86753548e-01 -3.80466822e-04 -2.69527358e+01] [-2.13725795e-03 3.42000772e-05 9.99997715e-01 -1.87145654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.365769231 meters 0.014657523737035702 Centerline is valid? [True, True] Translation: X:283.51, Y:-26.95, Z:-1.87 [[ 9.84872128e-01 1.73282374e-01 3.32848315e-04 2.83505046e+02] [-1.73282364e-01 9.84872184e-01 -6.02918114e-05 -2.69459579e+01] [-3.38260555e-04 1.70298174e-06 9.99999943e-01 -1.87243485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.425769231 meters 0.013967324376390498 Centerline is valid? [True, True] Translation: X:283.57, Y:-26.95, Z:-1.88 [[ 9.83269510e-01 1.82154919e-01 -8.10443854e-04 2.83567809e+02] [-1.82154859e-01 9.83269844e-01 1.48400407e-04 -2.69462180e+01] [ 8.23916866e-04 1.70869036e-06 9.99999661e-01 -1.87521856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.485769231 meters 0.018088220172288352 Centerline is valid? [True, True] Translation: X:283.63, Y:-26.94, Z:-1.87 [[ 9.81948108e-01 1.89150342e-01 -2.48367476e-04 2.83631227e+02] [-1.89150337e-01 9.81948139e-01 4.62767575e-05 -2.69441149e+01] [ 2.52637245e-04 1.53741721e-06 9.99999968e-01 -1.87304416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.545769231 meters 0.021320368242645788 Centerline is valid? [True, True] Translation: X:283.69, Y:-26.95, Z:-1.87 [[ 9.81230935e-01 1.92834595e-01 8.19438450e-04 2.83692448e+02] [-1.92834538e-01 9.81231277e-01 -1.48850946e-04 -2.69482217e+01] [-8.32762248e-04 -1.19588819e-05 9.99999653e-01 -1.87204134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.605769231 meters 0.020300978485084064 Centerline is valid? [True, True] Translation: X:283.76, Y:-26.96, Z:-1.87 [[ 9.81035651e-01 1.93774869e-01 4.51119863e-03 2.83755030e+02] [-1.93773149e-01 9.81046021e-01 -8.19429135e-04 -2.69569079e+01] [-4.58447823e-03 -7.02599661e-05 9.99989489e-01 -1.86581422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.665769231 meters 0.01826462065909247 Centerline is valid? [True, True] Translation: X:283.81, Y:-26.97, Z:-1.86 [[ 9.81839867e-01 1.89610974e-01 6.17690295e-03 2.83814614e+02] [-1.89607656e-01 9.81859294e-01 -1.12382105e-03 -2.69668745e+01] [-6.27793838e-03 -6.77757813e-05 9.99980291e-01 -1.86357294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.725769231 meters 0.012902715137520298 Centerline is valid? [True, True] Translation: X:283.87, Y:-26.99, Z:-1.87 [[ 9.83478462e-01 1.80986222e-01 3.75529954e-03 2.83873725e+02] [-1.80984933e-01 9.83485631e-01 -6.83036936e-04 -2.69904897e+01] [-3.81690341e-03 -7.90052186e-06 9.99992716e-01 -1.86947028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.785769231 meters 0.01410286293668585 Centerline is valid? [True, True] Translation: X:283.93, Y:-27.01, Z:-1.87 [[ 9.84664987e-01 1.74411675e-01 3.92822162e-03 2.83932301e+02] [-1.74410210e-01 9.84672822e-01 -7.15135583e-04 -2.70134096e+01] [-3.99274107e-03 1.90470118e-05 9.99992029e-01 -1.86762964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.845769231 meters 0.015443357188048821 Centerline is valid? [True, True] Translation: X:283.99, Y:-27.03, Z:-1.87 [[ 9.84908505e-01 1.73006024e-01 4.91444347e-03 2.83991594e+02] [-1.73003708e-01 9.84920766e-01 -8.95945761e-04 -2.70287022e+01] [-4.99534144e-03 3.22076603e-05 9.99987523e-01 -1.86570330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.905769231 meters 0.016498511698181118 Centerline is valid? [True, True] Translation: X:284.05, Y:-27.04, Z:-1.88 [[ 9.84944338e-01 1.72871691e-01 1.69395838e-04 2.84050975e+02] [-1.72871688e-01 9.84944353e-01 -3.07532866e-05 -2.70408864e+01] [-1.72161847e-04 1.00653100e-06 9.99999985e-01 -1.87771177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.965769231 meters 0.015251248370593797 Centerline is valid? [True, True] Translation: X:284.11, Y:-27.05, Z:-1.87 [[ 9.84908856e-01 1.73069226e-01 1.26021201e-03 2.84112613e+02] [-1.73069075e-01 9.84909662e-01 -2.28967017e-04 -2.70514293e+01] [-1.28082213e-03 7.40791608e-06 9.99999180e-01 -1.87375048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.025769231 meters 0.01471551447461532 Centerline is valid? [True, True] Translation: X:284.17, Y:-27.06, Z:-1.87 [[ 9.84531859e-01 1.75192919e-01 2.11181697e-03 2.84173225e+02] [-1.75192496e-01 9.84534124e-01 -3.84926466e-04 -2.70599697e+01] [-2.14659226e-03 8.99788235e-06 9.99997696e-01 -1.87250894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08576923100003 meters 0.01554550869713623 Centerline is valid? [True, True] Translation: X:284.24, Y:-27.04, Z:-1.87 [[ 9.82514920e-01 1.86157195e-01 3.15140118e-03 2.84236396e+02] [-1.86156305e-01 9.82519973e-01 -5.76171190e-04 -2.70419315e+01] [-3.20357301e-03 -2.05564077e-05 9.99994868e-01 -1.87000373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14576923100003 meters 0.017398606895301583 Centerline is valid? [True, True] Translation: X:284.30, Y:-27.05, Z:-1.87 [[ 9.81681467e-01 1.90515343e-01 2.32411117e-03 2.84298396e+02] [-1.90514873e-01 9.81684218e-01 -4.24018555e-04 -2.70459321e+01] [-2.36232530e-03 -2.65265882e-05 9.99997209e-01 -1.87139334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20576923100003 meters 0.0215834918095207 Centerline is valid? [True, True] Translation: X:284.36, Y:-27.05, Z:-1.87 [[ 9.80903124e-01 1.94481956e-01 2.41439176e-03 2.84360069e+02] [-1.94481458e-01 9.80906095e-01 -4.41581948e-04 -2.70460247e+01] [-2.45417131e-03 -3.64053173e-05 9.99996988e-01 -1.87233791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26576923100004 meters 0.024395041607547015 Centerline is valid? [True, True] Translation: X:284.42, Y:-27.05, Z:-1.88 [[ 9.81034603e-01 1.93824291e-01 1.80318530e-03 2.84419203e+02] [-1.93824012e-01 9.81036260e-01 -3.30036077e-04 -2.70484303e+01] [-1.83295917e-03 -2.57237963e-05 9.99998320e-01 -1.87560802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32576923100004 meters 0.019945524178778228 Centerline is valid? [True, True] Translation: X:284.48, Y:-27.06, Z:-1.87 [[ 9.81314600e-01 1.92401577e-01 1.81349275e-03 2.84477839e+02] [-1.92401293e-01 9.81316275e-01 -3.31680014e-04 -2.70627176e+01] [-1.84342571e-03 -2.34359099e-05 9.99998301e-01 -1.87460640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38576923100004 meters 0.01953960925537576 Centerline is valid? [True, True] Translation: X:284.54, Y:-27.07, Z:-1.87 [[ 9.81370481e-01 1.92093071e-01 3.49734221e-03 2.84536716e+02] [-1.92092011e-01 9.81376712e-01 -6.39728281e-04 -2.70712546e+01] [-3.55509757e-03 -4.40010463e-05 9.99993680e-01 -1.87171364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44576923100004 meters 0.017288735944291832 Centerline is valid? [True, True] Translation: X:284.60, Y:-27.09, Z:-1.87 [[ 9.81700930e-01 1.90412678e-01 2.50923259e-03 2.84596515e+02] [-1.90412127e-01 9.81704136e-01 -4.58761826e-04 -2.70858449e+01] [-2.55067808e-03 -2.74214040e-05 9.99996747e-01 -1.87384035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.505769231 meters 0.016219032892635623 Centerline is valid? [True, True] Translation: X:284.66, Y:-27.10, Z:-1.88 [[ 9.82093352e-01 1.88387122e-01 1.71475001e-03 2.84655785e+02] [-1.88386862e-01 9.82094849e-01 -3.13559409e-04 -2.70988985e+01] [-1.74311771e-03 -1.50917621e-05 9.99998481e-01 -1.87586124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.565769231 meters 0.01613235657469486 Centerline is valid? [True, True] Translation: X:284.72, Y:-27.11, Z:-1.87 [[ 9.82030468e-01 1.88713975e-01 1.78781830e-03 2.84716558e+02] [-1.88713692e-01 9.82032095e-01 -3.27008028e-04 -2.71053651e+01] [-1.81740593e-03 -1.62539454e-05 9.99998348e-01 -1.87478595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.625769231 meters 0.01870454493558882 Centerline is valid? [True, True] Translation: X:284.78, Y:-27.11, Z:-1.87 [[ 9.81422094e-01 1.91854753e-01 1.55817459e-03 2.84776858e+02] [-1.91854542e-01 9.81423330e-01 -2.85133789e-04 -2.71093332e+01] [-1.58393317e-03 -1.91062735e-05 9.99998745e-01 -1.87479375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.685769231 meters 0.025754845651336837 Centerline is valid? [True, True] Translation: X:284.84, Y:-27.10, Z:-1.87 [[ 9.80415498e-01 1.96918710e-01 2.91073525e-03 2.84837538e+02] [-1.96917997e-01 9.80419818e-01 -5.32472114e-04 -2.71047830e+01] [-2.95859624e-03 -5.11322424e-05 9.99995622e-01 -1.87490865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.745769231 meters 0.02504843475962409 Centerline is valid? [True, True] Translation: X:284.90, Y:-27.11, Z:-1.87 [[ 9.80113515e-01 1.98404327e-01 3.63593370e-03 2.84895853e+02] [-1.98403225e-01 9.80120257e-01 -6.64983547e-04 -2.71126308e+01] [-3.69558789e-03 -6.96216111e-05 9.99993169e-01 -1.87161587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.805769231 meters 0.027091248638182602 Centerline is valid? [True, True] Translation: X:284.96, Y:-27.11, Z:-1.87 [[ 9.79675591e-01 2.00546915e-01 4.08311677e-03 2.84955392e+02] [-2.00545545e-01 9.79684096e-01 -7.46534153e-04 -2.71132090e+01] [-4.14987968e-03 -8.74895893e-05 9.99991385e-01 -1.87312059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.865769231 meters 0.024731960337318566 Centerline is valid? [True, True] Translation: X:285.01, Y:-27.12, Z:-1.88 [[ 9.80412691e-01 1.96916481e-01 3.85408201e-03 2.85013258e+02] [-1.96915233e-01 9.80420264e-01 -7.04418128e-04 -2.71243969e+01] [-3.91733164e-03 -6.83069827e-05 9.99992325e-01 -1.87623748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.925769231 meters 0.019876912403788898 Centerline is valid? [True, True] Translation: X:285.07, Y:-27.14, Z:-1.88 [[ 9.81410978e-01 1.91913088e-01 1.36321151e-03 2.85070296e+02] [-1.91912927e-01 9.81411925e-01 -2.49226601e-04 -2.71432899e+01] [-1.38570188e-03 -1.70241884e-05 9.99999040e-01 -1.88080797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.985769231 meters 0.014538477150581618 Centerline is valid? [True, True] Translation: X:285.13, Y:-27.16, Z:-1.88 [[ 9.82505271e-01 1.86231799e-01 1.05337297e-03 2.85128210e+02] [-1.86231700e-01 9.82505836e-01 -1.92458014e-04 -2.71622133e+01] [-1.07078689e-03 -7.08042537e-06 9.99999427e-01 -1.87876935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.045769231 meters 0.015832165874198827 Centerline is valid? [True, True] Translation: X:285.19, Y:-27.16, Z:-1.88 [[ 9.82284419e-01 1.87384618e-01 2.07976410e-03 2.85188037e+02] [-1.87384233e-01 9.82286620e-01 -3.80166430e-04 -2.71627553e+01] [-2.11416179e-03 -1.62834396e-05 9.99997765e-01 -1.87985478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.105769231 meters 0.01706789140448505 Centerline is valid? [True, True] Translation: X:285.25, Y:-27.16, Z:-1.88 [[ 9.81897882e-01 1.89409889e-01 6.65615382e-04 2.85247860e+02] [-1.89409850e-01 9.81898108e-01 -1.21891407e-04 -2.71632430e+01] [-6.76653922e-04 -6.38919518e-06 9.99999771e-01 -1.88199732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.165769231 meters 0.013671202995921521 Centerline is valid? [True, True] Translation: X:285.30, Y:-27.18, Z:-1.88 [[ 9.82960791e-01 1.83802023e-01 2.21341178e-03 2.85304892e+02] [-1.83801578e-01 9.82963283e-01 -4.04327439e-04 -2.71808671e+01] [-2.25001872e-03 -9.39056032e-06 9.99997469e-01 -1.88062284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.225769231 meters 0.017233163935754383 Centerline is valid? [True, True] Translation: X:285.36, Y:-27.22, Z:-1.88 [[ 9.85455720e-01 1.69872533e-01 4.51063890e-03 2.85361115e+02] [-1.69870545e-01 9.85466042e-01 -8.23217129e-04 -2.72187213e+01] [-4.58492344e-03 4.50193424e-05 9.99989488e-01 -1.87683060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.285769231 meters 0.033675766033439615 Centerline is valid? [True, True] Translation: X:285.41, Y:-27.26, Z:-1.88 [[ 9.87645601e-01 1.56644608e-01 4.31657949e-03 2.85413649e+02] [-1.56642655e-01 9.87655029e-01 -7.88856509e-04 -2.72640486e+01] [-4.38686156e-03 1.02950189e-04 9.99990372e-01 -1.87903931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.345769231 meters 0.037481061155365446 Centerline is valid? [True, True] Translation: X:285.47, Y:-27.30, Z:-1.88 [[ 9.88572102e-01 1.50693400e-01 4.08643406e-03 2.85469188e+02] [-1.50691599e-01 9.88580540e-01 -7.46966211e-04 -2.72957373e+01] [-4.15233206e-03 1.22638677e-04 9.99991372e-01 -1.87856434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.405769231 meters 0.0400534708673645 Centerline is valid? [True, True] Translation: X:285.53, Y:-27.33, Z:-1.88 [[ 9.88833913e-01 1.48975970e-01 3.69493329e-03 2.85525800e+02] [-1.48974485e-01 9.88840810e-01 -6.75273360e-04 -2.73321719e+01] [-3.75430033e-03 1.17282414e-04 9.99992946e-01 -1.87880672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.465769231 meters 0.03795673359959721 Centerline is valid? [True, True] Translation: X:285.58, Y:-27.36, Z:-1.88 [[ 9.88669808e-01 1.50081059e-01 2.77263765e-03 2.85583061e+02] [-1.50080229e-01 9.88673692e-01 -5.06262624e-04 -2.73649400e+01] [-2.81721433e-03 8.44084786e-05 9.99996028e-01 -1.88230378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.525769231 meters 0.02949941806235124 Centerline is valid? [True, True] Translation: X:285.64, Y:-27.38, Z:-1.88 [[ 9.87192314e-01 1.59510950e-01 2.75546699e-03 2.85640254e+02] [-1.59510163e-01 9.87196158e-01 -5.04344036e-04 -2.73819204e+01] [-2.80063482e-03 5.83595657e-05 9.99996077e-01 -1.88018992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58576923100003 meters 0.015788378778986586 Centerline is valid? [True, True] Translation: X:285.70, Y:-27.38, Z:-1.88 [[ 9.84916424e-01 1.73002180e-01 3.14383502e-03 2.85700879e+02] [-1.73001225e-01 9.84921441e-01 -5.75325412e-04 -2.73835241e+01] [-3.19596307e-03 2.27601370e-05 9.99994893e-01 -1.88213316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64576923100003 meters 0.012755889217267417 Centerline is valid? [True, True] Translation: X:285.76, Y:-27.39, Z:-1.88 [[ 9.83540826e-01 1.80668688e-01 2.50385810e-03 2.85763205e+02] [-1.80668108e-01 9.83544013e-01 -4.57471671e-04 -2.73879186e+01] [-2.54530545e-03 -2.42524122e-06 9.99996761e-01 -1.88347771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70576923100003 meters 0.02008268748083024 Centerline is valid? [True, True] Translation: X:285.83, Y:-27.38, Z:-1.88 [[ 9.81334421e-01 1.92293999e-01 2.40259476e-03 2.85826461e+02] [-1.92293500e-01 9.81337361e-01 -4.39391167e-04 -2.73836381e+01] [-2.44224829e-03 -3.08136782e-05 9.99997017e-01 -1.88398948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76576923100004 meters 0.026514925988656034 Centerline is valid? [True, True] Translation: X:285.89, Y:-27.39, Z:-1.88 [[ 9.79754318e-01 2.00188982e-01 2.41826248e-03 2.85888061e+02] [-2.00188497e-01 9.79757301e-01 -4.43269416e-04 -2.73868502e+01] [-2.45804798e-03 -4.98132080e-05 9.99996978e-01 -1.88382009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82576923100004 meters 0.03326752532311228 Centerline is valid? [True, True] Translation: X:285.95, Y:-27.38, Z:-1.88 [[ 9.78465060e-01 2.06399044e-01 2.35812894e-03 2.85950000e+02] [-2.06398601e-01 9.78467900e-01 -4.32270499e-04 -2.73840978e+01] [-2.39657369e-03 -6.37529339e-05 9.99997126e-01 -1.88400732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88576923100004 meters 0.03914833822302287 Centerline is valid? [True, True] Translation: X:286.01, Y:-27.38, Z:-1.88 [[ 9.77119994e-01 2.12674593e-01 2.45655900e-03 2.86012052e+02] [-2.12674132e-01 9.77123079e-01 -4.50393666e-04 -2.73805456e+01] [-2.49614778e-03 -8.23578954e-05 9.99996881e-01 -1.88322635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94576923100004 meters 0.04172361069621719 Centerline is valid? [True, True] Translation: X:286.07, Y:-27.38, Z:-1.88 [[ 9.75971855e-01 2.17855812e-01 4.21713560e-03 2.86074432e+02] [-2.17854502e-01 9.75980952e-01 -7.73201399e-04 -2.73759458e+01] [-4.28429043e-03 -1.64099171e-04 9.99990809e-01 -1.88035347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.005769231 meters 0.050187856445977085 Centerline is valid? [True, True] Translation: X:286.14, Y:-27.37, Z:-1.88 [[ 9.75525170e-01 2.19858750e-01 3.57377003e-03 2.86135881e+02] [-2.19857823e-01 9.75531705e-01 -6.55183849e-04 -2.73673950e+01] [-3.63037387e-03 -1.46572963e-04 9.99993399e-01 -1.88147856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.065769231 meters 0.04282681953324358 Centerline is valid? [True, True] Translation: X:286.20, Y:-27.38, Z:-1.89 [[ 9.75833011e-01 2.18511299e-01 1.65739489e-03 2.86195098e+02] [-2.18511097e-01 9.75834416e-01 -3.04047941e-04 -2.73754715e+01] [-1.68378088e-03 -6.54591564e-05 9.99998580e-01 -1.88521217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.125769231 meters 0.04196174795364771 Centerline is valid? [True, True] Translation: X:286.25, Y:-27.38, Z:-1.88 [[ 9.76512859e-01 2.15436315e-01 3.13540814e-03 2.86254667e+02] [-2.15435578e-01 9.76517886e-01 -5.75008311e-04 -2.73751582e+01] [-3.18565980e-03 -1.13975453e-04 9.99994919e-01 -1.88349197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.185769231 meters 0.042876951714793596 Centerline is valid? [True, True] Translation: X:286.31, Y:-27.38, Z:-1.88 [[ 9.76539839e-01 2.15294492e-01 4.26907523e-03 2.86313733e+02] [-2.15293125e-01 9.76549158e-01 -7.82729330e-04 -2.73756524e+01] [-4.33747913e-03 -1.54736171e-04 9.99990581e-01 -1.88208872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.245769231 meters 0.04555819367389407 Centerline is valid? [True, True] Translation: X:286.37, Y:-27.37, Z:-1.88 [[ 9.76098844e-01 2.17292399e-01 3.88064584e-03 2.86374704e+02] [-2.17291286e-01 9.76106547e-01 -7.11248410e-04 -2.73704125e+01] [-3.94247268e-03 -1.48981774e-04 9.99992217e-01 -1.88315770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.305769231 meters 0.04687764695430005 Centerline is valid? [True, True] Translation: X:286.44, Y:-27.37, Z:-1.88 [[ 9.75999353e-01 2.17736003e-01 4.03672152e-03 2.86435452e+02] [-2.17734803e-01 9.76007689e-01 -7.39735897e-04 -2.73652867e+01] [-4.10093837e-03 -1.56953006e-04 9.99991579e-01 -1.88316415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.365769231 meters 0.04902721345650845 Centerline is valid? [True, True] Translation: X:286.50, Y:-27.36, Z:-1.88 [[ 9.75794232e-01 2.18650382e-01 4.19849414e-03 2.86496477e+02] [-2.18649093e-01 9.75803250e-01 -7.69173018e-04 -2.73593720e+01] [-4.26508420e-03 -1.67442340e-04 9.99990890e-01 -1.88354920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.425769231 meters 0.049910331873979266 Centerline is valid? [True, True] Translation: X:286.56, Y:-27.36, Z:-1.88 [[ 9.75660590e-01 2.19252497e-01 3.84118498e-03 2.86555961e+02] [-2.19251424e-01 9.75668139e-01 -7.03564140e-04 -2.73634895e+01] [-3.90197999e-03 -1.55745471e-04 9.99992375e-01 -1.88456080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.485769231 meters 0.05132769156401965 Centerline is valid? [True, True] Translation: X:286.62, Y:-27.35, Z:-1.89 [[ 9.75124633e-01 2.21651979e-01 1.53312154e-03 2.86618474e+02] [-2.21651811e-01 9.75125836e-01 -2.80747789e-04 -2.73535404e+01] [-1.55721472e-03 -6.60550799e-05 9.99998785e-01 -1.88921009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.545769231 meters 0.04939416377163644 Centerline is valid? [True, True] Translation: X:286.68, Y:-27.36, Z:-1.89 [[ 9.76222339e-01 2.16770600e-01 6.72392759e-04 2.86677885e+02] [-2.16770567e-01 9.76222570e-01 -1.23190988e-04 -2.73560935e+01] [-6.83109172e-04 -2.54931650e-05 9.99999766e-01 -1.89312883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.605769231 meters 0.03062346635486634 Centerline is valid? [True, True] Translation: X:286.73, Y:-27.38, Z:-1.89 [[ 9.78975698e-01 2.03968867e-01 1.81189440e-03 2.86734255e+02] [-2.03968603e-01 9.78977374e-01 -3.31686337e-04 -2.73847510e+01] [-1.84145731e-03 -4.48567064e-05 9.99998304e-01 -1.89096206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.665769231 meters 0.02003653686376325 Centerline is valid? [True, True] Translation: X:286.79, Y:-27.40, Z:-1.89 [[ 9.80925828e-01 1.94380739e-01 8.05238612e-04 2.86792128e+02] [-1.94380683e-01 9.80926158e-01 -1.47425497e-04 -2.74040524e+01] [-8.18536295e-04 -1.19093540e-05 9.99999665e-01 -1.89371517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.725769231 meters 0.018982723224328975 Centerline is valid? [True, True] Translation: X:286.85, Y:-27.41, Z:-1.90 [[ 9.81538578e-01 1.91263843e-01 4.03500133e-04 2.86849684e+02] [-1.91263829e-01 9.81538661e-01 -7.43612119e-05 -2.74124362e+01] [-4.10273592e-04 -4.18658226e-06 9.99999916e-01 -1.89641725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.785769231 meters 0.017978635580050206 Centerline is valid? [True, True] Translation: X:286.91, Y:-27.42, Z:-1.90 [[ 9.81710548e-01 1.90378310e-01 7.05636122e-04 2.86907234e+02] [-1.90378267e-01 9.81710802e-01 -1.29402105e-04 -2.74226346e+01] [-7.17365958e-04 -7.30236994e-06 9.99999743e-01 -1.89591728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.845769231 meters 0.016747698837452592 Centerline is valid? [True, True] Translation: X:286.97, Y:-27.43, Z:-1.90 [[ 9.81997790e-01 1.88891774e-01 4.88834065e-04 2.86965310e+02] [-1.88891753e-01 9.81997911e-01 -8.97202583e-05 -2.74344251e+01] [-4.96981449e-04 -4.23162806e-06 9.99999876e-01 -1.89724836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.905769231 meters 0.015928104559353538 Centerline is valid? [True, True] Translation: X:287.02, Y:-27.44, Z:-1.89 [[ 9.81964845e-01 1.89038488e-01 3.08098495e-03 2.87023061e+02] [-1.89037650e-01 9.81969678e-01 -5.63625065e-04 -2.74440153e+01] [-3.13198063e-03 -2.89621551e-05 9.99995095e-01 -1.89229818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.965769231 meters 0.014186782171091207 Centerline is valid? [True, True] Translation: X:287.08, Y:-27.46, Z:-1.89 [[ 9.82463711e-01 1.86427397e-01 3.14377105e-03 2.87080170e+02] [-1.86426511e-01 9.82468740e-01 -5.74949442e-04 -2.74601328e+01] [-3.19584311e-03 -2.12153076e-05 9.99994893e-01 -1.89351874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.025769231 meters 0.013297626369256783 Centerline is valid? [True, True] Translation: X:287.14, Y:-27.48, Z:-1.90 [[ 9.82994694e-01 1.83633956e-01 -3.92406887e-05 2.87136203e+02] [-1.83633955e-01 9.82994695e-01 6.75518990e-06 -2.74772029e+01] [ 3.98138710e-05 5.65607052e-07 9.99999999e-01 -1.89896800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08576923100003 meters 0.01282001209843816 Centerline is valid? [True, True] Translation: X:287.19, Y:-27.49, Z:-1.89 [[ 9.83041451e-01 1.83376327e-01 1.62095956e-03 2.87194315e+02] [-1.83376087e-01 9.83042788e-01 -2.96439797e-04 -2.74877003e+01] [-1.64783265e-03 -5.83261364e-06 9.99998642e-01 -1.89476977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14576923100003 meters 0.013194208428849772 Centerline is valid? [True, True] Translation: X:287.25, Y:-27.49, Z:-1.90 [[ 9.82845097e-01 1.84423870e-01 1.83070865e-03 2.87252624e+02] [-1.84423567e-01 9.82846802e-01 -3.34664289e-04 -2.74941886e+01] [-1.86102623e-03 -8.70266376e-06 9.99998268e-01 -1.89515715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20576923100003 meters 0.014235495371853946 Centerline is valid? [True, True] Translation: X:287.31, Y:-27.50, Z:-1.90 [[ 9.82567709e-01 1.85899053e-01 1.49633904e-03 2.87312129e+02] [-1.85898852e-01 9.82568848e-01 -2.73524080e-04 -2.74969648e+01] [-1.52110399e-03 -9.41178030e-06 9.99998843e-01 -1.89570219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26576923100004 meters 0.014111187994056657 Centerline is valid? [True, True] Translation: X:287.37, Y:-27.50, Z:-1.89 [[ 9.82410356e-01 1.86667961e-01 4.99643122e-03 2.87372116e+02] [-1.86665735e-01 9.82423061e-01 -9.12301975e-04 -2.74984418e+01] [-5.07890681e-03 -3.64075965e-05 9.99987102e-01 -1.88876153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32576923100004 meters 0.012518616929940917 Centerline is valid? [True, True] Translation: X:287.43, Y:-27.51, Z:-1.89 [[ 9.82972213e-01 1.83690820e-01 4.82825025e-03 2.87430385e+02] [-1.83688707e-01 9.82984070e-01 -8.81366330e-04 -2.75083586e+01] [-4.90799198e-03 -2.05364321e-05 9.99987956e-01 -1.89020987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38576923100004 meters 0.013129947247065496 Centerline is valid? [True, True] Translation: X:287.49, Y:-27.53, Z:-1.89 [[ 9.84767723e-01 1.73793271e-01 5.33205416e-03 2.87486090e+02] [-1.73790550e-01 9.84782158e-01 -9.73035565e-04 -2.75318789e+01] [-5.42001883e-03 3.15533923e-05 9.99985311e-01 -1.88903726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44576923100004 meters 0.018804798903754603 Centerline is valid? [True, True] Translation: X:287.54, Y:-27.55, Z:-1.89 [[ 9.86015423e-01 1.66524821e-01 6.56276867e-03 2.87541542e+02] [-1.66520540e-01 9.86037259e-01 -1.19720963e-03 -2.75540791e+01] [-6.67049956e-03 8.76313741e-05 9.99977748e-01 -1.88822951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.505769231 meters 0.018602894487019857 Centerline is valid? [True, True] Translation: X:287.60, Y:-27.56, Z:-1.89 [[ 9.86056153e-01 1.66320562e-01 5.54374886e-03 2.87600031e+02] [-1.66317505e-01 9.86071734e-01 -1.01116441e-03 -2.75630576e+01] [-5.63471149e-03 7.50424063e-05 9.99984122e-01 -1.88927150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.565769231 meters 0.015135528471769081 Centerline is valid? [True, True] Translation: X:287.66, Y:-27.57, Z:-1.89 [[ 9.85342125e-01 1.70543607e-01 3.97177254e-03 2.87658294e+02] [-1.70542073e-01 9.85350129e-01 -7.24342878e-04 -2.75696691e+01] [-4.03711863e-03 3.63712300e-05 9.99991850e-01 -1.89340113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.625769231 meters 0.014681320719659077 Centerline is valid? [True, True] Translation: X:287.72, Y:-27.58, Z:-1.89 [[ 9.85153264e-01 1.71609881e-01 4.80576015e-03 2.87715206e+02] [-1.71607649e-01 9.85164985e-01 -8.76151759e-04 -2.75807996e+01] [-4.88482292e-03 3.84385634e-05 9.99988068e-01 -1.89277983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.685769231 meters 0.014854228378183466 Centerline is valid? [True, True] Translation: X:287.77, Y:-27.59, Z:-1.90 [[ 9.85154858e-01 1.71659085e-01 1.75031396e-03 2.87772804e+02] [-1.71658789e-01 9.85156413e-01 -3.19202676e-04 -2.75907125e+01] [-1.77912706e-03 1.40072932e-05 9.99998417e-01 -1.89883935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.745769231 meters 0.015042792484445575 Centerline is valid? [True, True] Translation: X:287.83, Y:-27.60, Z:-1.90 [[ 9.85116476e-01 1.71888045e-01 -1.68807350e-04 2.87830749e+02] [-1.71888042e-01 9.85116491e-01 3.04046536e-05 -2.76010947e+01] [ 1.71521101e-04 -9.36160361e-07 9.99999985e-01 -1.90415493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.805769231 meters 0.014464537351032198 Centerline is valid? [True, True] Translation: X:287.89, Y:-27.62, Z:-1.90 [[ 9.85073158e-01 1.72136144e-01 1.44402880e-04 2.87887795e+02] [-1.72136142e-01 9.85073169e-01 -2.66410664e-05 -2.76159135e+01] [-1.46833293e-04 1.38644475e-06 9.99999989e-01 -1.90186849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.865769231 meters 0.014171293379608253 Centerline is valid? [True, True] Translation: X:287.94, Y:-27.63, Z:-1.90 [[ 9.85009044e-01 1.72467539e-01 3.48303563e-03 2.87943325e+02] [-1.72466374e-01 9.85015202e-01 -6.34385733e-04 -2.76330337e+01] [-3.54025399e-03 2.41691595e-05 9.99993733e-01 -1.89769358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.925769231 meters 0.012730170548650272 Centerline is valid? [True, True] Translation: X:288.00, Y:-27.64, Z:-1.90 [[ 9.84600146e-01 1.74798478e-01 2.83645266e-03 2.88001250e+02] [-1.74797715e-01 9.84604231e-01 -5.16471068e-04 -2.76416975e+01] [-2.88306165e-03 1.27120437e-05 9.99995844e-01 -1.89785115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.985769231 meters 0.011772840774638367 Centerline is valid? [True, True] Translation: X:288.06, Y:-27.65, Z:-1.90 [[ 9.84037826e-01 1.77936814e-01 2.83659543e-03 2.88058595e+02] [-1.77936065e-01 9.84041915e-01 -5.16404897e-04 -2.76502272e+01] [-2.88321625e-03 3.42932291e-06 9.99995844e-01 -1.89779908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.045769231 meters 0.011408253536339041 Centerline is valid? [True, True] Translation: X:288.12, Y:-27.66, Z:-1.89 [[ 9.84046437e-01 1.77825427e-01 5.54317410e-03 2.88116020e+02] [-1.77822568e-01 9.84062050e-01 -1.00838307e-03 -2.76644302e+01] [-5.63414341e-03 6.59430996e-06 9.99984128e-01 -1.89446887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.105769231 meters 0.014538814520796427 Centerline is valid? [True, True] Translation: X:288.17, Y:-27.69, Z:-1.90 [[ 9.85260003e-01 1.70988410e-01 5.06858978e-03 2.88172304e+02] [-1.70985931e-01 9.85273039e-01 -9.21787312e-04 -2.76904860e+01] [-5.15155980e-03 4.15426283e-05 9.99986730e-01 -1.89562626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.165769231 meters 0.02478087260002185 Centerline is valid? [True, True] Translation: X:288.23, Y:-27.73, Z:-1.90 [[ 9.86906321e-01 1.61210038e-01 5.21892647e-03 2.88226833e+02] [-1.61207273e-01 9.86920116e-01 -9.48905334e-04 -2.77288639e+01] [-5.30363658e-03 9.51517661e-05 9.99985931e-01 -1.89557959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.225769231 meters 0.035983755973008034 Centerline is valid? [True, True] Translation: X:288.28, Y:-27.77, Z:-1.90 [[ 9.88296510e-01 1.52491919e-01 4.02772289e-03 2.88280116e+02] [-1.52490199e-01 9.88304711e-01 -7.32494681e-04 -2.77691535e+01] [-4.09231703e-03 1.09733671e-04 9.99991620e-01 -1.89922643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.285769231 meters 0.04152456930722208 Centerline is valid? [True, True] Translation: X:288.34, Y:-27.81, Z:-1.90 [[ 9.89009050e-01 1.47829675e-01 2.73611492e-03 2.88335120e+02] [-1.47828864e-01 9.89012831e-01 -4.97507827e-04 -2.78067156e+01] [-2.77959919e-03 8.75629828e-05 9.99996133e-01 -1.90112040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.345769231 meters 0.03596944527718265 Centerline is valid? [True, True] Translation: X:288.40, Y:-27.82, Z:-1.90 [[ 9.88887353e-01 1.48641923e-01 2.71702410e-03 2.88396822e+02] [-1.48641127e-01 9.88891082e-01 -4.93388199e-04 -2.78156559e+01] [-2.76017907e-03 8.40438250e-05 9.99996187e-01 -1.90052479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.405769231 meters 0.02758536485478264 Centerline is valid? [True, True] Translation: X:288.46, Y:-27.83, Z:-1.90 [[ 9.87218266e-01 1.59359822e-01 2.13147369e-03 2.88455424e+02] [-1.59359356e-01 9.87220566e-01 -3.88056908e-04 -2.78264364e+01] [-2.16607534e-03 4.34265944e-05 9.99997653e-01 -1.90003682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.465769231 meters 0.012522914762648989 Centerline is valid? [True, True] Translation: X:288.52, Y:-27.81, Z:-1.90 [[ 9.84325833e-01 1.76358653e-01 5.28916355e-04 2.88519857e+02] [-1.76358627e-01 9.84325975e-01 -9.62609074e-05 -2.78121512e+01] [-5.37602551e-04 1.47313567e-06 9.99999855e-01 -1.90276862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.525769231 meters 0.015676921699279377 Centerline is valid? [True, True] Translation: X:288.58, Y:-27.80, Z:-1.90 [[ 9.82166880e-01 1.87989489e-01 2.85858684e-03 2.88582463e+02] [-1.87988770e-01 9.82171040e-01 -5.20413876e-04 -2.78026104e+01] [-2.90545355e-03 -2.62489533e-05 9.99995779e-01 -1.90030306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58576923100003 meters 0.021771410007608634 Centerline is valid? [True, True] Translation: X:288.64, Y:-27.80, Z:-1.89 [[ 9.81107216e-01 1.93376363e-01 5.84916834e-03 2.88642528e+02] [-1.93373453e-01 9.81124648e-01 -1.06455266e-03 -2.77988257e+01] [-5.94462255e-03 -8.66335803e-05 9.99982327e-01 -1.89497569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64576923100003 meters 0.022429086856324842 Centerline is valid? [True, True] Translation: X:288.70, Y:-27.81, Z:-1.90 [[ 9.80708705e-01 1.95454441e-01 2.82800952e-03 2.88702093e+02] [-1.95453769e-01 9.80712781e-01 -5.14677983e-04 -2.78057382e+01] [-2.87406118e-03 -4.79959417e-05 9.99995869e-01 -1.90084395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70576923100003 meters 0.026878716303556382 Centerline is valid? [True, True] Translation: X:288.76, Y:-27.80, Z:-1.90 [[ 9.79933052e-01 1.99302598e-01 3.11247244e-03 2.88763376e+02] [-1.99301804e-01 9.79937993e-01 -5.66356443e-04 -2.78038752e+01] [-3.16290631e-03 -6.53299745e-05 9.99994996e-01 -1.90068849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76576923100004 meters 0.030527966736996735 Centerline is valid? [True, True] Translation: X:288.82, Y:-27.80, Z:-1.90 [[ 9.79927844e-01 1.99336801e-01 2.50186675e-03 2.88821876e+02] [-1.99336288e-01 9.79931037e-01 -4.55374825e-04 -2.78048918e+01] [-2.54242984e-03 -5.24783599e-05 9.99996767e-01 -1.90427377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82576923100004 meters 0.022884230931664997 Centerline is valid? [True, True] Translation: X:288.88, Y:-27.82, Z:-1.91 [[ 9.80814333e-01 1.94938177e-01 1.53373698e-03 2.88878980e+02] [-1.94937979e-01 9.80815531e-01 -2.79039495e-04 -2.78245900e+01] [-1.55870851e-03 -2.52976519e-05 9.99998785e-01 -1.90610494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88576923100004 meters 0.02104744588744437 Centerline is valid? [True, True] Translation: X:288.94, Y:-27.84, Z:-1.91 [[ 9.81249102e-01 1.92738366e-01 1.45665186e-03 2.88936314e+02] [-1.92738185e-01 9.81250183e-01 -2.65114174e-04 -2.78367826e+01] [-1.48043758e-03 -2.06093900e-05 9.99998904e-01 -1.90772887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94576923100004 meters 0.017560797370565366 Centerline is valid? [True, True] Translation: X:288.99, Y:-27.85, Z:-1.90 [[ 9.81954708e-01 1.89087731e-01 3.28361097e-03 2.88992512e+02] [-1.89086791e-01 9.81960197e-01 -5.97071935e-04 -2.78530120e+01] [-3.33727426e-03 -3.45898646e-05 9.99994431e-01 -1.90456335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.005769231 meters 0.014608034015007338 Centerline is valid? [True, True] Translation: X:289.05, Y:-27.87, Z:-1.90 [[ 9.82535167e-01 1.85987602e-01 5.76687338e-03 2.89049027e+02] [-1.85984653e-01 9.82552090e-01 -1.04809283e-03 -2.78708707e+01] [-5.86118577e-03 -4.27618785e-05 9.99982822e-01 -1.90003552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.065769231 meters 0.01520590715709548 Centerline is valid? [True, True] Translation: X:289.11, Y:-27.88, Z:-1.90 [[ 9.82345747e-01 1.87032913e-01 3.93996000e-03 2.89107446e+02] [-1.87031545e-01 9.82353647e-01 -7.15971884e-04 -2.78848184e+01] [-4.00434438e-03 -3.35648715e-05 9.99991982e-01 -1.90316340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.125769231 meters 0.01593373789673038 Centerline is valid? [True, True] Translation: X:289.17, Y:-27.90, Z:-1.91 [[ 9.82200644e-01 1.87828454e-01 1.53825737e-03 2.89165619e+02] [-1.87828247e-01 9.82201849e-01 -2.79661304e-04 -2.78956553e+01] [-1.56340758e-03 -1.42446716e-05 9.99998778e-01 -1.90725157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.185769231 meters 0.016660217923652784 Centerline is valid? [True, True] Translation: X:289.22, Y:-27.91, Z:-1.90 [[ 9.82045719e-01 1.88600900e-01 3.98831309e-03 2.89222182e+02] [-1.88599512e-01 9.82053817e-01 -7.24625250e-04 -2.79080536e+01] [-4.05340307e-03 -4.05787783e-05 9.99991784e-01 -1.90339484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.245769231 meters 0.013524728575364221 Centerline is valid? [True, True] Translation: X:289.28, Y:-27.93, Z:-1.91 [[ 9.82774212e-01 1.84775993e-01 3.56087071e-03 2.89280138e+02] [-1.84774863e-01 9.82780663e-01 -6.46601991e-04 -2.79293473e+01] [-3.61903141e-03 -2.24956364e-05 9.99993451e-01 -1.90510203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.305769231 meters 0.011921222247449534 Centerline is valid? [True, True] Translation: X:289.34, Y:-27.95, Z:-1.91 [[ 9.83432177e-01 1.81258263e-01 2.56801978e-03 2.89337744e+02] [-1.81257664e-01 9.83435530e-01 -4.66264344e-04 -2.79511097e+01] [-2.60999615e-03 -6.93390609e-06 9.99996594e-01 -1.90745440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.365769231 meters 0.014786720980697667 Centerline is valid? [True, True] Translation: X:289.40, Y:-27.96, Z:-1.91 [[ 9.82368149e-01 1.86953348e-01 1.12510099e-03 2.89398642e+02] [-1.86953236e-01 9.82368793e-01 -2.04314937e-04 -2.79566199e+01] [-1.14346147e-03 -9.62878567e-06 9.99999346e-01 -1.90828851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.425769231 meters 0.023052700131024947 Centerline is valid? [True, True] Translation: X:289.46, Y:-27.95, Z:-1.90 [[ 9.80971298e-01 1.94124636e-01 3.30727112e-03 2.89459116e+02] [-1.94123714e-01 9.80976872e-01 -6.00766590e-04 -2.79499040e+01] [-3.36098007e-03 -5.26849701e-05 9.99994351e-01 -1.90472619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.485769231 meters 0.028585541952954475 Centerline is valid? [True, True] Translation: X:289.52, Y:-27.95, Z:-1.91 [[ 9.80099977e-01 1.98486405e-01 2.67980236e-03 2.89519513e+02] [-1.98485816e-01 9.80103639e-01 -4.86655499e-04 -2.79492101e+01] [-2.72307855e-03 -5.49317135e-05 9.99996291e-01 -1.90813403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.545769231 meters 0.02927811948833636 Centerline is valid? [True, True] Translation: X:289.58, Y:-27.96, Z:-1.91 [[ 9.79555828e-01 2.01172196e-01 -3.57381270e-04 2.89578631e+02] [-2.01172186e-01 9.79555893e-01 6.46106987e-05 -2.79555014e+01] [ 3.63072805e-04 8.60538479e-06 9.99999934e-01 -1.91402912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.605769231 meters 0.028640201762366414 Centerline is valid? [True, True] Translation: X:289.64, Y:-27.97, Z:-1.92 [[ 9.79637000e-01 2.00771804e-01 -1.42541140e-03 2.89636290e+02] [-2.00771640e-01 9.79638036e-01 2.58281876e-04 -2.79666166e+01] [ 1.44824294e-03 3.31597028e-05 9.99998951e-01 -1.91602500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.665769231 meters 0.026955189538096946 Centerline is valid? [True, True] Translation: X:289.69, Y:-27.98, Z:-1.92 [[ 9.80212967e-01 1.97945021e-01 -5.55093483e-04 2.89693320e+02] [-1.97944996e-01 9.80213124e-01 1.00355933e-04 -2.79788996e+01] [ 5.63974874e-04 1.15077904e-05 9.99999841e-01 -1.91552278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.725769231 meters 0.02189067917784962 Centerline is valid? [True, True] Translation: X:289.75, Y:-28.00, Z:-1.91 [[ 9.80720557e-01 1.95412061e-01 1.14713604e-03 2.89749903e+02] [-1.95411951e-01 9.80721227e-01 -2.08213391e-04 -2.79997606e+01] [-1.16570807e-03 -1.99649384e-05 9.99999320e-01 -1.91060997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.785769231 meters 0.021089573510917812 Centerline is valid? [True, True] Translation: X:289.81, Y:-28.01, Z:-1.91 [[ 9.81361059e-01 1.92167743e-01 1.42460614e-03 2.89806926e+02] [-1.92167570e-01 9.81362093e-01 -2.58564831e-04 -2.80142676e+01] [-1.44774229e-03 -2.00176445e-05 9.99998952e-01 -1.91300710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.845769231 meters 0.022237474320572142 Centerline is valid? [True, True] Translation: X:289.86, Y:-28.02, Z:-1.91 [[ 9.81085379e-01 1.93543747e-01 3.50678107e-03 2.89864881e+02] [-1.93542709e-01 9.81091645e-01 -6.36013599e-04 -2.80230421e+01] [-3.56357006e-03 -5.47282659e-05 9.99993649e-01 -1.90802732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.905769231 meters 0.0208819799039803 Centerline is valid? [True, True] Translation: X:289.92, Y:-28.04, Z:-1.91 [[ 9.81293883e-01 1.92485523e-01 3.41141722e-03 2.89922971e+02] [-1.92484536e-01 9.81299812e-01 -6.18489607e-04 -2.80370169e+01] [-3.46667338e-03 -4.97249923e-05 9.99993990e-01 -1.90911542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.965769231 meters 0.013354648165832641 Centerline is valid? [True, True] Translation: X:289.98, Y:-28.07, Z:-1.91 [[ 9.82866699e-01 1.84302377e-01 2.38435091e-03 2.89980780e+02] [-1.84301871e-01 9.82869591e-01 -4.32006579e-04 -2.80656078e+01] [-2.42312584e-03 -1.48354531e-05 9.99997064e-01 -1.91137387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.025769231 meters 0.011196349880803064 Centerline is valid? [True, True] Translation: X:290.04, Y:-28.09, Z:-1.91 [[ 9.83841863e-01 1.78963619e-01 5.21643410e-03 2.90039092e+02] [-1.78961121e-01 9.83855692e-01 -9.45398750e-04 -2.80893420e+01] [-5.30141036e-03 -3.41602872e-06 9.99985947e-01 -1.90669664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08576923100003 meters 0.01142547586553298 Centerline is valid? [True, True] Translation: X:290.10, Y:-28.11, Z:-1.91 [[ 9.83651911e-01 1.80051577e-01 3.21674405e-03 2.90100432e+02] [-1.80050633e-01 9.83657171e-01 -5.82991276e-04 -2.81055021e+01] [-3.26914185e-03 -5.71632023e-06 9.99994656e-01 -1.91078184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14576923100003 meters 0.013298457291598164 Centerline is valid? [True, True] Translation: X:290.16, Y:-28.11, Z:-1.91 [[ 9.82950224e-01 1.83868202e-01 1.15828123e-03 2.90161257e+02] [-1.83868082e-01 9.82950906e-01 -2.09885973e-04 -2.81135244e+01] [-1.17712494e-03 -6.66348424e-06 9.99999307e-01 -1.91397226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20576923100003 meters 0.015481308811060392 Centerline is valid? [True, True] Translation: X:290.22, Y:-28.12, Z:-1.91 [[ 9.82207616e-01 1.87792294e-01 1.50119484e-03 2.90222184e+02] [-1.87792098e-01 9.82208763e-01 -2.71967179e-04 -2.81230272e+01] [-1.52556007e-03 -1.47842934e-05 9.99998836e-01 -1.91371513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26576923100004 meters 0.01695526701537713 Centerline is valid? [True, True] Translation: X:290.28, Y:-28.14, Z:-1.91 [[ 9.81825496e-01 1.89771273e-01 2.35790123e-03 2.90282731e+02] [-1.89770790e-01 9.81828327e-01 -4.28780999e-04 -2.81350403e+01] [-2.39642453e-03 -2.64726619e-05 9.99997128e-01 -1.91317725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32576923100004 meters 0.01817757788791899 Centerline is valid? [True, True] Translation: X:290.34, Y:-28.14, Z:-1.91 [[ 9.81594260e-01 1.90965961e-01 2.17017639e-03 2.90342593e+02] [-1.90965555e-01 9.81596659e-01 -3.94740800e-04 -2.81439180e+01] [-2.20561995e-03 -2.69536340e-05 9.99997567e-01 -1.91294633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38576923100004 meters 0.02128521479841771 Centerline is valid? [True, True] Translation: X:290.40, Y:-28.15, Z:-1.91 [[ 9.81000048e-01 1.93995093e-01 2.19322972e-03 2.90403377e+02] [-1.93994686e-01 9.81002499e-01 -3.99017747e-04 -2.81489633e+01] [-2.22897132e-03 -3.40384810e-05 9.99997515e-01 -1.91299026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44576923100004 meters 0.02820068726074225 Centerline is valid? [True, True] Translation: X:290.46, Y:-28.15, Z:-1.91 [[ 9.79786214e-01 2.00041064e-01 1.59595221e-03 2.90464057e+02] [-2.00040856e-01 9.79787513e-01 -2.90478962e-04 -2.81457664e+01] [-1.62180177e-03 -3.46483648e-05 9.99998684e-01 -1.91499464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.505769231 meters 0.030692524759827613 Centerline is valid? [True, True] Translation: X:290.52, Y:-28.15, Z:-1.92 [[ 9.79405967e-01 2.01895860e-01 1.41925085e-03 2.90522615e+02] [-2.01895697e-01 9.79406994e-01 -2.58544804e-04 -2.81496604e+01] [-1.44222333e-03 -3.33203156e-05 9.99998959e-01 -1.91539681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.565769231 meters 0.027876243924203892 Centerline is valid? [True, True] Translation: X:290.58, Y:-28.16, Z:-1.91 [[ 9.80043065e-01 1.98766330e-01 2.74527195e-03 2.90580172e+02] [-1.98765710e-01 9.80046909e-01 -4.99344550e-04 -2.81598132e+01] [-2.78974817e-03 -5.62867669e-05 9.99996107e-01 -1.91442214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.625769231 meters 0.022197182679082553 Centerline is valid? [True, True] Translation: X:290.64, Y:-28.18, Z:-1.92 [[ 9.81077451e-01 1.93593631e-01 2.92260174e-03 2.90638085e+02] [-1.93592907e-01 9.81081803e-01 -5.31432888e-04 -2.81778598e+01] [-2.97019340e-03 -4.44181423e-05 9.99995588e-01 -1.91605533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.685769231 meters 0.0178409008963785 Centerline is valid? [True, True] Translation: X:290.70, Y:-28.19, Z:-1.91 [[ 9.81894622e-01 1.89372031e-01 4.60278326e-03 2.90695585e+02] [-1.89370189e-01 9.81905409e-01 -8.36766607e-04 -2.81936906e+01] [-4.67795797e-03 -5.00133034e-05 9.99989057e-01 -1.91036875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.745769231 meters 0.016227919595558478 Centerline is valid? [True, True] Translation: X:290.75, Y:-28.21, Z:-1.91 [[ 9.82252286e-01 1.87501259e-01 4.87075803e-03 2.90753442e+02] [-1.87499174e-01 9.82264361e-01 -8.85341500e-04 -2.82058784e+01] [-4.95037467e-03 -4.36343949e-05 9.99987746e-01 -1.91186156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.805769231 meters 0.01184612930103575 Centerline is valid? [True, True] Translation: X:290.81, Y:-28.23, Z:-1.91 [[ 9.83211674e-01 1.82404055e-01 4.85434621e-03 2.90812305e+02] [-1.82401924e-01 9.83223657e-01 -8.81935086e-04 -2.82293987e+01] [-4.93377658e-03 -1.83132160e-05 9.99987829e-01 -1.91202209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.865769231 meters 0.011163152622758184 Centerline is valid? [True, True] Translation: X:290.87, Y:-28.24, Z:-1.91 [[ 9.83786313e-01 1.79278074e-01 4.88491113e-03 2.90872845e+02] [-1.79275873e-01 9.83798441e-01 -8.88312140e-04 -2.82445172e+01] [-4.96502284e-03 -1.83738277e-06 9.99987674e-01 -1.91090719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.925769231 meters 0.011982550594965164 Centerline is valid? [True, True] Translation: X:290.93, Y:-28.25, Z:-1.91 [[ 9.83186436e-01 1.82580679e-01 2.95414434e-03 2.90934915e+02] [-1.82579889e-01 9.83190875e-01 -5.37228872e-04 -2.82490221e+01] [-3.00257537e-03 -1.11712042e-05 9.99995492e-01 -1.91499523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.985769231 meters 0.01699092988469823 Centerline is valid? [True, True] Translation: X:291.00, Y:-28.24, Z:-1.92 [[ 9.81706256e-01 1.90386680e-01 2.39546063e-03 2.90996339e+02] [-1.90386182e-01 9.81709179e-01 -4.36606484e-04 -2.82426987e+01] [-2.43476975e-03 -2.74432865e-05 9.99997036e-01 -1.91638239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.045769231 meters 0.019968813468933127 Centerline is valid? [True, True] Translation: X:291.06, Y:-28.24, Z:-1.91 [[ 9.81062454e-01 1.93643389e-01 4.32430370e-03 2.91056519e+02] [-1.93641796e-01 9.81071982e-01 -7.88234920e-04 -2.82442309e+01] [-4.39508969e-03 -6.40582496e-05 9.99990339e-01 -1.91292080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.105769231 meters 0.0197805556015416 Centerline is valid? [True, True] Translation: X:291.12, Y:-28.25, Z:-1.92 [[ 9.81300949e-01 1.92432914e-01 4.24514700e-03 2.91115651e+02] [-1.92431367e-01 9.81310130e-01 -7.73709577e-04 -2.82492988e+01] [-4.31469294e-03 -5.76574987e-05 9.99990690e-01 -1.91505091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.165769231 meters 0.016695080674895973 Centerline is valid? [True, True] Translation: X:291.17, Y:-28.26, Z:-1.92 [[ 9.81834111e-01 1.89709726e-01 3.46382781e-03 2.91174499e+02] [-1.89708679e-01 9.81840221e-01 -6.31284159e-04 -2.82616416e+01] [-3.52068621e-03 -3.73018769e-05 9.99993802e-01 -1.91818460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.225769231 meters 0.011374299034353177 Centerline is valid? [True, True] Translation: X:291.23, Y:-28.29, Z:-1.92 [[ 9.83830672e-01 1.79087405e-01 2.21602308e-03 2.91231763e+02] [-1.79086951e-01 9.83833168e-01 -4.02905102e-04 -2.82940041e+01] [-2.25235224e-03 -4.70421053e-07 9.99997463e-01 -1.92148220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.285769231 meters 0.022189400412641436 Centerline is valid? [True, True] Translation: X:291.28, Y:-28.34, Z:-1.92 [[ 9.86304812e-01 1.64898000e-01 3.38642124e-03 2.91284514e+02] [-1.64896851e-01 9.86310624e-01 -6.17530636e-04 -2.83394643e+01] [-3.44189281e-03 5.06632378e-05 9.99994075e-01 -1.92143996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.345769231 meters 0.029725155078895997 Centerline is valid? [True, True] Translation: X:291.34, Y:-28.37, Z:-1.92 [[ 9.87354050e-01 1.58462234e-01 4.65843512e-03 2.91340936e+02] [-1.58459990e-01 9.87365034e-01 -8.49462900e-04 -2.83698358e+01] [-4.73418374e-03 1.00545053e-04 9.99988789e-01 -1.91910958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.405769231 meters 0.032042402242084454 Centerline is valid? [True, True] Translation: X:291.40, Y:-28.41, Z:-1.92 [[ 9.87966269e-01 1.54619162e-01 3.94526616e-03 2.91396632e+02] [-1.54617521e-01 9.87974142e-01 -7.19412793e-04 -2.84052379e+01] [-4.00905595e-03 1.00748299e-04 9.99991959e-01 -1.92039231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.465769231 meters 0.033001754915353794 Centerline is valid? [True, True] Translation: X:291.45, Y:-28.43, Z:-1.92 [[ 9.88084871e-01 1.53887099e-01 2.65483367e-03 2.91454430e+02] [-1.53886355e-01 9.88088435e-01 -4.83496826e-04 -2.84326070e+01] [-2.69761438e-03 6.91932231e-05 9.99996359e-01 -1.92303218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.525769231 meters 0.029199749209318532 Centerline is valid? [True, True] Translation: X:291.51, Y:-28.46, Z:-1.92 [[ 9.87774034e-01 1.55867142e-01 2.80916601e-03 2.91513173e+02] [-1.55866316e-01 9.87778026e-01 -5.12120084e-04 -2.84570283e+01] [-2.85465515e-03 6.80045659e-05 9.99995923e-01 -1.92144237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58576923100003 meters 0.01862031796567084 Centerline is valid? [True, True] Translation: X:291.57, Y:-28.46, Z:-1.92 [[ 9.86006852e-01 1.66686256e-01 2.48577455e-03 2.91573413e+02] [-1.66685640e-01 9.86009985e-01 -4.54233967e-04 -2.84647844e+01] [-2.52671308e-03 3.35348822e-05 9.99996807e-01 -1.92190837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64576923100003 meters 0.01228153421722847 Centerline is valid? [True, True] Translation: X:291.64, Y:-28.45, Z:-1.92 [[ 9.82951784e-01 1.83832928e-01 3.35345887e-03 2.91637795e+02] [-1.83831907e-01 9.82957504e-01 -6.12706142e-04 -2.84536114e+01] [-3.40894312e-03 -1.42121450e-05 9.99994189e-01 -1.92050033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70576923100003 meters 0.02391785182291963 Centerline is valid? [True, True] Translation: X:291.70, Y:-28.44, Z:-1.92 [[ 9.80228285e-01 1.97852550e-01 2.62275729e-03 2.91700330e+02] [-1.97851975e-01 9.80231792e-01 -4.79377868e-04 -2.84409181e+01] [-2.66575622e-03 -4.90179658e-05 9.99996446e-01 -1.92115620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76576923100004 meters 0.030800250767918907 Centerline is valid? [True, True] Translation: X:291.76, Y:-28.44, Z:-1.92 [[ 9.78646173e-01 2.05506667e-01 4.32178500e-03 2.91762389e+02] [-2.05505182e-01 9.78655709e-01 -7.89803949e-04 -2.84359168e+01] [-4.39184954e-03 -1.15210598e-04 9.99990349e-01 -1.92043342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82576923100004 meters 0.03205821707271374 Centerline is valid? [True, True] Translation: X:291.82, Y:-28.44, Z:-1.92 [[ 9.78074325e-01 2.08246031e-01 2.05047123e-03 2.91824221e+02] [-2.08245703e-01 9.78076473e-01 -3.74609933e-04 -2.84388929e+01] [-2.08352870e-03 -6.06054651e-05 9.99997828e-01 -1.92427370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88576923100004 meters 0.03432998863342021 Centerline is valid? [True, True] Translation: X:291.89, Y:-28.44, Z:-1.93 [[ 9.77964151e-01 2.08770062e-01 -1.08637842e-03 2.91886051e+02] [-2.08769969e-01 9.77964754e-01 1.99845230e-04 -2.84421046e+01] [ 1.10416150e-03 3.13617179e-05 9.99999390e-01 -1.93065042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94576923100004 meters 0.031238587430388744 Centerline is valid? [True, True] Translation: X:291.95, Y:-28.45, Z:-1.92 [[ 9.78136523e-01 2.07924476e-01 4.04401390e-03 2.91947350e+02] [-2.07923195e-01 9.78144876e-01 -7.39305438e-04 -2.84542043e+01] [-4.10935117e-03 -1.17702640e-04 9.99991550e-01 -1.92260519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.005769231 meters 0.03062417855992406 Centerline is valid? [True, True] Translation: X:292.01, Y:-28.46, Z:-1.93 [[ 9.78495897e-01 2.06257226e-01 1.93297937e-03 2.92008387e+02] [-2.06256931e-01 9.78497805e-01 -3.53157250e-04 -2.84604501e+01] [-1.96425731e-03 -5.31274722e-05 9.99998069e-01 -1.92593832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.065769231 meters 0.029834122957226754 Centerline is valid? [True, True] Translation: X:292.07, Y:-28.47, Z:-1.93 [[ 9.78741336e-01 2.05098326e-01 2.72494249e-04 2.92069882e+02] [-2.05098321e-01 9.78741374e-01 -4.88136078e-05 -2.84691735e+01] [-2.76712984e-04 -8.11221700e-06 9.99999962e-01 -1.92902503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.125769231 meters 0.028191563470300305 Centerline is valid? [True, True] Translation: X:292.13, Y:-28.48, Z:-1.93 [[ 9.79271807e-01 2.02530539e-01 2.84767039e-03 2.92129352e+02] [-2.02529876e-01 9.79275945e-01 -5.22333725e-04 -2.84797216e+01] [-2.89444364e-03 -6.52316384e-05 9.99995809e-01 -1.92517577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.185769231 meters 0.023539085650186076 Centerline is valid? [True, True] Translation: X:292.19, Y:-28.50, Z:-1.92 [[ 9.80163339e-01 1.98156193e-01 3.73522882e-03 2.92188721e+02] [-1.98155020e-01 9.80170454e-01 -6.85168128e-04 -2.84957994e+01] [-3.79693123e-03 -6.85776629e-05 9.99992789e-01 -1.92376882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.245769231 meters 0.018664304637919852 Centerline is valid? [True, True] Translation: X:292.25, Y:-28.52, Z:-1.93 [[ 9.81108103e-01 1.93459763e-01 -4.58938572e-04 2.92248393e+02] [-1.93459744e-01 9.81108210e-01 8.46572324e-05 -2.85178592e+01] [ 4.66646169e-04 5.72824204e-06 9.99999891e-01 -1.93111309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.305769231 meters 0.0150404382480038 Centerline is valid? [True, True] Translation: X:292.31, Y:-28.54, Z:-1.93 [[ 9.82006532e-01 1.88823856e-01 2.95339497e-03 2.92306329e+02] [-1.88823080e-01 9.82010973e-01 -5.42016379e-04 -2.85379140e+01] [-3.00261189e-03 -2.54055087e-05 9.99995492e-01 -1.92599926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.365769231 meters 0.013822321065248942 Centerline is valid? [True, True] Translation: X:292.37, Y:-28.56, Z:-1.93 [[ 9.82226268e-01 1.87686032e-01 2.34766575e-03 2.92365890e+02] [-1.87685540e-01 9.82229074e-01 -4.30117728e-04 -2.85561159e+01] [-2.38667265e-03 -1.81499838e-05 9.99997152e-01 -1.92718921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.425769231 meters 0.012732417317151435 Centerline is valid? [True, True] Translation: X:292.43, Y:-28.57, Z:-1.93 [[ 9.82682815e-01 1.85273639e-01 2.85723284e-03 2.92425062e+02] [-1.85272897e-01 9.82686969e-01 -5.24297993e-04 -2.85722423e+01] [-2.90490407e-03 -1.41491781e-05 9.99995781e-01 -1.92734475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.485769231 meters 0.011811434109932767 Centerline is valid? [True, True] Translation: X:292.49, Y:-28.59, Z:-1.93 [[ 9.83092676e-01 1.83096704e-01 2.09437977e-03 2.92485498e+02] [-1.83096301e-01 9.83094907e-01 -3.84189112e-04 -2.85941657e+01] [-2.12931785e-03 -5.77968782e-06 9.99997733e-01 -1.92856107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.545769231 meters 0.01221683364493621 Centerline is valid? [True, True] Translation: X:292.54, Y:-28.62, Z:-1.94 [[ 9.83408912e-01 1.81400533e-01 -8.71419458e-04 2.92543709e+02] [-1.81400461e-01 9.83409298e-01 1.61641297e-04 -2.86173142e+01] [ 8.86283815e-04 -8.83600782e-07 9.99999607e-01 -1.93519296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.605769231 meters 0.012877668341105224 Centerline is valid? [True, True] Translation: X:292.61, Y:-28.63, Z:-1.93 [[ 9.82560375e-01 1.85940437e-01 1.12419683e-03 2.92606176e+02] [-1.85940323e-01 9.82561018e-01 -2.06001295e-04 -2.86264873e+01] [-1.14289595e-03 -6.62481075e-06 9.99999347e-01 -1.93032330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.665769231 meters 0.017744940059043087 Centerline is valid? [True, True] Translation: X:292.67, Y:-28.63, Z:-1.93 [[ 9.81312571e-01 1.92418229e-01 9.28638346e-04 2.92667065e+02] [-1.92418153e-01 9.81313011e-01 -1.71131022e-04 -2.86304424e+01] [-9.44213620e-04 -1.07538523e-05 9.99999554e-01 -1.93203259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.725769231 meters 0.0161494138212712 Centerline is valid? [True, True] Translation: X:292.73, Y:-28.65, Z:-1.94 [[ 9.81745194e-01 1.90196877e-01 -1.23348805e-03 2.92726615e+02] [-1.90196739e-01 9.81745969e-01 2.28874855e-04 -2.86498265e+01] [ 1.25450320e-03 9.90861652e-06 9.99999213e-01 -1.93713091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.785769231 meters 0.013403526617862913 Centerline is valid? [True, True] Translation: X:292.79, Y:-28.67, Z:-1.92 [[ 9.82235112e-01 1.87553412e-01 6.15649287e-03 2.92786259e+02] [-1.87549973e-01 9.82254405e-01 -1.13652618e-03 -2.86671367e+01] [-6.26040161e-03 -3.83141482e-05 9.99980403e-01 -1.92162684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.845769231 meters 0.018664713008023855 Centerline is valid? [True, True] Translation: X:292.85, Y:-28.67, Z:-1.93 [[ 9.81083990e-01 1.93579433e-01 1.09858052e-03 2.92848191e+02] [-1.93579328e-01 9.81084605e-01 -2.02128059e-04 -2.86717087e+01] [-1.11692827e-03 -1.43578751e-05 9.99999376e-01 -1.93124591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.905769231 meters 0.025358822821731988 Centerline is valid? [True, True] Translation: X:292.91, Y:-28.67, Z:-1.94 [[ 9.79938454e-01 1.99281297e-01 -2.75536966e-03 2.92909915e+02] [-1.99280651e-01 9.79942326e-01 5.09828697e-04 -2.86696978e+01] [ 2.80170268e-03 4.94911136e-05 9.99996074e-01 -1.93991350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.965769231 meters 0.02622355329891953 Centerline is valid? [True, True] Translation: X:292.97, Y:-28.68, Z:-1.92 [[ 9.79678310e-01 2.00484514e-01 6.03067074e-03 2.92970270e+02] [-2.00481445e-01 9.79696864e-01 -1.11534110e-03 -2.86789245e+01] [-6.13183783e-03 -1.16362104e-04 9.99981193e-01 -1.92182831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.025769231 meters 0.023362219971169062 Centerline is valid? [True, True] Translation: X:293.03, Y:-28.69, Z:-1.93 [[ 9.79620292e-01 2.00823486e-01 3.74307062e-03 2.93032058e+02] [-2.00822306e-01 9.79627440e-01 -6.92348841e-04 -2.86870351e+01] [-3.80585460e-03 -7.34530997e-05 9.99992755e-01 -1.92753122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08576923100003 meters 0.031401614872522236 Centerline is valid? [True, True] Translation: X:293.10, Y:-28.68, Z:-1.93 [[ 9.78943903e-01 2.04128280e-01 6.93477449e-04 2.93095267e+02] [-2.04128241e-01 9.78944148e-01 -1.27510586e-04 -2.86822976e+01] [-7.04904207e-04 -1.67326206e-05 9.99999751e-01 -1.93430649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14576923100003 meters 0.03822727984039802 Centerline is valid? [True, True] Translation: X:293.16, Y:-28.67, Z:-1.94 [[ 9.77934949e-01 2.08905691e-01 -1.28327454e-03 2.93158695e+02] [-2.08905559e-01 9.77935791e-01 2.37972960e-04 -2.86726279e+01] [ 1.30467401e-03 3.53611092e-05 9.99999148e-01 -1.93827183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20576923100003 meters 0.038327699038865196 Centerline is valid? [True, True] Translation: X:293.22, Y:-28.68, Z:-1.94 [[ 9.78013138e-01 2.08542230e-01 -6.64224006e-04 2.93217469e+02] [-2.08542194e-01 9.78013363e-01 1.22846727e-04 -2.86795119e+01] [ 6.75238684e-04 1.83730191e-05 9.99999772e-01 -1.93772932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26576923100004 meters 0.03299528301990541 Centerline is valid? [True, True] Translation: X:293.28, Y:-28.69, Z:-1.93 [[ 9.77887813e-01 2.09121014e-01 1.95640664e-03 2.93277349e+02] [-2.09120707e-01 9.77889768e-01 -3.62715077e-04 -2.86895941e+01] [-1.98900138e-03 -5.44304858e-05 9.99998020e-01 -1.93159517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32576923100004 meters 0.03427121286808242 Centerline is valid? [True, True] Translation: X:293.34, Y:-28.69, Z:-1.94 [[ 9.77688234e-01 2.10038914e-01 -3.06130597e-03 2.93337916e+02] [-2.10038166e-01 9.77693023e-01 5.67561881e-04 -2.86933855e+01] [ 3.11222757e-03 8.80925190e-05 9.99995153e-01 -1.94011492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38576923100004 meters 0.035009194409651306 Centerline is valid? [True, True] Translation: X:293.40, Y:-28.70, Z:-1.94 [[ 9.77512855e-01 2.10875357e-01 -4.49474855e-04 2.93397867e+02] [-2.10875342e-01 9.77512958e-01 8.29797914e-05 -2.86953749e+01] [ 4.56865888e-04 1.36693508e-05 9.99999896e-01 -1.93622526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44576923100004 meters 0.031113310408018215 Centerline is valid? [True, True] Translation: X:293.46, Y:-28.70, Z:-1.93 [[ 9.78033801e-01 2.08407191e-01 4.04054301e-03 2.93457309e+02] [-2.08405874e-01 9.78042142e-01 -7.48959765e-04 -2.87044772e+01] [-4.10790994e-03 -1.09564931e-04 9.99991556e-01 -1.92871857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.505769231 meters 0.02584401572401643 Centerline is valid? [True, True] Translation: X:293.52, Y:-28.72, Z:-1.94 [[ 9.79372760e-01 2.02059533e-01 9.70521642e-04 2.93515277e+02] [-2.02059455e-01 9.79373241e-01 -1.79585452e-04 -2.87177829e+01] [-9.86789878e-04 -2.02219743e-05 9.99999513e-01 -1.93551896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.565769231 meters 0.019832047389310464 Centerline is valid? [True, True] Translation: X:293.57, Y:-28.74, Z:-1.94 [[ 9.80877283e-01 1.94626018e-01 -6.84506550e-04 2.93572778e+02] [-1.94625976e-01 9.80877522e-01 1.26896839e-04 -2.87366156e+01] [ 6.96114515e-04 8.75252865e-06 9.99999758e-01 -1.93917168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.625769231 meters 0.014972954836434495 Centerline is valid? [True, True] Translation: X:293.63, Y:-28.76, Z:-1.94 [[ 9.81953897e-01 1.89120345e-01 -1.96138462e-04 2.93631928e+02] [-1.89120341e-01 9.81953917e-01 3.66162338e-05 -2.87563805e+01] [ 1.99523806e-04 1.13831935e-06 9.99999980e-01 -1.93812124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.685769231 meters 0.013293260889792163 Centerline is valid? [True, True] Translation: X:293.69, Y:-28.77, Z:-1.93 [[ 9.82283295e-01 1.87397638e-01 1.28573287e-03 2.93692233e+02] [-1.87397487e-01 9.82284137e-01 -2.37414457e-04 -2.87741653e+01] [-1.30744591e-03 -7.73485369e-06 9.99999145e-01 -1.93450379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.745769231 meters 0.013233122367354683 Centerline is valid? [True, True] Translation: X:293.75, Y:-28.79, Z:-1.94 [[ 9.82570066e-01 1.85892350e-01 -3.17358333e-04 2.93751677e+02] [-1.85892340e-01 9.82570117e-01 6.02500809e-05 -2.87932186e+01] [ 3.23026843e-04 -2.05442936e-07 9.99999948e-01 -1.93925050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.805769231 meters 0.013727052929235777 Centerline is valid? [True, True] Translation: X:293.81, Y:-28.80, Z:-1.94 [[ 9.82118828e-01 1.88261267e-01 5.51025526e-04 2.93813334e+02] [-1.88261240e-01 9.82118982e-01 -1.01108146e-04 -2.88045422e+01] [-5.60207376e-04 -4.43653455e-06 9.99999843e-01 -1.93589890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.865769231 meters 0.01589302780002862 Centerline is valid? [True, True] Translation: X:293.88, Y:-28.81, Z:-1.93 [[ 9.81288029e-01 1.92494484e-01 4.43596974e-03 2.93876021e+02] [-1.92492723e-01 9.81298054e-01 -8.24580451e-04 -2.88093770e+01] [-4.51173566e-03 -4.47409691e-05 9.99989821e-01 -1.92722454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.925769231 meters 0.014481482070061051 Centerline is valid? [True, True] Translation: X:293.94, Y:-28.82, Z:-1.93 [[ 9.81711416e-01 1.90318772e-01 4.63248673e-03 2.93936187e+02] [-1.90316823e-01 9.81722346e-01 -8.61996612e-04 -2.88207788e+01] [-4.71186988e-03 -3.54082450e-05 9.99988898e-01 -1.92968570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.985769231 meters 0.01226024287418858 Centerline is valid? [True, True] Translation: X:294.00, Y:-28.84, Z:-1.93 [[ 9.82457617e-01 1.86408826e-01 5.36467225e-03 2.93995329e+02] [-1.86406149e-01 9.82472264e-01 -9.99265588e-04 -2.88368429e+01] [-5.45691362e-03 -1.82718056e-05 9.99985111e-01 -1.92674019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.045769231 meters 0.012070696120182713 Centerline is valid? [True, True] Translation: X:294.06, Y:-28.85, Z:-1.93 [[ 9.82643387e-01 1.85457383e-01 4.18714519e-03 2.94056890e+02] [-1.85455742e-01 9.82652308e-01 -7.80253298e-04 -2.88486714e+01] [-4.25921163e-03 -9.81937434e-06 9.99990929e-01 -1.92910771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.105769231 meters 0.013231732415552346 Centerline is valid? [True, True] Translation: X:294.12, Y:-28.85, Z:-1.94 [[ 9.82506711e-01 1.86220158e-01 -1.61695972e-03 2.94119549e+02] [-1.86219911e-01 9.82508042e-01 3.03242407e-04 -2.88531986e+01] [ 1.64514577e-03 3.17239534e-06 9.99998647e-01 -1.94217104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.165769231 meters 0.015158092448979945 Centerline is valid? [True, True] Translation: X:294.18, Y:-28.85, Z:-1.94 [[ 9.81747589e-01 1.90178250e-01 -1.97595501e-03 2.94180965e+02] [-1.90177892e-01 9.81749578e-01 3.68954103e-04 -2.88502048e+01] [ 2.01006004e-03 1.35631587e-05 9.99997980e-01 -1.94331147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.225769231 meters 0.0209403361762586 Centerline is valid? [True, True] Translation: X:294.24, Y:-28.84, Z:-1.94 [[ 9.80415427e-01 1.96936321e-01 -1.29438884e-03 2.94241967e+02] [-1.96936174e-01 9.80416281e-01 2.41571752e-04 -2.88410027e+01] [ 1.31661414e-03 1.80713130e-05 9.99999133e-01 -1.94325318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.285769231 meters 0.023205472541092235 Centerline is valid? [True, True] Translation: X:294.30, Y:-28.84, Z:-1.94 [[ 9.79645058e-01 2.00734884e-01 -1.03241300e-03 2.94302753e+02] [-2.00734792e-01 9.79645602e-01 1.92637485e-04 -2.88389742e+01] [ 1.05006791e-03 1.85248481e-05 9.99999449e-01 -1.94282696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.345769231 meters 0.024844438042646355 Centerline is valid? [True, True] Translation: X:294.36, Y:-28.84, Z:-1.94 [[ 9.79742887e-01 2.00254285e-01 1.44815368e-03 2.94361413e+02] [-2.00254103e-01 9.79743957e-01 -2.70775269e-04 -2.88395466e+01] [-1.47304373e-03 -2.47085742e-05 9.99998915e-01 -1.94074272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.405769231 meters 0.01677129495274417 Centerline is valid? [True, True] Translation: X:294.42, Y:-28.86, Z:-1.94 [[ 9.81550189e-01 1.91201255e-01 1.14287416e-03 2.94417714e+02] [-1.91201136e-01 9.81550855e-01 -2.13496023e-04 -2.88593780e+01] [-1.16260982e-03 -8.96177628e-06 9.99999324e-01 -1.94324689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.465769231 meters 0.012178900035668568 Centerline is valid? [True, True] Translation: X:294.47, Y:-28.89, Z:-1.94 [[ 9.83406193e-01 1.81382863e-01 3.53780882e-03 2.94473381e+02] [-1.81381661e-01 9.83412557e-01 -6.60477389e-04 -2.88853728e+01] [-3.59892489e-03 7.82391539e-06 9.99993524e-01 -1.93754762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.525769231 meters 0.01530943315900312 Centerline is valid? [True, True] Translation: X:294.53, Y:-28.90, Z:-1.94 [[ 9.84264950e-01 1.76676211e-01 2.83291941e-03 2.94531113e+02] [-1.76675421e-01 9.84269026e-01 -5.28802612e-04 -2.89013882e+01] [-2.88178167e-03 1.99746474e-05 9.99995847e-01 -1.94048949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58576923100003 meters 0.015458785456884075 Centerline is valid? [True, True] Translation: X:294.59, Y:-28.91, Z:-1.94 [[ 9.84294322e-01 1.76506983e-01 3.15784375e-03 2.94590265e+02] [-1.76506000e-01 9.84299388e-01 -5.89452072e-04 -2.89114641e+01] [-3.21230607e-03 2.28159581e-05 9.99994840e-01 -1.93892722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64576923100003 meters 0.012984421349909984 Centerline is valid? [True, True] Translation: X:294.65, Y:-28.92, Z:-1.94 [[ 9.83907300e-01 1.78626489e-01 4.35909600e-03 2.94650790e+02] [-1.78624638e-01 9.83916956e-01 -8.13468880e-04 -2.89157256e+01] [-4.43429556e-03 2.17360267e-05 9.99990168e-01 -1.93512868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70576923100003 meters 0.012263108699545083 Centerline is valid? [True, True] Translation: X:294.71, Y:-28.93, Z:-1.93 [[ 9.83615974e-01 1.80146255e-01 6.85148190e-03 2.94709604e+02] [-1.80141719e-01 9.83639836e-01 -1.27858248e-03 -2.89257429e+01] [-6.96972238e-03 2.33964253e-05 9.99975711e-01 -1.93160009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76576923100004 meters 0.011546765600352045 Centerline is valid? [True, True] Translation: X:294.77, Y:-28.93, Z:-1.93 [[ 9.83136471e-01 1.82784649e-01 5.69671037e-03 2.94768959e+02] [-1.82781556e-01 9.83152975e-01 -1.06319987e-03 -2.89334948e+01] [-5.79507437e-03 4.01697712e-06 9.99983208e-01 -1.93222755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82576923100004 meters 0.011509764171008184 Centerline is valid? [True, True] Translation: X:294.83, Y:-28.94, Z:-1.93 [[ 9.83010312e-01 1.83480487e-01 5.06336611e-03 2.94827258e+02] [-1.83478054e-01 9.83023352e-01 -9.44894349e-04 -2.89445875e+01] [-5.15077681e-03 -1.75673419e-07 9.99986735e-01 -1.93452396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88576923100004 meters 0.0114104038662703 Centerline is valid? [True, True] Translation: X:294.88, Y:-28.96, Z:-1.93 [[ 9.83252190e-01 1.82095249e-01 7.51335864e-03 2.94884691e+02] [-1.82089854e-01 9.83280896e-01 -1.40184854e-03 -2.89617625e+01] [-7.64301197e-03 1.02642714e-05 9.99970792e-01 -1.93069751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94576923100004 meters 0.01279440302021167 Centerline is valid? [True, True] Translation: X:294.94, Y:-28.98, Z:-1.94 [[ 9.83822736e-01 1.79091346e-01 4.37197783e-03 2.94943378e+02] [-1.79089492e-01 9.83832450e-01 -8.15258928e-04 -2.89847830e+01] [-4.44729947e-03 1.90949829e-05 9.99990111e-01 -1.93796431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.005769231 meters 0.014653480142237869 Centerline is valid? [True, True] Translation: X:295.00, Y:-29.01, Z:-1.94 [[ 9.84314829e-01 1.76396078e-01 2.95638147e-03 2.95002118e+02] [-1.76395217e-01 9.84319269e-01 -5.51396076e-04 -2.90105675e+01] [-3.00728735e-03 2.12557831e-05 9.99995478e-01 -1.94026226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.065769231 meters 0.014194466884979445 Centerline is valid? [True, True] Translation: X:295.06, Y:-29.03, Z:-1.94 [[ 9.84155192e-01 1.77271389e-01 3.66237999e-03 2.95061996e+02] [-1.77270071e-01 9.84162006e-01 -6.83973569e-04 -2.90304520e+01] [-3.72562418e-03 2.39057779e-05 9.99993060e-01 -1.93992808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.125769231 meters 0.012531667396871372 Centerline is valid? [True, True] Translation: X:295.12, Y:-29.04, Z:-1.95 [[ 9.83222278e-01 1.82409727e-01 -8.01745769e-04 2.95124467e+02] [-1.82409664e-01 9.83222605e-01 1.51531151e-04 -2.90373149e+01] [ 8.15935319e-04 -2.74262713e-06 9.99999667e-01 -1.94840591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.185769231 meters 0.012638016833262869 Centerline is valid? [True, True] Translation: X:295.18, Y:-29.05, Z:-1.95 [[ 9.83415757e-01 1.81365425e-01 1.75329665e-04 2.95183566e+02] [-1.81365422e-01 9.83415773e-01 -3.21775074e-05 -2.90542108e+01] [-1.78257846e-04 -1.54870952e-07 9.99999984e-01 -1.94677290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.245769231 meters 0.018352102627414366 Centerline is valid? [True, True] Translation: X:295.24, Y:-29.09, Z:-1.94 [[ 9.84818271e-01 1.73558354e-01 3.23582359e-03 2.95239373e+02] [-1.73557300e-01 9.84823587e-01 -6.05722902e-04 -2.90882943e+01] [-3.29184366e-03 3.49261761e-05 9.99994581e-01 -1.94235707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.305769231 meters 0.024034843511870754 Centerline is valid? [True, True] Translation: X:295.30, Y:-29.12, Z:-1.94 [[ 9.86028965e-01 1.66499604e-01 4.97615556e-03 2.95295773e+02] [-1.66497014e-01 9.86041517e-01 -9.33153639e-04 -2.91190769e+01] [-5.06206569e-03 9.16014737e-05 9.99987183e-01 -1.94028608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.365769231 meters 0.02741216703331531 Centerline is valid? [True, True] Translation: X:295.35, Y:-29.15, Z:-1.94 [[ 9.86205451e-01 1.65489056e-01 3.49004335e-03 2.95352322e+02] [-1.65487776e-01 9.86211624e-01 -6.54446492e-04 -2.91466915e+01] [-3.55022506e-03 6.78591838e-05 9.99993696e-01 -1.94127116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.425769231 meters 0.020321687577020773 Centerline is valid? [True, True] Translation: X:295.41, Y:-29.16, Z:-1.94 [[ 9.85739868e-01 1.68266702e-01 1.79713393e-03 2.95413838e+02] [-1.68266369e-01 9.85741506e-01 -3.36132138e-04 -2.91558328e+01] [-1.82806935e-03 2.89416491e-05 9.99998329e-01 -1.94296834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.485769231 meters 0.02177229520385698 Centerline is valid? [True, True] Translation: X:295.47, Y:-29.18, Z:-1.94 [[ 9.85174041e-01 1.71521835e-01 3.51683777e-03 2.95471347e+02] [-1.71520573e-01 9.85180317e-01 -6.59671304e-04 -2.91831194e+01] [-3.57786739e-03 4.66810158e-05 9.99993598e-01 -1.94429277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.545769231 meters 0.015918678482902526 Centerline is valid? [True, True] Translation: X:295.53, Y:-29.20, Z:-1.94 [[ 9.84601760e-01 1.74749206e-01 4.69983328e-03 2.95531400e+02] [-1.74746982e-01 9.84612976e-01 -8.82880957e-04 -2.92016138e+01] [-4.78179958e-03 4.80044627e-05 9.99988566e-01 -1.93859620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.605769231 meters 0.014199816030791549 Centerline is valid? [True, True] Translation: X:295.59, Y:-29.22, Z:-1.94 [[ 9.83815606e-01 1.79115571e-01 4.94625132e-03 2.95590331e+02] [-1.79113158e-01 9.83828040e-01 -9.30130500e-04 -2.92208461e+01] [-5.03286159e-03 2.91382076e-05 9.99987335e-01 -1.94035676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.665769231 meters 0.011949364457929997 Centerline is valid? [True, True] Translation: X:295.65, Y:-29.23, Z:-1.95 [[ 9.82746859e-01 1.84955536e-01 2.46803870e-04 2.95652478e+02] [-1.84955530e-01 9.82746890e-01 -4.51607611e-05 -2.92298746e+01] [-2.50898468e-04 -1.26614448e-06 9.99999969e-01 -1.94939597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.725769231 meters 0.011410696794381078 Centerline is valid? [True, True] Translation: X:295.71, Y:-29.25, Z:-1.94 [[ 9.82548104e-01 1.85972660e-01 3.65966849e-03 2.95712327e+02] [-1.85971383e-01 9.82554919e-01 -6.89179102e-04 -2.92475181e+01] [-3.72399375e-03 -3.44198986e-06 9.99993066e-01 -1.94240534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.785769231 meters 0.011239233975945498 Centerline is valid? [True, True] Translation: X:295.77, Y:-29.26, Z:-1.94 [[ 9.82480378e-01 1.86256343e-01 6.39381841e-03 2.95772620e+02] [-1.86252438e-01 9.82501183e-01 -1.20602474e-03 -2.92634818e+01] [-6.50656391e-03 -5.96863033e-06 9.99978832e-01 -1.93851944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.845769231 meters 0.012640274743912073 Centerline is valid? [True, True] Translation: X:295.83, Y:-29.27, Z:-1.94 [[ 9.81604999e-01 1.90820154e-01 6.26849793e-03 2.95834930e+02] [-1.90816487e-01 9.81625014e-01 -1.18349815e-03 -2.92671972e+01] [-6.37914966e-03 -3.44050524e-05 9.99979652e-01 -1.93777193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.905769231 meters 0.020182696137092587 Centerline is valid? [True, True] Translation: X:295.90, Y:-29.26, Z:-1.94 [[ 9.79859070e-01 1.99623385e-01 5.16796455e-03 2.95897596e+02] [-1.99621010e-01 9.79872695e-01 -9.76570894e-04 -2.92567425e+01] [-5.25889374e-03 -7.47324544e-05 9.99986169e-01 -1.94179318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.965769231 meters 0.022644492226973206 Centerline is valid? [True, True] Translation: X:295.96, Y:-29.26, Z:-1.94 [[ 9.79287436e-01 2.02405939e-01 5.28714656e-03 2.95959986e+02] [-2.02403493e-01 9.79301704e-01 -9.99237822e-04 -2.92616626e+01] [-5.37996331e-03 -9.15958892e-05 9.99985524e-01 -1.94212410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.025769231 meters 0.023973542302159246 Centerline is valid? [True, True] Translation: X:296.02, Y:-29.26, Z:-1.94 [[ 9.78764141e-01 2.04945779e-01 4.24068530e-03 2.96022609e+02] [-2.04944227e-01 9.78773324e-01 -8.01958092e-04 -2.92616868e+01] [-4.31502757e-03 -8.41761485e-05 9.99990687e-01 -1.94411055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08576923100003 meters 0.018555001398133146 Centerline is valid? [True, True] Translation: X:296.08, Y:-29.27, Z:-1.95 [[ 9.80133541e-01 1.98334475e-01 1.29526648e-03 2.96082547e+02] [-1.98334325e-01 9.80134397e-01 -2.45146060e-04 -2.92711854e+01] [-1.31815614e-03 -1.66199261e-05 9.99999131e-01 -1.95128549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14576923100003 meters 0.013278678118972232 Centerline is valid? [True, True] Translation: X:296.14, Y:-29.29, Z:-1.95 [[ 9.81547301e-01 1.91200986e-01 2.66072257e-03 2.96141366e+02] [-1.91200322e-01 9.81550907e-01 -5.03816578e-04 -2.92877270e+01] [-2.70796488e-03 -1.42112117e-05 9.99996333e-01 -1.95020621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20576923100003 meters 0.011837410597786749 Centerline is valid? [True, True] Translation: X:296.20, Y:-29.30, Z:-1.95 [[ 9.82782902e-01 1.84738297e-01 3.08698320e-03 2.96201014e+02] [-1.84737374e-01 9.82787750e-01 -5.84092184e-04 -2.93045502e+01] [-3.14175347e-03 3.75464128e-06 9.99995065e-01 -1.94936032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26576923100004 meters 0.0121044191478393 Centerline is valid? [True, True] Translation: X:296.26, Y:-29.32, Z:-1.95 [[ 9.83130150e-01 1.82859855e-01 4.16900901e-03 2.96261902e+02] [-1.82858150e-01 9.83138990e-01 -7.89817753e-04 -2.93196611e+01] [-4.24314127e-03 1.41563697e-05 9.99990998e-01 -1.94814728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32576923100004 meters 0.013829321397638311 Centerline is valid? [True, True] Translation: X:296.32, Y:-29.34, Z:-1.94 [[ 9.83714666e-01 1.79584432e-01 7.40865074e-03 2.96320990e+02] [-1.79578936e-01 9.83742562e-01 -1.40607366e-03 -2.93384345e+01] [-7.54071400e-03 5.27376664e-05 9.99971567e-01 -1.94315849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38576923100004 meters 0.015729871456026737 Centerline is valid? [True, True] Translation: X:296.38, Y:-29.36, Z:-1.95 [[ 9.84041475e-01 1.77856453e-01 5.42745525e-03 2.96380025e+02] [-1.77853474e-01 9.84056441e-01 -1.03064140e-03 -2.93573142e+01] [-5.52422852e-03 4.89021101e-05 9.99984740e-01 -1.94727734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44576923100004 meters 0.012018586069128766 Centerline is valid? [True, True] Translation: X:296.44, Y:-29.36, Z:-1.95 [[ 9.82840494e-01 1.84450610e-01 1.59240860e-03 2.96443327e+02] [-1.84450363e-01 9.82841784e-01 -3.02224393e-04 -2.93592031e+01] [-1.62083119e-03 3.31802648e-06 9.99998686e-01 -1.95332275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.505769231 meters 0.015513574304119546 Centerline is valid? [True, True] Translation: X:296.51, Y:-29.35, Z:-1.95 [[ 9.80639198e-01 1.95770995e-01 4.52548112e-03 2.96508643e+02] [-1.95769110e-01 9.80649640e-01 -8.60275437e-04 -2.93502932e+01] [-4.60632841e-03 -4.23295941e-05 9.99989390e-01 -1.94734160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.565769231 meters 0.021389835872689708 Centerline is valid? [True, True] Translation: X:296.57, Y:-29.35, Z:-1.95 [[ 9.79418349e-01 2.01774381e-01 5.17650482e-03 2.96570573e+02] [-2.01771992e-01 9.79432026e-01 -9.85198211e-04 -2.93484001e+01] [-5.26882236e-03 -7.95524819e-05 9.99986116e-01 -1.94886640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.625769231 meters 0.01982812039738322 Centerline is valid? [True, True] Translation: X:296.63, Y:-29.36, Z:-1.96 [[ 9.79837304e-01 1.99794626e-01 9.82044333e-04 2.96630134e+02] [-1.99794539e-01 9.79837796e-01 -1.86125911e-04 -2.93621232e+01] [-9.99431112e-04 -1.38339845e-05 9.99999500e-01 -1.95830954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.685769231 meters 0.017473261301780642 Centerline is valid? [True, True] Translation: X:296.69, Y:-29.37, Z:-1.96 [[ 9.80304837e-01 1.97482438e-01 1.76464779e-03 2.96689808e+02] [-1.97482154e-01 9.80306425e-01 -3.35546282e-04 -2.93746286e+01] [-1.79616006e-03 -1.95488033e-05 9.99998387e-01 -1.95829328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.745769231 meters 0.021116686574789316 Centerline is valid? [True, True] Translation: X:296.75, Y:-29.38, Z:-1.95 [[ 9.79563090e-01 2.01117431e-01 2.81628381e-03 2.96752816e+02] [-2.01116720e-01 9.79567138e-01 -5.36496724e-04 -2.93762902e+01] [-2.86663791e-03 -4.08693734e-05 9.99995890e-01 -1.95494138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.805769231 meters 0.024621347133097972 Centerline is valid? [True, True] Translation: X:296.82, Y:-29.37, Z:-1.95 [[ 9.78130157e-01 2.07914862e-01 5.72766800e-03 2.96815149e+02] [-2.07912023e-01 9.78146919e-01 -1.09331445e-03 -2.93731517e+01] [-5.82981713e-03 -1.21447206e-04 9.99982999e-01 -1.95041699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.865769231 meters 0.032146817197090116 Centerline is valid? [True, True] Translation: X:296.88, Y:-29.36, Z:-1.95 [[ 9.77668418e-01 2.09979863e-01 8.53943820e-03 2.96877714e+02] [-2.09973629e-01 9.77705691e-01 -1.63026148e-03 -2.93644239e+01] [-8.69137940e-03 -1.99201663e-04 9.99962209e-01 -1.94830583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.925769231 meters 0.02358877011940374 Centerline is valid? [True, True] Translation: X:296.94, Y:-29.38, Z:-1.96 [[ 9.79016837e-01 2.03742551e-01 3.87370431e-03 2.96936276e+02] [-2.03741219e-01 9.79024499e-01 -7.39684460e-04 -2.93839354e+01] [-3.94315662e-03 -6.50696959e-05 9.99992224e-01 -1.95733196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.985769231 meters 0.014323146414424991 Centerline is valid? [True, True] Translation: X:296.99, Y:-29.41, Z:-1.96 [[ 9.80684657e-01 1.95530328e-01 5.04914004e-03 2.96993035e+02] [-1.95527955e-01 9.80697654e-01 -9.64235973e-04 -2.94085909e+01] [-5.14021717e-03 -4.16366002e-05 9.99986788e-01 -1.95524792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.045769231 meters 0.015183658339231182 Centerline is valid? [True, True] Translation: X:297.06, Y:-29.42, Z:-1.95 [[ 9.80422882e-01 1.96759452e-01 7.52935109e-03 2.97055290e+02] [-1.96754210e-01 9.80451790e-01 -1.43800408e-03 -2.94196035e+01] [-7.66510665e-03 -7.15794261e-05 9.99970620e-01 -1.94959935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.105769231 meters 0.019104583521155388 Centerline is valid? [True, True] Translation: X:297.12, Y:-29.42, Z:-1.96 [[ 9.79305294e-01 2.02321620e-01 5.20608878e-03 2.97117397e+02] [-2.02319189e-01 9.79319129e-01 -9.94937781e-04 -2.94226497e+01] [-5.29971975e-03 -7.89438252e-05 9.99985953e-01 -1.95509673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.165769231 meters 0.022401056771442662 Centerline is valid? [True, True] Translation: X:297.18, Y:-29.43, Z:-1.96 [[ 9.78572642e-01 2.05837175e-01 5.16159771e-03 2.97179140e+02] [-2.05834830e-01 9.78586250e-01 -9.87266217e-04 -2.94288191e+01] [-5.25428464e-03 -9.63248752e-05 9.99986192e-01 -1.95592971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.225769231 meters 0.027677431595887675 Centerline is valid? [True, True] Translation: X:297.24, Y:-29.43, Z:-1.96 [[ 9.77684179e-01 2.10053281e-01 3.35632961e-03 2.97240188e+02] [-2.10052312e-01 9.77689937e-01 -6.42569731e-04 -2.94318397e+01] [-3.41642356e-03 -7.67745353e-05 9.99994161e-01 -1.95925639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.285769231 meters 0.033917776623461585 Centerline is valid? [True, True] Translation: X:297.30, Y:-29.43, Z:-1.96 [[ 9.76589789e-01 2.15048538e-01 5.14875937e-03 2.97300376e+02] [-2.15046325e-01 9.76603351e-01 -9.86110400e-04 -2.94306391e+01] [-5.24035725e-03 -1.44196434e-04 9.99986259e-01 -1.95601481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.345769231 meters 0.042560398426516946 Centerline is valid? [True, True] Translation: X:297.36, Y:-29.43, Z:-1.96 [[ 9.74952941e-01 2.22367644e-01 4.40388701e-03 2.97362501e+02] [-2.22366100e-01 9.74962874e-01 -8.43432014e-04 -2.94252452e+01] [-4.48117833e-03 -1.56968657e-04 9.99989947e-01 -1.95891054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.405769231 meters 0.041035279394150664 Centerline is valid? [True, True] Translation: X:297.42, Y:-29.44, Z:-1.96 [[ 9.74711179e-01 2.23412694e-01 4.98848946e-03 2.97420120e+02] [-2.23410726e-01 9.74723927e-01 -9.55446263e-04 -2.94359697e+01] [-5.07585886e-03 -1.83197898e-04 9.99987101e-01 -1.95928802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.465769231 meters 0.035384737646388255 Centerline is valid? [True, True] Translation: X:297.48, Y:-29.46, Z:-1.96 [[ 9.76392035e-01 2.15942754e-01 5.22701643e-03 2.97476241e+02] [-2.15940488e-01 9.76406014e-01 -1.00083188e-03 -2.94569227e+01] [-5.31981267e-03 -1.51520209e-04 9.99985838e-01 -1.95908194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.525769231 meters 0.03080254964590084 Centerline is valid? [True, True] Translation: X:297.53, Y:-29.47, Z:-1.96 [[ 9.77114122e-01 2.12669117e-01 4.45419434e-03 2.97533790e+02] [-2.12667437e-01 9.77124267e-01 -8.52739527e-04 -2.94723837e+01] [-4.53365275e-03 -1.14038263e-04 9.99989716e-01 -1.96178453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58576923100003 meters 0.029574351362142693 Centerline is valid? [True, True] Translation: X:297.59, Y:-29.48, Z:-1.96 [[ 9.77041661e-01 2.12987380e-01 5.09598399e-03 2.97592323e+02] [-2.12985188e-01 9.77054941e-01 -9.75464124e-04 -2.94840059e+01] [-5.18681788e-03 -1.32300018e-04 9.99986540e-01 -1.96103589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64576923100003 meters 0.030358835232115466 Centerline is valid? [True, True] Translation: X:297.65, Y:-29.49, Z:-1.96 [[ 9.76819449e-01 2.13905163e-01 8.26709758e-03 2.97651685e+02] [-2.13899428e-01 9.76854406e-01 -1.58215842e-03 -2.94887898e+01] [-8.41418256e-03 -2.22844334e-04 9.99964575e-01 -1.95541282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70576923100003 meters 0.02716742870216003 Centerline is valid? [True, True] Translation: X:297.71, Y:-29.50, Z:-1.96 [[ 9.77553048e-01 2.10563628e-01 7.27993520e-03 2.97710831e+02] [-2.10559090e-01 9.77580140e-01 -1.39306265e-03 -2.95021329e+01] [-7.41004840e-03 -1.71063885e-04 9.99972531e-01 -1.95808694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76576923100004 meters 0.026377328093769085 Centerline is valid? [True, True] Translation: X:297.77, Y:-29.51, Z:-1.97 [[ 9.78430953e-01 2.06553771e-01 2.89996740e-03 2.97769110e+02] [-2.06553033e-01 9.78435249e-01 -5.54965669e-04 -2.95081415e+01] [-2.95206057e-03 -5.60014713e-05 9.99995641e-01 -1.96681168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82576923100004 meters 0.02479451842080555 Centerline is valid? [True, True] Translation: X:297.83, Y:-29.52, Z:-1.96 [[ 9.78326293e-01 2.07017658e-01 4.62110642e-03 2.97827302e+02] [-2.07015789e-01 9.78337202e-01 -8.84344389e-04 -2.95171194e+01] [-4.70407523e-03 -9.14646244e-05 9.99988932e-01 -1.96155541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88576923100004 meters 0.026580149025718258 Centerline is valid? [True, True] Translation: X:297.89, Y:-29.52, Z:-1.96 [[ 9.78025989e-01 2.08437012e-01 4.37901186e-03 2.97886779e+02] [-2.08435349e-01 9.78035788e-01 -8.37819893e-04 -2.95213009e+01] [-4.45746299e-03 -9.33312374e-05 9.99990061e-01 -1.96363431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94576923100004 meters 0.02755906662414739 Centerline is valid? [True, True] Translation: X:297.94, Y:-29.53, Z:-1.97 [[ 9.77921256e-01 2.08952678e-01 2.96571293e-03 2.97944809e+02] [-2.08951917e-01 9.77925751e-01 -5.67429120e-04 -2.95282389e+01] [-3.01881287e-03 -6.47904037e-05 9.99995441e-01 -1.96740279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.005769231 meters 0.02877369948418391 Centerline is valid? [True, True] Translation: X:298.01, Y:-29.53, Z:-1.96 [[ 9.77719010e-01 2.09851069e-01 5.29782440e-03 2.98005241e+02] [-2.09848659e-01 9.77733355e-01 -1.01297397e-03 -2.95275221e+01] [-5.39243330e-03 -1.21337440e-04 9.99985453e-01 -1.96335357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.065769231 meters 0.030528158525599786 Centerline is valid? [True, True] Translation: X:298.06, Y:-29.53, Z:-1.97 [[ 9.77483563e-01 2.10958850e-01 4.71674703e-03 2.98063886e+02] [-2.10956954e-01 9.77494936e-01 -9.01705850e-04 -2.95315556e+01] [-4.80081917e-03 -1.13627940e-04 9.99988470e-01 -1.96587188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.125769231 meters 0.03353528130170739 Centerline is valid? [True, True] Translation: X:298.12, Y:-29.53, Z:-1.97 [[ 9.77011230e-01 2.13148333e-01 4.10429885e-03 2.98124992e+02] [-2.13146918e-01 9.77019844e-01 -7.84337186e-04 -2.95296464e+01] [-4.17716159e-03 -1.08512411e-04 9.99991270e-01 -1.96742373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.185769231 meters 0.032755747552253175 Centerline is valid? [True, True] Translation: X:298.18, Y:-29.53, Z:-1.96 [[ 9.77150316e-01 2.12457285e-01 6.25788960e-03 2.98184369e+02] [-2.12453982e-01 9.77170341e-01 -1.19567676e-03 -2.95343704e+01] [-6.36905436e-03 -1.61157635e-04 9.99979704e-01 -1.96397317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.245769231 meters 0.02453972999076329 Centerline is valid? [True, True] Translation: X:298.24, Y:-29.55, Z:-1.96 [[ 9.78820105e-01 2.04608039e-01 6.83757576e-03 2.98241874e+02] [-2.04603906e-01 9.78843979e-01 -1.30608602e-03 -2.95512295e+01] [-6.96015556e-03 -1.20571455e-04 9.99975771e-01 -1.96374345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.305769231 meters 0.01598860654233602 Centerline is valid? [True, True] Translation: X:298.30, Y:-29.58, Z:-1.97 [[ 9.80545737e-01 1.96242406e-01 4.35611303e-03 2.98298307e+02] [-1.96240646e-01 9.80555412e-01 -8.32054982e-04 -2.95752081e+01] [-4.43469468e-03 -3.89784721e-05 9.99990166e-01 -1.96933373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.365769231 meters 0.011621587268927699 Centerline is valid? [True, True] Translation: X:298.35, Y:-29.59, Z:-1.96 [[ 9.81654939e-01 1.90542832e-01 6.85633048e-03 2.98354399e+02] [-1.90538334e-01 9.81678883e-01 -1.30949705e-03 -2.95933055e+01] [-6.98023012e-03 -2.09195384e-05 9.99975638e-01 -1.96243576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.425769231 meters 0.011158717005256604 Centerline is valid? [True, True] Translation: X:298.41, Y:-29.61, Z:-1.96 [[ 9.82443255e-01 1.86434437e-01 6.88852982e-03 2.98411743e+02] [-1.86429797e-01 9.82467404e-01 -1.31530457e-03 -2.96063170e+01] [-7.01297408e-03 7.98488911e-06 9.99975409e-01 -1.96481295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.485769231 meters 0.013558721834767636 Centerline is valid? [True, True] Translation: X:298.47, Y:-29.62, Z:-1.97 [[ 9.83398092e-01 1.81342488e-01 6.56472082e-03 2.98468781e+02] [-1.81338162e-01 9.83420002e-01 -1.25330056e-03 -2.96229521e+01] [-6.68315440e-03 4.20589758e-05 9.99977667e-01 -1.96684022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.545769231 meters 0.019935322996782027 Centerline is valid? [True, True] Translation: X:298.53, Y:-29.65, Z:-1.97 [[ 9.84388002e-01 1.75907102e-01 6.07884747e-03 2.98525089e+02] [-1.75903290e-01 9.84406769e-01 -1.16032339e-03 -2.96455120e+01] [-6.18816772e-03 7.29191536e-05 9.99980850e-01 -1.96695658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.605769231 meters 0.020119476559758247 Centerline is valid? [True, True] Translation: X:298.58, Y:-29.66, Z:-1.97 [[ 9.84630572e-01 1.74525094e-01 6.60522698e-03 2.98582902e+02] [-1.74520563e-01 9.84652722e-01 -1.26071717e-03 -2.96590540e+01] [-6.72388151e-03 8.85927382e-05 9.99977391e-01 -1.96668645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.665769231 meters 0.01722390759028914 Centerline is valid? [True, True] Translation: X:298.64, Y:-29.67, Z:-1.97 [[ 9.83926967e-01 1.78453671e-01 6.48164752e-03 2.98640681e+02] [-1.78449394e-01 9.83948314e-01 -1.23698778e-03 -2.96692302e+01] [-6.59835116e-03 6.04595671e-05 9.99978229e-01 -1.96679954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.725769231 meters 0.01110622584580808 Centerline is valid? [True, True] Translation: X:298.70, Y:-29.66, Z:-1.97 [[ 9.82085690e-01 1.88320819e-01 6.55493149e-03 2.98702104e+02] [-1.88316666e-01 9.82107565e-01 -1.25074753e-03 -2.96639388e+01] [-6.67318960e-03 -6.06159199e-06 9.99977734e-01 -1.96603069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.785769231 meters 0.017314777792934596 Centerline is valid? [True, True] Translation: X:298.76, Y:-29.66, Z:-1.97 [[ 9.80078817e-01 1.98574018e-01 3.72456725e-03 2.98763566e+02] [-1.98572751e-01 9.80085893e-01 -7.10658737e-04 -2.96583705e+01] [-3.79151418e-03 -4.30959914e-05 9.99992811e-01 -1.97277491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.845769231 meters 0.020977987705974525 Centerline is valid? [True, True] Translation: X:298.82, Y:-29.66, Z:-1.98 [[ 9.79542580e-01 2.01234069e-01 1.08810766e-03 2.98821619e+02] [-2.01233962e-01 9.79543184e-01 -2.07889053e-04 -2.96628820e+01] [-1.10768280e-03 -1.53280366e-05 9.99999386e-01 -1.97927043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.905769231 meters 0.01586896402644176 Centerline is valid? [True, True] Translation: X:298.88, Y:-29.68, Z:-1.97 [[ 9.80520155e-01 1.96340100e-01 5.54898088e-03 2.98878068e+02] [-1.96337256e-01 9.80535855e-01 -1.05810133e-03 -2.96833434e+01] [-5.64872244e-03 -5.19819962e-05 9.99984044e-01 -1.97140679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.965769231 meters 0.019670853384755327 Centerline is valid? [True, True] Translation: X:298.94, Y:-29.68, Z:-1.97 [[ 9.79781522e-01 1.99989591e-01 5.68614340e-03 2.98937933e+02] [-1.99986667e-01 9.79798019e-01 -1.08406853e-03 -2.96822877e+01] [-5.78807446e-03 -7.50025571e-05 9.99983246e-01 -1.97060467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.025769231 meters 0.024000478512232252 Centerline is valid? [True, True] Translation: X:299.00, Y:-29.68, Z:-1.97 [[ 9.78437939e-01 2.06469657e-01 5.42956097e-03 2.99000041e+02] [-2.06467092e-01 9.78452998e-01 -1.03488107e-03 -2.96764493e+01] [-5.52624175e-03 -1.08458760e-04 9.99984724e-01 -1.97170085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08576923100003 meters 0.0214265054486867 Centerline is valid? [True, True] Translation: X:299.06, Y:-29.69, Z:-1.97 [[ 9.78991470e-01 2.03842227e-01 4.90386941e-03 2.99058182e+02] [-2.03840101e-01 9.79003748e-01 -9.34697879e-04 -2.96883162e+01] [-4.99143743e-03 -8.45439863e-05 9.99987539e-01 -1.97255643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14576923100003 meters 0.016116002153262938 Centerline is valid? [True, True] Translation: X:299.12, Y:-29.71, Z:-1.97 [[ 9.80228289e-01 1.97814111e-01 4.69892163e-03 2.99115149e+02] [-1.97812092e-01 9.80239550e-01 -8.95137343e-04 -2.97082623e+01] [-4.78313962e-03 -5.20645734e-05 9.99988559e-01 -1.97351290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20576923100003 meters 0.01148067429733126 Centerline is valid? [True, True] Translation: X:299.17, Y:-29.73, Z:-1.97 [[ 9.81733095e-01 1.90179803e-01 5.63679255e-03 2.99169337e+02] [-1.90176773e-01 9.81749277e-01 -1.07367108e-03 -2.97322943e+01] [-5.73810756e-03 -1.79285903e-05 9.99983537e-01 -1.97401464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26576923100004 meters 0.011235884950565612 Centerline is valid? [True, True] Translation: X:299.23, Y:-29.75, Z:-1.98 [[ 9.82304005e-01 1.87271587e-01 2.86252688e-03 2.99225868e+02] [-1.87270793e-01 9.82308176e-01 -5.45221461e-04 -2.97517690e+01] [-2.91398805e-03 -4.94454910e-07 9.99995754e-01 -1.97913497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32576923100004 meters 0.011354167644226016 Centerline is valid? [True, True] Translation: X:299.28, Y:-29.77, Z:-1.98 [[ 9.82469741e-01 1.86412844e-01 1.85973929e-03 2.99282714e+02] [-1.86412508e-01 9.82471502e-01 -3.54253211e-04 -2.97651408e+01] [-1.89317820e-03 1.36439562e-06 9.99998208e-01 -1.98122278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38576923100004 meters 0.011753206334657209 Centerline is valid? [True, True] Translation: X:299.34, Y:-29.77, Z:-1.98 [[ 9.81742108e-01 1.90210765e-01 1.51573834e-03 2.99341216e+02] [-1.90210546e-01 9.81743278e-01 -2.88725075e-04 -2.97713283e+01] [-1.54298454e-03 -4.85585281e-06 9.99998810e-01 -1.98137222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44576923100004 meters 0.012723522302619843 Centerline is valid? [True, True] Translation: X:299.40, Y:-29.78, Z:-1.98 [[ 9.81534053e-01 1.91286167e-01 7.10964967e-04 2.99398378e+02] [-1.91286119e-01 9.81534310e-01 -1.35656113e-04 -2.97776706e+01] [-7.23785647e-04 -2.84663525e-06 9.99999738e-01 -1.98469380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.505769231 meters 0.011804411810089047 Centerline is valid? [True, True] Translation: X:299.46, Y:-29.79, Z:-1.98 [[ 9.81787200e-01 1.89977023e-01 1.61992349e-03 2.99456934e+02] [-1.89976772e-01 9.81788537e-01 -3.08356074e-04 -2.97854999e+01] [-1.64900288e-03 -5.00778972e-06 9.99998640e-01 -1.98182247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.565769231 meters 0.012068424994896274 Centerline is valid? [True, True] Translation: X:299.51, Y:-29.79, Z:-1.98 [[ 9.81740786e-01 1.90218931e-01 1.33664053e-03 2.99514659e+02] [-1.90218761e-01 9.81741696e-01 -2.54493689e-04 -2.97903821e+01] [-1.36064526e-03 -4.40727119e-06 9.99999074e-01 -1.98299478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.625769231 meters 0.011436116307459466 Centerline is valid? [True, True] Translation: X:299.57, Y:-29.80, Z:-1.98 [[ 9.82366920e-01 1.86952548e-01 1.99474395e-03 2.99571902e+02] [-1.86952163e-01 9.82368945e-01 -3.79463049e-04 -2.98011571e+01] [-2.03051610e-03 -1.49749520e-07 9.99997938e-01 -1.98289625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.685769231 meters 0.011451060279041435 Centerline is valid? [True, True] Translation: X:299.63, Y:-29.81, Z:-1.98 [[ 9.82782177e-01 1.84708305e-01 4.69404726e-03 2.99629313e+02] [-1.84706152e-01 9.82793387e-01 -8.91996520e-04 -2.98125216e+01] [-4.77803778e-03 9.61887559e-06 9.99988585e-01 -1.97915314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.745769231 meters 0.011665337288887563 Centerline is valid? [True, True] Translation: X:299.69, Y:-29.82, Z:-1.98 [[ 9.82821464e-01 1.84545009e-01 2.26026758e-03 2.99687574e+02] [-1.84544509e-01 9.82824063e-01 -4.29581144e-04 -2.98225407e+01] [-2.30072242e-03 5.08159869e-06 9.99997353e-01 -1.98337631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.805769231 meters 0.012935488111173725 Centerline is valid? [True, True] Translation: X:299.74, Y:-29.84, Z:-1.98 [[ 9.83443295e-01 1.81185480e-01 3.33283148e-03 2.99744198e+02] [-1.81184375e-01 9.83448942e-01 -6.33161419e-04 -2.98369405e+01] [-3.39238925e-03 1.88213628e-05 9.99994246e-01 -1.98267690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.865769231 meters 0.013486819406210753 Centerline is valid? [True, True] Translation: X:299.80, Y:-29.85, Z:-1.98 [[ 9.83718467e-01 1.79674364e-01 3.88585188e-03 2.99802080e+02] [-1.79672851e-01 9.83726142e-01 -7.37829170e-04 -2.98490929e+01] [-3.95518307e-03 2.76340932e-05 9.99992178e-01 -1.98147326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.925769231 meters 0.0167504599771622 Centerline is valid? [True, True] Translation: X:299.86, Y:-29.86, Z:-1.99 [[ 9.84232589e-01 1.76877773e-01 -6.81819260e-04 2.99858549e+02] [-1.76877726e-01 9.84232825e-01 1.29111545e-04 -2.98649349e+01] [ 6.93905859e-04 -6.47714969e-06 9.99999759e-01 -1.99153210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.985769231 meters 0.020701587271617947 Centerline is valid? [True, True] Translation: X:299.92, Y:-29.88, Z:-1.99 [[ 9.85136599e-01 1.71771541e-01 -6.46871816e-04 2.99915705e+02] [-1.71771498e-01 9.85136812e-01 1.22554863e-04 -2.98834169e+01] [ 6.58308676e-04 -9.61914010e-06 9.99999783e-01 -1.99167552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.045769231 meters 0.027514804147610875 Centerline is valid? [True, True] Translation: X:299.97, Y:-29.91, Z:-1.99 [[ 9.86165476e-01 1.65762889e-01 -5.65218662e-04 2.99970984e+02] [-1.65762855e-01 9.86165637e-01 1.07051819e-04 -2.99086565e+01] [ 5.75144441e-04 -1.18785487e-05 9.99999835e-01 -1.99280899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.105769231 meters 0.03029261010145385 Centerline is valid? [True, True] Translation: X:300.03, Y:-29.94, Z:-1.99 [[ 9.86779717e-01 1.62064997e-01 8.52199975e-04 3.00028504e+02] [-1.62064918e-01 9.86780085e-01 -1.61511948e-04 -2.99355916e+01] [-8.67109397e-04 2.12649951e-05 9.99999624e-01 -1.98937083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.165769231 meters 0.027672388054981432 Centerline is valid? [True, True] Translation: X:300.09, Y:-29.95, Z:-1.98 [[ 9.86732440e-01 1.62320042e-01 3.36084117e-03 3.00088482e+02] [-1.62318813e-01 9.86738160e-01 -6.36988728e-04 -2.99540601e+01] [-3.41966627e-03 8.30096913e-05 9.99994149e-01 -1.98360827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.225769231 meters 0.02037373218349454 Centerline is valid? [True, True] Translation: X:300.15, Y:-29.96, Z:-1.98 [[ 9.85030643e-01 1.72293081e-01 5.45219068e-03 3.00147770e+02] [-1.72289988e-01 9.85045729e-01 -1.03540204e-03 -2.99601761e+01] [-5.54904975e-03 8.05448713e-05 9.99984601e-01 -1.98055362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.285769231 meters 0.012031324896059957 Centerline is valid? [True, True] Translation: X:300.21, Y:-29.96, Z:-1.98 [[ 9.83078099e-01 1.83126976e-01 4.68630628e-03 3.00208755e+02] [-1.83124815e-01 9.83089269e-01 -8.89938246e-04 -2.99551993e+01] [-4.77002912e-03 1.66998290e-05 9.99988623e-01 -1.98261102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.345769231 meters 0.011366643468099258 Centerline is valid? [True, True] Translation: X:300.27, Y:-29.96, Z:-1.99 [[ 9.82468215e-01 1.86391507e-01 3.79651213e-03 3.00267774e+02] [-1.86390113e-01 9.82475550e-01 -7.20977681e-04 -2.99599798e+01] [-3.86436446e-03 7.05331886e-07 9.99992533e-01 -1.98549005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.405769231 meters 0.013019139268429743 Centerline is valid? [True, True] Translation: X:300.32, Y:-29.98, Z:-1.98 [[ 9.83566350e-01 1.80470654e-01 5.25147253e-03 3.00324948e+02] [-1.80467904e-01 9.83580369e-01 -9.96873821e-04 -2.99794021e+01] [-5.34515176e-03 3.27693039e-05 9.99985714e-01 -1.98259436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.465769231 meters 0.015053188668454683 Centerline is valid? [True, True] Translation: X:300.38, Y:-30.00, Z:-1.98 [[ 9.84054396e-01 1.77821493e-01 4.05726099e-03 3.00383839e+02] [-1.77819830e-01 9.84062760e-01 -7.70047304e-04 -2.99951525e+01] [-4.12953040e-03 3.63069776e-05 9.99991473e-01 -1.98485687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.525769231 meters 0.013028689786015535 Centerline is valid? [True, True] Translation: X:300.44, Y:-30.00, Z:-1.99 [[ 9.83430727e-01 1.81275831e-01 1.75454543e-03 3.00442539e+02] [-1.81275525e-01 9.83432292e-01 -3.33193662e-04 -3.00001738e+01] [-1.78587659e-03 9.61674228e-06 9.99998405e-01 -1.98867366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58576923100003 meters 0.011982027668341777 Centerline is valid? [True, True] Translation: X:300.50, Y:-30.00, Z:-1.99 [[ 9.82366604e-01 1.86963328e-01 -7.55240135e-04 3.00502800e+02] [-1.86963273e-01 9.82366894e-01 1.42932752e-04 -2.99985919e+01] [ 7.68646089e-04 7.89805624e-07 9.99999705e-01 -1.99454699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64576923100003 meters 0.011872427027079625 Centerline is valid? [True, True] Translation: X:300.56, Y:-30.01, Z:-1.99 [[ 9.82261531e-01 1.87515322e-01 5.37669220e-04 3.00560433e+02] [-1.87515294e-01 9.82261678e-01 -1.02390578e-04 -3.00062861e+01] [-5.47331672e-04 -2.46876173e-07 9.99999850e-01 -1.99399999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70576923100003 meters 0.013698483837005386 Centerline is valid? [True, True] Translation: X:300.62, Y:-30.03, Z:-1.99 [[ 9.83497710e-01 1.80918778e-01 8.06157202e-04 3.00616254e+02] [-1.80918713e-01 9.83498041e-01 -1.53172446e-04 -3.00275558e+01] [-8.20565800e-04 4.79582577e-06 9.99999663e-01 -1.99408284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76576923100004 meters 0.01718046697810178 Centerline is valid? [True, True] Translation: X:300.67, Y:-30.05, Z:-1.99 [[ 9.84462234e-01 1.75595714e-01 5.05753588e-04 3.00672990e+02] [-1.75595688e-01 9.84462363e-01 -9.60494633e-05 -3.00475349e+01] [-5.14761247e-04 5.74891978e-06 9.99999867e-01 -1.99457945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82576923100004 meters 0.019366420917531733 Centerline is valid? [True, True] Translation: X:300.73, Y:-30.07, Z:-1.99 [[ 9.84943649e-01 1.72828882e-01 4.02319890e-03 3.00731417e+02] [-1.72827208e-01 9.84951864e-01 -7.62698317e-04 -3.00659267e+01] [-4.09447356e-03 5.58966304e-05 9.99991616e-01 -1.98760922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88576923100004 meters 0.017148545090961004 Centerline is valid? [True, True] Translation: X:300.79, Y:-30.08, Z:-1.99 [[ 9.84528577e-01 1.75144979e-01 5.26474854e-03 3.00790719e+02] [-1.75142145e-01 9.84542652e-01 -9.98065209e-04 -3.00789706e+01] [-5.35817560e-03 6.05443660e-05 9.99985643e-01 -1.98530727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94576923100004 meters 0.015427275676424048 Centerline is valid? [True, True] Translation: X:300.85, Y:-30.09, Z:-1.99 [[ 9.84178276e-01 1.77173706e-01 1.61239683e-03 3.00849805e+02] [-1.77173443e-01 9.84179596e-01 -3.05670283e-04 -3.00904097e+01] [-1.64104480e-03 1.51601553e-05 9.99998653e-01 -1.99154745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.005769231 meters 0.0147445786131375 Centerline is valid? [True, True] Translation: X:300.91, Y:-30.10, Z:-1.99 [[ 9.83991792e-01 1.78209047e-01 1.29980534e-03 3.00909292e+02] [-1.78208877e-01 9.83992650e-01 -2.46410721e-04 -3.01014383e+01] [-1.32291152e-03 1.08292776e-05 9.99999125e-01 -1.99108442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.065769231 meters 0.011136913586219186 Centerline is valid? [True, True] Translation: X:300.97, Y:-30.10, Z:-1.99 [[ 9.82615023e-01 1.85575843e-01 5.41511146e-03 3.00968723e+02] [-1.85573004e-01 9.82629944e-01 -1.02664438e-03 -3.01011090e+01] [-5.51157107e-03 3.89768975e-06 9.99984811e-01 -1.98511976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.125769231 meters 0.011632931538443103 Centerline is valid? [True, True] Translation: X:301.03, Y:-30.11, Z:-1.99 [[ 9.82067235e-01 1.88512016e-01 2.67686900e-03 3.01028067e+02] [-1.88511333e-01 9.82070883e-01 -5.07542750e-04 -3.01059901e+01] [-2.72455301e-03 -6.17903840e-06 9.99996288e-01 -1.99103632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.185769231 meters 0.01303067813604579 Centerline is valid? [True, True] Translation: X:301.09, Y:-30.11, Z:-1.99 [[ 9.81557589e-01 1.91166606e-01 -1.65182582e-04 3.01086682e+02] [-1.91166604e-01 9.81557603e-01 3.09494867e-05 -3.01120132e+01] [ 1.68052728e-04 1.19868972e-06 9.99999986e-01 -1.99455143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.245769231 meters 0.015547768139774586 Centerline is valid? [True, True] Translation: X:301.15, Y:-30.11, Z:-1.99 [[ 9.80741148e-01 1.95263424e-01 4.35839963e-03 3.01145622e+02] [-1.95261683e-01 9.80750831e-01 -8.25751695e-04 -3.01098016e+01] [-4.43574316e-03 -4.11797798e-05 9.99990161e-01 -1.98670910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.305769231 meters 0.017844511619661784 Centerline is valid? [True, True] Translation: X:301.20, Y:-30.11, Z:-1.99 [[ 9.80312879e-01 1.97413742e-01 3.80438739e-03 3.01203766e+02] [-1.97412432e-01 9.80320260e-01 -7.20642804e-04 -3.01119890e+01] [-3.87178283e-03 -4.45779440e-05 9.99992504e-01 -1.98870191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.365769231 meters 0.017437116091078553 Centerline is valid? [True, True] Translation: X:301.26, Y:-30.12, Z:-1.99 [[ 9.80435452e-01 1.96807065e-01 3.64752631e-03 3.01262777e+02] [-1.96805857e-01 9.80442236e-01 -6.90608489e-04 -3.01170618e+01] [-3.71210548e-03 -4.07574956e-05 9.99993109e-01 -1.98813739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.425769231 meters 0.014143677396514478 Centerline is valid? [True, True] Translation: X:301.32, Y:-30.13, Z:-1.98 [[ 9.81056643e-01 1.93581194e-01 7.36095714e-03 3.01319936e+02] [-1.93576191e-01 9.81084256e-01 -1.39301433e-03 -3.01307552e+01] [-7.49138054e-03 -5.82800854e-05 9.99971938e-01 -1.98271792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.485769231 meters 0.013373417113676993 Centerline is valid? [True, True] Translation: X:301.38, Y:-30.14, Z:-1.99 [[ 9.81329930e-01 1.92272252e-01 4.79049549e-03 3.01377984e+02] [-1.92270118e-01 9.81341622e-01 -9.06455551e-04 -3.01421564e+01] [-4.87539886e-03 -3.15371706e-05 9.99988115e-01 -1.98652056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.545769231 meters 0.015693368885748585 Centerline is valid? [True, True] Translation: X:301.44, Y:-30.14, Z:-1.99 [[ 9.80741862e-01 1.95232714e-01 5.43941562e-03 3.01436528e+02] [-1.95230010e-01 9.80756945e-01 -1.02894803e-03 -3.01442615e+01] [-5.53562897e-03 -5.28047589e-05 9.99984677e-01 -1.98532672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.605769231 meters 0.020705154998413293 Centerline is valid? [True, True] Translation: X:301.50, Y:-30.14, Z:-1.99 [[ 9.79823171e-01 1.99847781e-01 2.72344209e-03 3.01496524e+02] [-1.99847121e-01 9.79826956e-01 -5.15171055e-04 -3.01395138e+01] [-2.77145777e-03 -3.94955253e-05 9.99996159e-01 -1.99173485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.665769231 meters 0.02373436990610228 Centerline is valid? [True, True] Translation: X:301.56, Y:-30.14, Z:-2.00 [[ 9.79617995e-01 2.00865501e-01 1.27855168e-03 3.01555029e+02] [-2.00865356e-01 9.79618829e-01 -2.42030286e-04 -3.01433751e+01] [-1.30110884e-03 -1.97195148e-05 9.99999153e-01 -1.99611380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.725769231 meters 0.022559959873944626 Centerline is valid? [True, True] Translation: X:301.61, Y:-30.15, Z:-2.00 [[ 9.79334381e-01 2.02247472e-01 3.61464326e-04 3.01613775e+02] [-2.02247460e-01 9.79334448e-01 -6.87116359e-05 -3.01462765e+01] [-3.67891220e-04 -5.81357438e-06 9.99999932e-01 -1.99638806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.785769231 meters 0.019700334628071102 Centerline is valid? [True, True] Translation: X:301.67, Y:-30.15, Z:-2.00 [[ 9.80143187e-01 1.98282655e-01 1.82238271e-03 3.01672070e+02] [-1.98282357e-01 9.80144881e-01 -3.44531280e-04 -3.01514833e+01] [-1.85451366e-03 -2.36563517e-05 9.99998280e-01 -1.99666372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.845769231 meters 0.011599290826022781 Centerline is valid? [True, True] Translation: X:301.73, Y:-30.19, Z:-1.99 [[ 9.82928845e-01 1.83962769e-01 2.92989977e-03 3.01727046e+02] [-1.83961937e-01 9.82933212e-01 -5.53420766e-04 -3.01853311e+01] [-2.98170461e-03 4.98319697e-06 9.99995555e-01 -1.99451039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.905769231 meters 0.02217422645537134 Centerline is valid? [True, True] Translation: X:301.78, Y:-30.22, Z:-1.99 [[ 9.85364081e-01 1.70408454e-01 4.31124738e-03 3.01779815e+02] [-1.70406522e-01 9.85373510e-01 -8.14223990e-04 -3.02233492e+01] [-4.38693962e-03 6.76424008e-05 9.99990375e-01 -1.99246211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.965769231 meters 0.032426632081128566 Centerline is valid? [True, True] Translation: X:301.83, Y:-30.26, Z:-1.99 [[ 9.86359936e-01 1.64554113e-01 4.00263180e-03 3.01833045e+02] [-1.64552400e-01 9.86368053e-01 -7.55988949e-04 -3.02596677e+01] [-4.07246922e-03 8.70345448e-05 9.99991704e-01 -1.99416287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.025769231 meters 0.02831510584318869 Centerline is valid? [True, True] Translation: X:301.89, Y:-30.27, Z:-1.99 [[ 9.86329943e-01 1.64717629e-01 4.62023633e-03 3.01891909e+02] [-1.64715349e-01 9.86340759e-01 -8.72454316e-04 -3.02743697e+01] [-4.70083601e-03 9.95039777e-05 9.99988946e-01 -1.99201092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08576923100003 meters 0.025555390892739116 Centerline is valid? [True, True] Translation: X:301.95, Y:-30.30, Z:-1.99 [[ 9.86168763e-01 1.65666202e-01 5.08730639e-03 3.01949970e+02] [-1.65663451e-01 9.86181879e-01 -9.60342950e-04 -3.03011513e+01] [-5.17610575e-03 1.04279486e-04 9.99986598e-01 -1.99060252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14576923100003 meters 0.021422535462228227 Centerline is valid? [True, True] Translation: X:302.01, Y:-30.32, Z:-1.99 [[ 9.85503824e-01 1.69619687e-01 3.37250726e-03 3.02009624e+02] [-1.69618499e-01 9.85509593e-01 -6.37329344e-04 -3.03150260e+01] [-3.43174186e-03 5.60508873e-05 9.99994110e-01 -1.99367882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20576923100003 meters 0.017844483288550622 Centerline is valid? [True, True] Translation: X:302.07, Y:-30.33, Z:-2.00 [[ 9.84615000e-01 1.74719812e-01 2.50767894e-03 3.02067577e+02] [-1.74719172e-01 9.84618193e-01 -4.73969379e-04 -3.03326147e+01] [-2.55191815e-03 2.85377729e-05 9.99996743e-01 -1.99590229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26576923100004 meters 0.011521261763139203 Centerline is valid? [True, True] Translation: X:302.13, Y:-30.34, Z:-1.99 [[ 9.83144841e-01 1.82767240e-01 4.72829501e-03 3.02127445e+02] [-1.82765055e-01 9.83156211e-01 -8.93894768e-04 -3.03368336e+01] [-4.81202729e-03 1.46609323e-05 9.99988422e-01 -1.99129991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32576923100004 meters 0.012821920533726307 Centerline is valid? [True, True] Translation: X:302.19, Y:-30.34, Z:-1.99 [[ 9.81501689e-01 1.91401037e-01 4.48083249e-03 3.02188282e+02] [-1.91399164e-01 9.81511917e-01 -8.47009452e-04 -3.03352747e+01] [-4.56010897e-03 -2.62863851e-05 9.99989602e-01 -1.99191786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38576923100004 meters 0.01752335492783573 Centerline is valid? [True, True] Translation: X:302.25, Y:-30.34, Z:-2.00 [[ 9.80306255e-01 1.97477276e-01 1.54006092e-03 3.02248702e+02] [-1.97477062e-01 9.80307465e-01 -2.91191523e-04 -3.03354639e+01] [-1.56723692e-03 -1.86698344e-05 9.99998772e-01 -1.99710997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44576923100004 meters 0.017330287943613642 Centerline is valid? [True, True] Translation: X:302.31, Y:-30.34, Z:-2.00 [[ 9.80419669e-01 1.96898766e-01 2.85475628e-03 3.02305936e+02] [-1.96898029e-01 9.80423824e-01 -5.39701407e-04 -3.03426868e+01] [-2.90513761e-03 -3.29620095e-05 9.99995780e-01 -1.99667903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.505769231 meters 0.013900666316698887 Centerline is valid? [True, True] Translation: X:302.36, Y:-30.36, Z:-1.99 [[ 9.81275277e-01 1.92557902e-01 4.50388843e-03 3.02362491e+02] [-1.92556024e-01 9.81285613e-01 -8.50952912e-04 -3.03558946e+01] [-4.58345862e-03 -3.22317933e-05 9.99989495e-01 -1.99384012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.565769231 meters 0.012644005272685683 Centerline is valid? [True, True] Translation: X:302.42, Y:-30.37, Z:-2.00 [[ 9.81802382e-01 1.89892632e-01 2.20684209e-03 3.02420084e+02] [-1.89892175e-01 9.81804863e-01 -4.16975110e-04 -3.03667560e+01] [-2.24586880e-03 -9.67488769e-06 9.99997478e-01 -1.99791175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.625769231 meters 0.011074136295641274 Centerline is valid? [True, True] Translation: X:302.48, Y:-30.38, Z:-1.99 [[ 9.82584095e-01 1.85776866e-01 3.93089385e-03 3.02477698e+02] [-1.85775383e-01 9.82591958e-01 -7.42288390e-04 -3.03799982e+01] [-4.00036470e-03 -9.02545182e-07 9.99991999e-01 -1.99445008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.685769231 meters 0.010909978854978361 Centerline is valid? [True, True] Translation: X:302.54, Y:-30.39, Z:-1.99 [[ 9.82602104e-01 1.85634649e-01 5.73437654e-03 3.02535855e+02] [-1.85631494e-01 9.82618836e-01 -1.08242735e-03 -3.03854877e+01] [-5.83564243e-03 -8.85488095e-07 9.99982972e-01 -1.99143382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.745769231 meters 0.011811392475849843 Centerline is valid? [True, True] Translation: X:302.60, Y:-30.38, Z:-1.99 [[ 9.81817973e-01 1.89751508e-01 5.27568245e-03 3.02596386e+02] [-1.89748898e-01 9.81832147e-01 -9.95542626e-04 -3.03838650e+01] [-5.36874034e-03 -2.36132883e-05 9.99985588e-01 -1.99146877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.805769231 meters 0.016098648243568128 Centerline is valid? [True, True] Translation: X:302.66, Y:-30.38, Z:-1.99 [[ 9.80748468e-01 1.95152532e-01 6.92333250e-03 3.02656848e+02] [-1.95148175e-01 9.80772901e-01 -1.30599844e-03 -3.03759400e+01] [-7.04508580e-03 -7.02197355e-05 9.99975181e-01 -1.98979079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.865769231 meters 0.01618420627700465 Centerline is valid? [True, True] Translation: X:302.72, Y:-30.38, Z:-2.00 [[ 9.80740490e-01 1.95252229e-01 4.96578095e-03 3.02715941e+02] [-1.95249990e-01 9.80753060e-01 -9.36513407e-04 -3.03787235e+01] [-5.05306119e-03 -5.10920625e-05 9.99987232e-01 -1.99502528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.925769231 meters 0.015258931695442462 Centerline is valid? [True, True] Translation: X:302.77, Y:-30.38, Z:-2.00 [[ 9.81219359e-01 1.92855232e-01 3.92793230e-03 3.02773878e+02] [-1.92853812e-01 9.81227221e-01 -7.40696725e-04 -3.03819337e+01] [-3.99704133e-03 -3.07307525e-05 9.99992011e-01 -1.99892211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.985769231 meters 0.013372465454430769 Centerline is valid? [True, True] Translation: X:302.83, Y:-30.39, Z:-2.00 [[ 9.81634289e-01 1.90690703e-01 5.58370178e-03 3.02832301e+02] [-1.90687802e-01 9.81650169e-01 -1.05239921e-03 -3.03908461e+01] [-5.68192454e-03 -3.16726644e-05 9.99983857e-01 -1.99538843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.045769231 meters 0.011200965434942345 Centerline is valid? [True, True] Translation: X:302.89, Y:-30.40, Z:-2.00 [[ 9.82483598e-01 1.86301963e-01 4.19026457e-03 3.02889502e+02] [-1.86300290e-01 9.82492534e-01 -7.89670076e-04 -3.04047424e+01] [-4.26402074e-03 -4.80960559e-06 9.99990909e-01 -1.99734406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.105769231 meters 0.011245110865744914 Centerline is valid? [True, True] Translation: X:302.95, Y:-30.41, Z:-2.00 [[ 9.82930946e-01 1.83923785e-01 4.33553485e-03 3.02947104e+02] [-1.83921971e-01 9.82940508e-01 -8.16882393e-04 -3.04118049e+01] [-4.41181693e-03 5.53886803e-06 9.99990268e-01 -1.99746327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.165769231 meters 0.01152263501338962 Centerline is valid? [True, True] Translation: X:303.00, Y:-30.42, Z:-2.00 [[ 9.83144150e-01 1.82747547e-01 5.56005014e-03 3.03003598e+02] [-1.82744548e-01 9.83159872e-01 -1.04706627e-03 -3.04210540e+01] [-5.65776698e-03 1.33482236e-05 9.99983995e-01 -1.99610573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.225769231 meters 0.013648808045899206 Centerline is valid? [True, True] Translation: X:303.06, Y:-30.44, Z:-2.00 [[ 9.83992377e-01 1.78168946e-01 3.85072829e-03 3.03060451e+02] [-1.78167474e-01 9.83999911e-01 -7.24911935e-04 -3.04383439e+01] [-3.91827310e-03 2.72332862e-05 9.99992323e-01 -1.99925525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.285769231 meters 0.017613011695507528 Centerline is valid? [True, True] Translation: X:303.12, Y:-30.46, Z:-1.99 [[ 9.84913892e-01 1.72857825e-01 8.04975108e-03 3.03115092e+02] [-1.72851219e-01 9.84946781e-01 -1.51463064e-03 -3.04645259e+01] [-8.19039218e-03 1.00371480e-04 9.99966453e-01 -1.99259559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.345769231 meters 0.018615882099998135 Centerline is valid? [True, True] Translation: X:303.17, Y:-30.48, Z:-1.99 [[ 9.85108866e-01 1.71760190e-01 7.67849557e-03 3.03171133e+02] [-1.71754148e-01 9.85138785e-01 -1.44441614e-03 -3.04830175e+01] [-7.81247699e-03 1.04093683e-04 9.99969477e-01 -1.99248974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.405769231 meters 0.014960577852856318 Centerline is valid? [True, True] Translation: X:303.23, Y:-30.49, Z:-2.00 [[ 9.84516138e-01 1.75266835e-01 3.08388878e-03 3.03228981e+02] [-1.75265878e-01 9.84520968e-01 -5.80177373e-04 -3.04912705e+01] [-3.13783902e-03 3.06935132e-05 9.99995076e-01 -2.00101755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.465769231 meters 0.013919242876518472 Centerline is valid? [True, True] Translation: X:303.29, Y:-30.50, Z:-2.00 [[ 9.84088848e-01 1.77613032e-01 4.76975008e-03 3.03286087e+02] [-1.77610771e-01 9.84100406e-01 -8.96932097e-04 -3.05016841e+01] [-4.85321982e-03 3.55018835e-05 9.99988222e-01 -1.99912142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.525769231 meters 0.012659768143814854 Centerline is valid? [True, True] Translation: X:303.34, Y:-30.51, Z:-2.00 [[ 9.83730008e-01 1.79593430e-01 4.63377405e-03 3.03343736e+02] [-1.79591320e-01 9.83740921e-01 -8.71060926e-04 -3.05096654e+01] [-4.71486997e-03 2.47031735e-05 9.99988885e-01 -1.99817252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58576923100003 meters 0.01149026407296093 Centerline is valid? [True, True] Translation: X:303.40, Y:-30.51, Z:-2.00 [[ 9.83367731e-01 1.81566186e-01 4.65040588e-03 3.03402269e+02] [-1.81564083e-01 9.83378727e-01 -8.73886534e-04 -3.05145818e+01] [-4.73177845e-03 1.50051377e-05 9.99988805e-01 -1.99904131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64576923100003 meters 0.01099611698533017 Centerline is valid? [True, True] Translation: X:303.46, Y:-30.52, Z:-2.00 [[ 9.83082916e-01 1.83046477e-01 6.47824889e-03 3.03460338e+02] [-1.83042432e-01 9.83104261e-01 -1.21692162e-03 -3.05197262e+01] [-6.59154730e-03 1.05404182e-05 9.99978275e-01 -1.99648618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70576923100003 meters 0.011186928395572738 Centerline is valid? [True, True] Translation: X:303.52, Y:-30.53, Z:-2.00 [[ 9.83158976e-01 1.82675741e-01 5.29162457e-03 3.03517485e+02] [-1.82673038e-01 9.83173216e-01 -9.93792452e-04 -3.05273067e+01] [-5.38412532e-03 1.04188337e-05 9.99985505e-01 -1.99889800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76576923100004 meters 0.011370637082430432 Centerline is valid? [True, True] Translation: X:303.58, Y:-30.53, Z:-2.01 [[ 9.83059404e-01 1.83272135e-01 2.35209980e-03 3.03575078e+02] [-1.83271603e-01 9.83062218e-01 -4.41785583e-04 -3.05326404e+01] [-2.39322744e-03 3.22837118e-06 9.99997136e-01 -2.00564782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82576923100004 meters 0.01107711705408176 Centerline is valid? [True, True] Translation: X:303.63, Y:-30.53, Z:-2.00 [[ 9.82612868e-01 1.85609771e-01 4.57863192e-03 3.03634630e+02] [-1.85607782e-01 9.82623536e-01 -8.59295919e-04 -3.05346294e+01] [-4.65856520e-03 -5.47448554e-06 9.99989149e-01 -2.00113242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88576923100004 meters 0.010934449127030626 Centerline is valid? [True, True] Translation: X:303.69, Y:-30.54, Z:-2.00 [[ 9.82732487e-01 1.84937509e-01 5.91419640e-03 3.03692573e+02] [-1.84934180e-01 9.82750283e-01 -1.10955620e-03 -3.05429603e+01] [-6.01737675e-03 -3.34013545e-06 9.99981895e-01 -1.99969002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94576923100004 meters 0.012334608720825632 Centerline is valid? [True, True] Translation: X:303.75, Y:-30.56, Z:-2.00 [[ 9.83784373e-01 1.79252865e-01 6.05952007e-03 3.03748189e+02] [-1.79249264e-01 9.83803034e-01 -1.13651349e-03 -3.05641996e+01] [-6.16509753e-03 3.19196930e-05 9.99980995e-01 -1.99982144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.005769231 meters 0.018915494551654453 Centerline is valid? [True, True] Translation: X:303.80, Y:-30.59, Z:-2.00 [[ 9.85331316e-01 1.70516590e-01 6.80373141e-03 3.03803432e+02] [-1.70511845e-01 9.85354801e-01 -1.27571659e-03 -3.05932690e+01] [-6.92162025e-03 9.68867125e-05 9.99976041e-01 -1.99897688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.065769231 meters 0.022103996676483537 Centerline is valid? [True, True] Translation: X:303.86, Y:-30.61, Z:-2.00 [[ 9.85956791e-01 1.66878475e-01 6.38607089e-03 3.03860175e+02] [-1.66874219e-01 9.85977465e-01 -1.19725728e-03 -3.06127790e+01] [-6.49631846e-03 1.14773348e-04 9.99978892e-01 -2.00068120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.125769231 meters 0.023391230074743998 Centerline is valid? [True, True] Translation: X:303.92, Y:-30.63, Z:-2.00 [[ 9.86145170e-01 1.65760191e-01 6.42353716e-03 3.03916709e+02] [-1.65755863e-01 9.86166083e-01 -1.20412123e-03 -3.06344963e+01] [-6.53426985e-03 1.22699393e-04 9.99978644e-01 -2.00056195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.185769231 meters 0.026708677554866687 Centerline is valid? [True, True] Translation: X:303.97, Y:-30.66, Z:-2.00 [[ 9.86614259e-01 1.62985252e-01 5.30194886e-03 3.03973381e+02] [-1.62982264e-01 9.86628499e-01 -9.93714242e-04 -3.06592927e+01] [-5.39301461e-03 1.16289010e-04 9.99985451e-01 -2.00298457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.245769231 meters 0.034019405130576455 Centerline is valid? [True, True] Translation: X:304.03, Y:-30.69, Z:-2.00 [[ 9.87714704e-01 1.56177404e-01 5.31815348e-03 3.04028587e+02] [-1.56174299e-01 9.87729009e-01 -9.96831792e-04 -3.06923260e+01] [-5.40857706e-03 1.54026528e-04 9.99985362e-01 -2.00470667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.305769231 meters 0.037883560418427366 Centerline is valid? [True, True] Translation: X:304.08, Y:-30.72, Z:-2.00 [[ 9.88068253e-01 1.53933896e-01 5.04799757e-03 3.04084752e+02] [-1.53931070e-01 9.88081136e-01 -9.46054843e-04 -3.07212095e+01] [-5.13346108e-03 1.57723089e-04 9.99986811e-01 -2.00457115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.365769231 meters 0.03244570221160975 Centerline is valid? [True, True] Translation: X:304.14, Y:-30.73, Z:-2.01 [[ 9.87183452e-01 1.59580289e-01 1.72164230e-03 3.04143838e+02] [-1.59579968e-01 9.87184952e-01 -3.22768673e-04 -3.07341641e+01] [-1.75108689e-03 4.38922687e-05 9.99998466e-01 -2.01190687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.425769231 meters 0.028884562090809345 Centerline is valid? [True, True] Translation: X:304.20, Y:-30.74, Z:-2.01 [[ 9.86639419e-01 1.62884305e-01 3.37052363e-03 3.04204181e+02] [-1.62883096e-01 9.86645173e-01 -6.32036553e-04 -3.07442160e+01] [-3.42845971e-03 7.45908518e-05 9.99994120e-01 -2.00877665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.485769231 meters 0.028085010420385272 Centerline is valid? [True, True] Translation: X:304.26, Y:-30.76, Z:-2.01 [[ 9.86418033e-01 1.64219719e-01 3.36858308e-03 3.04263010e+02] [-1.64218521e-01 9.86423783e-01 -6.31299527e-04 -3.07604805e+01] [-3.42652230e-03 6.95415078e-05 9.99994127e-01 -2.00975694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.545769231 meters 0.03261457323659711 Centerline is valid? [True, True] Translation: X:304.32, Y:-30.79, Z:-2.01 [[ 9.87466800e-01 1.57779141e-01 3.88080456e-03 3.04320414e+02] [-1.57777496e-01 9.87474421e-01 -7.28446537e-04 -3.07854274e+01] [-3.94712890e-03 1.07013148e-04 9.99992204e-01 -2.00934758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.605769231 meters 0.040754833681425254 Centerline is valid? [True, True] Translation: X:304.38, Y:-30.82, Z:-2.00 [[ 9.87976998e-01 1.54439072e-01 7.07283324e-03 3.04376135e+02] [-1.54433520e-01 9.88002290e-01 -1.32783558e-03 -3.08165270e+01] [-7.19304513e-03 2.19588473e-04 9.99974106e-01 -2.00356496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.665769231 meters 0.03732937765072673 Centerline is valid? [True, True] Translation: X:304.44, Y:-30.83, Z:-2.01 [[ 9.88050362e-01 1.54050347e-01 4.99731316e-03 3.04436074e+02] [-1.54047571e-01 9.88062987e-01 -9.38020647e-04 -3.08318843e+01] [-5.08216258e-03 1.56987685e-04 9.99987073e-01 -2.00865245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.725769231 meters 0.037855899271231876 Centerline is valid? [True, True] Translation: X:304.49, Y:-30.85, Z:-2.01 [[ 9.87904354e-01 1.55019707e-01 3.72535433e-03 3.04494886e+02] [-1.55018170e-01 9.87911371e-01 -6.99645750e-04 -3.08508637e+01] [-3.78877878e-03 1.13685472e-04 9.99992816e-01 -2.01096137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.785769231 meters 0.03552528099203627 Centerline is valid? [True, True] Translation: X:304.55, Y:-30.87, Z:-2.01 [[ 9.87689339e-01 1.56379334e-01 3.90816295e-03 3.04554411e+02] [-1.56377650e-01 9.87697064e-01 -7.34598456e-04 -3.08687307e+01] [-3.97495709e-03 1.14405724e-04 9.99992093e-01 -2.00907757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.845769231 meters 0.03675485248366926 Centerline is valid? [True, True] Translation: X:304.61, Y:-30.89, Z:-2.01 [[ 9.87582235e-01 1.57032529e-01 4.70252259e-03 3.04612856e+02] [-1.57030094e-01 9.87593422e-01 -8.84973757e-04 -3.08901263e+01] [-4.78315004e-03 1.35546798e-04 9.99988551e-01 -2.00964320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.905769231 meters 0.03654428853443925 Centerline is valid? [True, True] Translation: X:304.67, Y:-30.91, Z:-2.01 [[ 9.87497716e-01 1.57576101e-01 4.24662532e-03 3.04672619e+02] [-1.57574117e-01 9.87506839e-01 -7.99710182e-04 -3.09103370e+01] [-4.31958676e-03 1.20553742e-04 9.99990663e-01 -2.01100455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.965769231 meters 0.033453493658657775 Centerline is valid? [True, True] Translation: X:304.73, Y:-30.93, Z:-2.02 [[ 9.86948226e-01 1.61029782e-01 1.61536546e-03 3.04731878e+02] [-1.61029499e-01 9.86949547e-01 -3.04507858e-04 -3.09263405e+01] [-1.64331905e-03 4.04119985e-05 9.99998649e-01 -2.01670901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.025769231 meters 0.030705539102844542 Centerline is valid? [True, True] Translation: X:304.79, Y:-30.94, Z:-2.01 [[ 9.86551622e-01 1.63427357e-01 2.71947231e-03 3.04792895e+02] [-1.63426564e-01 9.86555369e-01 -5.12764565e-04 -3.09367992e+01] [-2.76670976e-03 6.14346988e-05 9.99996171e-01 -2.01458337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08576923100003 meters 0.02952546580410054 Centerline is valid? [True, True] Translation: X:304.85, Y:-30.95, Z:-2.01 [[ 9.86308444e-01 1.64826526e-01 5.27919902e-03 3.04852237e+02] [-1.64823557e-01 9.86322566e-01 -9.95634721e-04 -3.09525087e+01] [-5.37110014e-03 1.11866572e-04 9.99985569e-01 -2.01064582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14576923100003 meters 0.03130688576949752 Centerline is valid? [True, True] Translation: X:304.91, Y:-30.97, Z:-2.01 [[ 9.86470664e-01 1.63867439e-01 4.80527913e-03 3.04911529e+02] [-1.63864965e-01 9.86482362e-01 -9.06861699e-04 -3.09748497e+01] [-4.88892822e-03 1.07175566e-04 9.99988043e-01 -2.01235757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20576923100003 meters 0.028496788704826564 Centerline is valid? [True, True] Translation: X:304.97, Y:-30.99, Z:-2.01 [[ 9.86005210e-01 1.66657136e-01 4.37327101e-03 3.04970092e+02] [-1.66655110e-01 9.86014904e-01 -8.26306580e-04 -3.09884420e+01] [-4.44982028e-03 8.59146327e-05 9.99990096e-01 -2.01209723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26576923100004 meters 0.020394377765752956 Centerline is valid? [True, True] Translation: X:305.03, Y:-30.99, Z:-2.01 [[ 9.84869273e-01 1.73262712e-01 3.54226833e-03 3.05032439e+02] [-1.73261425e-01 9.84875642e-01 -6.69318658e-04 -3.09882036e+01] [-3.60466176e-03 4.54529217e-05 9.99993502e-01 -2.01339785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32576923100004 meters 0.010410928641838985 Centerline is valid? [True, True] Translation: X:305.10, Y:-30.97, Z:-2.01 [[ 9.82554921e-01 1.85869176e-01 6.20301500e-03 3.05097182e+02] [-1.85865480e-01 9.82574501e-01 -1.17219132e-03 -3.09725248e+01] [-6.31279860e-03 -1.18400680e-06 9.99980074e-01 -2.00761649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38576923100004 meters 0.011773172132119 Centerline is valid? [True, True] Translation: X:305.16, Y:-30.97, Z:-2.01 [[ 9.81687338e-01 1.90368126e-01 7.06736536e-03 3.05160907e+02] [-1.90363443e-01 9.81712777e-01 -1.33572934e-03 -3.09693535e+01] [-7.19240316e-03 -3.40994226e-05 9.99974134e-01 -2.00801872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44576923100004 meters 0.011592221592507407 Centerline is valid? [True, True] Translation: X:305.22, Y:-30.99, Z:-2.01 [[ 9.83173056e-01 1.82548606e-01 6.83720870e-03 3.05219891e+02] [-1.82544026e-01 9.83196830e-01 -1.29332234e-03 -3.09924053e+01] [-6.95841611e-03 2.34680763e-05 9.99975790e-01 -2.00923937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.505769231 meters 0.013943391794279936 Centerline is valid? [True, True] Translation: X:305.28, Y:-31.01, Z:-2.01 [[ 9.83976084e-01 1.78231804e-01 4.94874754e-03 3.05279608e+02] [-1.78229347e-01 9.83988528e-01 -9.36642055e-04 -3.10087634e+01] [-5.03645021e-03 3.96213370e-05 9.99987316e-01 -2.01330139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.565769231 meters 0.029958675603900684 Centerline is valid? [True, True] Translation: X:305.33, Y:-31.05, Z:-2.01 [[ 9.85854169e-01 1.67507799e-01 5.71788205e-03 3.05333342e+02] [-1.67504331e-01 9.85870745e-01 -1.08358839e-03 -3.10475059e+01] [-5.81860214e-03 1.10490124e-04 9.99983066e-01 -2.01377593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.625769231 meters 0.031128340852536684 Centerline is valid? [True, True] Translation: X:305.39, Y:-31.07, Z:-2.02 [[ 9.86808566e-01 1.61875434e-01 2.28003522e-03 3.05391136e+02] [-1.61874868e-01 9.86811198e-01 -4.32029809e-04 -3.10712109e+01] [-2.31989930e-03 5.72503168e-05 9.99997307e-01 -2.01989232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.685769231 meters 0.03095255848799736 Centerline is valid? [True, True] Translation: X:305.45, Y:-31.09, Z:-2.02 [[ 9.86958311e-01 1.60974900e-01 6.12022944e-04 3.05449808e+02] [-1.60974860e-01 9.86958500e-01 -1.14882924e-04 -3.10944897e+01] [-6.22534514e-04 1.48643490e-05 9.99999806e-01 -2.02414768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.745769231 meters 0.027122118588279138 Centerline is valid? [True, True] Translation: X:305.51, Y:-31.12, Z:-2.02 [[ 9.86407820e-01 1.64301374e-01 2.16121956e-03 3.05508192e+02] [-1.64300871e-01 9.86410186e-01 -4.09718705e-04 -3.11176036e+01] [-2.19916634e-03 4.90594785e-05 9.99997581e-01 -2.02022054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.805769231 meters 0.01619960102922825 Centerline is valid? [True, True] Translation: X:305.57, Y:-31.12, Z:-2.01 [[ 9.84565207e-01 1.74934011e-01 5.42631940e-03 3.05569469e+02] [-1.74930993e-01 9.84580158e-01 -1.02964364e-03 -3.11221566e+01] [-5.52276611e-03 6.45198613e-05 9.99984747e-01 -2.01332158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.865769231 meters 0.010533831249700715 Centerline is valid? [True, True] Translation: X:305.63, Y:-31.12, Z:-2.02 [[ 9.82271225e-01 1.87412630e-01 4.44379497e-03 3.05631250e+02] [-1.87410733e-01 9.82281277e-01 -8.43176155e-04 -3.11234618e+01] [-4.52307846e-03 -4.58719764e-06 9.99989771e-01 -2.01642256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.925769231 meters 0.01732339707888125 Centerline is valid? [True, True] Translation: X:305.69, Y:-31.12, Z:-2.02 [[ 9.79951936e-01 1.99173399e-01 4.91530847e-03 3.05694281e+02] [-1.99171227e-01 9.79964261e-01 -9.32516043e-04 -3.11210158e+01] [-5.00255902e-03 -6.51671156e-05 9.99987485e-01 -2.01511420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.985769231 meters 0.02502466671129953 Centerline is valid? [True, True] Translation: X:305.76, Y:-31.12, Z:-2.01 [[ 9.78545417e-01 2.05967462e-01 5.12552451e-03 3.05755077e+02] [-2.05965188e-01 9.78558835e-01 -9.73451384e-04 -3.11212346e+01] [-5.21612661e-03 -1.03113227e-04 9.99986391e-01 -2.01475763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.045769231 meters 0.029898918038013842 Centerline is valid? [True, True] Translation: X:305.82, Y:-31.13, Z:-2.01 [[ 9.77123925e-01 2.12618050e-01 4.73285418e-03 3.05815421e+02] [-2.12616187e-01 9.77135379e-01 -8.99201023e-04 -3.11266345e+01] [-4.81582563e-03 -1.27650578e-04 9.99988396e-01 -2.01438278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.105769231 meters 0.03509111826960245 Centerline is valid? [True, True] Translation: X:305.88, Y:-31.13, Z:-2.02 [[ 9.75875231e-01 2.18316126e-01 2.36712447e-03 3.05876282e+02] [-2.18315676e-01 9.75878099e-01 -4.49762557e-04 -3.11286616e+01] [-2.40821534e-03 -7.78682392e-05 9.99997097e-01 -2.02133755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.165769231 meters 0.03824192213700928 Centerline is valid? [True, True] Translation: X:305.94, Y:-31.13, Z:-2.02 [[ 9.75288768e-01 2.20887839e-01 4.51453613e-03 3.05937922e+02] [-2.20886232e-01 9.75299204e-01 -8.57751232e-04 -3.11318288e+01] [-4.59249031e-03 -1.60643734e-04 9.99989442e-01 -2.01858377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.225769231 meters 0.037262795804757394 Centerline is valid? [True, True] Translation: X:306.00, Y:-31.14, Z:-2.01 [[ 9.75415241e-01 2.20274381e-01 6.65616304e-03 3.05999295e+02] [-2.20270872e-01 9.75437924e-01 -1.26486061e-03 -3.11428257e+01] [-6.77129024e-03 -2.32394518e-04 9.99977048e-01 -2.01424516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.285769231 meters 0.03516204282060768 Centerline is valid? [True, True] Translation: X:306.06, Y:-31.15, Z:-2.02 [[ 9.76146875e-01 2.16978167e-01 7.59958049e-03 3.06058771e+02] [-2.16973483e-01 9.76176428e-01 -1.44548034e-03 -3.11510900e+01] [-7.73216901e-03 -2.37906336e-04 9.99970078e-01 -2.01597507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.345769231 meters 0.03175733611974937 Centerline is valid? [True, True] Translation: X:306.12, Y:-31.16, Z:-2.02 [[ 9.76735308e-01 2.14387253e-01 5.12284931e-03 3.06118828e+02] [-2.14385089e-01 9.76748731e-01 -9.74349560e-04 -3.11619806e+01] [-5.21262469e-03 -1.46580889e-04 9.99986403e-01 -2.01981343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.405769231 meters 0.027068010184191867 Centerline is valid? [True, True] Translation: X:306.18, Y:-31.17, Z:-2.02 [[ 9.78117815e-01 2.08016732e-01 3.81820498e-03 3.06177314e+02] [-2.08015481e-01 9.78125264e-01 -7.26342510e-04 -3.11745380e+01] [-3.88577415e-03 -8.37971966e-05 9.99992447e-01 -2.02299346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.465769231 meters 0.020699333792672636 Centerline is valid? [True, True] Translation: X:306.23, Y:-31.19, Z:-2.02 [[ 9.79495010e-01 2.01421230e-01 4.36043808e-03 3.06234240e+02] [-2.01419532e-01 9.79504714e-01 -8.29475591e-04 -3.11949357e+01] [-4.43814365e-03 -6.58101970e-05 9.99990149e-01 -2.02258875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.525769231 meters 0.011802125263827736 Centerline is valid? [True, True] Translation: X:306.29, Y:-31.22, Z:-2.03 [[ 9.81585467e-01 1.91003541e-01 2.76021461e-03 3.06292175e+02] [-1.91002820e-01 9.81589348e-01 -5.24846150e-04 -3.12214599e+01] [-2.80964473e-03 -1.20274220e-05 9.99996053e-01 -2.02523224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.58576923100003 meters 0.010938694963283594 Centerline is valid? [True, True] Translation: X:306.35, Y:-31.24, Z:-2.02 [[ 9.82093573e-01 1.88360304e-01 3.55102354e-03 3.06352396e+02] [-1.88359094e-01 9.82099993e-01 -6.75112757e-04 -3.12384502e+01] [-3.61462463e-03 -5.84367541e-06 9.99993467e-01 -2.02296801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64576923100003 meters 0.0112775699324371 Centerline is valid? [True, True] Translation: X:306.41, Y:-31.25, Z:-2.02 [[ 9.81777808e-01 1.89993395e-01 3.85292055e-03 3.06414806e+02] [-1.89991981e-01 9.81785368e-01 -7.33198161e-04 -3.12455822e+01] [-3.92204383e-03 -1.21863232e-05 9.99992309e-01 -2.02315466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70576923100003 meters 0.011894221020702665 Centerline is valid? [True, True] Translation: X:306.48, Y:-31.26, Z:-2.02 [[ 9.81460530e-01 1.91632406e-01 3.49976334e-03 3.06475746e+02] [-1.91631247e-01 9.81466770e-01 -6.66615640e-04 -3.12552778e+01] [-3.56264658e-03 -1.64070743e-05 9.99993654e-01 -2.02397000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76576923100004 meters 0.01406647252929348 Centerline is valid? [True, True] Translation: X:306.54, Y:-31.26, Z:-2.02 [[ 9.80565791e-01 1.96119497e-01 5.27949812e-03 3.06537741e+02] [-1.96116916e-01 9.80580002e-01 -1.00725496e-03 -3.12603982e+01] [-5.37451262e-03 -4.77191357e-05 9.99985556e-01 -2.02159803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82576923100004 meters 0.017127530015611122 Centerline is valid? [True, True] Translation: X:306.60, Y:-31.26, Z:-2.02 [[ 9.79701356e-01 2.00319282e-01 7.57885740e-03 3.06600483e+02] [-2.00314075e-01 9.79730665e-01 -1.44779526e-03 -3.12627937e+01] [-7.71526030e-03 -9.97448279e-05 9.99970232e-01 -2.01806099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88576923100004 meters 0.014767525914764584 Centerline is valid? [True, True] Translation: X:306.66, Y:-31.28, Z:-2.02 [[ 9.80306422e-01 1.97252985e-01 9.51728990e-03 3.06660013e+02] [-1.97244610e-01 9.80352616e-01 -1.82003708e-03 -3.12765968e+01] [-9.68930780e-03 -9.30400905e-05 9.99953053e-01 -2.01559749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94576923100004 meters 0.010849158322297135 Centerline is valid? [True, True] Translation: X:306.72, Y:-31.30, Z:-2.02 [[ 9.81705722e-01 1.90161133e-01 9.62389194e-03 3.06717823e+02] [-1.90152213e-01 9.81752893e-01 -1.84201412e-03 -3.13026293e+01] [-9.79856325e-03 -2.16885541e-05 9.99951993e-01 -2.01552089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.005769231 meters 0.015167815005425158 Centerline is valid? [True, True] Translation: X:306.77, Y:-31.34, Z:-2.02 [[ 9.83814477e-01 1.79002648e-01 8.19313587e-03 3.06773826e+02] [-1.78995785e-01 9.83848589e-01 -1.56938896e-03 -3.13408179e+01] [-8.34172995e-03 7.74507914e-05 9.99965204e-01 -2.01916274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.065769231 meters 0.01825723685193985 Centerline is valid? [True, True] Translation: X:306.83, Y:-31.37, Z:-2.03 [[ 9.84810422e-01 1.73563727e-01 4.90559351e-03 3.06831555e+02] [-1.73561196e-01 9.84822637e-01 -9.40248396e-04 -3.13684036e+01] [-4.99433255e-03 7.45457423e-05 9.99987525e-01 -2.02508091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.125769231 meters 0.021559027412650346 Centerline is valid? [True, True] Translation: X:306.89, Y:-31.40, Z:-2.02 [[ 9.84937559e-01 1.72737945e-01 7.72058838e-03 3.06888391e+02] [-1.72731645e-01 9.84967810e-01 -1.48050507e-03 -3.13967284e+01] [-7.86027043e-03 1.24615118e-04 9.99969100e-01 -2.01994097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.185769231 meters 0.02302465746595659 Centerline is valid? [True, True] Translation: X:306.94, Y:-31.43, Z:-2.02 [[ 9.85096122e-01 1.71852736e-01 7.22966115e-03 3.06944661e+02] [-1.71847179e-01 9.85122643e-01 -1.38750977e-03 -3.14255915e+01] [-7.36055025e-03 1.24433617e-04 9.99972903e-01 -2.02281362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.245769231 meters 0.02522088739199874 Centerline is valid? [True, True] Translation: X:307.00, Y:-31.45, Z:-2.03 [[ 9.85387403e-01 1.70303851e-01 2.87479001e-03 3.07002724e+02] [-1.70302966e-01 9.85391595e-01 -5.51482838e-04 -3.14511236e+01] [-2.92671357e-03 5.38389749e-05 9.99995716e-01 -2.03248838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.305769231 meters 0.024214779008373818 Centerline is valid? [True, True] Translation: X:307.06, Y:-31.48, Z:-2.02 [[ 9.85602685e-01 1.68971209e-01 6.00648679e-03 3.07060911e+02] [-1.68967310e-01 9.85620980e-01 -1.15448388e-03 -3.14773911e+01] [-6.11519393e-03 1.22962500e-04 9.99981294e-01 -2.02439701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.365769231 meters 0.02555557084584751 Centerline is valid? [True, True] Translation: X:307.12, Y:-31.50, Z:-2.02 [[ 9.85540147e-01 1.69291987e-01 7.13041854e-03 3.07120863e+02] [-1.69286489e-01 9.85565930e-01 -1.37199977e-03 -3.14952433e+01] [-7.25976614e-03 1.45077337e-04 9.99973637e-01 -2.02234720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.425769231 meters 0.019786978724925706 Centerline is valid? [True, True] Translation: X:307.18, Y:-31.51, Z:-2.03 [[ 9.84807511e-01 1.73555948e-01 5.70073419e-03 3.07180435e+02] [-1.73552500e-01 9.84824007e-01 -1.09791145e-03 -3.15100034e+01] [-5.80476895e-03 9.18547764e-05 9.99983148e-01 -2.02794246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.485769231 meters 0.01523031358389645 Centerline is valid? [True, True] Translation: X:307.24, Y:-31.53, Z:-2.03 [[ 9.83593621e-01 1.80309052e-01 5.67756097e-03 3.07239526e+02] [-1.80305743e-01 9.83610006e-01 -1.09359256e-03 -3.15256805e+01] [-5.78169041e-03 5.19538219e-05 9.99983285e-01 -2.02824972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.545769231 meters 0.010783920538258992 Centerline is valid? [True, True] Translation: X:307.30, Y:-31.54, Z:-2.03 [[ 9.82234666e-01 1.87519009e-01 7.18905018e-03 3.07300908e+02] [-1.87513894e-01 9.82260974e-01 -1.38499939e-03 -3.15351766e+01] [-7.32123714e-03 1.23476201e-05 9.99973199e-01 -2.02586729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.605769231 meters 0.010748408088806019 Centerline is valid? [True, True] Translation: X:307.36, Y:-31.55, Z:-2.03 [[ 9.81594553e-01 1.90861501e-01 6.63478419e-03 3.07360707e+02] [-1.90857214e-01 9.81616976e-01 -1.27927072e-03 -3.15498961e+01] [-6.75698032e-03 -1.05712595e-05 9.99977171e-01 -2.02701528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.665769231 meters 0.01412968765901221 Centerline is valid? [True, True] Translation: X:307.42, Y:-31.56, Z:-2.03 [[ 9.80218826e-01 1.97763749e-01 7.78156952e-03 3.07422280e+02] [-1.97758056e-01 9.80249711e-01 -1.50201377e-03 -3.15594536e+01] [-7.92492515e-03 -6.65658903e-05 9.99968595e-01 -2.02552777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.725769231 meters 0.023012590583513362 Centerline is valid? [True, True] Translation: X:307.48, Y:-31.56, Z:-2.03 [[ 9.78217851e-01 2.07496891e-01 5.90554758e-03 3.07484563e+02] [-2.07493784e-01 9.78235671e-01 -1.14076624e-03 -3.15584461e+01] [-6.01372275e-03 -1.09446510e-04 9.99981911e-01 -2.02910885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.785769231 meters 0.030823911826959195 Centerline is valid? [True, True] Translation: X:307.55, Y:-31.55, Z:-2.03 [[ 9.76129430e-01 2.17111059e-01 5.84163434e-03 3.07547550e+02] [-2.17108191e-01 9.76146895e-01 -1.12848562e-03 -3.15543121e+01] [-5.94729993e-03 -1.66718634e-04 9.99982301e-01 -2.02882204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.845769231 meters 0.03859773842403765 Centerline is valid? [True, True] Translation: X:307.61, Y:-31.55, Z:-2.03 [[ 9.74866473e-01 2.22745670e-01 4.44134385e-03 3.07609960e+02] [-2.22744070e-01 9.74876578e-01 -8.58072114e-04 -3.15461441e+01] [-4.52089394e-03 -1.52777270e-04 9.99989769e-01 -2.03158691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.905769231 meters 0.03732054380155527 Centerline is valid? [True, True] Translation: X:307.67, Y:-31.55, Z:-2.03 [[ 9.74733800e-01 2.23322313e-01 4.60033069e-03 3.07672227e+02] [-2.23320605e-01 9.74744643e-01 -8.88347694e-04 -3.15508646e+01] [-4.68253555e-03 -1.61446106e-04 9.99989024e-01 -2.03190988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.965769231 meters 0.03606868188783601 Centerline is valid? [True, True] Translation: X:307.73, Y:-31.55, Z:-2.03 [[ 9.75100399e-01 2.21654691e-01 6.95778318e-03 3.07734165e+02] [-2.21650728e-01 9.75125194e-01 -1.34534830e-03 -3.15519924e+01] [-7.08291244e-03 -2.30348040e-04 9.99974889e-01 -2.02707684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.025769231 meters 0.03191014122396351 Centerline is valid? [True, True] Translation: X:307.80, Y:-31.56, Z:-2.03 [[ 9.76112375e-01 2.17193646e-01 5.61698984e-03 3.07795600e+02] [-2.17190989e-01 9.76128524e-01 -1.08620817e-03 -3.15570344e+01] [-5.71882151e-03 -1.59698340e-04 9.99983635e-01 -2.02981914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.08576923100003 meters 0.034169529338550775 Centerline is valid? [True, True] Translation: X:307.86, Y:-31.55, Z:-2.03 [[ 9.75824438e-01 2.18450918e-01 6.77227644e-03 3.07858452e+02] [-2.18447084e-01 9.75847916e-01 -1.30972856e-03 -3.15543923e+01] [-6.89482326e-03 -2.01318906e-04 9.99976210e-01 -2.02744391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14576923100003 meters 0.030977369003456105 Centerline is valid? [True, True] Translation: X:307.92, Y:-31.56, Z:-2.03 [[ 9.75950088e-01 2.17918618e-01 5.73595363e-03 3.07920989e+02] [-2.17915855e-01 9.75966930e-01 -1.11000745e-03 -3.15595752e+01] [-5.83999235e-03 -1.66643365e-04 9.99982933e-01 -2.03024077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20576923100003 meters 0.03174186975284963 Centerline is valid? [True, True] Translation: X:307.98, Y:-31.57, Z:-2.03 [[ 9.76234373e-01 2.16672768e-01 4.40004782e-03 3.07982273e+02] [-2.16671127e-01 9.76244281e-01 -8.52002020e-04 -3.15652101e+01] [-4.48012715e-03 -1.21609663e-04 9.99989957e-01 -2.03370105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26576923100004 meters 0.02669622851389756 Centerline is valid? [True, True] Translation: X:308.04, Y:-31.57, Z:-2.04 [[ 9.76900760e-01 2.13667558e-01 3.32874273e-03 3.08043896e+02] [-2.13666599e-01 9.76906428e-01 -6.45254791e-04 -3.15718705e+01] [-3.38974018e-03 -8.08912420e-05 9.99994252e-01 -2.03605003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32576923100004 meters 0.02440950324869029 Centerline is valid? [True, True] Translation: X:308.10, Y:-31.57, Z:-2.04 [[ 9.78055894e-01 2.08311291e-01 3.61578432e-03 3.08104534e+02] [-2.08310122e-01 9.78062575e-01 -7.01176165e-04 -3.15746130e+01] [-3.68252623e-03 -6.74149895e-05 9.99993217e-01 -2.03601616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38576923100004 meters 0.018110956893755515 Centerline is valid? [True, True] Translation: X:308.16, Y:-31.58, Z:-2.04 [[ 9.79520969e-01 2.01327181e-01 2.45715715e-03 3.08163138e+02] [-2.01326619e-01 9.79524050e-01 -4.76545564e-04 -3.15844324e+01] [-2.50278610e-03 -2.79047677e-05 9.99996868e-01 -2.03988480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44576923100004 meters 0.011891979684750434 Centerline is valid? [True, True] Translation: X:308.22, Y:-31.61, Z:-2.04 [[ 9.81894898e-01 1.89421775e-01 1.34175720e-03 3.08219203e+02] [-1.89421596e-01 9.81895815e-01 -2.60116298e-04 -3.16110116e+01] [-1.36673747e-03 1.24907514e-06 9.99999066e-01 -2.04252377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.505769231 meters 0.015840713947270383 Centerline is valid? [True, True] Translation: X:308.28, Y:-31.63, Z:-2.04 [[ 9.83468469e-01 1.81050798e-01 3.22155729e-03 3.08278241e+02] [-1.81049725e-01 9.83473745e-01 -6.24095489e-04 -3.16342016e+01] [-3.28131000e-03 3.05161742e-05 9.99994616e-01 -2.03833785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.565769231 meters 0.023471630726346435 Centerline is valid? [True, True] Translation: X:308.33, Y:-31.66, Z:-2.03 [[ 9.85074425e-01 1.72019462e-01 6.13854000e-03 3.08334951e+02] [-1.72015376e-01 9.85093544e-01 -1.19143418e-03 -3.16623032e+01] [-6.25198599e-03 1.17728079e-04 9.99980449e-01 -2.03295833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.625769231 meters 0.026994511940789813 Centerline is valid? [True, True] Translation: X:308.39, Y:-31.69, Z:-2.04 [[ 9.85706032e-01 1.68431484e-01 3.80169383e-03 3.08392788e+02] [-1.68429892e-01 9.85713360e-01 -7.37417727e-04 -3.16867000e+01] [-3.87158476e-03 8.65582205e-05 9.99992502e-01 -2.03778829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.685769231 meters 0.020492986630481883 Centerline is valid? [True, True] Translation: X:308.45, Y:-31.70, Z:-2.04 [[ 9.84570273e-01 1.74952932e-01 3.58467775e-03 3.08452687e+02] [-1.74951556e-01 9.84576796e-01 -6.96351286e-04 -3.16982297e+01] [-3.65121924e-03 5.84618248e-05 9.99993333e-01 -2.03746037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.745769231 meters 0.01587673869518255 Centerline is valid? [True, True] Translation: X:308.51, Y:-31.70, Z:-2.04 [[ 9.83256725e-01 1.82193370e-01 3.43352787e-03 3.08512992e+02] [-1.82192152e-01 9.83262719e-01 -6.67029528e-04 -3.17045220e+01] [-3.49758831e-03 3.02994373e-05 9.99993883e-01 -2.03792089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.805769231 meters 0.011105078711723858 Centerline is valid? [True, True] Translation: X:308.58, Y:-31.70, Z:-2.03 [[ 9.81427774e-01 1.91756360e-01 5.38723865e-03 3.08576984e+02] [-1.91753505e-01 9.81442560e-01 -1.04645876e-03 -3.17014395e+01] [-5.48793041e-03 -5.99820403e-06 9.99984941e-01 -2.03424755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.865769231 meters 0.011987007337227466 Centerline is valid? [True, True] Translation: X:308.64, Y:-31.71, Z:-2.03 [[ 9.80718132e-01 1.95327555e-01 6.25230446e-03 3.08639351e+02] [-1.95323774e-01 9.80738061e-01 -1.21571498e-03 -3.17086878e+01] [-6.36933559e-03 -2.89499841e-05 9.99979715e-01 -2.03308339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.925769231 meters 0.011186897226319078 Centerline is valid? [True, True] Translation: X:308.70, Y:-31.72, Z:-2.04 [[ 9.81250507e-01 1.92655986e-01 5.57793439e-03 3.08698363e+02] [-1.92652928e-01 9.81266361e-01 -1.08560600e-03 -3.17239488e+01] [-5.68258788e-03 -9.35395159e-06 9.99983854e-01 -2.03569788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.985769231 meters 0.011328156349145267 Centerline is valid? [True, True] Translation: X:308.76, Y:-31.73, Z:-2.04 [[ 9.81315037e-01 1.92380785e-01 3.22976162e-03 3.08761194e+02] [-1.92379758e-01 9.81320352e-01 -6.28518191e-04 -3.17330243e+01] [-3.29034564e-03 -4.56640926e-06 9.99994587e-01 -2.03913880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.045769231 meters 0.012048234624747682 Centerline is valid? [True, True] Translation: X:308.82, Y:-31.74, Z:-2.04 [[ 9.80745757e-01 1.95274888e-01 2.34036977e-03 3.08823200e+02] [-1.95274357e-01 9.80748550e-01 -4.55637348e-04 -3.17383149e+01] [-2.38428879e-03 -1.01498054e-05 9.99997158e-01 -2.04053442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.105769231 meters 0.01377850037931302 Centerline is valid? [True, True] Translation: X:308.89, Y:-31.74, Z:-2.04 [[ 9.80042293e-01 1.98731114e-01 4.80087539e-03 3.08885283e+02] [-1.98728910e-01 9.80054051e-01 -9.36742137e-04 -3.17420101e+01] [-4.89127719e-03 -3.60258219e-05 9.99988037e-01 -2.03569676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.165769231 meters 0.014625465749491348 Centerline is valid? [True, True] Translation: X:308.95, Y:-31.75, Z:-2.04 [[ 9.79786411e-01 1.99998660e-01 4.37314642e-03 3.08947255e+02] [-1.99996841e-01 9.79796170e-01 -8.53842189e-04 -3.17472495e+01] [-4.45555941e-03 -3.80324946e-05 9.99990073e-01 -2.03672862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.225769231 meters 0.013992617469174514 Centerline is valid? [True, True] Translation: X:309.01, Y:-31.75, Z:-2.04 [[ 9.80007746e-01 1.98903964e-01 4.69363818e-03 3.09008021e+02] [-1.98901851e-01 9.80018986e-01 -9.17439343e-04 -3.17545671e+01] [-4.78233685e-03 -3.44756576e-05 9.99988564e-01 -2.03668229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.285769231 meters 0.013384135408040626 Centerline is valid? [True, True] Translation: X:309.07, Y:-31.77, Z:-2.04 [[ 9.80107265e-01 1.98387503e-01 5.66990068e-03 3.09069207e+02] [-1.98384408e-01 9.80123664e-01 -1.10883853e-03 -3.17668689e+01] [-5.77718354e-03 -3.80391922e-05 9.99983311e-01 -2.03539564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.345769231 meters 0.011417797444132922 Centerline is valid? [True, True] Translation: X:309.13, Y:-31.78, Z:-2.04 [[ 9.80937457e-01 1.94251235e-01 5.30690720e-03 3.09129137e+02] [-1.94248458e-01 9.80951812e-01 -1.03876934e-03 -3.17796972e+01] [-5.40760246e-03 -1.18907886e-05 9.99985379e-01 -2.03763643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.405769231 meters 0.01176152983799221 Centerline is valid? [True, True] Translation: X:309.19, Y:-31.80, Z:-2.04 [[ 9.81776058e-01 1.90009046e-01 3.51205667e-03 3.09189094e+02] [-1.90007803e-01 9.81782340e-01 -6.87233161e-04 -3.17998823e+01] [-3.57865573e-03 7.39089239e-06 9.99993597e-01 -2.04035580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.465769231 meters 0.01142050518395148 Centerline is valid? [True, True] Translation: X:309.25, Y:-31.81, Z:-2.04 [[ 9.81535057e-01 1.91247093e-01 3.67161786e-03 3.09251271e+02] [-1.91245741e-01 9.81541924e-01 -7.19254836e-04 -3.18073847e+01] [-3.74140226e-03 3.79255937e-06 9.99993001e-01 -2.04104018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.525769231 meters 0.011565753818617658 Centerline is valid? [True, True] Translation: X:309.31, Y:-31.82, Z:-2.04 [[ 9.81109696e-01 1.93437455e-01 2.39061767e-03 3.09313082e+02] [-1.93436889e-01 9.81112609e-01 -4.68331355e-04 -3.18158214e+01] [-2.43605796e-03 -2.94921002e-06 9.99997033e-01 -2.04374990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.58576923100003 meters 0.01282002932159307 Centerline is valid? [True, True] Translation: X:309.38, Y:-31.82, Z:-2.04 [[ 9.80266882e-01 1.97641751e-01 3.81807681e-03 3.09376417e+02] [-1.97640331e-01 9.80274318e-01 -7.49309752e-04 -3.18210064e+01] [-3.89085753e-03 -2.00824305e-05 9.99992430e-01 -2.04136906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64576923100003 meters 0.01457894882006751 Centerline is valid? [True, True] Translation: X:309.44, Y:-31.83, Z:-2.04 [[ 9.79683795e-01 2.00541517e-01 1.66194369e-03 3.09438033e+02] [-2.00541253e-01 9.79685204e-01 -3.25832793e-04 -3.18275918e+01] [-1.69352465e-03 -1.40751624e-05 9.99998566e-01 -2.04476640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70576923100003 meters 0.015263636691700283 Centerline is valid? [True, True] Translation: X:309.50, Y:-31.83, Z:-2.05 [[ 9.79511450e-01 2.01387697e-01 5.61587761e-04 3.09499799e+02] [-2.01387667e-01 9.79511611e-01 -1.09507115e-04 -3.18330958e+01] [-5.72135118e-04 -5.83337635e-06 9.99999836e-01 -2.04699523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76576923100004 meters 0.016837951738955425 Centerline is valid? [True, True] Translation: X:309.56, Y:-31.84, Z:-2.04 [[ 9.79037018e-01 2.03658469e-01 3.12175413e-03 3.09564026e+02] [-2.03657547e-01 9.79041994e-01 -6.13976315e-04 -3.18350316e+01] [-3.18136987e-03 -3.46632477e-05 9.99994939e-01 -2.04331214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82576923100004 meters 0.01781551632061686 Centerline is valid? [True, True] Translation: X:309.63, Y:-31.84, Z:-2.04 [[ 9.78584496e-01 2.05814329e-01 3.58414556e-03 3.09627142e+02] [-2.05813124e-01 9.78591059e-01 -7.05850763e-04 -3.18373052e+01] [-3.65268700e-03 -4.69295799e-05 9.99993328e-01 -2.04224782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88576923100004 meters 0.0170331759032435 Centerline is valid? [True, True] Translation: X:309.69, Y:-31.84, Z:-2.04 [[ 9.78675385e-01 2.05379386e-01 3.71473009e-03 3.09689823e+02] [-2.05378086e-01 9.78682434e-01 -7.32246961e-04 -3.18383072e+01] [-3.78592952e-03 -4.62920787e-05 9.99992832e-01 -2.04309687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94576923100004 meters 0.0139332546873375 Centerline is valid? [True, True] Translation: X:309.75, Y:-31.85, Z:-2.04 [[ 9.79569516e-01 2.01079495e-01 3.25572690e-03 3.09751560e+02] [-2.01078471e-01 9.79574926e-01 -6.42196010e-04 -3.18463077e+01] [-3.31836089e-03 -2.55809523e-05 9.99994494e-01 -2.04435455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.005769231 meters 0.011692802934059077 Centerline is valid? [True, True] Translation: X:309.81, Y:-31.86, Z:-2.04 [[ 9.80376945e-01 1.97048748e-01 5.73034356e-03 3.09812749e+02] [-1.97045496e-01 9.80393692e-01 -1.13222578e-03 -3.18552127e+01] [-5.84109635e-03 -1.91303400e-05 9.99982940e-01 -2.04063223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.065769231 meters 0.01230434891635253 Centerline is valid? [True, True] Translation: X:309.87, Y:-31.87, Z:-2.05 [[ 9.81628705e-01 1.90786994e-01 2.32574908e-03 3.09871499e+02] [-1.90786441e-01 9.81631460e-01 -4.59285517e-04 -3.18722439e+01] [-2.37065417e-03 7.12645648e-06 9.99997190e-01 -2.04898083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.125769231 meters 0.017086774741493414 Centerline is valid? [True, True] Translation: X:309.93, Y:-31.90, Z:-2.05 [[ 9.82904204e-01 1.84115521e-01 8.95250361e-04 3.09930354e+02] [-1.84115436e-01 9.82904611e-01 -1.76924536e-04 -3.18965119e+01] [-9.12520261e-04 9.07045925e-06 9.99999584e-01 -2.05090195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.185769231 meters 0.02129886289102889 Centerline is valid? [True, True] Translation: X:309.99, Y:-31.91, Z:-2.05 [[ 9.83518059e-01 1.80805867e-01 1.21113020e-03 3.09989378e+02] [-1.80805710e-01 9.83518804e-01 -2.38914844e-04 -3.19149339e+01] [-1.23436653e-03 1.59978077e-05 9.99999238e-01 -2.05204726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.245769231 meters 0.02275479675237116 Centerline is valid? [True, True] Translation: X:310.05, Y:-31.93, Z:-2.05 [[ 9.83611789e-01 1.80235404e-01 4.80078999e-03 3.10049450e+02] [-1.80232909e-01 9.83623502e-01 -9.50951954e-04 -3.19305793e+01] [-4.89356507e-03 7.01072056e-05 9.99988024e-01 -2.04537843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.305769231 meters 0.020505792870939298 Centerline is valid? [True, True] Translation: X:310.11, Y:-31.94, Z:-2.05 [[ 9.83327176e-01 1.81843534e-01 7.70078339e-04 3.10112087e+02] [-1.81843471e-01 9.83327478e-01 -1.51572673e-04 -3.19396290e+01] [-7.84801701e-04 9.01181052e-06 9.99999692e-01 -2.05383915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.365769231 meters 0.015841430454659775 Centerline is valid? [True, True] Translation: X:310.17, Y:-31.94, Z:-2.05 [[ 9.82647791e-01 1.85481106e-01 2.78863835e-04 3.10174550e+02] [-1.85481098e-01 9.82647831e-01 -5.41687445e-05 -3.19439347e+01] [-2.84072221e-04 1.50482687e-06 9.99999960e-01 -2.05341361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.425769231 meters 0.012322259929449844 Centerline is valid? [True, True] Translation: X:310.24, Y:-31.95, Z:-2.04 [[ 9.81697919e-01 1.90375648e-01 5.12917717e-03 3.10237066e+02] [-1.90372923e-01 9.81711318e-01 -1.01886441e-03 -3.19482864e+01] [-5.22933825e-03 2.37606245e-05 9.99986327e-01 -2.04368918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.485769231 meters 0.01255684145950674 Centerline is valid? [True, True] Translation: X:310.30, Y:-31.96, Z:-2.05 [[ 9.81694146e-01 1.90376871e-01 5.76627401e-03 3.10296976e+02] [-1.90373419e-01 9.81711081e-01 -1.14667830e-03 -3.19623944e+01] [-5.87911611e-03 2.79420809e-05 9.99982717e-01 -2.04512144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.545769231 meters 0.015748483325129983 Centerline is valid? [True, True] Translation: X:310.35, Y:-31.99, Z:-2.05 [[ 9.82298224e-01 1.87273280e-01 4.34956415e-03 3.10354383e+02] [-1.87271284e-01 9.82307853e-01 -8.65201993e-04 -3.19856064e+01] [-4.43464024e-03 3.53379143e-05 9.99990166e-01 -2.04855400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.605769231 meters 0.016490661691250894 Centerline is valid? [True, True] Translation: X:310.41, Y:-32.00, Z:-2.05 [[ 9.82330419e-01 1.87134233e-01 2.77960641e-03 3.10413589e+02] [-1.87133418e-01 9.82334352e-01 -5.53015229e-04 -3.20029478e+01] [-2.83399094e-03 2.30864342e-05 9.99995984e-01 -2.05156936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.665769231 meters 0.012147023975088267 Centerline is valid? [True, True] Translation: X:310.48, Y:-32.00, Z:-2.05 [[ 9.81374463e-01 1.92075535e-01 3.33946964e-03 3.10477018e+02] [-1.92074384e-01 9.81380145e-01 -6.64977783e-04 -3.20048534e+01] [-3.40501516e-03 1.11656395e-05 9.99994203e-01 -2.04795235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.725769231 meters 0.011369669884432129 Centerline is valid? [True, True] Translation: X:310.54, Y:-32.01, Z:-2.05 [[ 9.80527207e-01 1.96336712e-01 4.27697211e-03 3.10538123e+02] [-1.96334860e-01 9.80536534e-01 -8.52825788e-04 -3.20125062e+01] [-4.36116842e-03 -3.49983421e-06 9.99990490e-01 -2.04676026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.785769231 meters 0.012089496118443947 Centerline is valid? [True, True] Translation: X:310.60, Y:-32.02, Z:-2.05 [[ 9.79841798e-01 1.99696464e-01 5.60117569e-03 3.10600851e+02] [-1.99693335e-01 9.79857807e-01 -1.11812596e-03 -3.20164559e+01] [-5.71164153e-03 -2.29309085e-05 9.99983688e-01 -2.04567850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.845769231 meters 0.017212246614986534 Centerline is valid? [True, True] Translation: X:310.66, Y:-32.02, Z:-2.05 [[ 9.79085383e-01 2.03431543e-01 2.72394060e-03 3.10662260e+02] [-2.03430818e-01 9.79089172e-01 -5.43714332e-04 -3.20235678e+01] [-2.77758940e-03 -2.17907095e-05 9.99996142e-01 -2.04874191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.905769231 meters 0.017299128300687278 Centerline is valid? [True, True] Translation: X:310.72, Y:-32.03, Z:-2.05 [[ 9.78139349e-01 2.07925790e-01 3.20613958e-03 3.10723721e+02] [-2.07924805e-01 9.78144603e-01 -6.41236558e-04 -3.20266056e+01] [-3.26939775e-03 -3.94172387e-05 9.99994655e-01 -2.04904983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.965769231 meters 0.020473486442837138 Centerline is valid? [True, True] Translation: X:310.78, Y:-32.03, Z:-2.05 [[ 9.77632227e-01 2.10316823e-01 1.43596192e-03 3.10784880e+02] [-2.10316628e-01 9.77633282e-01 -2.87167841e-04 -3.20296570e+01] [-1.46424039e-03 -2.12621338e-05 9.99998928e-01 -2.05364939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.025769231 meters 0.02191014541558548 Centerline is valid? [True, True] Translation: X:310.85, Y:-32.03, Z:-2.05 [[ 9.77302828e-01 2.11840350e-01 1.68747793e-03 3.10845259e+02] [-2.11840083e-01 9.77304285e-01 -3.37691138e-04 -3.20320095e+01] [-1.72071602e-03 -2.74489596e-05 9.99998519e-01 -2.05379517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.08576923100003 meters 0.02430356932084 Centerline is valid? [True, True] Translation: X:310.91, Y:-32.03, Z:-2.05 [[ 9.76562578e-01 2.15198657e-01 3.88186736e-03 3.10906414e+02] [-2.15197269e-01 9.76570290e-01 -7.76516038e-04 -3.20311785e+01] [-3.95802155e-03 -7.70507533e-05 9.99992164e-01 -2.04982115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14576923100003 meters 0.02393358954199345 Centerline is valid? [True, True] Translation: X:310.97, Y:-32.03, Z:-2.05 [[ 9.76919452e-01 2.13577981e-01 3.58186125e-03 3.10965430e+02] [-2.13576789e-01 9.76926017e-01 -7.16548433e-04 -3.20303302e+01] [-3.65225241e-03 -6.49923212e-05 9.99993328e-01 -2.05287775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20576923100003 meters 0.02227806129839903 Centerline is valid? [True, True] Translation: X:311.02, Y:-32.04, Z:-2.05 [[ 9.77260646e-01 2.12011748e-01 3.55644989e-03 3.11023876e+02] [-2.12010563e-01 9.77267116e-01 -7.11295513e-04 -3.20404466e+01] [-3.62640453e-03 -5.88838310e-05 9.99993423e-01 -2.05312664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26576923100004 meters 0.015745125559261705 Centerline is valid? [True, True] Translation: X:311.08, Y:-32.05, Z:-2.05 [[ 9.78730661e-01 2.05102934e-01 4.36808489e-03 3.11082456e+02] [-2.05101080e-01 9.78740407e-01 -8.73055595e-04 -3.20519643e+01] [-4.45428745e-03 -4.14126478e-05 9.99990079e-01 -2.05054016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32576923100004 meters 0.011971317878416926 Centerline is valid? [True, True] Translation: X:311.14, Y:-32.06, Z:-2.05 [[ 9.79994059e-01 1.98979847e-01 4.32031177e-03 3.11141143e+02] [-1.98977975e-01 9.80003582e-01 -8.63405645e-04 -3.20635064e+01] [-4.40572133e-03 -1.35144820e-05 9.99990295e-01 -2.05155579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38576923100004 meters 0.011374101403809957 Centerline is valid? [True, True] Translation: X:311.20, Y:-32.07, Z:-2.05 [[ 9.80474210e-01 1.96590821e-01 4.72987607e-03 3.11199204e+02] [-1.96588549e-01 9.80485619e-01 -9.45178119e-04 -3.20733440e+01] [-4.82338881e-03 -3.11670165e-06 9.99988367e-01 -2.05168078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44576923100004 meters 0.01186284255133283 Centerline is valid? [True, True] Translation: X:311.26, Y:-32.09, Z:-2.05 [[ 9.81220259e-01 1.92821218e-01 5.17501241e-03 3.11255977e+02] [-1.92818447e-01 9.81233906e-01 -1.03386925e-03 -3.20858608e+01] [-5.27724957e-03 1.66155979e-05 9.99986075e-01 -2.05111716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.505769231 meters 0.01599727962899182 Centerline is valid? [True, True] Translation: X:311.31, Y:-32.11, Z:-2.06 [[ 9.82602764e-01 1.85693319e-01 3.13041571e-03 3.11314834e+02] [-1.85692270e-01 9.82607750e-01 -6.25051572e-04 -3.21054077e+01] [-3.19203864e-03 3.28834014e-05 9.99994905e-01 -2.05564706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.565769231 meters 0.01963270150712006 Centerline is valid? [True, True] Translation: X:311.37, Y:-32.12, Z:-2.06 [[ 9.83324371e-01 1.81859564e-01 5.29104303e-04 3.11373662e+02] [-1.81859534e-01 9.83324513e-01 -1.05514447e-04 -3.21239216e+01] [-5.39470043e-04 7.53226518e-06 9.99999854e-01 -2.06054598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.625769231 meters 0.022538332046016348 Centerline is valid? [True, True] Translation: X:311.43, Y:-32.14, Z:-2.05 [[ 9.83446826e-01 1.81141507e-01 4.48270537e-03 3.11430701e+02] [-1.81139307e-01 9.83457040e-01 -8.95396143e-04 -3.21401349e+01] [-4.57074157e-03 6.85803520e-05 9.99989552e-01 -2.05403758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.685769231 meters 0.023743701594826094 Centerline is valid? [True, True] Translation: X:311.49, Y:-32.15, Z:-2.05 [[ 9.83626463e-01 1.80151190e-01 4.95275587e-03 3.11489888e+02] [-1.80148492e-01 9.83638929e-01 -9.89397397e-04 -3.21542561e+01] [-5.04996460e-03 8.09659632e-05 9.99987246e-01 -2.05379993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.745769231 meters 0.028268528133772543 Centerline is valid? [True, True] Translation: X:311.55, Y:-32.18, Z:-2.06 [[ 9.84191842e-01 1.77095407e-01 1.90658943e-03 3.11546853e+02] [-1.77095001e-01 9.84193688e-01 -3.80817433e-04 -3.21769196e+01] [-1.94389430e-03 3.71499529e-05 9.99998110e-01 -2.06147184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.805769231 meters 0.026137781763530737 Centerline is valid? [True, True] Translation: X:311.61, Y:-32.19, Z:-2.06 [[ 9.84568086e-01 1.74995301e-01 1.52587570e-03 3.11607244e+02] [-1.74995040e-01 9.84569268e-01 -3.03956076e-04 -3.21890976e+01] [-1.55552121e-03 3.22447725e-05 9.99998790e-01 -2.06076125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.865769231 meters 0.028466368649558628 Centerline is valid? [True, True] Translation: X:311.67, Y:-32.21, Z:-2.06 [[ 9.84571755e-01 1.74971357e-01 1.86651136e-03 3.11666345e+02] [-1.74970965e-01 9.84573523e-01 -3.72252849e-04 -3.22073750e+01] [-1.90285125e-03 3.99243453e-05 9.99998189e-01 -2.06000186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.925769231 meters 0.029135591193040527 Centerline is valid? [True, True] Translation: X:311.73, Y:-32.22, Z:-2.06 [[ 9.84622935e-01 1.74680796e-01 2.07232690e-03 3.11726546e+02] [-1.74680312e-01 9.84625115e-01 -4.13934907e-04 -3.22233538e+01] [-2.11277159e-03 4.55750950e-05 9.99997767e-01 -2.05971258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.985769231 meters 0.02811139623165898 Centerline is valid? [True, True] Translation: X:311.79, Y:-32.24, Z:-2.06 [[ 9.84795082e-01 1.73719571e-01 3.96216678e-04 3.11786711e+02] [-1.73719553e-01 9.84795162e-01 -7.82240833e-05 -3.22393485e+01] [-4.03781321e-04 8.20410834e-06 9.99999918e-01 -2.06131512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.045769231 meters 0.029327211809801492 Centerline is valid? [True, True] Translation: X:311.85, Y:-32.26, Z:-2.06 [[ 9.84695772e-01 1.74254497e-01 3.09952982e-03 3.11845150e+02] [-1.74253406e-01 9.84700647e-01 -6.20757412e-04 -3.22584284e+01] [-3.16027879e-03 7.11535705e-05 9.99995004e-01 -2.05806716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.105769231 meters 0.02674444622105085 Centerline is valid? [True, True] Translation: X:311.90, Y:-32.27, Z:-2.06 [[ 9.83536710e-01 1.80645421e-01 4.77202991e-03 3.11903652e+02] [-1.80642901e-01 9.83548283e-01 -9.57449729e-04 -3.22694530e+01] [-4.86648074e-03 7.96536271e-05 9.99988155e-01 -2.05512330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.165769231 meters 0.016241877051627836 Centerline is valid? [True, True] Translation: X:311.97, Y:-32.27, Z:-2.06 [[ 9.82404358e-01 1.86743627e-01 2.91461531e-03 3.11967709e+02] [-1.86742714e-01 9.82408681e-01 -5.84583539e-04 -3.22650838e+01] [-2.97251063e-03 3.00142442e-05 9.99995582e-01 -2.05787861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.225769231 meters 0.01335304412496721 Centerline is valid? [True, True] Translation: X:312.03, Y:-32.27, Z:-2.06 [[ 9.81514940e-01 1.91361233e-01 3.04989021e-03 3.12026848e+02] [-1.91360256e-01 9.81519678e-01 -6.11898170e-04 -3.22707689e+01] [-3.11062085e-03 1.69594248e-05 9.99995162e-01 -2.05926826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.285769231 meters 0.014022479460153817 Centerline is valid? [True, True] Translation: X:312.09, Y:-32.28, Z:-2.06 [[ 9.81674924e-01 1.90537165e-01 3.15155764e-03 3.12085424e+02] [-1.90536116e-01 9.81679983e-01 -6.32498342e-04 -3.22830519e+01] [-3.21433549e-03 2.04222087e-05 9.99994834e-01 -2.06019846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.345769231 meters 0.013999931869771894 Centerline is valid? [True, True] Translation: X:312.15, Y:-32.29, Z:-2.06 [[ 9.81770985e-01 1.90063155e-01 1.31564899e-03 3.12145975e+02] [-1.90062972e-01 9.81771866e-01 -2.63870168e-04 -3.22918029e+01] [-1.34181916e-03 9.00391740e-06 9.99999100e-01 -2.06227555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.405769231 meters 0.01230449251352063 Centerline is valid? [True, True] Translation: X:312.21, Y:-32.30, Z:-2.06 [[ 9.81114720e-01 1.93405596e-01 2.86024151e-03 3.12205075e+02] [-1.93404744e-01 9.81118889e-01 -5.74180636e-04 -3.22952516e+01] [-2.91728672e-03 1.01527960e-05 9.99995745e-01 -2.06072113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.465769231 meters 0.011884082763277268 Centerline is valid? [True, True] Translation: X:312.26, Y:-32.30, Z:-2.06 [[ 9.80789600e-01 1.95063160e-01 1.45713604e-03 3.12262532e+02] [-1.95062941e-01 9.80790683e-01 -2.92756771e-04 -3.23002026e+01] [-1.48625152e-03 2.89955475e-06 9.99998896e-01 -2.06490070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.525769231 meters 0.013232011631939964 Centerline is valid? [True, True] Translation: X:312.32, Y:-32.32, Z:-2.06 [[ 9.81537848e-01 1.91234288e-01 3.59154899e-03 3.12319690e+02] [-1.91232932e-01 9.81544419e-01 -7.20496855e-04 -3.23165639e+01] [-3.66304857e-03 2.03724879e-05 9.99993291e-01 -2.06054404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.58576923100003 meters 0.015024785536977217 Centerline is valid? [True, True] Translation: X:312.38, Y:-32.33, Z:-2.06 [[ 9.81964749e-01 1.89060086e-01 1.23087210e-03 3.12378334e+02] [-1.89059926e-01 9.81965521e-01 -2.46868273e-04 -3.23321645e+01] [-1.25534690e-03 9.70735367e-06 9.99999212e-01 -2.06449631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64576923100003 meters 0.01417130246778471 Centerline is valid? [True, True] Translation: X:312.44, Y:-32.34, Z:-2.06 [[ 9.81754298e-01 1.90146700e-01 1.65268096e-03 3.12436835e+02] [-1.90146411e-01 9.81755689e-01 -3.31593271e-04 -3.23422177e+01] [-1.68558030e-03 1.12917653e-05 9.99998579e-01 -2.06440816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70576923100003 meters 0.013399583455317223 Centerline is valid? [True, True] Translation: X:312.50, Y:-32.36, Z:-2.06 [[ 9.81750981e-01 1.90109305e-01 4.84390688e-03 3.12495930e+02] [-1.90106826e-01 9.81762930e-01 -9.71370058e-04 -3.23579653e+01] [-4.94023470e-03 3.27837458e-05 9.99987796e-01 -2.05879690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76576923100004 meters 0.01571270531476308 Centerline is valid? [True, True] Translation: X:312.55, Y:-32.38, Z:-2.06 [[ 9.82104881e-01 1.88317500e-01 2.55389368e-03 3.12553707e+02] [-1.88316806e-01 9.82108201e-01 -5.11811149e-04 -3.23784345e+01] [-2.60458292e-03 2.17111259e-05 9.99996608e-01 -2.06484798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82576923100004 meters 0.015241221972863223 Centerline is valid? [True, True] Translation: X:312.61, Y:-32.39, Z:-2.06 [[ 9.81941707e-01 1.89144309e-01 3.86188145e-03 3.12612350e+02] [-1.89142725e-01 9.81949301e-01 -7.74810701e-04 -3.23932078e+01] [-3.93872283e-03 3.03721626e-05 9.99992243e-01 -2.06162422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88576923100004 meters 0.012393035121868304 Centerline is valid? [True, True] Translation: X:312.67, Y:-32.40, Z:-2.06 [[ 9.81163194e-01 1.93133834e-01 4.25540854e-03 3.12672271e+02] [-1.93131947e-01 9.81172422e-01 -8.53914430e-04 -3.23973148e+01] [-4.34020927e-03 1.59740737e-05 9.99990581e-01 -2.06142128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94576923100004 meters 0.011352140599239524 Centerline is valid? [True, True] Translation: X:312.73, Y:-32.40, Z:-2.06 [[ 9.80540928e-01 1.96267483e-01 4.30845384e-03 3.12732206e+02] [-1.96265580e-01 9.80550394e-01 -8.64460139e-04 -3.24012821e+01] [-4.39432152e-03 2.03735767e-06 9.99990345e-01 -2.06302291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.005769231 meters 0.011843996754921374 Centerline is valid? [True, True] Translation: X:312.79, Y:-32.42, Z:-2.06 [[ 9.80939199e-01 1.94277894e-01 3.79314077e-03 3.12790861e+02] [-1.94276404e-01 9.80946533e-01 -7.60921917e-04 -3.24165646e+01] [-3.86869859e-03 9.50038845e-06 9.99992517e-01 -2.06410897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.065769231 meters 0.013857488669870514 Centerline is valid? [True, True] Translation: X:312.85, Y:-32.43, Z:-2.06 [[ 9.81661671e-01 1.90591609e-01 3.89913637e-03 3.12849229e+02] [-1.90590005e-01 9.81669414e-01 -7.82185134e-04 -3.24348925e+01] [-3.97674083e-03 2.47047453e-05 9.99992092e-01 -2.06453156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.125769231 meters 0.01621650328637734 Centerline is valid? [True, True] Translation: X:312.91, Y:-32.46, Z:-2.06 [[ 9.82219582e-01 1.87684922e-01 4.36603293e-03 3.12907897e+02] [-1.87682883e-01 9.82229285e-01 -8.75786999e-04 -3.24554702e+01] [-4.45281742e-03 4.07854912e-05 9.99990085e-01 -2.06328907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.185769231 meters 0.014228644043735757 Centerline is valid? [True, True] Translation: X:312.97, Y:-32.46, Z:-2.07 [[ 9.81648838e-01 1.90683228e-01 2.33772818e-03 3.12968292e+02] [-1.90682651e-01 9.81651622e-01 -4.69014715e-04 -3.24625670e+01] [-2.38426790e-03 1.46435422e-05 9.99997158e-01 -2.06812796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.245769231 meters 0.012425532820936069 Centerline is valid? [True, True] Translation: X:313.03, Y:-32.46, Z:-2.07 [[ 9.79867163e-01 1.99630892e-01 2.80191775e-03 3.13027848e+02] [-1.99630100e-01 9.79871169e-01 -5.62390312e-04 -3.24608703e+01] [-2.85778890e-03 -8.27932148e-06 9.99995916e-01 -2.06698777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.305769231 meters 0.011999651417935155 Centerline is valid? [True, True] Translation: X:313.09, Y:-32.47, Z:-2.06 [[ 9.79949889e-01 1.99195565e-01 4.39789822e-03 3.13085064e+02] [-1.99193612e-01 9.79959758e-01 -8.82192818e-04 -3.24741965e+01] [-4.48549218e-03 -1.15284792e-05 9.99989940e-01 -2.06464637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.365769231 meters 0.011996800324626472 Centerline is valid? [True, True] Translation: X:313.14, Y:-32.50, Z:-2.07 [[ 9.80918062e-01 1.94386818e-01 3.67710149e-03 3.13143669e+02] [-1.94385421e-01 9.80924954e-01 -7.36788946e-04 -3.24970287e+01] [-3.75018267e-03 7.95466204e-06 9.99992968e-01 -2.06799237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.425769231 meters 0.013397136078074074 Centerline is valid? [True, True] Translation: X:313.20, Y:-32.52, Z:-2.07 [[ 9.81515492e-01 1.91339055e-01 4.08713436e-03 3.13202873e+02] [-1.91337300e-01 9.81524002e-01 -8.19776168e-04 -3.25200231e+01] [-4.16847567e-03 2.26017559e-05 9.99991312e-01 -2.06726730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.485769231 meters 0.014495452851715933 Centerline is valid? [True, True] Translation: X:313.26, Y:-32.54, Z:-2.07 [[ 9.81558500e-01 1.91120362e-01 3.98981023e-03 3.13261972e+02] [-1.91118685e-01 9.81566608e-01 -8.01070167e-04 -3.25386337e+01] [-4.06936532e-03 2.37699477e-05 9.99991720e-01 -2.06895253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.545769231 meters 0.01363891842128276 Centerline is valid? [True, True] Translation: X:313.32, Y:-32.55, Z:-2.07 [[ 9.81414088e-01 1.91892509e-01 1.91139894e-03 3.13323509e+02] [-1.91892126e-01 9.81415949e-01 -3.83192645e-04 -3.25541376e+01] [-1.94940920e-03 9.28825357e-06 9.99998100e-01 -2.07204083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.605769231 meters 0.011546140502554621 Centerline is valid? [True, True] Translation: X:313.38, Y:-32.56, Z:-2.07 [[ 9.80303367e-01 1.97411581e-01 5.82890166e-03 3.13384484e+02] [-1.97408098e-01 9.80320696e-01 -1.17270311e-03 -3.25580987e+01] [-5.94569811e-03 -1.06758710e-06 9.99982324e-01 -2.06548806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.665769231 meters 0.013687098274892354 Centerline is valid? [True, True] Translation: X:313.44, Y:-32.56, Z:-2.07 [[ 9.79150576e-01 2.03062755e-01 5.44678687e-03 3.13444635e+02] [-2.03059800e-01 9.79165725e-01 -1.09595616e-03 -3.25586709e+01] [-5.55585489e-03 -3.29173533e-05 9.99984566e-01 -2.06673298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.725769231 meters 0.01387052093914931 Centerline is valid? [True, True] Translation: X:313.50, Y:-32.57, Z:-2.07 [[ 9.79235135e-01 2.02718093e-01 1.98108891e-03 3.13503467e+02] [-2.02717702e-01 9.79237139e-01 -3.98528876e-04 -3.25704087e+01] [-2.02074485e-03 -1.13483118e-05 9.99997958e-01 -2.07440241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.785769231 meters 0.012103393327370844 Centerline is valid? [True, True] Translation: X:313.56, Y:-32.59, Z:-2.07 [[ 9.79879368e-01 1.99564309e-01 3.24208636e-03 3.13562561e+02] [-1.99563243e-01 9.79884731e-01 -6.52107553e-04 -3.25873443e+01] [-3.30700831e-03 -8.01453125e-06 9.99994532e-01 -2.07123306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.845769231 meters 0.012193730969011368 Centerline is valid? [True, True] Translation: X:313.62, Y:-32.60, Z:-2.07 [[ 9.79943360e-01 1.99235008e-01 4.05238388e-03 3.13621841e+02] [-1.99233340e-01 9.79951739e-01 -8.15270955e-04 -3.25992926e+01] [-4.13357115e-03 -8.45061796e-06 9.99991457e-01 -2.07114664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.905769231 meters 0.012716480496953635 Centerline is valid? [True, True] Translation: X:313.68, Y:-32.61, Z:-2.07 [[ 9.79502928e-01 2.01335202e-01 6.17666844e-03 3.13682075e+02] [-2.01331369e-01 9.79522402e-01 -1.24277202e-03 -3.26065199e+01] [-6.30039886e-03 -2.62582808e-05 9.99980152e-01 -2.06713357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.965769231 meters 0.014553151934826349 Centerline is valid? [True, True] Translation: X:313.74, Y:-32.61, Z:-2.07 [[ 9.78852206e-01 2.04510077e-01 4.89777631e-03 3.13741783e+02] [-2.04507706e-01 9.78864458e-01 -9.85501711e-04 -3.26104157e+01] [-4.99580418e-03 -3.69724713e-05 9.99987520e-01 -2.06980926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.025769231 meters 0.01402391816680171 Centerline is valid? [True, True] Translation: X:313.80, Y:-32.62, Z:-2.07 [[ 9.78970580e-01 2.03907071e-01 6.20572092e-03 3.13800342e+02] [-2.03903253e-01 9.78990247e-01 -1.24848360e-03 -3.26219218e+01] [-6.32991489e-03 -4.31379697e-05 9.99979965e-01 -2.06895482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.08576923100003 meters 0.012142585706175497 Centerline is valid? [True, True] Translation: X:313.86, Y:-32.64, Z:-2.07 [[ 9.79704207e-01 2.00362245e-01 5.88531389e-03 3.13859758e+02] [-2.00358750e-01 9.79721884e-01 -1.18368611e-03 -3.26425763e+01] [-6.00313682e-03 -1.95118662e-05 9.99981981e-01 -2.07032117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14576923100003 meters 0.01335183859130342 Centerline is valid? [True, True] Translation: X:313.92, Y:-32.65, Z:-2.07 [[ 9.79271704e-01 2.02504702e-01 4.33315244e-03 3.13919043e+02] [-2.02502824e-01 9.79281290e-01 -8.72375951e-04 -3.26519479e+01] [-4.42003535e-03 -2.31825240e-05 9.99990231e-01 -2.07339043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20576923100003 meters 0.017573313135879624 Centerline is valid? [True, True] Translation: X:313.98, Y:-32.65, Z:-2.07 [[ 9.77917790e-01 2.08922481e-01 5.30977584e-03 3.13979846e+02] [-2.08919755e-01 9.77932203e-01 -1.06914105e-03 -3.26541863e+01] [-5.41596838e-03 -6.37850185e-05 9.99985332e-01 -2.07119882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26576923100004 meters 0.027126589468481125 Centerline is valid? [True, True] Translation: X:314.04, Y:-32.65, Z:-2.07 [[ 9.75801683e-01 2.18615288e-01 4.29318362e-03 3.14041468e+02] [-2.18613600e-01 9.75811123e-01 -8.64311086e-04 -3.26470947e+01] [-4.37828795e-03 -9.51521131e-05 9.99990411e-01 -2.07390938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32576923100004 meters 0.03147262753169881 Centerline is valid? [True, True] Translation: X:314.10, Y:-32.65, Z:-2.08 [[ 9.75114141e-01 2.21695117e-01 1.92032784e-03 3.14100973e+02] [-2.21694785e-01 9.75116030e-01 -3.86780997e-04 -3.26485747e+01] [-1.95828992e-03 -4.85710499e-05 9.99998081e-01 -2.07987707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38576923100004 meters 0.023173912647806272 Centerline is valid? [True, True] Translation: X:314.16, Y:-32.67, Z:-2.08 [[ 9.76383670e-01 2.16025637e-01 2.80244753e-03 3.14158033e+02] [-2.16024907e-01 9.76387690e-01 -5.64191764e-04 -3.26678957e+01] [-2.85815515e-03 -5.45308421e-05 9.99995914e-01 -2.07849450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44576923100004 meters 0.017001288773796027 Centerline is valid? [True, True] Translation: X:314.21, Y:-32.69, Z:-2.08 [[ 9.78094592e-01 2.08102876e-01 4.91556987e-03 3.14213478e+02] [-2.08100532e-01 9.78106942e-01 -9.89282936e-04 -3.26895415e+01] [-5.01382564e-03 -5.53204173e-05 9.99987429e-01 -2.07645913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.505769231 meters 0.01387608543464679 Centerline is valid? [True, True] Translation: X:314.27, Y:-32.71, Z:-2.08 [[ 9.79031824e-01 2.03650748e-01 4.80220592e-03 3.14270855e+02] [-2.03648456e-01 9.79043601e-01 -9.66579263e-04 -3.27070163e+01] [-4.89841357e-03 -3.16499638e-05 9.99988002e-01 -2.07722546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.565769231 meters 0.012546210214662845 Centerline is valid? [True, True] Translation: X:314.33, Y:-32.72, Z:-2.08 [[ 9.79681984e-01 2.00526457e-01 3.51423799e-03 3.14329692e+02] [-2.00525211e-01 9.79688287e-01 -7.07129906e-04 -3.27247263e+01] [-3.58465605e-03 -1.19308829e-05 9.99993575e-01 -2.08120062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.625769231 meters 0.012745857464273818 Centerline is valid? [True, True] Translation: X:314.39, Y:-32.74, Z:-2.08 [[ 9.79636462e-01 2.00749601e-01 3.46399439e-03 3.14387669e+02] [-2.00748390e-01 9.79642587e-01 -6.97318426e-04 -3.27358172e+01] [-3.53346282e-03 -1.22727411e-05 9.99993757e-01 -2.08210374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.685769231 meters 0.012002550154423934 Centerline is valid? [True, True] Translation: X:314.45, Y:-32.75, Z:-2.08 [[ 9.80101448e-01 1.98450285e-01 4.31692733e-03 3.14446424e+02] [-1.98448384e-01 9.80110955e-01 -8.68632445e-04 -3.27534988e+01] [-4.40344813e-03 -5.33933528e-06 9.99990305e-01 -2.08187228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.745769231 meters 0.012763453643323352 Centerline is valid? [True, True] Translation: X:314.50, Y:-32.78, Z:-2.09 [[ 9.80785926e-01 1.95079495e-01 1.72012064e-03 3.14503866e+02] [-1.95079189e-01 9.80787434e-01 -3.45477840e-04 -3.27753986e+01] [-1.75446835e-03 3.28006250e-06 9.99998461e-01 -2.08971063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.805769231 meters 0.013899987727403475 Centerline is valid? [True, True] Translation: X:314.56, Y:-32.80, Z:-2.09 [[ 9.81200973e-01 1.92978302e-01 2.00629070e-03 3.14561330e+02] [-1.92977879e-01 9.81203024e-01 -4.03992898e-04 -3.27965870e+01] [-2.04654037e-03 9.22850082e-06 9.99997906e-01 -2.08960801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.865769231 meters 0.01474791274432116 Centerline is valid? [True, True] Translation: X:314.62, Y:-32.82, Z:-2.09 [[ 9.81496864e-01 1.91474988e-01 1.11145894e-03 3.14621316e+02] [-1.91474859e-01 9.81497493e-01 -2.22891191e-04 -3.28151810e+01] [-1.13357225e-03 5.95056126e-06 9.99999357e-01 -2.09235091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.925769231 meters 0.014775414270755509 Centerline is valid? [True, True] Translation: X:314.68, Y:-32.84, Z:-2.09 [[ 9.81555306e-01 1.91149825e-01 3.30533581e-03 3.14679219e+02] [-1.91148667e-01 9.81560871e-01 -6.65706376e-04 -3.28353356e+01] [-3.37163795e-03 2.16170915e-05 9.99994316e-01 -2.08792417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.985769231 meters 0.013898685660870215 Centerline is valid? [True, True] Translation: X:314.74, Y:-32.85, Z:-2.09 [[ 9.81441988e-01 1.91715745e-01 4.08620544e-03 3.14740140e+02] [-1.91713977e-01 9.81450494e-01 -8.23719104e-04 -3.28535967e+01] [-4.16832827e-03 2.50498193e-05 9.99991312e-01 -2.08675639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.045769231 meters 0.014969907555731894 Centerline is valid? [True, True] Translation: X:314.80, Y:-32.88, Z:-2.08 [[ 9.81556767e-01 1.91076850e-01 5.99587700e-03 3.14798672e+02] [-1.91073020e-01 9.81575079e-01 -1.21055084e-03 -3.28782916e+01] [-6.11671168e-03 4.25740452e-05 9.99981292e-01 -2.08368813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.105769231 meters 0.014383119043145542 Centerline is valid? [True, True] Translation: X:314.86, Y:-32.90, Z:-2.08 [[ 9.81370090e-01 1.91966028e-01 7.86067999e-03 3.14856917e+02] [-1.91959459e-01 9.81401570e-01 -1.58888075e-03 -3.29006398e+01] [-8.01949481e-03 5.03481680e-05 9.99967842e-01 -2.08164756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.165769231 meters 0.011799885936711087 Centerline is valid? [True, True] Translation: X:314.92, Y:-32.91, Z:-2.08 [[ 9.80207880e-01 1.97833076e-01 7.38826984e-03 3.14917280e+02] [-1.97827431e-01 9.80235724e-01 -1.49443965e-03 -3.29147758e+01] [-7.53789562e-03 3.25908151e-06 9.99971590e-01 -2.08310042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.225769231 meters 0.01469463772941447 Centerline is valid? [True, True] Translation: X:314.98, Y:-32.92, Z:-2.09 [[ 9.78785226e-01 2.04842844e-01 4.34628418e-03 3.14977668e+02] [-2.04840957e-01 9.78794875e-01 -8.79725585e-04 -3.29222618e+01] [-4.43432618e-03 -2.92346081e-05 9.99990168e-01 -2.09070325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.285769231 meters 0.020413014811354248 Centerline is valid? [True, True] Translation: X:315.04, Y:-32.93, Z:-2.09 [[ 9.77110053e-01 2.12655816e-01 5.78347819e-03 3.15038913e+02] [-2.12652612e-01 9.77127165e-01 -1.17066380e-03 -3.29310444e+01] [-5.90014211e-03 -8.60043711e-05 9.99982590e-01 -2.08732782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.345769231 meters 0.028894548750046205 Centerline is valid? [True, True] Translation: X:315.10, Y:-32.93, Z:-2.09 [[ 9.75992652e-01 2.17700826e-01 6.68534860e-03 3.15100143e+02] [-2.17696653e-01 9.76015539e-01 -1.35445047e-03 -3.29309129e+01] [-6.81986911e-03 -1.33444304e-04 9.99976736e-01 -2.08587659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.405769231 meters 0.031451599143386307 Centerline is valid? [True, True] Translation: X:315.16, Y:-32.94, Z:-2.09 [[ 9.74193129e-01 2.25656344e-01 5.19245653e-03 3.15160337e+02] [-2.25653939e-01 9.74206956e-01 -1.05198712e-03 -3.29394698e+01] [-5.29591483e-03 -1.46859642e-04 9.99985966e-01 -2.09010649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.465769231 meters 0.03558548159431622 Centerline is valid? [True, True] Translation: X:315.22, Y:-32.95, Z:-2.09 [[ 9.73869601e-01 2.27024980e-01 6.13662860e-03 3.15221574e+02] [-2.27021649e-01 9.73888918e-01 -1.24317446e-03 -3.29468062e+01] [-6.25862625e-03 -1.82457732e-04 9.99980398e-01 -2.08969966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.525769231 meters 0.03184863552035357 Centerline is valid? [True, True] Translation: X:315.28, Y:-32.97, Z:-2.09 [[ 9.74253427e-01 2.25367208e-01 6.31526544e-03 3.15281515e+02] [-2.25363639e-01 9.74273879e-01 -1.28045268e-03 -3.29662260e+01] [-6.44137020e-03 -1.75745789e-04 9.99979239e-01 -2.08985007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.58576923100003 meters 0.0347717466436095 Centerline is valid? [True, True] Translation: X:315.34, Y:-32.97, Z:-2.09 [[ 9.74062584e-01 2.26133973e-01 8.09369597e-03 3.15342391e+02] [-2.26128131e-01 9.74096183e-01 -1.64176614e-03 -3.29724025e+01] [-8.25529745e-03 -2.31029374e-04 9.99965898e-01 -2.08762764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64576923100003 meters 0.034446851239736884 Centerline is valid? [True, True] Translation: X:315.40, Y:-32.98, Z:-2.09 [[ 9.73656651e-01 2.27889117e-01 7.69908052e-03 3.15403250e+02] [-2.27883877e-01 9.73687063e-01 -1.56288784e-03 -3.29843686e+01] [-7.85266023e-03 -2.32780181e-04 9.99969140e-01 -2.08829943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70576923100003 meters 0.03587130308369985 Centerline is valid? [True, True] Translation: X:315.46, Y:-32.99, Z:-2.09 [[ 9.73640343e-01 2.28008428e-01 6.05302105e-03 3.15464419e+02] [-2.28005185e-01 9.73659141e-01 -1.22961532e-03 -3.29886829e+01] [-6.17394193e-03 -1.82917106e-04 9.99980924e-01 -2.09075096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76576923100004 meters 0.035071338017643124 Centerline is valid? [True, True] Translation: X:315.53, Y:-32.99, Z:-2.09 [[ 9.73762237e-01 2.27390727e-01 8.97572941e-03 3.15525305e+02] [-2.27383566e-01 9.73803567e-01 -1.82390276e-03 -3.29931340e+01] [-9.15533589e-03 -2.64885730e-04 9.99958054e-01 -2.08689656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82576923100004 meters 0.030169753903701704 Centerline is valid? [True, True] Translation: X:315.59, Y:-33.00, Z:-2.09 [[ 9.73908962e-01 2.26742634e-01 9.43993836e-03 3.15587295e+02] [-2.26734682e-01 9.73954672e-01 -1.91832985e-03 -3.29985549e+01] [-9.62903924e-03 -2.72082793e-04 9.99953603e-01 -2.08805145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88576923100004 meters 0.03003623842980934 Centerline is valid? [True, True] Translation: X:315.65, Y:-33.00, Z:-2.09 [[ 9.74864099e-01 2.22650313e-01 8.17479412e-03 3.15648439e+02] [-2.22644205e-01 9.74898353e-01 -1.66144687e-03 -3.29969217e+01] [-8.33951499e-03 -2.00385625e-04 9.99965206e-01 -2.09020309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94576923100004 meters 0.024589768048116 Centerline is valid? [True, True] Translation: X:315.71, Y:-33.01, Z:-2.09 [[ 9.76302478e-01 2.16271872e-01 7.74272403e-03 3.15706744e+02] [-2.16266192e-01 9.76333170e-01 -1.57353424e-03 -3.30080608e+01] [-7.89978949e-03 -1.38244067e-04 9.99968787e-01 -2.09141579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.005769231 meters 0.014755927198691763 Centerline is valid? [True, True] Translation: X:315.76, Y:-33.03, Z:-2.10 [[ 9.78486208e-01 2.06218049e-01 6.23352363e-03 3.15764479e+02] [-2.06214163e-01 9.78506062e-01 -1.26671299e-03 -3.30290692e+01] [-6.36075975e-03 -4.59796740e-05 9.99979769e-01 -2.09613007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.065769231 meters 0.011543345781306714 Centerline is valid? [True, True] Translation: X:315.82, Y:-33.05, Z:-2.09 [[ 9.79829463e-01 1.99683281e-01 7.79816347e-03 3.15821848e+02] [-1.99676992e-01 9.79860494e-01 -1.58477190e-03 -3.30477750e+01] [-7.95756477e-03 -4.30762269e-06 9.99968338e-01 -2.09445190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.125769231 meters 0.011940984136508657 Centerline is valid? [True, True] Translation: X:315.88, Y:-33.07, Z:-2.09 [[ 9.80428035e-01 1.96676275e-01 8.90572685e-03 3.15879847e+02] [-1.96667948e-01 9.80468481e-01 -1.80996747e-03 -3.30673126e+01] [-9.08776214e-03 2.30718279e-05 9.99958705e-01 -2.09229867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.185769231 meters 0.012445206567834583 Centerline is valid? [True, True] Translation: X:315.94, Y:-33.08, Z:-2.10 [[ 9.80630498e-01 1.95780652e-01 5.81052388e-03 3.15939024e+02] [-1.95777092e-01 9.80647712e-01 -1.18093635e-03 -3.30847959e+01] [-5.92928144e-03 2.04947387e-05 9.99982421e-01 -2.10000681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.245769231 meters 0.013590877066179473 Centerline is valid? [True, True] Translation: X:316.00, Y:-33.10, Z:-2.09 [[ 9.80947806e-01 1.94075298e-01 8.72813307e-03 3.15998289e+02] [-1.94067194e-01 9.80986634e-01 -1.77418716e-03 -3.31028823e+01] [-8.90650778e-03 4.65407053e-05 9.99960335e-01 -2.09444590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.305769231 meters 0.015433789813771347 Centerline is valid? [True, True] Translation: X:316.06, Y:-33.13, Z:-2.10 [[ 9.81333826e-01 1.92139133e-01 8.15327012e-03 3.16056226e+02] [-1.92131992e-01 9.81367694e-01 -1.65765875e-03 -3.31260747e+01] [-8.31985701e-03 6.02125714e-05 9.99965388e-01 -2.09669742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.365769231 meters 0.01605959102871597 Centerline is valid? [True, True] Translation: X:316.12, Y:-33.14, Z:-2.10 [[ 9.81695911e-01 1.90362514e-01 5.93733389e-03 3.16116355e+02] [-1.90358692e-01 9.81713864e-01 -1.20769094e-03 -3.31437640e+01] [-6.05866207e-03 5.53621500e-05 9.99981645e-01 -2.10197472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.425769231 meters 0.015597368161133461 Centerline is valid? [True, True] Translation: X:316.18, Y:-33.16, Z:-2.10 [[ 9.81541595e-01 1.91095544e-01 7.65438410e-03 3.16177429e+02] [-1.91089200e-01 9.81571438e-01 -1.55859846e-03 -3.31593613e+01] [-7.81116603e-03 6.71590856e-05 9.99969490e-01 -2.09838400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.485769231 meters 0.01630316278638745 Centerline is valid? [True, True] Translation: X:316.24, Y:-33.18, Z:-2.10 [[ 9.81663041e-01 1.90465751e-01 7.77632780e-03 3.16238246e+02] [-1.90459171e-01 9.81693838e-01 -1.58494587e-03 -3.31757021e+01] [-7.93585099e-03 7.48098341e-05 9.99968508e-01 -2.09872197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.545769231 meters 0.024327683789446358 Centerline is valid? [True, True] Translation: X:316.29, Y:-33.21, Z:-2.10 [[ 9.83360819e-01 1.81520294e-01 7.20293776e-03 3.16293894e+02] [-1.81514400e-01 9.83387189e-01 -1.46930762e-03 -3.32074857e+01] [-7.34998587e-03 1.37422625e-04 9.99972979e-01 -2.10301315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.605769231 meters 0.04041263578148788 Centerline is valid? [True, True] Translation: X:316.35, Y:-33.25, Z:-2.11 [[ 9.85393090e-01 1.70195124e-01 5.83762520e-03 3.16345695e+02] [-1.70191053e-01 9.85410365e-01 -1.19084461e-03 -3.32543593e+01] [-5.95513233e-03 1.79938472e-04 9.99982252e-01 -2.10517945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.665769231 meters 0.03602306832926843 Centerline is valid? [True, True] Translation: X:316.40, Y:-33.27, Z:-2.11 [[ 9.85411103e-01 1.70097616e-01 5.63558780e-03 3.16404974e+02] [-1.70093821e-01 9.85427202e-01 -1.14957509e-03 -3.32735655e+01] [-5.74900150e-03 1.74225398e-04 9.99983459e-01 -2.10568693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.725769231 meters 0.028939550881364864 Centerline is valid? [True, True] Translation: X:316.46, Y:-33.29, Z:-2.11 [[ 9.83892935e-01 1.78680168e-01 5.30008156e-03 3.16463192e+02] [-1.78676929e-01 9.83907203e-01 -1.08228566e-03 -3.32862798e+01] [-5.40817140e-03 1.17850920e-04 9.99985369e-01 -2.10689281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.785769231 meters 0.018934150865080192 Centerline is valid? [True, True] Translation: X:316.52, Y:-33.29, Z:-2.10 [[ 9.82447649e-01 1.86398253e-01 7.23247334e-03 3.16523870e+02] [-1.86392431e-01 9.82474265e-01 -1.47676793e-03 -3.32932466e+01] [-7.38098589e-03 1.02768896e-04 9.99972755e-01 -2.10393156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.845769231 meters 0.015001844053766856 Centerline is valid? [True, True] Translation: X:316.58, Y:-33.31, Z:-2.10 [[ 9.81376155e-01 1.91895405e-01 8.77470653e-03 3.16582574e+02] [-1.91887054e-01 9.81415380e-01 -1.79183112e-03 -3.33078575e+01] [-8.95547610e-03 7.47077497e-05 9.99959896e-01 -2.10108353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.905769231 meters 0.014293128615477407 Centerline is valid? [True, True] Translation: X:316.64, Y:-33.32, Z:-2.10 [[ 9.80994923e-01 1.93848975e-01 8.45785096e-03 3.16642682e+02] [-1.93841286e-01 9.81031382e-01 -1.72736096e-03 -3.33203310e+01] [-8.63226437e-03 5.50516195e-05 9.99962740e-01 -2.10126324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.965769231 meters 0.011599670408933963 Centerline is valid? [True, True] Translation: X:316.71, Y:-33.32, Z:-2.11 [[ 9.79664820e-01 2.00568997e-01 5.37753261e-03 3.16706919e+02] [-2.00565988e-01 9.79679579e-01 -1.09858493e-03 -3.33186168e+01] [-5.48860096e-03 -2.30512909e-06 9.99984938e-01 -2.10915600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.025769231 meters 0.015316196055951973 Centerline is valid? [True, True] Translation: X:316.77, Y:-33.31, Z:-2.10 [[ 9.78014244e-01 2.08335501e-01 9.19004261e-03 3.16769768e+02] [-2.08327048e-01 9.78057418e-01 -1.87824572e-03 -3.33140517e+01] [-9.37969461e-03 -7.75833836e-05 9.99956007e-01 -2.09994953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.08576923100003 meters 0.01586330266588707 Centerline is valid? [True, True] Translation: X:316.83, Y:-33.32, Z:-2.10 [[ 9.77495773e-01 2.10796682e-01 8.17143654e-03 3.16832203e+02] [-2.10790082e-01 9.77529923e-01 -1.67044703e-03 -3.33185280e+01] [-8.33994842e-03 -8.96028690e-05 9.99965218e-01 -2.10464032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14576923100003 meters 0.01538798400800803 Centerline is valid? [True, True] Translation: X:316.89, Y:-33.32, Z:-2.11 [[ 9.77911188e-01 2.08976160e-01 4.32122684e-03 3.16894467e+02] [-2.08974296e-01 9.77920735e-01 -8.83566842e-04 -3.33214600e+01] [-4.41046173e-03 -3.89754354e-05 9.99990273e-01 -2.11235156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20576923100003 meters 0.011817080223555336 Centerline is valid? [True, True] Translation: X:316.96, Y:-33.34, Z:-2.11 [[ 9.79448952e-01 2.01634911e-01 4.80752829e-03 3.16955018e+02] [-2.01632510e-01 9.79460751e-01 -9.83989938e-04 -3.33352251e+01] [-4.90719199e-03 -5.58608202e-06 9.99987960e-01 -2.10958343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26576923100004 meters 0.012127680719759473 Centerline is valid? [True, True] Translation: X:317.02, Y:-33.34, Z:-2.10 [[ 9.80159795e-01 1.98047081e-01 8.00818566e-03 3.17016959e+02] [-1.98040281e-01 9.80192508e-01 -1.64126746e-03 -3.33427714e+01] [-8.17461182e-03 2.27610335e-05 9.99966587e-01 -2.10488661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32576923100004 meters 0.012368976196146443 Centerline is valid? [True, True] Translation: X:317.08, Y:-33.35, Z:-2.11 [[ 9.80328383e-01 1.97190504e-01 8.49513416e-03 3.17079628e+02] [-1.97182806e-01 9.80365189e-01 -1.74272362e-03 -3.33515649e+01] [-8.67198235e-03 3.33470426e-05 9.99962397e-01 -2.10530646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38576923100004 meters 0.01722237271664073 Centerline is valid? [True, True] Translation: X:317.14, Y:-33.37, Z:-2.10 [[ 9.81726878e-01 1.90063415e-01 9.39332363e-03 3.17138559e+02] [-1.90053661e-01 9.81771810e-01 -1.92860484e-03 -3.33729562e+01] [-9.58865757e-03 1.08127660e-04 9.99954022e-01 -2.10431854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44576923100004 meters 0.024193883383808817 Centerline is valid? [True, True] Translation: X:317.20, Y:-33.40, Z:-2.11 [[ 9.83332707e-01 1.81653830e-01 7.65989187e-03 3.17195285e+02] [-1.81647086e-01 9.83362528e-01 -1.57300130e-03 -3.34019433e+01] [-7.81819234e-03 1.55386592e-04 9.99969425e-01 -2.10896201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.505769231 meters 0.032392840116928404 Centerline is valid? [True, True] Translation: X:317.25, Y:-33.43, Z:-2.11 [[ 9.84695360e-01 1.74098797e-01 8.04095725e-03 3.17249575e+02] [-1.74091112e-01 9.84728164e-01 -1.65143102e-03 -3.34334588e+01] [-8.20566923e-03 2.26297281e-04 9.99966307e-01 -2.10862176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.565769231 meters 0.03514409508881225 Centerline is valid? [True, True] Translation: X:317.31, Y:-33.46, Z:-2.11 [[ 9.84935602e-01 1.72851356e-01 4.92625084e-03 3.17306945e+02] [-1.72848457e-01 9.84947911e-01 -1.01138799e-03 -3.34590317e+01] [-5.02692026e-03 1.44657181e-04 9.99987354e-01 -2.11498544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.625769231 meters 0.029557822509960387 Centerline is valid? [True, True] Translation: X:317.37, Y:-33.47, Z:-2.11 [[ 9.83884792e-01 1.78751524e-01 4.31367671e-03 3.17365749e+02] [-1.78749354e-01 9.83894243e-01 -8.86570822e-04 -3.34742520e+01] [-4.40267757e-03 1.01216622e-04 9.99990303e-01 -2.11456553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.685769231 meters 0.017939247200707432 Centerline is valid? [True, True] Translation: X:317.43, Y:-33.47, Z:-2.11 [[ 9.81862442e-01 1.89473227e-01 6.78542247e-03 3.17427303e+02] [-1.89468112e-01 9.81885884e-01 -1.39470945e-03 -3.34735908e+01] [-6.92677064e-03 8.37916408e-05 9.99976006e-01 -2.11065635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.745769231 meters 0.014078826217826548 Centerline is valid? [True, True] Translation: X:317.49, Y:-33.48, Z:-2.11 [[ 9.80783667e-01 1.95028601e-01 5.21943642e-03 3.17487859e+02] [-1.95025655e-01 9.80797555e-01 -1.07257146e-03 -3.34816518e+01] [-5.32839259e-03 3.40365586e-05 9.99985803e-01 -2.11383217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.805769231 meters 0.015709465945538188 Centerline is valid? [True, True] Translation: X:317.55, Y:-33.50, Z:-2.11 [[ 9.81321482e-01 1.92290733e-01 5.69413942e-03 3.17547080e+02] [-1.92287174e-01 9.81338000e-01 -1.17112006e-03 -3.34995542e+01] [-5.81307093e-03 5.43352937e-05 9.99983102e-01 -2.11384100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.865769231 meters 0.01607135493743033 Centerline is valid? [True, True] Translation: X:317.61, Y:-33.51, Z:-2.11 [[ 9.81256788e-01 1.92504738e-01 8.77735631e-03 3.17607820e+02] [-1.92496272e-01 9.81296040e-01 -1.80734384e-03 -3.35120447e+01] [-8.96110724e-03 8.38600456e-05 9.99959845e-01 -2.10579382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.925769231 meters 0.013344939652266763 Centerline is valid? [True, True] Translation: X:317.67, Y:-33.52, Z:-2.10 [[ 9.80490197e-01 1.96323373e-01 9.80342677e-03 3.17670578e+02] [-1.96312983e-01 9.80539204e-01 -2.02056869e-03 -3.35157306e+01] [-1.00093291e-02 5.66078404e-05 9.99949904e-01 -2.10431901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.985769231 meters 0.011759478211455234 Centerline is valid? [True, True] Translation: X:317.73, Y:-33.52, Z:-2.11 [[ 9.79432835e-01 2.01591324e-01 8.50059651e-03 3.17733665e+02] [-2.01583699e-01 9.79469723e-01 -1.75335323e-03 -3.35167259e+01] [-8.67953771e-03 3.71004342e-06 9.99962332e-01 -2.10864133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.045769231 meters 0.011821745713468166 Centerline is valid? [True, True] Translation: X:317.80, Y:-33.52, Z:-2.11 [[ 9.79265557e-01 2.02506947e-01 5.46851985e-03 3.17795330e+02] [-2.02503802e-01 9.79280826e-01 -1.12844947e-03 -3.35220985e+01] [-5.58373550e-03 -2.34436015e-06 9.99984411e-01 -2.11403691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.105769231 meters 0.01228158579300519 Centerline is valid? [True, True] Translation: X:317.86, Y:-33.52, Z:-2.12 [[ 9.78842225e-01 2.04583963e-01 3.64701687e-03 3.17859676e+02] [-2.04582579e-01 9.78849019e-01 -7.52792475e-04 -3.35232556e+01] [-3.72388815e-03 -9.25105448e-06 9.99993066e-01 -2.11795182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.165769231 meters 0.011924070406150374 Centerline is valid? [True, True] Translation: X:317.92, Y:-33.53, Z:-2.11 [[ 9.78929873e-01 2.04105101e-01 6.11646318e-03 3.17921774e+02] [-2.04101184e-01 9.78948981e-01 -1.26458154e-03 -3.35296299e+01] [-6.24581294e-03 -1.04407269e-05 9.99980495e-01 -2.11467410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.225769231 meters 0.012029489569213602 Centerline is valid? [True, True] Translation: X:317.98, Y:-33.54, Z:-2.12 [[ 9.79426165e-01 2.01757200e-01 4.29182951e-03 3.17982486e+02] [-2.01755247e-01 9.79435568e-01 -8.87679998e-04 -3.35415213e+01] [-4.38266630e-03 3.51789406e-06 9.99990396e-01 -2.11854198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.285769231 meters 0.012199667161294246 Centerline is valid? [True, True] Translation: X:318.04, Y:-33.55, Z:-2.12 [[ 9.79526469e-01 2.01279222e-01 3.81737712e-03 3.18044592e+02] [-2.01277671e-01 9.79533907e-01 -7.90052042e-04 -3.35520956e+01] [-3.89827138e-03 5.52411092e-06 9.99992402e-01 -2.12106321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.345769231 meters 0.011930385271325982 Centerline is valid? [True, True] Translation: X:318.11, Y:-33.56, Z:-2.12 [[ 9.79140519e-01 2.03124966e-01 4.90831284e-03 3.18107658e+02] [-2.03122420e-01 9.79152822e-01 -1.01711769e-03 -3.35561629e+01] [-5.01259036e-03 -1.08723962e-06 9.99987437e-01 -2.11879624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.405769231 meters 0.012071831382146651 Centerline is valid? [True, True] Translation: X:318.17, Y:-33.56, Z:-2.12 [[ 9.78931880e-01 2.04141950e-01 4.29403242e-03 3.18169680e+02] [-2.04140008e-01 9.78941298e-01 -8.90522732e-04 -3.35619360e+01] [-4.38539872e-03 -4.82271888e-06 9.99990384e-01 -2.12112767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.465769231 meters 0.012595756024102562 Centerline is valid? [True, True] Translation: X:318.23, Y:-33.58, Z:-2.12 [[ 9.79650818e-01 2.00679631e-01 3.45851743e-03 3.18230749e+02] [-2.00678349e-01 9.79656922e-01 -7.17516128e-04 -3.35790073e+01] [-3.53215141e-03 8.86569480e-06 9.99993762e-01 -2.12346183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.525769231 meters 0.015098461364773027 Centerline is valid? [True, True] Translation: X:318.29, Y:-33.60, Z:-2.12 [[ 9.80555334e-01 1.96118321e-01 6.98858911e-03 3.18289868e+02] [-1.96112950e-01 9.80580237e-01 -1.45242395e-03 -3.35978260e+01] [-7.13771931e-03 5.36292222e-05 9.99974525e-01 -2.11523086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.58576923100003 meters 0.0182403557242294 Centerline is valid? [True, True] Translation: X:318.35, Y:-33.62, Z:-2.12 [[ 9.81022704e-01 1.93770424e-01 6.89032586e-03 3.18348075e+02] [-1.93765138e-01 9.81046899e-01 -1.43304576e-03 -3.36170132e+01] [-7.03741470e-03 7.07454827e-05 9.99975235e-01 -2.11674896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64576923100003 meters 0.018162306731046463 Centerline is valid? [True, True] Translation: X:318.41, Y:-33.63, Z:-2.12 [[ 9.81231327e-01 1.92732273e-01 6.27324991e-03 3.18409406e+02] [-1.92727865e-01 9.81251377e-01 -1.30555739e-03 -3.36295939e+01] [-6.40725815e-03 7.20237507e-05 9.99979471e-01 -2.11885997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70576923100003 meters 0.019421452097106093 Centerline is valid? [True, True] Translation: X:318.47, Y:-33.64, Z:-2.12 [[ 9.81392348e-01 1.91968706e-01 4.13215793e-03 3.18468795e+02] [-1.91966785e-01 9.81401046e-01 -8.60300928e-04 -3.36427161e+01] [-4.22045497e-03 5.10556749e-05 9.99991093e-01 -2.12300555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76576923100004 meters 0.023483921137067012 Centerline is valid? [True, True] Translation: X:318.53, Y:-33.66, Z:-2.12 [[ 9.82227855e-01 1.87633192e-01 4.71449858e-03 3.18528065e+02] [-1.87630637e-01 9.82239166e-01 -9.82415402e-04 -3.36610284e+01] [-4.81509889e-03 8.03713995e-05 9.99988404e-01 -2.12324280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82576923100004 meters 0.02749439192285681 Centerline is valid? [True, True] Translation: X:318.59, Y:-33.68, Z:-2.12 [[ 9.82493561e-01 1.86235130e-01 4.78324875e-03 3.18586436e+02] [-1.86232480e-01 9.82505200e-01 -9.97517860e-04 -3.36812368e+01] [-4.88533964e-03 8.92585969e-05 9.99988063e-01 -2.12365281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88576923100004 meters 0.031368921813001154 Centerline is valid? [True, True] Translation: X:318.64, Y:-33.70, Z:-2.13 [[ 9.83181216e-01 1.82611689e-01 2.76911011e-03 3.18644597e+02] [-1.82610785e-01 9.83185113e-01 -5.78008607e-04 -3.37038043e+01] [-2.82809897e-03 6.26178339e-05 9.99995999e-01 -2.12631144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94576923100004 meters 0.027747530299038956 Centerline is valid? [True, True] Translation: X:318.71, Y:-33.71, Z:-2.12 [[ 9.82642889e-01 1.85394018e-01 6.48162346e-03 3.18705261e+02] [-1.85389123e-01 9.82664257e-01 -1.35330272e-03 -3.37146333e+01] [-6.62015393e-03 1.28190811e-04 9.99978078e-01 -2.11962630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.005769231 meters 0.024296597907941333 Centerline is valid? [True, True] Translation: X:318.77, Y:-33.72, Z:-2.12 [[ 9.82324252e-01 1.87141148e-01 4.15377447e-03 3.18767531e+02] [-1.87139154e-01 9.82333032e-01 -8.67120421e-04 -3.37225455e+01] [-4.24266378e-03 7.44595803e-05 9.99990997e-01 -2.12470557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.065769231 meters 0.031074409563640323 Centerline is valid? [True, True] Translation: X:318.82, Y:-33.75, Z:-2.12 [[ 9.82946925e-01 1.83833060e-01 4.55501606e-03 3.18824589e+02] [-1.83830625e-01 9.82957474e-01 -9.51216357e-04 -3.37484887e+01] [-4.65225209e-03 9.76437433e-05 9.99989173e-01 -2.12469418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.125769231 meters 0.029480914802934584 Centerline is valid? [True, True] Translation: X:318.89, Y:-33.76, Z:-2.12 [[ 9.83235965e-01 1.82222179e-01 6.48956865e-03 3.18885508e+02] [-1.82217192e-01 9.83257369e-01 -1.35667291e-03 -3.37615766e+01] [-6.62813209e-03 1.51418627e-04 9.99978022e-01 -2.12175264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.185769231 meters 0.027741120528042937 Centerline is valid? [True, True] Translation: X:318.95, Y:-33.78, Z:-2.12 [[ 9.82853726e-01 1.84308344e-01 5.38408506e-03 3.18945554e+02] [-1.84304938e-01 9.82868466e-01 -1.12629476e-03 -3.37777839e+01] [-5.49943295e-03 1.14669540e-04 9.99984871e-01 -2.12463800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.245769231 meters 0.02476559096931711 Centerline is valid? [True, True] Translation: X:319.01, Y:-33.79, Z:-2.13 [[ 9.82181145e-01 1.87934333e-01 9.40580140e-04 3.19005277e+02] [-1.87934232e-01 9.82181595e-01 -1.95964616e-04 -3.37927543e+01] [-9.60648981e-04 1.57055447e-05 9.99999538e-01 -2.13381207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.305769231 meters 0.022713113467600285 Centerline is valid? [True, True] Translation: X:319.06, Y:-33.82, Z:-2.13 [[ 9.82043904e-01 1.88638542e-01 2.29564260e-03 3.19064006e+02] [-1.88637935e-01 9.82046587e-01 -4.80306569e-04 -3.38150501e+01] [-2.34503231e-03 3.86368593e-05 9.99997250e-01 -2.13054572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.365769231 meters 0.020883706302059466 Centerline is valid? [True, True] Translation: X:319.12, Y:-33.84, Z:-2.13 [[ 9.81342181e-01 1.92197492e-01 5.25814792e-03 3.19121593e+02] [-1.92194341e-01 9.81356265e-01 -1.10286115e-03 -3.38371456e+01] [-5.37208355e-03 7.16978937e-05 9.99985568e-01 -2.12528133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.425769231 meters 0.0255810075993044 Centerline is valid? [True, True] Translation: X:319.18, Y:-33.84, Z:-2.12 [[ 9.79094349e-01 2.03360360e-01 4.33820409e-03 3.19184903e+02] [-2.03358324e-01 9.79103960e-01 -9.09961563e-04 -3.38375265e+01] [-4.43260291e-03 8.72831254e-06 9.99990176e-01 -2.12395974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.485769231 meters 0.01388980033337444 Centerline is valid? [True, True] Translation: X:319.25, Y:-33.84, Z:-2.13 [[ 9.77488670e-01 2.10918661e-01 5.40542878e-03 3.19246798e+02] [-2.10915616e-01 9.77503615e-01 -1.13389900e-03 -3.38424300e+01] [-5.52298663e-03 -3.17159154e-05 9.99984748e-01 -2.12520386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.545769231 meters 0.01563085249923607 Centerline is valid? [True, True] Translation: X:319.31, Y:-33.85, Z:-2.12 [[ 9.76962015e-01 2.13310993e-01 6.60616830e-03 3.19308486e+02] [-2.13306490e-01 9.76984349e-01 -1.38698784e-03 -3.38531329e+01] [-6.74998278e-03 -5.41041405e-05 9.99977217e-01 -2.12364319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.605769231 meters 0.01794012379682494 Centerline is valid? [True, True] Translation: X:319.37, Y:-33.86, Z:-2.12 [[ 9.75968170e-01 2.17836177e-01 5.79060613e-03 3.19370430e+02] [-2.17832793e-01 9.75985345e-01 -1.21652300e-03 -3.38609565e+01] [-5.91654944e-03 -7.40961770e-05 9.99982494e-01 -2.12417919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.665769231 meters 0.026487335990722075 Centerline is valid? [True, True] Translation: X:319.43, Y:-33.85, Z:-2.13 [[ 9.74392413e-01 2.24808143e-01 4.55238497e-03 3.19433384e+02] [-2.24806123e-01 9.74403043e-01 -9.57298628e-04 -3.38546974e+01] [-4.65106629e-03 -9.06194940e-05 9.99989180e-01 -2.12682258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.725769231 meters 0.025911517627853885 Centerline is valid? [True, True] Translation: X:319.49, Y:-33.86, Z:-2.13 [[ 9.73792844e-01 2.27369821e-01 5.51912133e-03 3.19494719e+02] [-2.27366894e-01 9.73808477e-01 -1.16047029e-03 -3.38631584e+01] [-5.63842306e-03 -1.24807808e-04 9.99984096e-01 -2.12649042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.785769231 meters 0.02989345146570673 Centerline is valid? [True, True] Translation: X:319.56, Y:-33.87, Z:-2.13 [[ 9.74326151e-01 2.25122267e-01 2.91811285e-03 3.19556755e+02] [-2.25121439e-01 9.74330520e-01 -6.13480879e-04 -3.38671024e+01] [-2.98131462e-03 -5.91993014e-05 9.99995554e-01 -2.13446343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.845769231 meters 0.022053911576223356 Centerline is valid? [True, True] Translation: X:319.62, Y:-33.89, Z:-2.13 [[ 9.75310764e-01 2.20824338e-01 2.35051053e-03 3.19615365e+02] [-2.20823786e-01 9.75313596e-01 -4.95001727e-04 -3.38861907e+01] [-2.40179331e-03 -3.62681218e-05 9.99997115e-01 -2.13484683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.905769231 meters 0.018669813487774533 Centerline is valid? [True, True] Translation: X:319.68, Y:-33.90, Z:-2.14 [[ 9.75802593e-01 2.18652257e-01 6.99849538e-04 3.19675700e+02] [-2.18652208e-01 9.75802844e-01 -1.46354500e-04 -3.39023501e+01] [-7.14915912e-04 -1.02105462e-05 9.99999744e-01 -2.13811182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.965769231 meters 0.014790358833787808 Centerline is valid? [True, True] Translation: X:319.74, Y:-33.92, Z:-2.14 [[ 9.76897151e-01 2.13703799e-01 1.62541302e-03 3.19735329e+02] [-2.13703525e-01 9.76898503e-01 -3.42497530e-04 -3.39189571e+01] [-1.66105657e-03 -1.27716311e-05 9.99998620e-01 -2.13653161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.025769231 meters 0.012504437671253903 Centerline is valid? [True, True] Translation: X:319.80, Y:-33.94, Z:-2.13 [[ 9.77916177e-01 2.08957980e-01 4.06361911e-03 3.19795227e+02] [-2.08956224e-01 9.77924620e-01 -8.56737979e-04 -3.39387475e+01] [-4.15293541e-03 -1.13005749e-05 9.99991376e-01 -2.13252750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.08576923100003 meters 0.012345264811149694 Centerline is valid? [True, True] Translation: X:319.85, Y:-33.96, Z:-2.13 [[ 9.78711271e-01 2.05214468e-01 3.35717642e-03 3.19854471e+02] [-2.05213248e-01 9.78717029e-01 -7.07498150e-04 -3.39604912e+01] [-3.43091459e-03 3.49933500e-06 9.99994114e-01 -2.13435242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14576923100003 meters 0.013948736229638993 Centerline is valid? [True, True] Translation: X:319.91, Y:-33.99, Z:-2.12 [[ 9.79700296e-01 2.00270253e-01 8.89694831e-03 3.19911309e+02] [-2.00261449e-01 9.79740691e-01 -1.87870318e-03 -3.39914981e+01] [-9.09295064e-03 5.88502993e-05 9.99958657e-01 -2.12377217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20576923100003 meters 0.014206492350936371 Centerline is valid? [True, True] Translation: X:319.97, Y:-34.01, Z:-2.13 [[ 9.79651535e-01 2.00567310e-01 7.45812756e-03 3.19970778e+02] [-2.00561124e-01 9.79679923e-01 -1.57599395e-03 -3.40092492e+01] [-7.62267070e-03 4.81144439e-05 9.99970946e-01 -2.12748010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26576923100004 meters 0.0120948804081724 Centerline is valid? [True, True] Translation: X:320.03, Y:-34.02, Z:-2.13 [[ 9.78406353e-01 2.06604529e-01 5.96458950e-03 3.20031688e+02] [-2.06600679e-01 9.78424534e-01 -1.26125968e-03 -3.40204549e+01] [-6.09648266e-03 1.73624539e-06 9.99981416e-01 -2.12989269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32576923100004 meters 0.01356780550264088 Centerline is valid? [True, True] Translation: X:320.09, Y:-34.03, Z:-2.13 [[ 9.77156994e-01 2.12479063e-01 4.10571333e-03 3.20092292e+02] [-2.12477289e-01 9.77165619e-01 -8.68540476e-04 -3.40315942e+01] [-4.19650858e-03 -2.36704381e-05 9.99991194e-01 -2.13251797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38576923100004 meters 0.013518249448370769 Centerline is valid? [True, True] Translation: X:320.15, Y:-34.05, Z:-2.13 [[ 9.77204691e-01 2.12255031e-01 4.33523734e-03 3.20151446e+02] [-2.12253048e-01 9.77214307e-01 -9.17785865e-04 -3.40535609e+01] [-4.43126062e-03 -2.33026844e-05 9.99990182e-01 -2.13424893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44576923100004 meters 0.012747770034290392 Centerline is valid? [True, True] Translation: X:320.21, Y:-34.08, Z:-2.14 [[ 9.77666835e-01 2.10126310e-01 3.80697023e-03 3.20209676e+02] [-2.10124762e-01 9.77674247e-01 -8.06527148e-04 -3.40799285e+01] [-3.89144933e-03 -1.14238697e-05 9.99992428e-01 -2.13608938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.505769231 meters 0.012731227844421452 Centerline is valid? [True, True] Translation: X:320.27, Y:-34.10, Z:-2.14 [[ 9.77827871e-01 2.09400417e-01 2.02997197e-03 3.20268894e+02] [-2.09399976e-01 9.77829978e-01 -4.29749991e-04 -3.41019898e+01] [-2.07495727e-03 -4.85456375e-06 9.99997847e-01 -2.13922443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.565769231 meters 0.012877753419653706 Centerline is valid? [True, True] Translation: X:320.33, Y:-34.13, Z:-2.14 [[ 9.77816144e-01 2.09460821e-01 1.32404940e-03 3.20326221e+02] [-2.09460633e-01 9.77817040e-01 -2.80569812e-04 -3.41279812e+01] [-1.35344645e-03 -2.99053396e-06 9.99999084e-01 -2.14071066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.625769231 meters 0.014544607848721173 Centerline is valid? [True, True] Translation: X:320.39, Y:-34.14, Z:-2.14 [[ 9.76670092e-01 2.14741820e-01 1.21761191e-03 3.20386685e+02] [-2.14741665e-01 9.76670851e-01 -2.57702476e-04 -3.41440353e+01] [-1.24454556e-03 -9.78170852e-06 9.99999226e-01 -2.13956520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.685769231 meters 0.01999191178208396 Centerline is valid? [True, True] Translation: X:320.45, Y:-34.15, Z:-2.14 [[ 9.75018277e-01 2.22122821e-01 -9.00506742e-04 3.20448399e+02] [-2.22122739e-01 9.75018693e-01 1.91667290e-04 -3.41495814e+01] [ 9.20584586e-04 1.31439129e-05 9.99999576e-01 -2.14268820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.745769231 meters 0.030724143565582483 Centerline is valid? [True, True] Translation: X:320.51, Y:-34.15, Z:-2.14 [[ 9.73233037e-01 2.29816477e-01 1.35738995e-03 3.20510456e+02] [-2.29816299e-01 9.73233983e-01 -2.88390660e-04 -3.41474352e+01] [-1.38733496e-03 -3.12790169e-05 9.99999037e-01 -2.14013744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.805769231 meters 0.037492099952663886 Centerline is valid? [True, True] Translation: X:320.57, Y:-34.15, Z:-2.13 [[ 9.70789464e-01 2.39872423e-01 5.38866705e-03 3.20573815e+02] [-2.39869752e-01 9.70804403e-01 -1.14615061e-03 -3.41451856e+01] [-5.50627162e-03 -1.79907294e-04 9.99984824e-01 -2.13011215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.865769231 meters 0.048489420175581596 Centerline is valid? [True, True] Translation: X:320.64, Y:-34.13, Z:-2.13 [[ 9.68469763e-01 2.48991240e-01 8.34753039e-03 3.20637842e+02] [-2.48985166e-01 9.68505671e-01 -1.77569431e-03 -3.41318842e+01] [-8.52676284e-03 -3.58704996e-04 9.99963582e-01 -2.12586599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.925769231 meters 0.052181627164691824 Centerline is valid? [True, True] Translation: X:320.70, Y:-34.13, Z:-2.12 [[ 9.67529862e-01 2.52578891e-01 9.47998545e-03 3.20701031e+02] [-2.52571230e-01 9.67576202e-01 -2.01652232e-03 -3.41280314e+01] [-9.68193929e-03 -4.43326030e-04 9.99953031e-01 -2.12477279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.985769231 meters 0.04602966101772947 Centerline is valid? [True, True] Translation: X:320.76, Y:-34.14, Z:-2.13 [[ 9.68271918e-01 2.49796838e-01 7.14374041e-03 3.20761522e+02] [-2.49792412e-01 9.68298219e-01 -1.51958708e-03 -3.41364731e+01] [-7.29685916e-03 -3.13078648e-04 9.99973329e-01 -2.12994269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.045769231 meters 0.04700414386032938 Centerline is valid? [True, True] Translation: X:320.82, Y:-34.14, Z:-2.13 [[ 9.69216846e-01 2.46108899e-01 7.00824245e-03 3.20822586e+02] [-2.46104542e-01 9.69242143e-01 -1.49084653e-03 -3.41380792e+01] [-7.15959453e-03 -2.79806732e-04 9.99974331e-01 -2.12976995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.105769231 meters 0.04492496536188076 Centerline is valid? [True, True] Translation: X:320.88, Y:-34.15, Z:-2.13 [[ 9.70072262e-01 2.42720786e-01 6.81372844e-03 3.20881821e+02] [-2.42716585e-01 9.70096159e-01 -1.44946515e-03 -3.41473649e+01] [-6.96178712e-03 -2.47718957e-04 9.99975736e-01 -2.13131397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.165769231 meters 0.043079247559057184 Centerline is valid? [True, True] Translation: X:320.94, Y:-34.15, Z:-2.14 [[ 9.70715830e-01 2.40198459e-01 3.93414083e-03 3.20941793e+02] [-2.40197038e-01 9.70723793e-01 -8.36699021e-04 -3.41549606e+01] [-4.01993792e-03 -1.32771991e-04 9.99991911e-01 -2.13786833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.225769231 meters 0.038662354826438226 Centerline is valid? [True, True] Translation: X:321.00, Y:-34.16, Z:-2.14 [[ 9.71023839e-01 2.38972876e-01 2.16067478e-03 3.21001820e+02] [-2.38972444e-01 9.71026240e-01 -4.59781072e-04 -3.41630276e+01] [-2.20794711e-03 -6.98833504e-05 9.99997560e-01 -2.14068962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.285769231 meters 0.03690070509160994 Centerline is valid? [True, True] Translation: X:321.06, Y:-34.17, Z:-2.14 [[ 9.71541902e-01 2.36862003e-01 1.65060405e-03 3.21061047e+02] [-2.36861748e-01 9.71543303e-01 -3.51301989e-04 -3.41695117e+01] [-1.68684341e-03 -4.96603574e-05 9.99998576e-01 -2.14209924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.345769231 meters 0.02887586145781024 Centerline is valid? [True, True] Translation: X:321.12, Y:-34.19, Z:-2.14 [[ 9.73438702e-01 2.28927011e-01 3.08499346e-03 3.21118816e+02] [-2.28926079e-01 9.73443588e-01 -6.56436527e-04 -3.41861515e+01] [-3.15334315e-03 -6.72347360e-05 9.99995026e-01 -2.14241298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.405769231 meters 0.016303502716329615 Centerline is valid? [True, True] Translation: X:321.17, Y:-34.22, Z:-2.14 [[ 9.76204746e-01 2.16802203e-01 4.59341505e-03 3.21173364e+02] [-2.16800003e-01 9.76215552e-01 -9.77399792e-04 -3.42187885e+01] [-4.69606564e-03 -4.17100844e-05 9.99988973e-01 -2.13837052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.465769231 meters 0.013446194507337065 Centerline is valid? [True, True] Translation: X:321.23, Y:-34.24, Z:-2.15 [[ 9.77379681e-01 2.11485536e-01 1.68133818e-03 3.21230715e+02] [-2.11485234e-01 9.77381127e-01 -3.57275706e-04 -3.42421065e+01] [-1.71886685e-03 -6.38418279e-06 9.99998523e-01 -2.14643540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.525769231 meters 0.013323618828046549 Centerline is valid? [True, True] Translation: X:321.29, Y:-34.27, Z:-2.14 [[ 9.77329132e-01 2.11687743e-01 4.00843127e-03 3.21288713e+02] [-2.11686025e-01 9.77337352e-01 -8.53042194e-04 -3.42651819e+01] [-4.09816818e-03 -1.48258923e-05 9.99991602e-01 -2.14061075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.58576923100003 meters 0.015099646409589669 Centerline is valid? [True, True] Translation: X:321.35, Y:-34.28, Z:-2.14 [[ 9.76641670e-01 2.14833738e-01 4.18494839e-03 3.21348874e+02] [-2.14831893e-01 9.76650636e-01 -8.90835808e-04 -3.42796260e+01] [-4.27861409e-03 -2.90330126e-05 9.99990846e-01 -2.13980645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64576923100003 meters 0.02098535421464606 Centerline is valid? [True, True] Translation: X:321.41, Y:-34.29, Z:-2.14 [[ 9.75159772e-01 2.21460163e-01 4.33756059e-03 3.21410019e+02] [-2.21458242e-01 9.75169417e-01 -9.24329055e-04 -3.42908443e+01] [-4.43455849e-03 -5.92200317e-05 9.99990166e-01 -2.14099486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70576923100003 meters 0.027383299175595902 Centerline is valid? [True, True] Translation: X:321.47, Y:-34.31, Z:-2.14 [[ 9.74060632e-01 2.26239269e-01 4.65607854e-03 3.21469122e+02] [-2.26237110e-01 9.74071756e-01 -9.92218973e-04 -3.43057398e+01] [-4.75983350e-03 -8.68963115e-05 9.99988668e-01 -2.14122765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76576923100004 meters 0.02938016244816731 Centerline is valid? [True, True] Translation: X:321.53, Y:-34.33, Z:-2.14 [[ 9.73675688e-01 2.27894079e-01 4.46585534e-03 3.21527604e+02] [-2.27892107e-01 9.73685925e-01 -9.52276458e-04 -3.43277193e+01] [-4.56535865e-03 -9.05247475e-05 9.99989575e-01 -2.14229168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82576923100004 meters 0.03303677355226695 Centerline is valid? [True, True] Translation: X:321.59, Y:-34.35, Z:-2.14 [[ 9.72864121e-01 2.31352400e-01 3.38649519e-03 3.21586734e+02] [-2.31351285e-01 9.72870012e-01 -7.22837955e-04 -3.43450851e+01] [-3.46184991e-03 -8.02469020e-05 9.99994005e-01 -2.14479165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88576923100004 meters 0.035502209488224946 Centerline is valid? [True, True] Translation: X:321.65, Y:-34.36, Z:-2.14 [[ 9.71496837e-01 2.37002043e-01 4.89153476e-03 3.21645714e+02] [-2.36999786e-01 9.71509141e-01 -1.04428101e-03 -3.43589265e+01] [-4.99966746e-03 -1.44776993e-04 9.99987491e-01 -2.14112609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94576923100004 meters 0.04863365845675827 Centerline is valid? [True, True] Translation: X:321.71, Y:-34.36, Z:-2.14 [[ 9.68735535e-01 2.48027946e-01 5.79664275e-03 3.21705183e+02] [-2.48024974e-01 9.68752848e-01 -1.23756594e-03 -3.43636984e+01] [-5.92246511e-03 -2.38838065e-04 9.99982434e-01 -2.14120024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.005769231 meters 0.049301976116310264 Centerline is valid? [True, True] Translation: X:321.76, Y:-34.38, Z:-2.15 [[ 9.67726004e-01 2.52000492e-01 1.46075219e-03 3.21764152e+02] [-2.52000308e-01 9.67727104e-01 -3.11915286e-04 -3.43772035e+01] [-1.49221229e-03 -6.62614683e-05 9.99998884e-01 -2.14936294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.065769231 meters 0.0673112311325293 Centerline is valid? [True, True] Translation: X:321.83, Y:-34.37, Z:-2.15 [[ 9.66864617e-01 2.55273832e-01 2.84303604e-03 3.21827327e+02] [-2.55273148e-01 9.66868787e-01 -6.06940965e-04 -3.43666644e+01] [-2.90377895e-03 -1.38921015e-04 9.99995774e-01 -2.14899914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.125769231 meters 0.0589817480823029 Centerline is valid? [True, True] Translation: X:321.89, Y:-34.39, Z:-2.15 [[ 9.65608982e-01 2.59979878e-01 3.12350744e-03 3.21885192e+02] [-2.59979076e-01 9.65614020e-01 -6.67020816e-04 -3.43857878e+01] [-3.18951457e-03 -1.67965289e-04 9.99994899e-01 -2.14728612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.185769231 meters 0.06853315364889284 Centerline is valid? [True, True] Translation: X:321.95, Y:-34.38, Z:-2.15 [[ 9.63778398e-01 2.66697126e-01 1.95998034e-03 3.21947496e+02] [-2.66696825e-01 9.63780384e-01 -4.18505799e-04 -3.43770067e+01] [-2.00060490e-03 -1.19373685e-04 9.99997992e-01 -2.15114327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.245769231 meters 0.06897335265257593 Centerline is valid? [True, True] Translation: X:322.01, Y:-34.38, Z:-2.14 [[ 9.62983544e-01 2.69464196e-01 7.19310028e-03 3.22009635e+02] [-2.69460204e-01 9.63010300e-01 -1.53671553e-03 -3.43765035e+01] [-7.34111947e-03 -4.58422495e-04 9.99972949e-01 -2.14124685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.305769231 meters 0.06810676168938648 Centerline is valid? [True, True] Translation: X:322.07, Y:-34.38, Z:-2.15 [[ 9.63559196e-01 2.67448871e-01 4.97771238e-03 3.22070048e+02] [-2.67446932e-01 9.63572004e-01 -1.06344975e-03 -3.43790729e+01] [-5.08080273e-03 -3.06577121e-04 9.99987046e-01 -2.14615810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.365769231 meters 0.06646262098107457 Centerline is valid? [True, True] Translation: X:322.13, Y:-34.38, Z:-2.15 [[ 9.64187299e-01 2.65198074e-01 3.58251648e-03 3.22130773e+02] [-2.65197054e-01 9.64193931e-01 -7.65338615e-04 -3.43803720e+01] [-3.65720697e-03 -2.12143045e-04 9.99993290e-01 -2.14876995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.425769231 meters 0.06816426989733047 Centerline is valid? [True, True] Translation: X:322.19, Y:-34.38, Z:-2.15 [[ 9.64644780e-01 2.63504535e-01 5.08014945e-03 3.22190843e+02] [-2.63502462e-01 9.64658113e-01 -1.08509483e-03 -3.43826267e+01] [-5.18653479e-03 -2.91900827e-04 9.99986507e-01 -2.14705600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.485769231 meters 0.06154946865230308 Centerline is valid? [True, True] Translation: X:322.25, Y:-34.39, Z:-2.15 [[ 9.65543294e-01 2.60225692e-01 2.95566282e-03 3.22250443e+02] [-2.60224975e-01 9.65547805e-01 -6.31230657e-04 -3.43906642e+01] [-3.01809618e-03 -1.59656756e-04 9.99995433e-01 -2.15207324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.545769231 meters 0.052434400105152566 Centerline is valid? [True, True] Translation: X:322.31, Y:-34.40, Z:-2.15 [[ 9.67171965e-01 2.54114140e-01 2.09621024e-03 3.22310184e+02] [-2.54113765e-01 9.67174232e-01 -4.47667579e-04 -3.44023141e+01] [-2.14115919e-03 -9.97043437e-05 9.99997703e-01 -2.15343979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.605769231 meters 0.04649059293716268 Centerline is valid? [True, True] Translation: X:322.37, Y:-34.41, Z:-2.15 [[ 9.68637693e-01 2.48462847e-01 2.68935174e-03 3.22369542e+02] [-2.48462208e-01 9.68641420e-01 -5.74425700e-04 -3.44108215e+01] [-2.74774093e-03 -1.11791887e-04 9.99996219e-01 -2.15168061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.665769231 meters 0.041936448416957275 Centerline is valid? [True, True] Translation: X:322.43, Y:-34.42, Z:-2.15 [[ 9.68975937e-01 2.47141331e-01 2.60682301e-03 3.22426840e+02] [-2.47140726e-01 9.68979438e-01 -5.56880953e-04 -3.44249204e+01] [-2.66358620e-03 -1.04647888e-04 9.99996447e-01 -2.15163741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.725769231 meters 0.04243796235610094 Centerline is valid? [True, True] Translation: X:322.49, Y:-34.43, Z:-2.15 [[ 9.69964208e-01 2.43207118e-01 4.44208660e-03 3.22487741e+02] [-2.43205321e-01 9.69974367e-01 -9.48393145e-04 -3.44258125e+01] [-4.53936610e-03 -1.60431693e-04 9.99989684e-01 -2.14962619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.785769231 meters 0.03616674699764786 Centerline is valid? [True, True] Translation: X:322.55, Y:-34.44, Z:-2.15 [[ 9.71407008e-01 2.37383665e-01 4.17387543e-03 3.22547409e+02] [-2.37382026e-01 9.71415967e-01 -8.91017674e-04 -3.44375513e+01] [-4.26608228e-03 -1.25262192e-04 9.99990892e-01 -2.15152866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.845769231 meters 0.028720994939230804 Centerline is valid? [True, True] Translation: X:322.60, Y:-34.45, Z:-2.16 [[ 9.73417983e-01 2.29035846e-01 -1.07097093e-04 3.22604819e+02] [-2.29035845e-01 9.73417989e-01 2.27646790e-05 -3.44529096e+01] [ 1.09464164e-04 2.36952517e-06 9.99999994e-01 -2.16010878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.905769231 meters 0.018153988269002393 Centerline is valid? [True, True] Translation: X:322.66, Y:-34.48, Z:-2.15 [[ 9.75476211e-01 2.20064493e-01 4.21681210e-03 3.22661715e+02] [-2.20062658e-01 9.75485324e-01 -9.00117771e-04 -3.44763839e+01] [-4.31152228e-03 -4.99194071e-05 9.99990704e-01 -2.15186087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.965769231 meters 0.012745289861869341 Centerline is valid? [True, True] Translation: X:322.72, Y:-34.50, Z:-2.15 [[ 9.77377741e-01 2.11415465e-01 6.02100334e-03 3.22718867e+02] [-2.11411560e-01 9.77396286e-01 -1.28519228e-03 -3.45015621e+01] [-6.15661583e-03 -1.67913803e-05 9.99981048e-01 -2.14879039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.025769231 meters 0.014332705807070776 Centerline is valid? [True, True] Translation: X:322.78, Y:-34.53, Z:-2.15 [[ 9.79271312e-01 2.02457545e-01 6.21617434e-03 3.22775338e+02] [-2.02453201e-01 9.79291040e-01 -1.32691405e-03 -3.45334502e+01] [-6.35608759e-03 4.09244701e-05 9.99979799e-01 -2.14892197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.08576923100003 meters 0.020500084574001327 Centerline is valid? [True, True] Translation: X:322.83, Y:-34.57, Z:-2.15 [[ 9.80840010e-01 1.94740773e-01 5.37635957e-03 3.22830927e+02] [-1.94737402e-01 9.80854742e-01 -1.14865212e-03 -3.45667190e+01] [-5.49711718e-03 7.96656676e-05 9.99984888e-01 -2.14958343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14576923100003 meters 0.021147855034244316 Centerline is valid? [True, True] Translation: X:322.89, Y:-34.59, Z:-2.15 [[ 9.81050246e-01 1.93667073e-01 5.78618966e-03 3.22889802e+02] [-1.93663150e-01 9.81067305e-01 -1.23621704e-03 -3.45864391e+01] [-5.91605603e-03 9.22193134e-05 9.99982496e-01 -2.14925532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20576923100003 meters 0.01775624541144219 Centerline is valid? [True, True] Translation: X:322.95, Y:-34.60, Z:-2.15 [[ 9.80108116e-01 1.98407467e-01 4.74949400e-03 3.22949740e+02] [-1.98404875e-01 9.80119622e-01 -1.01561043e-03 -3.45963046e+01] [-4.85657695e-03 5.30852607e-05 9.99988205e-01 -2.15162757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26576923100004 meters 0.0148080791880437 Centerline is valid? [True, True] Translation: X:323.01, Y:-34.60, Z:-2.16 [[ 9.79174826e-01 2.03002274e-01 2.59541093e-03 3.23011374e+02] [-2.03001517e-01 9.79178266e-01 -5.54350389e-04 -3.46041455e+01] [-2.65390436e-03 1.59335895e-05 9.99996478e-01 -2.15590807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32576923100004 meters 0.013429964414687343 Centerline is valid? [True, True] Translation: X:323.07, Y:-34.61, Z:-2.15 [[ 9.78698341e-01 2.05218049e-01 5.92537461e-03 3.23072175e+02] [-2.05214133e-01 9.78716277e-01 -1.26813183e-03 -3.46147666e+01] [-6.05950413e-03 2.51479067e-05 9.99981641e-01 -2.15045673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38576923100004 meters 0.012717702925656608 Centerline is valid? [True, True] Translation: X:323.13, Y:-34.62, Z:-2.15 [[ 9.78164055e-01 2.07771814e-01 5.09466367e-03 3.23133483e+02] [-2.07768949e-01 9.78177322e-01 -1.09105418e-03 -3.46240280e+01] [-5.21017477e-03 8.71706668e-06 9.99986427e-01 -2.15301522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44576923100004 meters 0.012790235126739677 Centerline is valid? [True, True] Translation: X:323.20, Y:-34.63, Z:-2.15 [[ 9.77365368e-01 2.11504117e-01 4.79023178e-03 3.23195782e+02] [-2.11501624e-01 9.77377107e-01 -1.02688350e-03 -3.46282868e+01] [-4.89905297e-03 -9.50143192e-06 9.99988000e-01 -2.15332450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.505769231 meters 0.01442630827409526 Centerline is valid? [True, True] Translation: X:323.26, Y:-34.63, Z:-2.15 [[ 9.76417110e-01 2.15815219e-01 5.78081189e-03 3.23257907e+02] [-2.15811664e-01 9.76434222e-01 -1.23940259e-03 -3.46329089e+01] [-5.91206450e-03 -3.73927359e-05 9.99982523e-01 -2.15253041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.565769231 meters 0.015185912451847002 Centerline is valid? [True, True] Translation: X:323.32, Y:-34.64, Z:-2.16 [[ 9.76160876e-01 2.17001225e-01 4.51806194e-03 3.23318888e+02] [-2.16999065e-01 9.76171331e-01 -9.68743577e-04 -3.46429309e+01] [-4.62062108e-03 -3.47656400e-05 9.99989324e-01 -2.15605906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.625769231 meters 0.01587728857618055 Centerline is valid? [True, True] Translation: X:323.38, Y:-34.65, Z:-2.15 [[ 9.75910363e-01 2.18108854e-01 5.24313419e-03 3.23379247e+02] [-2.18105961e-01 9.75924447e-01 -1.12436688e-03 -3.46527516e+01] [-5.36213720e-03 -4.62775322e-05 9.99985623e-01 -2.15362946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.685769231 meters 0.01811190444676041 Centerline is valid? [True, True] Translation: X:323.44, Y:-34.66, Z:-2.15 [[ 9.75138388e-01 2.21505933e-01 6.34389596e-03 3.23440082e+02] [-2.21501768e-01 9.75159021e-01 -1.36062513e-03 -3.46593954e+01] [-6.48769391e-03 -7.83863705e-05 9.99978952e-01 -2.15217734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.745769231 meters 0.02447353382984103 Centerline is valid? [True, True] Translation: X:323.50, Y:-34.66, Z:-2.15 [[ 9.73905192e-01 2.26882460e-01 5.74691369e-03 3.23500511e+02] [-2.26879136e-01 9.73922142e-01 -1.23262737e-03 -3.46572206e+01] [-5.87670802e-03 -1.03392620e-04 9.99982727e-01 -2.15397231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.805769231 meters 0.026985500022215964 Centerline is valid? [True, True] Translation: X:323.56, Y:-34.66, Z:-2.16 [[ 9.72658574e-01 2.32198507e-01 4.37618822e-03 3.23561814e+02] [-2.32196634e-01 9.72668413e-01 -9.38464666e-04 -3.46574118e+01] [-4.47449014e-03 -1.03330468e-04 9.99989984e-01 -2.15586221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.865769231 meters 0.03070577913627137 Centerline is valid? [True, True] Translation: X:323.62, Y:-34.65, Z:-2.16 [[ 9.71926043e-01 2.35231121e-01 5.10756570e-03 3.23622304e+02] [-2.35228610e-01 9.71939453e-01 -1.09529362e-03 -3.46531245e+01] [-5.22189175e-03 -1.36901192e-04 9.99986356e-01 -2.15610518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.925769231 meters 0.03065498811795247 Centerline is valid? [True, True] Translation: X:323.68, Y:-34.66, Z:-2.15 [[ 9.72324493e-01 2.33552425e-01 6.19227465e-03 3.23680339e+02] [-2.33548704e-01 9.72344199e-01 -1.32752451e-03 -3.46590780e+01] [-6.33106890e-03 -1.55413122e-04 9.99979947e-01 -2.15434946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.985769231 meters 0.019235283553769186 Centerline is valid? [True, True] Translation: X:323.74, Y:-34.69, Z:-2.16 [[ 9.75041422e-01 2.21950715e-01 5.66620390e-03 3.23736533e+02] [-2.21947405e-01 9.75057883e-01 -1.21435795e-03 -3.46852435e+01] [-5.79440439e-03 -7.35499504e-05 9.99983210e-01 -2.15591238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.045769231 meters 0.016507246221084303 Centerline is valid? [True, True] Translation: X:323.79, Y:-34.70, Z:-2.15 [[ 9.75694279e-01 2.18994372e-01 7.88281773e-03 3.23793694e+02] [-2.18987870e-01 9.75726119e-01 -1.68934458e-03 -3.46997957e+01] [-8.06142811e-03 -7.79576208e-05 9.99967503e-01 -2.15250175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.105769231 meters 0.019271549505049182 Centerline is valid? [True, True] Translation: X:323.85, Y:-34.70, Z:-2.16 [[ 9.75021903e-01 2.22042650e-01 5.41758010e-03 3.23852695e+02] [-2.22039627e-01 9.75036951e-01 -1.16086242e-03 -3.47042006e+01] [-5.54010175e-03 -7.10511769e-05 9.99984651e-01 -2.15719087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.165769231 meters 0.021000422702539292 Centerline is valid? [True, True] Translation: X:323.91, Y:-34.71, Z:-2.15 [[ 9.74515537e-01 2.24219771e-01 6.70537189e-03 3.23911956e+02] [-2.24215194e-01 9.74538600e-01 -1.43639160e-03 -3.47098537e+01] [-6.85671113e-03 -1.03660330e-04 9.99976487e-01 -2.15464356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.225769231 meters 0.023036605445942174 Centerline is valid? [True, True] Translation: X:323.97, Y:-34.71, Z:-2.16 [[ 9.74161469e-01 2.25766812e-01 6.22733620e-03 3.23970224e+02] [-2.25762898e-01 9.74181367e-01 -1.33370893e-03 -3.47138134e+01] [-6.36766210e-03 -1.06653617e-04 9.99979721e-01 -2.15724381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.285769231 meters 0.021040586412272997 Centerline is valid? [True, True] Translation: X:324.03, Y:-34.73, Z:-2.16 [[ 9.74590610e-01 2.23950848e-01 4.37727773e-03 3.24026685e+02] [-2.23948897e-01 9.74600438e-01 -9.37307481e-04 -3.47290567e+01] [-4.47600760e-03 -6.67954498e-05 9.99989980e-01 -2.16071987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.345769231 meters 0.017205656381658874 Centerline is valid? [True, True] Translation: X:324.08, Y:-34.75, Z:-2.16 [[ 9.75702248e-01 2.19025922e-01 5.72434285e-03 3.24081072e+02] [-2.19022502e-01 9.75719039e-01 -1.22537879e-03 -3.47514007e+01] [-5.85374002e-03 -5.81550576e-05 9.99982865e-01 -2.15937224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.405769231 meters 0.01370673337741988 Centerline is valid? [True, True] Translation: X:324.14, Y:-34.78, Z:-2.16 [[ 9.76898415e-01 2.13677367e-01 3.38655275e-03 3.24135196e+02] [-2.13676138e-01 9.76904285e-01 -7.24779871e-04 -3.47824339e+01] [-3.46320695e-03 -1.55892067e-05 9.99994003e-01 -2.16417233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.465769231 meters 0.01297838253410863 Centerline is valid? [True, True] Translation: X:324.19, Y:-34.82, Z:-2.17 [[ 9.77901612e-01 2.09049501e-01 2.59672980e-03 3.24190704e+02] [-2.09048765e-01 9.77905060e-01 -5.54908838e-04 -3.48156682e+01] [-2.65535863e-03 -1.96910839e-07 9.99996475e-01 -2.16599332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.525769231 meters 0.012997495371961439 Centerline is valid? [True, True] Translation: X:324.25, Y:-34.84, Z:-2.16 [[ 9.78150048e-01 2.07865428e-01 3.80095712e-03 3.24248526e+02] [-2.07863835e-01 9.78157433e-01 -8.13858021e-04 -3.48356239e+01] [-3.88710741e-03 5.99374001e-06 9.99992445e-01 -2.16472959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.58576923100003 meters 0.01255441224486208 Centerline is valid? [True, True] Translation: X:324.31, Y:-34.86, Z:-2.16 [[ 9.77981983e-01 2.08565473e-01 7.18920041e-03 3.24306662e+02] [-2.08559791e-01 9.78008407e-01 -1.53956153e-03 -3.48624926e+01] [-7.35219781e-03 6.28530812e-06 9.99972972e-01 -2.15820444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64576923100003 meters 0.01359077791080023 Centerline is valid? [True, True] Translation: X:324.37, Y:-34.88, Z:-2.16 [[ 9.76831967e-01 2.13889092e-01 7.12492751e-03 3.24366612e+02] [-2.13883644e-01 9.76857950e-01 -1.52698846e-03 -3.48792052e+01] [-7.28664826e-03 -3.22943113e-05 9.99973452e-01 -2.15813525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70576923100003 meters 0.018035519469876204 Centerline is valid? [True, True] Translation: X:324.43, Y:-34.89, Z:-2.16 [[ 9.75085359e-01 2.21784323e-01 4.50083076e-03 3.24427551e+02] [-2.21782231e-01 9.75095745e-01 -9.64936321e-04 -3.48898614e+01] [-4.60274867e-03 -5.73090076e-05 9.99989406e-01 -2.16300557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76576923100004 meters 0.02886609412369219 Centerline is valid? [True, True] Translation: X:324.49, Y:-34.89, Z:-2.16 [[ 9.72692989e-01 2.32054751e-01 4.35229656e-03 3.24488887e+02] [-2.32052893e-01 9.72702720e-01 -9.34241780e-04 -3.48853668e+01] [-4.45028595e-03 -1.01232578e-04 9.99990092e-01 -2.16348539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82576923100004 meters 0.036680828829599395 Centerline is valid? [True, True] Translation: X:324.55, Y:-34.88, Z:-2.17 [[ 9.71128413e-01 2.38515511e-01 4.46721220e-03 3.24549815e+02] [-2.38513621e-01 9.71138679e-01 -9.58837013e-04 -3.48833866e+01] [-4.56698005e-03 -1.34337092e-04 9.99989562e-01 -2.16509405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88576923100004 meters 0.039590302006583956 Centerline is valid? [True, True] Translation: X:324.61, Y:-34.89, Z:-2.17 [[ 9.70791925e-01 2.39885937e-01 4.21623241e-03 3.24607681e+02] [-2.39884266e-01 9.70801071e-01 -9.05057182e-04 -3.48879391e+01] [-4.31023343e-03 -1.32785614e-04 9.99990702e-01 -2.16506618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94576923100004 meters 0.028291908488187783 Centerline is valid? [True, True] Translation: X:324.66, Y:-34.91, Z:-2.16 [[ 9.72926541e-01 2.31051610e-01 5.39435185e-03 3.24663880e+02] [-2.31048743e-01 9.72941488e-01 -1.15736867e-03 -3.49139352e+01] [-5.51580061e-03 -1.20323518e-04 9.99984781e-01 -2.16324782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.005769231 meters 0.01737341486566472 Centerline is valid? [True, True] Translation: X:324.72, Y:-34.94, Z:-2.16 [[ 9.75497233e-01 2.19919487e-01 6.36925658e-03 3.24719614e+02] [-2.19915253e-01 9.75518024e-01 -1.36638100e-03 -3.49433074e+01] [-6.51381840e-03 -6.77957872e-05 9.99978783e-01 -2.16233995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.065769231 meters 0.012656644037023143 Centerline is valid? [True, True] Translation: X:324.78, Y:-34.97, Z:-2.16 [[ 9.77462866e-01 2.10902205e-01 9.30620359e-03 3.24776861e+02] [-2.10892752e-01 9.77507166e-01 -1.99686363e-03 -3.49706046e+01] [-9.51802364e-03 -1.07508429e-05 9.99954703e-01 -2.15762318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.125769231 meters 0.016874588528120422 Centerline is valid? [True, True] Translation: X:324.83, Y:-35.01, Z:-2.16 [[ 9.79635160e-01 2.00625825e-01 8.01449893e-03 3.24832563e+02] [-2.00618459e-01 9.79667940e-01 -1.72089554e-03 -3.50069296e+01] [-8.19680375e-03 7.79933559e-05 9.99966403e-01 -2.16017409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.185769231 meters 0.022035567468932774 Centerline is valid? [True, True] Translation: X:324.89, Y:-35.04, Z:-2.16 [[ 9.80858450e-01 1.94630414e-01 5.97524751e-03 3.24888141e+02] [-1.94626203e-01 9.80876645e-01 -1.28386466e-03 -3.50408988e+01] [-6.11085984e-03 9.63497668e-05 9.99981324e-01 -2.16468761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.245769231 meters 0.022713472330652344 Centerline is valid? [True, True] Translation: X:324.95, Y:-35.06, Z:-2.17 [[ 9.80882311e-01 1.94523211e-01 5.53287125e-03 3.24946615e+02] [-1.94519599e-01 9.80897911e-01 -1.18872517e-03 -3.50629732e+01] [-5.65841649e-03 8.97475958e-05 9.99983987e-01 -2.16607010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.305769231 meters 0.018232187581647272 Centerline is valid? [True, True] Translation: X:325.01, Y:-35.08, Z:-2.17 [[ 9.79812776e-01 1.99880301e-01 3.84572775e-03 3.25006096e+02] [-1.99878594e-01 9.79820322e-01 -8.27050277e-04 -3.50760432e+01] [-3.93343326e-03 4.16757714e-05 9.99992263e-01 -2.16833651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.365769231 meters 0.013912639984173518 Centerline is valid? [True, True] Translation: X:325.07, Y:-35.09, Z:-2.16 [[ 9.78544401e-01 2.05934382e-01 6.47195264e-03 3.25066605e+02] [-2.05929679e-01 9.78565802e-01 -1.39205631e-03 -3.50853705e+01] [-6.61990379e-03 2.94217828e-05 9.99978088e-01 -2.16481065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.425769231 meters 0.01329730348340373 Centerline is valid? [True, True] Translation: X:325.13, Y:-35.10, Z:-2.16 [[ 9.78333618e-01 2.06913030e-01 7.09429809e-03 3.25128030e+02] [-2.06907397e-01 9.78359339e-01 -1.52711778e-03 -3.50989009e+01] [-7.25675336e-03 2.61679106e-05 9.99973669e-01 -2.16239807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.485769231 meters 0.012997966143391698 Centerline is valid? [True, True] Translation: X:325.19, Y:-35.11, Z:-2.17 [[ 9.77924806e-01 2.08883319e-01 5.55266798e-03 3.25189046e+02] [-2.08879895e-01 9.77940570e-01 -1.19606856e-03 -3.51096885e+01] [-5.68001806e-03 9.82441069e-06 9.99983869e-01 -2.16695037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.545769231 meters 0.012923028277598449 Centerline is valid? [True, True] Translation: X:325.25, Y:-35.11, Z:-2.17 [[ 9.77145641e-01 2.12486715e-01 5.98266921e-03 3.25252923e+02] [-2.12482800e-01 9.77163956e-01 -1.28985233e-03 -3.51138951e+01] [-6.12012519e-03 -1.08407273e-05 9.99981272e-01 -2.16567955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.605769231 meters 0.013328724785481385 Centerline is valid? [True, True] Translation: X:325.32, Y:-35.12, Z:-2.17 [[ 9.76853181e-01 2.13814761e-01 6.41180841e-03 3.25315410e+02] [-2.13810285e-01 9.76874223e-01 -1.38365529e-03 -3.51247821e+01] [-6.55937628e-03 -1.92825046e-05 9.99978487e-01 -2.16520584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.665769231 meters 0.01290538005769583 Centerline is valid? [True, True] Translation: X:325.38, Y:-35.14, Z:-2.17 [[ 9.77109349e-01 2.12645549e-01 6.26027483e-03 3.25376408e+02] [-2.12641251e-01 9.77129403e-01 -1.35207520e-03 -3.51423520e+01] [-6.40461138e-03 -1.00673519e-05 9.99979490e-01 -2.16576675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.725769231 meters 0.013084977020625275 Centerline is valid? [True, True] Translation: X:325.44, Y:-35.16, Z:-2.17 [[ 9.76829218e-01 2.13927367e-01 6.30559065e-03 3.25437109e+02] [-2.13923025e-01 9.76849570e-01 -1.36300943e-03 -3.51580647e+01] [-6.45119853e-03 -1.74835905e-05 9.99979191e-01 -2.16708705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.785769231 meters 0.015024920148731817 Centerline is valid? [True, True] Translation: X:325.50, Y:-35.17, Z:-2.17 [[ 9.76094308e-01 2.17253314e-01 6.39533567e-03 3.25497992e+02] [-2.17248911e-01 9.76115258e-01 -1.38376659e-03 -3.51665343e+01] [-6.54321261e-03 -3.86930177e-05 9.99978592e-01 -2.16624340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.845769231 meters 0.020053568098665608 Centerline is valid? [True, True] Translation: X:325.56, Y:-35.18, Z:-2.17 [[ 9.74530635e-01 2.24180774e-01 5.74645679e-03 3.25559739e+02] [-2.24177336e-01 9.74547574e-01 -1.24390030e-03 -3.51754552e+01] [-5.87905406e-03 -7.60064263e-05 9.99982715e-01 -2.16850211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.905769231 meters 0.019919301367999916 Centerline is valid? [True, True] Translation: X:325.62, Y:-35.19, Z:-2.17 [[ 9.74133977e-01 2.25885606e-01 6.21996754e-03 3.25620129e+02] [-2.25881611e-01 9.74153830e-01 -1.34663756e-03 -3.51898319e+01] [-6.36339124e-03 -9.31708816e-05 9.99979749e-01 -2.16823466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.965769231 meters 0.02328536254849404 Centerline is valid? [True, True] Translation: X:325.68, Y:-35.20, Z:-2.17 [[ 9.73738478e-01 2.27607797e-01 5.29778107e-03 3.25681117e+02] [-2.27604920e-01 9.73752886e-01 -1.14775870e-03 -3.51972756e+01] [-5.41996844e-03 -8.81842271e-05 9.99985308e-01 -2.16976870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.025769231 meters 0.028341447644867096 Centerline is valid? [True, True] Translation: X:325.74, Y:-35.20, Z:-2.17 [[ 9.72353256e-01 2.33465073e-01 4.81718907e-03 3.25743989e+02] [-2.33462762e-01 9.72365182e-01 -1.04459324e-03 -3.51974696e+01] [-4.92794297e-03 -1.08920623e-04 9.99987852e-01 -2.17001145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.08576923100003 meters 0.04654637051187326 Centerline is valid? [True, True] Translation: X:325.81, Y:-35.18, Z:-2.17 [[ 9.70259266e-01 2.42022884e-01 4.67763735e-03 3.25809254e+02] [-2.42020803e-01 9.70270530e-01 -1.01451678e-03 -3.51761674e+01] [-4.78410995e-03 -1.47741244e-04 9.99988545e-01 -2.17179005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14576923100003 meters 0.03757225474879988 Centerline is valid? [True, True] Translation: X:325.87, Y:-35.19, Z:-2.17 [[ 9.69941730e-01 2.43248443e-01 6.57538961e-03 3.25866858e+02] [-2.43244360e-01 9.69963993e-01 -1.42601278e-03 -3.51917518e+01] [-6.72476656e-03 -2.16277133e-04 9.99977365e-01 -2.16810011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20576923100003 meters 0.03419853652241832 Centerline is valid? [True, True] Translation: X:325.93, Y:-35.20, Z:-2.17 [[ 9.70980459e-01 2.39104848e-01 5.08127785e-03 3.25926222e+02] [-2.39102353e-01 9.70993744e-01 -1.10187578e-03 -3.51988260e+01] [-5.19735285e-03 -1.45045639e-04 9.99986483e-01 -2.17177880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26576923100004 meters 0.032161224758041916 Centerline is valid? [True, True] Translation: X:325.99, Y:-35.20, Z:-2.17 [[ 9.71436303e-01 2.37179414e-01 7.57855503e-03 3.25986630e+02] [-2.37173807e-01 9.71465843e-01 -1.64327928e-03 -3.52046001e+01] [-7.75205937e-03 -2.01093601e-04 9.99969932e-01 -2.16662639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32576923100004 meters 0.031009049446574694 Centerline is valid? [True, True] Translation: X:326.05, Y:-35.21, Z:-2.16 [[ 9.71380079e-01 2.37338932e-01 9.53799688e-03 3.26045895e+02] [-2.37330059e-01 9.71426871e-01 -2.06798105e-03 -3.52111736e+01] [-9.75627888e-03 -2.54857766e-04 9.99952374e-01 -2.16406341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38576923100004 meters 0.029583277548884592 Centerline is valid? [True, True] Translation: X:326.10, Y:-35.22, Z:-2.17 [[ 9.72199170e-01 2.34030269e-01 7.65558049e-03 3.26104604e+02] [-2.34024452e-01 9.72229295e-01 -1.65969001e-03 -3.52183799e+01] [-7.83139732e-03 -1.78043774e-04 9.99969318e-01 -2.16791799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44576923100004 meters 0.025600554957959484 Centerline is valid? [True, True] Translation: X:326.16, Y:-35.23, Z:-2.17 [[ 9.72983017e-01 2.30753259e-01 7.54862882e-03 3.26162566e+02] [-2.30747506e-01 9.73012287e-01 -1.63632221e-03 -3.52334789e+01] [-7.72249528e-03 -1.49713549e-04 9.99970170e-01 -2.16796005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.505769231 meters 0.023746386075576668 Centerline is valid? [True, True] Translation: X:326.22, Y:-35.24, Z:-2.17 [[ 9.73342247e-01 2.29256831e-01 6.79534058e-03 3.26220670e+02] [-2.29252133e-01 9.73365959e-01 -1.47288584e-03 -3.52440509e+01] [-6.95202234e-03 -1.24224308e-04 9.99975827e-01 -2.17044248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.565769231 meters 0.02351490943156301 Centerline is valid? [True, True] Translation: X:326.28, Y:-35.25, Z:-2.17 [[ 9.73442502e-01 2.28808877e-01 7.49621058e-03 3.26279373e+02] [-2.28803150e-01 9.73471356e-01 -1.62439764e-03 -3.52528713e+01] [-7.66902287e-03 -1.33898888e-04 9.99970584e-01 -2.17035308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.625769231 meters 0.02814973456345837 Centerline is valid? [True, True] Translation: X:326.34, Y:-35.25, Z:-2.18 [[ 9.72537839e-01 2.32704274e-01 4.34438975e-03 3.26339368e+02] [-2.32702389e-01 9.72547537e-01 -9.41332343e-04 -3.52542487e+01] [-4.44417761e-03 -9.54685525e-05 9.99990120e-01 -2.17516133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.685769231 meters 0.031206532145795364 Centerline is valid? [True, True] Translation: X:326.40, Y:-35.25, Z:-2.17 [[ 9.71707092e-01 2.36131179e-01 5.23381528e-03 3.26400434e+02] [-2.36128496e-01 9.71721178e-01 -1.13371239e-03 -3.52543148e+01] [-5.35351400e-03 -1.34216562e-04 9.99985661e-01 -2.17388063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.745769231 meters 0.03356266045793651 Centerline is valid? [True, True] Translation: X:326.46, Y:-35.26, Z:-2.17 [[ 9.71489237e-01 2.36952178e-01 7.89483923e-03 3.26458490e+02] [-2.36946102e-01 9.71521292e-01 -1.70980980e-03 -3.52579976e+01] [-8.07514757e-03 -2.09589564e-04 9.99967373e-01 -2.16977484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.805769231 meters 0.03119773143717602 Centerline is valid? [True, True] Translation: X:326.52, Y:-35.27, Z:-2.17 [[ 9.72168043e-01 2.34200226e-01 6.28889879e-03 3.26516020e+02] [-2.34196314e-01 9.72188373e-01 -1.36171032e-03 -3.52666754e+01] [-6.43290714e-03 -1.49025665e-04 9.99979298e-01 -2.17326480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.865769231 meters 0.027774819387515935 Centerline is valid? [True, True] Translation: X:326.57, Y:-35.28, Z:-2.17 [[ 9.72735136e-01 2.31837338e-01 6.14853358e-03 3.26573465e+02] [-2.31833554e-01 9.72754559e-01 -1.33096120e-03 -3.52794591e+01] [-6.28958057e-03 -1.30763664e-04 9.99980212e-01 -2.17469462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.925769231 meters 0.022582800149349325 Centerline is valid? [True, True] Translation: X:326.63, Y:-35.29, Z:-2.17 [[ 9.73629352e-01 2.27975440e-01 8.54893373e-03 3.26630496e+02] [-2.27967981e-01 9.73666872e-01 -1.85003375e-03 -3.52934162e+01] [-8.74557582e-03 -1.47635996e-04 9.99961746e-01 -2.16927336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.985769231 meters 0.021630120375445705 Centerline is valid? [True, True] Translation: X:326.69, Y:-35.30, Z:-2.17 [[ 9.73965046e-01 2.26589090e-01 7.03373739e-03 3.26688680e+02] [-2.26584007e-01 9.73990437e-01 -1.52184953e-03 -3.53016626e+01] [-7.19562745e-03 -1.11504146e-04 9.99974105e-01 -2.17272800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.045769231 meters 0.019728586827123043 Centerline is valid? [True, True] Translation: X:326.75, Y:-35.31, Z:-2.17 [[ 9.74531006e-01 2.24171935e-01 6.02175300e-03 3.26747415e+02] [-2.24168165e-01 9.74549607e-01 -1.30267340e-03 -3.53102359e+01] [-6.16051983e-03 -8.03897008e-05 9.99981021e-01 -2.17459515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.105769231 meters 0.015965322481942625 Centerline is valid? [True, True] Translation: X:326.80, Y:-35.32, Z:-2.18 [[ 9.75584024e-01 2.19573414e-01 4.82987609e-03 3.26804169e+02] [-2.19570934e-01 9.75595979e-01 -1.04447696e-03 -3.53245994e+01] [-4.94134706e-03 -4.15253624e-05 9.99987791e-01 -2.17780043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.165769231 meters 0.014374667582291814 Centerline is valid? [True, True] Translation: X:326.86, Y:-35.34, Z:-2.18 [[ 9.76236581e-01 2.16665956e-01 4.24271559e-03 3.26860596e+02] [-2.16664015e-01 9.76245800e-01 -9.17384142e-04 -3.53364518e+01] [-4.34069918e-03 -2.36598350e-05 9.99990579e-01 -2.17838002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.225769231 meters 0.014246524804906492 Centerline is valid? [True, True] Translation: X:326.92, Y:-35.34, Z:-2.18 [[ 9.76354843e-01 2.16127078e-01 4.50633779e-03 3.26918229e+02] [-2.16124884e-01 9.76365242e-01 -9.74021935e-04 -3.53430477e+01] [-4.61034410e-03 -2.29406996e-05 9.99989372e-01 -2.17836540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.285769231 meters 0.013690601400271705 Centerline is valid? [True, True] Translation: X:326.98, Y:-35.35, Z:-2.17 [[ 9.76665147e-01 2.14651806e-01 7.05645704e-03 3.26975287e+02] [-2.14646394e-01 9.76690637e-01 -1.52455417e-03 -3.53513906e+01] [-7.21922383e-03 -2.56641316e-05 9.99973941e-01 -2.17496830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.345769231 meters 0.013136620439622422 Centerline is valid? [True, True] Translation: X:327.03, Y:-35.37, Z:-2.18 [[ 9.78048896e-01 2.08274831e-01 6.47695521e-03 3.27030129e+02] [-2.08270134e-01 9.78070342e-01 -1.39900732e-03 -3.53728615e+01] [-6.62629581e-03 1.93412367e-05 9.99978046e-01 -2.17613650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.405769231 meters 0.021543285730439794 Centerline is valid? [True, True] Translation: X:327.09, Y:-35.41, Z:-2.18 [[ 9.80444667e-01 1.96656154e-01 7.39003819e-03 3.27085116e+02] [-1.96649712e-01 9.80472511e-01 -1.59568132e-03 -3.54058778e+01] [-7.55952985e-03 1.11228362e-04 9.99971420e-01 -2.17591613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.465769231 meters 0.02887175661830728 Centerline is valid? [True, True] Translation: X:327.14, Y:-35.44, Z:-2.18 [[ 9.81966955e-01 1.88901748e-01 7.55170294e-03 3.27140708e+02] [-1.88894791e-01 9.81995977e-01 -1.63059664e-03 -3.54387314e+01] [-7.72376446e-03 1.74714673e-04 9.99970156e-01 -2.17512263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.525769231 meters 0.028370387423898052 Centerline is valid? [True, True] Translation: X:327.20, Y:-35.46, Z:-2.18 [[ 9.81893229e-01 1.89377441e-01 4.67670502e-03 3.27198704e+02] [-1.89374780e-01 9.81904361e-01 -1.00948920e-03 -3.54624340e+01] [-4.78325153e-03 1.05560630e-04 9.99988555e-01 -2.17932181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.58576923100003 meters 0.01892528523465187 Centerline is valid? [True, True] Translation: X:327.26, Y:-35.47, Z:-2.18 [[ 9.79704188e-01 2.00373438e-01 5.49453062e-03 3.27258271e+02] [-2.00369929e-01 9.79719593e-01 -1.18742498e-03 -3.54676233e+01] [-5.62102773e-03 6.23865110e-05 9.99984200e-01 -2.17890766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64576923100003 meters 0.01271253355348718 Centerline is valid? [True, True] Translation: X:327.32, Y:-35.46, Z:-2.18 [[ 9.77338257e-01 2.11633940e-01 4.58337815e-03 3.27319736e+02] [-2.11631622e-01 9.77349004e-01 -9.90584994e-04 -3.54631885e+01] [-4.68920147e-03 -1.85114036e-06 9.99989006e-01 -2.18022406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70576923100003 meters 0.02193893760318374 Centerline is valid? [True, True] Translation: X:327.38, Y:-35.45, Z:-2.18 [[ 9.73927105e-01 2.26841960e-01 2.95274477e-03 3.27382516e+02] [-2.26841068e-01 9.73931580e-01 -6.37968205e-04 -3.54508906e+01] [-3.02048933e-03 -4.84692498e-05 9.99995437e-01 -2.18320461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76576923100004 meters 0.030428038778067018 Centerline is valid? [True, True] Translation: X:327.44, Y:-35.45, Z:-2.19 [[ 9.72190624e-01 2.34175821e-01 2.65989598e-03 3.27443818e+02] [-2.34175124e-01 9.72194261e-01 -5.74643818e-04 -3.54471132e+01] [-2.72050329e-03 -6.42181394e-05 9.99996297e-01 -2.18609807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82576923100004 meters 0.031203789041198096 Centerline is valid? [True, True] Translation: X:327.50, Y:-35.45, Z:-2.18 [[ 9.72272406e-01 2.33770737e-01 6.13282655e-03 3.27502713e+02] [-2.33767030e-01 9.72291737e-01 -1.32460985e-03 -3.54497314e+01] [-6.27255160e-03 -1.45771040e-04 9.99980317e-01 -2.18062747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88576923100004 meters 0.024806972039775468 Centerline is valid? [True, True] Translation: X:327.56, Y:-35.47, Z:-2.18 [[ 9.73499710e-01 2.28653356e-01 3.99473229e-03 3.27560099e+02] [-2.28651741e-01 9.73507903e-01 -8.62483862e-04 -3.54658141e+01] [-4.08611328e-03 -7.37747030e-05 9.99991649e-01 -2.18482762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94576923100004 meters 0.01944611239001844 Centerline is valid? [True, True] Translation: X:327.62, Y:-35.48, Z:-2.19 [[ 9.74880118e-01 2.22699451e-01 3.70269253e-03 3.27617103e+02] [-2.22698021e-01 9.74887149e-01 -7.99359197e-04 -3.54802803e+01] [-3.78772421e-03 -4.53029091e-05 9.99992826e-01 -2.18693928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.005769231 meters 0.015476599906148485 Centerline is valid? [True, True] Translation: X:327.67, Y:-35.50, Z:-2.18 [[ 9.75852265e-01 2.18356568e-01 5.72417200e-03 3.27673976e+02] [-2.18353077e-01 9.75869052e-01 -1.23554984e-03 -3.54965394e+01] [-5.85583273e-03 -4.41764581e-05 9.99982853e-01 -2.18324416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.065769231 meters 0.012876884993497718 Centerline is valid? [True, True] Translation: X:327.73, Y:-35.51, Z:-2.18 [[ 9.77096582e-01 2.12724790e-01 5.51657502e-03 3.27730726e+02] [-2.12721459e-01 9.77112155e-01 -1.19048253e-03 -3.55141733e+01] [-5.64355765e-03 -1.02774785e-05 9.99984075e-01 -2.18416907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.125769231 meters 0.012790087610694669 Centerline is valid? [True, True] Translation: X:327.79, Y:-35.53, Z:-2.19 [[ 9.77589591e-01 2.10468479e-01 4.64884820e-03 3.27787158e+02] [-2.10466089e-01 9.77600644e-01 -1.00307674e-03 -3.55273089e+01] [-4.75583303e-03 2.17248670e-06 9.99988691e-01 -2.18586767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.185769231 meters 0.012753702015839663 Centerline is valid? [True, True] Translation: X:327.84, Y:-35.54, Z:-2.18 [[ 9.77766952e-01 2.09620392e-01 5.57485440e-03 3.27843904e+02] [-2.09616943e-01 9.77782845e-01 -1.20247473e-03 -3.55376620e+01] [-5.70306022e-03 7.15611428e-06 9.99983737e-01 -2.18368310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.245769231 meters 0.014019087642449838 Centerline is valid? [True, True] Translation: X:327.90, Y:-35.55, Z:-2.18 [[ 9.78625071e-01 2.05556742e-01 6.27661418e-03 3.27899727e+02] [-2.05552290e-01 9.78645199e-01 -1.35330421e-03 -3.55532997e+01] [-6.42075914e-03 3.42050094e-05 9.99979386e-01 -2.18284002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.305769231 meters 0.016078488153918376 Centerline is valid? [True, True] Translation: X:327.96, Y:-35.57, Z:-2.18 [[ 9.79327232e-01 2.02218123e-01 5.09941291e-03 3.27955697e+02] [-2.02215140e-01 9.79340507e-01 -1.09923370e-03 -3.55715706e+01] [-5.21634660e-03 4.53310004e-05 9.99986394e-01 -2.18499901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.365769231 meters 0.028148587881045285 Centerline is valid? [True, True] Translation: X:328.01, Y:-35.60, Z:-2.18 [[ 9.80559617e-01 1.96160904e-01 4.87206779e-03 3.28010156e+02] [-1.96158108e-01 9.80571718e-01 -1.04993810e-03 -3.55958905e+01] [-4.98336869e-03 7.38313050e-05 9.99987580e-01 -2.18096529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.425769231 meters 0.025824297119055727 Centerline is valid? [True, True] Translation: X:328.07, Y:-35.62, Z:-2.18 [[ 9.81282034e-01 1.92493931e-01 5.62641373e-03 3.28065845e+02] [-1.92490143e-01 9.81298158e-01 -1.21240618e-03 -3.56165321e+01] [-5.75457026e-03 1.06683220e-04 9.99983437e-01 -2.18474885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.485769231 meters 0.027479571507388615 Centerline is valid? [True, True] Translation: X:328.12, Y:-35.64, Z:-2.18 [[ 9.81865924e-01 1.89500106e-01 5.38668309e-03 3.28123245e+02] [-1.89496590e-01 9.81880693e-01 -1.16051380e-03 -3.56369215e+01] [-5.50899762e-03 1.18710877e-04 9.99984818e-01 -2.18431554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.545769231 meters 0.027502695295006138 Centerline is valid? [True, True] Translation: X:328.18, Y:-35.65, Z:-2.18 [[ 9.81822905e-01 1.89592051e-01 8.86780961e-03 3.28180610e+02] [-1.89582525e-01 9.81862932e-01 -1.91044308e-03 -3.56538997e+01] [-9.06917836e-03 1.94535036e-04 9.99958855e-01 -2.17782385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.605769231 meters 0.02510836282179579 Centerline is valid? [True, True] Translation: X:328.24, Y:-35.67, Z:-2.18 [[ 9.81566162e-01 1.90857713e-01 1.00600049e-02 3.28239960e+02] [-1.90845522e-01 9.81617691e-01 -2.16709369e-03 -3.56668497e+01] [-1.02886854e-02 2.07238944e-04 9.99947049e-01 -2.17617712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.665769231 meters 0.023776543646001604 Centerline is valid? [True, True] Translation: X:328.30, Y:-35.68, Z:-2.19 [[ 9.81182238e-01 1.93023014e-01 4.85094855e-03 3.28297680e+02] [-1.93020206e-01 9.81194226e-01 -1.04483398e-03 -3.56843253e+01] [-4.96139971e-03 8.88414557e-05 9.99987688e-01 -2.18572478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.725769231 meters 0.02127375496059159 Centerline is valid? [True, True] Translation: X:328.36, Y:-35.70, Z:-2.18 [[ 9.80642124e-01 1.95731880e-01 5.48226352e-03 3.28356487e+02] [-1.95728333e-01 9.80657445e-01 -1.18135655e-03 -3.56994083e+01] [-5.60745168e-03 8.54536984e-05 9.99984274e-01 -2.18455868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.785769231 meters 0.01768341349400796 Centerline is valid? [True, True] Translation: X:328.42, Y:-35.71, Z:-2.18 [[ 9.79797966e-01 1.99854802e-01 7.34869673e-03 3.28415188e+02] [-1.99848545e-01 9.79825521e-01 -1.58354270e-03 -3.57121321e+01] [-7.51691922e-03 8.29255595e-05 9.99971744e-01 -2.18281144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.845769231 meters 0.01594164937213715 Centerline is valid? [True, True] Translation: X:328.47, Y:-35.73, Z:-2.18 [[ 9.79341420e-01 2.02044763e-01 8.26423899e-03 3.28472797e+02] [-2.02036929e-01 9.79376285e-01 -1.78069929e-03 -3.57284334e+01] [-8.45358065e-03 7.42311078e-05 9.99964265e-01 -2.18142129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.905769231 meters 0.015807813115648287 Centerline is valid? [True, True] Translation: X:328.53, Y:-35.74, Z:-2.19 [[ 9.79179525e-01 2.02962724e-01 3.68644292e-03 3.28530379e+02] [-2.02961172e-01 9.79186464e-01 -7.94282611e-04 -3.57446720e+01] [-3.77092477e-03 2.95404966e-05 9.99992890e-01 -2.18983909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.965769231 meters 0.013853442499986173 Centerline is valid? [True, True] Translation: X:328.59, Y:-35.75, Z:-2.19 [[ 9.78479795e-01 2.06328714e-01 2.39847460e-03 3.28588730e+02] [-2.06328066e-01 9.78482735e-01 -5.16938740e-04 -3.57540603e+01] [-2.45352529e-03 1.09414856e-05 9.99996990e-01 -2.19167489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.025769231 meters 0.0126031701990068 Centerline is valid? [True, True] Translation: X:328.65, Y:-35.76, Z:-2.18 [[ 9.77183897e-01 2.12281042e-01 6.95639900e-03 3.28648712e+02] [-2.12275755e-01 9.77208657e-01 -1.49832999e-03 -3.57557394e+01] [-7.11592037e-03 -1.25309055e-05 9.99974681e-01 -2.18349910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.08576923100003 meters 0.015270970989359553 Centerline is valid? [True, True] Translation: X:328.71, Y:-35.75, Z:-2.18 [[ 9.75965657e-01 2.17811230e-01 7.02165872e-03 3.28709667e+02] [-2.17805988e-01 9.75990915e-01 -1.51204531e-03 -3.57533805e+01] [-7.18241556e-03 -5.36550217e-05 9.99974205e-01 -2.18344333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14576923100003 meters 0.017170343531447942 Centerline is valid? [True, True] Translation: X:328.77, Y:-35.75, Z:-2.19 [[ 9.75670155e-01 2.19167826e-01 5.76300945e-03 3.28769654e+02] [-2.19164320e-01 9.75687174e-01 -1.24079982e-03 -3.57485595e+01] [-5.89483780e-03 -5.24346934e-05 9.99982624e-01 -2.18729643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20576923100003 meters 0.015733661580575105 Centerline is valid? [True, True] Translation: X:328.83, Y:-35.75, Z:-2.19 [[ 9.76074999e-01 2.17364891e-01 5.48635016e-03 3.28829052e+02] [-2.17361687e-01 9.76090417e-01 -1.18090572e-03 -3.57538530e+01] [-5.61186127e-03 -3.98697721e-05 9.99984253e-01 -2.18783715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26576923100004 meters 0.012557545833264183 Centerline is valid? [True, True] Translation: X:328.89, Y:-35.76, Z:-2.18 [[ 9.77315212e-01 2.11663465e-01 7.31807573e-03 3.28887837e+02] [-2.11657608e-01 9.77342610e-01 -1.57473419e-03 -3.57615929e+01] [-7.48558093e-03 -9.91472373e-06 9.99971983e-01 -2.18387679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32576923100004 meters 0.015431693184886533 Centerline is valid? [True, True] Translation: X:328.94, Y:-35.77, Z:-2.18 [[ 9.78964845e-01 2.03858199e-01 8.34661710e-03 3.28944657e+02] [-2.03850299e-01 9.79000425e-01 -1.79558498e-03 -3.57728255e+01] [-8.53738641e-03 5.63541823e-05 9.99963554e-01 -2.18388784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38576923100004 meters 0.01962289707168475 Centerline is valid? [True, True] Translation: X:329.00, Y:-35.78, Z:-2.19 [[ 9.80281000e-01 1.97543411e-01 5.07551176e-03 3.29003673e+02] [-1.97540406e-01 9.80294138e-01 -1.09166998e-03 -3.57807627e+01] [-5.19114664e-03 6.75246843e-05 9.99986524e-01 -2.18985610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44576923100004 meters 0.026073573392272092 Centerline is valid? [True, True] Translation: X:329.06, Y:-35.80, Z:-2.19 [[ 9.81419239e-01 1.91836700e-01 3.86763033e-03 3.29060630e+02] [-1.91834911e-01 9.81426857e-01 -8.31852391e-04 -3.57952438e+01] [-3.95537610e-03 7.44494200e-05 9.99992175e-01 -2.19336883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.505769231 meters 0.030384073642433274 Centerline is valid? [True, True] Translation: X:329.12, Y:-35.81, Z:-2.19 [[ 9.82525158e-01 1.86075246e-01 4.50748452e-03 3.29118013e+02] [-1.86072757e-01 9.82535490e-01 -9.69212544e-04 -3.58131615e+01] [-4.60910998e-03 1.13555638e-04 9.99989372e-01 -2.19199218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.565769231 meters 0.03851551808895421 Centerline is valid? [True, True] Translation: X:329.17, Y:-35.84, Z:-2.19 [[ 9.83977954e-01 1.78193834e-01 5.86040706e-03 3.29174070e+02] [-1.78189487e-01 9.83995386e-01 -1.26001628e-03 -3.58398135e+01] [-5.99114064e-03 1.95565314e-04 9.99982034e-01 -2.19077763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.625769231 meters 0.04703975319165627 Centerline is valid? [True, True] Translation: X:329.23, Y:-35.87, Z:-2.19 [[ 9.84849772e-01 1.73319335e-01 5.59776946e-03 3.29228276e+02] [-1.73315290e-01 9.84865657e-01 -1.20353144e-03 -3.58710831e+01] [-5.72164617e-03 2.15118631e-04 9.99983608e-01 -2.19183213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.685769231 meters 0.043579459286590856 Centerline is valid? [True, True] Translation: X:329.29, Y:-35.89, Z:-2.19 [[ 9.84746504e-01 1.73872447e-01 6.53410713e-03 3.29286125e+02] [-1.73866948e-01 9.84768151e-01 -1.40476667e-03 -3.58899492e+01] [-6.67883081e-03 2.47273800e-04 9.99977666e-01 -2.18851914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.745769231 meters 0.03845558127817023 Centerline is valid? [True, True] Translation: X:329.34, Y:-35.90, Z:-2.18 [[ 9.83644736e-01 1.79896266e-01 8.96478547e-03 3.29344297e+02] [-1.79886164e-01 9.83685546e-01 -1.92733764e-03 -3.59047193e+01] [-9.16525074e-03 2.83174647e-04 9.99957958e-01 -2.18407751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.805769231 meters 0.03136941720875796 Centerline is valid? [True, True] Translation: X:329.40, Y:-35.91, Z:-2.18 [[ 9.82867540e-01 1.84088531e-01 9.10003937e-03 3.29404233e+02] [-1.84078301e-01 9.82909635e-01 -1.95644306e-03 -3.59144237e+01] [-9.30467510e-03 2.47804590e-04 9.99956680e-01 -2.18484590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.865769231 meters 0.027846954062853216 Centerline is valid? [True, True] Translation: X:329.46, Y:-35.93, Z:-2.19 [[ 9.82087888e-01 1.88344508e-01 5.45214821e-03 3.29461475e+02] [-1.88340901e-01 9.82103014e-01 -1.17222401e-03 -3.59341092e+01] [-5.57535314e-03 1.24364497e-04 9.99984450e-01 -2.19098463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.925769231 meters 0.03103069885297391 Centerline is valid? [True, True] Translation: X:329.52, Y:-35.96, Z:-2.19 [[ 9.81864299e-01 1.89415577e-01 8.01487134e-03 3.29518338e+02] [-1.89407818e-01 9.81896995e-01 -1.72322926e-03 -3.59563840e+01] [-8.19618455e-03 1.73897998e-04 9.99966396e-01 -2.18599207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.985769231 meters 0.025115194102024837 Centerline is valid? [True, True] Translation: X:329.58, Y:-35.97, Z:-2.20 [[ 9.81528441e-01 1.91280955e-01 3.67645990e-03 3.29577768e+02] [-1.91279337e-01 9.81535323e-01 -7.89934065e-04 -3.59738169e+01] [-3.75967460e-03 7.21119376e-05 9.99992930e-01 -2.19522758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.045769231 meters 0.023974984557351427 Centerline is valid? [True, True] Translation: X:329.64, Y:-35.99, Z:-2.19 [[ 9.81326802e-01 1.92300719e-01 4.25919323e-03 3.29637707e+02] [-1.92298552e-01 9.81336042e-01 -9.16368511e-04 -3.59932866e+01] [-4.35591815e-03 8.02202872e-05 9.99990510e-01 -2.19455973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.105769231 meters 0.024676831926534443 Centerline is valid? [True, True] Translation: X:329.69, Y:-36.02, Z:-2.19 [[ 9.81113586e-01 1.93387397e-01 4.17679565e-03 3.29694322e+02] [-1.93385323e-01 9.81122474e-01 -8.98629180e-04 -3.60216542e+01] [-4.27173164e-03 7.39263204e-05 9.99990873e-01 -2.19457375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.165769231 meters 0.023771651966827574 Centerline is valid? [True, True] Translation: X:329.75, Y:-36.05, Z:-2.20 [[ 9.80814693e-01 1.94905920e-01 3.77096337e-03 3.29750889e+02] [-1.94904239e-01 9.80821940e-01 -8.11838327e-04 -3.60490746e+01] [-3.85687570e-03 6.12862141e-05 9.99992560e-01 -2.19649045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.225769231 meters 0.016420178577065007 Centerline is valid? [True, True] Translation: X:329.81, Y:-36.06, Z:-2.19 [[ 9.79510512e-01 2.01298016e-01 6.18590491e-03 3.29810839e+02] [-2.01293609e-01 9.79530043e-01 -1.33347995e-03 -3.60620299e+01] [-6.32770657e-03 6.09745026e-05 9.99979978e-01 -2.19102225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.285769231 meters 0.014350691879489333 Centerline is valid? [True, True] Translation: X:329.87, Y:-36.07, Z:-2.19 [[ 9.78802095e-01 2.04733235e-01 5.54632138e-03 3.29872103e+02] [-2.04729747e-01 9.78817808e-01 -1.19553230e-03 -3.60739964e+01] [-5.67360333e-03 3.46925442e-05 9.99983904e-01 -2.19283892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.345769231 meters 0.012955454129836076 Centerline is valid? [True, True] Translation: X:329.93, Y:-36.08, Z:-2.19 [[ 9.76812991e-01 2.14015266e-01 5.81778518e-03 3.29932763e+02] [-2.14011585e-01 9.76830316e-01 -1.25528365e-03 -3.60793935e+01] [-5.95163880e-03 -1.88960556e-05 9.99982289e-01 -2.19271371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.405769231 meters 0.017473274008047816 Centerline is valid? [True, True] Translation: X:329.99, Y:-36.08, Z:-2.19 [[ 9.74996615e-01 2.22113287e-01 6.87660152e-03 3.29994246e+02] [-2.22108345e-01 9.75020862e-01 -1.48384075e-03 -3.60842048e+01] [-7.03441069e-03 -8.06108748e-05 9.99975255e-01 -2.19041612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.465769231 meters 0.022372960678031652 Centerline is valid? [True, True] Translation: X:330.06, Y:-36.09, Z:-2.19 [[ 9.73603503e-01 2.28188509e-01 5.12091490e-03 3.30055795e+02] [-2.28185852e-01 9.73616966e-01 -1.10506136e-03 -3.60884635e+01] [-5.23797193e-03 -9.26287245e-05 9.99986277e-01 -2.19410716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.525769231 meters 0.026371236590909477 Centerline is valid? [True, True] Translation: X:330.12, Y:-36.09, Z:-2.20 [[ 9.72727864e-01 2.31920936e-01 3.63068146e-03 3.30116230e+02] [-2.31919626e-01 9.72734637e-01 -7.83660928e-04 -3.60930696e+01] [-3.71343698e-03 -7.97374643e-05 9.99993102e-01 -2.19770911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.58576923100003 meters 0.027470505441304208 Centerline is valid? [True, True] Translation: X:330.17, Y:-36.10, Z:-2.20 [[ 9.72847008e-01 2.31401841e-01 4.67824891e-03 3.30174292e+02] [-2.31399659e-01 9.72858252e-01 -1.00983879e-03 -3.61025338e+01] [-4.78495161e-03 -1.00126556e-04 9.99988547e-01 -2.19728506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64576923100003 meters 0.01983422381317004 Centerline is valid? [True, True] Translation: X:330.23, Y:-36.13, Z:-2.20 [[ 9.74718674e-01 2.23423560e-01 2.32819367e-03 3.30230189e+02] [-2.23422997e-01 9.74721454e-01 -5.02379668e-04 -3.61304621e+01] [-2.38158377e-03 -3.04931620e-05 9.99997164e-01 -2.20307383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70576923100003 meters 0.013744859277111563 Centerline is valid? [True, True] Translation: X:330.29, Y:-36.16, Z:-2.20 [[ 9.76399773e-01 2.15931042e-01 4.15557919e-03 3.30286781e+02] [-2.15929181e-01 9.76408616e-01 -8.96774060e-04 -3.61586352e+01] [-4.25118469e-03 -2.17008244e-05 9.99990963e-01 -2.19965859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76576923100004 meters 0.012939971160999122 Centerline is valid? [True, True] Translation: X:330.35, Y:-36.18, Z:-2.20 [[ 9.76742951e-01 2.14383867e-01 3.57293870e-03 3.30347607e+02] [-2.14382483e-01 9.76749485e-01 -7.70517412e-04 -3.61763277e+01] [-3.65505254e-03 -1.33780198e-05 9.99993320e-01 -2.19982923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82576923100004 meters 0.012530373623564399 Centerline is valid? [True, True] Translation: X:330.41, Y:-36.19, Z:-2.20 [[ 9.76899081e-01 2.13635704e-01 5.28872833e-03 3.30408004e+02] [-2.13632651e-01 9.76913397e-01 -1.14231293e-03 -3.61933708e+01] [-5.41066839e-03 -1.39205964e-05 9.99985362e-01 -2.19756085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88576923100004 meters 0.013329656970978914 Centerline is valid? [True, True] Translation: X:330.46, Y:-36.22, Z:-2.19 [[ 9.78318465e-01 2.06919386e-01 8.79478082e-03 3.30464897e+02] [-2.06910649e-01 9.78357995e-01 -1.90191250e-03 -3.62215198e+01] [-8.99798670e-03 4.09423126e-05 9.99959516e-01 -2.19046190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94576923100004 meters 0.017282941268970564 Centerline is valid? [True, True] Translation: X:330.52, Y:-36.25, Z:-2.20 [[ 9.79529818e-01 2.01258606e-01 4.03858881e-03 3.30522485e+02] [-2.01256714e-01 9.79538142e-01 -8.73627288e-04 -3.62464939e+01] [-4.13177679e-03 4.29508650e-05 9.99991463e-01 -2.19930108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.005769231 meters 0.01581467899128431 Centerline is valid? [True, True] Translation: X:330.58, Y:-36.26, Z:-2.20 [[ 9.78927140e-01 2.04199438e-01 2.06013416e-03 3.30582236e+02] [-2.04198953e-01 9.78929308e-01 -4.45193890e-04 -3.62597093e+01] [-2.10763405e-03 1.51351426e-05 9.99997779e-01 -2.20294386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.065769231 meters 0.012859228032084011 Centerline is valid? [True, True] Translation: X:330.64, Y:-36.27, Z:-2.20 [[ 9.77865118e-01 2.09229842e-01 1.63862052e-03 3.30644281e+02] [-2.09229542e-01 9.77866490e-01 -3.54055910e-04 -3.62684573e+01] [-1.67643116e-03 3.37110189e-06 9.99998595e-01 -2.20299053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.125769231 meters 0.012412238481663115 Centerline is valid? [True, True] Translation: X:330.70, Y:-36.28, Z:-2.20 [[ 9.76951637e-01 2.13446212e-01 2.49253890e-03 3.30704145e+02] [-2.13445530e-01 9.76954817e-01 -5.39683244e-04 -3.62789653e+01] [-2.55029123e-03 -4.77685817e-06 9.99996748e-01 -2.20204007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.185769231 meters 0.01913776227752951 Centerline is valid? [True, True] Translation: X:330.77, Y:-36.28, Z:-2.20 [[ 9.74538800e-01 2.24168125e-01 4.77273830e-03 3.30766158e+02] [-2.24165742e-01 9.74550485e-01 -1.03549768e-03 -3.62759492e+01] [-4.88340000e-03 -6.07517538e-05 9.99988074e-01 -2.19661010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.245769231 meters 0.02634659538259284 Centerline is valid? [True, True] Translation: X:330.83, Y:-36.28, Z:-2.20 [[ 9.72533665e-01 2.32742097e-01 3.06370265e-03 3.30828204e+02] [-2.32741158e-01 9.72538489e-01 -6.64644493e-04 -3.62766288e+01] [-3.13425950e-03 -6.66605575e-05 9.99995086e-01 -2.19961728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.305769231 meters 0.04073823678615238 Centerline is valid? [True, True] Translation: X:330.89, Y:-36.26, Z:-2.20 [[ 9.70070561e-01 2.42802628e-01 3.16088302e-03 3.30891703e+02] [-2.42801681e-01 9.70075705e-01 -6.85870651e-04 -3.62641395e+01] [-3.23282702e-03 -1.02124783e-04 9.99994769e-01 -2.20046833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.365769231 meters 0.04220080833841754 Centerline is valid? [True, True] Translation: X:330.95, Y:-36.27, Z:-2.20 [[ 9.69254963e-01 2.46022231e-01 4.22838327e-03 3.30952537e+02] [-2.46020567e-01 9.69264174e-01 -9.17452948e-04 -3.62677400e+01] [-4.32413424e-03 -1.51023426e-04 9.99990639e-01 -2.19848175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.425769231 meters 0.036772666424296656 Centerline is valid? [True, True] Translation: X:331.01, Y:-36.28, Z:-2.20 [[ 9.69846706e-01 2.43710683e-01 1.57162465e-03 3.31011450e+02] [-2.43710450e-01 9.69847978e-01 -3.41038267e-04 -3.62800170e+01] [-1.60735166e-03 -5.22665116e-05 9.99998707e-01 -2.20321472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.485769231 meters 0.03597783422580186 Centerline is valid? [True, True] Translation: X:331.07, Y:-36.29, Z:-2.20 [[ 9.70123954e-01 2.42557366e-01 5.04360774e-03 3.31070140e+02] [-2.42554952e-01 9.70137051e-01 -1.09426655e-03 -3.62857930e+01] [-5.15841315e-03 -1.61777843e-04 9.99986682e-01 -2.19586791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.545769231 meters 0.03611489447531247 Centerline is valid? [True, True] Translation: X:331.13, Y:-36.29, Z:-2.20 [[ 9.70253648e-01 2.42025205e-01 5.62664828e-03 3.31129579e+02] [-2.42022193e-01 9.70269946e-01 -1.22044814e-03 -3.62912202e+01] [-5.75474694e-03 -1.77629504e-04 9.99983426e-01 -2.19595245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.605769231 meters 0.03480084675681889 Centerline is valid? [True, True] Translation: X:331.19, Y:-36.30, Z:-2.20 [[ 9.70833429e-01 2.39727348e-01 3.64032153e-03 3.31186879e+02] [-2.39726072e-01 9.70840248e-01 -7.89581922e-04 -3.62983127e+01] [-3.72345504e-03 -1.06127455e-04 9.99993062e-01 -2.19968427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.665769231 meters 0.03260165901197114 Centerline is valid? [True, True] Translation: X:331.24, Y:-36.31, Z:-2.20 [[ 9.71539857e-01 2.36837986e-01 4.25139055e-03 3.31244387e+02] [-2.36836218e-01 9.71549153e-01 -9.21732995e-04 -3.63088837e+01] [-4.34873628e-03 -1.11382918e-04 9.99990538e-01 -2.19952522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.725769231 meters 0.027369247706738153 Centerline is valid? [True, True] Translation: X:331.30, Y:-36.33, Z:-2.20 [[ 9.72680909e-01 2.32136211e-01 2.15147124e-03 3.31301715e+02] [-2.32135746e-01 9.72683287e-01 -4.66467542e-04 -3.63266722e+01] [-2.20098413e-03 -4.57093100e-05 9.99997577e-01 -2.20380424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.785769231 meters 0.02227370944333974 Centerline is valid? [True, True] Translation: X:331.36, Y:-36.35, Z:-2.20 [[ 9.73859119e-01 2.27130035e-01 3.21914167e-03 3.31358388e+02] [-2.27128969e-01 9.73864438e-01 -6.97742127e-04 -3.63459970e+01] [-3.29348579e-03 -5.16577956e-05 9.99994575e-01 -2.20106219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.845769231 meters 0.017862558226871442 Centerline is valid? [True, True] Translation: X:331.41, Y:-36.37, Z:-2.20 [[ 9.74782689e-01 2.23090921e-01 5.39915034e-03 3.31414708e+02] [-2.23087862e-01 9.74797639e-01 -1.17001679e-03 -3.63669192e+01] [-5.52409913e-03 -6.39728014e-05 9.99984740e-01 -2.19674627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.905769231 meters 0.01228161192628931 Centerline is valid? [True, True] Translation: X:331.47, Y:-36.40, Z:-2.20 [[ 9.76885050e-01 2.13746886e-01 2.80492255e-03 3.31471388e+02] [-2.13746023e-01 9.76889077e-01 -6.07605276e-04 -3.63969654e+01] [-2.86997194e-03 -5.98052879e-06 9.99995882e-01 -2.20376447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.965769231 meters 0.012650208959444848 Centerline is valid? [True, True] Translation: X:331.53, Y:-36.42, Z:-2.21 [[ 9.77465979e-01 2.11093009e-01 4.23152334e-05 3.31528460e+02] [-2.11093009e-01 9.77465980e-01 -9.08899220e-06 -3.64169678e+01] [-4.32803238e-05 -4.82692997e-08 9.99999999e-01 -2.20895443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.025769231 meters 0.012400603790249787 Centerline is valid? [True, True] Translation: X:331.59, Y:-36.43, Z:-2.21 [[ 9.77309929e-01 2.11809349e-01 1.45005067e-03 3.31586352e+02] [-2.11809116e-01 9.77311005e-01 -3.14383929e-04 -3.64314352e+01] [-1.48373993e-03 1.16584887e-07 9.99998899e-01 -2.20599297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.08576923100003 meters 0.01272212596947364 Centerline is valid? [True, True] Translation: X:331.65, Y:-36.45, Z:-2.20 [[ 9.76530796e-01 2.15365053e-01 2.34498043e-03 3.31646215e+02] [-2.15364456e-01 9.76533611e-01 -5.07349687e-04 -3.64480348e+01] [-2.39921760e-03 -9.58283974e-06 9.99997122e-01 -2.20420614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14576923100003 meters 0.0138406177260251 Centerline is valid? [True, True] Translation: X:331.71, Y:-36.46, Z:-2.20 [[ 9.75980803e-01 2.17839481e-01 2.72632244e-03 3.31705976e+02] [-2.17838679e-01 9.75984611e-01 -5.91219300e-04 -3.64586434e+01] [-2.78963965e-03 -1.68797937e-05 9.99996109e-01 -2.20369082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20576923100003 meters 0.023290149496623804 Centerline is valid? [True, True] Translation: X:331.77, Y:-36.46, Z:-2.20 [[ 9.73221091e-01 2.29856380e-01 2.59867928e-03 3.31768367e+02] [-2.29855694e-01 9.73224559e-01 -5.63621005e-04 -3.64571298e+01] [-2.65865038e-03 -4.87933806e-05 9.99996465e-01 -2.20255516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26576923100004 meters 0.039581255036595944 Centerline is valid? [True, True] Translation: X:331.83, Y:-36.44, Z:-2.21 [[ 9.70169052e-01 2.42421923e-01 1.90320389e-03 3.31832102e+02] [-2.42421579e-01 9.70170917e-01 -4.12834596e-04 -3.64444768e+01] [-1.94651322e-03 -6.08583440e-05 9.99998104e-01 -2.20514653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32576923100004 meters 0.04863119905117675 Centerline is valid? [True, True] Translation: X:331.90, Y:-36.44, Z:-2.20 [[ 9.67231337e-01 2.53853607e-01 4.67826308e-03 3.31895834e+02] [-2.53851663e-01 9.67242629e-01 -1.01460327e-03 -3.64371986e+01] [-4.78257618e-03 -2.06228792e-04 9.99988542e-01 -2.19904899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38576923100004 meters 0.0546415542651284 Centerline is valid? [True, True] Translation: X:331.96, Y:-36.44, Z:-2.20 [[ 9.66214515e-01 2.57707277e-01 4.05846500e-03 3.31957493e+02] [-2.57705848e-01 9.66223018e-01 -8.80191319e-04 -3.64354244e+01] [-4.14821401e-03 -1.95436537e-04 9.99991377e-01 -2.20180393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44576923100004 meters 0.05749741044591276 Centerline is valid? [True, True] Translation: X:332.02, Y:-36.43, Z:-2.20 [[ 9.66222038e-01 2.57693807e-01 2.97923380e-03 3.32017439e+02] [-2.57693036e-01 9.66226620e-01 -6.46474439e-04 -3.64304660e+01] [-3.04520747e-03 -1.43089952e-04 9.99995353e-01 -2.20464685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.505769231 meters 0.05481296871755833 Centerline is valid? [True, True] Translation: X:332.08, Y:-36.43, Z:-2.20 [[ 9.66294541e-01 2.57418634e-01 3.24149835e-03 3.32077976e+02] [-2.57417720e-01 9.66299965e-01 -7.03283460e-04 -3.64312574e+01] [-3.31329801e-03 -1.54840147e-04 9.99994499e-01 -2.20320769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.565769231 meters 0.046164984000702756 Centerline is valid? [True, True] Translation: X:332.14, Y:-36.44, Z:-2.20 [[ 9.67270494e-01 2.53732389e-01 2.76875026e-03 3.32137781e+02] [-2.53731709e-01 9.67274449e-01 -5.99829901e-04 -3.64413138e+01] [-2.83033765e-03 -1.22321971e-04 9.99995987e-01 -2.20471574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.625769231 meters 0.044779343127621475 Centerline is valid? [True, True] Translation: X:332.20, Y:-36.45, Z:-2.20 [[ 9.67995128e-01 2.50949311e-01 3.14237723e-03 3.32196951e+02] [-2.50948421e-01 9.68000220e-01 -6.80828697e-04 -3.64487179e+01] [-3.21267534e-03 -1.29535742e-04 9.99994831e-01 -2.20418357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.685769231 meters 0.03990792262831473 Centerline is valid? [True, True] Translation: X:332.26, Y:-36.46, Z:-2.20 [[ 9.69054296e-01 2.46827448e-01 3.15957640e-03 3.32256689e+02] [-2.46826527e-01 9.69059439e-01 -6.84427344e-04 -3.64558214e+01] [-3.23075279e-03 -1.16620012e-04 9.99994774e-01 -2.20281749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.745769231 meters 0.04328822880614125 Centerline is valid? [True, True] Translation: X:332.32, Y:-36.46, Z:-2.20 [[ 9.69457347e-01 2.45220640e-01 4.39202395e-03 3.32315926e+02] [-2.45218843e-01 9.69467284e-01 -9.51410891e-04 -3.64579205e+01] [-4.49122912e-03 -1.54654753e-04 9.99989902e-01 -2.20185844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.805769231 meters 0.037941550377697524 Centerline is valid? [True, True] Translation: X:332.37, Y:-36.47, Z:-2.20 [[ 9.70028855e-01 2.42946163e-01 4.60253871e-03 3.32374265e+02] [-2.42944165e-01 9.70039762e-01 -9.96712516e-04 -3.64703677e+01] [-4.70679303e-03 -1.51320023e-04 9.99988912e-01 -2.20360174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.865769231 meters 0.03194432778263633 Centerline is valid? [True, True] Translation: X:332.43, Y:-36.49, Z:-2.21 [[ 9.71347023e-01 2.37628006e-01 4.22988855e-03 3.32431610e+02] [-2.37626269e-01 9.71356226e-01 -9.15907067e-04 -3.64881479e+01] [-4.32637375e-03 -1.15469031e-04 9.99990635e-01 -2.20505333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.925769231 meters 0.026751083048624554 Centerline is valid? [True, True] Translation: X:332.49, Y:-36.51, Z:-2.20 [[ 9.72666240e-01 2.32154510e-01 4.96674514e-03 3.32488884e+02] [-2.32152044e-01 9.72678915e-01 -1.07533751e-03 -3.65064810e+01] [-5.08069272e-03 -1.07095542e-04 9.99987087e-01 -2.20327356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.985769231 meters 0.019538459635403595 Centerline is valid? [True, True] Translation: X:332.54, Y:-36.53, Z:-2.20 [[ 9.74458601e-01 2.24508315e-01 5.14303813e-03 3.32544718e+02] [-2.24505565e-01 9.74472171e-01 -1.11346157e-03 -3.65288097e+01] [-5.26172891e-03 -6.96184781e-05 9.99986155e-01 -2.20405208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.045769231 meters 0.012892571323424439 Centerline is valid? [True, True] Translation: X:332.60, Y:-36.56, Z:-2.21 [[ 9.76405835e-01 2.15903177e-01 4.17905538e-03 3.32598809e+02] [-2.15901282e-01 9.76414778e-01 -9.04831209e-04 -3.65587241e+01] [-4.27584736e-03 -1.87809408e-05 9.99990858e-01 -2.20556012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.105769231 meters 0.012936084897814133 Centerline is valid? [True, True] Translation: X:332.65, Y:-36.59, Z:-2.21 [[ 9.78209493e-01 2.07613042e-01 1.73580931e-03 3.32650700e+02] [-2.07612702e-01 9.78211033e-01 -3.75919982e-04 -3.65920861e+01] [-1.77603371e-03 7.35243356e-06 9.99998423e-01 -2.21159291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.165769231 meters 0.014977131389068563 Centerline is valid? [True, True] Translation: X:332.70, Y:-36.62, Z:-2.21 [[ 9.78981733e-01 2.03932692e-01 2.49469445e-03 3.32704990e+02] [-2.03931978e-01 9.78984911e-01 -5.39941740e-04 -3.66169331e+01] [-2.55237999e-03 1.98451277e-05 9.99996742e-01 -2.21003654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.225769231 meters 0.01570387091714818 Centerline is valid? [True, True] Translation: X:332.76, Y:-36.64, Z:-2.21 [[ 9.79078962e-01 2.03465178e-01 2.51130313e-03 3.32759131e+02] [-2.03464453e-01 9.79082183e-01 -5.43394497e-04 -3.66414308e+01] [-2.56933401e-03 2.10652006e-05 9.99996699e-01 -2.20987848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.285769231 meters 0.013549644310148375 Centerline is valid? [True, True] Translation: X:332.81, Y:-36.66, Z:-2.22 [[ 9.78060023e-01 2.08316587e-01 -1.67091611e-03 3.32814720e+02] [-2.08316275e-01 9.78061450e-01 3.60724446e-04 -3.66583236e+01] [ 1.70940352e-03 -4.73113991e-06 9.99998539e-01 -2.21900306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.345769231 meters 0.014277526408179869 Centerline is valid? [True, True] Translation: X:332.87, Y:-36.67, Z:-2.21 [[ 9.76110351e-01 2.17266952e-01 1.91151253e-03 3.32873494e+02] [-2.17266559e-01 9.76112223e-01 -4.13397524e-04 -3.66672277e+01] [-1.95566837e-03 -1.17861483e-05 9.99998088e-01 -2.20939682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.405769231 meters 0.020783299710409982 Centerline is valid? [True, True] Translation: X:332.93, Y:-36.67, Z:-2.21 [[ 9.74115958e-01 2.26022858e-01 3.43050486e-03 3.32932711e+02] [-2.26021648e-01 9.74121997e-01 -7.41444431e-04 -3.66746307e+01] [-3.50931363e-03 -5.31155100e-05 9.99993841e-01 -2.20697567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.465769231 meters 0.034004168905717815 Centerline is valid? [True, True] Translation: X:332.99, Y:-36.67, Z:-2.21 [[ 9.71332688e-01 2.37670847e-01 5.03762371e-03 3.32993607e+02] [-2.37668396e-01 9.71345741e-01 -1.08843348e-03 -3.66746308e+01] [-5.15196324e-03 -1.40052928e-04 9.99986719e-01 -2.20521442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.525769231 meters 0.04112042720739919 Centerline is valid? [True, True] Translation: X:333.05, Y:-36.68, Z:-2.21 [[ 9.69666687e-01 2.44380307e-01 4.97814743e-03 3.33053745e+02] [-2.44378001e-01 9.69679450e-01 -1.07556524e-03 -3.66807561e+01] [-5.09005422e-03 -1.73609935e-04 9.99987031e-01 -2.20566538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.58576923100003 meters 0.04522472885216974 Centerline is valid? [True, True] Translation: X:333.11, Y:-36.69, Z:-2.21 [[ 9.68878933e-01 2.47511432e-01 3.42100242e-03 3.33114221e+02] [-2.47510363e-01 9.68884964e-01 -7.39117219e-04 -3.66857889e+01] [-3.49749777e-03 -1.30618449e-04 9.99993875e-01 -2.20908645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64576923100003 meters 0.04805550459138935 Centerline is valid? [True, True] Translation: X:333.17, Y:-36.69, Z:-2.21 [[ 9.68261115e-01 2.49883834e-01 5.33692619e-03 3.33174057e+02] [-2.49881269e-01 9.68275799e-01 -1.15296751e-03 -3.66914841e+01] [-5.45572442e-03 -2.17224285e-04 9.99985094e-01 -2.20606910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70576923100003 meters 0.05172547458597832 Centerline is valid? [True, True] Translation: X:333.24, Y:-36.69, Z:-2.21 [[ 9.66926632e-01 2.55044467e-01 2.28202778e-03 3.33235315e+02] [-2.55044013e-01 9.66929319e-01 -4.92927304e-04 -3.66940125e+01] [-2.33227795e-03 -1.05392984e-04 9.99997275e-01 -2.21220925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76576923100004 meters 0.05551948231985941 Centerline is valid? [True, True] Translation: X:333.30, Y:-36.69, Z:-2.22 [[ 9.66519252e-01 2.56593963e-01 2.72790570e-04 3.33295036e+02] [-2.56593956e-01 9.66519290e-01 -5.92367812e-05 -3.66928420e+01] [-2.78857148e-04 -1.27429221e-05 9.99999961e-01 -2.21572117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82576923100004 meters 0.04887162638256687 Centerline is valid? [True, True] Translation: X:333.35, Y:-36.71, Z:-2.21 [[ 9.67553019e-01 2.52636119e-01 4.01821268e-03 3.33353496e+02] [-2.52634689e-01 9.67561347e-01 -8.67781399e-04 -3.67063507e+01] [-4.10710020e-03 -1.75515399e-04 9.99991550e-01 -2.20979729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88576923100004 meters 0.04183936734556852 Centerline is valid? [True, True] Translation: X:333.41, Y:-36.73, Z:-2.21 [[ 9.69057464e-01 2.46803511e-01 3.95714929e-03 3.33411263e+02] [-2.46802076e-01 9.69065532e-01 -8.54645349e-04 -3.67251530e+01] [-4.04566645e-03 -1.48432204e-04 9.99991805e-01 -2.20951705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.945769231 meters 0.03787307427285153 Centerline is valid? [True, True] Translation: X:333.47, Y:-36.74, Z:-2.21 [[ 9.70707293e-01 2.40252677e-01 2.45002479e-03 3.33469099e+02] [-2.40252106e-01 9.70710382e-01 -5.29055564e-04 -3.67398890e+01] [-2.50537152e-03 -7.50655214e-05 9.99996859e-01 -2.21252574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.005769231 meters 0.03228809948994506 Centerline is valid? [True, True] Translation: X:333.53, Y:-36.76, Z:-2.21 [[ 9.71333547e-01 2.37661369e-01 5.31166687e-03 3.33526700e+02] [-2.37658648e-01 9.71348059e-01 -1.14691712e-03 -3.67592537e+01] [-5.43205519e-03 -1.48324497e-04 9.99985235e-01 -2.20719010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.065769231 meters 0.031986642186538905 Centerline is valid? [True, True] Translation: X:333.58, Y:-36.77, Z:-2.20 [[ 9.71278338e-01 2.37845052e-01 6.93691392e-03 3.33584712e+02] [-2.37840416e-01 9.71303090e-01 -1.49773356e-03 -3.67704549e+01] [-7.09407444e-03 -1.95162325e-04 9.99974818e-01 -2.20418103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.125769231 meters 0.037276551723773095 Centerline is valid? [True, True] Translation: X:333.65, Y:-36.77, Z:-2.21 [[ 9.69956829e-01 2.43197833e-01 6.21000246e-03 3.33646353e+02] [-2.43194229e-01 9.69976685e-01 -1.34048977e-03 -3.67711348e+01] [-6.34956181e-03 -2.10019549e-04 9.99979819e-01 -2.20756243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.185769231 meters 0.03844634289966838 Centerline is valid? [True, True] Translation: X:333.70, Y:-36.78, Z:-2.21 [[ 9.70058982e-01 2.42773601e-01 6.82270402e-03 3.33703870e+02] [-2.42769241e-01 9.70082948e-01 -1.47267879e-03 -3.67807379e+01] [-6.97611636e-03 -2.27757387e-04 9.99975641e-01 -2.20775347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.245769231 meters 0.03105141433685987 Centerline is valid? [True, True] Translation: X:333.76, Y:-36.81, Z:-2.21 [[ 9.71769565e-01 2.35879510e-01 4.97695601e-03 3.33759972e+02] [-2.35877101e-01 9.71782301e-01 -1.07397233e-03 -3.68063157e+01] [-5.08984583e-03 -1.30296331e-04 9.99987038e-01 -2.21154406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.305769231 meters 0.026306244701023114 Centerline is valid? [True, True] Translation: X:333.82, Y:-36.83, Z:-2.22 [[ 9.73004029e-01 2.30761820e-01 3.48460649e-03 3.33816229e+02] [-2.30760606e-01 9.73010266e-01 -7.52025749e-04 -3.68301294e+01] [-3.56409671e-03 -7.23858201e-05 9.99993646e-01 -2.21526738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.365769231 meters 0.028752510392450567 Centerline is valid? [True, True] Translation: X:333.88, Y:-36.84, Z:-2.22 [[ 9.72275470e-01 2.33836465e-01 9.58145133e-04 3.33875017e+02] [-2.33836375e-01 9.72275942e-01 -2.06872341e-04 -3.68403922e+01] [-9.79955758e-04 -2.29122813e-05 9.99999520e-01 -2.21789945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.425769231 meters 0.03552449660633049 Centerline is valid? [True, True] Translation: X:333.94, Y:-36.84, Z:-2.22 [[ 9.70706475e-01 2.40266460e-01 9.83271326e-04 3.33936574e+02] [-2.40266368e-01 9.70706973e-01 -2.12158873e-04 -3.68429031e+01] [-1.00544299e-03 -3.03030384e-05 9.99999494e-01 -2.21872609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.485769231 meters 0.04291989529079766 Centerline is valid? [True, True] Translation: X:334.00, Y:-36.84, Z:-2.22 [[ 9.69067212e-01 2.46783705e-01 2.55749226e-03 3.33999089e+02] [-2.46783107e-01 9.69070582e-01 -5.51715270e-04 -3.68410197e+01] [-2.61454485e-03 -9.64967075e-05 9.99996577e-01 -2.21746782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.545769231 meters 0.04559338533959294 Centerline is valid? [True, True] Translation: X:334.06, Y:-36.84, Z:-2.22 [[ 9.68775257e-01 2.47927153e-01 2.57436885e-03 3.34059192e+02] [-2.47926550e-01 9.68778673e-01 -5.56074866e-04 -3.68427479e+01] [-2.63185970e-03 -9.95428151e-05 9.99996532e-01 -2.21875543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.605769231 meters 0.04601128664419733 Centerline is valid? [True, True] Translation: X:334.12, Y:-36.85, Z:-2.22 [[ 9.69008330e-01 2.47017468e-01 2.28635415e-03 3.34117553e+02] [-2.47016991e-01 9.69011023e-01 -4.93112520e-04 -3.68477423e+01] [-2.33730978e-03 -8.69381833e-05 9.99997265e-01 -2.21944182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.665769231 meters 0.04537324333870994 Centerline is valid? [True, True] Translation: X:334.18, Y:-36.86, Z:-2.22 [[ 9.69269218e-01 2.45989056e-01 2.56276015e-03 3.34175681e+02] [-2.45988453e-01 9.69272601e-01 -5.52978842e-04 -3.68555832e+01] [-2.62003994e-03 -9.44240353e-05 9.99996563e-01 -2.21998821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.725769231 meters 0.042969668707098306 Centerline is valid? [True, True] Translation: X:334.23, Y:-36.86, Z:-2.22 [[ 9.69940061e-01 2.43324370e-01 3.08673199e-03 3.34234994e+02] [-2.43323486e-01 9.69944967e-01 -6.64719699e-04 -3.68644372e+01] [-3.15570267e-03 -1.06336122e-04 9.99995015e-01 -2.22105444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.785769231 meters 0.04088685109216832 Centerline is valid? [True, True] Translation: X:334.29, Y:-36.87, Z:-2.22 [[ 9.70557983e-01 2.40860442e-01 1.85711500e-03 3.34294361e+02] [-2.40860117e-01 9.70559758e-01 -3.99992384e-04 -3.68721848e+01] [-1.89878342e-03 -5.90891348e-05 9.99998196e-01 -2.22494005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.845769231 meters 0.03886103600444076 Centerline is valid? [True, True] Translation: X:334.35, Y:-36.89, Z:-2.23 [[ 9.71174630e-01 2.38366034e-01 1.21308602e-03 3.34350884e+02] [-2.38365893e-01 9.71175387e-01 -2.61430549e-04 -3.68856778e+01] [-1.24043545e-03 -3.52636166e-05 9.99999230e-01 -2.22634227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.905769231 meters 0.03153906832305735 Centerline is valid? [True, True] Translation: X:334.41, Y:-36.90, Z:-2.22 [[ 9.72676083e-01 2.32138531e-01 3.59712386e-03 3.34408704e+02] [-2.32137254e-01 9.72682731e-01 -7.74307294e-04 -3.69048013e+01] [-3.67860681e-03 -8.18762685e-05 9.99993231e-01 -2.22270522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.965769231 meters 0.024981612753099562 Centerline is valid? [True, True] Translation: X:334.47, Y:-36.93, Z:-2.23 [[ 9.73702470e-01 2.27817379e-01 1.65563031e-03 3.34465432e+02] [-2.27817102e-01 9.73703877e-01 -3.56434696e-04 -3.69271783e+01] [-1.69329567e-03 -3.01195554e-05 9.99998566e-01 -2.22655970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.025769231 meters 0.024814597471776653 Centerline is valid? [True, True] Translation: X:334.52, Y:-36.94, Z:-2.22 [[ 9.73789236e-01 2.27430533e-01 3.14257126e-03 3.34523100e+02] [-2.27429533e-01 9.73794306e-01 -6.76573842e-04 -3.69379279e+01] [-3.21409155e-03 -5.58731919e-05 9.99994833e-01 -2.22435178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.08576923100003 meters 0.02421430382888611 Centerline is valid? [True, True] Translation: X:334.58, Y:-36.95, Z:-2.23 [[ 9.73951188e-01 2.26738462e-01 2.95856299e-03 3.34579983e+02] [-2.26737574e-01 9.73955680e-01 -6.36836955e-04 -3.69516605e+01] [-3.02590467e-03 -5.05692858e-05 9.99995421e-01 -2.22537168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14576923100003 meters 0.019649826119099836 Centerline is valid? [True, True] Translation: X:334.64, Y:-36.97, Z:-2.22 [[ 9.74632067e-01 2.23771220e-01 4.33314472e-03 3.34635804e+02] [-2.23769285e-01 9.74641697e-01 -9.32371921e-04 -3.69722639e+01] [-4.43190152e-03 -6.09051245e-05 9.99990177e-01 -2.22231718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20576923100003 meters 0.016621654309379712 Centerline is valid? [True, True] Translation: X:334.69, Y:-37.00, Z:-2.22 [[ 9.75425578e-01 2.20280890e-01 4.61207391e-03 3.34690575e+02] [-2.20278661e-01 9.75436480e-01 -9.92139373e-04 -3.69963744e+01] [-4.71733449e-03 -4.81833464e-05 9.99988872e-01 -2.22186618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26576923100004 meters 0.015207750693750098 Centerline is valid? [True, True] Translation: X:334.75, Y:-37.02, Z:-2.22 [[ 9.75809904e-01 2.18577864e-01 4.32997959e-03 3.34746137e+02] [-2.18575884e-01 9.75819510e-01 -9.31262691e-04 -3.70175881e+01] [-4.42883197e-03 -3.76937582e-05 9.99990192e-01 -2.22385937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32576923100004 meters 0.015170659646343893 Centerline is valid? [True, True] Translation: X:334.80, Y:-37.03, Z:-2.22 [[ 9.75865055e-01 2.18304756e-01 5.51613060e-03 3.34801821e+02] [-2.18301539e-01 9.75880644e-01 -1.18601487e-03 -3.70323675e+01] [-5.64199777e-03 -4.67893331e-05 9.99984083e-01 -2.22229613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38576923100004 meters 0.01377265529052436 Centerline is valid? [True, True] Translation: X:334.86, Y:-37.05, Z:-2.22 [[ 9.76360740e-01 2.16091280e-01 4.92583392e-03 3.34857486e+02] [-2.16088688e-01 9.76373165e-01 -1.05881042e-03 -3.70529259e+01] [-5.03825175e-03 -3.06360677e-05 9.99987307e-01 -2.22457733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.445769231 meters 0.01353546206781461 Centerline is valid? [True, True] Translation: X:334.91, Y:-37.07, Z:-2.23 [[ 9.76470247e-01 2.15593673e-01 5.02244326e-03 3.34913601e+02] [-2.15590973e-01 9.76483163e-01 -1.07932121e-03 -3.70700458e+01] [-5.13702611e-03 -2.88683871e-05 9.99986805e-01 -2.22543297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.505769231 meters 0.01403374413136084 Centerline is valid? [True, True] Translation: X:334.97, Y:-37.08, Z:-2.22 [[ 9.76319244e-01 2.16281088e-01 4.81921303e-03 3.34969473e+02] [-2.16278612e-01 9.76331137e-01 -1.03544697e-03 -3.70834710e+01] [-4.92909534e-03 -3.13659069e-05 9.99987851e-01 -2.22443805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.565769231 meters 0.014328240832969717 Centerline is valid? [True, True] Translation: X:335.03, Y:-37.10, Z:-2.23 [[ 9.76201687e-01 2.16815968e-01 4.59362337e-03 3.35026687e+02] [-2.16813726e-01 9.76212495e-01 -9.86690421e-04 -3.70963890e+01] [-4.69828277e-03 -3.27517436e-05 9.99988962e-01 -2.22610606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.625769231 meters 0.015486164030818329 Centerline is valid? [True, True] Translation: X:335.08, Y:-37.11, Z:-2.23 [[ 9.76051379e-01 2.17528941e-01 2.20579560e-03 3.35083706e+02] [-2.17528425e-01 9.76053871e-01 -4.73917705e-04 -3.71082651e+01] [-2.25606616e-03 -1.72552153e-05 9.99997455e-01 -2.23149067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.685769231 meters 0.0148924835413652 Centerline is valid? [True, True] Translation: X:335.14, Y:-37.12, Z:-2.23 [[ 9.76116239e-01 2.17241821e-01 1.75460789e-03 3.35139888e+02] [-2.17241494e-01 9.76117816e-01 -3.77024192e-04 -3.71214237e+01] [-1.79460944e-03 -1.31542033e-05 9.99998390e-01 -2.23175539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.745769231 meters 0.013276980956559447 Centerline is valid? [True, True] Translation: X:335.19, Y:-37.14, Z:-2.23 [[ 9.76789963e-01 2.14160135e-01 4.09934791e-03 3.35194791e+02] [-2.14158329e-01 9.76798565e-01 -8.79833681e-04 -3.71395663e+01] [-4.19266246e-03 -1.84967898e-05 9.99991211e-01 -2.22880921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.805769231 meters 0.011998236438662551 Centerline is valid? [True, True] Translation: X:335.25, Y:-37.16, Z:-2.23 [[ 9.77863059e-01 2.09184607e-01 5.06348681e-03 3.35250026e+02] [-2.09181786e-01 9.77876168e-01 -1.08632849e-03 -3.71643793e+01] [-5.17870628e-03 3.09128938e-06 9.99986590e-01 -2.22852129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.865769231 meters 0.012371948869521709 Centerline is valid? [True, True] Translation: X:335.31, Y:-37.18, Z:-2.23 [[ 9.78396324e-01 2.06634288e-01 6.55013788e-03 3.35306302e+02] [-2.06629513e-01 9.78418249e-01 -1.40488436e-03 -3.71846704e+01] [-6.69907172e-03 2.10818938e-05 9.99977561e-01 -2.22559166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.925769231 meters 0.013216450435467828 Centerline is valid? [True, True] Translation: X:335.36, Y:-37.20, Z:-2.23 [[ 9.78831458e-01 2.04575989e-01 6.13532752e-03 3.35362950e+02] [-2.04571761e-01 9.78850685e-01 -1.31561892e-03 -3.72041377e+01] [-6.27471359e-03 3.26544324e-05 9.99980313e-01 -2.22580836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.985769231 meters 0.015550278205672941 Centerline is valid? [True, True] Translation: X:335.42, Y:-37.23, Z:-2.24 [[ 9.79159357e-01 2.03079220e-01 2.40507111e-03 3.35419421e+02] [-2.03078567e-01 9.79162310e-01 -5.15419426e-04 -3.72285773e+01] [-2.45962596e-03 1.62593600e-05 9.99996975e-01 -2.23515623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.045769231 meters 0.014703582598023165 Centerline is valid? [True, True] Translation: X:335.48, Y:-37.25, Z:-2.23 [[ 9.79002287e-01 2.03817175e-01 3.61668129e-03 3.35475846e+02] [-2.03815700e-01 9.79008968e-01 -7.75775679e-04 -3.72451078e+01] [-3.69887982e-03 2.23497359e-05 9.99993159e-01 -2.23180622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.105769231 meters 0.011869668269235578 Centerline is valid? [True, True] Translation: X:335.53, Y:-37.25, Z:-2.23 [[ 9.77728733e-01 2.09789380e-01 5.91103535e-03 3.35534905e+02] [-2.09785552e-01 9.77746601e-01 -1.26745443e-03 -3.72514731e+01] [-6.04539320e-03 -8.23191470e-07 9.99981726e-01 -2.22751681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.165769231 meters 0.015342541486471893 Centerline is valid? [True, True] Translation: X:335.59, Y:-37.25, Z:-2.23 [[ 9.75972456e-01 2.17857525e-01 3.98289605e-03 3.35594379e+02] [-2.17855854e-01 9.75980583e-01 -8.53949590e-04 -3.72539493e+01] [-4.07326855e-03 -3.42659419e-05 9.99991704e-01 -2.23084460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.225769231 meters 0.01970026657161387 Centerline is valid? [True, True] Translation: X:335.65, Y:-37.26, Z:-2.23 [[ 9.74826771e-01 2.22927589e-01 4.00719412e-03 3.35654533e+02] [-2.22925941e-01 9.74835005e-01 -8.58888547e-04 -3.72592653e+01] [-4.09782306e-03 -5.60399739e-05 9.99991602e-01 -2.23185864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.285769231 meters 0.024189989306190086 Centerline is valid? [True, True] Translation: X:335.71, Y:-37.26, Z:-2.24 [[ 9.73760540e-01 2.27564898e-01 2.15134174e-03 3.35714811e+02] [-2.27564434e-01 9.73762916e-01 -4.61136552e-04 -3.72623690e+01] [-2.19983530e-03 -4.05322886e-05 9.99997580e-01 -2.23562121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.345769231 meters 0.025525255050117643 Centerline is valid? [True, True] Translation: X:335.77, Y:-37.27, Z:-2.23 [[ 9.73535397e-01 2.28501857e-01 3.96625847e-03 3.35771942e+02] [-2.28500290e-01 9.73543474e-01 -8.50026337e-04 -3.72693871e+01] [-4.05555765e-03 -7.87604830e-05 9.99991773e-01 -2.23342092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.405769231 meters 0.024158302678811538 Centerline is valid? [True, True] Translation: X:335.83, Y:-37.28, Z:-2.23 [[ 9.73748337e-01 2.27548429e-01 5.99078045e-03 3.35829137e+02] [-2.27544839e-01 9.73766758e-01 -1.28332508e-03 -3.72836919e+01] [-6.12564146e-03 -1.13535511e-04 9.99981232e-01 -2.22913722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.465769231 meters 0.026341679477964258 Centerline is valid? [True, True] Translation: X:335.89, Y:-37.29, Z:-2.23 [[ 9.73336836e-01 2.29291430e-01 6.39087179e-03 3.35888939e+02] [-2.29287384e-01 9.73357808e-01 -1.36869803e-03 -3.72872883e+01] [-6.53443569e-03 -1.33142059e-04 9.99978641e-01 -2.22858318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.525769231 meters 0.03156756384739052 Centerline is valid? [True, True] Translation: X:335.95, Y:-37.28, Z:-2.23 [[ 9.71800057e-01 2.35729367e-01 6.02616886e-03 3.35950817e+02] [-2.35725895e-01 9.71818727e-01 -1.29028951e-03 -3.72838808e+01] [-6.16050288e-03 -1.66620633e-04 9.99981010e-01 -2.22946585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.58576923100003 meters 0.037400405952917944 Centerline is valid? [True, True] Translation: X:336.01, Y:-37.28, Z:-2.23 [[ 9.70379411e-01 2.41491886e-01 6.74296336e-03 3.36013401e+02] [-2.41487678e-01 9.70402812e-01 -1.44367211e-03 -3.72783404e+01] [-6.89202570e-03 -2.27432867e-04 9.99976224e-01 -2.22891631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64576923100003 meters 0.03746901442218398 Centerline is valid? [True, True] Translation: X:336.07, Y:-37.28, Z:-2.23 [[ 9.70684323e-01 2.40257582e-01 6.94542606e-03 3.36070990e+02] [-2.40253086e-01 9.70709145e-01 -1.48698674e-03 -3.72840199e+01] [-7.09924843e-03 -2.25265330e-04 9.99974775e-01 -2.22912187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70576923100003 meters 0.03159269735038705 Centerline is valid? [True, True] Translation: X:336.13, Y:-37.30, Z:-2.24 [[ 9.72381805e-01 2.33354577e-01 4.38927782e-03 3.36128185e+02] [-2.33352713e-01 9.72391706e-01 -9.39372826e-04 -3.72986690e+01] [-4.48730430e-03 -1.10820843e-04 9.99989926e-01 -2.23572012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76576923100004 meters 0.026007650697624847 Centerline is valid? [True, True] Translation: X:336.19, Y:-37.32, Z:-2.24 [[ 9.73392647e-01 2.29100345e-01 4.44831317e-03 3.36185725e+02] [-2.29098386e-01 9.73402806e-01 -9.51979577e-04 -3.73168668e+01] [-4.54809938e-03 -9.24514473e-05 9.99989653e-01 -2.23638874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82576923100004 meters 0.025850830042731074 Centerline is valid? [True, True] Translation: X:336.24, Y:-37.33, Z:-2.24 [[ 9.73720337e-01 2.27717003e-01 3.69758329e-03 3.36242571e+02] [-2.27715640e-01 9.73727355e-01 -7.91287343e-04 -3.73297662e+01] [-3.78062758e-03 -7.15049656e-05 9.99992851e-01 -2.23751567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88576923100004 meters 0.019101105014660665 Centerline is valid? [True, True] Translation: X:336.30, Y:-37.36, Z:-2.24 [[ 9.74804296e-01 2.23002080e-01 5.16303290e-03 3.36298320e+02] [-2.22999357e-01 9.74817966e-01 -1.10445545e-03 -3.73568704e+01] [-5.27931309e-03 -7.47250985e-05 9.99986062e-01 -2.23737408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.945769231 meters 0.01288985083395204 Centerline is valid? [True, True] Translation: X:336.35, Y:-37.39, Z:-2.24 [[ 9.76874079e-01 2.13746337e-01 5.43484805e-03 3.36351319e+02] [-2.13743177e-01 9.76889197e-01 -1.16256334e-03 -3.73884559e+01] [-5.55773800e-03 -2.59837000e-05 9.99984555e-01 -2.23766654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.005769231 meters 0.012080694130494073 Centerline is valid? [True, True] Translation: X:336.41, Y:-37.41, Z:-2.24 [[ 9.77917708e-01 2.08964937e-01 3.25755107e-03 3.36405685e+02] [-2.08963775e-01 9.77923134e-01 -6.96799580e-04 -3.74142222e+01] [-3.33124123e-03 7.02477742e-07 9.99994451e-01 -2.24051696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.065769231 meters 0.011776383251087522 Centerline is valid? [True, True] Translation: X:336.46, Y:-37.44, Z:-2.24 [[ 9.78192164e-01 2.07627420e-01 5.56279226e-03 3.36461557e+02] [-2.07624012e-01 9.78207981e-01 -1.18952248e-03 -3.74358194e+01] [-5.68854527e-03 8.61232086e-06 9.99983820e-01 -2.23531407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.125769231 meters 0.011829890537114637 Centerline is valid? [True, True] Translation: X:336.52, Y:-37.45, Z:-2.23 [[ 9.77568046e-01 2.10489515e-01 7.40805501e-03 3.36518946e+02] [-2.10483558e-01 9.77596115e-01 -1.58363168e-03 -3.74538280e+01] [-7.57542366e-03 -1.11660427e-05 9.99971306e-01 -2.23369245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.185769231 meters 0.01356608353631039 Centerline is valid? [True, True] Translation: X:336.58, Y:-37.47, Z:-2.23 [[ 9.76578421e-01 2.15053609e-01 6.82146464e-03 3.36576695e+02] [-2.15048670e-01 9.76602244e-01 -1.45807875e-03 -3.74680775e+01] [-6.97542277e-03 -4.30186527e-05 9.99975671e-01 -2.23403064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.245769231 meters 0.02097917008227482 Centerline is valid? [True, True] Translation: X:336.64, Y:-37.47, Z:-2.24 [[ 9.74559452e-01 2.24071951e-01 5.06312729e-03 3.36636712e+02] [-2.24069352e-01 9.74572601e-01 -1.08217610e-03 -3.74708671e+01] [-5.17687044e-03 -7.98467017e-05 9.99986597e-01 -2.23678451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.305769231 meters 0.029642341778646494 Centerline is valid? [True, True] Translation: X:336.70, Y:-37.47, Z:-2.24 [[ 9.72771409e-01 2.31740589e-01 3.47647356e-03 3.36696697e+02] [-2.31739413e-01 9.72777617e-01 -7.42956679e-04 -3.74736761e+01] [-3.55400889e-03 -8.29089260e-05 9.99993681e-01 -2.24146676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.365769231 meters 0.03154592946884516 Centerline is valid? [True, True] Translation: X:336.76, Y:-37.48, Z:-2.24 [[ 9.72030049e-01 2.34795487e-01 5.35388605e-03 3.36755169e+02] [-2.34792745e-01 9.72044782e-01 -1.14397850e-03 -3.74842574e+01] [-5.47281799e-03 -1.45072120e-04 9.99985013e-01 -2.23790035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.425769231 meters 0.037661914142084627 Centerline is valid? [True, True] Translation: X:336.82, Y:-37.49, Z:-2.23 [[ 9.70717574e-01 2.40133225e-01 6.58983529e-03 3.36816566e+02] [-2.40129196e-01 9.70739918e-01 -1.40775796e-03 -3.74863423e+01] [-6.73506563e-03 -2.15876458e-04 9.99977296e-01 -2.23464931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.485769231 meters 0.047800893905751 Centerline is valid? [True, True] Translation: X:336.88, Y:-37.48, Z:-2.24 [[ 9.69535791e-01 2.44912125e-01 4.28953844e-03 3.36878732e+02] [-2.44910465e-01 9.69545267e-01 -9.16355956e-04 -3.74799099e+01] [-4.38332838e-03 -1.62112957e-04 9.99990380e-01 -2.24247382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.545769231 meters 0.044841041156606344 Centerline is valid? [True, True] Translation: X:336.94, Y:-37.49, Z:-2.24 [[ 9.69270836e-01 2.45941115e-01 5.19749174e-03 3.36936231e+02] [-2.45938692e-01 9.69284750e-01 -1.11027230e-03 -3.74921612e+01] [-5.31091109e-03 -2.02109753e-04 9.99985877e-01 -2.24059139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.605769231 meters 0.04861993569250301 Centerline is valid? [True, True] Translation: X:337.00, Y:-37.49, Z:-2.24 [[ 9.68817219e-01 2.47711474e-01 5.67651542e-03 3.36996108e+02] [-2.47708616e-01 9.68833821e-01 -1.21229853e-03 -3.74912861e+01] [-5.79990038e-03 -2.31626087e-04 9.99983154e-01 -2.23875312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.665769231 meters 0.044741381182362275 Centerline is valid? [True, True] Translation: X:337.06, Y:-37.50, Z:-2.24 [[ 9.69850110e-01 2.43646883e-01 5.19234783e-03 3.37055256e+02] [-2.43644435e-01 9.69863991e-01 -1.10860853e-03 -3.75023457e+01] [-5.30598020e-03 -1.89902548e-04 9.99985905e-01 -2.24107867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.725769231 meters 0.03861548348461443 Centerline is valid? [True, True] Translation: X:337.11, Y:-37.52, Z:-2.24 [[ 9.71280847e-01 2.37860178e-01 6.00441702e-03 3.37114060e+02] [-2.37856794e-01 9.71299389e-01 -1.28195052e-03 -3.75182838e+01] [-6.13701156e-03 -1.83057392e-04 9.99981152e-01 -2.24040730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.785769231 meters 0.026722312625826413 Centerline is valid? [True, True] Translation: X:337.17, Y:-37.54, Z:-2.24 [[ 9.73767257e-01 2.27444324e-01 6.81232936e-03 3.37169957e+02] [-2.27439712e-01 9.73791077e-01 -1.45450562e-03 -3.75443169e+01] [-6.96460459e-03 -1.33044280e-04 9.99975738e-01 -2.23854069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.845769231 meters 0.01835026679761912 Centerline is valid? [True, True] Translation: X:337.23, Y:-37.57, Z:-2.24 [[ 9.75399710e-01 2.20379430e-01 5.32097892e-03 3.37226922e+02] [-2.20376512e-01 9.75414221e-01 -1.13597850e-03 -3.75663511e+01] [-5.44050480e-03 -6.45856690e-05 9.99985198e-01 -2.24120593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.905769231 meters 0.017874635776817277 Centerline is valid? [True, True] Translation: X:337.28, Y:-37.58, Z:-2.24 [[ 9.75702944e-01 2.19011756e-01 6.13322216e-03 3.37283270e+02] [-2.19007852e-01 9.75722218e-01 -1.30934634e-03 -3.75781400e+01] [-6.27108337e-03 -6.56907340e-05 9.99980334e-01 -2.24061515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.965769231 meters 0.017486744103607274 Centerline is valid? [True, True] Translation: X:337.34, Y:-37.59, Z:-2.24 [[ 9.75520200e-01 2.19805049e-01 6.78819225e-03 3.37340843e+02] [-2.19800289e-01 9.75543815e-01 -1.44859960e-03 -3.75891035e+01] [-6.94058847e-03 -7.89084453e-05 9.99975911e-01 -2.23927825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.025769231 meters 0.018357854476428376 Centerline is valid? [True, True] Translation: X:337.40, Y:-37.60, Z:-2.24 [[ 9.75216210e-01 2.21215259e-01 4.14160981e-03 3.37399349e+02] [-2.21213501e-01 9.75225003e-01 -8.83752030e-04 -3.75974330e+01] [-4.23450087e-03 -5.43306988e-05 9.99991033e-01 -2.24477446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.08576923100003 meters 0.018934503178882102 Centerline is valid? [True, True] Translation: X:337.46, Y:-37.61, Z:-2.24 [[ 9.75090710e-01 2.21734897e-01 5.63400477e-03 3.37457337e+02] [-2.21731654e-01 9.75106984e-01 -1.20180139e-03 -3.76094035e+01] [-5.76023870e-03 -7.73718205e-05 9.99983407e-01 -2.24102794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14576923100003 meters 0.022946667641999086 Centerline is valid? [True, True] Translation: X:337.52, Y:-37.61, Z:-2.24 [[ 9.74304190e-01 2.25144263e-01 6.43483238e-03 3.37515831e+02] [-2.25140109e-01 9.74325432e-01 -1.37226635e-03 -3.76123491e+01] [-6.57857874e-03 -1.11734003e-04 9.99978355e-01 -2.24046308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20576923100003 meters 0.03241015985551535 Centerline is valid? [True, True] Translation: X:337.58, Y:-37.61, Z:-2.25 [[ 9.72525231e-01 2.32767691e-01 3.72526044e-03 3.37577651e+02] [-2.32766356e-01 9.72532361e-01 -7.94241305e-04 -3.76078661e+01] [-3.80781005e-03 -9.46955887e-05 9.99992746e-01 -2.24688051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26576923100004 meters 0.037879081391050846 Centerline is valid? [True, True] Translation: X:337.64, Y:-37.61, Z:-2.25 [[ 9.70779188e-01 2.39934044e-01 4.40716005e-03 3.37639380e+02] [-2.39932249e-01 9.70789181e-01 -9.39499963e-04 -3.76059120e+01] [-4.50384132e-03 -1.45372812e-04 9.99989847e-01 -2.24542928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32576923100004 meters 0.04597962440932159 Centerline is valid? [True, True] Translation: X:337.70, Y:-37.60, Z:-2.24 [[ 9.69093812e-01 2.46634926e-01 5.32894800e-03 3.37700534e+02] [-2.46632402e-01 9.69108440e-01 -1.13602176e-03 -3.76015230e+01] [-5.44451113e-03 -2.13379585e-04 9.99985156e-01 -2.24399979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38576923100004 meters 0.04942718307254208 Centerline is valid? [True, True] Translation: X:337.76, Y:-37.60, Z:-2.24 [[ 9.68403180e-01 2.49321243e-01 5.84793999e-03 3.37762416e+02] [-2.49318253e-01 9.68420805e-01 -1.24648214e-03 -3.76011932e+01] [-5.97404123e-03 -2.50900915e-04 9.99982124e-01 -2.24341617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.445769231 meters 0.05479514627926604 Centerline is valid? [True, True] Translation: X:337.82, Y:-37.60, Z:-2.25 [[ 9.67475345e-01 2.52921405e-01 4.71371320e-03 3.37823484e+02] [-2.52919505e-01 9.67486803e-01 -1.00476376e-03 -3.75990541e+01] [-4.81458157e-03 -2.20105845e-04 9.99988386e-01 -2.24716311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.505769231 meters 0.05086826197361245 Centerline is valid? [True, True] Translation: X:337.88, Y:-37.61, Z:-2.24 [[ 9.68520259e-01 2.48830254e-01 7.21201453e-03 3.37882662e+02] [-2.48825694e-01 9.68547062e-01 -1.53709423e-03 -3.76118420e+01] [-7.36765103e-03 -3.05827626e-04 9.99972812e-01 -2.24234084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.565769231 meters 0.045524499738055356 Centerline is valid? [True, True] Translation: X:337.94, Y:-37.63, Z:-2.24 [[ 9.69808529e-01 2.43777119e-01 6.64327037e-03 3.37940634e+02] [-2.43773132e-01 9.69831251e-01 -1.41583369e-03 -3.76307124e+01] [-6.78799907e-03 -2.46363234e-04 9.99976931e-01 -2.24400891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.625769231 meters 0.04090175446481386 Centerline is valid? [True, True] Translation: X:338.00, Y:-37.65, Z:-2.25 [[ 9.70940241e-01 2.39244613e-01 6.08792280e-03 3.37997231e+02] [-2.39241176e-01 9.70959307e-01 -1.29749701e-03 -3.76476797e+01] [-6.22154447e-03 -1.96689746e-04 9.99980627e-01 -2.24504741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.685769231 meters 0.040243897415474704 Centerline is valid? [True, True] Translation: X:338.05, Y:-37.66, Z:-2.25 [[ 9.71287658e-01 2.37841475e-01 5.63191641e-03 3.38053459e+02] [-2.37838510e-01 9.71303970e-01 -1.20026894e-03 -3.76597180e+01] [-5.75577650e-03 -1.73680203e-04 9.99983420e-01 -2.24777934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.745769231 meters 0.0293716320535438 Centerline is valid? [True, True] Translation: X:338.11, Y:-37.69, Z:-2.24 [[ 9.72658790e-01 2.32132145e-01 7.03878924e-03 3.38109195e+02] [-2.32127368e-01 9.72684243e-01 -1.49960879e-03 -3.76882520e+01] [-7.19462679e-03 -1.75287947e-04 9.99974103e-01 -2.24474796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.805769231 meters 0.026918973874302383 Centerline is valid? [True, True] Translation: X:338.16, Y:-37.71, Z:-2.25 [[ 9.74007626e-01 2.26444826e-01 5.64672390e-03 3.38164817e+02] [-2.26441656e-01 9.74023988e-01 -1.20304405e-03 -3.77078212e+01] [-5.77246763e-03 -1.06879433e-04 9.99983333e-01 -2.24939565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.865769231 meters 0.01666085292805579 Centerline is valid? [True, True] Translation: X:338.22, Y:-37.74, Z:-2.25 [[ 9.75653537e-01 2.19199780e-01 7.18560551e-03 3.38218838e+02] [-2.19194451e-01 9.75679994e-01 -1.53057496e-03 -3.77440382e+01] [-7.34635323e-03 -8.17339877e-05 9.99973012e-01 -2.24668049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.925769231 meters 0.014132525889254007 Centerline is valid? [True, True] Translation: X:338.27, Y:-37.77, Z:-2.24 [[ 9.76275049e-01 2.16401988e-01 7.56364524e-03 3.38274661e+02] [-2.16396002e-01 9.76304346e-01 -1.61085037e-03 -3.77669115e+01] [-7.73301094e-03 -6.41095632e-05 9.99970098e-01 -2.24499845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.985769231 meters 0.014520716662047465 Centerline is valid? [True, True] Translation: X:338.33, Y:-37.79, Z:-2.25 [[ 9.76206080e-01 2.16752406e-01 6.33121862e-03 3.38330013e+02] [-2.16748220e-01 9.76226609e-01 -1.34818551e-03 -3.77875246e+01] [-6.47292654e-03 -5.61734793e-05 9.99979049e-01 -2.24849190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.045769231 meters 0.019595477402975646 Centerline is valid? [True, True] Translation: X:338.39, Y:-37.80, Z:-2.25 [[ 9.74884143e-01 2.22617581e-01 6.50535727e-03 3.38389244e+02] [-2.22613295e-01 9.74905843e-01 -1.38492043e-03 -3.77972872e+01] [-6.65041845e-03 -9.80420471e-05 9.99977881e-01 -2.24820768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.105769231 meters 0.026960274037662553 Centerline is valid? [True, True] Translation: X:338.45, Y:-37.80, Z:-2.25 [[ 9.73295808e-01 2.29509719e-01 4.53428595e-03 3.38448036e+02] [-2.29507712e-01 9.73306364e-01 -9.65238198e-04 -3.78030147e+01] [-4.63478092e-03 -1.01191300e-04 9.99989254e-01 -2.25306988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.165769231 meters 0.034599246293336126 Centerline is valid? [True, True] Translation: X:338.51, Y:-37.80, Z:-2.25 [[ 9.71722649e-01 2.36060474e-01 5.52689943e-03 3.38508861e+02] [-2.36057598e-01 9.71738353e-01 -1.17633700e-03 -3.78030953e+01] [-5.64838682e-03 -1.61593299e-04 9.99984035e-01 -2.25268566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.225769231 meters 0.03835122495483862 Centerline is valid? [True, True] Translation: X:338.57, Y:-37.81, Z:-2.25 [[ 9.70665464e-01 2.40361224e-01 5.91935597e-03 3.38569319e+02] [-2.40358005e-01 9.70683492e-01 -1.25985985e-03 -3.78081299e+01] [-6.04864258e-03 -1.99862146e-04 9.99981687e-01 -2.25049169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.285769231 meters 0.04544419775933414 Centerline is valid? [True, True] Translation: X:338.63, Y:-37.80, Z:-2.25 [[ 9.70288436e-01 2.41832332e-01 7.58112640e-03 3.38629089e+02] [-2.41827098e-01 9.70318016e-01 -1.61337488e-03 -3.78049802e+01] [-7.74626973e-03 -2.67882805e-04 9.99969961e-01 -2.24859363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.345769231 meters 0.036531626318650805 Centerline is valid? [True, True] Translation: X:338.69, Y:-37.82, Z:-2.25 [[ 9.71402100e-01 2.37300148e-01 8.16086350e-03 3.38686367e+02] [-2.37293929e-01 9.71436347e-01 -1.73607229e-03 -3.78239837e+01] [-8.33972964e-03 -2.50099098e-04 9.99965193e-01 -2.24876257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.405769231 meters 0.030696811332829477 Centerline is valid? [True, True] Translation: X:338.74, Y:-37.84, Z:-2.25 [[ 9.72697033e-01 2.31937773e-01 8.08400112e-03 3.38744953e+02] [-2.31931486e-01 9.72730604e-01 -1.71966521e-03 -3.78400716e+01] [-8.26241061e-03 -2.02221151e-04 9.99965845e-01 -2.24883202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.465769231 meters 0.02595900823865551 Centerline is valid? [True, True] Translation: X:338.80, Y:-37.86, Z:-2.24 [[ 9.73662634e-01 2.27738817e-01 1.07752257e-02 3.38802384e+02] [-2.27727392e-01 9.73722230e-01 -2.29199710e-03 -3.78575883e+01] [-1.10140535e-02 -2.22182101e-04 9.99939319e-01 -2.24367943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.525769231 meters 0.024154272347577607 Centerline is valid? [True, True] Translation: X:338.86, Y:-37.87, Z:-2.25 [[ 9.74196023e-01 2.25536974e-01 8.67081399e-03 3.38859762e+02] [-2.25529490e-01 9.74234596e-01 -1.84414863e-03 -3.78717319e+01] [-8.86333067e-03 -1.58961997e-04 9.99960707e-01 -2.24937668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.58576923100003 meters 0.024796936696123165 Centerline is valid? [True, True] Translation: X:338.92, Y:-37.88, Z:-2.25 [[ 9.74293120e-01 2.25211645e-01 5.71233569e-03 3.38916817e+02] [-2.25208392e-01 9.74309861e-01 -1.21477787e-03 -3.78804567e+01] [-5.83916711e-03 -1.02916214e-04 9.99982947e-01 -2.25470184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64576923100003 meters 0.02501963393886862 Centerline is valid? [True, True] Translation: X:338.97, Y:-37.89, Z:-2.25 [[ 9.73873577e-01 2.27005752e-01 6.21654841e-03 3.38974568e+02] [-2.27001939e-01 9.73893410e-01 -1.32159039e-03 -3.78904714e+01] [-6.35426415e-03 -1.24106578e-04 9.99979804e-01 -2.25431531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70576923100003 meters 0.03014023752319887 Centerline is valid? [True, True] Translation: X:339.03, Y:-37.89, Z:-2.26 [[ 9.73491633e-01 2.28635118e-01 6.32637318e-03 3.39034222e+02] [-2.28631206e-01 9.73512180e-01 -1.34462871e-03 -3.78889361e+01] [-6.46623068e-03 -1.37421524e-04 9.99979084e-01 -2.25512014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76576923100004 meters 0.030322361287141265 Centerline is valid? [True, True] Translation: X:339.09, Y:-37.90, Z:-2.26 [[ 9.73518262e-01 2.28531956e-01 5.94459273e-03 3.39091251e+02] [-2.28528502e-01 9.73536403e-01 -1.26315636e-03 -3.78988862e+01] [-6.07594902e-03 -1.28803082e-04 9.99981533e-01 -2.25620666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82576923100004 meters 0.021184036651779814 Centerline is valid? [True, True] Translation: X:339.15, Y:-37.92, Z:-2.25 [[ 9.74743640e-01 2.23231756e-01 6.51299619e-03 3.39148228e+02] [-2.23227494e-01 9.74765393e-01 -1.38342795e-03 -3.79199711e+01] [-6.65746834e-03 -1.05392227e-04 9.99977833e-01 -2.25496908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88576923100004 meters 0.017771586510296037 Centerline is valid? [True, True] Translation: X:339.20, Y:-37.94, Z:-2.25 [[ 9.76029199e-01 2.17502949e-01 7.71168805e-03 3.39203850e+02] [-2.17496796e-01 9.76059661e-01 -1.63789042e-03 -3.79352138e+01] [-7.88331362e-03 -7.86385684e-05 9.99968923e-01 -2.25281626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.945769231 meters 0.013597518780713096 Centerline is valid? [True, True] Translation: X:339.26, Y:-37.96, Z:-2.25 [[ 9.76832528e-01 2.13806366e-01 9.22222273e-03 3.39260125e+02] [-2.13797407e-01 9.76876059e-01 -1.95809639e-03 -3.79554533e+01] [-9.42762207e-03 -5.89550652e-05 9.99955557e-01 -2.25035538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.005769231 meters 0.016153474587315687 Centerline is valid? [True, True] Translation: X:339.32, Y:-37.96, Z:-2.25 [[ 9.76477299e-01 2.15386945e-01 1.00273818e-02 3.39317507e+02] [-2.15376444e-01 9.76528779e-01 -2.12840308e-03 -3.79620764e+01] [-1.02504572e-02 -8.13245508e-05 9.99947459e-01 -2.24816153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.065769231 meters 0.016504582726455677 Centerline is valid? [True, True] Translation: X:339.37, Y:-37.97, Z:-2.25 [[ 9.75941028e-01 2.17879716e-01 8.21826677e-03 3.39374693e+02] [-2.17872756e-01 9.75975626e-01 -1.74377003e-03 -3.79737441e+01] [-8.40076017e-03 -8.87197069e-05 9.99964709e-01 -2.25251547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.125769231 meters 0.015984709482901798 Centerline is valid? [True, True] Translation: X:339.43, Y:-37.99, Z:-2.26 [[ 9.76139429e-01 2.17042025e-01 6.67642275e-03 3.39430854e+02] [-2.17037415e-01 9.76162259e-01 -1.41610908e-03 -3.79859055e+01] [-6.82462709e-03 -6.67136317e-05 9.99976710e-01 -2.25599777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.185769231 meters 0.013907164603968568 Centerline is valid? [True, True] Translation: X:339.49, Y:-38.00, Z:-2.26 [[ 9.76816582e-01 2.13937535e-01 7.75224079e-03 3.39487478e+02] [-2.13931227e-01 9.76847341e-01 -1.64375672e-03 -3.80009462e+01] [-7.92441707e-03 -5.27975597e-05 9.99968600e-01 -2.25525820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.245769231 meters 0.0118537826159695 Centerline is valid? [True, True] Translation: X:339.54, Y:-38.02, Z:-2.25 [[ 9.77876545e-01 2.08994344e-01 8.87848645e-03 3.39543035e+02] [-2.08985870e-01 9.77916849e-01 -1.88207590e-03 -3.80235961e+01] [-9.07576472e-03 -1.50403347e-05 9.99958814e-01 -2.25412046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.305769231 meters 0.011840750229869471 Centerline is valid? [True, True] Translation: X:339.60, Y:-38.05, Z:-2.25 [[ 9.78624389e-01 2.05449077e-01 9.21857299e-03 3.39597621e+02] [-2.05439789e-01 9.78667807e-01 -1.95363678e-03 -3.80464108e+01] [-9.42329349e-03 1.80149147e-05 9.99955600e-01 -2.25490474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.365769231 meters 0.01232796803861288 Centerline is valid? [True, True] Translation: X:339.65, Y:-38.07, Z:-2.25 [[ 9.78842554e-01 2.04376971e-01 9.86450932e-03 3.39652324e+02] [-2.04366289e-01 9.78892258e-01 -2.08976460e-03 -3.80668144e+01] [-1.00833916e-02 2.95773608e-05 9.99949161e-01 -2.25383694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.425769231 meters 0.011737609585455534 Centerline is valid? [True, True] Translation: X:339.71, Y:-38.09, Z:-2.26 [[ 9.78569194e-01 2.05741652e-01 8.52667039e-03 3.39708788e+02] [-2.05733727e-01 9.78606342e-01 -1.80586100e-03 -3.80857121e+01] [-8.71579454e-03 1.29362653e-05 9.99962017e-01 -2.25558814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.485769231 meters 0.011829599296160386 Centerline is valid? [True, True] Translation: X:339.76, Y:-38.10, Z:-2.26 [[ 9.77995053e-01 2.08511368e-01 6.97751270e-03 3.39764960e+02] [-2.08506133e-01 9.78019943e-01 -1.47748133e-03 -3.81024332e+01] [-7.13221823e-03 -9.88476414e-06 9.99974565e-01 -2.26039298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.545769231 meters 0.011778568180279366 Centerline is valid? [True, True] Translation: X:339.82, Y:-38.13, Z:-2.26 [[ 9.78566389e-01 2.05769780e-01 8.16208637e-03 3.39820105e+02] [-2.05762526e-01 9.78600428e-01 -1.72784995e-03 -3.81279134e+01] [-8.34296052e-03 1.13643812e-05 9.99965197e-01 -2.25842665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.605769231 meters 0.013880151308199409 Centerline is valid? [True, True] Translation: X:339.88, Y:-38.16, Z:-2.26 [[ 9.79580660e-01 2.00799870e-01 1.00569519e-02 3.39875103e+02] [-2.00788599e-01 9.79632282e-01 -2.12847497e-03 -3.81567235e+01] [-1.02795122e-02 6.56916350e-05 9.99947162e-01 -2.25549258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.665769231 meters 0.013876461999135998 Centerline is valid? [True, True] Translation: X:339.93, Y:-38.17, Z:-2.25 [[ 9.79607275e-01 2.00658938e-01 1.02751132e-02 3.39932821e+02] [-2.00647168e-01 9.79661159e-01 -2.17443117e-03 -3.81738244e+01] [-1.05024483e-02 6.84162315e-05 9.99944845e-01 -2.25455768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.725769231 meters 0.011851989701122912 Centerline is valid? [True, True] Translation: X:339.99, Y:-38.18, Z:-2.26 [[ 9.78308093e-01 2.06999427e-01 8.03197143e-03 3.39991849e+02] [-2.06992450e-01 9.78341064e-01 -1.69964571e-03 -3.81800322e+01] [-8.20983317e-03 2.19713258e-07 9.99966299e-01 -2.25861820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.785769231 meters 0.012607415515437 Centerline is valid? [True, True] Translation: X:340.05, Y:-38.19, Z:-2.26 [[ 9.77600332e-01 2.10352371e-01 7.03358589e-03 3.40049191e+02] [-2.10347108e-01 9.77625634e-01 -1.48825188e-03 -3.81909627e+01] [-7.18927117e-03 -2.45789149e-05 9.99974157e-01 -2.26187504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.845769231 meters 0.011968651152975799 Centerline is valid? [True, True] Translation: X:340.11, Y:-38.21, Z:-2.26 [[ 9.78239581e-01 2.07235088e-01 1.00468681e-02 3.40105854e+02] [-2.07224190e-01 9.78291173e-01 -2.12528018e-03 -3.82122524e+01] [-1.02691950e-02 -2.92092311e-06 9.99947270e-01 -2.25693847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.905769231 meters 0.012147577794671429 Centerline is valid? [True, True] Translation: X:340.16, Y:-38.23, Z:-2.26 [[ 9.78398370e-01 2.06398956e-01 1.16662609e-02 3.40164184e+02] [-2.06384204e-01 9.78467920e-01 -2.46764676e-03 -3.82285979e+01] [-1.19243818e-02 6.60959403e-06 9.99928902e-01 -2.25511345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.965769231 meters 0.012135232847594844 Centerline is valid? [True, True] Translation: X:340.22, Y:-38.24, Z:-2.26 [[ 9.78161120e-01 2.07510948e-01 1.18334384e-02 3.40223073e+02] [-2.07495852e-01 9.78232695e-01 -2.50300814e-03 -3.82424605e+01] [-1.20952580e-02 -7.04415032e-06 9.99926850e-01 -2.25589345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.025769231 meters 0.012424916779069968 Centerline is valid? [True, True] Translation: X:340.28, Y:-38.26, Z:-2.25 [[ 9.77992230e-01 2.08219182e-01 1.32654176e-02 3.40281684e+02] [-2.08200277e-01 9.78082191e-01 -2.80582376e-03 -3.82552611e+01] [-1.35588951e-02 -1.77897844e-05 9.99908074e-01 -2.25310794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.08576923100003 meters 0.012667186122450057 Centerline is valid? [True, True] Translation: X:340.34, Y:-38.28, Z:-2.25 [[ 9.78590286e-01 2.05300492e-01 1.45862864e-02 3.40339258e+02] [-2.05277309e-01 9.78698987e-01 -3.08529990e-03 -3.82795138e+01] [-1.49089973e-02 2.50108889e-05 9.99888854e-01 -2.25214720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14576923100003 meters 0.015602056113398011 Centerline is valid? [True, True] Translation: X:340.39, Y:-38.31, Z:-2.26 [[ 9.79856864e-01 1.99341398e-01 1.19805559e-02 3.40394628e+02] [-1.99325301e-01 9.79930098e-01 -2.53505222e-03 -3.83123989e+01] [-1.22454482e-02 9.59603969e-05 9.99925017e-01 -2.25742068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20576923100003 meters 0.017306032848558958 Centerline is valid? [True, True] Translation: X:340.45, Y:-38.34, Z:-2.26 [[ 9.80226961e-01 1.97674714e-01 8.93374866e-03 3.40453723e+02] [-1.97665683e-01 9.80267667e-01 -1.89152677e-03 -3.83393246e+01] [-9.13137197e-03 8.82300007e-05 9.99958304e-01 -2.26336048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26576923100004 meters 0.014361858353531378 Centerline is valid? [True, True] Translation: X:340.51, Y:-38.35, Z:-2.27 [[ 9.79471060e-01 2.01414290e-01 8.29012716e-03 3.40514021e+02] [-2.01406635e-01 9.79506142e-01 -1.75667339e-03 -3.83521001e+01] [-8.47404959e-03 5.09241255e-05 9.99964093e-01 -2.26525646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32576923100004 meters 0.012071736191215519 Centerline is valid? [True, True] Translation: X:340.58, Y:-38.36, Z:-2.27 [[ 9.78087292e-01 2.08066020e-01 7.33356894e-03 3.40575004e+02] [-2.08060210e-01 9.78114784e-01 -1.55497330e-03 -3.83611816e+01] [-7.49660930e-03 -4.92427095e-06 9.99971900e-01 -2.26796041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38576923100004 meters 0.013009258443907741 Centerline is valid? [True, True] Translation: X:340.64, Y:-38.38, Z:-2.27 [[ 9.77236230e-01 2.12055578e-01 6.46396237e-03 3.40635201e+02] [-2.12051151e-01 9.77257607e-01 -1.37065146e-03 -3.83758347e+01] [-6.60761069e-03 -3.12403902e-05 9.99978169e-01 -2.27151548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.445769231 meters 0.014570205367378785 Centerline is valid? [True, True] Translation: X:340.70, Y:-38.39, Z:-2.27 [[ 9.76893038e-01 2.13639406e-01 6.18027619e-03 3.40695081e+02] [-2.13635383e-01 9.76912587e-01 -1.31155219e-03 -3.83898907e+01] [-6.31778884e-03 -3.90794714e-05 9.99980042e-01 -2.27278195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.505769231 meters 0.014345038822344412 Centerline is valid? [True, True] Translation: X:340.75, Y:-38.41, Z:-2.27 [[ 9.76939624e-01 2.13329293e-01 8.92100736e-03 3.40753528e+02] [-2.13320880e-01 9.76980353e-01 -1.89522956e-03 -3.84093077e+01] [-9.11995690e-03 -5.15122829e-05 9.99958411e-01 -2.26916719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.565769231 meters 0.01424903290669516 Centerline is valid? [True, True] Translation: X:340.81, Y:-38.43, Z:-2.27 [[ 9.76972860e-01 2.13121382e-01 1.01640628e-02 3.40813657e+02] [-2.13110432e-01 9.77025728e-01 -2.16101202e-03 -3.84308211e+01] [-1.03911087e-02 -5.48177315e-05 9.99946009e-01 -2.26696253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.625769231 meters 0.015298670872210025 Centerline is valid? [True, True] Translation: X:340.88, Y:-38.45, Z:-2.27 [[ 9.76651492e-01 2.14626272e-01 9.35026077e-03 3.40875012e+02] [-2.14617060e-01 9.76696247e-01 -1.98952560e-03 -3.84464755e+01] [-9.55936906e-03 -6.36523337e-05 9.99954306e-01 -2.26928226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.685769231 meters 0.01608491896384337 Centerline is valid? [True, True] Translation: X:340.94, Y:-38.46, Z:-2.27 [[ 9.75931825e-01 2.17854296e-01 9.82744724e-03 3.40935760e+02] [-2.17844265e-01 9.75981299e-01 -2.09283227e-03 -3.84593009e+01] [-1.00473372e-02 -9.83914085e-05 9.99949519e-01 -2.27046520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.745769231 meters 0.018710177210816255 Centerline is valid? [True, True] Translation: X:341.00, Y:-38.47, Z:-2.27 [[ 9.75138965e-01 2.21278699e-01 1.18209752e-02 3.40997494e+02] [-2.21264415e-01 9.75210599e-01 -2.51925691e-03 -3.84656308e+01] [-1.20853982e-02 -1.58935580e-04 9.99926956e-01 -2.26786214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.805769231 meters 0.024140437025873412 Centerline is valid? [True, True] Translation: X:341.06, Y:-38.47, Z:-2.27 [[ 9.74910467e-01 2.22302284e-01 1.14575748e-02 3.41059004e+02] [-2.22288919e-01 9.74977778e-01 -2.44314784e-03 -3.84692332e+01] [-1.17139982e-02 -1.65041526e-04 9.99931375e-01 -2.26665575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.865769231 meters 0.019930774022873743 Centerline is valid? [True, True] Translation: X:341.12, Y:-38.49, Z:-2.28 [[ 9.74801816e-01 2.22913158e-01 8.43470773e-03 3.41119166e+02] [-2.22905928e-01 9.74838299e-01 -1.79968778e-03 -3.84865074e+01] [-8.62365022e-03 -1.25807441e-04 9.99962808e-01 -2.27610657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.925769231 meters 0.02091074320481213 Centerline is valid? [True, True] Translation: X:341.18, Y:-38.50, Z:-2.28 [[ 9.74604903e-01 2.23751725e-01 8.96926960e-03 3.41180269e+02] [-2.23743569e-01 9.74646164e-01 -1.91555357e-03 -3.84959666e+01] [-9.17047263e-03 -1.39908488e-04 9.99957941e-01 -2.27538244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.985769231 meters 0.023093996741942194 Centerline is valid? [True, True] Translation: X:341.24, Y:-38.50, Z:-2.28 [[ 9.74242821e-01 2.25330641e-01 8.77653133e-03 3.41241787e+02] [-2.25322883e-01 9.74282341e-01 -1.87584426e-03 -3.84999861e+01] [-8.97350468e-03 -1.50025532e-04 9.99959726e-01 -2.27718038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.045769231 meters 0.023003480916755543 Centerline is valid? [True, True] Translation: X:341.30, Y:-38.51, Z:-2.28 [[ 9.74256350e-01 2.25367046e-01 5.85320173e-03 3.41302679e+02] [-2.25363592e-01 9.74273927e-01 -1.25172915e-03 -3.85086939e+01] [-5.98472033e-03 -9.95934909e-05 9.99982086e-01 -2.28351262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.105769231 meters 0.02060885217908634 Centerline is valid? [True, True] Translation: X:341.36, Y:-38.52, Z:-2.28 [[ 9.74494464e-01 2.24304382e-01 6.93432259e-03 3.41363461e+02] [-2.24299505e-01 9.74519129e-01 -1.48313615e-03 -3.85217429e+01] [-7.09030395e-03 -1.10057157e-04 9.99974857e-01 -2.28256000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.165769231 meters 0.017841046890208868 Centerline is valid? [True, True] Translation: X:341.42, Y:-38.54, Z:-2.28 [[ 9.75541392e-01 2.19657828e-01 8.33253715e-03 3.41422352e+02] [-2.19650605e-01 9.75576973e-01 -1.78365102e-03 -3.85356346e+01] [-8.52082428e-03 -9.02214251e-05 9.99963693e-01 -2.28024276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.225769231 meters 0.016328530534806953 Centerline is valid? [True, True] Translation: X:341.48, Y:-38.55, Z:-2.29 [[ 9.75861448e-01 2.18288854e-01 6.66417210e-03 3.41482468e+02] [-2.18284202e-01 9.75884200e-01 -1.42655675e-03 -3.85498372e+01] [-6.81486170e-03 -6.25617497e-05 9.99976777e-01 -2.28530091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.285769231 meters 0.017459355916793807 Centerline is valid? [True, True] Translation: X:341.54, Y:-38.56, Z:-2.29 [[ 9.75569487e-01 2.19618910e-01 5.63117188e-03 3.41543511e+02] [-2.19615605e-01 9.75585737e-01 -1.20637354e-03 -3.85587359e+01] [-5.75863341e-03 -5.97920087e-05 9.99983417e-01 -2.28810949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.345769231 meters 0.018194231369538464 Centerline is valid? [True, True] Translation: X:341.60, Y:-38.57, Z:-2.29 [[ 9.75323820e-01 2.20678590e-01 6.66379501e-03 3.41604021e+02] [-2.20673985e-01 9.75346581e-01 -1.42778264e-03 -3.85696123e+01] [-6.81459074e-03 -7.79757755e-05 9.99976777e-01 -2.28631453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.405769231 meters 0.019509852096223076 Centerline is valid? [True, True] Translation: X:341.66, Y:-38.58, Z:-2.29 [[ 9.74789156e-01 2.23048774e-01 5.94529915e-03 3.41664983e+02] [-2.23045152e-01 9.74807282e-01 -1.27396243e-03 -3.85776580e+01] [-6.07967666e-03 -8.42253838e-05 9.99981515e-01 -2.28766799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.465769231 meters 0.022888783502540873 Centerline is valid? [True, True] Translation: X:341.73, Y:-38.58, Z:-2.29 [[ 9.74233184e-01 2.25459499e-01 6.14146099e-03 3.41725010e+02] [-2.25455680e-01 9.74252536e-01 -1.31618139e-03 -3.85813425e+01] [-6.28007955e-03 -1.02359680e-04 9.99980275e-01 -2.28808038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.525769231 meters 0.02317681733842298 Centerline is valid? [True, True] Translation: X:341.78, Y:-38.59, Z:-2.29 [[ 9.74023299e-01 2.26363147e-01 6.19175521e-03 3.41784432e+02] [-2.26359285e-01 9.74042973e-01 -1.32689148e-03 -3.85891703e+01] [-6.33139499e-03 -1.09138059e-04 9.99979951e-01 -2.28776055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.58576923100003 meters 0.025860548104275547 Centerline is valid? [True, True] Translation: X:341.84, Y:-38.59, Z:-2.29 [[ 9.73474049e-01 2.28697935e-01 6.74756201e-03 3.41844895e+02] [-2.28693405e-01 9.73497425e-01 -1.44582480e-03 -3.85883320e+01] [-6.89939138e-03 -1.35650009e-04 9.99976190e-01 -2.28621196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64576923100003 meters 0.027253856450413817 Centerline is valid? [True, True] Translation: X:341.90, Y:-38.59, Z:-2.29 [[ 9.73228282e-01 2.29701681e-01 7.99050431e-03 3.41903878e+02] [-2.29695366e-01 9.73261069e-01 -1.71169539e-03 -3.85915800e+01] [-8.17002608e-03 -1.69511446e-04 9.99966610e-01 -2.28518020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70576923100003 meters 0.02473917469088451 Centerline is valid? [True, True] Translation: X:341.96, Y:-38.60, Z:-2.28 [[ 9.73911092e-01 2.26722954e-01 9.68952364e-03 3.41962044e+02] [-2.26713526e-01 9.73959276e-01 -2.07501978e-03 -3.85984252e+01] [-9.90765604e-03 -1.75861288e-04 9.99950903e-01 -2.28371642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76576923100004 meters 0.02228945626685632 Centerline is valid? [True, True] Translation: X:342.02, Y:-38.61, Z:-2.29 [[ 9.74539338e-01 2.24055171e-01 8.50639043e-03 3.42019618e+02] [-2.24047806e-01 9.74576453e-01 -1.82128796e-03 -3.86094271e+01] [-8.69819680e-03 -1.30921356e-04 9.99962161e-01 -2.28599401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82576923100004 meters 0.01952736909802728 Centerline is valid? [True, True] Translation: X:342.08, Y:-38.62, Z:-2.29 [[ 9.75233839e-01 2.21096160e-01 5.95371725e-03 3.42075990e+02] [-2.21092498e-01 9.75252010e-01 -1.27456912e-03 -3.86212394e+01] [-6.08817705e-03 -7.33192862e-05 9.99981464e-01 -2.29071046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88576923100004 meters 0.01833840778918887 Centerline is valid? [True, True] Translation: X:342.13, Y:-38.63, Z:-2.29 [[ 9.75543802e-01 2.19683569e-01 7.30887562e-03 3.42133817e+02] [-2.19678015e-01 9.75571178e-01 -1.56415703e-03 -3.86341551e+01] [-7.47394800e-03 -7.96955939e-05 9.99972066e-01 -2.28918660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.945769231 meters 0.018009739986091042 Centerline is valid? [True, True] Translation: X:342.19, Y:-38.65, Z:-2.29 [[ 9.75341206e-01 2.20558302e-01 7.97286055e-03 3.42190929e+02] [-2.20551725e-01 9.75373788e-01 -1.70585631e-03 -3.86464269e+01] [-8.15275997e-03 -9.46361970e-05 9.99966761e-01 -2.28818931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.005769231 meters 0.02093564787802162 Centerline is valid? [True, True] Translation: X:342.25, Y:-38.65, Z:-2.30 [[ 9.75099967e-01 2.21704971e-01 5.19235958e-03 3.42248323e+02] [-2.21702198e-01 9.75113789e-01 -1.11082837e-03 -3.86527357e+01] [-5.30941759e-03 -6.79888293e-05 9.99985903e-01 -2.29537573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.065769231 meters 0.021133136975703237 Centerline is valid? [True, True] Translation: X:342.30, Y:-38.66, Z:-2.29 [[ 9.75113916e-01 2.21611144e-01 6.43046938e-03 3.42304287e+02] [-2.21606893e-01 9.75135116e-01 -1.37522006e-03 -3.86635346e+01] [-6.57534059e-03 -8.40401255e-05 9.99978379e-01 -2.29265604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.125769231 meters 0.01833069808945494 Centerline is valid? [True, True] Translation: X:342.36, Y:-38.68, Z:-2.30 [[ 9.75339441e-01 2.20653329e-01 5.00829702e-03 3.42361132e+02] [-2.20650740e-01 9.75352298e-01 -1.07074362e-03 -3.86805736e+01] [-5.12111715e-03 -6.07459558e-05 9.99986885e-01 -2.29599880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.185769231 meters 0.01742867040498827 Centerline is valid? [True, True] Translation: X:342.42, Y:-38.70, Z:-2.30 [[ 9.75991220e-01 2.17755434e-01 4.86914765e-03 3.42416968e+02] [-2.17752952e-01 9.76003365e-01 -1.04078392e-03 -3.86967258e+01] [-4.97894084e-03 -4.44753054e-05 9.99987604e-01 -2.29843458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.245769231 meters 0.013922324484738857 Centerline is valid? [True, True] Translation: X:342.47, Y:-38.72, Z:-2.30 [[ 9.76817002e-01 2.14017977e-01 4.98492672e-03 3.42472579e+02] [-2.14015327e-01 9.76829722e-01 -1.06521211e-03 -3.87182290e+01] [-5.09739912e-03 -2.63334276e-05 9.99987008e-01 -2.29788509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.305769231 meters 0.012603954208913021 Centerline is valid? [True, True] Translation: X:342.53, Y:-38.74, Z:-2.30 [[ 9.77403631e-01 2.11310437e-01 5.48100297e-03 3.42529332e+02] [-2.11307193e-01 9.77418999e-01 -1.17085634e-03 -3.87407008e+01] [-5.60465060e-03 -1.37761157e-05 9.99984294e-01 -2.29747130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.365769231 meters 0.013145345487463288 Centerline is valid? [True, True] Translation: X:342.59, Y:-38.75, Z:-2.30 [[ 9.77125148e-01 2.12604998e-01 5.05560303e-03 3.42587681e+02] [-2.12602256e-01 9.77138227e-01 -1.08003495e-03 -3.87495353e+01] [-5.16964381e-03 -1.95033014e-05 9.99986637e-01 -2.29922487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.425769231 meters 0.013279806996773941 Centerline is valid? [True, True] Translation: X:342.65, Y:-38.76, Z:-2.30 [[ 9.77181346e-01 2.12381114e-01 3.29847435e-03 3.42645160e+02] [-2.12379945e-01 9.77186913e-01 -7.04695580e-04 -3.87624039e+01] [-3.37289000e-03 -1.19144247e-05 9.99994312e-01 -2.30409981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.485769231 meters 0.01291680131466069 Centerline is valid? [True, True] Translation: X:342.70, Y:-38.78, Z:-2.31 [[ 9.78439680e-01 2.06513417e-01 2.82883449e-03 3.42701508e+02] [-2.06512533e-01 9.78443769e-01 -6.04184099e-04 -3.87810124e+01] [-2.89262760e-03 6.96792149e-06 9.99995816e-01 -2.30580908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.545769231 meters 0.013731296595660795 Centerline is valid? [True, True] Translation: X:342.76, Y:-38.80, Z:-2.30 [[ 9.78963946e-01 2.04001071e-01 3.62694813e-03 3.42761076e+02] [-2.03999602e-01 9.78970665e-01 -7.74342176e-04 -3.87965904e+01] [-3.70864246e-03 1.81570968e-05 9.99993123e-01 -2.30378560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.605769231 meters 0.017856576605432786 Centerline is valid? [True, True] Translation: X:342.82, Y:-38.82, Z:-2.30 [[ 9.80161923e-01 1.98133826e-01 5.05887464e-03 3.42820019e+02] [-1.98130891e-01 9.80174976e-01 -1.07997833e-03 -3.88183804e+01] [-5.17256257e-03 5.62342993e-05 9.99986621e-01 -2.30186716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.665769231 meters 0.026331921524402606 Centerline is valid? [True, True] Translation: X:342.88, Y:-38.85, Z:-2.30 [[ 9.81891942e-01 1.89382437e-01 4.74406871e-03 3.42876710e+02] [-1.89379748e-01 9.81903398e-01 -1.01383310e-03 -3.88470549e+01] [-4.85021937e-03 9.70440131e-05 9.99988233e-01 -2.30399109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.725769231 meters 0.02934568620204927 Centerline is valid? [True, True] Translation: X:342.94, Y:-38.87, Z:-2.30 [[ 9.82387365e-01 1.86779895e-01 5.32314299e-03 3.42935940e+02] [-1.86776471e-01 9.82401779e-01 -1.13769863e-03 -3.88690851e+01] [-5.44196438e-03 1.23422900e-04 9.99985185e-01 -2.30303559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.785769231 meters 0.02759435338981656 Centerline is valid? [True, True] Translation: X:343.00, Y:-38.89, Z:-2.31 [[ 9.82266339e-01 1.87469290e-01 2.84674826e-03 3.42996283e+02] [-1.87468316e-01 9.82270462e-01 -6.07792167e-04 -3.88879210e+01] [-2.91021910e-03 6.33386847e-05 9.99995763e-01 -2.30851856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.845769231 meters 0.024394620235344045 Centerline is valid? [True, True] Translation: X:343.06, Y:-38.90, Z:-2.31 [[ 9.81650293e-01 1.90675663e-01 2.34393707e-03 3.43056111e+02] [-1.90675009e-01 9.81653090e-01 -5.01469447e-04 -3.89027391e+01] [-2.39655109e-03 4.53374059e-05 9.99997127e-01 -2.30981662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.905769231 meters 0.020612214240832476 Centerline is valid? [True, True] Translation: X:343.11, Y:-38.92, Z:-2.31 [[ 9.80456167e-01 1.96721685e-01 2.50658283e-03 3.43114210e+02] [-1.96720957e-01 9.80459371e-01 -5.36398563e-04 -3.89191271e+01] [-2.56312386e-03 3.28179064e-05 9.99996715e-01 -2.31104047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.965769231 meters 0.015455657401374502 Centerline is valid? [True, True] Translation: X:343.18, Y:-38.93, Z:-2.31 [[ 9.79433168e-01 2.01740021e-01 3.41074451e-03 3.43175493e+02] [-2.01738704e-01 9.79439106e-01 -7.29415692e-04 -3.89299961e+01] [-3.48776889e-03 2.63347445e-05 9.99993917e-01 -2.30882703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.025769231 meters 0.013034520006076022 Centerline is valid? [True, True] Translation: X:343.24, Y:-38.94, Z:-2.31 [[ 9.78634862e-01 2.05546225e-01 4.95545770e-03 3.43237076e+02] [-2.05543487e-01 9.78647408e-01 -1.06114344e-03 -3.89410108e+01] [-5.06775986e-03 1.99099165e-05 9.99987159e-01 -2.30730600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.08576923100003 meters 0.012553413328788616 Centerline is valid? [True, True] Translation: X:343.30, Y:-38.96, Z:-2.31 [[ 9.78553109e-01 2.05919094e-01 5.58033513e-03 3.43298301e+02] [-2.05915622e-01 9.78569020e-01 -1.19597753e-03 -3.89562742e+01] [-5.70701769e-03 2.12493490e-05 9.99983715e-01 -2.30563368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14576923100003 meters 0.013368517034819064 Centerline is valid? [True, True] Translation: X:343.36, Y:-38.97, Z:-2.30 [[ 9.78773761e-01 2.04811463e-01 7.36136926e-03 3.43357394e+02] [-2.04805375e-01 9.78801442e-01 -1.57969818e-03 -3.89742467e+01] [-7.52885915e-03 3.85191422e-05 9.99971657e-01 -2.30308490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20576923100003 meters 0.014821137930724025 Centerline is valid? [True, True] Translation: X:343.42, Y:-38.99, Z:-2.30 [[ 9.79321525e-01 2.02172236e-01 7.46575864e-03 3.43417040e+02] [-2.02165886e-01 9.79349980e-01 -1.60356642e-03 -3.89929085e+01] [-7.63578718e-03 6.10854022e-05 9.99970845e-01 -2.30335303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26576923100004 meters 0.01813233606277648 Centerline is valid? [True, True] Translation: X:343.48, Y:-39.02, Z:-2.31 [[ 9.80177578e-01 1.98059518e-01 4.93378741e-03 3.43475804e+02] [-1.98056690e-01 9.80189994e-01 -1.06017604e-03 -3.90150394e+01] [-5.04602700e-03 6.19911762e-05 9.99987267e-01 -2.30896619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32576923100004 meters 0.023441508146107105 Centerline is valid? [True, True] Translation: X:343.53, Y:-39.05, Z:-2.31 [[ 9.81214229e-01 1.92904294e-01 2.56316838e-03 3.43530597e+02] [-1.92903512e-01 9.81217576e-01 -5.51137296e-04 -3.90452903e+01] [-2.62134262e-03 4.63395748e-05 9.99996563e-01 -2.31289170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38576923100004 meters 0.026636412087862365 Centerline is valid? [True, True] Translation: X:343.59, Y:-39.07, Z:-2.31 [[ 9.81815517e-01 1.89785452e-01 4.44676243e-03 3.43588364e+02] [-1.89783064e-01 9.81825582e-01 -9.56777473e-04 -3.90713227e+01] [-4.54752756e-03 9.54587702e-05 9.99989655e-01 -2.31037668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.445769231 meters 0.027645870041969407 Centerline is valid? [True, True] Translation: X:343.64, Y:-39.10, Z:-2.31 [[ 9.81895831e-01 1.89337316e-01 5.65309344e-03 3.43644857e+02] [-1.89333448e-01 9.81912097e-01 -1.21657675e-03 -3.90981138e+01] [-5.78118421e-03 1.24231967e-04 9.99983281e-01 -2.31021870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.505769231 meters 0.02254062734852785 Centerline is valid? [True, True] Translation: X:343.70, Y:-39.12, Z:-2.31 [[ 9.80851895e-01 1.94699497e-01 4.65460489e-03 3.43703289e+02] [-1.94696931e-01 9.80862936e-01 -1.00255365e-03 -3.91164002e+01] [-4.76072611e-03 7.71193602e-05 9.99988665e-01 -2.31304559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.565769231 meters 0.017130090493615822 Centerline is valid? [True, True] Translation: X:343.76, Y:-39.13, Z:-2.32 [[ 9.79692606e-01 2.00464739e-01 4.03551560e-03 3.43763225e+02] [-2.00462859e-01 9.79700917e-01 -8.69286081e-04 -3.91282659e+01] [-4.12785954e-03 4.26621543e-05 9.99991479e-01 -2.31523591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.625769231 meters 0.013174523227590301 Centerline is valid? [True, True] Translation: X:343.82, Y:-39.14, Z:-2.32 [[ 9.78350932e-01 2.06945333e-01 1.75615337e-03 3.43824064e+02] [-2.06944988e-01 9.78352508e-01 -3.77872866e-04 -3.91368430e+01] [-1.79633608e-03 6.26513222e-06 9.99998387e-01 -2.32149002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.685769231 meters 0.013688572439148877 Centerline is valid? [True, True] Translation: X:343.89, Y:-39.14, Z:-2.32 [[ 9.76382723e-01 2.16047659e-01 4.32643339e-04 3.43886275e+02] [-2.16047640e-01 9.76382819e-01 -9.21574686e-05 -3.91428891e+01] [-4.42335928e-04 -3.49061200e-06 9.99999902e-01 -2.32223110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.745769231 meters 0.017696615466940905 Centerline is valid? [True, True] Translation: X:343.95, Y:-39.15, Z:-2.32 [[ 9.75193588e-01 2.21338535e-01 2.59207757e-03 3.43947024e+02] [-2.21337832e-01 9.75197032e-01 -5.58487934e-04 -3.91494878e+01] [-2.65140126e-03 -2.90909777e-05 9.99996485e-01 -2.31931982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.805769231 meters 0.02291840166920819 Centerline is valid? [True, True] Translation: X:344.01, Y:-39.15, Z:-2.32 [[ 9.74024823e-01 2.26431481e-01 2.10426346e-03 3.44009872e+02] [-2.26431029e-01 9.74027096e-01 -4.54036127e-04 -3.91532691e+01] [-2.15241770e-03 -3.42280813e-05 9.99997683e-01 -2.32236989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.865769231 meters 0.02746170521003788 Centerline is valid? [True, True] Translation: X:344.07, Y:-39.16, Z:-2.32 [[ 9.73144720e-01 2.30180070e-01 2.54750262e-03 3.44071629e+02] [-2.30179420e-01 9.73148053e-01 -5.49419056e-04 -3.91575928e+01] [-2.60556253e-03 -5.17184214e-05 9.99996604e-01 -2.32168294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.925769231 meters 0.031419383736036206 Centerline is valid? [True, True] Translation: X:344.13, Y:-39.16, Z:-2.31 [[ 9.72356085e-01 2.33422795e-01 6.11910111e-03 3.44133321e+02] [-2.33419095e-01 9.72375328e-01 -1.32201739e-03 -3.91648110e+01] [-6.25865194e-03 -1.42843391e-04 9.99980404e-01 -2.31472386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.985769231 meters 0.030974840643707053 Centerline is valid? [True, True] Translation: X:344.19, Y:-39.18, Z:-2.32 [[ 9.72254952e-01 2.33904435e-01 3.00385304e-03 3.44193555e+02] [-2.33903546e-01 9.72259590e-01 -6.48892152e-04 -3.91778636e+01] [-3.07230367e-03 -7.17232677e-05 9.99995278e-01 -2.32386688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.045769231 meters 0.031749060471268756 Centerline is valid? [True, True] Translation: X:344.25, Y:-39.19, Z:-2.32 [[ 9.72137451e-01 2.34391704e-01 3.05053148e-03 3.44254684e+02] [-2.34390788e-01 9.72142234e-01 -6.59401874e-04 -3.91902054e+01] [-3.12010881e-03 -7.39872207e-05 9.99995130e-01 -2.32304041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.105769231 meters 0.03216373683022834 Centerline is valid? [True, True] Translation: X:344.32, Y:-39.20, Z:-2.32 [[ 9.72113885e-01 2.34477278e-01 3.87302744e-03 3.44315481e+02] [-2.34475798e-01 9.72121596e-01 -8.38071706e-04 -3.92017559e+01] [-3.96156239e-03 -9.34300590e-05 9.99992149e-01 -2.32003524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.165769231 meters 0.03075264079781414 Centerline is valid? [True, True] Translation: X:344.37, Y:-39.22, Z:-2.32 [[ 9.72482728e-01 2.32920917e-01 5.01899125e-03 3.44374416e+02] [-2.32918406e-01 9.72495673e-01 -1.08728177e-03 -3.92175033e+01] [-5.13419794e-03 -1.11652697e-04 9.99986814e-01 -2.31892206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.225769231 meters 0.03063381348003769 Centerline is valid? [True, True] Translation: X:344.43, Y:-39.23, Z:-2.32 [[ 9.72609433e-01 2.32351213e-01 6.61856098e-03 3.44433953e+02] [-2.32346825e-01 9.72631942e-01 -1.43507180e-03 -3.92310975e+01] [-6.77086449e-03 -1.42037254e-04 9.99977067e-01 -2.31669927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.285769231 meters 0.029216365767901233 Centerline is valid? [True, True] Translation: X:344.49, Y:-39.24, Z:-2.32 [[ 9.72921708e-01 2.31051975e-01 6.19159286e-03 3.44493923e+02] [-2.31048103e-01 9.72941401e-01 -1.34331428e-03 -3.92443298e+01] [-6.33443245e-03 -1.23616162e-04 9.99979930e-01 -2.31817829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.345769231 meters 0.02710474755414644 Centerline is valid? [True, True] Translation: X:344.55, Y:-39.26, Z:-2.32 [[ 9.73246823e-01 2.29691240e-01 5.70581628e-03 3.44553976e+02] [-2.29687924e-01 9.73263543e-01 -1.23863392e-03 -3.92616085e+01] [-5.83776632e-03 -1.05060571e-04 9.99982955e-01 -2.32035943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.405769231 meters 0.02493617869542981 Centerline is valid? [True, True] Translation: X:344.61, Y:-39.28, Z:-2.32 [[ 9.73736490e-01 2.27614338e-01 5.38149980e-03 3.44613913e+02] [-2.27611353e-01 9.73751357e-01 -1.16898516e-03 -3.92769482e+01] [-5.50632052e-03 -8.66069479e-05 9.99984836e-01 -2.32177385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.465769231 meters 0.0182393061845439 Centerline is valid? [True, True] Translation: X:344.67, Y:-39.30, Z:-2.32 [[ 9.74567950e-01 2.24058651e-01 3.87706365e-03 3.44672029e+02] [-2.24057073e-01 9.74575661e-01 -8.42442544e-04 -3.93033181e+01] [-3.96724841e-03 -4.76660281e-05 9.99992129e-01 -2.32407984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.525769231 meters 0.016511916012671317 Centerline is valid? [True, True] Translation: X:344.73, Y:-39.32, Z:-2.32 [[ 9.74608229e-01 2.23865754e-01 4.78782622e-03 3.44731871e+02] [-2.23863339e-01 9.74619988e-01 -1.04136383e-03 -3.93206406e+01] [-4.89943684e-03 -5.68970039e-05 9.99987996e-01 -2.32194667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.58576923100003 meters 0.02085247029369121 Centerline is valid? [True, True] Translation: X:344.79, Y:-39.32, Z:-2.31 [[ 9.73732929e-01 2.27555795e-01 7.90845736e-03 3.44793776e+02] [-2.27549311e-01 9.73765036e-01 -1.72221355e-03 -3.93228062e+01] [-8.09287894e-03 -1.22587979e-04 9.99967245e-01 -2.31496316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64576923100003 meters 0.024599138452443586 Centerline is valid? [True, True] Translation: X:344.86, Y:-39.33, Z:-2.32 [[ 9.72796683e-01 2.31601008e-01 5.25220602e-03 3.44856302e+02] [-2.31598205e-01 9.72810856e-01 -1.14409457e-03 -3.93266170e+01] [-5.37437649e-03 -1.03430088e-04 9.99985553e-01 -2.31946770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70576923100003 meters 0.029644973869399897 Centerline is valid? [True, True] Translation: X:344.92, Y:-39.32, Z:-2.32 [[ 9.71906624e-01 2.35335666e-01 3.82599288e-03 3.44918275e+02] [-2.35334207e-01 9.71914151e-01 -8.33660933e-04 -3.93234412e+01] [-3.91472677e-03 -9.01464159e-05 9.99992333e-01 -2.32359631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76576923100004 meters 0.027803136304066996 Centerline is valid? [True, True] Translation: X:344.98, Y:-39.33, Z:-2.32 [[ 9.72206989e-01 2.34081153e-01 4.42540135e-03 3.44979952e+02] [-2.34079188e-01 9.72217056e-01 -9.64123784e-04 -3.93347986e+01] [-4.52813388e-03 -9.85664750e-05 9.99989743e-01 -2.32280519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82576923100004 meters 0.022460755111115734 Centerline is valid? [True, True] Translation: X:345.04, Y:-39.35, Z:-2.32 [[ 9.73652594e-01 2.27968119e-01 5.58241935e-03 3.45038176e+02] [-2.27964889e-01 9.73668593e-01 -1.21670691e-03 -3.93507699e+01] [-5.71279678e-03 -8.79457668e-05 9.99983678e-01 -2.32084897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88576923100004 meters 0.01904440054593708 Centerline is valid? [True, True] Translation: X:345.10, Y:-39.37, Z:-2.32 [[ 9.74349762e-01 2.25000170e-01 4.17909900e-03 3.45098003e+02] [-2.24998334e-01 9.74358723e-01 -9.10410918e-04 -3.93677152e+01] [-4.27678417e-03 -5.32316506e-05 9.99990853e-01 -2.32393645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.945769231 meters 0.017428394353543146 Centerline is valid? [True, True] Translation: X:345.16, Y:-39.38, Z:-2.33 [[ 9.74666680e-01 2.23653754e-01 1.96511384e-03 3.45158892e+02] [-2.23653345e-01 9.74668661e-01 -4.28194332e-04 -3.93823997e+01] [-2.01110215e-03 -2.21575353e-05 9.99997977e-01 -2.32909310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.005769231 meters 0.016395692094192407 Centerline is valid? [True, True] Translation: X:345.22, Y:-39.40, Z:-2.32 [[ 9.74667025e-01 2.23603647e-01 5.05967769e-03 3.45219293e+02] [-2.23600930e-01 9.74680156e-01 -1.10372780e-03 -3.93993250e+01] [-5.17836500e-03 -5.55815399e-05 9.99986591e-01 -2.32408534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.065769231 meters 0.017416467768427823 Centerline is valid? [True, True] Translation: X:345.28, Y:-39.41, Z:-2.32 [[ 9.74230693e-01 2.25428167e-01 7.52982450e-03 3.45280077e+02] [-2.25422189e-01 9.74259787e-01 -1.64446495e-03 -3.94130676e+01] [-7.70671393e-03 -9.53012947e-05 9.99970298e-01 -2.31906460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.125769231 meters 0.024894802921019577 Centerline is valid? [True, True] Translation: X:345.34, Y:-39.42, Z:-2.32 [[ 9.72283246e-01 2.33769606e-01 4.13046229e-03 3.45342200e+02] [-2.33767880e-01 9.72292015e-01 -9.02695289e-04 -3.94156760e+01] [-4.22703823e-03 -8.78939082e-05 9.99991062e-01 -2.32409534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.185769231 meters 0.031306172430500774 Centerline is valid? [True, True] Translation: X:345.40, Y:-39.42, Z:-2.33 [[ 9.70268054e-01 2.42027866e-01 1.55392289e-03 3.45404199e+02] [-2.42027632e-01 9.70269298e-01 -3.39623183e-04 -3.94175081e+01] [-1.58992195e-03 -4.65667538e-05 9.99998735e-01 -2.32836499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.245769231 meters 0.049433375277088354 Centerline is valid? [True, True] Translation: X:345.47, Y:-39.40, Z:-2.33 [[ 9.68101188e-01 2.50542444e-01 2.92806581e-03 3.45467711e+02] [-2.50541653e-01 9.68105609e-01 -6.40078905e-04 -3.94033226e+01] [-2.99504386e-03 -1.13941298e-04 9.99995508e-01 -2.32709464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.305769231 meters 0.05161682758708763 Centerline is valid? [True, True] Translation: X:345.53, Y:-39.40, Z:-2.33 [[ 9.65723559e-01 2.59560263e-01 2.54520296e-03 3.45530662e+02] [-2.59559696e-01 9.65726905e-01 -5.56239382e-04 -3.94003927e+01] [-2.60234862e-03 -1.23458631e-04 9.99996606e-01 -2.32649482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.365769231 meters 0.05270268343821211 Centerline is valid? [True, True] Translation: X:345.59, Y:-39.40, Z:-2.33 [[ 9.65574494e-01 2.60121611e-01 1.62598676e-03 3.45589684e+02] [-2.60121380e-01 9.65575860e-01 -3.55673110e-04 -3.94031815e+01] [-1.66253183e-03 -7.95250369e-05 9.99998615e-01 -2.32826741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.425769231 meters 0.05850071481955624 Centerline is valid? [True, True] Translation: X:345.65, Y:-39.40, Z:-2.33 [[ 9.65543771e-01 2.60220700e-01 3.22703102e-03 3.45649192e+02] [-2.60219792e-01 9.65549151e-01 -7.05477352e-04 -3.93965488e+01] [-3.29943687e-03 -1.58568078e-04 9.99994544e-01 -2.32658935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.485769231 meters 0.050233419247570986 Centerline is valid? [True, True] Translation: X:345.71, Y:-39.41, Z:-2.32 [[ 9.66619931e-01 2.56167245e-01 4.92454120e-03 3.45709323e+02] [-2.56165084e-01 9.66632450e-01 -1.07534293e-03 -3.94065393e+01] [-5.03568896e-03 -2.22047603e-04 9.99987296e-01 -2.32451269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.545769231 meters 0.04188684364304873 Centerline is valid? [True, True] Translation: X:345.77, Y:-39.43, Z:-2.32 [[ 9.68396592e-01 2.49379399e-01 4.23733783e-03 3.45767210e+02] [-2.49377734e-01 9.68405850e-01 -9.25341828e-04 -3.94252488e+01] [-4.33422393e-03 -1.60599835e-04 9.99990594e-01 -2.32478154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.605769231 meters 0.03009041172361475 Centerline is valid? [True, True] Translation: X:345.82, Y:-39.45, Z:-2.33 [[ 9.71456693e-01 2.37201617e-01 2.69945765e-03 3.45823768e+02] [-2.37200894e-01 9.71460441e-01 -5.89565177e-04 -3.94462628e+01] [-2.76226213e-03 -6.75767329e-05 9.99996183e-01 -2.32777226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.665769231 meters 0.022537692267645123 Centerline is valid? [True, True] Translation: X:345.88, Y:-39.46, Z:-2.33 [[ 9.73294319e-01 2.29529012e-01 3.82110992e-03 3.45880844e+02] [-2.29527504e-01 9.73301818e-01 -8.34432915e-04 -3.94628472e+01] [-3.91061979e-03 -6.49010066e-05 9.99992351e-01 -2.32656898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.725769231 meters 0.02177124280741266 Centerline is valid? [True, True] Translation: X:345.94, Y:-39.47, Z:-2.33 [[ 9.73664853e-01 2.27954011e-01 3.70437523e-03 3.45938290e+02] [-2.27952582e-01 9.73671898e-01 -8.09030807e-04 -3.94721396e+01] [-3.79126788e-03 -5.66970372e-05 9.99992812e-01 -2.32735230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.785769231 meters 0.02272775574104576 Centerline is valid? [True, True] Translation: X:346.00, Y:-39.48, Z:-2.32 [[ 9.73378319e-01 2.29143852e-01 5.26717422e-03 3.45997664e+02] [-2.29140984e-01 9.73392566e-01 -1.14983322e-03 -3.94780198e+01] [-5.39050545e-03 -8.77027585e-05 9.99985467e-01 -2.32350262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.845769231 meters 0.022926842972321018 Centerline is valid? [True, True] Translation: X:346.06, Y:-39.48, Z:-2.33 [[ 9.73121599e-01 2.30240080e-01 4.88455730e-03 3.46056459e+02] [-2.30237628e-01 9.73133854e-01 -1.06610174e-03 -3.94849583e+01] [-4.99878742e-03 -8.71622580e-05 9.99987502e-01 -2.32518085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.905769231 meters 0.024698898474611174 Centerline is valid? [True, True] Translation: X:346.12, Y:-39.49, Z:-2.33 [[ 9.72478121e-01 2.32982927e-01 2.29344457e-03 3.46117058e+02] [-2.32982394e-01 9.72480824e-01 -5.00523663e-04 -3.94865041e+01] [-2.34694434e-03 -4.75838958e-05 9.99997245e-01 -2.32880595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.965769231 meters 0.02852157987355746 Centerline is valid? [True, True] Translation: X:346.18, Y:-39.48, Z:-2.33 [[ 9.71138739e-01 2.38515139e-01 2.79175913e-04 3.46180311e+02] [-2.38515132e-01 9.71138779e-01 -6.09065770e-05 -3.94809274e+01] [-2.85645696e-04 -7.43894321e-06 9.99999959e-01 -2.33136581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.025769231 meters 0.038128684337831176 Centerline is valid? [True, True] Translation: X:346.24, Y:-39.47, Z:-2.33 [[ 9.70197901e-01 2.42313856e-01 -1.68505492e-04 3.46242599e+02] [-2.42313853e-01 9.70197916e-01 3.67421089e-05 -3.94724235e+01] [ 1.72386799e-04 5.18409794e-06 9.99999985e-01 -2.33475210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.08576923100003 meters 0.036647649127868824 Centerline is valid? [True, True] Translation: X:346.30, Y:-39.47, Z:-2.33 [[ 9.70350352e-01 2.41696021e-01 1.79630539e-03 3.46303594e+02] [-2.41695709e-01 9.70352014e-01 -3.92128710e-04 -3.94706520e+01] [-1.83782450e-03 -5.36570734e-05 9.99998310e-01 -2.32944234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14576923100003 meters 0.03381037682721124 Centerline is valid? [True, True] Translation: X:346.36, Y:-39.48, Z:-2.33 [[ 9.70942277e-01 2.39307139e-01 1.78539297e-03 3.46362471e+02] [-2.39306826e-01 9.70943918e-01 -3.89666271e-04 -3.94769997e+01] [-1.82676636e-03 -4.89132686e-05 9.99998330e-01 -2.33087158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20576923100003 meters 0.027526128701326553 Centerline is valid? [True, True] Translation: X:346.42, Y:-39.49, Z:-2.33 [[ 9.71975246e-01 2.35070787e-01 2.41772822e-03 3.46422284e+02] [-2.35070202e-01 9.71978252e-01 -5.27366613e-04 -3.94859829e+01] [-2.47394773e-03 -5.57485690e-05 9.99996938e-01 -2.32994928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26576923100004 meters 0.028687337818962568 Centerline is valid? [True, True] Translation: X:346.48, Y:-39.49, Z:-2.33 [[ 9.72234888e-01 2.33985742e-01 3.16167626e-03 3.46481370e+02] [-2.33984736e-01 9.72240026e-01 -6.89540397e-04 -3.94890266e+01] [-3.23525083e-03 -6.93887548e-05 9.99994764e-01 -2.32923855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32576923100004 meters 0.02616458276210005 Centerline is valid? [True, True] Translation: X:346.54, Y:-39.49, Z:-2.33 [[ 9.72474762e-01 2.32988159e-01 3.05863965e-03 3.46540307e+02] [-2.32987214e-01 9.72479570e-01 -6.66926547e-04 -3.94949761e+01] [-3.12985056e-03 -6.40546949e-05 9.99995100e-01 -2.33024237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38576923100004 meters 0.027128839254486725 Centerline is valid? [True, True] Translation: X:346.60, Y:-39.50, Z:-2.33 [[ 9.72353768e-01 2.33499782e-01 2.44992678e-03 3.46599063e+02] [-2.33499175e-01 9.72356853e-01 -5.34686310e-04 -3.95021997e+01] [-2.50705223e-03 -5.21516341e-05 9.99996856e-01 -2.33154969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.445769231 meters 0.03326813874819677 Centerline is valid? [True, True] Translation: X:346.66, Y:-39.50, Z:-2.33 [[ 9.71453097e-01 2.37227553e-01 1.40298132e-03 3.46660128e+02] [-2.37227359e-01 9.71454109e-01 -3.05717949e-04 -3.94968648e+01] [-1.43545669e-03 -3.58349050e-05 9.99998969e-01 -2.33314211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.505769231 meters 0.032932583770828416 Centerline is valid? [True, True] Translation: X:346.72, Y:-39.51, Z:-2.34 [[ 9.71414392e-01 2.37389429e-01 5.80835952e-04 3.46718457e+02] [-2.37389395e-01 9.71414566e-01 -1.27516453e-04 -3.95053994e+01] [-5.94503562e-04 -1.40129779e-05 9.99999823e-01 -2.33701918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.565769231 meters 0.02900353782864895 Centerline is valid? [True, True] Translation: X:346.78, Y:-39.52, Z:-2.33 [[ 9.72232395e-01 2.34012029e-01 1.59410659e-03 3.46776088e+02] [-2.34011775e-01 9.72233701e-01 -3.46940722e-04 -3.95201147e+01] [-1.63103245e-03 -3.57327028e-05 9.99998669e-01 -2.33446546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.625769231 meters 0.02694439039763104 Centerline is valid? [True, True] Translation: X:346.83, Y:-39.53, Z:-2.34 [[ 9.72876035e-01 2.31325126e-01 9.52162176e-04 3.46832941e+02] [-2.31325034e-01 9.72876501e-01 -2.07481831e-04 -3.95318109e+01] [-9.74331966e-04 -1.84048469e-05 9.99999525e-01 -2.33552881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.685769231 meters 0.026549684669665688 Centerline is valid? [True, True] Translation: X:346.89, Y:-39.54, Z:-2.34 [[ 9.72990728e-01 2.30834057e-01 2.16354092e-03 3.46890664e+02] [-2.30833580e-01 9.72993133e-01 -4.71292923e-04 -3.95423568e+01] [-2.21390091e-03 -4.08542504e-05 9.99997548e-01 -2.33512096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.745769231 meters 0.026527313086564714 Centerline is valid? [True, True] Translation: X:346.95, Y:-39.55, Z:-2.34 [[ 9.73218360e-01 2.29874509e-01 -1.93247264e-03 3.46948990e+02] [-2.29874131e-01 9.73220278e-01 4.18515523e-04 -3.95517600e+01] [ 1.97692761e-03 3.69184787e-05 9.99998045e-01 -2.34377092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.805769231 meters 0.02055872050441978 Centerline is valid? [True, True] Translation: X:347.01, Y:-39.57, Z:-2.34 [[ 9.74575163e-01 2.24050125e-01 -2.18947377e-03 3.47005987e+02] [-2.24049623e-01 9.74577622e-01 4.75232867e-04 -3.95699944e+01] [ 2.24028812e-03 2.74006247e-05 9.99997490e-01 -2.34498721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.865769231 meters 0.016154043839545464 Centerline is valid? [True, True] Translation: X:347.06, Y:-39.59, Z:-2.34 [[ 9.75545004e-01 2.19799344e-01 4.40127651e-04 3.47060873e+02] [-2.19799323e-01 9.75545103e-01 -9.58602180e-05 -3.95914048e+01] [-4.50434388e-04 -3.22380306e-06 9.99999899e-01 -2.34028122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.925769231 meters 0.013822412746609482 Centerline is valid? [True, True] Translation: X:347.12, Y:-39.61, Z:-2.35 [[ 9.76657255e-01 2.14785983e-01 -2.75464490e-03 3.47115461e+02] [-2.14785155e-01 9.76661140e-01 5.96220061e-04 -3.96114664e+01] [ 2.81841434e-03 9.35418382e-06 9.99996028e-01 -2.34808621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.985769231 meters 0.014525893769736032 Centerline is valid? [True, True] Translation: X:347.17, Y:-39.64, Z:-2.35 [[ 9.77755588e-01 2.09684361e-01 -5.14577368e-03 3.47169507e+02] [-2.09681395e-01 9.77769128e-01 1.11542791e-03 -3.96363774e+01] [ 5.26526644e-03 -1.16428733e-05 9.99986138e-01 -2.35424973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.045769231 meters 0.015403376133775543 Centerline is valid? [True, True] Translation: X:347.22, Y:-39.66, Z:-2.35 [[ 9.78762746e-01 2.04969010e-01 -3.34536714e-03 3.47224049e+02] [-2.04967730e-01 9.78768463e-01 7.24656614e-04 -3.96567787e+01] [ 3.42287200e-03 -2.35745888e-05 9.99994142e-01 -2.34772445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.105769231 meters 0.01850441953393599 Centerline is valid? [True, True] Translation: X:347.28, Y:-39.68, Z:-2.34 [[ 9.79880165e-01 1.99586719e-01 6.38155393e-05 3.47279144e+02] [-1.99586718e-01 9.79880167e-01 -1.41740787e-05 -3.96825784e+01] [-6.53605392e-05 1.15216451e-06 9.99999998e-01 -2.34150647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.165769231 meters 0.02329703390220158 Centerline is valid? [True, True] Translation: X:347.33, Y:-39.70, Z:-2.35 [[ 9.80134690e-01 1.98332968e-01 -1.51601150e-04 3.47333977e+02] [-1.98332965e-01 9.80134702e-01 3.24213789e-05 -3.97045040e+01] [ 1.55019777e-04 -1.70981244e-06 9.99999988e-01 -2.34507603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.225769231 meters 0.021161941077581868 Centerline is valid? [True, True] Translation: X:347.39, Y:-39.71, Z:-2.35 [[ 9.79572167e-01 2.01053993e-01 -3.95750932e-03 3.47391360e+02] [-2.01052173e-01 9.79580160e-01 8.56704932e-04 -3.97143641e+01] [ 4.04894156e-03 -4.35384604e-05 9.99991802e-01 -2.35314044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.285769231 meters 0.01803817723817289 Centerline is valid? [True, True] Translation: X:347.45, Y:-39.72, Z:-2.36 [[ 9.78837469e-01 2.04573246e-01 -5.19574710e-03 3.47450298e+02] [-2.04570157e-01 9.78851258e-01 1.12481549e-03 -3.97205480e+01] [ 5.31597074e-03 -3.81167444e-05 9.99985869e-01 -2.35587030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.345769231 meters 0.01212938505216641 Centerline is valid? [True, True] Translation: X:347.51, Y:-39.72, Z:-2.34 [[ 9.77590067e-01 2.10517503e-01 2.06512570e-04 3.47509735e+02] [-2.10517498e-01 9.77590088e-01 -4.50583555e-05 -3.97243816e+01] [-2.11370214e-04 5.74091363e-07 9.99999978e-01 -2.34025318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.405769231 meters 0.011936138572707667 Centerline is valid? [True, True] Translation: X:347.57, Y:-39.74, Z:-2.34 [[ 9.77006765e-01 2.13189732e-01 2.81426676e-03 3.47566686e+02] [-2.13188860e-01 9.77010818e-01 -6.09655041e-04 -3.97359393e+01] [-2.87954126e-03 -4.33322219e-06 9.99995854e-01 -2.33767703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.465769231 meters 0.0136907690131969 Centerline is valid? [True, True] Translation: X:347.62, Y:-39.75, Z:-2.34 [[ 9.76239034e-01 2.16696432e-01 -7.54546460e-05 3.47624779e+02] [-2.16696431e-01 9.76239036e-01 1.59813318e-05 -3.97452752e+01] [ 7.71248684e-05 7.49152641e-07 9.99999997e-01 -2.34293749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.525769231 meters 0.015970104928086794 Centerline is valid? [True, True] Translation: X:347.68, Y:-39.76, Z:-2.35 [[ 9.75589600e-01 2.19580058e-01 -3.08711877e-03 3.47682430e+02] [-2.19579046e-01 9.75594484e-01 6.67400785e-04 -3.97554408e+01] [ 3.15832395e-03 2.67573289e-05 9.99995012e-01 -2.34817464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.58576923100003 meters 0.02153331084809288 Centerline is valid? [True, True] Translation: X:347.74, Y:-39.76, Z:-2.35 [[ 9.74087957e-01 2.26162111e-01 -1.83091125e-03 3.47741827e+02] [-2.26161767e-01 9.74089677e-01 3.95597117e-04 -3.97562340e+01] [ 1.87294083e-03 2.87357356e-05 9.99998246e-01 -2.34595351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64576923100003 meters 0.023333372522408392 Centerline is valid? [True, True] Translation: X:347.80, Y:-39.76, Z:-2.35 [[ 9.73616490e-01 2.28186006e-01 -1.44079124e-03 3.47800539e+02] [-2.28185797e-01 9.73617556e-01 3.10127689e-04 -3.97645407e+01] [ 1.47354644e-03 2.68226642e-05 9.99998914e-01 -2.34605260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70576923100003 meters 0.017436843874597072 Centerline is valid? [True, True] Translation: X:347.86, Y:-39.79, Z:-2.35 [[ 9.75172906e-01 2.21443126e-01 -8.63146906e-04 3.47855303e+02] [-2.21443048e-01 9.75173288e-01 1.86313008e-04 -3.97881267e+01] [ 8.82975541e-04 9.45048399e-06 9.99999610e-01 -2.34686430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76576923100004 meters 0.01254260398208911 Centerline is valid? [True, True] Translation: X:347.91, Y:-39.81, Z:-2.35 [[ 9.76852582e-01 2.13913332e-01 3.45716572e-04 3.47909753e+02] [-2.13913319e-01 9.76852643e-01 -7.50113557e-05 -3.98142179e+01] [-3.53760076e-04 -6.78342888e-07 9.99999937e-01 -2.34523516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82576923100004 meters 0.013862518607607248 Centerline is valid? [True, True] Translation: X:347.96, Y:-39.84, Z:-2.35 [[ 9.78379283e-01 2.06808134e-01 -2.09154510e-03 3.47962452e+02] [-2.06807642e-01 9.78381518e-01 4.51239504e-04 -3.98430714e+01] [ 2.13964908e-03 -8.93587185e-06 9.99997711e-01 -2.35015857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88576923100004 meters 0.015549884051719394 Centerline is valid? [True, True] Translation: X:348.02, Y:-39.87, Z:-2.35 [[ 9.78879262e-01 2.04420355e-01 -2.77658808e-03 3.48017404e+02] [-2.04419477e-01 9.78883200e-01 5.99122656e-04 -3.98673765e+01] [ 2.84042829e-03 -1.88800582e-05 9.99995966e-01 -2.35268747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.945769231 meters 0.016219036997878883 Centerline is valid? [True, True] Translation: X:348.07, Y:-39.89, Z:-2.35 [[ 9.79251552e-01 2.02613283e-01 -3.77563517e-03 3.48073574e+02] [-2.02611648e-01 9.79258830e-01 8.14603895e-04 -3.98868911e+01] [ 3.86237365e-03 -3.27144633e-05 9.99992540e-01 -2.35200020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.005769231 meters 0.016850044088324554 Centerline is valid? [True, True] Translation: X:348.13, Y:-39.91, Z:-2.35 [[ 9.79134792e-01 2.03177734e-01 -3.72383000e-03 3.48127956e+02] [-2.03176149e-01 9.79141873e-01 8.03107738e-04 -3.99072777e+01] [ 3.80933149e-03 -2.97572892e-05 9.99992744e-01 -2.35461854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.065769231 meters 0.014472226498506671 Centerline is valid? [True, True] Translation: X:348.19, Y:-39.92, Z:-2.35 [[ 9.78543314e-01 2.06008010e-01 -3.69889656e-03 3.48185578e+02] [-2.06006467e-01 9.78550305e-01 7.97634031e-04 -3.99177612e+01] [ 3.78387536e-03 -1.85228350e-05 9.99992841e-01 -2.35419543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.125769231 meters 0.013597101581580043 Centerline is valid? [True, True] Translation: X:348.24, Y:-39.92, Z:-2.35 [[ 9.77120299e-01 2.12646535e-01 -4.16801526e-03 3.48243493e+02] [-2.12644637e-01 9.77129189e-01 8.98499634e-04 -3.99232254e+01] [ 4.26375220e-03 8.36386043e-06 9.99990910e-01 -2.35406777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.185769231 meters 0.01716079120890651 Centerline is valid? [True, True] Translation: X:348.30, Y:-39.92, Z:-2.35 [[ 9.75385246e-01 2.20506046e-01 -8.40520979e-04 3.48302686e+02] [-2.20505972e-01 9.75385608e-01 1.80811220e-04 -3.99231742e+01] [ 8.59702033e-04 8.97929918e-06 9.99999630e-01 -2.34609674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.245769231 meters 0.02464021000952381 Centerline is valid? [True, True] Translation: X:348.36, Y:-39.92, Z:-2.34 [[ 9.73658745e-01 2.28002237e-01 1.90459969e-03 3.48364815e+02] [-2.28001870e-01 9.73660608e-01 -4.10770749e-04 -3.99194908e+01] [-1.94809034e-03 -3.43017574e-05 9.99998102e-01 -2.34257397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.305769231 meters 0.02910460472414754 Centerline is valid? [True, True] Translation: X:348.42, Y:-39.92, Z:-2.35 [[ 9.72736134e-01 2.31913194e-01 8.26871023e-04 3.48424575e+02] [-2.31913126e-01 9.72736486e-01 -1.78477878e-04 -3.99231871e+01] [-8.45718987e-04 -1.81503626e-05 9.99999642e-01 -2.34537401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.365769231 meters 0.0415005921624726 Centerline is valid? [True, True] Translation: X:348.49, Y:-39.91, Z:-2.35 [[ 9.70440155e-01 2.41317766e-01 -3.41190053e-03 3.48487571e+02] [-2.41316670e-01 9.70446147e-01 7.35405891e-04 -3.99106807e+01] [ 3.48853223e-03 1.09681069e-04 9.99993909e-01 -2.35388726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.425769231 meters 0.04379820966882873 Centerline is valid? [True, True] Translation: X:348.55, Y:-39.91, Z:-2.35 [[ 9.69964966e-01 2.43244287e-01 4.25337153e-04 3.48546825e+02] [-2.43244269e-01 9.69965060e-01 -9.27292530e-05 -3.99137476e+01] [-4.35118038e-04 -1.35166981e-05 9.99999905e-01 -2.34646169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.485769231 meters 0.04216446699246742 Centerline is valid? [True, True] Translation: X:348.60, Y:-39.93, Z:-2.35 [[ 9.71164533e-01 2.38407655e-01 1.11369286e-03 3.48604670e+02] [-2.38407537e-01 9.71165171e-01 -2.39972427e-04 -3.99270244e+01] [-1.13879098e-03 -3.24600620e-05 9.99999351e-01 -2.34731138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.545769231 meters 0.0362984151496147 Centerline is valid? [True, True] Translation: X:348.66, Y:-39.94, Z:-2.35 [[ 9.72372294e-01 2.33433324e-01 -1.00240055e-03 3.48662061e+02] [-2.33433225e-01 9.72372811e-01 2.15799422e-04 -3.99445674e+01] [ 1.02508182e-03 2.41562142e-05 9.99999474e-01 -2.35350608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.605769231 meters 0.030378836567530383 Centerline is valid? [True, True] Translation: X:348.72, Y:-39.96, Z:-2.35 [[ 9.73073400e-01 2.30495062e-01 -4.29481940e-04 3.48718074e+02] [-2.30495044e-01 9.73073495e-01 9.21666479e-05 -3.99644325e+01] [ 4.39161450e-04 9.30854520e-06 9.99999904e-01 -2.35066378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.665769231 meters 0.03269782527147931 Centerline is valid? [True, True] Translation: X:348.78, Y:-39.97, Z:-2.35 [[ 9.72708276e-01 2.32029651e-01 -9.22059003e-04 3.48776256e+02] [-2.32029568e-01 9.72708713e-01 1.97304479e-04 -3.99737267e+01] [ 9.42675316e-04 2.20252527e-05 9.99999555e-01 -2.35094811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.725769231 meters 0.037928312368523 Centerline is valid? [True, True] Translation: X:348.84, Y:-39.98, Z:-2.35 [[ 9.71837135e-01 2.35640597e-01 -2.46811713e-03 3.48836926e+02] [-2.35640008e-01 9.71840267e-01 5.30924505e-04 -3.99763228e+01] [ 2.52372298e-03 6.56149896e-05 9.99996813e-01 -2.35439522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.785769231 meters 0.038609775381971925 Centerline is valid? [True, True] Translation: X:348.90, Y:-39.98, Z:-2.35 [[ 9.71037386e-01 2.38924640e-01 -1.18766849e-03 3.48896717e+02] [-2.38924506e-01 9.71038112e-01 2.55331536e-04 -3.99824499e+01] [ 1.21427636e-03 3.58266406e-05 9.99999262e-01 -2.35073869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.845769231 meters 0.036906088348686306 Centerline is valid? [True, True] Translation: X:348.96, Y:-39.99, Z:-2.35 [[ 9.71285405e-01 2.37910094e-01 -1.85705456e-03 3.48955163e+02] [-2.37909767e-01 9.71287179e-01 3.98150890e-04 -3.99928342e+01] [ 1.89845740e-03 5.50932689e-05 9.99998196e-01 -2.35261546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.905769231 meters 0.034743757817094406 Centerline is valid? [True, True] Translation: X:349.01, Y:-40.01, Z:-2.36 [[ 9.72275632e-01 2.33824013e-01 -2.53519811e-03 3.49012095e+02] [-2.33823387e-01 9.72278935e-01 5.44653869e-04 -4.00069938e+01] [ 2.59227287e-03 6.32349250e-05 9.99996638e-01 -2.35623204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.965769231 meters 0.025756338637396684 Centerline is valid? [True, True] Translation: X:349.07, Y:-40.03, Z:-2.35 [[ 9.74067928e-01 2.26252182e-01 -1.27346581e-03 3.49067870e+02] [-2.26252017e-01 9.74068760e-01 2.73577603e-04 -4.00303650e+01] [ 1.30234079e-03 2.16410394e-05 9.99999152e-01 -2.35389113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.025769231 meters 0.019368351796413025 Centerline is valid? [True, True] Translation: X:349.12, Y:-40.05, Z:-2.35 [[ 9.74854784e-01 2.22840767e-01 3.76843787e-04 3.49123973e+02] [-2.22840752e-01 9.74854857e-01 -8.13088626e-05 -4.00505481e+01] [-3.85486926e-04 -4.71181933e-06 9.99999926e-01 -2.34747188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.08576923100003 meters 0.012950526246076004 Centerline is valid? [True, True] Translation: X:349.18, Y:-40.08, Z:-2.35 [[ 9.76766129e-01 2.14308023e-01 -3.43951600e-05 3.49178271e+02] [-2.14308023e-01 9.76766129e-01 7.04584390e-06 -4.00775268e+01] [ 3.51060081e-05 4.89017065e-07 9.99999999e-01 -2.34838270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14576923100003 meters 0.012619471690987056 Centerline is valid? [True, True] Translation: X:349.23, Y:-40.10, Z:-2.35 [[ 9.78277411e-01 2.07297372e-01 -1.05220344e-03 3.49232806e+02] [-2.07297249e-01 9.78277977e-01 2.25638466e-04 -4.01033092e+01] [ 1.07612171e-03 -2.61813625e-06 9.99999421e-01 -2.35160845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20576923100003 meters 0.017734528066083277 Centerline is valid? [True, True] Translation: X:349.29, Y:-40.13, Z:-2.35 [[ 9.79965227e-01 1.99163207e-01 -1.47348543e-03 3.49287081e+02] [-1.99162957e-01 9.79966334e-01 3.16249053e-04 -4.01333866e+01] [ 1.50695129e-03 -1.64493598e-05 9.99998864e-01 -2.35193002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26576923100004 meters 0.023793873362267 Centerline is valid? [True, True] Translation: X:349.34, Y:-40.17, Z:-2.35 [[ 9.81237325e-01 1.92782591e-01 -2.86078687e-03 3.49340411e+02] [-1.92781620e-01 9.81241494e-01 6.13972673e-04 -4.01662507e+01] [ 2.92548602e-03 -5.09457779e-05 9.99995719e-01 -2.35353349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32576923100004 meters 0.027148552195798474 Centerline is valid? [True, True] Translation: X:349.40, Y:-40.19, Z:-2.35 [[ 9.81928835e-01 1.89243070e-01 -1.68007863e-03 3.49395647e+02] [-1.89242730e-01 9.81930272e-01 3.60511609e-04 -4.01920866e+01] [ 1.71794439e-03 -3.60540771e-05 9.99998524e-01 -2.35052847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38576923100004 meters 0.025290105090748423 Centerline is valid? [True, True] Translation: X:349.45, Y:-40.21, Z:-2.35 [[ 9.81731127e-01 1.90272053e-01 7.34863876e-04 3.49451151e+02] [-1.90271988e-01 9.81731402e-01 -1.58066099e-04 -4.02143138e+01] [-7.51514504e-04 1.53543991e-05 9.99999717e-01 -2.34661093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.445769231 meters 0.023759141006781528 Centerline is valid? [True, True] Translation: X:349.51, Y:-40.23, Z:-2.35 [[ 9.80952147e-01 1.94227818e-01 -2.90513002e-03 3.49507109e+02] [-1.94226825e-01 9.80956448e-01 6.22931064e-04 -4.02300043e+01] [ 2.97079656e-03 -4.68113871e-05 9.99995586e-01 -2.35391048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.505769231 meters 0.019111838572787802 Centerline is valid? [True, True] Translation: X:349.56, Y:-40.24, Z:-2.37 [[ 9.79389974e-01 2.01815953e-01 -8.09933643e-03 3.49564983e+02] [-2.01808487e-01 9.79423461e-01 1.73716725e-03 -4.02381148e+01] [ 8.28326819e-03 -6.68493549e-05 9.99965691e-01 -2.36640637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.565769231 meters 0.014583064661242786 Centerline is valid? [True, True] Translation: X:349.62, Y:-40.25, Z:-2.36 [[ 9.78440213e-01 2.06428956e-01 -6.46802381e-03 3.49623802e+02] [-2.06424297e-01 9.78461591e-01 1.38705145e-03 -4.02469042e+01] [ 6.61504045e-03 -2.19896545e-05 9.99978120e-01 -2.36068122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.625769231 meters 0.012362308424519314 Centerline is valid? [True, True] Translation: X:349.68, Y:-40.26, Z:-2.35 [[ 9.77779920e-01 2.09621609e-01 -2.28222877e-03 3.49681812e+02] [-2.09621038e-01 9.77782584e-01 4.89046771e-04 -4.02586555e+01] [ 2.33403832e-03 2.23051636e-07 9.99997276e-01 -2.35055316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.685769231 meters 0.013258347535147328 Centerline is valid? [True, True] Translation: X:349.74, Y:-40.27, Z:-2.36 [[ 9.77589672e-01 2.10490093e-01 -3.51493308e-03 3.49738546e+02] [-2.10488746e-01 9.77595991e-01 7.53084106e-04 -4.02716472e+01] [ 3.59470123e-03 3.64661138e-06 9.99993539e-01 -2.35610317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.745769231 meters 0.012722548559505395 Centerline is valid? [True, True] Translation: X:349.80, Y:-40.28, Z:-2.35 [[ 9.77401964e-01 2.11369040e-01 -2.92048972e-03 3.49795699e+02] [-2.11368114e-01 9.77406328e-01 6.25593071e-04 -4.02848390e+01] [ 2.98673614e-03 5.84250713e-06 9.99995540e-01 -2.35241771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.805769231 meters 0.012690993727775091 Centerline is valid? [True, True] Translation: X:349.85, Y:-40.30, Z:-2.35 [[ 9.77255093e-01 2.12060193e-01 -1.71975204e-03 3.49852255e+02] [-2.12059873e-01 9.77256606e-01 3.68059621e-04 -4.02962565e+01] [ 1.75868983e-03 5.00225965e-06 9.99998453e-01 -2.35119264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.865769231 meters 0.01284105476602295 Centerline is valid? [True, True] Translation: X:349.91, Y:-40.31, Z:-2.35 [[ 9.77263939e-01 2.11998782e-01 -3.42188025e-03 3.49909099e+02] [-2.11997516e-01 9.77269930e-01 7.32657857e-04 -4.03115435e+01] [ 3.49942324e-03 9.43000857e-06 9.99993877e-01 -2.35313774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.925769231 meters 0.013106026542459246 Centerline is valid? [True, True] Translation: X:349.97, Y:-40.32, Z:-2.36 [[ 9.77267612e-01 2.11970290e-01 -4.07559987e-03 3.49966168e+02] [-2.11968496e-01 9.77276110e-01 8.72353437e-04 -4.03229616e+01] [ 4.16789940e-03 1.13760119e-05 9.99991314e-01 -2.35571860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.985769231 meters 0.013378587678637534 Centerline is valid? [True, True] Translation: X:350.02, Y:-40.33, Z:-2.36 [[ 9.77238832e-01 2.12100507e-01 -4.19993437e-03 3.50022673e+02] [-2.12098603e-01 9.77247857e-01 8.98728035e-04 -4.03336499e+01] [ 4.29499753e-03 1.25282772e-05 9.99990776e-01 -2.35705660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.045769231 meters 0.013622912939730827 Centerline is valid? [True, True] Translation: X:350.08, Y:-40.34, Z:-2.35 [[ 9.76789970e-01 2.14188683e-01 -2.13612727e-03 3.50081778e+02] [-2.14188196e-01 9.76792305e-01 4.56874869e-04 -4.03402247e+01] [ 2.18441011e-03 1.12624565e-05 9.99997614e-01 -2.35225565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.105769231 meters 0.015728873958194393 Centerline is valid? [True, True] Translation: X:350.14, Y:-40.34, Z:-2.35 [[ 9.76042129e-01 2.17569858e-01 -2.26272476e-03 3.50141580e+02] [-2.17569321e-01 9.76044751e-01 4.83861193e-04 -4.03423272e+01] [ 2.31379423e-03 2.00305815e-05 9.99997323e-01 -2.35337694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.165769231 meters 0.0163501180784739 Centerline is valid? [True, True] Translation: X:350.20, Y:-40.35, Z:-2.36 [[ 9.76027895e-01 2.17621651e-01 -3.21964045e-03 3.50198748e+02] [-2.17620564e-01 9.76033204e-01 6.88358451e-04 -4.03513560e+01] [ 3.29227769e-03 2.88029224e-05 9.99994580e-01 -2.35702852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.225769231 meters 0.015790369437595035 Centerline is valid? [True, True] Translation: X:350.26, Y:-40.36, Z:-2.36 [[ 9.76239217e-01 2.16652313e-01 -4.33210872e-03 3.50256001e+02] [-2.16650336e-01 9.76248828e-01 9.26221018e-04 -4.03635677e+01] [ 4.42988399e-03 3.43395276e-05 9.99990187e-01 -2.35916125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.285769231 meters 0.015263336234127848 Centerline is valid? [True, True] Translation: X:350.31, Y:-40.37, Z:-2.36 [[ 9.76414212e-01 2.15824672e-01 -5.91589869e-03 3.50314090e+02] [-2.15820970e-01 9.76432132e-01 1.26466104e-03 -4.03749198e+01] [ 6.04941863e-03 4.19419865e-05 9.99981701e-01 -2.36170736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.345769231 meters 0.014497408906088199 Centerline is valid? [True, True] Translation: X:350.37, Y:-40.39, Z:-2.36 [[ 9.76949980e-01 2.13372990e-01 -6.37991682e-03 3.50370914e+02] [-2.13368636e-01 9.76970811e-01 1.36341031e-03 -4.03869971e+01] [ 6.52390745e-03 2.92904745e-05 9.99978719e-01 -2.36397899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.405769231 meters 0.013407438787601198 Centerline is valid? [True, True] Translation: X:350.43, Y:-40.40, Z:-2.36 [[ 9.77426347e-01 2.11220932e-01 -4.84302779e-03 3.50427764e+02] [-2.11218398e-01 9.77438345e-01 1.03472178e-03 -4.04008675e+01] [ 4.95231596e-03 1.15722434e-05 9.99987737e-01 -2.36133715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.465769231 meters 0.013273623440798445 Centerline is valid? [True, True] Translation: X:350.48, Y:-40.42, Z:-2.36 [[ 9.78749432e-01 2.05049557e-01 -2.05633509e-03 3.50482870e+02] [-2.05049087e-01 9.78751592e-01 4.39050888e-04 -4.04247598e+01] [ 2.10266843e-03 -8.07117377e-06 9.99997789e-01 -2.35694544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.525769231 meters 0.01788535382793051 Centerline is valid? [True, True] Translation: X:350.54, Y:-40.45, Z:-2.36 [[ 9.80012306e-01 1.98925631e-01 -2.11506855e-03 3.50538827e+02] [-1.98925119e-01 9.80014588e-01 4.51717737e-04 -4.04500985e+01] [ 2.16265627e-03 -2.19486774e-05 9.99997661e-01 -2.35747255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.58576923100003 meters 0.02458056481627451 Centerline is valid? [True, True] Translation: X:350.59, Y:-40.48, Z:-2.36 [[ 9.81195106e-01 1.92978921e-01 -3.91157611e-03 3.50592896e+02] [-1.92977124e-01 9.81202900e-01 8.35447930e-04 -4.04791566e+01] [ 3.99927367e-03 -6.48927130e-05 9.99992001e-01 -2.36239146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64576923100003 meters 0.022546605467794422 Centerline is valid? [True, True] Translation: X:350.65, Y:-40.50, Z:-2.36 [[ 9.81046992e-01 1.93686703e-01 -5.67988590e-03 3.50649824e+02] [-1.93682925e-01 9.81063430e-01 1.21305590e-03 -4.04969389e+01] [ 5.80728114e-03 -8.99679297e-05 9.99983134e-01 -2.36352109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70576923100003 meters 0.021147860524956527 Centerline is valid? [True, True] Translation: X:350.71, Y:-40.51, Z:-2.36 [[ 9.80706052e-01 1.95435588e-01 -4.53538447e-03 3.50706362e+02] [-1.95433199e-01 9.80716538e-01 9.68341213e-04 -4.05129099e+01] [ 4.63717488e-03 -6.32933944e-05 9.99989246e-01 -2.36203096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76576923100004 meters 0.015308671573775337 Centerline is valid? [True, True] Translation: X:350.77, Y:-40.53, Z:-2.35 [[ 9.79777445e-01 2.00088223e-01 9.27882388e-04 3.50765065e+02] [-2.00088125e-01 9.79777884e-01 -1.98311452e-04 -4.05258382e+01] [-9.48798429e-04 8.64284055e-06 9.99999550e-01 -2.35024225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82576923100004 meters 0.013534403452022002 Centerline is valid? [True, True] Translation: X:350.82, Y:-40.54, Z:-2.35 [[ 9.79059249e-01 2.03565683e-01 1.99993544e-03 3.50822983e+02] [-2.03565236e-01 9.79061291e-01 -4.27124096e-04 -4.05399858e+01] [-2.04500719e-03 1.10624671e-05 9.99997909e-01 -2.35075541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88576923100004 meters 0.012501806186031311 Centerline is valid? [True, True] Translation: X:350.88, Y:-40.55, Z:-2.36 [[ 9.78114341e-01 2.08062334e-01 -1.54932760e-03 3.50879846e+02] [-2.08062072e-01 9.78115568e-01 3.30342667e-04 -4.05526674e+01] [ 1.58415331e-03 -7.56590033e-07 9.99998745e-01 -2.35832358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.945769231 meters 0.012392608890222744 Centerline is valid? [True, True] Translation: X:350.94, Y:-40.56, Z:-2.36 [[ 9.77450232e-01 2.11161534e-01 -1.36022440e-03 3.50938581e+02] [-2.11161335e-01 9.77451179e-01 2.90162447e-04 -4.05635845e+01] [ 1.39082409e-03 3.60744902e-06 9.99999033e-01 -2.35547781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.005769231 meters 0.013803938964293792 Centerline is valid? [True, True] Translation: X:351.00, Y:-40.57, Z:-2.35 [[ 9.76668115e-01 2.14754221e-01 -1.30443801e-04 3.50996179e+02] [-2.14754219e-01 9.76668124e-01 2.75863335e-05 -4.05726808e+01] [ 1.33324584e-04 1.07066434e-06 9.99999991e-01 -2.35439415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.065769231 meters 0.015204210149911317 Centerline is valid? [True, True] Translation: X:351.05, Y:-40.59, Z:-2.36 [[ 9.76284523e-01 2.16487728e-01 -1.26222720e-03 3.51054402e+02] [-2.16487561e-01 9.76285339e-01 2.69170611e-04 -4.05873330e+01] [ 1.29056604e-03 1.04693864e-05 9.99999167e-01 -2.35747099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.125769231 meters 0.015496527923793921 Centerline is valid? [True, True] Translation: X:351.11, Y:-40.60, Z:-2.36 [[ 9.76147180e-01 2.17103451e-01 -1.66569469e-03 3.51111779e+02] [-2.17103161e-01 9.76148601e-01 3.55219618e-04 -4.06028745e+01] [ 1.70308494e-03 1.48809526e-05 9.99998550e-01 -2.35818756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.185769231 meters 0.01627123271235994 Centerline is valid? [True, True] Translation: X:351.17, Y:-40.62, Z:-2.36 [[ 9.75945314e-01 2.18002220e-01 -2.40341432e-03 3.51170013e+02] [-2.18001618e-01 9.75948273e-01 5.12558670e-04 -4.06152405e+01] [ 2.45734698e-03 2.37189792e-05 9.99996980e-01 -2.35956174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.245769231 meters 0.016656010219450193 Centerline is valid? [True, True] Translation: X:351.23, Y:-40.63, Z:-2.36 [[ 9.75884509e-01 2.18276098e-01 -2.22958506e-03 3.51228027e+02] [-2.18275582e-01 9.75887055e-01 4.75387397e-04 -4.06268582e+01] [ 2.27958890e-03 2.27407791e-05 9.99997401e-01 -2.36047669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.305769231 meters 0.015160490588757451 Centerline is valid? [True, True] Translation: X:351.29, Y:-40.64, Z:-2.35 [[ 9.76234634e-01 2.16715157e-01 6.93140269e-04 3.51286563e+02] [-2.16715106e-01 9.76234880e-01 -1.47925589e-04 -4.06410812e+01] [-7.08725425e-04 -5.80388430e-06 9.99999749e-01 -2.35499628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.365769231 meters 0.012155022119175192 Centerline is valid? [True, True] Translation: X:351.35, Y:-40.66, Z:-2.36 [[ 9.77353148e-01 2.11612227e-01 1.04408543e-03 3.51345603e+02] [-2.11612110e-01 9.77353705e-01 -2.22552849e-04 -4.06599909e+01] [-1.06753567e-03 -3.42839461e-06 9.99999430e-01 -2.35516616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.425769231 meters 0.01194151068472752 Centerline is valid? [True, True] Translation: X:351.41, Y:-40.68, Z:-2.36 [[ 9.77804954e-01 2.09516642e-01 -4.97864402e-04 3.51405360e+02] [-2.09516615e-01 9.77805081e-01 1.07474636e-04 -4.06785225e+01] [ 5.09332067e-04 -7.78367686e-07 9.99999870e-01 -2.35923955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.485769231 meters 0.012549285448352827 Centerline is valid? [True, True] Translation: X:351.46, Y:-40.70, Z:-2.36 [[ 9.78169511e-01 2.07792618e-01 -2.57615375e-03 3.51463582e+02] [-2.07791886e-01 9.78172903e-01 5.51259861e-04 -4.06961337e+01] [ 2.63447152e-03 -3.92174195e-06 9.99996530e-01 -2.36356237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.545769231 meters 0.013254938508736632 Centerline is valid? [True, True] Translation: X:351.52, Y:-40.71, Z:-2.37 [[ 9.78373439e-01 2.06808890e-01 -3.93662597e-03 3.51521496e+02] [-2.06807180e-01 9.78381359e-01 8.40963343e-04 -4.07114571e+01] [ 4.02544016e-03 -8.65368185e-06 9.99991898e-01 -2.36664014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.605769231 meters 0.012736297644985208 Centerline is valid? [True, True] Translation: X:351.58, Y:-40.72, Z:-2.36 [[ 9.78279780e-01 2.07279318e-01 -1.98878391e-03 3.51579886e+02] [-2.07278883e-01 9.78281802e-01 4.25013324e-04 -4.07231140e+01] [ 2.03368758e-03 -3.54903511e-06 9.99997932e-01 -2.36380148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.665769231 meters 0.011492731729079353 Centerline is valid? [True, True] Translation: X:351.64, Y:-40.73, Z:-2.35 [[ 9.77698547e-01 2.09995308e-01 2.74268733e-03 3.51639088e+02] [-2.09994490e-01 9.77702394e-01 -5.86053401e-04 -4.07337654e+01] [-2.80460043e-03 -2.96566864e-06 9.99996067e-01 -2.35331095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.725769231 meters 0.01209989296840197 Centerline is valid? [True, True] Translation: X:351.70, Y:-40.74, Z:-2.35 [[ 9.77006089e-01 2.13168996e-01 4.25212568e-03 3.51700071e+02] [-2.13167062e-01 9.77015342e-01 -9.08272971e-04 -4.07398173e+01] [-4.34800766e-03 -1.90249154e-05 9.99990547e-01 -2.34988692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.785769231 meters 0.01489235785558147 Centerline is valid? [True, True] Translation: X:351.76, Y:-40.74, Z:-2.36 [[ 9.76099891e-01 2.17315967e-01 1.66508632e-03 3.51761362e+02] [-2.17315676e-01 9.76101312e-01 -3.55737364e-04 -4.07410277e+01] [-1.70260035e-03 -1.46141566e-05 9.99998550e-01 -2.35677610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.845769231 meters 0.015272677174323526 Centerline is valid? [True, True] Translation: X:351.82, Y:-40.75, Z:-2.36 [[ 9.76029402e-01 2.17630226e-01 1.92118830e-03 3.51819325e+02] [-2.17629839e-01 9.76031293e-01 -4.10635644e-04 -4.07487066e+01] [-1.96450663e-03 -1.73154383e-05 9.99998070e-01 -2.35624403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.905769231 meters 0.01381763572269122 Centerline is valid? [True, True] Translation: X:351.88, Y:-40.76, Z:-2.35 [[ 9.76546566e-01 2.15272164e-01 3.83414235e-03 3.51876719e+02] [-2.15270607e-01 9.76554092e-01 -8.19114193e-04 -4.07588718e+01] [-3.92057989e-03 -2.54749991e-05 9.99992314e-01 -2.35416823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.965769231 meters 0.013232059503519963 Centerline is valid? [True, True] Translation: X:351.93, Y:-40.77, Z:-2.35 [[ 9.76749949e-01 2.14346189e-01 3.90499249e-03 3.51933396e+02] [-2.14344567e-01 9.76757754e-01 -8.34168244e-04 -4.07687498e+01] [-3.99303248e-03 -2.22401325e-05 9.99992028e-01 -2.35375622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.025769231 meters 0.015226538512864816 Centerline is valid? [True, True] Translation: X:351.99, Y:-40.77, Z:-2.36 [[ 9.75919869e-01 2.18123335e-01 1.61870398e-03 3.51993756e+02] [-2.18123062e-01 9.75921211e-01 -3.45748021e-04 -4.07712216e+01] [-1.65514326e-03 -1.56543033e-05 9.99998630e-01 -2.35705808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.08576923100003 meters 0.020123367248820894 Centerline is valid? [True, True] Translation: X:352.05, Y:-40.77, Z:-2.36 [[ 9.74871753e-01 2.22763087e-01 1.29312303e-03 3.52053706e+02] [-2.22762916e-01 9.74872611e-01 -2.76279148e-04 -4.07686756e+01] [-1.32217502e-03 -1.87231192e-05 9.99999126e-01 -2.35873420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14576923100003 meters 0.02208335477184249 Centerline is valid? [True, True] Translation: X:352.11, Y:-40.78, Z:-2.36 [[ 9.74645854e-01 2.23749950e-01 1.19137956e-03 3.52110648e+02] [-2.23749806e-01 9.74646582e-01 -2.54640913e-04 -4.07768283e+01] [-1.21814991e-03 -1.83862355e-05 9.99999258e-01 -2.36002424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20576923100003 meters 0.021081653291836533 Centerline is valid? [True, True] Translation: X:352.17, Y:-40.79, Z:-2.36 [[ 9.74489817e-01 2.24431091e-01 5.29990704e-04 3.52168132e+02] [-2.24431063e-01 9.74489962e-01 -1.13409805e-04 -4.07901477e+01] [-5.41923307e-04 -8.42967658e-06 9.99999853e-01 -2.36126285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26576923100004 meters 0.018612660947417002 Centerline is valid? [True, True] Translation: X:352.22, Y:-40.80, Z:-2.36 [[ 9.75261196e-01 2.21055282e-01 4.02884039e-04 3.52224787e+02] [-2.21055265e-01 9.75261279e-01 -8.63494368e-05 -4.08029579e+01] [-4.12005202e-04 -4.84638311e-06 9.99999915e-01 -2.36330563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32576923100004 meters 0.01582726659110642 Centerline is valid? [True, True] Translation: X:352.28, Y:-40.82, Z:-2.36 [[ 9.76019666e-01 2.17681148e-01 7.27506328e-04 3.52280004e+02] [-2.17681093e-01 9.76019937e-01 -1.55526786e-04 -4.08201474e+01] [-7.43915930e-04 -6.56717023e-06 9.99999723e-01 -2.36340863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38576923100004 meters 0.011901667830672799 Centerline is valid? [True, True] Translation: X:352.34, Y:-40.84, Z:-2.37 [[ 9.77534666e-01 2.10774708e-01 6.57457936e-06 3.52335891e+02] [-2.10774708e-01 9.77534666e-01 -1.57483132e-06 -4.08438536e+01] [-6.75881388e-06 1.53697165e-07 1.00000000e+00 -2.36506653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.445769231 meters 0.01275890204188083 Centerline is valid? [True, True] Translation: X:352.39, Y:-40.87, Z:-2.36 [[ 9.79062457e-01 2.03552626e-01 1.74156307e-03 3.52391543e+02] [-2.03552288e-01 9.79064006e-01 -3.71224263e-04 -4.08712728e+01] [-1.78066539e-03 8.95259156e-06 9.99998415e-01 -2.36286078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.505769231 meters 0.014785163921720327 Centerline is valid? [True, True] Translation: X:352.45, Y:-40.89, Z:-2.36 [[ 9.79742700e-01 2.00238185e-01 2.98520523e-03 3.52450977e+02] [-2.00237177e-01 9.79747247e-01 -6.35768588e-04 -4.08916298e+01] [-3.05205176e-03 2.51405642e-05 9.99995342e-01 -2.36113213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.565769231 meters 0.01674245837261203 Centerline is valid? [True, True] Translation: X:352.51, Y:-40.91, Z:-2.36 [[ 9.80026005e-01 1.98865524e-01 1.23806000e-03 3.52508411e+02] [-1.98865350e-01 9.80026787e-01 -2.63257474e-04 -4.09149806e+01] [-1.26568480e-03 1.17919349e-05 9.99999199e-01 -2.36363013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.625769231 meters 0.016366731619404128 Centerline is valid? [True, True] Translation: X:352.57, Y:-40.93, Z:-2.37 [[ 9.80144591e-01 1.98276164e-01 -1.77293211e-03 3.52567869e+02] [-1.98275801e-01 9.80146194e-01 3.80220058e-04 -4.09326458e+01] [ 1.81312123e-03 -2.11410998e-05 9.99998356e-01 -2.36803696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.685769231 meters 0.017256959392397832 Centerline is valid? [True, True] Translation: X:352.63, Y:-40.96, Z:-2.37 [[ 9.80145512e-01 1.98278055e-01 7.66591406e-04 3.52625253e+02] [-1.98277988e-01 9.80145812e-01 -1.62798137e-04 -4.09571176e+01] [-7.83650654e-04 7.56766145e-06 9.99999693e-01 -2.36528829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.745769231 meters 0.014809709427526333 Centerline is valid? [True, True] Translation: X:352.69, Y:-40.98, Z:-2.36 [[ 9.79621360e-01 2.00824272e-01 3.40621855e-03 3.52685432e+02] [-2.00822953e-01 9.79627282e-01 -7.28391248e-04 -4.09753101e+01] [-3.48310326e-03 2.95007587e-05 9.99993934e-01 -2.36085007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.805769231 meters 0.01361022159040479 Centerline is valid? [True, True] Translation: X:352.75, Y:-40.99, Z:-2.36 [[ 9.79152671e-01 2.03108053e-01 2.67687324e-03 3.52746122e+02] [-2.03107249e-01 9.79156330e-01 -5.72036163e-04 -4.09890693e+01] [-2.73726253e-03 1.64183773e-05 9.99996254e-01 -2.36419203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.865769231 meters 0.01224528094090233 Centerline is valid? [True, True] Translation: X:352.81, Y:-41.00, Z:-2.37 [[ 9.78338294e-01 2.07012508e-01 6.21328035e-05 3.52807924e+02] [-2.07012507e-01 9.78338296e-01 -1.19228296e-05 -4.10012844e+01] [-6.32550760e-05 -1.19770665e-06 9.99999998e-01 -2.36827509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.925769231 meters 0.012009714848135766 Centerline is valid? [True, True] Translation: X:352.87, Y:-41.01, Z:-2.37 [[ 9.77633430e-01 2.10315975e-01 -2.59584271e-04 3.52870106e+02] [-2.10315968e-01 9.77633464e-01 5.70719622e-05 -4.10115984e+01] [ 2.65781416e-04 -1.20074097e-06 9.99999965e-01 -2.36960528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.985769231 meters 0.012143315547965718 Centerline is valid? [True, True] Translation: X:352.93, Y:-41.02, Z:-2.37 [[ 9.77027710e-01 2.13104632e-01 1.80812289e-03 3.52931427e+02] [-2.13104280e-01 9.77029383e-01 -3.87042522e-04 -4.10237831e+01] [-1.84906975e-03 -7.16745811e-06 9.99998290e-01 -2.36619548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.045769231 meters 0.011709425414295937 Centerline is valid? [True, True] Translation: X:352.99, Y:-41.04, Z:-2.37 [[ 9.77312516e-01 2.11788205e-01 2.45007177e-03 3.52991419e+02] [-2.11787554e-01 9.77315587e-01 -5.25320731e-04 -4.10395612e+01] [-2.50575007e-03 -5.49218177e-06 9.99996861e-01 -2.36558058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.105769231 meters 0.011980441983930211 Centerline is valid? [True, True] Translation: X:353.05, Y:-41.06, Z:-2.37 [[ 9.77658162e-01 2.10200308e-01 -5.90282730e-04 3.53051582e+02] [-2.10200269e-01 9.77658340e-01 1.28150467e-04 -4.10561261e+01] [ 6.04032102e-04 -1.20976160e-06 9.99999818e-01 -2.37005839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.165769231 meters 0.012077699918298802 Centerline is valid? [True, True] Translation: X:353.11, Y:-41.07, Z:-2.37 [[ 9.77811573e-01 2.09485888e-01 -4.35413044e-04 3.53112722e+02] [-2.09485866e-01 9.77811670e-01 9.50926121e-05 -4.10711980e+01] [ 4.45672516e-04 -1.76977796e-06 9.99999901e-01 -2.36980344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.225769231 meters 0.01197745728786666 Centerline is valid? [True, True] Translation: X:353.17, Y:-41.09, Z:-2.36 [[ 9.78257027e-01 2.07344694e-01 4.62252805e-03 3.53171929e+02] [-2.07342309e-01 9.78267948e-01 -9.94733720e-04 -4.10885111e+01] [-4.72832379e-03 1.46596134e-05 9.99988821e-01 -2.36135781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.285769231 meters 0.01231771681121111 Centerline is valid? [True, True] Translation: X:353.23, Y:-41.10, Z:-2.36 [[ 9.78346093e-01 2.06926285e-01 4.52042397e-03 3.53233079e+02] [-2.06923996e-01 9.78356536e-01 -9.73373821e-04 -4.11041057e+01] [-4.62400296e-03 1.69122821e-05 9.99989309e-01 -2.36285293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.345769231 meters 0.012290592431628677 Centerline is valid? [True, True] Translation: X:353.29, Y:-41.12, Z:-2.37 [[ 9.78074641e-01 2.08249780e-01 1.42342363e-03 3.53294088e+02] [-2.08249556e-01 9.78075676e-01 -3.06007173e-04 -4.11170866e+01] [-1.45594195e-03 2.87051845e-06 9.99998940e-01 -2.36862335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.405769231 meters 0.012441548235000684 Centerline is valid? [True, True] Translation: X:353.35, Y:-41.13, Z:-2.37 [[ 9.77960254e-01 2.08790829e-01 3.61826007e-04 3.53353900e+02] [-2.08790815e-01 9.77960321e-01 -7.69953212e-05 -4.11313587e+01] [-3.69927395e-04 -2.47582963e-07 9.99999932e-01 -2.37146902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.465769231 meters 0.01142372769616669 Centerline is valid? [True, True] Translation: X:353.42, Y:-41.14, Z:-2.36 [[ 9.77754809e-01 2.09674859e-01 5.65570280e-03 3.53415420e+02] [-2.09671302e-01 9.77771166e-01 -1.22131791e-03 -4.11438102e+01] [-5.78606279e-03 8.31088942e-06 9.99983261e-01 -2.36107756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.525769231 meters 0.012077557759382716 Centerline is valid? [True, True] Translation: X:353.48, Y:-41.15, Z:-2.36 [[ 9.76748914e-01 2.14337457e-01 4.58413520e-03 3.53477875e+02] [-2.14335172e-01 9.76759671e-01 -9.89874774e-04 -4.11487497e+01] [-4.68976564e-03 -1.56822979e-05 9.99989003e-01 -2.36433277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.58576923100003 meters 0.012162704489640276 Centerline is valid? [True, True] Translation: X:353.54, Y:-41.16, Z:-2.36 [[ 9.76603603e-01 2.15006678e-01 4.18687642e-03 3.53539146e+02] [-2.15004776e-01 9.76612578e-01 -9.04574255e-04 -4.11647081e+01] [-4.28344569e-03 -1.67879512e-05 9.99990826e-01 -2.36485573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64576923100003 meters 0.013070581572896062 Centerline is valid? [True, True] Translation: X:353.60, Y:-41.18, Z:-2.37 [[ 9.76191079e-01 2.16893323e-01 2.87472856e-03 3.53598336e+02] [-2.16892433e-01 9.76195312e-01 -6.21384891e-04 -4.11803028e+01] [-2.94107078e-03 -1.69164848e-05 9.99995675e-01 -2.36791586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70576923100003 meters 0.021120974201942894 Centerline is valid? [True, True] Translation: X:353.66, Y:-41.18, Z:-2.37 [[ 9.73952555e-01 2.26734103e-01 2.84018474e-03 3.53660349e+02] [-2.26733273e-01 9.73956695e-01 -6.14954712e-04 -4.11823916e+01] [-2.90564814e-03 -4.50276696e-05 9.99995778e-01 -2.36645612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76576923100004 meters 0.032312202289175834 Centerline is valid? [True, True] Translation: X:353.72, Y:-41.18, Z:-2.37 [[ 9.72003702e-01 2.34957896e-01 1.89460211e-03 3.53722234e+02] [-2.34957542e-01 9.72005548e-01 -4.10268196e-04 -4.11771107e+01] [-1.93795951e-03 -4.63688496e-05 9.99998121e-01 -2.36928038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82576923100004 meters 0.04239703191776154 Centerline is valid? [True, True] Translation: X:353.78, Y:-41.17, Z:-2.37 [[ 9.70159204e-01 2.42466685e-01 1.01261585e-03 3.53784039e+02] [-2.42466587e-01 9.70159732e-01 -2.19410077e-04 -4.11705653e+01] [-1.03559876e-03 -3.26628043e-05 9.99999463e-01 -2.37285583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88576923100004 meters 0.03961239010694952 Centerline is valid? [True, True] Translation: X:353.84, Y:-41.18, Z:-2.37 [[ 9.70092520e-01 2.42732023e-01 1.29135088e-03 3.53841844e+02] [-2.42731865e-01 9.70093379e-01 -2.79876387e-04 -4.11830175e+01] [-1.32066590e-03 -4.19460174e-05 9.99999127e-01 -2.37163626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.945769231 meters 0.03255615085982469 Centerline is valid? [True, True] Translation: X:353.90, Y:-41.20, Z:-2.37 [[ 9.71810767e-01 2.35759268e-01 1.18370733e-03 3.53899023e+02] [-2.35759130e-01 9.71811487e-01 -2.56327782e-04 -4.11984340e+01] [-1.21077203e-03 -2.99677126e-05 9.99999267e-01 -2.37242558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.005769231 meters 0.026790016800237532 Centerline is valid? [True, True] Translation: X:353.96, Y:-41.22, Z:-2.37 [[ 9.72486958e-01 2.32952596e-01 1.48481885e-03 3.53955924e+02] [-2.32952376e-01 9.72488091e-01 -3.21547091e-04 -4.12168161e+01] [-1.51887388e-03 -3.31917263e-05 9.99998846e-01 -2.37116200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.065769231 meters 0.02270523659680362 Centerline is valid? [True, True] Translation: X:354.01, Y:-41.23, Z:-2.37 [[ 9.73990869e-01 2.26582592e-01 1.45497147e-03 3.54014343e+02] [-2.26582374e-01 9.73991955e-01 -3.14916903e-04 -4.12313843e+01] [-1.48848519e-03 -2.29447014e-05 9.99998892e-01 -2.37263126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.125769231 meters 0.022151633337180357 Centerline is valid? [True, True] Translation: X:354.07, Y:-41.24, Z:-2.37 [[ 9.74472417e-01 2.24493762e-01 2.46159261e-03 3.54071374e+02] [-2.24493132e-01 9.74475525e-01 -5.33044341e-04 -4.12423311e+01] [-2.51842688e-03 -3.31736253e-05 9.99996828e-01 -2.37165536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.185769231 meters 0.016663101103612164 Centerline is valid? [True, True] Translation: X:354.13, Y:-41.26, Z:-2.37 [[ 9.75207859e-01 2.21278301e-01 2.35478875e-03 3.54128917e+02] [-2.21277716e-01 9.75210702e-01 -5.09540209e-04 -4.12606845e+01] [-2.40916538e-03 -2.41546589e-05 9.99997098e-01 -2.37117439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.245769231 meters 0.015723784107296357 Centerline is valid? [True, True] Translation: X:354.19, Y:-41.27, Z:-2.37 [[ 9.75475356e-01 2.20105351e-01 1.20990154e-03 3.54187577e+02] [-2.20105196e-01 9.75476106e-01 -2.61804156e-04 -4.12743310e+01] [-1.23785454e-03 -1.09221119e-05 9.99999234e-01 -2.37212530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.305769231 meters 0.01430836311933573 Centerline is valid? [True, True] Translation: X:354.25, Y:-41.28, Z:-2.37 [[ 9.75856981e-01 2.18361609e-01 4.62175763e-03 3.54246078e+02] [-2.18359321e-01 9.75867925e-01 -1.00015840e-03 -4.12826224e+01] [-4.72862123e-03 -3.31923004e-05 9.99988819e-01 -2.36669664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.365769231 meters 0.01343688459152959 Centerline is valid? [True, True] Translation: X:354.30, Y:-41.29, Z:-2.36 [[ 9.76153962e-01 2.16992622e-01 6.13557637e-03 3.54303509e+02] [-2.16988565e-01 9.76173243e-01 -1.32744955e-03 -4.12927637e+01] [-6.27743224e-03 -3.55547676e-05 9.99980296e-01 -2.36434415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.425769231 meters 0.01368373492267576 Centerline is valid? [True, True] Translation: X:354.36, Y:-41.30, Z:-2.37 [[ 9.76164508e-01 2.16989930e-01 4.26903852e-03 3.54363334e+02] [-2.16987966e-01 9.76173842e-01 -9.23510538e-04 -4.12970610e+01] [-4.36771622e-03 -2.48317739e-05 9.99990461e-01 -2.36969676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.485769231 meters 0.011952540093120141 Centerline is valid? [True, True] Translation: X:354.42, Y:-41.32, Z:-2.37 [[ 9.77314344e-01 2.11787062e-01 1.70716660e-03 3.54420942e+02] [-2.11786740e-01 9.77315835e-01 -3.69242693e-04 -4.13151799e+01] [-1.74664177e-03 -6.89068512e-07 9.99998475e-01 -2.37410421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.545769231 meters 0.015160434002252992 Centerline is valid? [True, True] Translation: X:354.48, Y:-41.34, Z:-2.37 [[ 9.78797801e-01 2.04817632e-01 2.14528793e-03 3.54478389e+02] [-2.04817109e-01 9.78800152e-01 -4.63261460e-04 -4.13394486e+01] [-2.19469227e-03 1.40476263e-05 9.99997592e-01 -2.37415031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.605769231 meters 0.02160216106183075 Centerline is valid? [True, True] Translation: X:354.54, Y:-41.37, Z:-2.37 [[ 9.80357325e-01 1.97159459e-01 5.25957572e-03 3.54535912e+02] [-1.97156189e-01 9.80371430e-01 -1.13816917e-03 -4.13657278e+01] [-5.38073859e-03 7.88545800e-05 9.99985521e-01 -2.36804925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.665769231 meters 0.022721305299479768 Centerline is valid? [True, True] Translation: X:354.60, Y:-41.38, Z:-2.37 [[ 9.81037773e-01 1.93777085e-01 3.91522136e-03 3.54596130e+02] [-1.93775244e-01 9.81045583e-01 -8.47895174e-04 -4.13827883e+01] [-4.00531327e-03 7.31442211e-05 9.99991976e-01 -2.37105736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.725769231 meters 0.03072282157946649 Centerline is valid? [True, True] Translation: X:354.65, Y:-41.41, Z:-2.38 [[ 9.81766635e-01 1.90088554e-01 7.85366261e-04 3.54651499e+02] [-1.90088479e-01 9.81766949e-01 -1.70075622e-04 -4.14126384e+01] [-8.03376067e-04 1.76854927e-05 9.99999677e-01 -2.37745935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.785769231 meters 0.03046125827644595 Centerline is valid? [True, True] Translation: X:354.71, Y:-41.43, Z:-2.37 [[ 9.82085977e-01 1.88381678e-01 4.41321301e-03 3.54711045e+02] [-1.88379284e-01 9.82095887e-01 -9.55776550e-04 -4.14327674e+01] [-4.51424914e-03 1.07296841e-04 9.99989805e-01 -2.36960473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.845769231 meters 0.03284518864482159 Centerline is valid? [True, True] Translation: X:354.77, Y:-41.45, Z:-2.37 [[ 9.82219023e-01 1.87682765e-01 4.57929426e-03 3.54769388e+02] [-1.87680176e-01 9.82229691e-01 -9.92614533e-04 -4.14537363e+01] [-4.68421543e-03 1.15522125e-04 9.99989022e-01 -2.36979430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.905769231 meters 0.029369639133152332 Centerline is valid? [True, True] Translation: X:354.83, Y:-41.47, Z:-2.37 [[ 9.81733899e-01 1.90238568e-01 2.79990868e-03 3.54830632e+02] [-1.90237611e-01 9.81737889e-01 -6.06884638e-04 -4.14660078e+01] [-2.86422930e-03 6.31512849e-05 9.99995896e-01 -2.37270110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.965769231 meters 0.026513503335275555 Centerline is valid? [True, True] Translation: X:354.89, Y:-41.48, Z:-2.37 [[ 9.81131609e-01 1.93330805e-01 1.99120195e-03 3.54889988e+02] [-1.93330326e-01 9.81133629e-01 -4.32079128e-04 -4.14758295e+01] [-2.03716940e-03 3.89667684e-05 9.99997924e-01 -2.37472176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.025769231 meters 0.017620482512544625 Centerline is valid? [True, True] Translation: X:354.95, Y:-41.47, Z:-2.37 [[ 9.79745203e-01 2.00235359e-01 2.26679875e-03 3.54953140e+02] [-2.00234756e-01 9.79747825e-01 -4.92326362e-04 -4.14746501e+01] [-2.31947229e-03 2.84624963e-05 9.99997310e-01 -2.37327723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.08576923100003 meters 0.01645566704244193 Centerline is valid? [True, True] Translation: X:355.01, Y:-41.49, Z:-2.38 [[ 9.79201558e-01 2.02886693e-01 1.13973390e-03 3.55012874e+02] [-2.02886543e-01 9.79202221e-01 -2.46671036e-04 -4.14860211e+01] [-1.16607623e-03 1.03039932e-05 9.99999320e-01 -2.37753381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14576923100003 meters 0.01712594581745773 Centerline is valid? [True, True] Translation: X:355.07, Y:-41.50, Z:-2.38 [[ 9.79255873e-01 2.02625835e-01 8.40813049e-04 3.55073313e+02] [-2.02625754e-01 9.79256233e-01 -1.81710647e-04 -4.15002243e+01] [-8.60190691e-04 7.57084060e-06 9.99999630e-01 -2.37906060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20576923100003 meters 0.01838528770132465 Centerline is valid? [True, True] Translation: X:355.13, Y:-41.52, Z:-2.38 [[ 9.79495109e-01 2.01466524e-01 7.55879231e-04 3.55133567e+02] [-2.01466458e-01 9.79495401e-01 -1.63448531e-04 -4.15177121e+01] [-7.73309638e-04 7.81272537e-06 9.99999701e-01 -2.37802696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26576923100004 meters 0.018664372435158245 Centerline is valid? [True, True] Translation: X:355.19, Y:-41.53, Z:-2.38 [[ 9.79850981e-01 1.99714285e-01 2.50197308e-03 3.55193657e+02] [-1.99713547e-01 9.79854174e-01 -5.44108256e-04 -4.15337362e+01] [-2.56023496e-03 3.34670906e-05 9.99996722e-01 -2.37540846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32576923100004 meters 0.018975878488436595 Centerline is valid? [True, True] Translation: X:355.25, Y:-41.55, Z:-2.37 [[ 9.79681112e-01 2.00532537e-01 3.40897108e-03 3.55252877e+02] [-2.00531168e-01 9.79687042e-01 -7.42476423e-04 -4.15482045e+01] [-3.48861548e-03 4.37851759e-05 9.99993914e-01 -2.37470523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38576923100004 meters 0.015746096885149656 Centerline is valid? [True, True] Translation: X:355.31, Y:-41.55, Z:-2.38 [[ 9.78690968e-01 2.05328989e-01 1.99862315e-03 3.55314638e+02] [-2.05328529e-01 9.78693009e-01 -4.35138314e-04 -4.15543282e+01] [-2.04538501e-03 1.54915879e-05 9.99997908e-01 -2.37655972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.445769231 meters 0.012295089700627487 Centerline is valid? [True, True] Translation: X:355.38, Y:-41.56, Z:-2.38 [[ 9.77445943e-01 2.11181803e-01 1.29433896e-03 3.55377125e+02] [-2.11181615e-01 9.77446800e-01 -2.81580740e-04 -4.15578007e+01] [-1.32461220e-03 1.88936015e-06 9.99999123e-01 -2.37723565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.505769231 meters 0.01191123012342311 Centerline is valid? [True, True] Translation: X:355.44, Y:-41.57, Z:-2.38 [[ 9.77038708e-01 2.13047445e-01 2.47972417e-03 3.55438187e+02] [-2.13046758e-01 9.77041855e-01 -5.41015174e-04 -4.15675606e+01] [-2.53805620e-03 2.95571239e-07 9.99996779e-01 -2.37665184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.565769231 meters 0.011902468906384694 Centerline is valid? [True, True] Translation: X:355.50, Y:-41.58, Z:-2.38 [[ 9.76793674e-01 2.14175474e-01 1.72772473e-03 3.55500786e+02] [-2.14175143e-01 9.76795202e-01 -3.76756847e-04 -4.15782009e+01] [-1.76832531e-03 -2.02198591e-06 9.99998437e-01 -2.37777453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.625769231 meters 0.012061054999872667 Centerline is valid? [True, True] Translation: X:355.56, Y:-41.59, Z:-2.38 [[ 9.77121177e-01 2.12672468e-01 2.15089347e-03 3.55561016e+02] [-2.12671948e-01 9.77123545e-01 -4.70159676e-04 -4.15918950e+01] [-2.20167867e-03 1.96827101e-06 9.99997576e-01 -2.37831966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.685769231 meters 0.012644429518626198 Centerline is valid? [True, True] Translation: X:355.62, Y:-41.61, Z:-2.38 [[ 9.77599453e-01 2.10450921e-01 3.11762237e-03 3.55621453e+02] [-2.10449816e-01 9.77604424e-01 -6.81984746e-04 -4.16088390e+01] [-3.19132574e-03 1.06048593e-05 9.99994908e-01 -2.37697254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.745769231 meters 0.018445352467101436 Centerline is valid? [True, True] Translation: X:355.68, Y:-41.64, Z:-2.38 [[ 9.79251229e-01 2.02643242e-01 1.65749219e-03 3.55678837e+02] [-2.02642917e-01 9.79252631e-01 -3.63031941e-04 -4.16362828e+01] [-1.69666956e-03 1.96204206e-05 9.99998560e-01 -2.38070587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.805769231 meters 0.023832006201331815 Centerline is valid? [True, True] Translation: X:355.74, Y:-41.66, Z:-2.38 [[ 9.80209082e-01 1.97963866e-01 6.80411521e-04 3.55735918e+02] [-1.97963811e-01 9.80209318e-01 -1.48193278e-04 -4.16609469e+01] [-6.96282627e-04 1.05635394e-05 9.99999758e-01 -2.38251965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.865769231 meters 0.027666672489887537 Centerline is valid? [True, True] Translation: X:355.79, Y:-41.69, Z:-2.38 [[ 9.81307718e-01 1.92438260e-01 1.63691057e-03 3.55793051e+02] [-1.92437929e-01 9.81309082e-01 -3.59045340e-04 -4.16856640e+01] [-1.67540927e-03 3.73302841e-05 9.99998596e-01 -2.38063488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.925769231 meters 0.032205517174496025 Centerline is valid? [True, True] Translation: X:355.85, Y:-41.71, Z:-2.38 [[ 9.81583284e-01 1.91021596e-01 2.23736986e-03 3.55850603e+02] [-1.91020975e-01 9.81585833e-01 -4.90115665e-04 -4.17084887e+01] [-2.28979323e-03 5.37047729e-05 9.99997377e-01 -2.38123561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.985769231 meters 0.038943514501762685 Centerline is valid? [True, True] Translation: X:355.90, Y:-41.74, Z:-2.38 [[ 9.82541490e-01 1.86009819e-01 3.54512005e-03 3.55904053e+02] [-1.86008220e-01 9.82547880e-01 -7.78366213e-04 -4.17435850e+01] [-3.62803394e-03 1.05355629e-04 9.99993413e-01 -2.37901417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.045769231 meters 0.03806029446722648 Centerline is valid? [True, True] Translation: X:355.96, Y:-41.76, Z:-2.38 [[ 9.82727074e-01 1.85057164e-01 1.15957459e-03 3.55963185e+02] [-1.85056994e-01 9.82727757e-01 -2.53624748e-04 -4.17635640e+01] [-1.18648121e-03 3.46565196e-05 9.99999296e-01 -2.38333626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.105769231 meters 0.03902962504542695 Centerline is valid? [True, True] Translation: X:356.02, Y:-41.79, Z:-2.38 [[ 9.82731472e-01 1.85034465e-01 1.04930291e-03 3.56021631e+02] [-1.85034325e-01 9.82732032e-01 -2.29440976e-04 -4.17909829e+01] [-1.07363807e-03 3.13218123e-05 9.99999423e-01 -2.38328224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.165769231 meters 0.03920033357400121 Centerline is valid? [True, True] Translation: X:356.08, Y:-41.81, Z:-2.38 [[ 9.82894493e-01 1.84154481e-01 2.35411331e-03 3.56080120e+02] [-1.84153770e-01 9.82897310e-01 -5.16951964e-04 -4.18132709e+01] [-2.40905066e-03 7.45903973e-05 9.99997095e-01 -2.38049781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.225769231 meters 0.0435526560020035 Centerline is valid? [True, True] Translation: X:356.13, Y:-41.85, Z:-2.37 [[ 9.83257923e-01 1.82109254e-01 6.33060352e-03 3.56134845e+02] [-1.82104054e-01 9.83278278e-01 -1.39324990e-03 -4.18492298e+01] [-6.47846863e-03 2.17095437e-04 9.99978991e-01 -2.37390370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.285769231 meters 0.03369376287418993 Centerline is valid? [True, True] Translation: X:356.19, Y:-41.86, Z:-2.37 [[ 9.82038656e-01 1.88590640e-01 5.80075793e-03 3.56194192e+02] [-1.88586380e-01 9.82055775e-01 -1.27762244e-03 -4.18633176e+01] [-5.93761546e-03 1.60730684e-04 9.99982359e-01 -2.37440217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.345769231 meters 0.0252451487162578 Centerline is valid? [True, True] Translation: X:356.25, Y:-41.87, Z:-2.38 [[ 9.80169694e-01 1.98147396e-01 2.23192276e-03 3.56253728e+02] [-1.98146790e-01 9.80172234e-01 -4.91651122e-04 -4.18701248e+01] [-2.28508811e-03 3.96531996e-05 9.99997388e-01 -2.38125640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.405769231 meters 0.011865650319048838 Centerline is valid? [True, True] Translation: X:356.32, Y:-41.86, Z:-2.38 [[ 9.76621068e-01 2.14965610e-01 1.03715200e-03 3.56319151e+02] [-2.14965488e-01 9.76621619e-01 -2.28355954e-04 -4.18575102e+01] [-1.06199375e-03 6.53482935e-08 9.99999436e-01 -2.38117465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.465769231 meters 0.014917626815647034 Centerline is valid? [True, True] Translation: X:356.38, Y:-41.86, Z:-2.38 [[ 9.74641863e-01 2.23766960e-01 1.25934551e-03 3.56382803e+02] [-2.23766790e-01 9.74642677e-01 -2.76391003e-04 -4.18577915e+01] [-1.28925905e-03 -1.24174604e-05 9.99999169e-01 -2.38216125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.525769231 meters 0.01968307792850523 Centerline is valid? [True, True] Translation: X:356.45, Y:-41.86, Z:-2.38 [[ 9.73173014e-01 2.30069784e-01 1.47651311e-03 3.56445504e+02] [-2.30069556e-01 9.73174133e-01 -3.24599788e-04 -4.18590644e+01] [-1.51158497e-03 -2.38089628e-05 9.99998857e-01 -2.38331012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.58576923100003 meters 0.021902325000884078 Centerline is valid? [True, True] Translation: X:356.51, Y:-41.86, Z:-2.38 [[ 9.72677624e-01 2.32159058e-01 6.41645008e-04 3.56506951e+02] [-2.32159015e-01 9.72677836e-01 -1.40991202e-04 -4.18641246e+01] [-6.56846262e-04 -1.18246860e-05 9.99999784e-01 -2.38432752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64576923100003 meters 0.025676619461937562 Centerline is valid? [True, True] Translation: X:356.57, Y:-41.86, Z:-2.38 [[ 9.72056652e-01 2.34738540e-01 1.91939835e-03 3.56569681e+02] [-2.34738163e-01 9.72058546e-01 -4.22809627e-04 -4.18627925e+01] [-1.96501729e-03 -3.95611326e-05 9.99998069e-01 -2.38183090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70576923100003 meters 0.02557211357858866 Centerline is valid? [True, True] Translation: X:356.63, Y:-41.87, Z:-2.38 [[ 9.71942767e-01 2.35197440e-01 3.06945262e-03 3.56633133e+02] [-2.35196474e-01 9.71947612e-01 -6.77158906e-04 -4.18673480e+01] [-3.14261318e-03 -6.37647303e-05 9.99995060e-01 -2.38208812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76576923100004 meters 0.023289364423774217 Centerline is valid? [True, True] Translation: X:356.69, Y:-41.88, Z:-2.38 [[ 9.72215806e-01 2.34076858e-01 2.10959027e-03 3.56694247e+02] [-2.34076399e-01 9.72218094e-01 -4.65486413e-04 -4.18768327e+01] [-2.15994143e-03 -4.12520453e-05 9.99997666e-01 -2.38331965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82576923100004 meters 0.02003809535683449 Centerline is valid? [True, True] Translation: X:356.75, Y:-41.89, Z:-2.38 [[ 9.73009995e-01 2.30760345e-01 1.10119120e-03 3.56754418e+02] [-2.30760218e-01 9.73010618e-01 -2.42601361e-04 -4.18915231e+01] [-1.12745350e-03 -1.80575721e-05 9.99999364e-01 -2.38413133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88576923100004 meters 0.01733016996299986 Centerline is valid? [True, True] Translation: X:356.81, Y:-41.90, Z:-2.38 [[ 9.73873706e-01 2.27080982e-01 2.05742278e-03 3.56814847e+02] [-2.27080528e-01 9.73875879e-01 -4.54718797e-04 -4.19013537e+01] [-2.10693241e-03 -2.43619715e-05 9.99997780e-01 -2.38480364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.945769231 meters 0.01327251428129775 Centerline is valid? [True, True] Translation: X:356.87, Y:-41.92, Z:-2.38 [[ 9.75022500e-01 2.22079168e-01 3.45943990e-03 3.56874670e+02] [-2.22077849e-01 9.75028637e-01 -7.65855566e-04 -4.19182188e+01] [-3.54313354e-03 -2.15385620e-05 9.99993723e-01 -2.38221025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.005769231 meters 0.012405025380871786 Centerline is valid? [True, True] Translation: X:356.93, Y:-41.95, Z:-2.38 [[ 9.77148661e-01 2.12518760e-01 4.03370973e-03 3.56930788e+02] [-2.12516880e-01 9.77156987e-01 -8.93889906e-04 -4.19484816e+01] [-4.13153602e-03 1.62319162e-05 9.99991465e-01 -2.38223673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.065769231 meters 0.016722484855883547 Centerline is valid? [True, True] Translation: X:356.99, Y:-41.98, Z:-2.38 [[ 9.78457523e-01 2.06418292e-01 3.51632689e-03 3.56988469e+02] [-2.06416823e-01 9.78463841e-01 -7.79599351e-04 -4.19754865e+01] [-3.60152228e-03 3.69758219e-05 9.99993514e-01 -2.38412396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.125769231 meters 0.024407750468464485 Centerline is valid? [True, True] Translation: X:357.04, Y:-42.01, Z:-2.39 [[ 9.79693088e-01 2.00497364e-01 1.50319005e-03 3.57043322e+02] [-2.00497088e-01 9.79694241e-01 -3.33581978e-04 -4.20064855e+01] [-1.53954895e-03 2.54227295e-05 9.99998815e-01 -2.39034339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.185769231 meters 0.02683341301548278 Centerline is valid? [True, True] Translation: X:357.10, Y:-42.03, Z:-2.39 [[ 9.79988789e-01 1.99052631e-01 -1.50687484e-04 3.57101054e+02] [-1.99052628e-01 9.79988801e-01 3.46016073e-05 -4.20342464e+01] [ 1.54559587e-04 -3.91444759e-06 9.99999988e-01 -2.39272889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.245769231 meters 0.022738280841386314 Centerline is valid? [True, True] Translation: X:357.16, Y:-42.05, Z:-2.39 [[ 9.79245047e-01 2.02679697e-01 -2.80150293e-04 3.57160312e+02] [-2.02679687e-01 9.79245087e-01 6.24229852e-05 -4.20510488e+01] [ 2.86987670e-04 -4.34662535e-06 9.99999959e-01 -2.39161826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.305769231 meters 0.015342742645971878 Centerline is valid? [True, True] Translation: X:357.22, Y:-42.06, Z:-2.39 [[ 9.77953312e-01 2.08821592e-01 9.28842532e-04 3.57221854e+02] [-2.08821491e-01 9.77953753e-01 -2.06217606e-04 -4.20595700e+01] [-9.51427729e-04 7.70890894e-06 9.99999547e-01 -2.39117651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.365769231 meters 0.01384058249737485 Centerline is valid? [True, True] Translation: X:357.28, Y:-42.08, Z:-2.39 [[ 9.77380079e-01 2.11483146e-01 1.74926568e-03 3.57280574e+02] [-2.11482791e-01 9.77381644e-01 -3.88037898e-04 -4.20752948e+01] [-1.79176364e-03 9.32092365e-06 9.99998395e-01 -2.39050301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.425769231 meters 0.01212362243388415 Centerline is valid? [True, True] Translation: X:357.34, Y:-42.08, Z:-2.39 [[ 9.75925548e-01 2.18103923e-01 5.94939468e-05 3.57341443e+02] [-2.18103922e-01 9.75925550e-01 -1.22100326e-05 -4.20825373e+01] [-6.07247188e-05 -1.05978036e-06 9.99999998e-01 -2.39376174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.485769231 meters 0.016960075029195457 Centerline is valid? [True, True] Translation: X:357.40, Y:-42.09, Z:-2.39 [[ 9.73791223e-01 2.27443137e-01 5.22461872e-04 3.57404338e+02] [-2.27443107e-01 9.73791363e-01 -1.15991866e-04 -4.20858599e+01] [-5.35150412e-04 -5.87849052e-06 9.99999857e-01 -2.39172288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.545769231 meters 0.020720248725109257 Centerline is valid? [True, True] Translation: X:357.47, Y:-42.09, Z:-2.39 [[ 9.72391001e-01 2.33327560e-01 3.74052650e-03 3.57465824e+02] [-2.33326084e-01 9.72398193e-01 -8.32542986e-04 -4.20943955e+01] [-3.83153643e-03 -6.32050922e-05 9.99992658e-01 -2.38548708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.605769231 meters 0.030385038445447925 Centerline is valid? [True, True] Translation: X:357.53, Y:-42.09, Z:-2.39 [[ 9.70534800e-01 2.40930781e-01 3.81597195e-03 3.57527353e+02] [-2.40929301e-01 9.70542297e-01 -8.49897757e-04 -4.20946398e+01] [-3.90832871e-03 -9.45241033e-05 9.99992358e-01 -2.38683828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.665769231 meters 0.03664669620557188 Centerline is valid? [True, True] Translation: X:357.59, Y:-42.10, Z:-2.39 [[ 9.68860894e-01 2.47582587e-01 3.38100370e-03 3.57589104e+02] [-2.47581465e-01 9.68866787e-01 -7.53075238e-04 -4.20958692e+01] [-3.46219051e-03 -1.07448700e-04 9.99994001e-01 -2.38666173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.725769231 meters 0.0498701849603907 Centerline is valid? [True, True] Translation: X:357.65, Y:-42.08, Z:-2.38 [[ 9.65902400e-01 2.58868313e-01 4.44414519e-03 3.57652834e+02] [-2.58866493e-01 9.65912604e-01 -9.89916395e-04 -4.20830104e+01] [-4.54891384e-03 -1.94277658e-04 9.99989635e-01 -2.38479462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.785769231 meters 0.054869431215939644 Centerline is valid? [True, True] Translation: X:357.71, Y:-42.08, Z:-2.39 [[ 9.64551227e-01 2.63848876e-01 4.96996398e-03 3.57714147e+02] [-2.63846666e-01 9.64564001e-01 -1.10696525e-03 -4.20835457e+01] [-5.08591987e-03 -2.43583739e-04 9.99987037e-01 -2.38647981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.845769231 meters 0.05596341690364692 Centerline is valid? [True, True] Translation: X:357.77, Y:-42.09, Z:-2.39 [[ 9.63990689e-01 2.65901004e-01 4.31364100e-03 3.57773827e+02] [-2.65899360e-01 9.64000315e-01 -9.60820732e-04 -4.20916464e+01] [-4.41383448e-03 -2.20772142e-04 9.99990235e-01 -2.38788811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.905769231 meters 0.06126047843976947 Centerline is valid? [True, True] Translation: X:357.84, Y:-42.09, Z:-2.39 [[ 9.62265294e-01 2.72110503e-01 1.17436071e-03 3.57836951e+02] [-2.72110385e-01 9.62266008e-01 -2.61577401e-04 -4.20858370e+01] [-1.20122535e-03 -6.78488913e-05 9.99999276e-01 -2.39180659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.965769231 meters 0.06575130603621135 Centerline is valid? [True, True] Translation: X:357.90, Y:-42.08, Z:-2.39 [[ 9.61732307e-01 2.73963472e-01 3.87110628e-03 3.57896859e+02] [-2.73962213e-01 9.61740070e-01 -8.62354290e-04 -4.20844204e+01] [-3.95925160e-03 -2.31182861e-04 9.99992135e-01 -2.38828186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.025769231 meters 0.06648402678386964 Centerline is valid? [True, True] Translation: X:357.96, Y:-42.08, Z:-2.39 [[ 9.61885222e-01 2.73406779e-01 5.05502191e-03 3.57957375e+02] [-2.73404625e-01 9.61898458e-01 -1.12574833e-03 -4.20847169e+01] [-5.17020500e-03 -2.99225690e-04 9.99986590e-01 -2.38903587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.08576923100003 meters 0.062341371676001185 Centerline is valid? [True, True] Translation: X:358.02, Y:-42.10, Z:-2.40 [[ 9.62991943e-01 2.69530115e-01 1.88929839e-04 3.58016141e+02] [-2.69530112e-01 9.62991961e-01 -4.20761535e-05 -4.20994926e+01] [-1.93278707e-04 -1.04032838e-05 9.99999981e-01 -2.39821193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14576923100003 meters 0.05196187099285997 Centerline is valid? [True, True] Translation: X:358.07, Y:-42.12, Z:-2.40 [[ 9.65134690e-01 2.61751828e-01 -1.00489430e-03 3.58074383e+02] [-2.61751737e-01 9.65135212e-01 2.23692813e-04 -4.21183619e+01] [ 1.02841088e-03 4.71391361e-05 9.99999470e-01 -2.39949100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20576923100003 meters 0.04806917984700583 Centerline is valid? [True, True] Translation: X:358.13, Y:-42.13, Z:-2.39 [[ 9.66332582e-01 2.57280850e-01 2.81140751e-03 3.58133245e+02] [-2.57280116e-01 9.66336665e-01 -6.25924219e-04 -4.21319767e+01] [-2.87780447e-03 -1.18468285e-04 9.99995852e-01 -2.39220396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26576923100004 meters 0.04721440692981361 Centerline is valid? [True, True] Translation: X:358.19, Y:-42.14, Z:-2.39 [[ 9.66594292e-01 2.56254432e-01 5.39825539e-03 3.58193012e+02] [-2.56251709e-01 9.66609340e-01 -1.20183448e-03 -4.21365109e+01] [-5.52597949e-03 -2.21625821e-04 9.99984707e-01 -2.38846710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32576923100004 meters 0.048147446680925604 Centerline is valid? [True, True] Translation: X:358.25, Y:-42.14, Z:-2.39 [[ 9.66236170e-01 2.57630476e-01 3.76859039e-03 3.58253049e+02] [-2.57629160e-01 9.66243506e-01 -8.38918516e-04 -4.21408583e+01] [-3.85750697e-03 -1.60305363e-04 9.99992547e-01 -2.39197141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38576923100004 meters 0.04834104107239717 Centerline is valid? [True, True] Translation: X:358.31, Y:-42.14, Z:-2.40 [[ 9.66437383e-01 2.56900398e-01 9.84862416e-04 3.58312639e+02] [-2.56900307e-01 9.66437884e-01 -2.19475188e-04 -4.21427676e+01] [-1.00819161e-03 -4.09024310e-05 9.99999491e-01 -2.39762858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.445769231 meters 0.04367107600859077 Centerline is valid? [True, True] Translation: X:358.37, Y:-42.16, Z:-2.40 [[ 9.66973495e-01 2.54865027e-01 2.46521992e-03 3.58370591e+02] [-2.54864455e-01 9.66976633e-01 -5.48661332e-04 -4.21567882e+01] [-2.52364464e-03 -9.77559652e-05 9.99996811e-01 -2.39514782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.505769231 meters 0.042933695548161656 Centerline is valid? [True, True] Translation: X:358.43, Y:-42.16, Z:-2.39 [[ 9.67709123e-01 2.52049642e-01 3.16725690e-03 3.58429256e+02] [-2.52048683e-01 9.67714299e-01 -7.04825687e-04 -4.21622963e+01] [-3.24265085e-03 -1.16236684e-04 9.99994736e-01 -2.39499104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.565769231 meters 0.045773701579920306 Centerline is valid? [True, True] Translation: X:358.49, Y:-42.17, Z:-2.40 [[ 9.67663323e-01 2.52226541e-01 3.07664535e-03 3.58487087e+02] [-2.52225637e-01 9.67668207e-01 -6.84640910e-04 -4.21668200e+01] [-3.14985649e-03 -1.13506935e-04 9.99995033e-01 -2.39560508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.625769231 meters 0.044430213612134714 Centerline is valid? [True, True] Translation: X:358.55, Y:-42.17, Z:-2.40 [[ 9.67271267e-01 2.53732998e-01 2.42097557e-03 3.58546773e+02] [-2.53732443e-01 9.67274293e-01 -5.38521164e-04 -4.21740285e+01] [-2.47838802e-03 -9.33839985e-05 9.99996924e-01 -2.39580594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.685769231 meters 0.04530960595100517 Centerline is valid? [True, True] Translation: X:358.61, Y:-42.18, Z:-2.39 [[ 9.67091349e-01 2.54400529e-01 3.83319848e-03 3.58606051e+02] [-2.54399145e-01 9.67098934e-01 -8.52539425e-04 -4.21799659e+01] [-3.92396864e-03 -1.50678912e-04 9.99992290e-01 -2.39494149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.745769231 meters 0.044322291622053256 Centerline is valid? [True, True] Translation: X:358.67, Y:-42.19, Z:-2.39 [[ 9.67485694e-01 2.52880009e-01 4.80973613e-03 3.58665005e+02] [-2.52877813e-01 9.67497632e-01 -1.06939129e-03 -4.21878324e+01] [-4.92383600e-03 -1.81654777e-04 9.99987861e-01 -2.39288200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.805769231 meters 0.0395390012848344 Centerline is valid? [True, True] Translation: X:358.72, Y:-42.20, Z:-2.40 [[ 9.68028490e-01 2.50803455e-01 4.29770945e-03 3.58722612e+02] [-2.50801681e-01 9.68038018e-01 -9.55423404e-04 -4.22014636e+01] [-4.39996963e-03 -1.52995682e-04 9.99990308e-01 -2.39504393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.865769231 meters 0.04132548780337975 Centerline is valid? [True, True] Translation: X:358.78, Y:-42.21, Z:-2.40 [[ 9.68559637e-01 2.48744325e-01 4.29998270e-03 3.58780525e+02] [-2.48742531e-01 9.68569171e-01 -9.55832079e-04 -4.22083024e+01] [-4.40258849e-03 -1.43808208e-04 9.99990298e-01 -2.39513672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.925769231 meters 0.038713056976448536 Centerline is valid? [True, True] Translation: X:358.84, Y:-42.22, Z:-2.39 [[ 9.68309218e-01 2.49682601e-01 5.98816468e-03 3.58837750e+02] [-2.49679141e-01 9.68327711e-01 -1.33056448e-03 -4.22196119e+01] [-6.13072460e-03 -2.06721956e-04 9.99981186e-01 -2.39191071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.985769231 meters 0.0445492752748933 Centerline is valid? [True, True] Translation: X:358.90, Y:-42.22, Z:-2.39 [[ 9.67259075e-01 2.53728695e-01 5.62418397e-03 3.58898879e+02] [-2.53725713e-01 9.67275401e-01 -1.24932033e-03 -4.22179077e+01] [-5.75712322e-03 -2.18583656e-04 9.99983404e-01 -2.39261690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.045769231 meters 0.04713652108646164 Centerline is valid? [True, True] Translation: X:358.96, Y:-42.22, Z:-2.39 [[ 9.66932062e-01 2.54975055e-01 5.48722399e-03 3.58957554e+02] [-2.54972237e-01 9.66947606e-01 -1.21883180e-03 -4.22182654e+01] [-5.61662981e-03 -2.20562226e-04 9.99984202e-01 -2.39444403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.105769231 meters 0.04138996727578736 Centerline is valid? [True, True] Translation: X:359.02, Y:-42.23, Z:-2.39 [[ 9.67674674e-01 2.52121905e-01 6.34595891e-03 3.59015373e+02] [-2.52118078e-01 9.67695453e-01 -1.40902214e-03 -4.22347914e+01] [-6.49620093e-03 -2.36455925e-04 9.99978872e-01 -2.39246266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.165769231 meters 0.03793279999520692 Centerline is valid? [True, True] Translation: X:359.07, Y:-42.25, Z:-2.39 [[ 9.68674359e-01 2.48265741e-01 5.84017641e-03 3.59073450e+02] [-2.48262431e-01 9.68691945e-01 -1.29655241e-03 -4.22478338e+01] [-5.97922139e-03 -1.93959317e-04 9.99982105e-01 -2.39422815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.225769231 meters 0.03461703307527158 Centerline is valid? [True, True] Translation: X:359.13, Y:-42.26, Z:-2.40 [[ 9.69533753e-01 2.44890020e-01 5.76020595e-03 3.59132446e+02] [-2.44886741e-01 9.69550849e-01 -1.27866665e-03 -4.22590044e+01] [-5.89794527e-03 -1.70887590e-04 9.99982592e-01 -2.39507340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.285769231 meters 0.03446380773037314 Centerline is valid? [True, True] Translation: X:359.19, Y:-42.27, Z:-2.40 [[ 9.69729047e-01 2.44132166e-01 5.00605253e-03 3.59189761e+02] [-2.44129680e-01 9.69741958e-01 -1.11118450e-03 -4.22685613e+01] [-5.12585506e-03 -1.44578109e-04 9.99986852e-01 -2.39658483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.345769231 meters 0.032718064310128 Centerline is valid? [True, True] Translation: X:359.25, Y:-42.28, Z:-2.40 [[ 9.70353712e-01 2.41658455e-01 3.85538297e-03 3.59247948e+02] [-2.41656960e-01 9.70361366e-01 -8.55921064e-04 -4.22797070e+01] [-3.94795525e-03 -1.01133948e-04 9.99992202e-01 -2.39925212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.405769231 meters 0.0355142190271981 Centerline is valid? [True, True] Translation: X:359.31, Y:-42.29, Z:-2.40 [[ 9.70087842e-01 2.42739221e-01 2.69234916e-03 3.59305594e+02] [-2.42738497e-01 9.70091576e-01 -5.97345137e-04 -4.22874465e+01] [-2.75682433e-03 -7.40595331e-05 9.99996197e-01 -2.40336874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.465769231 meters 0.037354733214314186 Centerline is valid? [True, True] Translation: X:359.37, Y:-42.30, Z:-2.40 [[ 9.69518989e-01 2.44996634e-01 3.09501385e-03 3.59365091e+02] [-2.44995691e-01 9.69523925e-01 -6.86063499e-04 -4.22950365e+01] [-3.16877322e-03 -9.31134665e-05 9.99994975e-01 -2.40278897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.525769231 meters 0.04122921744801964 Centerline is valid? [True, True] Translation: X:359.42, Y:-42.30, Z:-2.40 [[ 9.68672044e-01 2.48306856e-01 4.26339623e-03 3.59424459e+02] [-2.48305099e-01 9.68681416e-01 -9.44922044e-04 -4.23018904e+01] [-4.36450332e-03 -1.43303457e-04 9.99990465e-01 -2.40088356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.58576923100003 meters 0.04624685433563426 Centerline is valid? [True, True] Translation: X:359.48, Y:-42.31, Z:-2.40 [[ 9.67772634e-01 2.51800340e-01 3.56612409e-03 3.59484429e+02] [-2.51799135e-01 9.67779195e-01 -7.90218891e-04 -4.23060694e+01] [-3.65019808e-03 -1.33194742e-04 9.99993329e-01 -2.40212141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64576923100003 meters 0.043288854326867736 Centerline is valid? [True, True] Translation: X:359.54, Y:-42.32, Z:-2.40 [[ 9.66632870e-01 2.56152874e-01 2.56895728e-03 3.59543753e+02] [-2.56152264e-01 9.66636278e-01 -5.69229185e-04 -4.23181346e+01] [-2.62905700e-03 -1.07808583e-04 9.99996538e-01 -2.40254987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70576923100003 meters 0.06231406191482683 Centerline is valid? [True, True] Translation: X:359.61, Y:-42.30, Z:-2.41 [[ 9.65146631e-01 2.61699696e-01 2.29132645e-03 3.59609001e+02] [-2.61699227e-01 9.65149344e-01 -5.07623829e-04 -4.22968746e+01] [-2.34431723e-03 -1.09706933e-04 9.99997246e-01 -2.40587640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76576923100004 meters 0.06286387843827727 Centerline is valid? [True, True] Translation: X:359.67, Y:-42.31, Z:-2.41 [[ 9.64908665e-01 2.62572839e-01 2.60251878e-03 3.59667653e+02] [-2.62572235e-01 9.64912166e-01 -5.77312217e-04 -4.23050932e+01] [-2.66278854e-03 -1.26295613e-04 9.99996447e-01 -2.40562116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82576923100004 meters 0.05502001600437431 Centerline is valid? [True, True] Translation: X:359.73, Y:-42.32, Z:-2.40 [[ 9.65059039e-01 2.62007120e-01 3.64982944e-03 3.59725718e+02] [-2.62005931e-01 9.65065924e-01 -8.08660238e-04 -4.23163185e+01] [-3.73420076e-03 -1.75872088e-04 9.99993012e-01 -2.40354057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88576923100004 meters 0.05059322680890109 Centerline is valid? [True, True] Translation: X:359.79, Y:-42.32, Z:-2.40 [[ 9.65903647e-01 2.58873656e-01 3.81762414e-03 3.59785640e+02] [-2.58872335e-01 9.65911176e-01 -8.44660301e-04 -4.23229104e+01] [-3.90614613e-03 -1.72416812e-04 9.99992356e-01 -2.40392247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.945769231 meters 0.050783487557892165 Centerline is valid? [True, True] Translation: X:359.85, Y:-42.33, Z:-2.40 [[ 9.66040395e-01 2.58365896e-01 3.60806481e-03 3.59845482e+02] [-2.58364711e-01 9.66047120e-01 -7.98777433e-04 -4.23259998e+01] [-3.69193747e-03 -1.60545355e-04 9.99993172e-01 -2.40332730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.005769231 meters 0.062376635164940006 Centerline is valid? [True, True] Translation: X:359.91, Y:-42.31, Z:-2.40 [[ 9.66209512e-01 2.57731498e-01 3.69516097e-03 3.59909293e+02] [-2.57730253e-01 9.66216564e-01 -8.17387861e-04 -4.23075944e+01] [-3.78099234e-03 -1.62586847e-04 9.99992839e-01 -2.40474670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.065769231 meters 0.050729087222402956 Centerline is valid? [True, True] Translation: X:359.97, Y:-42.33, Z:-2.40 [[ 9.66506889e-01 2.56603137e-01 4.38912272e-03 3.59965869e+02] [-2.56601373e-01 9.66516836e-01 -9.69925785e-04 -4.23250548e+01] [-4.49104700e-03 -1.88814965e-04 9.99989897e-01 -2.40376724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.125769231 meters 0.04716779402709289 Centerline is valid? [True, True] Translation: X:360.02, Y:-42.33, Z:-2.40 [[ 9.66982164e-01 2.54787973e-01 5.34632506e-03 3.60024854e+02] [-2.54785336e-01 9.66996918e-01 -1.18007656e-03 -4.23334005e+01] [-5.47054917e-03 -2.21052240e-04 9.99985012e-01 -2.40242761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.185769231 meters 0.037922920304927464 Centerline is valid? [True, True] Translation: X:360.08, Y:-42.35, Z:-2.40 [[ 9.68736329e-01 2.48049294e-01 4.63389700e-03 3.60082299e+02] [-2.48047236e-01 9.68747399e-01 -1.02272240e-03 -4.23494094e+01] [-4.74276124e-03 -1.58676999e-04 9.99988740e-01 -2.40450724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.245769231 meters 0.032948618779115056 Centerline is valid? [True, True] Translation: X:360.14, Y:-42.37, Z:-2.41 [[ 9.70869491e-01 2.39567445e-01 4.45766960e-03 3.60138559e+02] [-2.39565452e-01 9.70879718e-01 -9.83775091e-04 -4.23663345e+01] [-4.56354149e-03 -1.12786410e-04 9.99989581e-01 -2.40568899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.305769231 meters 0.01812700498670135 Centerline is valid? [True, True] Translation: X:360.19, Y:-42.40, Z:-2.41 [[ 9.74092578e-01 2.26101451e-01 4.66724843e-03 3.60192127e+02] [-2.26099111e-01 9.74103758e-01 -1.02984008e-03 -4.23993634e+01] [-4.77923258e-03 -5.21011402e-05 9.99988578e-01 -2.40583884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.365769231 meters 0.011400843366825269 Centerline is valid? [True, True] Translation: X:360.25, Y:-42.43, Z:-2.41 [[ 9.76546652e-01 2.15259847e-01 4.45354727e-03 3.60245380e+02] [-2.15257604e-01 9.76556808e-01 -9.82664065e-04 -4.24312025e+01] [-4.56067002e-03 9.57388691e-07 9.99989600e-01 -2.40644287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.425769231 meters 0.013080132715595055 Centerline is valid? [True, True] Translation: X:360.30, Y:-42.45, Z:-2.41 [[ 9.77754744e-01 2.09700062e-01 4.64162624e-03 3.60300814e+02] [-2.09697563e-01 9.77765761e-01 -1.02419693e-03 -4.24543015e+01] [-4.75319737e-03 2.80756981e-05 9.99988703e-01 -2.40613943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.485769231 meters 0.016630158844248587 Centerline is valid? [True, True] Translation: X:360.36, Y:-42.48, Z:-2.41 [[ 9.78903901e-01 2.04275733e-01 4.31013337e-03 3.60355469e+02] [-2.04273530e-01 9.78913389e-01 -9.50097210e-04 -4.24804591e+01] [-4.41332906e-03 4.96077087e-05 9.99990260e-01 -2.40609057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.545769231 meters 0.01820902008259999 Centerline is valid? [True, True] Translation: X:360.41, Y:-42.50, Z:-2.41 [[ 9.79123701e-01 2.03247938e-01 2.65592027e-03 3.60410631e+02] [-2.03247097e-01 9.79127303e-01 -5.85628955e-04 -4.25004902e+01] [-2.71951193e-03 3.35951060e-05 9.99996302e-01 -2.40973025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.605769231 meters 0.016507567272435696 Centerline is valid? [True, True] Translation: X:360.47, Y:-42.52, Z:-2.41 [[ 9.79033079e-01 2.03678394e-01 3.05641370e-03 3.60466598e+02] [-2.03677284e-01 9.79037849e-01 -6.73407574e-04 -4.25218311e+01] [-3.12950327e-03 3.67662494e-05 9.99995102e-01 -2.40829869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.665769231 meters 0.015819216640478664 Centerline is valid? [True, True] Translation: X:360.52, Y:-42.54, Z:-2.41 [[ 9.78754723e-01 2.04992342e-01 4.16316530e-03 3.60521360e+02] [-2.04990296e-01 9.78763576e-01 -9.16944954e-04 -4.25426716e+01] [-4.26272125e-03 4.40557169e-05 9.99990914e-01 -2.40630392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.725769231 meters 0.013276142679480385 Centerline is valid? [True, True] Translation: X:360.58, Y:-42.56, Z:-2.41 [[ 9.77724367e-01 2.09888666e-01 1.34498730e-03 3.60576056e+02] [-2.09888457e-01 9.77725293e-01 -2.96434678e-04 -4.25621164e+01] [-1.37724638e-03 7.53409941e-06 9.99999052e-01 -2.41356071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.785769231 meters 0.01153285381673765 Centerline is valid? [True, True] Translation: X:360.63, Y:-42.57, Z:-2.41 [[ 9.76514466e-01 2.15438828e-01 2.36855992e-03 3.60634042e+02] [-2.15438197e-01 9.76517338e-01 -5.21508831e-04 -4.25740192e+01] [-2.42529308e-03 -1.01736060e-06 9.99997059e-01 -2.41060958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.845769231 meters 0.018660332434298755 Centerline is valid? [True, True] Translation: X:360.69, Y:-42.57, Z:-2.41 [[ 9.73830618e-01 2.27256068e-01 2.93373859e-03 3.60694444e+02] [-2.27255154e-01 9.73835036e-01 -6.45673684e-04 -4.25744392e+01] [-3.00371069e-03 -3.79304124e-05 9.99995488e-01 -2.40952531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.905769231 meters 0.028777188239753327 Centerline is valid? [True, True] Translation: X:360.76, Y:-42.57, Z:-2.41 [[ 9.71469286e-01 2.37157731e-01 1.90721249e-03 3.60756398e+02] [-2.37157364e-01 9.71471157e-01 -4.19606504e-04 -4.25733561e+01] [-1.95231485e-03 -4.46746543e-05 9.99998093e-01 -2.41206348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.965769231 meters 0.04127501989906949 Centerline is valid? [True, True] Translation: X:360.82, Y:-42.57, Z:-2.41 [[ 9.69047222e-01 2.46844118e-01 3.93225746e-03 3.60818732e+02] [-2.46842637e-01 9.69055191e-01 -8.65140638e-04 -4.25654224e+01] [-4.02412938e-03 -1.32286670e-04 9.99991894e-01 -2.40901718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.025769231 meters 0.0391608393496204 Centerline is valid? [True, True] Translation: X:360.88, Y:-42.57, Z:-2.41 [[ 9.69131746e-01 2.46513899e-01 3.81527336e-03 3.60876073e+02] [-2.46512501e-01 9.69139248e-01 -8.39839388e-04 -4.25745763e+01] [-3.90456323e-03 -1.26597564e-04 9.99992369e-01 -2.40874008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.08576923100003 meters 0.03457237678417537 Centerline is valid? [True, True] Translation: X:360.93, Y:-42.59, Z:-2.41 [[ 9.70245638e-01 2.42101926e-01 3.17162044e-03 3.60934208e+02] [-2.42100939e-01 9.70250818e-01 -6.97086134e-04 -4.25888218e+01] [-3.24603322e-03 -9.15075071e-05 9.99994727e-01 -2.41003371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14576923100003 meters 0.024812065830019832 Centerline is valid? [True, True] Translation: X:360.99, Y:-42.61, Z:-2.41 [[ 9.72390570e-01 2.33311230e-01 4.73806157e-03 3.60990756e+02] [-2.33308925e-01 9.72402109e-01 -1.04127308e-03 -4.26105964e+01] [-4.85024176e-03 -9.29079248e-05 9.99988233e-01 -2.40975241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20576923100003 meters 0.019237267908825864 Centerline is valid? [True, True] Translation: X:361.05, Y:-42.63, Z:-2.41 [[ 9.73725451e-01 2.27681297e-01 4.46912062e-03 3.61047881e+02] [-2.27679187e-01 9.73735705e-01 -9.82170788e-04 -4.26316281e+01] [-4.57536424e-03 -6.11610541e-05 9.99989531e-01 -2.40936310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26576923100004 meters 0.013986134438762026 Centerline is valid? [True, True] Translation: X:361.10, Y:-42.65, Z:-2.41 [[ 9.75171081e-01 2.21419398e-01 3.84872661e-03 3.61103021e+02] [-2.21417784e-01 9.75178676e-01 -8.45779605e-04 -4.26546131e+01] [-3.94046813e-03 -2.73967061e-05 9.99992236e-01 -2.40874009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32576923100004 meters 0.01201529485506652 Centerline is valid? [True, True] Translation: X:361.16, Y:-42.67, Z:-2.41 [[ 9.76110163e-01 2.17245355e-01 3.66135485e-03 3.61157762e+02] [-2.17243865e-01 9.76117030e-01 -8.04472518e-04 -4.26743696e+01] [-3.74867874e-03 -1.01530788e-05 9.99992974e-01 -2.41122091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38576923100004 meters 0.011830862040070599 Centerline is valid? [True, True] Translation: X:361.21, Y:-42.70, Z:-2.41 [[ 9.76891845e-01 2.13723877e-01 2.10408496e-03 3.61213904e+02] [-2.13723377e-01 9.76894111e-01 -4.62298039e-04 -4.26950687e+01] [-2.15427234e-03 1.92303978e-06 9.99997680e-01 -2.41425939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.445769231 meters 0.011994658385091523 Centerline is valid? [True, True] Translation: X:361.27, Y:-42.71, Z:-2.42 [[ 9.77096368e-01 2.12792958e-01 1.35851119e-03 3.61270668e+02] [-2.12792748e-01 9.77097312e-01 -2.98541251e-04 -4.27095814e+01] [-1.39092511e-03 2.62224225e-06 9.99999033e-01 -2.41558269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.505769231 meters 0.012721858294748053 Centerline is valid? [True, True] Translation: X:361.33, Y:-42.73, Z:-2.42 [[ 9.77598837e-01 2.10468732e-01 1.85090938e-03 3.61325240e+02] [-2.10468339e-01 9.77600590e-01 -4.06589264e-04 -4.27296996e+01] [-1.89502443e-03 7.92336788e-06 9.99998204e-01 -2.41585645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.565769231 meters 0.013529510498039644 Centerline is valid? [True, True] Translation: X:361.38, Y:-42.75, Z:-2.41 [[ 9.77971180e-01 2.08716416e-01 3.13510358e-03 3.61380146e+02] [-2.08715282e-01 9.77976205e-01 -6.88192362e-04 -4.27471599e+01] [-3.20969374e-03 1.86882687e-05 9.99994849e-01 -2.41246944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.625769231 meters 0.01356801221876407 Centerline is valid? [True, True] Translation: X:361.44, Y:-42.76, Z:-2.41 [[ 9.78083055e-01 2.08193985e-01 2.96683601e-03 3.61437568e+02] [-2.08192968e-01 9.78087555e-01 -6.51055046e-04 -4.27610046e+01] [-3.03737113e-03 1.91115146e-05 9.99995387e-01 -2.41231499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.685769231 meters 0.012269963269528008 Centerline is valid? [True, True] Translation: X:361.49, Y:-42.77, Z:-2.42 [[ 9.77399128e-01 2.11394361e-01 1.83549033e-03 3.61494716e+02] [-2.11393977e-01 9.77400851e-01 -4.02885291e-04 -4.27723400e+01] [-1.87917749e-03 5.76813157e-06 9.99998234e-01 -2.41540884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.745769231 meters 0.012036818388671872 Centerline is valid? [True, True] Translation: X:361.55, Y:-42.78, Z:-2.41 [[ 9.76195996e-01 2.16848738e-01 4.24282943e-03 3.61554237e+02] [-2.16846742e-01 9.76205217e-01 -9.30447957e-04 -4.27755152e+01] [-4.34363869e-03 -1.17441672e-05 9.99990566e-01 -2.41031079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.805769231 meters 0.013325824752745442 Centerline is valid? [True, True] Translation: X:361.61, Y:-42.78, Z:-2.41 [[ 9.75672631e-01 2.19201868e-01 3.66851800e-03 3.61612098e+02] [-2.19200393e-01 9.75679528e-01 -8.04369234e-04 -4.27847969e+01] [-3.75561715e-03 -1.93395387e-05 9.99992947e-01 -2.41266565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.865769231 meters 0.012471363133017799 Centerline is valid? [True, True] Translation: X:361.67, Y:-42.80, Z:-2.42 [[ 9.76059176e-01 2.17488108e-01 2.72170857e-03 3.61668246e+02] [-2.17487290e-01 9.76062971e-01 -5.96728319e-04 -4.28035382e+01] [-2.78634027e-03 -9.49487007e-06 9.99996118e-01 -2.41512947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.925769231 meters 0.011885247763900618 Centerline is valid? [True, True] Translation: X:361.72, Y:-42.82, Z:-2.41 [[ 9.76507156e-01 2.15467810e-01 2.71978812e-03 3.61724292e+02] [-2.15466985e-01 9.76510944e-01 -5.96175629e-04 -4.28205356e+01] [-2.78435952e-03 -3.85477721e-06 9.99996124e-01 -2.41459681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.985769231 meters 0.011881519222224949 Centerline is valid? [True, True] Translation: X:361.78, Y:-42.84, Z:-2.42 [[ 9.77050199e-01 2.12999069e-01 2.07469125e-03 3.61778998e+02] [-2.12998583e-01 9.77052402e-01 -4.55146104e-04 -4.28372071e+01] [-2.12402777e-03 2.79429546e-06 9.99997744e-01 -2.41622100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.045769231 meters 0.011924182485258903 Centerline is valid? [True, True] Translation: X:361.83, Y:-42.85, Z:-2.42 [[ 9.77286136e-01 2.11906788e-01 2.70588382e-03 3.61834675e+02] [-2.11905959e-01 9.77289882e-01 -5.92730739e-04 -4.28546469e+01] [-2.77003654e-03 5.87462811e-06 9.99996163e-01 -2.41531774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.105769231 meters 0.012070454802878805 Centerline is valid? [True, True] Translation: X:361.89, Y:-42.87, Z:-2.41 [[ 9.77554085e-01 2.10655797e-01 3.48518667e-03 3.61890091e+02] [-2.10654416e-01 9.77560297e-01 -7.63035517e-04 -4.28734691e+01] [-3.56771797e-03 1.17385251e-05 9.99993636e-01 -2.41458481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.165769231 meters 0.012785485081661921 Centerline is valid? [True, True] Translation: X:361.94, Y:-42.89, Z:-2.42 [[ 9.77690208e-01 2.10046537e-01 1.51974647e-03 3.61944808e+02] [-2.10046273e-01 9.77691389e-01 -3.32833960e-04 -4.28940963e+01] [-1.55575366e-03 6.19142119e-06 9.99998790e-01 -2.41912504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.225769231 meters 0.01186140288245368 Centerline is valid? [True, True] Translation: X:362.00, Y:-42.90, Z:-2.42 [[ 9.76968172e-01 2.13379000e-01 1.61038977e-03 3.62002599e+02] [-2.13378709e-01 9.76969499e-01 -3.52502284e-04 -4.29035522e+01] [-1.64851828e-03 7.60620258e-07 9.99998641e-01 -2.41794021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.285769231 meters 0.015174713126798836 Centerline is valid? [True, True] Translation: X:362.06, Y:-42.91, Z:-2.42 [[ 9.75148196e-01 2.21550132e-01 1.23928153e-03 3.62061630e+02] [-2.21549966e-01 9.75148983e-01 -2.71354387e-04 -4.29069602e+01] [-1.26860273e-03 -9.95204011e-06 9.99999195e-01 -2.41881280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.345769231 meters 0.019783237504139888 Centerline is valid? [True, True] Translation: X:362.12, Y:-42.91, Z:-2.42 [[ 9.74109484e-01 2.26074140e-01 1.09349340e-03 3.62120057e+02] [-2.26074014e-01 9.74110098e-01 -2.39408282e-04 -4.29117247e+01] [-1.11930698e-03 -1.40005638e-05 9.99999373e-01 -2.42001320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.405769231 meters 0.024654982809979135 Centerline is valid? [True, True] Translation: X:362.18, Y:-42.92, Z:-2.42 [[ 9.73045411e-01 2.30604114e-01 2.09060887e-03 3.62179993e+02] [-2.30603664e-01 9.73047656e-01 -4.57080696e-04 -4.29153828e+01] [-2.13966675e-03 -3.73417910e-05 9.99997710e-01 -2.41859222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.465769231 meters 0.025487488306935376 Centerline is valid? [True, True] Translation: X:362.24, Y:-42.92, Z:-2.42 [[ 9.72946184e-01 2.31022533e-01 2.07661257e-03 3.62237759e+02] [-2.31022089e-01 9.72948399e-01 -4.54569956e-04 -4.29244267e+01] [-2.12545277e-03 -3.74712679e-05 9.99997741e-01 -2.41891326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.525769231 meters 0.025440274727981417 Centerline is valid? [True, True] Translation: X:362.30, Y:-42.93, Z:-2.42 [[ 9.73009307e-01 2.30737297e-01 3.63166901e-03 3.62296558e+02] [-2.30735943e-01 9.73016082e-01 -7.93130865e-04 -4.29313822e+01] [-3.71667722e-03 -6.62328610e-05 9.99993091e-01 -2.41573258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.58576923100003 meters 0.025913261848637202 Centerline is valid? [True, True] Translation: X:362.35, Y:-42.94, Z:-2.42 [[ 9.73046393e-01 2.30572312e-01 4.13841948e-03 3.62353195e+02] [-2.30570553e-01 9.73055190e-01 -9.03656195e-04 -4.29375337e+01] [-4.23526866e-03 -7.48982684e-05 9.99991028e-01 -2.41595990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64576923100003 meters 0.02164235486904728 Centerline is valid? [True, True] Translation: X:362.41, Y:-42.95, Z:-2.41 [[ 9.73676426e-01 2.27882043e-01 4.89811707e-03 3.62410507e+02] [-2.27879548e-01 9.73688743e-01 -1.06897363e-03 -4.29506483e+01] [-5.01284135e-03 -7.53462755e-05 9.99987433e-01 -2.41376523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70576923100003 meters 0.016810706788631048 Centerline is valid? [True, True] Translation: X:362.47, Y:-42.97, Z:-2.42 [[ 9.74637153e-01 2.23748468e-01 4.36382140e-03 3.62467039e+02] [-2.23746447e-01 9.74646921e-01 -9.52201054e-04 -4.29673113e+01] [-4.46623861e-03 -4.83390076e-05 9.99990025e-01 -2.41517715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76576923100004 meters 0.012716832820838932 Centerline is valid? [True, True] Translation: X:362.52, Y:-42.99, Z:-2.42 [[ 9.76112247e-01 2.17225923e-01 4.21649905e-03 3.62522548e+02] [-2.17223976e-01 9.76121354e-01 -9.19964388e-04 -4.29855097e+01] [-4.31565488e-03 -1.79361825e-05 9.99990687e-01 -2.41647276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82576923100004 meters 0.012278700818255568 Centerline is valid? [True, True] Translation: X:362.58, Y:-43.00, Z:-2.42 [[ 9.76242071e-01 2.16629688e-01 4.79551133e-03 3.62580365e+02] [-2.16627165e-01 9.76253849e-01 -1.04567614e-03 -4.29973956e+01] [-4.90816089e-03 -1.80049870e-05 9.99987955e-01 -2.41512376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88576923100004 meters 0.014202806220326665 Centerline is valid? [True, True] Translation: X:362.64, Y:-43.00, Z:-2.42 [[ 9.75647072e-01 2.19333101e-01 2.40464694e-03 3.62639149e+02] [-2.19332474e-01 9.75650035e-01 -5.24442479e-04 -4.30006132e+01] [-2.46112147e-03 -1.57463947e-05 9.99996971e-01 -2.42128253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.945769231 meters 0.01422709346301875 Centerline is valid? [True, True] Translation: X:362.70, Y:-43.01, Z:-2.42 [[ 9.75676746e-01 2.19199686e-01 2.52695023e-03 3.62696449e+02] [-2.19198994e-01 9.75680018e-01 -5.50990387e-04 -4.30094245e+01] [-2.58627176e-03 -1.63164395e-05 9.99996655e-01 -2.42067870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.005769231 meters 0.01198749732685027 Centerline is valid? [True, True] Translation: X:362.75, Y:-43.02, Z:-2.42 [[ 9.76463289e-01 2.15600990e-01 5.97155008e-03 3.62752627e+02] [-2.15597065e-01 9.76481548e-01 -1.30094769e-03 -4.30245741e+01] [-6.11159408e-03 -1.71210152e-05 9.99981324e-01 -2.41568542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.065769231 meters 0.011763221425113416 Centerline is valid? [True, True] Translation: X:362.81, Y:-43.05, Z:-2.42 [[ 9.77675011e-01 2.10017335e-01 6.65516338e-03 3.62807165e+02] [-2.10012334e-01 9.77697662e-01 -1.44943524e-03 -4.30487966e+01] [-6.81114420e-03 1.94102244e-05 9.99976804e-01 -2.41517247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.125769231 meters 0.01762911402401997 Centerline is valid? [True, True] Translation: X:362.86, Y:-43.08, Z:-2.42 [[ 9.79545135e-01 2.01195610e-01 3.41392833e-03 3.62861882e+02] [-2.01194240e-01 9.79551083e-01 -7.43401910e-04 -4.30761298e+01] [-3.49368639e-03 4.13330077e-05 9.99993896e-01 -2.42115130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.185769231 meters 0.019598175017705374 Centerline is valid? [True, True] Translation: X:362.92, Y:-43.09, Z:-2.42 [[ 9.80307503e-01 1.97448723e-01 3.34680012e-03 3.62917416e+02] [-1.97447385e-01 9.80313215e-01 -7.28825356e-04 -4.30948970e+01] [-3.42481802e-03 5.36560336e-05 9.99994134e-01 -2.42032522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.245769231 meters 0.02132286640378308 Centerline is valid? [True, True] Translation: X:362.97, Y:-43.11, Z:-2.42 [[ 9.80725215e-01 1.95339475e-01 4.53227087e-03 3.62973941e+02] [-1.95337002e-01 9.80735685e-01 -9.86335835e-04 -4.31137991e+01] [-4.63763010e-03 8.20042218e-05 9.99989243e-01 -2.41886983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.305769231 meters 0.022574356961847168 Centerline is valid? [True, True] Translation: X:363.03, Y:-43.13, Z:-2.42 [[ 9.80676515e-01 1.95615022e-01 2.88724367e-03 3.63029103e+02] [-1.95614020e-01 9.80680764e-01 -6.28363690e-04 -4.31307580e+01] [-2.95438170e-03 5.14361745e-05 9.99995634e-01 -2.42270944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.365769231 meters 0.022109332158724453 Centerline is valid? [True, True] Translation: X:363.09, Y:-43.15, Z:-2.42 [[ 9.80455014e-01 1.96714496e-01 3.37227281e-03 3.63085330e+02] [-1.96713136e-01 9.80460812e-01 -7.33624355e-04 -4.31461630e+01] [-3.45069589e-03 5.59153169e-05 9.99994045e-01 -2.42033431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.425769231 meters 0.022989699766038527 Centerline is valid? [True, True] Translation: X:363.14, Y:-43.16, Z:-2.42 [[ 9.80763349e-01 1.95072115e-01 7.07980086e-03 3.63142180e+02] [-1.95066084e-01 9.80788893e-01 -1.53929146e-03 -4.31636762e+01] [-7.24406289e-03 1.28651619e-04 9.99973753e-01 -2.41531909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.485769231 meters 0.025561700095674492 Centerline is valid? [True, True] Translation: X:363.20, Y:-43.19, Z:-2.42 [[ 9.81264223e-01 1.92591417e-01 5.39176854e-03 3.63197480e+02] [-1.92587883e-01 9.81279029e-01 -1.17209409e-03 -4.31865766e+01] [-5.51656466e-03 1.11744707e-04 9.99984777e-01 -2.41895682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.545769231 meters 0.030001236480376472 Centerline is valid? [True, True] Translation: X:363.25, Y:-43.21, Z:-2.42 [[ 9.81808240e-01 1.89820497e-01 4.55625060e-03 3.63251954e+02] [-1.89817944e-01 9.81818806e-01 -9.90257293e-04 -4.32124954e+01] [-4.66138365e-03 1.07384649e-04 9.99989130e-01 -2.42043052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.605769231 meters 0.029861051079070396 Centerline is valid? [True, True] Translation: X:363.31, Y:-43.23, Z:-2.42 [[ 9.81980373e-01 1.88898358e-01 5.65304956e-03 3.63308193e+02] [-1.88894415e-01 9.81996635e-01 -1.22838165e-03 -4.32326950e+01] [-5.78331492e-03 1.38417179e-04 9.99983267e-01 -2.41824687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.665769231 meters 0.030756085562594907 Centerline is valid? [True, True] Translation: X:363.37, Y:-43.24, Z:-2.42 [[ 9.81435993e-01 1.91726242e-01 4.94360809e-03 3.63366737e+02] [-1.91723263e-01 9.81448438e-01 -1.07410924e-03 -4.32448976e+01] [-5.05783136e-03 1.06364794e-04 9.99987203e-01 -2.41670988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.725769231 meters 0.016906718464147073 Centerline is valid? [True, True] Translation: X:363.43, Y:-43.25, Z:-2.42 [[ 9.79435547e-01 2.01729125e-01 3.37190351e-03 3.63426915e+02] [-2.01727799e-01 9.79441350e-01 -7.32574418e-04 -4.32475445e+01] [-3.45036333e-03 3.73027528e-05 9.99994047e-01 -2.42348644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.785769231 meters 0.012753444323512534 Centerline is valid? [True, True] Translation: X:363.49, Y:-43.25, Z:-2.42 [[ 9.78258111e-01 2.07343464e-01 4.44486281e-03 3.63486034e+02] [-2.07341217e-01 9.78268208e-01 -9.65614657e-04 -4.32534174e+01] [-4.54848186e-03 2.30171057e-05 9.99989655e-01 -2.42108696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.845769231 meters 0.011415111257424927 Centerline is valid? [True, True] Translation: X:363.55, Y:-43.26, Z:-2.42 [[ 9.77261431e-01 2.11962223e-01 5.66663677e-03 3.63545617e+02] [-2.11958650e-01 9.77277860e-01 -1.23066510e-03 -4.32570301e+01] [-5.79873317e-03 1.58885524e-06 9.99983187e-01 -2.42074325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.905769231 meters 0.011389024793477405 Centerline is valid? [True, True] Translation: X:363.60, Y:-43.26, Z:-2.42 [[ 9.76980078e-01 2.13209398e-01 7.18888812e-03 3.63602584e+02] [-2.13203685e-01 9.77006526e-01 -1.56080427e-03 -4.32645675e+01] [-7.35636875e-03 -7.82276201e-06 9.99972942e-01 -2.41941037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.965769231 meters 0.01164110559253008 Centerline is valid? [True, True] Translation: X:363.66, Y:-43.28, Z:-2.42 [[ 9.77692222e-01 2.09968908e-01 5.56571534e-03 3.63659984e+02] [-2.09965433e-01 9.77708064e-01 -1.20799939e-03 -4.32755183e+01] [-5.69528708e-03 1.24437745e-05 9.99983782e-01 -2.42234228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.025769231 meters 0.011906646727294272 Centerline is valid? [True, True] Translation: X:363.72, Y:-43.29, Z:-2.42 [[ 9.77950843e-01 2.08766380e-01 5.36173730e-03 3.63717921e+02] [-2.08763139e-01 9.77965540e-01 -1.16347729e-03 -4.32872199e+01] [-5.48648926e-03 1.84904882e-05 9.99984949e-01 -2.42482161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.08576923100003 meters 0.011970774765361429 Centerline is valid? [True, True] Translation: X:363.78, Y:-43.29, Z:-2.43 [[ 9.77722166e-01 2.09887631e-01 2.55908081e-03 3.63776174e+02] [-2.09886896e-01 9.77725515e-01 -5.55411612e-04 -4.32891445e+01] [-2.61865263e-03 5.92071692e-06 9.99996571e-01 -2.43050076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14576923100003 meters 0.012193040975728648 Centerline is valid? [True, True] Translation: X:363.84, Y:-43.30, Z:-2.43 [[ 9.77768027e-01 2.09686557e-01 1.11036218e-03 3.63835017e+02] [-2.09686419e-01 9.77768658e-01 -2.41084356e-04 -4.32958235e+01] [-1.13622949e-03 2.89670585e-06 9.99999354e-01 -2.43383787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20576923100003 meters 0.012063760569878323 Centerline is valid? [True, True] Translation: X:363.89, Y:-43.30, Z:-2.43 [[ 9.77888190e-01 2.09109828e-01 2.78711044e-03 3.63893215e+02] [-2.09108954e-01 9.77892162e-01 -6.04519092e-04 -4.33030619e+01] [-2.85190434e-03 8.34233026e-06 9.99995933e-01 -2.43074372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26576923100004 meters 0.011737388567652385 Centerline is valid? [True, True] Translation: X:363.95, Y:-43.30, Z:-2.43 [[ 9.77312134e-01 2.11778391e-01 3.30232539e-03 3.63952956e+02] [-2.11777180e-01 9.77317714e-01 -7.16037010e-04 -4.33030118e+01] [-3.37906226e-03 4.34499150e-07 9.99994291e-01 -2.42943080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32576923100004 meters 0.011666794646555897 Centerline is valid? [True, True] Translation: X:364.01, Y:-43.30, Z:-2.43 [[ 9.77195847e-01 2.12275446e-01 5.23571556e-03 3.64011951e+02] [-2.12272412e-01 9.77209873e-01 -1.13481349e-03 -4.33044544e+01] [-5.35728597e-03 -2.46294623e-06 9.99985650e-01 -2.42798104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38576923100004 meters 0.01253737758671745 Centerline is valid? [True, True] Translation: X:364.07, Y:-43.32, Z:-2.43 [[ 9.78135473e-01 2.07862001e-01 6.66217955e-03 3.64068677e+02] [-2.07856990e-01 9.78158161e-01 -1.44346817e-03 -4.33225053e+01] [-6.81670748e-03 2.71268319e-05 9.99976766e-01 -2.42578487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.445769231 meters 0.021005751213005793 Centerline is valid? [True, True] Translation: X:364.12, Y:-43.36, Z:-2.42 [[ 9.80571487e-01 1.95935776e-01 9.41970982e-03 3.64122864e+02] [-1.95925213e-01 9.80616718e-01 -2.04043760e-03 -4.33570661e+01] [-9.63691965e-03 1.55236287e-04 9.99953552e-01 -2.42119452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.505769231 meters 0.030762104944550464 Centerline is valid? [True, True] Translation: X:364.18, Y:-43.39, Z:-2.42 [[ 9.82626291e-01 1.85297395e-01 1.05093812e-02 3.64177387e+02] [-1.85283638e-01 9.82682447e-01 -2.27636811e-03 -4.33892493e+01] [-1.07491895e-02 2.89602777e-04 9.99942184e-01 -2.42054463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.565769231 meters 0.04456461547804134 Centerline is valid? [True, True] Translation: X:364.23, Y:-43.44, Z:-2.42 [[ 9.84861076e-01 1.73139363e-01 8.45120308e-03 3.64228210e+02] [-1.73130019e-01 9.84897277e-01 -1.83052792e-03 -4.34364346e+01] [-8.64050334e-03 3.39658745e-04 9.99962612e-01 -2.42378364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.625769231 meters 0.04956556760493672 Centerline is valid? [True, True] Translation: X:364.28, Y:-43.47, Z:-2.43 [[ 9.85131573e-01 1.71662849e-01 6.90293240e-03 3.64283941e+02] [-1.71656580e-01 9.85155715e-01 -1.49512080e-03 -4.34651129e+01] [-7.05712001e-03 2.87956938e-04 9.99975057e-01 -2.42589875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.685769231 meters 0.04676126451823496 Centerline is valid? [True, True] Translation: X:364.34, Y:-43.49, Z:-2.43 [[ 9.84532656e-01 1.75177813e-01 2.86051745e-03 3.64340232e+02] [-1.75176751e-01 9.84536806e-01 -6.19588128e-04 -4.34920257e+01] [-2.92482281e-03 1.08908593e-04 9.99995717e-01 -2.43358346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.745769231 meters 0.045762191562625724 Centerline is valid? [True, True] Translation: X:364.40, Y:-43.52, Z:-2.43 [[ 9.84276209e-01 1.76594111e-01 3.85542897e-03 3.64396799e+02] [-1.76592192e-01 9.84283750e-01 -8.35123554e-04 -4.35189892e+01] [-3.94231399e-03 1.41153591e-04 9.99992219e-01 -2.43217463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.805769231 meters 0.04120537276348949 Centerline is valid? [True, True] Translation: X:364.46, Y:-43.54, Z:-2.43 [[ 9.84029938e-01 1.77876715e-01 6.70481397e-03 3.64456207e+02] [-1.77870941e-01 9.84052752e-01 -1.45257904e-03 -4.35367836e+01] [-6.85627063e-03 2.36789691e-04 9.99976467e-01 -2.42736084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.865769231 meters 0.03683215985106054 Centerline is valid? [True, True] Translation: X:364.52, Y:-43.55, Z:-2.43 [[ 9.83625472e-01 1.80165967e-01 4.59955077e-03 3.64515237e+02] [-1.80163271e-01 9.83636214e-01 -9.97221054e-04 -4.35526600e+01] [-4.70395000e-03 1.52221917e-04 9.99988925e-01 -2.43126442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.925769231 meters 0.03480921958225329 Centerline is valid? [True, True] Translation: X:364.57, Y:-43.57, Z:-2.44 [[ 9.82610307e-01 1.85678390e-01 -7.20951947e-04 3.64572125e+02] [-1.85678326e-01 9.82610571e-01 1.56335463e-04 -4.35716765e+01] [ 7.37443122e-04 -1.97516865e-05 9.99999728e-01 -2.44087824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.985769231 meters 0.027269265415613485 Centerline is valid? [True, True] Translation: X:364.63, Y:-43.58, Z:-2.43 [[ 9.81273970e-01 1.92593800e-01 3.00383564e-03 3.64631860e+02] [-1.92592708e-01 9.81278566e-01 -6.51411624e-04 -4.35779615e+01] [-3.07305737e-03 6.06964282e-05 9.99995276e-01 -2.43318026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.045769231 meters 0.016066579599451167 Centerline is valid? [True, True] Translation: X:364.69, Y:-43.58, Z:-2.43 [[ 9.79218542e-01 2.02708392e-01 6.35247564e-03 3.64694191e+02] [-2.02703722e-01 9.79239145e-01 -1.37743424e-03 -4.35757502e+01] [-6.49981030e-03 6.11386950e-05 9.99978874e-01 -2.42862084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.105769231 meters 0.013168128966124605 Centerline is valid? [True, True] Translation: X:364.76, Y:-43.58, Z:-2.43 [[ 9.78339401e-01 2.06895786e-01 6.79339729e-03 3.64755025e+02] [-2.06890545e-01 9.78362986e-01 -1.47310367e-03 -4.35846578e+01] [-6.95118740e-03 3.57056945e-05 9.99975840e-01 -2.42823331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.165769231 meters 0.012607545874177499 Centerline is valid? [True, True] Translation: X:364.81, Y:-43.60, Z:-2.43 [[ 9.78028555e-01 2.08357309e-01 6.88307288e-03 3.64814254e+02] [-2.08351963e-01 9.78052775e-01 -1.49272293e-03 -4.35994666e+01] [-7.04302827e-03 2.58239093e-05 9.99975197e-01 -2.42830650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.225769231 meters 0.012980302292648658 Centerline is valid? [True, True] Translation: X:364.87, Y:-43.62, Z:-2.43 [[ 9.78190705e-01 2.07620779e-01 6.04617934e-03 3.64873670e+02] [-2.07616640e-01 9.78209390e-01 -1.31124442e-03 -4.36163941e+01] [-6.18667099e-03 2.73596652e-05 9.99980862e-01 -2.42967769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.285769231 meters 0.01523966632909759 Centerline is valid? [True, True] Translation: X:364.93, Y:-43.64, Z:-2.44 [[ 9.78856893e-01 2.04520956e-01 3.21909085e-03 3.64932584e+02] [-2.04519766e-01 9.78862185e-01 -6.98092310e-04 -4.36394194e+01] [-3.29382081e-03 2.49647633e-05 9.99994575e-01 -2.43627955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.345769231 meters 0.016398114998851118 Centerline is valid? [True, True] Translation: X:364.99, Y:-43.66, Z:-2.44 [[ 9.79166569e-01 2.03035108e-01 3.09435654e-03 3.64991838e+02] [-2.03034000e-01 9.79171458e-01 -6.71514121e-04 -4.36613221e+01] [-3.16624654e-03 2.92645938e-05 9.99994987e-01 -2.43666313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.405769231 meters 0.01465374465034571 Centerline is valid? [True, True] Translation: X:365.05, Y:-43.68, Z:-2.43 [[ 9.78678797e-01 2.05343098e-01 4.69298787e-03 3.65051082e+02] [-2.05340568e-01 9.78690048e-01 -1.01988149e-03 -4.36807630e+01] [-4.80240615e-03 3.44755936e-05 9.99988468e-01 -2.43166965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.465769231 meters 0.013461836434856005 Centerline is valid? [True, True] Translation: X:365.11, Y:-43.69, Z:-2.43 [[ 9.78287878e-01 2.07218535e-01 3.64791245e-03 3.65111899e+02] [-2.07217019e-01 9.78294679e-01 -7.93114177e-04 -4.36932384e+01] [-3.73308130e-03 1.99844431e-05 9.99993032e-01 -2.43403854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.525769231 meters 0.01248733839859849 Centerline is valid? [True, True] Translation: X:365.17, Y:-43.70, Z:-2.44 [[ 9.76713859e-01 2.14533284e-01 2.34667631e-03 3.65172754e+02] [-2.14532677e-01 9.76716679e-01 -5.10253188e-04 -4.37028641e+01] [-2.40150418e-03 -5.06739006e-06 9.99997116e-01 -2.43710923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.58576923100003 meters 0.015683865849787537 Centerline is valid? [True, True] Translation: X:365.23, Y:-43.71, Z:-2.43 [[ 9.75301398e-01 2.20847702e-01 3.67082128e-03 3.65233203e+02] [-2.20846256e-01 9.75308306e-01 -7.99994552e-04 -4.37077081e+01] [-3.75685944e-03 -3.04513289e-05 9.99992943e-01 -2.43345353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64576923100003 meters 0.022637571031456152 Centerline is valid? [True, True] Translation: X:365.29, Y:-43.71, Z:-2.44 [[ 9.73298070e-01 2.29528968e-01 2.70564934e-03 3.65294822e+02] [-2.29528216e-01 9.73301829e-01 -5.89621959e-04 -4.37074998e+01] [-2.76874877e-03 -4.71449511e-05 9.99996166e-01 -2.43658939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70576923100003 meters 0.029219397922956476 Centerline is valid? [True, True] Translation: X:365.35, Y:-43.71, Z:-2.43 [[ 9.72255011e-01 2.33868648e-01 5.06455401e-03 3.65354720e+02] [-2.33866070e-01 9.72268195e-01 -1.10365054e-03 -4.37094315e+01] [-5.18221405e-03 -1.11397574e-04 9.99986566e-01 -2.43203773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76576923100004 meters 0.032838199697907966 Centerline is valid? [True, True] Translation: X:365.42, Y:-43.71, Z:-2.43 [[ 9.70551988e-01 2.40800054e-01 6.64632234e-03 3.65416057e+02] [-2.40795779e-01 9.70574725e-01 -1.44801463e-03 -4.37121781e+01] [-6.79943448e-03 -1.95032890e-04 9.99976865e-01 -2.42925424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82576923100004 meters 0.03778591340568857 Centerline is valid? [True, True] Translation: X:365.48, Y:-43.71, Z:-2.43 [[ 9.69527814e-01 2.44908309e-01 5.97820623e-03 3.65475935e+02] [-2.44904928e-01 9.69546224e-01 -1.30245679e-03 -4.37135154e+01] [-6.11512976e-03 -2.01324086e-04 9.99981282e-01 -2.43074826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88576923100004 meters 0.0449921938022733 Centerline is valid? [True, True] Translation: X:365.54, Y:-43.71, Z:-2.43 [[ 9.68338093e-01 2.49556532e-01 6.54795307e-03 3.65537592e+02] [-2.49552584e-01 9.68360198e-01 -1.42640631e-03 -4.37075063e+01] [-6.69674615e-03 -2.52815047e-04 9.99977545e-01 -2.43026405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.945769231 meters 0.045711748315951976 Centerline is valid? [True, True] Translation: X:365.60, Y:-43.72, Z:-2.43 [[ 9.67835603e-01 2.51489474e-01 6.87684907e-03 3.65596617e+02] [-2.51485168e-01 9.67859993e-01 -1.49793501e-03 -4.37150223e+01] [-7.03254199e-03 -2.79670713e-04 9.99975232e-01 -2.43177259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.005769231 meters 0.04576610668701131 Centerline is valid? [True, True] Translation: X:365.65, Y:-43.72, Z:-2.44 [[ 9.68142070e-01 2.50383450e-01 3.01014035e-03 3.65653976e+02] [-2.50382620e-01 9.68146742e-01 -6.55755027e-04 -4.37219959e+01] [-3.07844777e-03 -1.18822796e-04 9.99995255e-01 -2.44070335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.065769231 meters 0.03944475696256762 Centerline is valid? [True, True] Translation: X:365.71, Y:-43.74, Z:-2.44 [[ 9.68396823e-01 2.49408628e-01 1.71162174e-03 3.65710552e+02] [-2.49408358e-01 9.68398333e-01 -3.72903456e-04 -4.37367350e+01] [-1.75053698e-03 -6.57742448e-05 9.99998466e-01 -2.44146676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.125769231 meters 0.045528431299628504 Centerline is valid? [True, True] Translation: X:365.77, Y:-43.73, Z:-2.44 [[ 9.68593626e-01 2.48598196e-01 5.03244444e-03 3.65770422e+02] [-2.48595854e-01 9.68606680e-01 -1.09547788e-03 -4.37348766e+01] [-5.14679313e-03 -1.89971938e-04 9.99986737e-01 -2.43580133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.185769231 meters 0.0423468395070176 Centerline is valid? [True, True] Translation: X:365.83, Y:-43.75, Z:-2.44 [[ 9.69419925e-01 2.45354648e-01 5.10940880e-03 3.65828922e+02] [-2.45352192e-01 9.69433374e-01 -1.11181069e-03 -4.37481991e+01] [-5.22601933e-03 -1.75793215e-04 9.99986329e-01 -2.43774264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.245769231 meters 0.034276718414427906 Centerline is valid? [True, True] Translation: X:365.89, Y:-43.77, Z:-2.45 [[ 9.70763920e-01 2.40030420e-01 1.67614040e-03 3.65886488e+02] [-2.40030148e-01 9.70765366e-01 -3.64753002e-04 -4.37675516e+01] [-1.71469087e-03 -4.82351744e-05 9.99998529e-01 -2.44538160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.305769231 meters 0.028549919183374798 Centerline is valid? [True, True] Translation: X:365.94, Y:-43.79, Z:-2.44 [[ 9.71709307e-01 2.36160135e-01 3.06828430e-03 3.65943615e+02] [-2.36159203e-01 9.71714148e-01 -6.67630578e-04 -4.37874589e+01] [-3.13916299e-03 -7.58607291e-05 9.99995070e-01 -2.44112889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.365769231 meters 0.026270398765215894 Centerline is valid? [True, True] Translation: X:366.00, Y:-43.80, Z:-2.44 [[ 9.72426577e-01 2.33186211e-01 3.27780747e-03 3.65999858e+02] [-2.33185131e-01 9.72432098e-01 -7.13307034e-04 -4.38024730e+01] [-3.35377856e-03 -7.06972476e-05 9.99994374e-01 -2.44067480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.425769231 meters 0.02813447209164674 Centerline is valid? [True, True] Translation: X:366.06, Y:-43.81, Z:-2.44 [[ 9.72577230e-01 2.32550724e-01 3.70034800e-03 3.66057114e+02] [-2.32549343e-01 9.72584266e-01 -8.05125664e-04 -4.38114067e+01] [-3.78613280e-03 -7.74666077e-05 9.99992830e-01 -2.44242495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.485769231 meters 0.02588565674198771 Centerline is valid? [True, True] Translation: X:366.11, Y:-43.83, Z:-2.44 [[ 9.72675219e-01 2.32103285e-01 5.56627436e-03 3.66113644e+02] [-2.32100157e-01 9.72691139e-01 -1.21035974e-03 -4.38265052e+01] [-5.69519422e-03 -1.14646227e-04 9.99983776e-01 -2.43874866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.545769231 meters 0.024086520697375893 Centerline is valid? [True, True] Translation: X:366.17, Y:-43.84, Z:-2.44 [[ 9.73130639e-01 2.30161219e-01 6.52484710e-03 3.66170899e+02] [-2.30156880e-01 9.73152505e-01 -1.41842083e-03 -4.38411944e+01] [-6.67613677e-03 -1.21429685e-04 9.99977707e-01 -2.43658159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.605769231 meters 0.024958832492774845 Centerline is valid? [True, True] Translation: X:366.23, Y:-43.85, Z:-2.44 [[ 9.73081424e-01 2.30349107e-01 7.19940449e-03 3.66228190e+02] [-2.30343833e-01 9.73108047e-01 -1.56467467e-03 -4.38512148e+01] [-7.36621985e-03 -1.35782572e-04 9.99972860e-01 -2.43632754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.665769231 meters 0.027502385639188665 Centerline is valid? [True, True] Translation: X:366.29, Y:-43.86, Z:-2.43 [[ 9.72545910e-01 2.32570233e-01 8.09561005e-03 3.66287251e+02] [-2.32563645e-01 9.72579589e-01 -1.75892955e-03 -4.38571494e+01] [-8.28269975e-03 -1.72104844e-04 9.99965683e-01 -2.43464648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.725769231 meters 0.029479306080751302 Centerline is valid? [True, True] Translation: X:366.35, Y:-43.86, Z:-2.44 [[ 9.72269142e-01 2.33777661e-01 6.38121763e-03 3.66345157e+02] [-2.33773595e-01 9.72290072e-01 -1.38621543e-03 -4.38622175e+01] [-6.52846075e-03 -1.43985704e-04 9.99978679e-01 -2.43875756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.785769231 meters 0.02702589738116494 Centerline is valid? [True, True] Translation: X:366.40, Y:-43.87, Z:-2.45 [[ 9.72396091e-01 2.33324343e-01 2.36499238e-03 3.66401598e+02] [-2.33323782e-01 9.72398966e-01 -5.13938237e-04 -4.38742951e+01] [-2.41963045e-03 -5.20574349e-05 9.99997071e-01 -2.44666091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.845769231 meters 0.03011753633849582 Centerline is valid? [True, True] Translation: X:366.46, Y:-43.88, Z:-2.45 [[ 9.72321544e-01 2.33630968e-01 2.71752304e-03 3.66459213e+02] [-2.33630231e-01 9.72325340e-01 -5.90339548e-04 -4.38813032e+01] [-2.78023812e-03 -6.08956743e-05 9.99996133e-01 -2.44658657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.905769231 meters 0.032723702248426224 Centerline is valid? [True, True] Translation: X:366.52, Y:-43.89, Z:-2.44 [[ 9.71022190e-01 2.38905770e-01 6.31974223e-03 3.66520421e+02] [-2.38901900e-01 9.71042739e-01 -1.37142696e-03 -4.38852156e+01] [-6.46438162e-03 -1.78112414e-04 9.99979090e-01 -2.43966702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.965769231 meters 0.03871189767063789 Centerline is valid? [True, True] Translation: X:366.58, Y:-43.89, Z:-2.44 [[ 9.69511086e-01 2.44992034e-01 5.21121466e-03 3.66582030e+02] [-2.44989490e-01 9.69525075e-01 -1.13087157e-03 -4.38851521e+01] [-5.32945781e-03 -1.80300300e-04 9.99985782e-01 -2.44110442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.025769231 meters 0.04463978826598463 Centerline is valid? [True, True] Translation: X:366.64, Y:-43.88, Z:-2.45 [[ 9.67905586e-01 2.51302976e-01 2.36436325e-03 3.66644587e+02] [-2.51302471e-01 9.67908469e-01 -5.13075384e-04 -4.38811872e+01] [-2.41742458e-03 -9.75617951e-05 9.99997073e-01 -2.44814767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.08576923100003 meters 0.04782071591002703 Centerline is valid? [True, True] Translation: X:366.70, Y:-43.88, Z:-2.44 [[ 9.67501219e-01 2.52829969e-01 4.28932321e-03 3.66704155e+02] [-2.52828322e-01 9.67510710e-01 -9.30938020e-04 -4.38827943e+01] [-4.38533518e-03 -1.83778720e-04 9.99990367e-01 -2.44406828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.14576923100003 meters 0.05139743699555942 Centerline is valid? [True, True] Translation: X:366.76, Y:-43.89, Z:-2.44 [[ 9.67671887e-01 2.52106771e-01 7.30039300e-03 3.66763446e+02] [-2.52101984e-01 9.67699375e-01 -1.58379007e-03 -4.38850501e+01] [-7.46386994e-03 -3.07854441e-04 9.99972098e-01 -2.43813267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.20576923100003 meters 0.0471205913003217 Centerline is valid? [True, True] Translation: X:366.82, Y:-43.90, Z:-2.44 [[ 9.67706421e-01 2.51968991e-01 7.47731822e-03 3.66820190e+02] [-2.51963975e-01 9.67735257e-01 -1.62086138e-03 -4.38961262e+01] [-7.64447128e-03 -3.15496857e-04 9.99970731e-01 -2.44076286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26576923100004 meters 0.049913634674270915 Centerline is valid? [True, True] Translation: X:366.88, Y:-43.90, Z:-2.44 [[ 9.68168076e-01 2.50155560e-01 8.53063726e-03 3.66878598e+02] [-2.50148975e-01 9.68205596e-01 -1.84757399e-03 -4.39015807e+01] [-8.72159164e-03 -3.45168010e-04 9.99961907e-01 -2.43948987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32576923100004 meters 0.03941734501175867 Centerline is valid? [True, True] Translation: X:366.94, Y:-43.92, Z:-2.44 [[ 9.69807496e-01 2.43723934e-01 8.48913659e-03 3.66935230e+02] [-2.43717169e-01 9.69844607e-01 -1.83824372e-03 -4.39244368e+01] [-8.68116733e-03 -2.86205804e-04 9.99962277e-01 -2.43948932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38576923100004 meters 0.037017902305119414 Centerline is valid? [True, True] Translation: X:366.99, Y:-43.94, Z:-2.44 [[ 9.70342012e-01 2.41626214e-01 7.29053302e-03 3.66992710e+02] [-2.41621166e-01 9.70369373e-01 -1.57859031e-03 -4.39392239e+01] [-7.45593875e-03 -2.29774594e-04 9.99972178e-01 -2.44239670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.445769231 meters 0.03509075984064255 Centerline is valid? [True, True] Translation: X:367.05, Y:-43.95, Z:-2.45 [[ 9.71180909e-01 2.38278379e-01 5.57274158e-03 3.67050601e+02] [-2.38275380e-01 9.71196885e-01 -1.20584392e-03 -4.39522912e+01] [-5.69955579e-03 -1.56754526e-04 9.99983745e-01 -2.44705112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.505769231 meters 0.030027727805960767 Centerline is valid? [True, True] Translation: X:367.11, Y:-43.97, Z:-2.44 [[ 9.71888096e-01 2.35308270e-01 7.97159252e-03 3.67107489e+02] [-2.35302035e-01 9.71920767e-01 -1.72458995e-03 -4.39695162e+01] [-8.15356660e-03 -1.99623503e-04 9.99966739e-01 -2.44192886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.565769231 meters 0.030943971559667025 Centerline is valid? [True, True] Translation: X:367.17, Y:-43.98, Z:-2.44 [[ 9.71824725e-01 2.35565704e-01 8.09337762e-03 3.67166020e+02] [-2.35559291e-01 9.71858404e-01 -1.75032836e-03 -4.39776526e+01] [-8.27793439e-03 -2.05457912e-04 9.99965716e-01 -2.44159402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.625769231 meters 0.031819186915249244 Centerline is valid? [True, True] Translation: X:367.22, Y:-43.99, Z:-2.44 [[ 9.71778575e-01 2.35788586e-01 7.08128097e-03 3.67223278e+02] [-2.35783684e-01 9.71804358e-01 -1.53113935e-03 -4.39851580e+01] [-7.24264489e-03 -1.81722099e-04 9.99973755e-01 -2.44468453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.685769231 meters 0.028762653962687762 Centerline is valid? [True, True] Translation: X:367.28, Y:-44.00, Z:-2.45 [[ 9.72615020e-01 2.32361842e-01 5.29128798e-03 3.67281119e+02] [-2.32359056e-01 9.72629406e-01 -1.14382823e-03 -4.39970169e+01] [-5.41224432e-03 -1.16974167e-04 9.99985347e-01 -2.44932940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.745769231 meters 0.024568292628690695 Centerline is valid? [True, True] Translation: X:367.34, Y:-44.01, Z:-2.45 [[ 9.73584947e-01 2.28255606e-01 5.63295574e-03 3.67338452e+02] [-2.28252380e-01 9.73601237e-01 -1.21754182e-03 -4.40139208e+01] [-5.76216342e-03 -1.00355171e-04 9.99983394e-01 -2.44869570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.805769231 meters 0.017547093535042423 Centerline is valid? [True, True] Translation: X:367.39, Y:-44.04, Z:-2.45 [[ 9.75185796e-01 2.21276309e-01 7.03263915e-03 3.67393641e+02] [-2.21271102e-01 9.75211151e-01 -1.51987047e-03 -4.40379616e+01] [-7.19461945e-03 -7.39637190e-05 9.99974116e-01 -2.44568485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.865769231 meters 0.015424043070340556 Centerline is valid? [True, True] Translation: X:367.45, Y:-44.05, Z:-2.45 [[ 9.75740238e-01 2.18792371e-01 7.80293534e-03 3.67451123e+02] [-2.18785882e-01 9.75771436e-01 -1.68613204e-03 -4.40525696e+01] [-7.98279425e-03 -6.19452121e-05 9.99968135e-01 -2.44543146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.925769231 meters 0.019272180693372443 Centerline is valid? [True, True] Translation: X:367.51, Y:-44.05, Z:-2.45 [[ 9.74889038e-01 2.22597328e-01 6.46483853e-03 3.67511298e+02] [-2.22592959e-01 9.74910470e-01 -1.39684845e-03 -4.40519866e+01] [-6.61357350e-03 -7.72552895e-05 9.99978127e-01 -2.44936668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.985769231 meters 0.02282339053298473 Centerline is valid? [True, True] Translation: X:367.57, Y:-44.06, Z:-2.45 [[ 9.73752081e-01 2.27496275e-01 7.23399287e-03 3.67571121e+02] [-2.27490948e-01 9.73778943e-01 -1.56175586e-03 -4.40552016e+01] [-7.39960357e-03 -1.24904875e-04 9.99972615e-01 -2.44745965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.045769231 meters 0.02778342215829611 Centerline is valid? [True, True] Translation: X:367.63, Y:-44.05, Z:-2.44 [[ 9.72743839e-01 2.31708938e-01 8.96619681e-03 3.67631323e+02] [-2.31700939e-01 9.72785141e-01 -1.93517195e-03 -4.40519698e+01] [-9.17057966e-03 -1.95049628e-04 9.99957930e-01 -2.44463372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.105769231 meters 0.028101598974720317 Centerline is valid? [True, True] Translation: X:367.69, Y:-44.06, Z:-2.45 [[ 9.72677434e-01 2.32011054e-01 8.33546033e-03 3.67690494e+02] [-2.32004156e-01 9.72713132e-01 -1.79847757e-03 -4.40581025e+01] [-8.52527840e-03 -1.84522895e-04 9.99963642e-01 -2.44766646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.165769231 meters 0.027368683337293215 Centerline is valid? [True, True] Translation: X:367.75, Y:-44.06, Z:-2.45 [[ 9.72863126e-01 2.31281743e-01 6.78918961e-03 3.67750854e+02] [-2.31277156e-01 9.72886804e-01 -1.46390891e-03 -4.40592753e+01] [-6.94368838e-03 -1.46001465e-04 9.99975882e-01 -2.45117555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.225769231 meters 0.026045757660881998 Centerline is valid? [True, True] Translation: X:367.81, Y:-44.06, Z:-2.45 [[ 9.73129101e-01 2.30163311e-01 6.67859021e-03 3.67810817e+02] [-2.30158853e-01 9.73152008e-01 -1.43901434e-03 -4.40624932e+01] [-6.83049178e-03 -1.36789936e-04 9.99976663e-01 -2.45252550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.285769231 meters 0.024178406103548503 Centerline is valid? [True, True] Translation: X:367.87, Y:-44.07, Z:-2.46 [[ 9.73641461e-01 2.28036364e-01 4.66062522e-03 3.67869235e+02] [-2.28034171e-01 9.73652612e-01 -1.00382157e-03 -4.40695295e+01] [-4.76673774e-03 -8.54195062e-05 9.99988635e-01 -2.45653191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.345769231 meters 0.019856540679454172 Centerline is valid? [True, True] Translation: X:367.93, Y:-44.08, Z:-2.46 [[ 9.74663910e-01 2.23635335e-01 4.18328403e-03 3.67926909e+02] [-2.23633531e-01 9.74672885e-01 -9.00066678e-04 -4.40811734e+01] [-4.27862023e-03 -5.82600724e-05 9.99990845e-01 -2.45841696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.405769231 meters 0.01607502585196957 Centerline is valid? [True, True] Translation: X:367.98, Y:-44.10, Z:-2.46 [[ 9.75673280e-01 2.19161993e-01 5.44722013e-03 3.67983613e+02] [-2.19158867e-01 9.75688484e-01 -1.17163568e-03 -4.40977694e+01] [-5.57156796e-03 -5.06729610e-05 9.99984477e-01 -2.45736167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.465769231 meters 0.013905645317301176 Centerline is valid? [True, True] Translation: X:368.04, Y:-44.11, Z:-2.46 [[ 9.76370148e-01 2.16034459e-01 5.51790706e-03 3.68041194e+02] [-2.16031202e-01 9.76385739e-01 -1.18673148e-03 -4.41088854e+01] [-5.64398066e-03 -3.33508996e-05 9.99984072e-01 -2.45688231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.525769231 meters 0.0142171262975819 Centerline is valid? [True, True] Translation: X:368.10, Y:-44.12, Z:-2.46 [[ 9.76220204e-01 2.16713194e-01 5.43178817e-03 3.68099540e+02] [-2.16710054e-01 9.76235315e-01 -1.16727502e-03 -4.41157968e+01] [-5.55566733e-03 -3.76056419e-05 9.99984566e-01 -2.45746961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.58576923100003 meters 0.014527176372346797 Centerline is valid? [True, True] Translation: X:368.16, Y:-44.12, Z:-2.45 [[ 9.76032521e-01 2.17492527e-01 7.58413281e-03 3.68157852e+02] [-2.17486442e-01 9.76061984e-01 -1.62803408e-03 -4.41221406e+01] [-7.75666896e-03 -6.04318529e-05 9.99969915e-01 -2.45377878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.64576923100003 meters 0.01538936483573648 Centerline is valid? [True, True] Translation: X:368.22, Y:-44.13, Z:-2.45 [[ 9.75804065e-01 2.18506775e-01 7.82413797e-03 3.68216741e+02] [-2.18500336e-01 9.75835429e-01 -1.67892561e-03 -4.41292045e+01] [-8.00192766e-03 -7.12743373e-05 9.99967982e-01 -2.45367914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.70576923100003 meters 0.016373381682536645 Centerline is valid? [True, True] Translation: X:368.28, Y:-44.13, Z:-2.45 [[ 9.75700578e-01 2.18959623e-01 8.06627772e-03 3.68275448e+02] [-2.18952806e-01 9.75733917e-01 -1.72953624e-03 -4.41316482e+01] [-8.24923936e-03 -7.86246313e-05 9.99965971e-01 -2.45400650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76576923100004 meters 0.015678221296057268 Centerline is valid? [True, True] Translation: X:368.33, Y:-44.14, Z:-2.45 [[ 9.75839704e-01 2.18266695e-01 9.82459685e-03 3.68333389e+02] [-2.18256559e-01 9.75889154e-01 -2.10542158e-03 -4.41384557e+01] [-1.00472609e-02 -8.97287240e-05 9.99949521e-01 -2.45015209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82576923100004 meters 0.014349774948089577 Centerline is valid? [True, True] Translation: X:368.39, Y:-44.15, Z:-2.45 [[ 9.76332559e-01 2.16051729e-01 9.81757733e-03 3.68391697e+02] [-2.16041514e-01 9.76381916e-01 -2.10202479e-03 -4.41479339e+01] [-1.00398511e-02 -6.87290267e-05 9.99949597e-01 -2.45021070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88576923100004 meters 0.013124969455669681 Centerline is valid? [True, True] Translation: X:368.45, Y:-44.16, Z:-2.46 [[ 9.76807621e-01 2.14035759e-01 5.96369103e-03 3.68449289e+02] [-2.14031956e-01 9.76825825e-01 -1.27631142e-03 -4.41611644e+01] [-6.09866369e-03 -2.97097327e-05 9.99981403e-01 -2.45835182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.945769231 meters 0.012598690659032716 Centerline is valid? [True, True] Translation: X:368.51, Y:-44.17, Z:-2.46 [[ 9.77222696e-01 2.12166429e-01 4.60519693e-03 3.68506236e+02] [-2.12164144e-01 9.77233547e-01 -9.84768138e-04 -4.41730494e+01] [-4.70928767e-03 -1.47198897e-05 9.99988911e-01 -2.46161960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.005769231 meters 0.012207337798782863 Centerline is valid? [True, True] Translation: X:368.56, Y:-44.19, Z:-2.46 [[ 9.77430291e-01 2.11177001e-01 5.85666444e-03 3.68562980e+02] [-2.11173290e-01 9.77447837e-01 -1.25203172e-03 -4.41872910e+01] [-5.98898429e-03 -1.29973665e-05 9.99982066e-01 -2.45916121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.065769231 meters 0.011897554455343323 Centerline is valid? [True, True] Translation: X:368.62, Y:-44.21, Z:-2.46 [[ 9.78053615e-01 2.08201203e-01 7.96150738e-03 3.68617851e+02] [-2.08194263e-01 9.78086018e-01 -1.69993678e-03 -4.42076333e+01] [-8.14096794e-03 5.08915626e-06 9.99966862e-01 -2.45676880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.125769231 meters 0.012492453159668054 Centerline is valid? [True, True] Translation: X:368.67, Y:-44.23, Z:-2.46 [[ 9.78739426e-01 2.04960952e-01 7.75521406e-03 3.68673503e+02] [-2.04954277e-01 9.78770150e-01 -1.65441606e-03 -4.42307768e+01] [-7.92966272e-03 2.97779347e-05 9.99968559e-01 -2.45796080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.185769231 meters 0.013793475539776575 Centerline is valid? [True, True] Translation: X:368.73, Y:-44.25, Z:-2.46 [[ 9.79254830e-01 2.02550907e-01 5.75401989e-03 3.68727880e+02] [-2.02547196e-01 9.79271734e-01 -1.22669710e-03 -4.42520783e+01] [-5.88321765e-03 3.57884675e-05 9.99982693e-01 -2.46225024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.245769231 meters 0.014484913316642927 Centerline is valid? [True, True] Translation: X:368.78, Y:-44.27, Z:-2.46 [[ 9.79543042e-01 2.01160314e-01 5.47325668e-03 3.68784219e+02] [-2.01156936e-01 9.79558332e-01 -1.16668230e-03 -4.42689291e+01] [-5.59606436e-03 4.18319878e-05 9.99984341e-01 -2.46304118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.305769231 meters 0.015529429170726703 Centerline is valid? [True, True] Translation: X:368.84, Y:-44.29, Z:-2.46 [[ 9.79853151e-01 1.99545286e-01 8.33552186e-03 3.68839840e+02] [-1.99537408e-01 9.79888602e-01 -1.77480252e-03 -4.42896160e+01] [-8.52203634e-03 7.57974152e-05 9.99963684e-01 -2.45690764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.365769231 meters 0.01734307475674883 Centerline is valid? [True, True] Translation: X:368.90, Y:-44.31, Z:-2.46 [[ 9.80258010e-01 1.97584452e-01 7.39044230e-03 3.68895156e+02] [-1.97578211e-01 9.80285865e-01 -1.57253867e-03 -4.43102157e+01] [-7.55545532e-03 8.13032591e-05 9.99971454e-01 -2.45990282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.425769231 meters 0.023295231260851236 Centerline is valid? [True, True] Translation: X:368.95, Y:-44.34, Z:-2.46 [[ 9.81361865e-01 1.92088450e-01 5.56025777e-03 3.68948361e+02] [-1.92084830e-01 9.81377613e-01 -1.18291375e-03 -4.43423684e+01] [-5.68393656e-03 9.28252701e-05 9.99983842e-01 -2.46428016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.485769231 meters 0.023853235833299864 Centerline is valid? [True, True] Translation: X:369.00, Y:-44.37, Z:-2.47 [[ 9.82091101e-01 1.88367506e-01 3.84074281e-03 3.69003942e+02] [-1.88365751e-01 9.82098608e-01 -8.17094330e-04 -4.43653686e+01] [-3.92590219e-03 7.89966685e-05 9.99992290e-01 -2.46660839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.545769231 meters 0.027590370767665753 Centerline is valid? [True, True] Translation: X:369.06, Y:-44.39, Z:-2.47 [[ 9.82589612e-01 1.85764994e-01 3.00344943e-03 3.69058748e+02] [-1.85763909e-01 9.82594200e-01 -6.38820975e-04 -4.43893734e+01] [-3.06984256e-03 6.97663484e-05 9.99995286e-01 -2.46870173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.605769231 meters 0.0335761485424351 Centerline is valid? [True, True] Translation: X:369.11, Y:-44.42, Z:-2.47 [[ 9.82881386e-01 1.84153780e-01 5.61846438e-03 3.69111224e+02] [-1.84149958e-01 9.82897434e-01 -1.19461473e-03 -4.44203867e+01] [-5.74236704e-03 1.39524605e-04 9.99983503e-01 -2.46500123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.665769231 meters 0.031334422770687494 Centerline is valid? [True, True] Translation: X:369.17, Y:-44.44, Z:-2.46 [[ 9.83219824e-01 1.82273308e-01 7.43089536e-03 3.69167282e+02] [-1.82266573e-01 9.83247884e-01 -1.57939832e-03 -4.44381114e+01] [-7.59429429e-03 1.98491910e-04 9.99971143e-01 -2.46231892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.725769231 meters 0.03416513842992281 Centerline is valid? [True, True] Translation: X:369.22, Y:-44.47, Z:-2.46 [[ 9.83431750e-01 1.81072752e-01 8.64012602e-03 3.69220529e+02] [-1.81063605e-01 9.83469674e-01 -1.83593753e-03 -4.44679150e+01] [-8.82974018e-03 2.41106895e-04 9.99960988e-01 -2.46042622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.785769231 meters 0.028505561059311946 Centerline is valid? [True, True] Translation: X:369.28, Y:-44.48, Z:-2.46 [[ 9.82598475e-01 1.85647293e-01 5.94305537e-03 3.69278655e+02] [-1.85643051e-01 9.82616438e-01 -1.26262058e-03 -4.44843376e+01] [-6.07414599e-03 1.37362126e-04 9.99981543e-01 -2.46491730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.845769231 meters 0.02412106752961626 Centerline is valid? [True, True] Translation: X:369.34, Y:-44.50, Z:-2.47 [[ 9.81674800e-01 1.90488835e-01 5.34708500e-03 3.69336174e+02] [-1.90485472e-01 9.81689357e-01 -1.13596111e-03 -4.44962870e+01] [-5.46556435e-03 9.66023901e-05 9.99985059e-01 -2.46656429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.905769231 meters 0.01912296709971262 Centerline is valid? [True, True] Translation: X:369.40, Y:-44.50, Z:-2.46 [[ 9.80668400e-01 1.95563564e-01 6.66203954e-03 3.69395080e+02] [-1.95558462e-01 9.80691024e-01 -1.41514921e-03 -4.45047017e+01] [-6.81015400e-03 8.49739092e-05 9.99976807e-01 -2.46484994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.965769231 meters 0.015051167057582839 Centerline is valid? [True, True] Translation: X:369.45, Y:-44.51, Z:-2.46 [[ 9.79767022e-01 1.99977452e-01 8.09949109e-03 3.69453977e+02] [-1.99970064e-01 9.79800497e-01 -1.72025107e-03 -4.45124125e+01] [-8.27989682e-03 6.57895187e-05 9.99965719e-01 -2.46223193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.025769231 meters 0.017953374342167604 Centerline is valid? [True, True] Translation: X:369.51, Y:-44.53, Z:-2.47 [[ 9.80235881e-01 1.97746463e-01 5.82700877e-03 3.69507944e+02] [-1.97742600e-01 9.80253198e-01 -1.23749774e-03 -4.45342025e+01] [-5.95665479e-03 6.07918247e-05 9.99982257e-01 -2.46735924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.08576923100003 meters 0.018713622381035015 Centerline is valid? [True, True] Translation: X:369.56, Y:-44.55, Z:-2.47 [[ 9.80605259e-01 1.95878578e-01 6.70145730e-03 3.69564788e+02] [-1.95873429e-01 9.80628154e-01 -1.42266248e-03 -4.45490161e+01] [-6.85030680e-03 8.24328902e-05 9.99976533e-01 -2.46641533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.14576923100003 meters 0.01833903672865843 Centerline is valid? [True, True] Translation: X:369.62, Y:-44.56, Z:-2.47 [[ 9.80579662e-01 1.95998217e-01 6.94445158e-03 3.69622292e+02] [-1.95992694e-01 9.80604248e-01 -1.47390739e-03 -4.45632247e+01] [-7.09864194e-03 8.42218436e-05 9.99974801e-01 -2.46609570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.20576923100003 meters 0.012311681479301482 Centerline is valid? [True, True] Translation: X:369.68, Y:-44.56, Z:-2.47 [[ 9.78920805e-01 2.04183144e-01 4.82721903e-03 3.69682928e+02] [-2.04180575e-01 9.78932706e-01 -1.02441120e-03 -4.45606965e+01] [-4.93469009e-03 1.71930794e-05 9.99987824e-01 -2.46935684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26576923100004 meters 0.012900340913242181 Centerline is valid? [True, True] Translation: X:369.74, Y:-44.56, Z:-2.47 [[ 9.77345564e-01 2.11601170e-01 4.53805248e-03 3.69743367e+02] [-2.11598980e-01 9.77356099e-01 -9.62873889e-04 -4.45561979e+01] [-4.63903851e-03 -1.91867539e-05 9.99989239e-01 -2.47150727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32576923100004 meters 0.01915792446424406 Centerline is valid? [True, True] Translation: X:369.80, Y:-44.55, Z:-2.47 [[ 9.75733648e-01 2.18890547e-01 5.54766151e-03 3.69804040e+02] [-2.18887394e-01 9.75749417e-01 -1.17664631e-03 -4.45511482e+01] [-5.67068424e-03 -6.62197706e-05 9.99983919e-01 -2.46987909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38576923100004 meters 0.021648347818675175 Centerline is valid? [True, True] Translation: X:369.86, Y:-44.55, Z:-2.47 [[ 9.75286000e-01 2.20800233e-01 8.02962271e-03 3.69864242e+02] [-2.20793698e-01 9.75319048e-01 -1.70242384e-03 -4.45526213e+01] [-8.20733955e-03 -1.12539958e-04 9.99966313e-01 -2.46571661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.445769231 meters 0.016507088514727833 Centerline is valid? [True, True] Translation: X:369.92, Y:-44.57, Z:-2.47 [[ 9.75854727e-01 2.18292906e-01 7.46719379e-03 3.69920936e+02] [-2.18287190e-01 9.75883292e-01 -1.58213301e-03 -4.45688543e+01] [-7.63247807e-03 -8.60607700e-05 9.99970869e-01 -2.46841910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.505769231 meters 0.013322971636144708 Centerline is valid? [True, True] Translation: X:369.98, Y:-44.58, Z:-2.48 [[ 9.77203214e-01 2.12276317e-01 3.55573454e-03 3.69977265e+02] [-2.12274981e-01 9.77209683e-01 -7.53424547e-04 -4.45826142e+01] [-3.63463241e-03 -1.85445921e-05 9.99993395e-01 -2.47715798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.565769231 meters 0.011474249117666339 Centerline is valid? [True, True] Translation: X:370.03, Y:-44.60, Z:-2.47 [[ 9.78104684e-01 2.08047716e-01 5.23217303e-03 3.70033450e+02] [-2.08044765e-01 9.78118678e-01 -1.10808430e-03 -4.46012347e+01] [-5.34822057e-03 -4.70376324e-06 9.99985698e-01 -2.47324235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.625769231 meters 0.012735058549301107 Centerline is valid? [True, True] Translation: X:370.09, Y:-44.62, Z:-2.47 [[ 9.79373719e-01 2.01922300e-01 7.38266521e-03 3.70088729e+02] [-2.01916254e-01 9.79401543e-01 -1.56299451e-03 -4.46212674e+01] [-7.54619714e-03 4.00756386e-05 9.99971526e-01 -2.46981722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.685769231 meters 0.014435662450183975 Centerline is valid? [True, True] Translation: X:370.14, Y:-44.64, Z:-2.48 [[ 9.79881406e-01 1.99539343e-01 4.05960568e-03 3.70144283e+02] [-1.99537495e-01 9.79889815e-01 -8.59457123e-04 -4.46375241e+01] [-4.14946176e-03 3.21225080e-05 9.99991390e-01 -2.47607181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.745769231 meters 0.014733463776549464 Centerline is valid? [True, True] Translation: X:370.20, Y:-44.65, Z:-2.47 [[ 9.80000040e-01 1.98914168e-01 5.75108519e-03 3.70201728e+02] [-1.98910452e-01 9.80016914e-01 -1.21684169e-03 -4.46482151e+01] [-5.87820781e-03 4.85539513e-05 9.99982722e-01 -2.47240907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.805769231 meters 0.01567813140793242 Centerline is valid? [True, True] Translation: X:370.26, Y:-44.66, Z:-2.47 [[ 9.80232427e-01 1.97719234e-01 7.17593833e-03 3.70257825e+02] [-1.97713422e-01 9.80258690e-01 -1.51766535e-03 -4.46614410e+01] [-7.33434754e-03 6.88854713e-05 9.99973101e-01 -2.46970403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.865769231 meters 0.01898867364728065 Centerline is valid? [True, True] Translation: X:370.31, Y:-44.68, Z:-2.47 [[ 9.80893092e-01 1.94483075e-01 5.00758077e-03 3.70312916e+02] [-1.94480203e-01 9.80905872e-01 -1.05879265e-03 -4.46783830e+01] [-5.11788263e-03 6.46870687e-05 9.99986901e-01 -2.47498520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.925769231 meters 0.023632893414941996 Centerline is valid? [True, True] Translation: X:370.37, Y:-44.70, Z:-2.47 [[ 9.81724632e-01 1.90208159e-01 6.13218596e-03 3.70368323e+02] [-1.90203773e-01 9.81743778e-01 -1.29601151e-03 -4.46980660e+01] [-6.26674737e-03 1.05961513e-04 9.99980358e-01 -2.47430142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.985769231 meters 0.024364281735801307 Centerline is valid? [True, True] Translation: X:370.43, Y:-44.71, Z:-2.47 [[ 9.82159933e-01 1.87949462e-01 6.07178186e-03 3.70425472e+02] [-1.87945121e-01 9.82178693e-01 -1.28296377e-03 -4.47133769e+01] [-6.20470712e-03 1.18913834e-04 9.99980744e-01 -2.47405226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.045769231 meters 0.02568451666712953 Centerline is valid? [True, True] Translation: X:370.48, Y:-44.73, Z:-2.48 [[ 9.82093193e-01 1.88383048e-01 2.18821977e-03 3.70481712e+02] [-1.88382485e-01 9.82095630e-01 -4.62531781e-04 -4.47278307e+01] [-2.23617422e-03 4.20270358e-05 9.99997499e-01 -2.48230002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.105769231 meters 0.022894705833667643 Centerline is valid? [True, True] Translation: X:370.54, Y:-44.74, Z:-2.48 [[ 9.81841248e-01 1.89674715e-01 3.35643795e-03 3.70540363e+02] [-1.89673399e-01 9.81846984e-01 -7.08995921e-04 -4.47360328e+01] [-3.42998708e-03 5.94944456e-05 9.99994116e-01 -2.47986384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.165769231 meters 0.022540277839587657 Centerline is valid? [True, True] Translation: X:370.60, Y:-44.75, Z:-2.48 [[ 9.81744387e-01 1.90146315e-01 4.72628588e-03 3.70598404e+02] [-1.90143713e-01 9.81755760e-01 -9.97987314e-04 -4.47476232e+01] [-4.82982200e-03 8.10948968e-05 9.99988333e-01 -2.47747149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.225769231 meters 0.023263274630053746 Centerline is valid? [True, True] Translation: X:370.66, Y:-44.76, Z:-2.48 [[ 9.81980425e-01 1.88935236e-01 4.23335815e-03 3.70655197e+02] [-1.88933139e-01 9.81989547e-01 -8.93733645e-04 -4.47627447e+01] [-4.32597123e-03 7.78073023e-05 9.99990640e-01 -2.47947658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.285769231 meters 0.027554653905918602 Centerline is valid? [True, True] Translation: X:370.71, Y:-44.78, Z:-2.49 [[ 9.82442674e-01 1.86555404e-01 1.86370172e-03 3.70710857e+02] [-1.86554993e-01 9.82444441e-01 -3.93492848e-04 -4.47842260e+01] [-1.90439161e-03 3.89013051e-05 9.99998186e-01 -2.48568823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.345769231 meters 0.024894819621684654 Centerline is valid? [True, True] Translation: X:370.77, Y:-44.80, Z:-2.48 [[ 9.82346577e-01 1.87056412e-01 2.25859412e-03 3.70768287e+02] [-1.87055810e-01 9.82349173e-01 -4.76792859e-04 -4.47951227e+01] [-2.30791522e-03 4.58926814e-05 9.99997336e-01 -2.48281384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.405769231 meters 0.01987301651407844 Centerline is valid? [True, True] Translation: X:370.83, Y:-44.80, Z:-2.48 [[ 9.81299121e-01 1.92469512e-01 2.74268370e-03 3.70827290e+02] [-1.92468646e-01 9.81302953e-01 -5.78673686e-04 -4.48041579e+01] [-2.80278066e-03 3.99713606e-05 9.99996071e-01 -2.48228169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.465769231 meters 0.018899119495621022 Centerline is valid? [True, True] Translation: X:370.88, Y:-44.82, Z:-2.48 [[ 9.80912179e-01 1.94401528e-01 4.39799067e-03 3.70883195e+02] [-1.94399322e-01 9.80922037e-01 -9.27805020e-04 -4.48182236e+01] [-4.49445268e-03 5.51288401e-05 9.99989898e-01 -2.48127412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.525769231 meters 0.019733181177974058 Centerline is valid? [True, True] Translation: X:370.94, Y:-44.84, Z:-2.48 [[ 9.80911346e-01 1.94364482e-01 5.94808163e-03 3.70938593e+02] [-1.94360449e-01 9.80929377e-01 -1.25430029e-03 -4.48381253e+01] [-6.07843943e-03 7.42855673e-05 9.99981523e-01 -2.47828623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.58576923100003 meters 0.018705830253483612 Centerline is valid? [True, True] Translation: X:370.99, Y:-44.86, Z:-2.48 [[ 9.80873164e-01 1.94552839e-01 6.08513536e-03 3.70994872e+02] [-1.94548624e-01 9.80892037e-01 -1.28282777e-03 -4.48557334e+01] [-6.21843860e-03 7.44366246e-05 9.99980663e-01 -2.47791203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.64576923100003 meters 0.015744663831208573 Centerline is valid? [True, True] Translation: X:371.05, Y:-44.87, Z:-2.48 [[ 9.80423258e-01 1.96791386e-01 6.58669841e-03 3.71052880e+02] [-1.96786500e-01 9.80445381e-01 -1.38822630e-03 -4.48683265e+01] [-6.73108902e-03 6.48760207e-05 9.99977344e-01 -2.47768748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.70576923100003 meters 0.01364675191398748 Centerline is valid? [True, True] Translation: X:371.11, Y:-44.88, Z:-2.48 [[ 9.79797605e-01 1.99917683e-01 5.43818726e-03 3.71109634e+02] [-1.99914401e-01 9.79812696e-01 -1.14604183e-03 -4.48806917e+01] [-5.55751895e-03 3.57170874e-05 9.99984556e-01 -2.48130756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76576923100004 meters 0.011681334973198957 Centerline is valid? [True, True] Translation: X:371.17, Y:-44.89, Z:-2.48 [[ 9.78512437e-01 2.06155769e-01 3.63439380e-03 3.71168521e+02] [-2.06154347e-01 9.78519187e-01 -7.65792181e-04 -4.48875368e+01] [-3.71419654e-03 9.10941878e-08 9.99993102e-01 -2.48416204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82576923100004 meters 0.014365489902961822 Centerline is valid? [True, True] Translation: X:371.23, Y:-44.89, Z:-2.49 [[ 9.77311626e-01 2.11786149e-01 2.93472304e-03 3.71226785e+02] [-2.11785246e-01 9.77316032e-01 -6.18418956e-04 -4.48930352e+01] [-2.99912445e-03 -1.71430081e-05 9.99995502e-01 -2.48612435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88576923100004 meters 0.016127974646990565 Centerline is valid? [True, True] Translation: X:371.29, Y:-44.90, Z:-2.49 [[ 9.76860731e-01 2.13858241e-01 2.78662867e-03 3.71285060e+02] [-2.13857437e-01 9.76864705e-01 -5.86862509e-04 -4.49036243e+01] [-2.84766458e-03 -2.26583250e-05 9.99995945e-01 -2.48700973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.945769231 meters 0.019021456878842203 Centerline is valid? [True, True] Translation: X:371.34, Y:-44.91, Z:-2.49 [[ 9.76253004e-01 2.16619430e-01 2.46870039e-03 3.71344090e+02] [-2.16618808e-01 9.76256125e-01 -5.19828023e-04 -4.49093295e+01] [-2.52268872e-03 -2.72832673e-05 9.99996818e-01 -2.48818960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.005769231 meters 0.021623224291603446 Centerline is valid? [True, True] Translation: X:371.40, Y:-44.92, Z:-2.49 [[ 9.75644114e-01 2.19340881e-01 2.85339658e-03 3.71402614e+02] [-2.19340062e-01 9.75648285e-01 -6.00647896e-04 -4.49162757e+01] [-2.91565812e-03 -3.98455981e-05 9.99995749e-01 -2.48721966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.065769231 meters 0.026075780599494974 Centerline is valid? [True, True] Translation: X:371.46, Y:-44.92, Z:-2.48 [[ 9.74725147e-01 2.23364404e-01 4.38528122e-03 3.71463780e+02] [-2.23362512e-01 9.74735008e-01 -9.22672763e-04 -4.49154010e+01] [-4.48057938e-03 -8.01550866e-05 9.99989959e-01 -2.48301038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.125769231 meters 0.02718225840642327 Centerline is valid? [True, True] Translation: X:371.52, Y:-44.92, Z:-2.48 [[ 9.74372151e-01 2.24853725e-01 6.30188147e-03 3.71522476e+02] [-2.24849851e-01 9.74392522e-01 -1.32572553e-03 -4.49208293e+01] [-6.43860051e-03 -1.25227077e-04 9.99979264e-01 -2.47977529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.185769231 meters 0.027635748670790987 Centerline is valid? [True, True] Translation: X:371.58, Y:-44.93, Z:-2.48 [[ 9.74270982e-01 2.25281019e-01 6.67203845e-03 3.71580994e+02] [-2.25276690e-01 9.74293818e-01 -1.40325998e-03 -4.49266271e+01] [-6.81665366e-03 -1.35899263e-04 9.99976757e-01 -2.47922930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.245769231 meters 0.024721549164203657 Centerline is valid? [True, True] Translation: X:371.64, Y:-44.94, Z:-2.48 [[ 9.74163237e-01 2.25729385e-01 7.22721628e-03 3.71638647e+02] [-2.25724320e-01 9.74190034e-01 -1.51965367e-03 -4.49377508e+01] [-7.38371256e-03 -1.50967746e-04 9.99972729e-01 -2.47948697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.305769231 meters 0.028687731363748716 Centerline is valid? [True, True] Translation: X:371.70, Y:-44.94, Z:-2.48 [[ 9.74452370e-01 2.24464143e-01 7.64373615e-03 3.71696610e+02] [-2.24458442e-01 9.74482337e-01 -1.60680868e-03 -4.49415024e+01] [-7.80935681e-03 -1.49942577e-04 9.99969495e-01 -2.47850824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.365769231 meters 0.021470613315120228 Centerline is valid? [True, True] Translation: X:371.75, Y:-44.96, Z:-2.48 [[ 9.75709740e-01 2.18926393e-01 7.85729084e-03 3.71753598e+02] [-2.18920192e-01 9.75741371e-01 -1.65123683e-03 -4.49634728e+01] [-8.02818306e-03 -1.08991769e-04 9.99967768e-01 -2.47944018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.425769231 meters 0.019107199795243786 Centerline is valid? [True, True] Translation: X:371.81, Y:-44.98, Z:-2.48 [[ 9.76384774e-01 2.15900467e-01 7.73056900e-03 3.71809473e+02] [-2.15894371e-01 9.76415373e-01 -1.62445468e-03 -4.49805050e+01] [-7.89896694e-03 -8.28935160e-05 9.99968799e-01 -2.48012464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.485769231 meters 0.019218180647163914 Centerline is valid? [True, True] Translation: X:371.87, Y:-44.99, Z:-2.49 [[ 9.76417231e-01 2.15824351e-01 5.40738446e-03 3.71866285e+02] [-2.15821369e-01 9.76432203e-01 -1.13597365e-03 -4.49932604e+01] [-5.52511510e-03 -5.78448706e-05 9.99984735e-01 -2.48517629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.545769231 meters 0.022154253270847527 Centerline is valid? [True, True] Translation: X:371.93, Y:-45.00, Z:-2.49 [[ 9.75422257e-01 2.20327229e-01 2.70799216e-03 3.71925703e+02] [-2.20326499e-01 9.75426015e-01 -5.68754243e-04 -4.50003022e+01] [-2.76675805e-03 -4.18668862e-05 9.99996172e-01 -2.48912850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.605769231 meters 0.027323672464072902 Centerline is valid? [True, True] Translation: X:371.99, Y:-45.00, Z:-2.49 [[ 9.74222003e-01 2.25589249e-01 9.89417224e-04 3.71985435e+02] [-2.25589154e-01 9.74222506e-01 -2.07957903e-04 -4.50033403e+01] [-1.01082559e-03 -2.06046298e-05 9.99999489e-01 -2.49346304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.665769231 meters 0.03627289685906864 Centerline is valid? [True, True] Translation: X:372.05, Y:-45.00, Z:-2.49 [[ 9.72374198e-01 2.33401589e-01 3.48093247e-03 3.72047050e+02] [-2.33400467e-01 9.72380423e-01 -7.30758951e-04 -4.49999556e+01] [-3.55535089e-03 -1.01880117e-04 9.99993675e-01 -2.48905490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.725769231 meters 0.04257483187310046 Centerline is valid? [True, True] Translation: X:372.11, Y:-45.00, Z:-2.49 [[ 9.71015026e-01 2.38983806e-01 4.06932610e-03 3.72109346e+02] [-2.38982322e-01 9.71023542e-01 -8.54269961e-04 -4.49976199e+01] [-4.15556813e-03 -1.42988030e-04 9.99991355e-01 -2.48736230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.785769231 meters 0.047338115919425515 Centerline is valid? [True, True] Translation: X:372.17, Y:-44.99, Z:-2.49 [[ 9.69684152e-01 2.44334613e-01 3.63897261e-03 3.72172371e+02] [-2.44333464e-01 9.69690969e-01 -7.63922391e-04 -4.49929890e+01] [-3.71533155e-03 -1.48359345e-04 9.99993087e-01 -2.48808220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.845769231 meters 0.04964539812468894 Centerline is valid? [True, True] Translation: X:372.23, Y:-44.99, Z:-2.48 [[ 9.69841849e-01 2.43659995e-01 6.04937346e-03 3.72231484e+02] [-2.43656806e-01 9.69860685e-01 -1.26989069e-03 -4.49942679e+01] [-6.17647105e-03 -2.42377878e-04 9.99980896e-01 -2.48491365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.905769231 meters 0.052898761070407814 Centerline is valid? [True, True] Translation: X:372.29, Y:-44.99, Z:-2.49 [[ 9.71380287e-01 2.37459816e-01 5.75957947e-03 3.72292766e+02] [-2.37456819e-01 9.71397343e-01 -1.20868258e-03 -4.49907939e+01] [-5.88185374e-03 -1.93560987e-04 9.99982683e-01 -2.48636743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.965769231 meters 0.03695021955399857 Centerline is valid? [True, True] Translation: X:372.35, Y:-45.02, Z:-2.48 [[ 9.72479901e-01 2.32848959e-01 8.01282460e-03 3.72348421e+02] [-2.32843002e-01 9.72512884e-01 -1.68135508e-03 -4.50165756e+01] [-8.18407694e-03 -2.30646121e-04 9.99966483e-01 -2.48211575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.025769231 meters 0.027984858832789245 Centerline is valid? [True, True] Translation: X:372.41, Y:-45.03, Z:-2.48 [[ 9.74452026e-01 2.24482404e-01 7.13432635e-03 3.72405444e+02] [-2.24477458e-01 9.74478132e-01 -1.49694169e-03 -4.50310942e+01] [-7.28828208e-03 -1.42797583e-04 9.99973430e-01 -2.48432644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.08576923100003 meters 0.02493653121343178 Centerline is valid? [True, True] Translation: X:372.46, Y:-45.04, Z:-2.49 [[ 9.75159853e-01 2.21418981e-01 6.07421523e-03 3.72462981e+02] [-2.21415337e-01 9.75178765e-01 -1.27440910e-03 -4.50441495e+01] [-6.20562407e-03 -1.02171819e-04 9.99980740e-01 -2.48655308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.14576923100003 meters 0.015434291622381448 Centerline is valid? [True, True] Translation: X:372.52, Y:-45.07, Z:-2.49 [[ 9.77469395e-01 2.10976778e-01 6.51013100e-03 3.72518125e+02] [-2.10972362e-01 9.77491073e-01 -1.36553574e-03 -4.50670188e+01] [-6.65169126e-03 -3.86883187e-05 9.99977877e-01 -2.48673395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.20576923100003 meters 0.014081124798155657 Centerline is valid? [True, True] Translation: X:372.57, Y:-45.09, Z:-2.48 [[ 9.79128249e-01 2.03062510e-01 8.57255428e-03 3.72573518e+02] [-2.03054553e-01 9.79165776e-01 -1.79774840e-03 -4.50908088e+01] [-8.75900707e-03 1.95300607e-05 9.99961639e-01 -2.48306523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26576923100004 meters 0.019959000830287107 Centerline is valid? [True, True] Translation: X:372.63, Y:-45.12, Z:-2.49 [[ 9.80883489e-01 1.94453648e-01 7.44035468e-03 3.72627609e+02] [-1.94447408e-01 9.80911704e-01 -1.56001475e-03 -4.51162575e+01] [-7.60168155e-03 8.34350295e-05 9.99971103e-01 -2.48539191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32576923100004 meters 0.022601204321083396 Centerline is valid? [True, True] Translation: X:372.68, Y:-45.13, Z:-2.49 [[ 9.81343599e-01 1.92152661e-01 6.48815138e-03 3.72683754e+02] [-1.92147867e-01 9.81365043e-01 -1.36011283e-03 -4.51332467e+01] [-6.62859425e-03 8.80535718e-05 9.99978027e-01 -2.48838880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38576923100004 meters 0.02170415844274067 Centerline is valid? [True, True] Translation: X:372.74, Y:-45.15, Z:-2.49 [[ 9.81193818e-01 1.92875587e-01 7.59606182e-03 3.72741476e+02] [-1.92869042e-01 9.81223215e-01 -1.59197544e-03 -4.51455435e+01] [-7.76048540e-03 9.69912977e-05 9.99969882e-01 -2.48595362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.445769231 meters 0.022490492134447915 Centerline is valid? [True, True] Translation: X:372.80, Y:-45.16, Z:-2.49 [[ 9.81489371e-01 1.91452408e-01 4.95888113e-03 3.72798174e+02] [-1.91449601e-01 9.81501895e-01 -1.03916640e-03 -4.51613388e+01] [-5.06610214e-03 7.05549624e-05 9.99987165e-01 -2.49341344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.505769231 meters 0.022640989736994962 Centerline is valid? [True, True] Translation: X:372.85, Y:-45.18, Z:-2.49 [[ 9.81903693e-01 1.89303850e-01 5.40286984e-03 3.72854660e+02] [-1.89300486e-01 9.81918553e-01 -1.13193671e-03 -4.51779063e+01] [-5.51945812e-03 8.86869422e-05 9.99984764e-01 -2.49298414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.565769231 meters 0.02635793542797207 Centerline is valid? [True, True] Translation: X:372.91, Y:-45.20, Z:-2.49 [[ 9.82414254e-01 1.86588871e-01 6.84295662e-03 3.72908608e+02] [-1.86583413e-01 9.82438077e-01 -1.43321996e-03 -4.52006638e+01] [-6.99020404e-03 1.31233518e-04 9.99975560e-01 -2.48907244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.625769231 meters 0.02350243083118065 Centerline is valid? [True, True] Translation: X:372.97, Y:-45.21, Z:-2.49 [[ 9.82171307e-01 1.87934409e-01 4.49238875e-03 3.72966596e+02] [-1.87932072e-01 9.82181578e-01 -9.40652728e-04 -4.52106904e+01] [-4.58912248e-03 7.96181951e-05 9.99989467e-01 -2.49368818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.685769231 meters 0.019500090237142557 Centerline is valid? [True, True] Translation: X:373.02, Y:-45.22, Z:-2.50 [[ 9.81211347e-01 1.92890948e-01 4.16836706e-03 3.73024041e+02] [-1.92888981e-01 9.81220199e-01 -8.72624706e-04 -4.52206601e+01] [-4.25840737e-03 5.21971880e-05 9.99990932e-01 -2.49536292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.745769231 meters 0.017535342904341628 Centerline is valid? [True, True] Translation: X:373.08, Y:-45.23, Z:-2.49 [[ 9.80754242e-01 1.95142334e-01 6.37069011e-03 3.73082172e+02] [-1.95137790e-01 9.80774931e-01 -1.33320084e-03 -4.52323425e+01] [-6.50837707e-03 6.43799892e-05 9.99978818e-01 -2.49221062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.805769231 meters 0.015936400465595864 Centerline is valid? [True, True] Translation: X:373.14, Y:-45.25, Z:-2.50 [[ 9.80352643e-01 1.97234503e-01 2.69178911e-03 3.73139512e+02] [-1.97233700e-01 9.80356338e-01 -5.63263689e-04 -4.52464006e+01] [-2.75000755e-03 2.12855193e-05 9.99996218e-01 -2.49846500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.865769231 meters 0.014847228296788858 Centerline is valid? [True, True] Translation: X:373.20, Y:-45.26, Z:-2.50 [[ 9.79834200e-01 1.99784074e-01 3.35619640e-03 3.73196684e+02] [-1.99782841e-01 9.79839948e-01 -7.02079890e-04 -4.52574009e+01] [-3.42879968e-03 1.74114371e-05 9.99994121e-01 -2.49824177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.925769231 meters 0.01378338964545016 Centerline is valid? [True, True] Translation: X:373.25, Y:-45.27, Z:-2.50 [[ 9.79422210e-01 2.01758979e-01 5.04478130e-03 3.73254484e+02] [-2.01756223e-01 9.79435202e-01 -1.05475062e-03 -4.52688224e+01] [-5.15384180e-03 1.52301678e-05 9.99986719e-01 -2.49559389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.985769231 meters 0.013906395998473604 Centerline is valid? [True, True] Translation: X:373.31, Y:-45.28, Z:-2.50 [[ 9.79483995e-01 2.01472658e-01 4.45766759e-03 3.73312053e+02] [-2.01470504e-01 9.79494139e-01 -9.31818109e-04 -4.52822311e+01] [-4.55399514e-03 1.46123890e-05 9.99989630e-01 -2.49729058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.045769231 meters 0.015050878501715024 Centerline is valid? [True, True] Translation: X:373.37, Y:-45.30, Z:-2.50 [[ 9.80129520e-01 1.98280769e-01 5.55517920e-03 3.73368239e+02] [-1.98277374e-01 9.80145262e-01 -1.16088318e-03 -4.53015866e+01] [-5.67506339e-03 3.63495299e-05 9.99983896e-01 -2.49600329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.105769231 meters 0.01756580126285261 Centerline is valid? [True, True] Translation: X:373.42, Y:-45.32, Z:-2.49 [[ 9.80918105e-01 1.94280645e-01 7.39613773e-03 3.73424016e+02] [-1.94274517e-01 9.80945985e-01 -1.54511383e-03 -4.53237761e+01] [-7.55539732e-03 7.87490510e-05 9.99971454e-01 -2.49186307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.165769231 meters 0.01853936750577866 Centerline is valid? [True, True] Translation: X:373.48, Y:-45.34, Z:-2.50 [[ 9.81213937e-01 1.92851554e-01 5.24295539e-03 3.73480142e+02] [-1.92848455e-01 9.81227942e-01 -1.09513584e-03 -4.53415630e+01] [-5.35573298e-03 6.34667052e-05 9.99985656e-01 -2.49627641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.225769231 meters 0.01926299818054146 Centerline is valid? [True, True] Translation: X:373.54, Y:-45.36, Z:-2.50 [[ 9.81352686e-01 1.92160070e-01 4.62746060e-03 3.73535566e+02] [-1.92157649e-01 9.81363594e-01 -9.66407744e-04 -4.53591609e+01] [-4.72692635e-03 5.91848845e-05 9.99988826e-01 -2.49788167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.285769231 meters 0.015776321513660395 Centerline is valid? [True, True] Translation: X:373.59, Y:-45.37, Z:-2.49 [[ 9.80544631e-01 1.96148696e-01 7.61027491e-03 3.73593536e+02] [-1.96142273e-01 9.80574161e-01 -1.58860603e-03 -4.53677312e+01] [-7.77404193e-03 6.50024962e-05 9.99969780e-01 -2.49183086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.345769231 meters 0.013794519863934712 Centerline is valid? [True, True] Translation: X:373.65, Y:-45.38, Z:-2.50 [[ 9.79660301e-01 2.00575288e-01 5.93699709e-03 3.73650986e+02] [-2.00571462e-01 9.79678291e-01 -1.23910558e-03 -4.53753189e+01] [-6.06488112e-03 2.31103622e-05 9.99981608e-01 -2.49706217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.405769231 meters 0.013601481100041056 Centerline is valid? [True, True] Translation: X:373.71, Y:-45.39, Z:-2.50 [[ 9.79515362e-01 2.01344495e-01 3.17013440e-03 3.73708640e+02] [-2.01343408e-01 9.79520492e-01 -6.61589153e-04 -4.53883006e+01] [-3.23841894e-03 9.75107359e-06 9.99994756e-01 -2.50206939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.465769231 meters 0.01296669467130298 Centerline is valid? [True, True] Translation: X:373.77, Y:-45.40, Z:-2.50 [[ 9.79103623e-01 2.03326940e-01 3.77514400e-03 3.73765977e+02] [-2.03325414e-01 9.79110901e-01 -7.87602987e-04 -4.53992959e+01] [-3.85642555e-03 3.56221840e-06 9.99992564e-01 -2.50128549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.525769231 meters 0.012705634848487706 Centerline is valid? [True, True] Translation: X:373.82, Y:-45.41, Z:-2.50 [[ 9.78742877e-01 2.05024459e-01 5.22994793e-03 3.73823016e+02] [-2.05021557e-01 9.78756850e-01 -1.09074201e-03 -4.54071330e+01] [-5.34247615e-03 -4.69610107e-06 9.99985729e-01 -2.49922321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.58576923100003 meters 0.014710252749527936 Centerline is valid? [True, True] Translation: X:373.88, Y:-45.41, Z:-2.50 [[ 9.77769184e-01 2.09656973e-01 3.37303842e-03 3.73881599e+02] [-2.09655794e-01 9.77775001e-01 -7.03408074e-04 -4.54077074e+01] [-3.44554705e-03 -1.94063086e-05 9.99994064e-01 -2.50224494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.64576923100003 meters 0.017282895394386308 Centerline is valid? [True, True] Translation: X:373.94, Y:-45.41, Z:-2.50 [[ 9.76981649e-01 2.13263541e-01 5.05173824e-03 3.73940857e+02] [-2.13260947e-01 9.76994708e-01 -1.05294893e-03 -4.54103212e+01] [-5.16007714e-03 -4.86267034e-05 9.99986686e-01 -2.49978749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.70576923100003 meters 0.01716605607440623 Centerline is valid? [True, True] Translation: X:374.00, Y:-45.42, Z:-2.50 [[ 9.76907841e-01 2.13613792e-01 4.49641909e-03 3.73999191e+02] [-2.13611742e-01 9.76918188e-01 -9.37026889e-04 -4.54209402e+01] [-4.59279545e-03 -4.50989978e-05 9.99989452e-01 -2.50133890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76576923100004 meters 0.01650803715085064 Centerline is valid? [True, True] Translation: X:374.06, Y:-45.43, Z:-2.50 [[ 9.77088457e-01 2.12716402e-01 7.06248340e-03 3.74057487e+02] [-2.12711324e-01 9.77113979e-01 -1.47123902e-03 -4.54299437e+01] [-7.21380793e-03 -6.47395263e-05 9.99973978e-01 -2.49732539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82576923100004 meters 0.016978414792937227 Centerline is valid? [True, True] Translation: X:374.12, Y:-45.44, Z:-2.50 [[ 9.76979948e-01 2.13257869e-01 5.59135502e-03 3.74115849e+02] [-2.13254696e-01 9.76995946e-01 -1.16457298e-03 -4.54379533e+01] [-5.71108554e-03 -5.46182683e-05 9.99983690e-01 -2.50083759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88576923100004 meters 0.016640928399238225 Centerline is valid? [True, True] Translation: X:374.17, Y:-45.45, Z:-2.51 [[ 9.77195020e-01 2.12317110e-01 3.36702884e-03 3.74172588e+02] [-2.12315954e-01 9.77200821e-01 -7.01382229e-04 -4.54468683e+01] [-3.43917879e-03 -2.94867175e-05 9.99994086e-01 -2.50586093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.945769231 meters 0.015897716634368324 Centerline is valid? [True, True] Translation: X:374.23, Y:-45.46, Z:-2.51 [[ 9.77418402e-01 2.11271802e-01 4.18250463e-03 3.74230531e+02] [-2.11270009e-01 9.77427350e-01 -8.70951977e-04 -4.54595558e+01] [-4.27210201e-03 -3.23533014e-05 9.99990874e-01 -2.50565745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.005769231 meters 0.012907687611334488 Centerline is valid? [True, True] Translation: X:374.28, Y:-45.48, Z:-2.50 [[ 9.78465945e-01 2.06287667e-01 7.05635092e-03 3.74284853e+02] [-2.06282447e-01 9.78491389e-01 -1.46758646e-03 -4.54815243e+01] [-7.20732360e-03 -1.96179586e-05 9.99974027e-01 -2.50053071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.065769231 meters 0.012678924175841374 Centerline is valid? [True, True] Translation: X:374.34, Y:-45.50, Z:-2.50 [[ 9.79517237e-01 2.01267345e-01 6.11864390e-03 3.74339435e+02] [-2.01263325e-01 9.79536347e-01 -1.27226364e-03 -4.55024952e+01] [-6.24949922e-03 1.47455538e-05 9.99980472e-01 -2.50223929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.125769231 meters 0.015386398345324091 Centerline is valid? [True, True] Translation: X:374.39, Y:-45.53, Z:-2.50 [[ 9.80530276e-01 1.96279221e-01 5.90299519e-03 3.74393799e+02] [-1.96275391e-01 9.80548043e-01 -1.22700533e-03 -4.55292271e+01] [-6.02900604e-03 4.45031906e-05 9.99981824e-01 -2.50333551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.185769231 meters 0.016239833401387405 Centerline is valid? [True, True] Translation: X:374.45, Y:-45.55, Z:-2.51 [[ 9.80724274e-01 1.95342522e-01 4.60406924e-03 3.74450063e+02] [-1.95340182e-01 9.80735080e-01 -9.56893126e-04 -4.55450917e+01] [-4.70229413e-03 3.90885922e-05 9.99988943e-01 -2.50546386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.245769231 meters 0.018690441810427068 Centerline is valid? [True, True] Translation: X:374.50, Y:-45.57, Z:-2.51 [[ 9.81140816e-01 1.93277265e-01 2.56861002e-03 3.74504818e+02] [-1.93276530e-01 9.81144178e-01 -5.33926138e-04 -4.55657244e+01] [-2.62337255e-03 2.74046964e-05 9.99996559e-01 -2.51102483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.305769231 meters 0.02130846321913179 Centerline is valid? [True, True] Translation: X:374.56, Y:-45.59, Z:-2.51 [[ 9.81687961e-01 1.90444480e-01 4.43249955e-03 3.74560671e+02] [-1.90442264e-01 9.81697966e-01 -9.20654682e-04 -4.55868917e+01] [-4.52670940e-03 5.96603701e-05 9.99989753e-01 -2.50796675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.365769231 meters 0.029089990004103946 Centerline is valid? [True, True] Translation: X:374.61, Y:-45.62, Z:-2.51 [[ 9.82857135e-01 1.84328199e-01 3.86878344e-03 3.74613863e+02] [-1.84326465e-01 9.82864746e-01 -8.03302432e-04 -4.56207159e+01] [-3.95056215e-03 7.64123524e-05 9.99992194e-01 -2.51021266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.425769231 meters 0.037718903570203445 Centerline is valid? [True, True] Translation: X:374.67, Y:-45.66, Z:-2.51 [[ 9.84086748e-01 1.77657110e-01 3.35014977e-03 3.74667922e+02] [-1.77655771e-01 9.84092447e-01 -6.95586036e-04 -4.56587785e+01] [-3.42043289e-03 8.93435614e-05 9.99994146e-01 -2.51152434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.485769231 meters 0.034832963526393625 Centerline is valid? [True, True] Translation: X:374.73, Y:-45.68, Z:-2.51 [[ 9.84173200e-01 1.77147010e-01 4.69571664e-03 3.74726353e+02] [-1.77144373e-01 9.84184394e-01 -9.74959577e-04 -4.56772582e+01] [-4.79416221e-03 1.27709306e-04 9.99988500e-01 -2.50722118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.545769231 meters 0.030590472852192064 Centerline is valid? [True, True] Translation: X:374.79, Y:-45.69, Z:-2.51 [[ 9.83522231e-01 1.80727361e-01 4.65214658e-03 3.74786047e+02] [-1.80724812e-01 9.83533227e-01 -9.66020709e-04 -4.56923708e+01] [-4.75012711e-03 1.09344525e-04 9.99988712e-01 -2.50799903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.605769231 meters 0.019658040964819254 Centerline is valid? [True, True] Translation: X:374.85, Y:-45.70, Z:-2.51 [[ 9.82034095e-01 1.88638265e-01 4.96407213e-03 3.74846253e+02] [-1.88635463e-01 9.82046638e-01 -1.03094170e-03 -4.57019316e+01] [-5.06942540e-03 7.60198578e-05 9.99987147e-01 -2.50905658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.665769231 meters 0.017816047894368133 Centerline is valid? [True, True] Translation: X:374.90, Y:-45.72, Z:-2.51 [[ 9.81325158e-01 1.92312776e-01 4.09037725e-03 3.74904769e+02] [-1.92310905e-01 9.81333681e-01 -8.49493935e-04 -4.57190185e+01] [-4.17739351e-03 4.70056164e-05 9.99991274e-01 -2.51104069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.725769231 meters 0.013464022041106298 Centerline is valid? [True, True] Translation: X:374.96, Y:-45.73, Z:-2.52 [[ 9.80119627e-01 1.98394853e-01 2.23579253e-03 3.74962926e+02] [-1.98394309e-01 9.80122177e-01 -4.64539127e-04 -4.57310511e+01] [-2.28351201e-03 1.17354016e-05 9.99997393e-01 -2.51509206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.785769231 meters 0.011571920079189923 Centerline is valid? [True, True] Translation: X:375.02, Y:-45.74, Z:-2.51 [[ 9.79192778e-01 2.02897337e-01 3.76479899e-03 3.75022343e+02] [-2.02895830e-01 9.79200016e-01 -7.81984964e-04 -4.57407718e+01] [-3.84515389e-03 1.85201315e-06 9.99992607e-01 -2.51116693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.845769231 meters 0.012444106539060354 Centerline is valid? [True, True] Translation: X:375.08, Y:-45.76, Z:-2.51 [[ 9.78248758e-01 2.07371370e-01 5.14607412e-03 3.75080409e+02] [-2.07368616e-01 9.78262293e-01 -1.06881661e-03 -4.57553716e+01] [-5.25585224e-03 -2.15657459e-05 9.99986188e-01 -2.51029136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.905769231 meters 0.012917781431580158 Centerline is valid? [True, True] Translation: X:375.14, Y:-45.77, Z:-2.51 [[ 9.78125471e-01 2.07978758e-01 3.92415128e-03 3.75137116e+02] [-2.07977162e-01 9.78133343e-01 -8.14937525e-04 -4.57740611e+01] [-4.00783291e-03 -1.90226976e-05 9.99991968e-01 -2.51355760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.965769231 meters 0.018940703411438636 Centerline is valid? [True, True] Translation: X:375.20, Y:-45.78, Z:-2.51 [[ 9.76639049e-01 2.14862870e-01 3.18054583e-03 3.75196040e+02] [-2.14861858e-01 9.76644227e-01 -6.60574540e-04 -4.57804072e+01] [-3.24819466e-03 -3.82350971e-05 9.99994724e-01 -2.51380837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.025769231 meters 0.027874768095893773 Centerline is valid? [True, True] Translation: X:375.26, Y:-45.78, Z:-2.51 [[ 9.74470305e-01 2.24484192e-01 3.80419030e-03 3.75258022e+02] [-2.24482818e-01 9.74477727e-01 -7.89792319e-04 -4.57809766e+01] [-3.88439461e-03 -8.43461981e-05 9.99992452e-01 -2.51151990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.08576923100003 meters 0.042218329524698325 Centerline is valid? [True, True] Translation: X:375.32, Y:-45.77, Z:-2.51 [[ 9.71633269e-01 2.36473436e-01 3.01753019e-03 3.75320502e+02] [-2.36472629e-01 9.71637949e-01 -6.26505021e-04 -4.57738106e+01] [-3.08009863e-03 -1.04830174e-04 9.99995251e-01 -2.51469629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.14576923100003 meters 0.04397915874743684 Centerline is valid? [True, True] Translation: X:375.38, Y:-45.78, Z:-2.51 [[ 9.70582063e-01 2.40685397e-01 6.40298224e-03 3.75381260e+02] [-2.40681856e-01 9.70603151e-01 -1.32942195e-03 -4.57772152e+01] [-6.53472719e-03 -2.50768547e-04 9.99978617e-01 -2.50870969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.20576923100003 meters 0.047790173214957515 Centerline is valid? [True, True] Translation: X:375.44, Y:-45.78, Z:-2.51 [[ 9.70708105e-01 2.40150081e-01 7.32900246e-03 3.75440151e+02] [-2.40145427e-01 9.70735731e-01 -1.52156514e-03 -4.57772442e+01] [-7.47992855e-03 -2.83030814e-04 9.99971985e-01 -2.50691677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26576923100004 meters 0.04526022027501638 Centerline is valid? [True, True] Translation: X:375.50, Y:-45.78, Z:-2.51 [[ 9.71467637e-01 2.37095362e-01 6.03492405e-03 3.75499263e+02] [-2.37092150e-01 9.71486358e-01 -1.25258357e-03 -4.57829052e+01] [-6.15982814e-03 -2.13988715e-04 9.99981005e-01 -2.51101279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32576923100004 meters 0.037256304970203054 Centerline is valid? [True, True] Translation: X:375.56, Y:-45.80, Z:-2.51 [[ 9.72026635e-01 2.34758160e-01 7.26818515e-03 3.75556778e+02] [-2.34753437e-01 9.72053779e-01 -1.50835685e-03 -4.57993635e+01] [-7.41916592e-03 -2.40068413e-04 9.99972449e-01 -2.50851822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38576923100004 meters 0.03825756540754639 Centerline is valid? [True, True] Translation: X:375.62, Y:-45.80, Z:-2.51 [[ 9.73150126e-01 2.30068343e-01 6.88399518e-03 3.75616767e+02] [-2.30063990e-01 9.73174455e-01 -1.42846779e-03 -4.58009453e+01] [-7.02797347e-03 -1.93645785e-04 9.99975285e-01 -2.51026933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.445769231 meters 0.028654158578551 Centerline is valid? [True, True] Translation: X:375.67, Y:-45.82, Z:-2.52 [[ 9.74611229e-01 2.23879653e-01 3.29456949e-03 3.75673631e+02] [-2.23878620e-01 9.74616794e-01 -6.83598463e-04 -4.58229436e+01] [-3.36398655e-03 -7.13409349e-05 9.99994339e-01 -2.51616617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.505769231 meters 0.02421935382830003 Centerline is valid? [True, True] Translation: X:375.73, Y:-45.84, Z:-2.52 [[ 9.75261190e-01 2.21052754e-01 1.13650201e-03 3.75730538e+02] [-2.21052629e-01 9.75261852e-01 -2.36069139e-04 -4.58368564e+01] [-1.16057078e-03 -2.09976865e-05 9.99999326e-01 -2.51958467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.565769231 meters 0.02138909458143642 Centerline is valid? [True, True] Translation: X:375.79, Y:-45.85, Z:-2.52 [[ 9.75893339e-01 2.18224748e-01 3.18601451e-03 3.75787866e+02] [-2.18223753e-01 9.75898538e-01 -6.61030553e-04 -4.58489285e+01] [-3.25348013e-03 -5.01687282e-05 9.99994706e-01 -2.51702073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.625769231 meters 0.018967577365803883 Centerline is valid? [True, True] Translation: X:375.85, Y:-45.86, Z:-2.51 [[ 9.76436208e-01 2.15718229e-01 6.16253470e-03 3.75845113e+02] [-2.15714458e-01 9.76455651e-01 -1.27799240e-03 -4.58624655e+01] [-6.29312809e-03 -8.14697822e-05 9.99980195e-01 -2.51231788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.685769231 meters 0.014493444175000234 Centerline is valid? [True, True] Translation: X:375.90, Y:-45.88, Z:-2.52 [[ 9.77550245e-01 2.10642677e-01 5.01798363e-03 3.75899553e+02] [-2.10640111e-01 9.77563124e-01 -1.04047776e-03 -4.58828545e+01] [-5.12456478e-03 -3.98693388e-05 9.99986869e-01 -2.51509954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.745769231 meters 0.012068230814899595 Centerline is valid? [True, True] Translation: X:375.96, Y:-45.90, Z:-2.52 [[ 9.78378393e-01 2.06777109e-01 4.35277010e-03 3.75955756e+02] [-2.06775141e-01 9.78388076e-01 -9.02312151e-04 -4.59020025e+01] [-4.44527586e-03 -1.72419403e-05 9.99990120e-01 -2.51643099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.805769231 meters 0.011610033238128379 Centerline is valid? [True, True] Translation: X:376.01, Y:-45.92, Z:-2.52 [[ 9.78489617e-01 2.06268082e-01 3.39815148e-03 3.76012170e+02] [-2.06266880e-01 9.78495518e-01 -7.04347898e-04 -4.59178438e+01] [-3.47036048e-03 -1.17289982e-05 9.99993978e-01 -2.51876171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.865769231 meters 0.011798373640292157 Centerline is valid? [True, True] Translation: X:376.07, Y:-45.93, Z:-2.52 [[ 9.78432418e-01 2.06538762e-01 3.42679735e-03 3.76069956e+02] [-2.06537542e-01 9.78438419e-01 -7.10110452e-04 -4.59309538e+01] [-3.49957551e-03 -1.29672135e-05 9.99993876e-01 -2.51906962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.925769231 meters 0.011375089962435702 Centerline is valid? [True, True] Translation: X:376.13, Y:-45.95, Z:-2.52 [[ 9.78551061e-01 2.05939173e-01 5.18430225e-03 3.76125230e+02] [-2.05936374e-01 9.78564794e-01 -1.07386821e-03 -4.59517218e+01] [-5.29432720e-03 -1.68015299e-05 9.99985985e-01 -2.51647786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.985769231 meters 0.011216874131852083 Centerline is valid? [True, True] Translation: X:376.18, Y:-45.97, Z:-2.52 [[ 9.78738914e-01 2.05044392e-01 5.18998522e-03 3.76182081e+02] [-2.05041575e-01 9.78752674e-01 -1.07474429e-03 -4.59724879e+01] [-5.30008220e-03 -1.22686882e-05 9.99985954e-01 -2.51692206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.045769231 meters 0.011872370097615935 Centerline is valid? [True, True] Translation: X:376.24, Y:-45.99, Z:-2.52 [[ 9.78462309e-01 2.06400764e-01 3.19900961e-03 3.76238392e+02] [-2.06399701e-01 9.78467539e-01 -6.62482449e-04 -4.59879932e+01] [-3.26686394e-03 -1.20605195e-05 9.99994664e-01 -2.52093873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.105769231 meters 0.013857210946504335 Centerline is valid? [True, True] Translation: X:376.30, Y:-46.00, Z:-2.52 [[ 9.77780704e-01 2.09621533e-01 1.92560213e-03 3.76296195e+02] [-2.09621154e-01 9.77782600e-01 -3.98863356e-04 -4.59994792e+01] [-1.96643061e-03 -1.36460474e-05 9.99998066e-01 -2.52249837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.165769231 meters 0.019025757082718635 Centerline is valid? [True, True] Translation: X:376.36, Y:-46.00, Z:-2.52 [[ 9.76408045e-01 2.15919510e-01 2.46883232e-03 3.76356011e+02] [-2.15918908e-01 9.76411166e-01 -5.11063567e-04 -4.60045952e+01] [-2.52094404e-03 -3.40609985e-05 9.99996822e-01 -2.52178409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.225769231 meters 0.030742975346705777 Centerline is valid? [True, True] Translation: X:376.42, Y:-46.00, Z:-2.52 [[ 9.73893969e-01 2.26971983e-01 3.77568370e-03 3.76417875e+02] [-2.26970658e-01 9.73901283e-01 -7.81333924e-04 -4.59993360e+01] [-3.85448411e-03 -9.60330189e-05 9.99992567e-01 -2.51830963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.285769231 meters 0.04543473329697769 Centerline is valid? [True, True] Translation: X:376.48, Y:-45.98, Z:-2.52 [[ 9.71166325e-01 2.38362703e-01 4.38071266e-03 3.76481580e+02] [-2.38361035e-01 9.71176192e-01 -9.06531825e-04 -4.59834724e+01] [-4.47052721e-03 -1.63798023e-04 9.99989994e-01 -2.51865662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.345769231 meters 0.051480614491301674 Centerline is valid? [True, True] Translation: X:376.54, Y:-45.98, Z:-2.52 [[ 9.69906602e-01 2.43444122e-01 4.01769048e-03 3.76543237e+02] [-2.43442763e-01 9.69914909e-01 -8.31420555e-04 -4.59834238e+01] [-4.09922234e-03 -1.71677387e-04 9.99991583e-01 -2.52031789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.405769231 meters 0.054558230235835364 Centerline is valid? [True, True] Translation: X:376.60, Y:-45.98, Z:-2.52 [[ 9.69563771e-01 2.44801411e-01 4.28533096e-03 3.76603677e+02] [-2.44799877e-01 9.69573222e-01 -8.86864968e-04 -4.59805803e+01] [-4.37204794e-03 -1.89176351e-04 9.99990425e-01 -2.52005594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.465769231 meters 0.05380190569375984 Centerline is valid? [True, True] Translation: X:376.66, Y:-45.99, Z:-2.52 [[ 9.69871323e-01 2.43565722e-01 5.03549734e-03 3.76663025e+02] [-2.43563589e-01 9.69884371e-01 -1.04197754e-03 -4.59864201e+01] [-5.13764018e-03 -2.15879673e-04 9.99986779e-01 -2.51880847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.525769231 meters 0.04940403337850617 Centerline is valid? [True, True] Translation: X:376.72, Y:-45.99, Z:-2.52 [[ 9.70373833e-01 2.41536789e-01 5.88256142e-03 3.76722429e+02] [-2.41533844e-01 9.70391633e-01 -1.21667096e-03 -4.59931849e+01] [-6.00225918e-03 -2.40212009e-04 9.99981957e-01 -2.51787044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.58576923100003 meters 0.04642981336140111 Centerline is valid? [True, True] Translation: X:376.78, Y:-46.00, Z:-2.52 [[ 9.70803844e-01 2.39773036e-01 6.98484456e-03 3.76780996e+02] [-2.39768840e-01 9.70828933e-01 -1.44445859e-03 -4.60009700e+01] [-7.12743141e-03 -2.72462128e-04 9.99974562e-01 -2.51630518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.64576923100003 meters 0.03870512764184833 Centerline is valid? [True, True] Translation: X:376.84, Y:-46.01, Z:-2.52 [[ 9.71219317e-01 2.38150371e-01 4.17605466e-03 3.76839562e+02] [-2.38148856e-01 9.71228282e-01 -8.63514039e-04 -4.60106385e+01] [-4.26154858e-03 -1.55861124e-04 9.99990907e-01 -2.52074121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.70576923100003 meters 0.04588530913470062 Centerline is valid? [True, True] Translation: X:376.90, Y:-46.01, Z:-2.52 [[ 9.71464790e-01 2.37161751e-01 3.23506915e-03 3.76900023e+02] [-2.37160837e-01 9.71470169e-01 -6.68920672e-04 -4.60058138e+01] [-3.30141557e-03 -1.17398825e-04 9.99994543e-01 -2.52332839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76576923100004 meters 0.04606110838233501 Centerline is valid? [True, True] Translation: X:376.96, Y:-46.00, Z:-2.52 [[ 9.71620216e-01 2.36460667e-01 6.36469205e-03 3.76960194e+02] [-2.36457117e-01 9.71641035e-01 -1.31543552e-03 -4.60032176e+01] [-6.49524474e-03 -2.26872991e-04 9.99978880e-01 -2.51716219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82576923100004 meters 0.04446743868413425 Centerline is valid? [True, True] Translation: X:377.02, Y:-46.00, Z:-2.52 [[ 9.72093267e-01 2.34470211e-01 7.64198289e-03 3.77020006e+02] [-2.34465042e-01 9.72123271e-01 -1.57807166e-03 -4.60049686e+01] [-7.79896020e-03 -2.57745005e-04 9.99969554e-01 -2.51569772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88576923100004 meters 0.03672102090594842 Centerline is valid? [True, True] Translation: X:377.08, Y:-46.02, Z:-2.52 [[ 9.73587789e-01 2.28225289e-01 6.32733483e-03 3.77078143e+02] [-2.28221615e-01 9.73608334e-01 -1.30634506e-03 -4.60198767e+01] [-6.45848690e-03 -1.72192977e-04 9.99979129e-01 -2.51820799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.945769231 meters 0.023520892054260494 Centerline is valid? [True, True] Translation: X:377.13, Y:-46.05, Z:-2.52 [[ 9.75374123e-01 2.20511634e-01 4.46525982e-03 3.77134370e+02] [-2.20509724e-01 9.75384341e-01 -9.21872598e-04 -4.60457108e+01] [-4.55862814e-03 -8.54625313e-05 9.99989606e-01 -2.52220179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.005769231 meters 0.015612450004963502 Centerline is valid? [True, True] Translation: X:377.19, Y:-46.07, Z:-2.52 [[ 9.77612606e-01 2.10329205e-01 5.93443990e-03 3.77190142e+02] [-2.10325642e-01 9.77630617e-01 -1.22516403e-03 -4.60657309e+01] [-6.05937791e-03 -5.04290814e-05 9.99981641e-01 -2.52034602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.065769231 meters 0.012309340804957011 Centerline is valid? [True, True] Translation: X:377.25, Y:-46.08, Z:-2.52 [[ 9.78395396e-01 2.06636007e-01 6.63395382e-03 3.77246712e+02] [-2.06631470e-01 9.78417886e-01 -1.36951126e-03 -4.60820022e+01] [-6.77376941e-03 -3.08601208e-05 9.99977057e-01 -2.51869050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.125769231 meters 0.011808106588779047 Centerline is valid? [True, True] Translation: X:377.30, Y:-46.09, Z:-2.52 [[ 9.78611423e-01 2.05664451e-01 4.67087230e-03 3.77303260e+02] [-2.05662192e-01 9.78622569e-01 -9.64185749e-04 -4.60947238e+01] [-4.76931978e-03 -1.70586485e-05 9.99988627e-01 -2.52419270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.185769231 meters 0.011938098689121405 Centerline is valid? [True, True] Translation: X:377.36, Y:-46.11, Z:-2.52 [[ 9.78381216e-01 2.06765641e-01 4.26201744e-03 3.77361295e+02] [-2.06763772e-01 9.78390499e-01 -8.79502412e-04 -4.61062291e+01] [-4.35176825e-03 -2.07421612e-05 9.99990531e-01 -2.52444662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.245769231 meters 0.013634028894891183 Centerline is valid? [True, True] Translation: X:377.42, Y:-46.12, Z:-2.52 [[ 9.77726042e-01 2.09806446e-01 5.74823889e-03 3.77419071e+02] [-2.09803100e-01 9.77742938e-01 -1.18579814e-03 -4.61156964e+01] [-5.86908807e-03 -4.66126215e-05 9.99982776e-01 -2.52059302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.305769231 meters 0.017797902282887263 Centerline is valid? [True, True] Translation: X:377.48, Y:-46.12, Z:-2.52 [[ 9.76942856e-01 2.13400743e-01 6.54060615e-03 3.77476934e+02] [-2.13396494e-01 9.76964747e-01 -1.34888143e-03 -4.61208491e+01] [-6.67779393e-03 -7.79623415e-05 9.99977700e-01 -2.52028806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.365769231 meters 0.018916326675510006 Centerline is valid? [True, True] Translation: X:377.53, Y:-46.13, Z:-2.52 [[ 9.76517557e-01 2.15302054e-01 7.64769849e-03 3.77534400e+02] [-2.15296308e-01 9.76547497e-01 -1.57666110e-03 -4.61328161e+01] [-7.80779919e-03 -1.06884008e-04 9.99969513e-01 -2.51913542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.425769231 meters 0.019266545021521603 Centerline is valid? [True, True] Translation: X:377.59, Y:-46.15, Z:-2.52 [[ 9.76449865e-01 2.15585134e-01 8.28926121e-03 3.77591698e+02] [-2.15578397e-01 9.76485041e-01 -1.70849298e-03 -4.61456823e+01] [-8.46266526e-03 -1.18727904e-04 9.99964184e-01 -2.51884199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.485769231 meters 0.01864755250771137 Centerline is valid? [True, True] Translation: X:377.65, Y:-46.16, Z:-2.52 [[ 9.76696635e-01 2.14506187e-01 7.12586125e-03 3.77647822e+02] [-2.14501182e-01 9.76722625e-01 -1.46840266e-03 -4.61607365e+01] [-7.27497136e-03 -9.43217221e-05 9.99973533e-01 -2.52156104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.545769231 meters 0.017364562717492323 Centerline is valid? [True, True] Translation: X:377.70, Y:-46.18, Z:-2.52 [[ 9.77016767e-01 2.13075121e-01 6.10166698e-03 3.77704920e+02] [-2.13071425e-01 9.77035817e-01 -1.25703343e-03 -4.61770724e+01] [-6.22938973e-03 -7.19481424e-05 9.99980595e-01 -2.52336295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.605769231 meters 0.01768957347083345 Centerline is valid? [True, True] Translation: X:377.76, Y:-46.19, Z:-2.52 [[ 9.77004017e-01 2.13127397e-01 6.31382071e-03 3.77761908e+02] [-2.13123443e-01 9.77024415e-01 -1.30043928e-03 -4.61884674e+01] [-6.44591622e-03 -7.50888023e-05 9.99979222e-01 -2.52406212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.665769231 meters 0.018307064260923288 Centerline is valid? [True, True] Translation: X:377.82, Y:-46.20, Z:-2.53 [[ 9.76860669e-01 2.13800240e-01 5.71754716e-03 3.77819152e+02] [-2.13797011e-01 9.76877399e-01 -1.17723904e-03 -4.62011457e+01] [-5.83703658e-03 -7.23959760e-05 9.99982962e-01 -2.52691266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.725769231 meters 0.016245041603151985 Centerline is valid? [True, True] Translation: X:377.88, Y:-46.22, Z:-2.53 [[ 9.77348361e-01 2.11568158e-01 5.39404410e-03 3.77876179e+02] [-2.11565251e-01 9.77363244e-01 -1.11037284e-03 -4.62185621e+01] [-5.50685998e-03 -5.59712229e-05 9.99984836e-01 -2.52811569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.785769231 meters 0.013273014176769035 Centerline is valid? [True, True] Translation: X:377.93, Y:-46.24, Z:-2.53 [[ 9.78100307e-01 2.08095231e-01 4.02045479e-03 3.77931964e+02] [-2.08093587e-01 9.78108570e-01 -8.27570479e-04 -4.62405562e+01] [-4.10465475e-03 -2.71839171e-05 9.99991575e-01 -2.53208398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.845769231 meters 0.012688238845927721 Centerline is valid? [True, True] Translation: X:377.99, Y:-46.26, Z:-2.53 [[ 9.78319921e-01 2.07070279e-01 3.46866345e-03 3.77987822e+02] [-2.07069049e-01 9.78326070e-01 -7.13908223e-04 -4.62581184e+01] [-3.54131306e-03 -1.98222054e-05 9.99993729e-01 -2.53337471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.905769231 meters 0.016873057195265617 Centerline is valid? [True, True] Translation: X:378.04, Y:-46.27, Z:-2.53 [[ 9.77355706e-01 2.11548204e-01 4.81459642e-03 3.78044953e+02] [-2.11545892e-01 9.77367564e-01 -9.90485435e-04 -4.62667461e+01] [-4.91516579e-03 -5.04515000e-05 9.99987919e-01 -2.52985285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.965769231 meters 0.02120496720364396 Centerline is valid? [True, True] Translation: X:378.10, Y:-46.27, Z:-2.53 [[ 9.75990055e-01 2.17769699e-01 4.44641096e-03 3.78104900e+02] [-2.17767793e-01 9.76000180e-01 -9.14432766e-04 -4.62723035e+01] [-4.53883364e-03 -7.58078135e-05 9.99989697e-01 -2.53193178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.025769231 meters 0.025247076786653933 Centerline is valid? [True, True] Translation: X:378.16, Y:-46.28, Z:-2.53 [[ 9.75870941e-01 2.18276856e-01 5.57859735e-03 3.78163673e+02] [-2.18273864e-01 9.75886881e-01 -1.14713828e-03 -4.62757138e+01] [-5.69447371e-03 -9.82030869e-05 9.99983782e-01 -2.53128588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.08576923100003 meters 0.01862459380402967 Centerline is valid? [True, True] Translation: X:378.22, Y:-46.29, Z:-2.53 [[ 9.77148876e-01 2.12481218e-01 5.63977171e-03 3.78220116e+02] [-2.12478065e-01 9.77165149e-01 -1.15933169e-03 -4.62934210e+01] [-5.75732457e-03 -6.54881209e-05 9.99983424e-01 -2.53158338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.14576923100003 meters 0.011480502094213108 Centerline is valid? [True, True] Translation: X:378.28, Y:-46.32, Z:-2.54 [[ 9.78790051e-01 2.04824235e-01 4.13140414e-03 3.78275682e+02] [-2.04822475e-01 9.78798770e-01 -8.49189534e-04 -4.63170389e+01] [-4.21774789e-03 -1.50261537e-05 9.99991105e-01 -2.53511262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.20576923100003 meters 0.01527559049273444 Centerline is valid? [True, True] Translation: X:378.33, Y:-46.35, Z:-2.54 [[ 9.81490657e-01 1.91465568e-01 4.12631743e-03 3.78328347e+02] [-1.91463695e-01 9.81499330e-01 -8.48051078e-04 -4.63535597e+01] [-4.21235038e-03 4.23142291e-05 9.99991127e-01 -2.53536616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26576923100004 meters 0.023494412644816397 Centerline is valid? [True, True] Translation: X:378.38, Y:-46.38, Z:-2.53 [[ 9.82422758e-01 1.86610345e-01 4.70146759e-03 3.78381712e+02] [-1.86607859e-01 9.82434005e-01 -9.65974923e-04 -4.63824659e+01] [-4.79914254e-03 7.16649485e-05 9.99988481e-01 -2.53430467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32576923100004 meters 0.018484498647398852 Centerline is valid? [True, True] Translation: X:378.44, Y:-46.39, Z:-2.53 [[ 9.82236717e-01 1.87561702e-01 5.62496590e-03 3.78439444e+02] [-1.87558160e-01 9.82252820e-01 -1.15537986e-03 -4.63946298e+01] [-5.74184362e-03 7.98482694e-05 9.99983512e-01 -2.53237398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38576923100004 meters 0.01617177331024199 Centerline is valid? [True, True] Translation: X:378.50, Y:-46.41, Z:-2.53 [[ 9.81742295e-01 1.90141804e-01 5.30669022e-03 3.78496217e+02] [-1.90138691e-01 9.81756635e-01 -1.08976056e-03 -4.64087445e+01] [-5.41708737e-03 6.08569043e-05 9.99985326e-01 -2.53313690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.445769231 meters 0.012785057851875803 Centerline is valid? [True, True] Translation: X:378.55, Y:-46.42, Z:-2.53 [[ 9.80839698e-01 1.94718007e-01 6.19552717e-03 3.78551834e+02] [-1.94713857e-01 9.80859264e-01 -1.27193341e-03 -4.64241872e+01] [-6.32460856e-03 4.12077916e-05 9.99979999e-01 -2.53146215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.505769231 meters 0.011294989816355808 Centerline is valid? [True, True] Translation: X:378.61, Y:-46.44, Z:-2.53 [[ 9.80404831e-01 1.96872715e-01 6.89206836e-03 3.78609103e+02] [-1.96867636e-01 9.80429056e-01 -1.41446558e-03 -4.64370753e+01] [-7.03565376e-03 2.99236795e-05 9.99975249e-01 -2.53088954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.565769231 meters 0.010263577673345538 Centerline is valid? [True, True] Translation: X:378.67, Y:-46.44, Z:-2.53 [[ 9.79255748e-01 2.02544150e-01 5.83503863e-03 3.78668270e+02] [-2.02540612e-01 9.79273132e-01 -1.19730243e-03 -4.64408095e+01] [-5.95660315e-03 -9.36700515e-06 9.99982259e-01 -2.53344948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.625769231 meters 0.010976107323279756 Centerline is valid? [True, True] Translation: X:378.73, Y:-46.45, Z:-2.54 [[ 9.78871194e-01 2.04429918e-01 4.42648115e-03 3.78726460e+02] [-2.04427901e-01 9.78881202e-01 -9.08152239e-04 -4.64498416e+01] [-4.51865268e-03 -1.59321849e-05 9.99989791e-01 -2.53505156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.685769231 meters 0.010023340632631704 Centerline is valid? [True, True] Translation: X:378.78, Y:-46.47, Z:-2.53 [[ 9.79687744e-01 2.00440477e-01 5.96141400e-03 3.78782876e+02] [-2.00436748e-01 9.79705882e-01 -1.22265361e-03 -4.64698105e+01] [-6.08550163e-03 2.93231889e-06 9.99981483e-01 -2.53356472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.745769231 meters 0.016326065125025074 Centerline is valid? [True, True] Translation: X:378.84, Y:-46.50, Z:-2.53 [[ 9.81777759e-01 1.89913945e-01 6.71759526e-03 3.78837837e+02] [-1.89908966e-01 9.81800737e-01 -1.37735965e-03 -4.65035414e+01] [-6.85691978e-03 7.65294960e-05 9.99976488e-01 -2.53254825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.805769231 meters 0.0221217020922736 Centerline is valid? [True, True] Translation: X:378.89, Y:-46.53, Z:-2.54 [[ 9.82821723e-01 1.84486978e-01 5.10062059e-03 3.78894618e+02] [-1.84484034e-01 9.82834954e-01 -1.04579732e-03 -4.65281401e+01] [-5.20600419e-03 8.68492644e-05 9.99986445e-01 -2.53518864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.865769231 meters 0.026327351283401263 Centerline is valid? [True, True] Translation: X:378.95, Y:-46.55, Z:-2.54 [[ 9.83471607e-01 1.80979344e-01 5.48414743e-03 3.78951864e+02] [-1.80975887e-01 9.83486891e-01 -1.12430463e-03 -4.65530109e+01] [-5.59706301e-03 1.13223230e-04 9.99984330e-01 -2.53506215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.925769231 meters 0.028028622143591024 Centerline is valid? [True, True] Translation: X:379.01, Y:-46.58, Z:-2.54 [[ 9.83621223e-01 1.80159855e-01 5.63171582e-03 3.79009828e+02] [-1.80156191e-01 9.83637338e-01 -1.15545580e-03 -4.65780155e+01] [-5.74773270e-03 1.21942379e-04 9.99983474e-01 -2.53570312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.985769231 meters 0.02799726066016501 Centerline is valid? [True, True] Translation: X:379.07, Y:-46.60, Z:-2.54 [[ 9.83525247e-01 1.80743465e-01 3.14443052e-03 3.79069723e+02] [-1.80742326e-01 9.83530272e-01 -6.45072255e-04 -4.65980489e+01] [-3.20923519e-03 6.61131636e-05 9.99994848e-01 -2.54151226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.045769231 meters 0.025892740995223523 Centerline is valid? [True, True] Translation: X:379.13, Y:-46.61, Z:-2.54 [[ 9.83095628e-01 1.83081618e-01 2.02678066e-03 3.79129635e+02] [-1.83081149e-01 9.83097716e-01 -4.15831809e-04 -4.66138338e+01] [-2.06865460e-03 3.77371006e-05 9.99997860e-01 -2.54359470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.105769231 meters 0.017623436553588664 Centerline is valid? [True, True] Translation: X:379.19, Y:-46.62, Z:-2.54 [[ 9.81658445e-01 1.90578364e-01 5.15596177e-03 3.79189275e+02] [-1.90575421e-01 9.81671984e-01 -1.06071124e-03 -4.66198665e+01] [-5.26361183e-03 5.86565644e-05 9.99986145e-01 -2.53730314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.165769231 meters 0.011342710907327717 Centerline is valid? [True, True] Translation: X:379.25, Y:-46.63, Z:-2.54 [[ 9.80205744e-01 1.97951787e-01 3.43349318e-03 3.79248964e+02] [-1.97950528e-01 9.80211758e-01 -7.06395689e-04 -4.66255567e+01] [-3.50538268e-03 1.27513257e-05 9.99993856e-01 -2.54210001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.225769231 meters 0.011002796458074183 Centerline is valid? [True, True] Translation: X:379.31, Y:-46.63, Z:-2.55 [[ 9.79486043e-01 2.01511775e-01 3.11055412e-04 3.79307340e+02] [-2.01511765e-01 9.79486092e-01 -6.42111920e-05 -4.66347912e+01] [-3.17613762e-04 2.12641267e-07 9.99999950e-01 -2.54879523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.285769231 meters 0.015964514021676833 Centerline is valid? [True, True] Translation: X:379.37, Y:-46.63, Z:-2.55 [[ 9.77787643e-01 2.09595343e-01 -1.05714431e-03 3.79367388e+02] [-2.09595231e-01 9.77788214e-01 2.16987546e-04 -4.66330597e+01] [ 1.07914283e-03 9.40466400e-06 9.99999418e-01 -2.55146881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.345769231 meters 0.023209951153994404 Centerline is valid? [True, True] Translation: X:379.43, Y:-46.63, Z:-2.55 [[ 9.76432092e-01 2.15820998e-01 -1.29132130e-03 3.79427486e+02] [-2.15820836e-01 9.76432945e-01 2.65162634e-04 -4.66303534e+01] [ 1.31811633e-03 1.97807368e-05 9.99999131e-01 -2.55256790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.405769231 meters 0.031874682261538216 Centerline is valid? [True, True] Translation: X:379.49, Y:-46.62, Z:-2.55 [[ 9.74957168e-01 2.22389561e-01 1.18463077e-03 3.79489334e+02] [-2.22389429e-01 9.74957888e-01 -2.43659718e-04 -4.66238076e+01] [-1.20915249e-03 -2.58915722e-05 9.99999269e-01 -2.54810349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.465769231 meters 0.022890761815550355 Centerline is valid? [True, True] Translation: X:379.55, Y:-46.65, Z:-2.54 [[ 9.75902246e-01 2.18139573e-01 5.47117233e-03 3.79545898e+02] [-2.18136694e-01 9.75917577e-01 -1.12467269e-03 -4.66452091e+01] [-5.58474887e-03 -9.58928465e-05 9.99984401e-01 -2.53889462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.525769231 meters 0.015278157871130998 Centerline is valid? [True, True] Translation: X:379.60, Y:-46.67, Z:-2.54 [[ 9.77468939e-01 2.10986444e-01 6.26042018e-03 3.79602305e+02] [-2.10982530e-01 9.77488985e-01 -1.28673556e-03 -4.66692743e+01] [-6.39097553e-03 -6.30952490e-05 9.99979576e-01 -2.53900094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.58576923100003 meters 0.010263837263359473 Centerline is valid? [True, True] Translation: X:379.66, Y:-46.70, Z:-2.54 [[ 9.79326557e-01 2.02194073e-01 6.08696844e-03 3.79659147e+02] [-2.02190203e-01 9.79345474e-01 -1.25086879e-03 -4.66996701e+01] [-6.21416325e-03 -5.71636173e-06 9.99980692e-01 -2.53909334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.64576923100003 meters 0.010372497776947587 Centerline is valid? [True, True] Translation: X:379.72, Y:-46.72, Z:-2.54 [[ 9.79517715e-01 2.01331997e-01 3.23611678e-03 3.79718965e+02] [-2.01330898e-01 9.79523061e-01 -6.65010164e-04 -4.67173519e+01] [-3.30373883e-03 -1.41061362e-07 9.99994543e-01 -2.54361008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.70576923100003 meters 0.01067856574846545 Centerline is valid? [True, True] Translation: X:379.78, Y:-46.73, Z:-2.55 [[ 9.79365002e-01 2.02089152e-01 2.04147094e-03 3.79778258e+02] [-2.02088715e-01 9.79367130e-01 -4.20211210e-04 -4.67298355e+01] [-2.08426967e-03 -1.01808664e-06 9.99997828e-01 -2.54629388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76576923100004 meters 0.012938780145283768 Centerline is valid? [True, True] Translation: X:379.84, Y:-46.74, Z:-2.54 [[ 9.78079483e-01 2.08193686e-01 3.98932518e-03 3.79837926e+02] [-2.08192068e-01 9.78087618e-01 -8.21389432e-04 -4.67357847e+01] [-4.07291766e-03 -2.71617087e-05 9.99991705e-01 -2.54207921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82576923100004 meters 0.016965672981071697 Centerline is valid? [True, True] Translation: X:379.90, Y:-46.74, Z:-2.54 [[ 9.76765828e-01 2.14226760e-01 5.95076373e-03 3.79897980e+02] [-2.14223272e-01 9.76783952e-01 -1.22499143e-03 -4.67443923e+01] [-6.07503646e-03 -7.82623060e-05 9.99981544e-01 -2.54016834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88576923100004 meters 0.016799696565840745 Centerline is valid? [True, True] Translation: X:379.96, Y:-46.76, Z:-2.54 [[ 9.77034202e-01 2.13015124e-01 5.35963154e-03 3.79955167e+02] [-2.13012276e-01 9.77048900e-01 -1.10328507e-03 -4.67639116e+01] [-5.47163851e-03 -6.37200608e-05 9.99985028e-01 -2.54271124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.945769231 meters 0.01347944274798862 Centerline is valid? [True, True] Translation: X:380.01, Y:-46.79, Z:-2.54 [[ 9.77905928e-01 2.08949009e-01 6.34876334e-03 3.80013957e+02] [-2.08944927e-01 9.77926536e-01 -1.30695231e-03 -4.67896641e+01] [-6.48171052e-03 -4.84654806e-05 9.99978992e-01 -2.54067851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.005769231 meters 0.011593645231938978 Centerline is valid? [True, True] Translation: X:380.07, Y:-46.82, Z:-2.55 [[ 9.78592044e-01 2.05789672e-01 2.86744834e-03 3.80071109e+02] [-2.05788827e-01 9.78596245e-01 -5.89902118e-04 -4.68191082e+01] [-2.92746994e-03 -1.28153107e-05 9.99995715e-01 -2.54784537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.065769231 meters 0.014482894419236423 Centerline is valid? [True, True] Translation: X:380.13, Y:-46.84, Z:-2.55 [[ 9.77665429e-01 2.10163938e-01 -1.19548069e-03 3.80131060e+02] [-2.10163793e-01 9.77666159e-01 2.46822950e-04 -4.68367627e+01] [ 1.22065430e-03 9.93649087e-06 9.99999255e-01 -2.55393548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.125769231 meters 0.021998250476335697 Centerline is valid? [True, True] Translation: X:380.19, Y:-46.84, Z:-2.55 [[ 9.76103726e-01 2.17305018e-01 -2.12562826e-04 3.80191459e+02] [-2.17305013e-01 9.76103749e-01 4.42598537e-05 -4.68408739e+01] [ 2.17101260e-04 2.98875963e-06 9.99999976e-01 -2.55279403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.185769231 meters 0.03120796432105685 Centerline is valid? [True, True] Translation: X:380.25, Y:-46.84, Z:-2.55 [[ 9.73690541e-01 2.27862261e-01 2.34954854e-03 3.80252988e+02] [-2.27861755e-01 9.73693374e-01 -4.84567284e-04 -4.68419012e+01] [-2.39815444e-03 -6.35536725e-05 9.99997122e-01 -2.54806345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.245769231 meters 0.03517976224439024 Centerline is valid? [True, True] Translation: X:380.31, Y:-46.85, Z:-2.55 [[ 9.72879811e-01 2.31296215e-01 2.63346016e-03 3.80313179e+02] [-2.31295591e-01 9.72883371e-01 -5.43172248e-04 -4.68468099e+01] [-2.68768329e-03 -8.06664115e-05 9.99996385e-01 -2.54864682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.305769231 meters 0.032001716968236144 Centerline is valid? [True, True] Translation: X:380.37, Y:-46.86, Z:-2.55 [[ 9.72927951e-01 2.31094547e-01 2.55181949e-03 3.80373467e+02] [-2.31093962e-01 9.72931295e-01 -5.26142614e-04 -4.68605452e+01] [-2.60433373e-03 -7.78112184e-05 9.99996606e-01 -2.54747276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.365769231 meters 0.033007007807526974 Centerline is valid? [True, True] Translation: X:380.43, Y:-46.87, Z:-2.55 [[ 9.73495795e-01 2.28662496e-01 4.40463791e-03 3.80433304e+02] [-2.28660725e-01 9.73505751e-01 -9.08432930e-04 -4.68689637e+01] [-4.49566487e-03 -1.22812058e-04 9.99989887e-01 -2.54593365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.425769231 meters 0.03477867046989705 Centerline is valid? [True, True] Translation: X:380.49, Y:-46.88, Z:-2.54 [[ 9.73112709e-01 2.30249858e-01 6.05463414e-03 3.80492751e+02] [-2.30246540e-01 9.73131528e-01 -1.24887507e-03 -4.68771393e+01] [-6.17950868e-03 -1.78762359e-04 9.99980891e-01 -2.54338160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.485769231 meters 0.044149965415746166 Centerline is valid? [True, True] Translation: X:380.56, Y:-46.87, Z:-2.54 [[ 9.71193935e-01 2.38222734e-01 5.68057042e-03 3.80555587e+02] [-2.38219950e-01 9.71210524e-01 -1.17156303e-03 -4.68719236e+01] [-5.79612272e-03 -2.15410295e-04 9.99983179e-01 -2.54422187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.545769231 meters 0.051714492519663896 Centerline is valid? [True, True] Translation: X:380.62, Y:-46.87, Z:-2.55 [[ 9.69746301e-01 2.44085692e-01 3.77979214e-03 3.80616975e+02] [-2.44084504e-01 9.69753653e-01 -7.79520974e-04 -4.68670636e+01] [-3.85573715e-03 -1.66651110e-04 9.99992553e-01 -2.54948283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.605769231 meters 0.048883132881804535 Centerline is valid? [True, True] Translation: X:380.68, Y:-46.88, Z:-2.55 [[ 9.69339233e-01 2.45673238e-01 5.10999823e-03 3.80675439e+02] [-2.45671088e-01 9.69352673e-01 -1.05400995e-03 -4.68758820e+01] [-5.21233248e-03 -2.33685634e-04 9.99986388e-01 -2.54667910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.665769231 meters 0.0575576692240218 Centerline is valid? [True, True] Translation: X:380.74, Y:-46.86, Z:-2.55 [[ 9.69175035e-01 2.46342894e-01 3.86396227e-03 3.80736941e+02] [-2.46341670e-01 9.69182721e-01 -7.96988943e-04 -4.68641159e+01] [-3.94121803e-03 -1.79433132e-04 9.99992217e-01 -2.54998903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.725769231 meters 0.04727131729217033 Centerline is valid? [True, True] Translation: X:380.79, Y:-46.88, Z:-2.55 [[ 9.69564932e-01 2.44801808e-01 3.98970832e-03 3.80793703e+02] [-2.44800491e-01 9.69573124e-01 -8.22641695e-04 -4.68813349e+01] [-4.06969814e-03 -1.79078019e-04 9.99991703e-01 -2.54990862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.785769231 meters 0.04247565928895448 Centerline is valid? [True, True] Translation: X:380.85, Y:-46.89, Z:-2.55 [[ 9.71525091e-01 2.36891333e-01 4.63626572e-03 3.80852453e+02] [-2.36889466e-01 9.71536138e-01 -9.55618725e-04 -4.68879861e+01] [-4.73067749e-03 -1.69874943e-04 9.99988796e-01 -2.54913346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.845769231 meters 0.029685928141855115 Centerline is valid? [True, True] Translation: X:380.91, Y:-46.91, Z:-2.55 [[ 9.74231994e-01 2.25523532e-01 3.34028300e-03 3.80909022e+02] [-2.25522497e-01 9.74237717e-01 -6.88371227e-04 -4.69115338e+01] [-3.40947360e-03 -8.26756889e-05 9.99994184e-01 -2.55096196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.905769231 meters 0.023624758161859282 Centerline is valid? [True, True] Translation: X:380.97, Y:-46.93, Z:-2.55 [[ 9.75227285e-01 2.21175780e-01 3.60788433e-03 3.80966079e+02] [-2.21174542e-01 9.75233956e-01 -7.43584153e-04 -4.69289708e+01] [-3.68299411e-03 -7.28086107e-05 9.99993215e-01 -2.55105273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.965769231 meters 0.023180545095219458 Centerline is valid? [True, True] Translation: X:381.03, Y:-46.94, Z:-2.55 [[ 9.75370708e-01 2.20495665e-01 5.80032270e-03 3.81025038e+02] [-2.20492455e-01 9.75387948e-01 -1.19522269e-03 -4.69354562e+01] [-5.92110628e-03 -1.13142186e-04 9.99982464e-01 -2.54818994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.025769231 meters 0.022445346721252844 Centerline is valid? [True, True] Translation: X:381.08, Y:-46.95, Z:-2.55 [[ 9.75415030e-01 2.20282038e-01 6.42981111e-03 3.81083354e+02] [-2.20278091e-01 9.75436214e-01 -1.32457947e-03 -4.69458794e+01] [-6.56365168e-03 -1.24331793e-04 9.99978451e-01 -2.54761089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.08576923100003 meters 0.02351537492584739 Centerline is valid? [True, True] Translation: X:381.14, Y:-46.95, Z:-2.55 [[ 9.75429752e-01 2.20237158e-01 5.69148786e-03 3.81141337e+02] [-2.20234066e-01 9.75446350e-01 -1.17224611e-03 -4.69519002e+01] [-5.80991321e-03 -1.10015777e-04 9.99983116e-01 -2.55107993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.14576923100003 meters 0.022692653703852355 Centerline is valid? [True, True] Translation: X:381.20, Y:-46.96, Z:-2.55 [[ 9.75713244e-01 2.19003629e-01 4.59082368e-03 3.81198831e+02] [-2.19001604e-01 9.75724041e-01 -9.45312029e-04 -4.69621458e+01] [-4.68640379e-03 -8.30442835e-05 9.99989015e-01 -2.55156462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.20576923100003 meters 0.023885849746611957 Centerline is valid? [True, True] Translation: X:381.26, Y:-46.97, Z:-2.55 [[ 9.75494340e-01 2.19901339e-01 7.36161095e-03 3.81258111e+02] [-2.19896163e-01 9.75522107e-01 -1.51529187e-03 -4.69682771e+01] [-7.51462893e-03 -1.40631360e-04 9.99971755e-01 -2.54645324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26576923100004 meters 0.028469331533748077 Centerline is valid? [True, True] Translation: X:381.32, Y:-46.97, Z:-2.54 [[ 9.74499582e-01 2.24210871e-01 8.94709413e-03 3.81318959e+02] [-2.24203411e-01 9.74540631e-01 -1.84118760e-03 -4.69689378e+01] [-9.13212103e-03 -2.11732471e-04 9.99958279e-01 -2.54431876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32576923100004 meters 0.03315454954849067 Centerline is valid? [True, True] Translation: X:381.38, Y:-46.96, Z:-2.55 [[ 9.74080042e-01 2.26139132e-01 5.40040063e-03 3.81378524e+02] [-2.26136444e-01 9.74095002e-01 -1.11131548e-03 -4.69649665e+01] [-5.51181518e-03 -1.38717163e-04 9.99984800e-01 -2.55358468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38576923100004 meters 0.023128320203347076 Centerline is valid? [True, True] Translation: X:381.44, Y:-46.99, Z:-2.56 [[ 9.75938953e-01 2.18036295e-01 1.82582738e-03 3.81435446e+02] [-2.18035974e-01 9.75940661e-01 -3.75616433e-04 -4.69874076e+01] [-1.86379719e-03 -3.15173421e-05 9.99998263e-01 -2.56137809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.445769231 meters 0.013884586143056302 Centerline is valid? [True, True] Translation: X:381.49, Y:-47.01, Z:-2.56 [[ 9.78049363e-01 2.08353497e-01 2.87478087e-03 3.81491493e+02] [-2.08352659e-01 9.78053587e-01 -5.91394292e-04 -4.70134281e+01] [-2.93490881e-03 -2.05554261e-05 9.99995693e-01 -2.55995112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.505769231 meters 0.014247834835821399 Centerline is valid? [True, True] Translation: X:381.55, Y:-47.05, Z:-2.56 [[ 9.81201282e-01 1.92885647e-01 6.25864167e-03 3.81545353e+02] [-1.92881359e-01 9.81221241e-01 -1.28733825e-03 -4.70513842e+01] [-6.38942122e-03 5.59626301e-05 9.99979586e-01 -2.55544240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.565769231 meters 0.01720723576570661 Centerline is valid? [True, True] Translation: X:381.60, Y:-47.07, Z:-2.56 [[ 9.81911000e-01 1.89245793e-01 6.06772461e-03 3.81603326e+02] [-1.89241694e-01 9.81929745e-01 -1.24806857e-03 -4.70714898e+01] [-6.19427101e-03 7.72257802e-05 9.99980812e-01 -2.55657932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.625769231 meters 0.022213534909409874 Centerline is valid? [True, True] Translation: X:381.66, Y:-47.10, Z:-2.56 [[ 9.82752956e-01 1.84907625e-01 2.40765462e-03 3.81659085e+02] [-1.84906967e-01 9.82755905e-01 -4.94837821e-04 -4.71009686e+01] [-2.45763608e-03 4.11112183e-05 9.99996979e-01 -2.56202005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.685769231 meters 0.0228774922270703 Centerline is valid? [True, True] Translation: X:381.72, Y:-47.12, Z:-2.56 [[ 9.82766307e-01 1.84842619e-01 1.89518228e-03 3.81716527e+02] [-1.84842211e-01 9.82768134e-01 -3.89707625e-04 -4.71212523e+01] [-1.93455933e-03 3.26818397e-05 9.99998128e-01 -2.56320601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.745769231 meters 0.01749112314510472 Centerline is valid? [True, True] Translation: X:381.78, Y:-47.13, Z:-2.56 [[ 9.81785007e-01 1.89957357e-01 3.79516134e-03 3.81775514e+02] [-1.89955756e-01 9.81792341e-01 -7.81169826e-04 -4.71339706e+01] [-3.87444929e-03 4.60280826e-05 9.99992493e-01 -2.55951827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.805769231 meters 0.0140028326017334 Centerline is valid? [True, True] Translation: X:381.83, Y:-47.15, Z:-2.56 [[ 9.80993809e-01 1.93957513e-01 5.62401281e-03 3.81834211e+02] [-1.93954063e-01 9.81009929e-01 -1.15760800e-03 -4.71464130e+01] [-5.74173918e-03 4.48061402e-05 9.99983515e-01 -2.55644739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.865769231 meters 0.013160041711041362 Centerline is valid? [True, True] Translation: X:381.89, Y:-47.16, Z:-2.56 [[ 9.80723739e-01 1.95338319e-01 4.88761850e-03 3.81894239e+02] [-1.95335731e-01 9.80735918e-01 -1.00598498e-03 -4.71608840e+01] [-4.98997043e-03 3.18668191e-05 9.99987550e-01 -2.55833815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.925769231 meters 0.013469858297410748 Centerline is valid? [True, True] Translation: X:381.95, Y:-47.18, Z:-2.56 [[ 9.80684999e-01 1.95576629e-01 2.59122918e-03 3.81952280e+02] [-1.95575903e-01 9.80688422e-01 -5.33372118e-04 -4.71791041e+01] [-2.64550358e-03 1.62880493e-05 9.99996501e-01 -2.56426016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.985769231 meters 0.014418172057134117 Centerline is valid? [True, True] Translation: X:382.01, Y:-47.20, Z:-2.56 [[ 9.80899551e-01 1.94487276e-01 3.28183725e-03 3.82010415e+02] [-1.94486104e-01 9.80905041e-01 -6.75588054e-04 -4.71966086e+01] [-3.35056398e-03 2.44122765e-05 9.99994387e-01 -2.56239535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.045769231 meters 0.017572122695903435 Centerline is valid? [True, True] Translation: X:382.07, Y:-47.22, Z:-2.56 [[ 9.81556171e-01 1.91067384e-01 6.38267697e-03 3.82068909e+02] [-1.91062878e-01 9.81576920e-01 -1.31399302e-03 -4.72191273e+01] [-6.51614961e-03 7.02653264e-05 9.99978767e-01 -2.55633282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.105769231 meters 0.01883294948306312 Centerline is valid? [True, True] Translation: X:382.13, Y:-47.24, Z:-2.56 [[ 9.81714083e-01 1.90300886e-01 4.79911374e-03 3.82127669e+02] [-1.90298327e-01 9.81725812e-01 -9.88522557e-04 -4.72375555e+01] [-4.89953055e-03 5.71832020e-05 9.99987996e-01 -2.56056994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.165769231 meters 0.017163970897753268 Centerline is valid? [True, True] Translation: X:382.19, Y:-47.25, Z:-2.56 [[ 9.81563915e-01 1.91069002e-01 4.99172011e-03 3.82188525e+02] [-1.91066239e-01 9.81576606e-01 -1.02895466e-03 -4.72488940e+01] [-5.09635702e-03 5.62355716e-05 9.99987012e-01 -2.56107969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.225769231 meters 0.01928051977002299 Centerline is valid? [True, True] Translation: X:382.25, Y:-47.27, Z:-2.56 [[ 9.81612964e-01 1.90856107e-01 3.15196615e-03 3.82247028e+02] [-1.90855004e-01 9.81618024e-01 -6.49879611e-04 -4.72698101e+01] [-3.21806028e-03 3.63617401e-05 9.99994821e-01 -2.56442725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.285769231 meters 0.01896736504674004 Centerline is valid? [True, True] Translation: X:382.31, Y:-47.29, Z:-2.57 [[ 9.81443174e-01 1.91746152e-01 1.64627003e-03 3.82308478e+02] [-1.91745853e-01 9.81444554e-01 -3.39050289e-04 -4.72854128e+01] [-1.68073434e-03 1.70931419e-05 9.99998587e-01 -2.56747842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.345769231 meters 0.015537514316553229 Centerline is valid? [True, True] Translation: X:382.37, Y:-47.29, Z:-2.57 [[ 9.80737871e-01 1.95317280e-01 2.09510473e-03 3.82368586e+02] [-1.95316802e-01 9.80740108e-01 -4.32375570e-04 -4.72949779e+01] [-2.13920366e-03 1.48379410e-05 9.99997712e-01 -2.56756230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.405769231 meters 0.01216187069573124 Centerline is valid? [True, True] Translation: X:382.43, Y:-47.30, Z:-2.57 [[ 9.79846306e-01 1.99736837e-01 2.53225355e-03 3.82431403e+02] [-1.99736151e-01 9.79849578e-01 -5.23647541e-04 -4.72967437e+01] [-2.58581928e-03 7.31153011e-06 9.99996657e-01 -2.56562096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.465769231 meters 0.013716322538262956 Centerline is valid? [True, True] Translation: X:382.49, Y:-47.29, Z:-2.57 [[ 9.77955732e-01 2.08811900e-01 4.21097598e-04 3.82494589e+02] [-2.08811882e-01 9.77955822e-01 -8.71203036e-05 -4.72898865e+01] [-4.30006603e-04 -2.73038169e-06 9.99999908e-01 -2.56765776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.525769231 meters 0.01575402183738692 Centerline is valid? [True, True] Translation: X:382.55, Y:-47.29, Z:-2.57 [[ 9.77557725e-01 2.10665349e-01 1.00211656e-03 3.82553659e+02] [-2.10665247e-01 9.77558239e-01 -2.07544502e-04 -4.72927383e+01] [-1.02334974e-03 -8.22440205e-06 9.99999476e-01 -2.56964109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.58576923100003 meters 0.011218871438252688 Centerline is valid? [True, True] Translation: X:382.61, Y:-47.31, Z:-2.56 [[ 9.79249942e-01 2.02591641e-01 5.11642987e-03 3.82613016e+02] [-2.02588878e-01 9.79263308e-01 -1.05803620e-03 -4.73141978e+01] [-5.22468133e-03 -4.49896871e-07 9.99986351e-01 -2.56165485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.64576923100003 meters 0.013568383350541415 Centerline is valid? [True, True] Translation: X:382.67, Y:-47.33, Z:-2.56 [[ 9.80462352e-01 1.96643705e-01 4.98287803e-03 3.82671372e+02] [-1.96641004e-01 9.80475014e-01 -1.03127653e-03 -4.73333959e+01] [-5.08838144e-03 3.12896785e-05 9.99987054e-01 -2.56284885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.70576923100003 meters 0.01741424076326007 Centerline is valid? [True, True] Translation: X:382.73, Y:-47.35, Z:-2.56 [[ 9.81421309e-01 1.91775087e-01 5.87623806e-03 3.82730472e+02] [-1.91771235e-01 9.81438898e-01 -1.21737202e-03 -4.73521871e+01] [-6.00063023e-03 6.78614121e-05 9.99981994e-01 -2.56038962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76576923100004 meters 0.013895495102686816 Centerline is valid? [True, True] Translation: X:382.79, Y:-47.35, Z:-2.56 [[ 9.80528732e-01 1.96297569e-01 5.53799912e-03 3.82793621e+02] [-1.96294217e-01 9.80544371e-01 -1.14783193e-03 -4.73524528e+01] [-5.65557048e-03 3.84049799e-05 9.99984006e-01 -2.55983966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82576923100004 meters 0.011577848342706542 Centerline is valid? [True, True] Translation: X:382.85, Y:-47.35, Z:-2.56 [[ 9.79499602e-01 2.01400867e-01 4.26857478e-03 3.82854242e+02] [-2.01398923e-01 9.79508903e-01 -8.85013759e-04 -4.73502418e+01] [-4.35934954e-03 7.18426312e-06 9.99990498e-01 -2.56281403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88576923100004 meters 0.011907513862341384 Centerline is valid? [True, True] Translation: X:382.91, Y:-47.35, Z:-2.57 [[ 9.78680070e-01 2.05357931e-01 3.66626352e-03 3.82914252e+02] [-2.05356525e-01 9.78686937e-01 -7.60111033e-04 -4.73454667e+01] [-3.74421904e-03 -8.98561666e-06 9.99992990e-01 -2.56582813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.945769231 meters 0.013316846200469456 Centerline is valid? [True, True] Translation: X:382.97, Y:-47.35, Z:-2.57 [[ 9.78064731e-01 2.08275426e-01 3.27535942e-03 3.82973839e+02] [-2.08274321e-01 9.78070216e-01 -6.78943604e-04 -4.73454543e+01] [-3.34493876e-03 -1.81224628e-05 9.99994406e-01 -2.56544122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.005769231 meters 0.018024379561340148 Centerline is valid? [True, True] Translation: X:383.03, Y:-47.33, Z:-2.57 [[ 9.77027099e-01 2.13102641e-01 2.30493128e-03 3.83034832e+02] [-2.13102107e-01 9.77029817e-01 -4.77784688e-04 -4.73341515e+01] [-2.35380377e-03 -2.43771244e-05 9.99997230e-01 -2.56921612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.065769231 meters 0.02102021824708959 Centerline is valid? [True, True] Translation: X:383.10, Y:-47.33, Z:-2.57 [[ 9.76480123e-01 2.15604120e-01 1.19672065e-03 3.83096251e+02] [-2.15603978e-01 9.76480856e-01 -2.48073530e-04 -4.73282988e+01] [-1.22206048e-03 -1.57788621e-05 9.99999253e-01 -2.57162848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.125769231 meters 0.020493164650609214 Centerline is valid? [True, True] Translation: X:383.16, Y:-47.33, Z:-2.57 [[ 9.76523090e-01 2.15412755e-01 9.35979272e-06 3.83155105e+02] [-2.15412755e-01 9.76523090e-01 -2.25670279e-06 -4.73337279e+01] [-9.62617630e-06 1.87503647e-07 1.00000000e+00 -2.57381707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.185769231 meters 0.016623910012585976 Centerline is valid? [True, True] Translation: X:383.21, Y:-47.35, Z:-2.57 [[ 9.76862359e-01 2.13853710e-01 2.55391239e-03 3.83212401e+02] [-2.13853058e-01 9.76865697e-01 -5.28849276e-04 -4.73456096e+01] [-2.60792579e-03 -2.95490251e-05 9.99996599e-01 -2.56818424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.245769231 meters 0.016640286572917773 Centerline is valid? [True, True] Translation: X:383.27, Y:-47.35, Z:-2.56 [[ 9.77281043e-01 2.11863777e-01 5.95837876e-03 3.83271576e+02] [-2.11860197e-01 9.77299205e-01 -1.23304318e-03 -4.73479354e+01] [-6.08435601e-03 -5.73135755e-05 9.99981488e-01 -2.56276245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.305769231 meters 0.01801632168808085 Centerline is valid? [True, True] Translation: X:383.33, Y:-47.35, Z:-2.57 [[ 9.77097764e-01 2.12746441e-01 4.34868864e-03 3.83330007e+02] [-2.12744543e-01 9.77107440e-01 -8.99816452e-04 -4.73516219e+01] [-4.44056878e-03 -4.59511357e-05 9.99990140e-01 -2.56658429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.365769231 meters 0.01738382471011592 Centerline is valid? [True, True] Translation: X:383.39, Y:-47.36, Z:-2.57 [[ 9.76784796e-01 2.14194558e-01 3.48630700e-03 3.83388292e+02] [-2.14193348e-01 9.76791016e-01 -7.21232474e-04 -4.73598094e+01] [-3.55987743e-03 -4.22548524e-05 9.99993663e-01 -2.56663957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.425769231 meters 0.02006704454796709 Centerline is valid? [True, True] Translation: X:383.45, Y:-47.36, Z:-2.56 [[ 9.76448933e-01 2.15685966e-01 5.20052504e-03 3.83446849e+02] [-2.15683296e-01 9.76462779e-01 -1.07550250e-03 -4.73623562e+01] [-5.31008993e-03 -7.14931133e-05 9.99985899e-01 -2.56478248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.485769231 meters 0.01856284621273282 Centerline is valid? [True, True] Translation: X:383.50, Y:-47.38, Z:-2.57 [[ 9.76584083e-01 2.15070856e-01 5.29668532e-03 3.83504157e+02] [-2.15068081e-01 9.76598445e-01 -1.09481342e-03 -4.73757749e+01] [-5.40819710e-03 -6.99705825e-05 9.99985373e-01 -2.56551553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.545769231 meters 0.0141612333582781 Centerline is valid? [True, True] Translation: X:383.56, Y:-47.40, Z:-2.57 [[ 9.77847477e-01 2.09302332e-01 2.61635067e-03 3.83560631e+02] [-2.09301634e-01 9.77850977e-01 -5.40783366e-04 -4.73953836e+01] [-2.67158828e-03 -1.88028203e-05 9.99996431e-01 -2.57171143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.605769231 meters 0.011279930910907949 Centerline is valid? [True, True] Translation: X:383.62, Y:-47.42, Z:-2.57 [[ 9.79197597e-01 2.02879849e-01 3.43976250e-03 3.83615357e+02] [-2.02878604e-01 9.79203639e-01 -7.10818211e-04 -4.74195709e+01] [-3.51243865e-03 -1.82272855e-06 9.99993831e-01 -2.56977758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.665769231 meters 0.01335665190219761 Centerline is valid? [True, True] Translation: X:383.67, Y:-47.45, Z:-2.57 [[ 9.80561687e-01 1.96175896e-01 3.71429494e-03 3.83669212e+02] [-1.96174397e-01 9.80568721e-01 -7.67372941e-04 -4.74464546e+01] [-3.79266151e-03 2.38069373e-05 9.99992808e-01 -2.57019914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.725769231 meters 0.01506339503507694 Centerline is valid? [True, True] Translation: X:383.72, Y:-47.46, Z:-2.57 [[ 9.80924767e-01 1.94374333e-01 2.28463230e-03 3.83724617e+02] [-1.94373761e-01 9.80927428e-01 -4.72022068e-04 -4.74645361e+01] [-2.33280746e-03 1.89455661e-05 9.99997279e-01 -2.57355653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.785769231 meters 0.014846648101914934 Centerline is valid? [True, True] Translation: X:383.78, Y:-47.48, Z:-2.57 [[ 9.81038818e-01 1.93794259e-01 2.57359890e-03 3.83781615e+02] [-1.93793532e-01 9.81042193e-01 -5.31465495e-04 -4.74804940e+01] [-2.62780407e-03 2.26414595e-05 9.99996547e-01 -2.57229294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.845769231 meters 0.013996053847955044 Centerline is valid? [True, True] Translation: X:383.84, Y:-47.49, Z:-2.57 [[ 9.80778050e-01 1.95100826e-01 3.17553977e-03 3.83838151e+02] [-1.95099726e-01 9.80783191e-01 -6.55574358e-04 -4.74915367e+01] [-3.24241912e-03 2.34260034e-05 9.99994743e-01 -2.57112961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.905769231 meters 0.01125880090512532 Centerline is valid? [True, True] Translation: X:383.90, Y:-47.50, Z:-2.57 [[ 9.79786659e-01 1.99985201e-01 4.90132609e-03 3.83897519e+02] [-1.99982645e-01 9.79798918e-01 -1.01129965e-03 -4.74950645e+01] [-5.00455896e-03 1.06777525e-05 9.99987477e-01 -2.56726737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.965769231 meters 0.01121352138138106 Centerline is valid? [True, True] Translation: X:383.96, Y:-47.50, Z:-2.57 [[ 9.79197623e-01 2.02826147e-01 5.79396890e-03 3.83956029e+02] [-2.02822625e-01 9.79214764e-01 -1.19512120e-03 -4.75022704e+01] [-5.91594172e-03 -4.88814249e-06 9.99982501e-01 -2.56843975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.025769231 meters 0.011658560903141364 Centerline is valid? [True, True] Translation: X:384.01, Y:-47.52, Z:-2.58 [[ 9.79390332e-01 2.01957693e-01 2.76905179e-03 3.84012035e+02] [-2.01956885e-01 9.79394247e-01 -5.71265228e-04 -4.75153248e+01] [-2.82736480e-03 2.62566939e-07 9.99996003e-01 -2.57530839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.08576923100003 meters 0.012069910648734779 Centerline is valid? [True, True] Translation: X:384.07, Y:-47.53, Z:-2.58 [[ 9.79358410e-01 2.02131338e-01 1.63223066e-04 3.84069148e+02] [-2.02131335e-01 9.79358424e-01 -3.39773905e-05 -4.75290459e+01] [-1.66721780e-04 2.83547049e-07 9.99999986e-01 -2.57796734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.14576923100003 meters 0.012227396593187473 Centerline is valid? [True, True] Translation: X:384.13, Y:-47.54, Z:-2.57 [[ 9.78778134e-01 2.04910761e-01 2.22350790e-03 3.84128307e+02] [-2.04910248e-01 9.78780660e-01 -4.58485198e-04 -4.75358856e+01] [-2.27027508e-03 -6.86426773e-06 9.99997423e-01 -2.57401870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.20576923100003 meters 0.014094122792513129 Centerline is valid? [True, True] Translation: X:384.19, Y:-47.54, Z:-2.57 [[ 9.78043711e-01 2.08338683e-01 5.04893289e-03 3.84186227e+02] [-2.08336088e-01 9.78056743e-01 -1.04042335e-03 -4.75401839e+01] [-5.15490329e-03 -3.42954185e-05 9.99986713e-01 -2.56956873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26576923100004 meters 0.013479728669757595 Centerline is valid? [True, True] Translation: X:384.24, Y:-47.55, Z:-2.57 [[ 9.78037590e-01 2.08338341e-01 6.13254947e-03 3.84242963e+02] [-2.08334515e-01 9.78056815e-01 -1.26326751e-03 -4.75513293e+01] [-6.26116886e-03 -4.20986068e-05 9.99980398e-01 -2.56746359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32576923100004 meters 0.012815567722346348 Centerline is valid? [True, True] Translation: X:384.30, Y:-47.56, Z:-2.57 [[ 9.78536062e-01 2.06042702e-01 3.68504690e-03 3.84299966e+02] [-2.06041305e-01 9.78543001e-01 -7.58984584e-04 -4.75615980e+01] [-3.76236009e-03 -1.65780868e-05 9.99992922e-01 -2.57302471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38576923100004 meters 0.01187831726323232 Centerline is valid? [True, True] Translation: X:384.36, Y:-47.57, Z:-2.57 [[ 9.79081397e-01 2.03445985e-01 3.05751346e-03 3.84356924e+02] [-2.03445011e-01 9.79086171e-01 -6.29560941e-04 -4.75746626e+01] [-3.12165080e-03 -5.64445335e-06 9.99995128e-01 -2.57480725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.445769231 meters 0.012220809068782127 Centerline is valid? [True, True] Translation: X:384.41, Y:-47.59, Z:-2.58 [[ 9.80089172e-01 1.98530495e-01 3.29512590e-03 3.84413658e+02] [-1.98529336e-01 9.80094711e-01 -6.78306176e-04 -4.75914692e+01] [-3.36419993e-03 1.06213796e-05 9.99994341e-01 -2.57512265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.505769231 meters 0.013548710576770793 Centerline is valid? [True, True] Translation: X:384.47, Y:-47.61, Z:-2.58 [[ 9.80557023e-01 1.96210806e-01 3.04052978e-03 3.84469493e+02] [-1.96209809e-01 9.80561737e-01 -6.25821986e-04 -4.76067800e+01] [-3.10422020e-03 1.70723759e-05 9.99995182e-01 -2.57600074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.565769231 meters 0.012895651433455065 Centerline is valid? [True, True] Translation: X:384.53, Y:-47.62, Z:-2.58 [[ 9.80447830e-01 1.96746712e-01 3.57547632e-03 3.84527572e+02] [-1.96745338e-01 9.80454349e-01 -7.35618074e-04 -4.76152160e+01] [-3.65032175e-03 1.77768477e-05 9.99993337e-01 -2.57531479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.625769231 meters 0.011100705011130458 Centerline is valid? [True, True] Translation: X:384.59, Y:-47.62, Z:-2.57 [[ 9.79583904e-01 2.00923642e-01 6.71307294e-03 3.84586591e+02] [-2.00918899e-01 9.79606906e-01 -1.38054129e-03 -4.76185190e+01] [-6.85355600e-03 3.57279746e-06 9.99976514e-01 -2.56888831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.685769231 meters 0.01355537737337543 Centerline is valid? [True, True] Translation: X:384.65, Y:-47.61, Z:-2.57 [[ 9.78193136e-01 2.07651451e-01 4.36618285e-03 3.84646832e+02] [-2.07649512e-01 9.78202880e-01 -8.97836603e-04 -4.76116357e+01] [-4.45744971e-03 -2.83781371e-05 9.99990065e-01 -2.57243746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.745769231 meters 0.01929066478949554 Centerline is valid? [True, True] Translation: X:384.71, Y:-47.61, Z:-2.57 [[ 9.76725081e-01 2.14458324e-01 3.96781603e-03 3.84708735e+02] [-2.14456780e-01 9.76733139e-01 -8.15604455e-04 -4.76067896e+01] [-4.05041057e-03 -5.43037231e-05 9.99991796e-01 -2.57340040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.805769231 meters 0.024329100570958922 Centerline is valid? [True, True] Translation: X:384.77, Y:-47.60, Z:-2.57 [[ 9.75630717e-01 2.19377095e-01 4.28885059e-03 3.84769851e+02] [-2.19375339e-01 9.75640140e-01 -8.81547370e-04 -4.76030980e+01] [-4.37776609e-03 -8.08033582e-05 9.99990414e-01 -2.57328197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.865769231 meters 0.0221395062664157 Centerline is valid? [True, True] Translation: X:384.83, Y:-47.61, Z:-2.58 [[ 9.76124495e-01 2.17189052e-01 3.14415462e-03 3.84829299e+02] [-2.17188096e-01 9.76129557e-01 -6.46640879e-04 -4.76076783e+01] [-3.20954558e-03 -5.16709536e-05 9.99994848e-01 -2.57660248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.925769231 meters 0.013257246579847315 Centerline is valid? [True, True] Translation: X:384.89, Y:-47.63, Z:-2.58 [[ 9.78460849e-01 2.06411888e-01 2.91543161e-03 3.84885749e+02] [-2.06411020e-01 9.78465192e-01 -5.98600542e-04 -4.76291604e+01] [-2.97620661e-03 -1.60700186e-05 9.99995571e-01 -2.57715863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.985769231 meters 0.011813491516389558 Centerline is valid? [True, True] Translation: X:384.94, Y:-47.65, Z:-2.58 [[ 9.79970095e-01 1.99121284e-01 3.05387715e-03 3.84941521e+02] [-1.99120297e-01 9.79974854e-01 -6.27038330e-04 -4.76491788e+01] [-3.11757949e-03 6.38988649e-06 9.99995140e-01 -2.57722023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.045769231 meters 0.013914326662517696 Centerline is valid? [True, True] Translation: X:385.00, Y:-47.67, Z:-2.58 [[ 9.81001806e-01 1.93959306e-01 3.90430749e-03 3.84997524e+02] [-1.93957653e-01 9.81009575e-01 -8.01368830e-04 -4.76685248e+01] [-3.98559597e-03 2.88739541e-05 9.99992057e-01 -2.57584015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.105769231 meters 0.012971224374038316 Centerline is valid? [True, True] Translation: X:385.06, Y:-47.68, Z:-2.57 [[ 9.80741595e-01 1.95225944e-01 5.72320636e-03 3.85055559e+02] [-1.95222416e-01 9.80758293e-01 -1.17426212e-03 -4.76779922e+01] [-5.84232853e-03 3.43495285e-05 9.99982933e-01 -2.57261015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.165769231 meters 0.01230944717909764 Centerline is valid? [True, True] Translation: X:385.11, Y:-47.69, Z:-2.57 [[ 9.80382141e-01 1.96942026e-01 8.04339181e-03 3.85112078e+02] [-1.96935119e-01 9.80415135e-01 -1.64975739e-03 -4.76890756e+01] [-8.21076963e-03 3.33663610e-05 9.99966291e-01 -2.56825630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.225769231 meters 0.013554534803681517 Centerline is valid? [True, True] Translation: X:385.17, Y:-47.71, Z:-2.57 [[ 9.80846988e-01 1.94666034e-01 6.65739367e-03 3.85168927e+02] [-1.94661252e-01 9.80869580e-01 -1.36514037e-03 -4.77068564e+01] [-6.79578139e-03 4.30572407e-05 9.99976907e-01 -2.57236448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.285769231 meters 0.015541988825286561 Centerline is valid? [True, True] Translation: X:385.22, Y:-47.72, Z:-2.57 [[ 9.81202993e-01 1.92901901e-01 5.43537689e-03 3.85224074e+02] [-1.92898687e-01 9.81218046e-01 -1.11437410e-03 -4.77242845e+01] [-5.54825478e-03 4.49501317e-05 9.99984607e-01 -2.57452331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.345769231 meters 0.01542030144460815 Centerline is valid? [True, True] Translation: X:385.28, Y:-47.74, Z:-2.58 [[ 9.81314377e-01 1.92395009e-01 2.50073590e-03 3.85280865e+02] [-1.92394327e-01 9.81317563e-01 -5.12730979e-04 -4.77403981e+01] [-2.55266295e-03 2.20228810e-05 9.99996742e-01 -2.58033894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.405769231 meters 0.015752146931028294 Centerline is valid? [True, True] Translation: X:385.34, Y:-47.75, Z:-2.58 [[ 9.81336317e-01 1.92285497e-01 2.30641412e-03 3.85335772e+02] [-1.92284916e-01 9.81339028e-01 -4.73170190e-04 -4.77543641e+01] [-2.35435795e-03 2.08504456e-05 9.99997228e-01 -2.58170428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.465769231 meters 0.015305704516642918 Centerline is valid? [True, True] Translation: X:385.39, Y:-47.77, Z:-2.58 [[ 9.81278335e-01 1.92554337e-01 3.95676705e-03 3.85393412e+02] [-1.92552634e-01 9.81286312e-01 -8.10334603e-04 -4.77685841e+01] [-4.03875479e-03 3.32778712e-05 9.99991844e-01 -2.57935966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.525769231 meters 0.01367264040836273 Centerline is valid? [True, True] Translation: X:385.45, Y:-47.78, Z:-2.57 [[ 9.80851364e-01 1.94643690e-01 6.66597742e-03 3.85450899e+02] [-1.94638910e-01 9.80874014e-01 -1.36476982e-03 -4.77809703e+01] [-6.80412787e-03 4.11777614e-05 9.99976851e-01 -2.57441433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.58576923100003 meters 0.011973479497295365 Centerline is valid? [True, True] Translation: X:385.51, Y:-47.79, Z:-2.58 [[ 9.79967548e-01 1.99125929e-01 3.53110632e-03 3.85510064e+02] [-1.99124617e-01 9.79973910e-01 -7.22941045e-04 -4.77873338e+01] [-3.60434837e-03 5.32856945e-06 9.99993504e-01 -2.58007433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.64576923100003 meters 0.011682096940964079 Centerline is valid? [True, True] Translation: X:385.57, Y:-47.80, Z:-2.58 [[ 9.79460770e-01 2.01571612e-01 5.04830346e-03 3.85568034e+02] [-2.01568964e-01 9.79473780e-01 -1.03316898e-03 -4.77962562e+01] [-5.15293840e-03 -5.63281343e-06 9.99986724e-01 -2.57783467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.70576923100003 meters 0.012163946358777546 Centerline is valid? [True, True] Translation: X:385.63, Y:-47.80, Z:-2.57 [[ 9.78975430e-01 2.03863844e-01 6.82940517e-03 3.85625156e+02] [-2.03859057e-01 9.78999251e-01 -1.39722082e-03 -4.78044849e+01] [-6.97082535e-03 -2.43912466e-05 9.99975703e-01 -2.57376803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76576923100004 meters 0.014936867086591964 Centerline is valid? [True, True] Translation: X:385.69, Y:-47.80, Z:-2.58 [[ 9.78099452e-01 2.08058542e-01 5.75370476e-03 3.85685569e+02] [-2.08055218e-01 9.78116374e-01 -1.17697750e-03 -4.78041897e+01] [-5.87267306e-03 -4.58872513e-05 9.99982755e-01 -2.57713994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82576923100004 meters 0.019927589391721654 Centerline is valid? [True, True] Translation: X:385.75, Y:-47.80, Z:-2.58 [[ 9.76945615e-01 2.13377962e-01 6.86371822e-03 3.85746247e+02] [-2.13373373e-01 9.76969721e-01 -1.40264386e-03 -4.77997434e+01] [-7.00493817e-03 -9.42279384e-05 9.99975461e-01 -2.57524332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88576923100004 meters 0.024721000316048933 Centerline is valid? [True, True] Translation: X:385.81, Y:-47.80, Z:-2.58 [[ 9.76021620e-01 2.17587138e-01 6.13469196e-03 3.85806729e+02] [-2.17583556e-01 9.76040893e-01 -1.25346700e-03 -4.77968744e+01] [-6.26044851e-03 -1.11397204e-04 9.99980397e-01 -2.57507102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.945769231 meters 0.022706215958920282 Centerline is valid? [True, True] Translation: X:385.87, Y:-47.80, Z:-2.58 [[ 9.76210615e-01 2.16771509e-01 4.79031389e-03 3.85865993e+02] [-2.16769315e-01 9.76222365e-01 -9.78949985e-04 -4.78009272e+01] [-4.88862003e-03 -8.27316935e-05 9.99988047e-01 -2.57944437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.005769231 meters 0.019591315030777347 Centerline is valid? [True, True] Translation: X:385.92, Y:-47.81, Z:-2.58 [[ 9.77220327e-01 2.12087968e-01 7.68933633e-03 3.85922985e+02] [-2.12082183e-01 9.77250574e-01 -1.56940530e-03 -4.78117910e+01] [-7.84726032e-03 -9.71164751e-05 9.99969205e-01 -2.57563992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.065769231 meters 0.012761078369480826 Centerline is valid? [True, True] Translation: X:385.98, Y:-47.83, Z:-2.58 [[ 9.78862745e-01 2.04381522e-01 7.47797020e-03 3.85979454e+02] [-2.04375831e-01 9.78891308e-01 -1.52558757e-03 -4.78309580e+01] [-7.63192194e-03 -3.49755374e-05 9.99970876e-01 -2.57555042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.125769231 meters 0.012105514214005795 Centerline is valid? [True, True] Translation: X:386.04, Y:-47.85, Z:-2.58 [[ 9.80021441e-01 1.98867742e-01 3.09790375e-03 3.86036198e+02] [-1.98866739e-01 9.80026337e-01 -6.31732820e-04 -4.78455228e+01] [-3.16165854e-03 3.04169330e-06 9.99995002e-01 -2.58410125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.185769231 meters 0.01218975872598376 Centerline is valid? [True, True] Translation: X:386.09, Y:-47.86, Z:-2.58 [[ 9.80317533e-01 1.97376454e-01 4.47996711e-03 3.86091630e+02] [-1.97374341e-01 9.80327769e-01 -9.13274234e-04 -4.78576017e+01] [-4.57209499e-03 1.10681870e-05 9.99989548e-01 -2.58180767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.245769231 meters 0.013388586366083971 Centerline is valid? [True, True] Translation: X:386.15, Y:-47.87, Z:-2.58 [[ 9.80936879e-01 1.94220841e-01 6.41125910e-03 3.86148913e+02] [-1.94216452e-01 9.80957830e-01 -1.30614373e-03 -4.78707009e+01] [-6.54285514e-03 3.60725550e-05 9.99978595e-01 -2.57937956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.305769231 meters 0.015323933834339689 Centerline is valid? [True, True] Translation: X:386.20, Y:-47.89, Z:-2.58 [[ 9.81470006e-01 1.91554718e-01 4.83912289e-03 3.86204384e+02] [-1.91552186e-01 9.81481935e-01 -9.85726930e-04 -4.78881457e+01] [-4.93833234e-03 4.05168475e-05 9.99987806e-01 -2.58268798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.365769231 meters 0.01914349225867014 Centerline is valid? [True, True] Translation: X:386.26, Y:-47.91, Z:-2.58 [[ 9.82282598e-01 1.87324880e-01 5.50344411e-03 3.86259549e+02] [-1.87321540e-01 9.82298012e-01 -1.12069905e-03 -4.79084317e+01] [-5.61595703e-03 6.99295471e-05 9.99984228e-01 -2.58228552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.425769231 meters 0.02546612496329057 Centerline is valid? [True, True] Translation: X:386.31, Y:-47.94, Z:-2.58 [[ 9.83211008e-01 1.82377832e-01 5.86864740e-03 3.86313821e+02] [-1.82373950e-01 9.83228517e-01 -1.19445348e-03 -4.79354037e+01] [-5.98806331e-03 1.04111403e-04 9.99982066e-01 -2.58272921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.485769231 meters 0.028876856677710096 Centerline is valid? [True, True] Translation: X:386.37, Y:-47.96, Z:-2.58 [[ 9.84070774e-01 1.77688034e-01 5.62798468e-03 3.86370130e+02] [-1.77684388e-01 9.84086859e-01 -1.14528465e-03 -4.79567564e+01] [-5.74192914e-03 1.27036141e-04 9.99983507e-01 -2.58325367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.545769231 meters 0.034671541175853124 Centerline is valid? [True, True] Translation: X:386.43, Y:-47.99, Z:-2.58 [[ 9.84955045e-01 1.72575941e-01 9.00573678e-03 3.86425160e+02] [-1.72566396e-01 9.84996184e-01 -1.83223595e-03 -4.79886419e+01] [-9.18681620e-03 2.50582509e-04 9.99957769e-01 -2.57803405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.605769231 meters 0.0377884173773753 Centerline is valid? [True, True] Translation: X:386.48, Y:-48.01, Z:-2.58 [[ 9.85383775e-01 1.70176976e-01 7.65586035e-03 3.86480885e+02] [-1.70170007e-01 9.85413488e-01 -1.55751419e-03 -4.80147629e+01] [-7.80924111e-03 2.31951409e-04 9.99969481e-01 -2.58091457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.665769231 meters 0.03668579915543455 Centerline is valid? [True, True] Translation: X:386.54, Y:-48.04, Z:-2.58 [[ 9.85313910e-01 1.70627036e-01 6.55089139e-03 3.86535960e+02] [-1.70621944e-01 9.85335667e-01 -1.33259733e-03 -4.80406972e+01] [-6.68220407e-03 1.95300865e-04 9.99977655e-01 -2.58232838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.725769231 meters 0.030388789039188874 Centerline is valid? [True, True] Translation: X:386.59, Y:-48.06, Z:-2.59 [[ 9.84220407e-01 1.76889861e-01 4.49082134e-03 3.86592885e+02] [-1.76887534e-01 9.84230647e-01 -9.13346246e-04 -4.80604697e+01] [-4.58156568e-03 1.04563701e-04 9.99989499e-01 -2.58677869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.785769231 meters 0.02268797727383608 Centerline is valid? [True, True] Translation: X:386.65, Y:-48.07, Z:-2.59 [[ 9.82869533e-01 1.84246097e-01 4.56687914e-03 3.86652048e+02] [-1.84243770e-01 9.82880141e-01 -9.28740315e-04 -4.80705491e+01] [-4.65981159e-03 7.14115330e-05 9.99989140e-01 -2.58815318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.845769231 meters 0.013122376440298152 Centerline is valid? [True, True] Translation: X:386.71, Y:-48.07, Z:-2.59 [[ 9.80618908e-01 1.95905925e-01 2.72493291e-03 3.86711277e+02] [-1.95905141e-01 9.80622694e-01 -5.54252239e-04 -4.80740588e+01] [-2.78071234e-03 9.68185980e-06 9.99996134e-01 -2.59185869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.905769231 meters 0.013285795837314745 Centerline is valid? [True, True] Translation: X:386.77, Y:-48.08, Z:-2.59 [[ 9.79093719e-01 2.03366015e-01 4.21349572e-03 3.86768408e+02] [-2.03364211e-01 9.79102785e-01 -8.56848203e-04 -4.80823242e+01] [-4.29969920e-03 -1.79395368e-05 9.99990756e-01 -2.58912293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.965769231 meters 0.016175501431341832 Centerline is valid? [True, True] Translation: X:386.83, Y:-48.09, Z:-2.59 [[ 9.78211989e-01 2.07504599e-01 6.56856190e-03 3.86826828e+02] [-2.07500312e-01 9.78234041e-01 -1.33502302e-03 -4.80898555e+01] [-6.70261427e-03 -5.70431248e-05 9.99977536e-01 -2.58503674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.025769231 meters 0.02391924140286213 Centerline is valid? [True, True] Translation: X:386.89, Y:-48.09, Z:-2.59 [[ 9.75901287e-01 2.18134780e-01 5.82206987e-03 3.86889050e+02] [-2.18131602e-01 9.75918646e-01 -1.18301697e-03 -4.80875839e+01] [-5.93992370e-03 -1.15469649e-04 9.99982352e-01 -2.58565109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.08576923100003 meters 0.04180052396006169 Centerline is valid? [True, True] Translation: X:386.95, Y:-48.07, Z:-2.59 [[ 9.73291630e-01 2.29506408e-01 5.49648766e-03 3.86953617e+02] [-2.29503757e-01 9.73307135e-01 -1.11689311e-03 -4.80675094e+01] [-5.60610478e-03 -1.74401847e-04 9.99984270e-01 -2.58764603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.14576923100003 meters 0.04630412463856873 Centerline is valid? [True, True] Translation: X:387.01, Y:-48.07, Z:-2.59 [[ 9.72556116e-01 2.32610016e-01 5.21362977e-03 3.87014101e+02] [-2.32607675e-01 9.72570073e-01 -1.05927998e-03 -4.80698243e+01] [-5.31701942e-03 -1.82521074e-04 9.99985848e-01 -2.59017305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.20576923100003 meters 0.04478610226070148 Centerline is valid? [True, True] Translation: X:387.07, Y:-48.08, Z:-2.59 [[ 9.72971336e-01 2.30839120e-01 6.33085767e-03 3.87071849e+02] [-2.30835632e-01 9.72991910e-01 -1.28620976e-03 -4.80762964e+01] [-6.45678083e-03 -2.09942301e-04 9.99979133e-01 -2.58786179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26576923100004 meters 0.038122936477911804 Centerline is valid? [True, True] Translation: X:387.13, Y:-48.09, Z:-2.59 [[ 9.73050073e-01 2.30495603e-01 6.73295100e-03 3.87128703e+02] [-2.30491652e-01 9.73073342e-01 -1.36752358e-03 -4.80861519e+01] [-6.86686330e-03 -2.21220083e-04 9.99976398e-01 -2.58741814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32576923100004 meters 0.04079208649691802 Centerline is valid? [True, True] Translation: X:387.19, Y:-48.09, Z:-2.59 [[ 9.73026345e-01 2.30579120e-01 7.28020459e-03 3.87186932e+02] [-2.30574514e-01 9.73053550e-01 -1.47719393e-03 -4.80897068e+01] [-7.42463900e-03 -2.41281022e-04 9.99972408e-01 -2.58676367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38576923100004 meters 0.03917377297364262 Centerline is valid? [True, True] Translation: X:387.25, Y:-48.09, Z:-2.59 [[ 9.73343945e-01 2.29256705e-01 6.55186708e-03 3.87246568e+02] [-2.29252949e-01 9.73365974e-01 -1.32890584e-03 -4.80932192e+01] [-6.68202505e-03 -2.08552395e-04 9.99977653e-01 -2.58773538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.445769231 meters 0.036385016862244844 Centerline is valid? [True, True] Translation: X:387.30, Y:-48.10, Z:-2.59 [[ 9.73784804e-01 2.27350975e-01 7.39522390e-03 3.87304879e+02] [-2.27346144e-01 9.73812859e-01 -1.49865302e-03 -4.81013443e+01] [-7.54228435e-03 -2.21910095e-04 9.99971532e-01 -2.58681766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.505769231 meters 0.031828202318277196 Centerline is valid? [True, True] Translation: X:387.36, Y:-48.11, Z:-2.59 [[ 9.74969152e-01 2.22195210e-01 8.02759730e-03 3.87363353e+02] [-2.22189345e-01 9.75002179e-01 -1.62641949e-03 -4.81091903e+01] [-8.18830748e-03 -1.97937756e-04 9.99966456e-01 -2.58672021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.565769231 meters 0.02792448847245583 Centerline is valid? [True, True] Translation: X:387.42, Y:-48.11, Z:-2.59 [[ 9.75680492e-01 2.19138733e-01 5.07860564e-03 3.87422301e+02] [-2.19136345e-01 9.75693704e-01 -1.02892662e-03 -4.81142726e+01] [-5.18064123e-03 -1.09003443e-04 9.99986574e-01 -2.59109604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.625769231 meters 0.026576818148545567 Centerline is valid? [True, True] Translation: X:387.48, Y:-48.12, Z:-2.59 [[ 9.75976124e-01 2.17832260e-01 4.43980640e-03 3.87481337e+02] [-2.17830420e-01 9.75986218e-01 -8.99630467e-04 -4.81205141e+01] [-4.52915840e-03 -8.91070388e-05 9.99989739e-01 -2.59265352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.685769231 meters 0.020230055660373496 Centerline is valid? [True, True] Translation: X:387.54, Y:-48.13, Z:-2.59 [[ 9.77127069e-01 2.12533849e-01 7.21486832e-03 3.87540295e+02] [-2.12528861e-01 9.77153699e-01 -1.46003877e-03 -4.81292784e+01] [-7.36034293e-03 -1.06724345e-04 9.99972907e-01 -2.58861861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.745769231 meters 0.0170534159346381 Centerline is valid? [True, True] Translation: X:387.60, Y:-48.14, Z:-2.59 [[ 9.78134783e-01 2.07830758e-01 7.66308592e-03 3.87597426e+02] [-2.07824988e-01 9.78164797e-01 -1.55052197e-03 -4.81408218e+01] [-7.81800704e-03 -7.59612725e-05 9.99969436e-01 -2.58773546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.805769231 meters 0.012322877143427207 Centerline is valid? [True, True] Translation: X:387.65, Y:-48.16, Z:-2.59 [[ 9.79855365e-01 1.99582865e-01 7.08128043e-03 3.87654160e+02] [-1.99577725e-01 9.79880952e-01 -1.43245756e-03 -4.81591820e+01] [-7.22470579e-03 -9.66461041e-06 9.99973901e-01 -2.58916073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.865769231 meters 0.015999418044496196 Centerline is valid? [True, True] Translation: X:387.71, Y:-48.18, Z:-2.59 [[ 9.81967611e-01 1.88927368e-01 6.78683444e-03 3.87709439e+02] [-1.88922398e-01 9.81991062e-01 -1.37189093e-03 -4.81844102e+01] [-6.92379850e-03 6.49674182e-05 9.99976028e-01 -2.59174191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.925769231 meters 0.022235580448479668 Centerline is valid? [True, True] Translation: X:387.76, Y:-48.21, Z:-2.59 [[ 9.83263007e-01 1.82068400e-01 6.70501327e-03 3.87763495e+02] [-1.82063392e-01 9.83285861e-01 -1.35502356e-03 -4.82103377e+01] [-6.83965172e-03 1.11607079e-04 9.99976603e-01 -2.59218196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.985769231 meters 0.030551736009880565 Centerline is valid? [True, True] Translation: X:387.82, Y:-48.24, Z:-2.59 [[ 9.84943875e-01 1.72783443e-01 5.60757835e-03 3.87818360e+02] [-1.72779791e-01 9.84959827e-01 -1.13292135e-03 -4.82427719e+01] [-5.71898946e-03 1.46987730e-04 9.99983636e-01 -2.59423297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.045769231 meters 0.03840648715669365 Centerline is valid? [True, True] Translation: X:387.87, Y:-48.28, Z:-2.59 [[ 9.85348838e-01 1.70427884e-01 6.48104348e-03 3.87872040e+02] [-1.70422955e-01 9.85370134e-01 -1.30940115e-03 -4.82750109e+01] [-6.60938515e-03 1.85698323e-04 9.99978141e-01 -2.59405688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.105769231 meters 0.028646367037456415 Centerline is valid? [True, True] Translation: X:387.93, Y:-48.28, Z:-2.59 [[ 9.84414709e-01 1.75767043e-01 5.79883829e-03 3.87931575e+02] [-1.75763191e-01 9.84431780e-01 -1.17137295e-03 -4.82813880e+01] [-5.91444945e-03 1.33894437e-04 9.99982501e-01 -2.59362030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.165769231 meters 0.02510425088734833 Centerline is valid? [True, True] Translation: X:387.99, Y:-48.29, Z:-2.60 [[ 9.83676997e-01 1.79912621e-01 3.31875339e-03 3.87990034e+02] [-1.79911383e-01 9.83682594e-01 -6.70383183e-04 -4.82930253e+01] [-3.38521034e-03 6.23590028e-05 9.99994268e-01 -2.59915038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.225769231 meters 0.019203349503736016 Centerline is valid? [True, True] Translation: X:388.05, Y:-48.30, Z:-2.60 [[ 9.82523753e-01 1.86074656e-01 4.82660378e-03 3.88048334e+02] [-1.86072113e-01 9.82535607e-01 -9.74802260e-04 -4.83006098e+01] [-4.92369607e-03 5.96700131e-05 9.99987877e-01 -2.59628280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.285769231 meters 0.013411953799226798 Centerline is valid? [True, True] Translation: X:388.11, Y:-48.30, Z:-2.60 [[ 9.81058446e-01 1.93682080e-01 3.40239225e-03 3.88108844e+02] [-1.93680862e-01 9.81064346e-01 -6.87275244e-04 -4.83001704e+01] [-3.47107862e-03 1.52789211e-05 9.99993976e-01 -2.59905710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.345769231 meters 0.013116449913846962 Centerline is valid? [True, True] Translation: X:388.17, Y:-48.30, Z:-2.60 [[ 9.79521656e-01 2.01298347e-01 4.03731625e-03 3.88168246e+02] [-2.01296698e-01 9.79529977e-01 -8.15032649e-04 -4.82984884e+01] [-4.11873701e-03 -1.43562978e-05 9.99991518e-01 -2.59821341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.405769231 meters 0.015702786256748757 Centerline is valid? [True, True] Translation: X:388.23, Y:-48.30, Z:-2.59 [[ 9.78531435e-01 2.06017007e-01 5.76405171e-03 3.88228517e+02] [-2.06013729e-01 9.78548410e-01 -1.16321357e-03 -4.82992944e+01] [-5.88004541e-03 -4.92327465e-05 9.99982711e-01 -2.59455544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.465769231 meters 0.01753703576993273 Centerline is valid? [True, True] Translation: X:388.29, Y:-48.30, Z:-2.60 [[ 9.78051885e-01 2.08291392e-01 5.40432990e-03 3.88287810e+02] [-2.08288550e-01 9.78066814e-01 -1.08976316e-03 -4.83044697e+01] [-5.51278402e-03 -5.98151267e-05 9.99984803e-01 -2.59603028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.525769231 meters 0.01847482764089328 Centerline is valid? [True, True] Translation: X:388.35, Y:-48.31, Z:-2.60 [[ 9.77913714e-01 2.08937401e-01 5.47079834e-03 3.88345886e+02] [-2.08934505e-01 9.77929015e-01 -1.10204025e-03 -4.83113416e+01] [-5.58030985e-03 -6.53382717e-05 9.99984428e-01 -2.59699455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.58576923100003 meters 0.016229931370600924 Centerline is valid? [True, True] Translation: X:388.40, Y:-48.32, Z:-2.59 [[ 9.78701725e-01 2.05172624e-01 6.86502515e-03 3.88402340e+02] [-2.05167975e-01 9.78725800e-01 -1.38236363e-03 -4.83226215e+01] [-7.00260040e-03 -5.55616344e-05 9.99975480e-01 -2.59467737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.64576923100003 meters 0.013077577511179272 Centerline is valid? [True, True] Translation: X:388.46, Y:-48.34, Z:-2.60 [[ 9.79641360e-01 2.00702590e-01 4.61262403e-03 3.88458530e+02] [-2.00700442e-01 9.79652219e-01 -9.28512853e-04 -4.83404117e+01] [-4.70512230e-03 -1.61460897e-05 9.99988931e-01 -2.59914867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.70576923100003 meters 0.012361064609247883 Centerline is valid? [True, True] Translation: X:388.51, Y:-48.36, Z:-2.60 [[ 9.80498512e-01 1.96429139e-01 6.18560820e-03 3.88514081e+02] [-1.96425195e-01 9.80518023e-01 -1.24474576e-03 -4.83582380e+01] [-6.30960466e-03 5.46206582e-06 9.99980094e-01 -2.59735924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76576923100004 meters 0.013100209502168 Centerline is valid? [True, True] Translation: X:388.57, Y:-48.38, Z:-2.60 [[ 9.81107213e-01 1.93348328e-01 6.71265174e-03 3.88570025e+02] [-1.93343614e-01 9.81130177e-01 -1.35036315e-03 -4.83762234e+01] [-6.84707565e-03 2.70026784e-05 9.99976558e-01 -2.59706383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82576923100004 meters 0.015185087434128558 Centerline is valid? [True, True] Translation: X:388.63, Y:-48.40, Z:-2.60 [[ 9.81905329e-01 1.89268102e-01 6.28567549e-03 3.88626223e+02] [-1.89263887e-01 9.81925447e-01 -1.26418883e-03 -4.83961111e+01] [-6.41133533e-03 5.16623732e-05 9.99979446e-01 -2.59822691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88576923100004 meters 0.01693335298844706 Centerline is valid? [True, True] Translation: X:388.68, Y:-48.42, Z:-2.60 [[ 9.82186322e-01 1.87800075e-01 6.41568801e-03 3.88681829e+02] [-1.87795655e-01 9.82207273e-01 -1.29002217e-03 -4.84150680e+01] [-6.54380168e-03 6.22038012e-05 9.99978587e-01 -2.59874815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.945769231 meters 0.01661963189242293 Centerline is valid? [True, True] Translation: X:388.74, Y:-48.43, Z:-2.60 [[ 9.82295074e-01 1.87281576e-01 4.69029052e-03 3.88739707e+02] [-1.87279209e-01 9.82306270e-01 -9.42896408e-04 -4.84269715e+01] [-4.78388891e-03 4.78085991e-05 9.99988556e-01 -2.60164237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.005769231 meters 0.016941388401851828 Centerline is valid? [True, True] Translation: X:388.80, Y:-48.44, Z:-2.61 [[ 9.82347841e-01 1.87053572e-01 1.91855441e-03 3.88796936e+02] [-1.87053176e-01 9.82349714e-01 -3.85795779e-04 -4.84411761e+01] [-1.95685585e-03 2.01139560e-05 9.99998085e-01 -2.60655021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.065769231 meters 0.014545308545852918 Centerline is valid? [True, True] Translation: X:388.86, Y:-48.44, Z:-2.61 [[ 9.81690316e-01 1.90460731e-01 2.97226203e-03 3.88855899e+02] [-1.90459795e-01 9.81694815e-01 -5.97349751e-04 -4.84445476e+01] [-3.03162589e-03 2.03160500e-05 9.99995404e-01 -2.60513349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.125769231 meters 0.013096131197258925 Centerline is valid? [True, True] Translation: X:388.92, Y:-48.45, Z:-2.60 [[ 9.81278530e-01 1.92514167e-01 5.54449067e-03 3.88915234e+02] [-1.92510947e-01 9.81294194e-01 -1.11388568e-03 -4.84506877e+01] [-5.65521527e-03 2.56569565e-05 9.99984009e-01 -2.60130432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.185769231 meters 0.013322994551193306 Centerline is valid? [True, True] Translation: X:388.97, Y:-48.46, Z:-2.60 [[ 9.81390805e-01 1.91931704e-01 5.85738537e-03 3.88972551e+02] [-1.91928106e-01 9.81408284e-01 -1.17563942e-03 -4.84622730e+01] [-5.97412900e-03 2.95648374e-05 9.99982154e-01 -2.60080795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.245769231 meters 0.015074377809924114 Centerline is valid? [True, True] Translation: X:389.03, Y:-48.48, Z:-2.60 [[ 9.81925363e-01 1.89218388e-01 4.35703688e-03 3.89029556e+02] [-1.89216371e-01 9.81935029e-01 -8.74375359e-04 -4.84783075e+01] [-4.44377503e-03 3.41486354e-05 9.99990126e-01 -2.60337831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.305769231 meters 0.014954475509411553 Centerline is valid? [True, True] Translation: X:389.09, Y:-48.49, Z:-2.60 [[ 9.81906457e-01 1.89304948e-01 4.83180780e-03 3.89086970e+02] [-1.89302470e-01 9.81918344e-01 -9.69426692e-04 -4.84882456e+01] [-4.92795798e-03 3.72131792e-05 9.99987857e-01 -2.60257496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.365769231 meters 0.015245146794199128 Centerline is valid? [True, True] Translation: X:389.14, Y:-48.50, Z:-2.60 [[ 9.81943034e-01 1.89044414e-01 7.07728573e-03 3.89142823e+02] [-1.89039095e-01 9.81968536e-01 -1.41919758e-03 -4.84989719e+01] [-7.21796328e-03 5.56874899e-05 9.99973949e-01 -2.59967046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.425769231 meters 0.017557382495151153 Centerline is valid? [True, True] Translation: X:389.20, Y:-48.52, Z:-2.60 [[ 9.82483518e-01 1.86256542e-01 5.88537378e-03 3.89198934e+02] [-1.86252816e-01 9.82501143e-01 -1.17975069e-03 -4.85167092e+01] [-6.00212275e-03 6.29181652e-05 9.99981985e-01 -2.60250167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.485769231 meters 0.02201841776648678 Centerline is valid? [True, True] Translation: X:389.26, Y:-48.54, Z:-2.61 [[ 9.83338500e-01 1.81736768e-01 4.14017814e-03 3.89255172e+02] [-1.81734884e-01 9.83347214e-01 -8.29752782e-04 -4.85391973e+01] [-4.22202923e-03 6.35130601e-05 9.99991085e-01 -2.60696899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.545769231 meters 0.023498290188984333 Centerline is valid? [True, True] Translation: X:389.31, Y:-48.56, Z:-2.60 [[ 9.83766660e-01 1.79289980e-01 7.63289806e-03 3.89311686e+02] [-1.79283508e-01 9.83796262e-01 -1.52941155e-03 -4.85560935e+01] [-7.78342474e-03 1.36131354e-04 9.99969699e-01 -2.60013800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.605769231 meters 0.021982788338396266 Centerline is valid? [True, True] Translation: X:389.37, Y:-48.57, Z:-2.60 [[ 9.83268751e-01 1.82010415e-01 7.40085407e-03 3.89368552e+02] [-1.82004411e-01 9.83296596e-01 -1.48256559e-03 -4.85660937e+01] [-7.54707699e-03 1.10772327e-04 9.99971514e-01 -2.60032348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.665769231 meters 0.016357578767684323 Centerline is valid? [True, True] Translation: X:389.43, Y:-48.57, Z:-2.61 [[ 9.82103226e-01 1.88315057e-01 3.26990575e-03 3.89426994e+02] [-1.88313920e-01 9.82108669e-01 -6.55064157e-04 -4.85671653e+01] [-3.33476123e-03 2.75718522e-05 9.99994439e-01 -2.60825812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.725769231 meters 0.013130702161579064 Centerline is valid? [True, True] Translation: X:389.49, Y:-48.57, Z:-2.61 [[ 9.81175492e-01 1.93094137e-01 3.05088072e-03 3.89486684e+02] [-1.93093171e-01 9.81180235e-01 -6.11001834e-04 -4.85680838e+01] [-3.11144473e-03 1.03957931e-05 9.99995159e-01 -2.60852354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.785769231 meters 0.013097198251759605 Centerline is valid? [True, True] Translation: X:389.55, Y:-48.57, Z:-2.61 [[ 9.79907851e-01 1.99401486e-01 4.43288468e-03 3.89546279e+02] [-1.99399512e-01 9.79917878e-01 -8.87448990e-04 -4.85655229e+01] [-4.52082159e-03 -1.42968074e-05 9.99989781e-01 -2.60757872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.845769231 meters 0.013567797100309665 Centerline is valid? [True, True] Translation: X:389.60, Y:-48.57, Z:-2.61 [[ 9.79925759e-01 1.99354761e-01 1.78497066e-03 3.89604193e+02] [-1.99354439e-01 9.79927385e-01 -3.57979206e-04 -4.85734644e+01] [-1.82050649e-03 -5.04877922e-06 9.99998343e-01 -2.61377724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.905769231 meters 0.012991855213987331 Centerline is valid? [True, True] Translation: X:389.66, Y:-48.59, Z:-2.61 [[ 9.80029506e-01 1.98828012e-01 3.09651169e-03 3.89661987e+02] [-1.98827047e-01 9.80034398e-01 -6.19329316e-04 -4.85858518e+01] [-3.15782799e-03 -8.70927261e-06 9.99995014e-01 -2.61130362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.965769231 meters 0.012961780661153065 Centerline is valid? [True, True] Translation: X:389.72, Y:-48.60, Z:-2.61 [[ 9.79985075e-01 1.99023949e-01 4.32678070e-03 3.89719906e+02] [-1.99022069e-01 9.79994626e-01 -8.65056757e-04 -4.85972402e+01] [-4.41238885e-03 -1.33821380e-05 9.99990265e-01 -2.60898473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.025769231 meters 0.01289113436261917 Centerline is valid? [True, True] Translation: X:389.78, Y:-48.61, Z:-2.61 [[ 9.80085981e-01 1.98537199e-01 3.80133642e-03 3.89775230e+02] [-1.98535744e-01 9.80093353e-01 -7.59970188e-04 -4.86096578e+01] [-3.87654691e-03 -9.86502884e-06 9.99992486e-01 -2.61065109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.08576923100003 meters 0.01265416397268835 Centerline is valid? [True, True] Translation: X:389.83, Y:-48.62, Z:-2.61 [[ 9.80056059e-01 1.98620640e-01 6.32163910e-03 3.89833240e+02] [-1.98616626e-01 9.80076447e-01 -1.26291621e-03 -4.86214755e+01] [-6.44653081e-03 -1.78539408e-05 9.99979221e-01 -2.60647177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.14576923100003 meters 0.0124169361667441 Centerline is valid? [True, True] Translation: X:389.89, Y:-48.63, Z:-2.61 [[ 9.80325753e-01 1.97323692e-01 4.97784531e-03 3.89888996e+02] [-1.97321187e-01 9.80338391e-01 -9.94353833e-04 -4.86348631e+01] [-5.07618243e-03 -7.44367522e-06 9.99987116e-01 -2.60985200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.20576923100003 meters 0.012743475288175505 Centerline is valid? [True, True] Translation: X:389.95, Y:-48.65, Z:-2.61 [[ 9.81119806e-01 1.93375932e-01 3.11049700e-03 3.89945827e+02] [-1.93374935e-01 9.81124737e-01 -6.21165754e-04 -4.86521214e+01] [-3.17190405e-03 7.94587095e-06 9.99994969e-01 -2.61412552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26576923100004 meters 0.015617813024520734 Centerline is valid? [True, True] Translation: X:390.00, Y:-48.67, Z:-2.62 [[ 9.82189335e-01 1.87884650e-01 1.86224285e-03 3.90000656e+02] [-1.87884283e-01 9.82191101e-01 -3.71992419e-04 -4.86735572e+01] [-1.89897002e-03 1.54808245e-05 9.99998197e-01 -2.61794767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32576923100004 meters 0.02305962876498025 Centerline is valid? [True, True] Translation: X:390.06, Y:-48.70, Z:-2.62 [[ 9.83798212e-01 1.79253912e-01 3.01867459e-03 3.90055515e+02] [-1.79252907e-01 9.83802842e-01 -6.02454413e-04 -4.87016940e+01] [-3.07777295e-03 5.15873771e-05 9.99995262e-01 -2.61638744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38576923100004 meters 0.02652216780171338 Centerline is valid? [True, True] Translation: X:390.11, Y:-48.73, Z:-2.61 [[ 9.84347017e-01 1.76192902e-01 4.12448337e-03 3.90109701e+02] [-1.76191000e-01 9.84355654e-01 -8.22972337e-04 -4.87268324e+01] [-4.20496041e-03 8.33935168e-05 9.99991156e-01 -2.61469660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.445769231 meters 0.026540219638995215 Centerline is valid? [True, True] Translation: X:390.17, Y:-48.75, Z:-2.62 [[ 9.84259017e-01 1.76719183e-01 2.12540332e-03 3.90166335e+02] [-1.76718679e-01 9.84261311e-01 -4.24103364e-04 -4.87457158e+01] [-2.16689946e-03 4.18290928e-05 9.99997651e-01 -2.61918097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.505769231 meters 0.022224479780971935 Centerline is valid? [True, True] Translation: X:390.22, Y:-48.76, Z:-2.62 [[ 9.83544428e-01 1.80663183e-01 1.08272669e-03 3.90223356e+02] [-1.80663055e-01 9.83545024e-01 -2.16089598e-04 -4.87626053e+01] [-1.10394988e-03 1.69250094e-05 9.99999391e-01 -2.62044827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.565769231 meters 0.017961862215032244 Centerline is valid? [True, True] Translation: X:390.28, Y:-48.77, Z:-2.62 [[ 9.82669732e-01 1.85349892e-01 2.36959828e-03 3.90280548e+02] [-1.85349291e-01 9.82672589e-01 -4.72598920e-04 -4.87740014e+01] [-2.41613543e-03 2.52052935e-05 9.99997081e-01 -2.61823579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.625769231 meters 0.012680243975680162 Centerline is valid? [True, True] Translation: X:390.34, Y:-48.78, Z:-2.62 [[ 9.80983529e-01 1.94082025e-01 1.86663000e-03 3.90339083e+02] [-1.94081668e-01 9.80985305e-01 -3.72264646e-04 -4.87809001e+01] [-1.90338647e-03 2.90682322e-06 9.99998189e-01 -2.62038685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.685769231 meters 0.015445154801634046 Centerline is valid? [True, True] Translation: X:390.40, Y:-48.79, Z:-2.62 [[ 9.79386529e-01 2.01986755e-01 1.83759776e-03 3.90398197e+02] [-2.01986423e-01 9.79388253e-01 -3.66392884e-04 -4.87858513e+01] [-1.87372817e-03 -1.23295440e-05 9.99998244e-01 -2.61956711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.745769231 meters 0.02056802320752792 Centerline is valid? [True, True] Translation: X:390.46, Y:-48.79, Z:-2.62 [[ 9.78131863e-01 2.07947617e-01 3.98091034e-03 3.90457949e+02] [-2.07946111e-01 9.78139962e-01 -7.93183243e-04 -4.87887389e+01] [-4.05882805e-03 -5.19770182e-05 9.99991762e-01 -2.61633809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.805769231 meters 0.02393528426095836 Centerline is valid? [True, True] Translation: X:390.52, Y:-48.80, Z:-2.62 [[ 9.77089162e-01 2.12783543e-01 4.46470711e-03 3.90517605e+02] [-2.12781700e-01 9.77099359e-01 -8.89283234e-04 -4.87952115e+01] [-4.55168730e-03 -8.10989601e-05 9.99989638e-01 -2.61544758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.865769231 meters 0.029809089919712047 Centerline is valid? [True, True] Translation: X:390.58, Y:-48.80, Z:-2.62 [[ 9.76593392e-01 2.15073502e-01 2.95553702e-03 3.90576248e+02] [-2.15072705e-01 9.76597862e-01 -5.88811722e-04 -4.87982033e+01] [-3.01300893e-03 -6.06257033e-05 9.99995459e-01 -2.62146648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.925769231 meters 0.027508639801302585 Centerline is valid? [True, True] Translation: X:390.63, Y:-48.81, Z:-2.62 [[ 9.77079463e-01 2.12850565e-01 3.21881541e-03 3.90632841e+02] [-2.12849608e-01 9.77084763e-01 -6.40973776e-04 -4.88145931e+01] [-3.28148713e-03 -5.88412874e-05 9.99994614e-01 -2.62216349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.985769231 meters 0.023760088247696005 Centerline is valid? [True, True] Translation: X:390.69, Y:-48.84, Z:-2.62 [[ 9.77829508e-01 2.09397122e-01 1.51605429e-03 3.90689209e+02] [-2.09396905e-01 9.77830683e-01 -3.01931390e-04 -4.88351583e+01] [-1.54566797e-03 -2.22196549e-05 9.99998805e-01 -2.62361563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.045769231 meters 0.02482440585421421 Centerline is valid? [True, True] Translation: X:390.75, Y:-48.84, Z:-2.62 [[ 9.77071330e-01 2.12865935e-01 4.43952981e-03 3.90747192e+02] [-2.12864116e-01 9.77081413e-01 -8.83638378e-04 -4.88433932e+01] [-4.52587857e-03 -8.16388625e-05 9.99989755e-01 -2.61739426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.105769231 meters 0.03132568433721444 Centerline is valid? [True, True] Translation: X:390.81, Y:-48.85, Z:-2.62 [[ 9.76611906e-01 2.14963910e-01 4.43864700e-03 3.90805526e+02] [-2.14962115e-01 9.76621989e-01 -8.83194495e-04 -4.88452352e+01] [-4.52473520e-03 -9.16026873e-05 9.99989759e-01 -2.61824769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.165769231 meters 0.03738774997105749 Centerline is valid? [True, True] Translation: X:390.87, Y:-48.85, Z:-2.62 [[ 9.75723306e-01 2.18993018e-01 2.46733402e-03 3.90866495e+02] [-2.18992476e-01 9.75726424e-01 -4.90719781e-04 -4.88481936e+01] [-2.51490720e-03 -6.15208588e-05 9.99996836e-01 -2.62351577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.225769231 meters 0.0294420445571399 Centerline is valid? [True, True] Translation: X:390.92, Y:-48.87, Z:-2.62 [[ 9.75797430e-01 2.18653525e-01 3.16410239e-03 3.90922222e+02] [-2.18652633e-01 9.75802557e-01 -6.29481167e-04 -4.88700099e+01] [-3.22517748e-03 -7.75932132e-05 9.99994796e-01 -2.62115944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.285769231 meters 0.026143399384051347 Centerline is valid? [True, True] Translation: X:390.98, Y:-48.89, Z:-2.62 [[ 9.76602842e-01 2.15007054e-01 4.34224118e-03 3.90979787e+02] [-2.15005339e-01 9.76612492e-01 -8.63462519e-04 -4.88864553e+01] [-4.42633751e-03 -9.03450856e-05 9.99990200e-01 -2.61869508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.345769231 meters 0.026476634954493015 Centerline is valid? [True, True] Translation: X:391.04, Y:-48.90, Z:-2.62 [[ 9.76814796e-01 2.14034208e-01 4.71298138e-03 3.91036642e+02] [-2.14032177e-01 9.76826161e-01 -9.37134110e-04 -4.88977836e+01] [-4.80434227e-03 -9.33232013e-05 9.99988455e-01 -2.61884961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.405769231 meters 0.026817597597521236 Centerline is valid? [True, True] Translation: X:391.09, Y:-48.91, Z:-2.62 [[ 9.77252448e-01 2.12038055e-01 4.18526247e-03 3.91093638e+02] [-2.12036436e-01 9.77261407e-01 -8.31986819e-04 -4.89073902e+01] [-4.26650836e-03 -7.43669822e-05 9.99990896e-01 -2.62240928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.465769231 meters 0.016559246401309274 Centerline is valid? [True, True] Translation: X:391.15, Y:-48.94, Z:-2.62 [[ 9.78872692e-01 2.04439082e-01 3.59382791e-03 3.91149172e+02] [-2.04437838e-01 9.78879288e-01 -7.14110139e-04 -4.89375873e+01] [-3.66391573e-03 -3.56914931e-05 9.99993287e-01 -2.62381075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.525769231 meters 0.01276794662825744 Centerline is valid? [True, True] Translation: X:391.20, Y:-48.96, Z:-2.63 [[ 9.80424642e-01 1.96883975e-01 2.05441752e-03 3.91202819e+02] [-1.96883552e-01 9.80426795e-01 -4.08468900e-04 -4.89645322e+01] [-2.09462697e-03 -4.00804399e-06 9.99997806e-01 -2.62682303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.58576923100003 meters 0.013183833487107674 Centerline is valid? [True, True] Translation: X:391.26, Y:-48.99, Z:-2.62 [[ 9.81594242e-01 1.90940184e-01 3.81960119e-03 3.91257578e+02] [-1.90938677e-01 9.81601674e-01 -7.58799118e-04 -4.89905268e+01] [-3.89421216e-03 1.55232486e-05 9.99992417e-01 -2.62309792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.64576923100003 meters 0.0133766438412893 Centerline is valid? [True, True] Translation: X:391.31, Y:-49.01, Z:-2.62 [[ 9.81606210e-01 1.90868786e-01 4.28436053e-03 3.91313554e+02] [-1.90866890e-01 9.81615559e-01 -8.50908296e-04 -4.90061984e+01] [-4.36800679e-03 1.75142973e-05 9.99990460e-01 -2.62286536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.70576923100003 meters 0.013294794336846303 Centerline is valid? [True, True] Translation: X:391.37, Y:-49.02, Z:-2.63 [[ 9.81477304e-01 1.91572884e-01 1.45987289e-03 3.91370184e+02] [-1.91572664e-01 9.81478390e-01 -2.90058678e-04 -4.90243957e+01] [-1.48840107e-03 5.01427038e-06 9.99998892e-01 -2.62784514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76576923100004 meters 0.012573147310965736 Centerline is valid? [True, True] Translation: X:391.43, Y:-49.04, Z:-2.63 [[ 9.81023700e-01 1.93864378e-01 3.01711195e-03 3.91427106e+02] [-1.93863453e-01 9.81028339e-01 -5.98969414e-04 -4.90394118e+01] [-3.07599116e-03 2.69545045e-06 9.99995269e-01 -2.62537762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82576923100004 meters 0.013237379278730666 Centerline is valid? [True, True] Translation: X:391.49, Y:-49.05, Z:-2.62 [[ 9.80133761e-01 1.98280967e-01 4.74003272e-03 3.91485262e+02] [-1.98278737e-01 9.80145223e-01 -9.40600352e-04 -4.90476365e+01] [-4.83242358e-03 -1.79335387e-05 9.99988324e-01 -2.62245520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88576923100004 meters 0.023449624693768014 Centerline is valid? [True, True] Translation: X:391.55, Y:-49.04, Z:-2.62 [[ 9.77730444e-01 2.09819959e-01 4.33176004e-03 3.91547142e+02] [-2.09818211e-01 9.77740037e-01 -8.59318697e-04 -4.90420500e+01] [-4.41563744e-03 -6.87000905e-05 9.99990249e-01 -2.62198573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.945769231 meters 0.032780845574068296 Centerline is valid? [True, True] Translation: X:391.61, Y:-49.04, Z:-2.62 [[ 9.75958953e-01 2.17920566e-01 3.84040910e-03 3.91609241e+02] [-2.17919254e-01 9.75966505e-01 -7.61785916e-04 -4.90405499e+01] [-3.91411947e-03 -9.34273031e-05 9.99992335e-01 -2.62376867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.005769231 meters 0.03965828326870162 Centerline is valid? [True, True] Translation: X:391.67, Y:-49.04, Z:-2.62 [[ 9.74806206e-01 2.22989880e-01 5.32682978e-03 3.91668998e+02] [-2.22987432e-01 9.74820747e-01 -1.05661984e-03 -4.90415023e+01] [-5.42831972e-03 -1.57816524e-04 9.99985254e-01 -2.62180720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.065769231 meters 0.04519144510766181 Centerline is valid? [True, True] Translation: X:391.73, Y:-49.04, Z:-2.62 [[ 9.73861670e-01 2.27032904e-01 7.03619931e-03 3.91730078e+02] [-2.27028740e-01 9.73887059e-01 -1.39558349e-03 -4.90415130e+01] [-7.16930683e-03 -2.38314192e-04 9.99974272e-01 -2.61873317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.125769231 meters 0.04385297979762365 Centerline is valid? [True, True] Translation: X:391.79, Y:-49.05, Z:-2.62 [[ 9.72957028e-01 2.30945825e-01 4.31835417e-03 3.91789731e+02] [-2.30944295e-01 9.72966597e-01 -8.56512071e-04 -4.90474887e+01] [-4.39942224e-03 -1.63949820e-04 9.99990309e-01 -2.62462619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.185769231 meters 0.04782779230955853 Centerline is valid? [True, True] Translation: X:391.85, Y:-49.05, Z:-2.63 [[ 9.72510036e-01 2.32844603e-01 2.76044173e-03 3.91849414e+02] [-2.32843986e-01 9.72513948e-01 -5.47586955e-04 -4.90479279e+01] [-2.81207075e-03 -1.10218445e-04 9.99996040e-01 -2.62764728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.245769231 meters 0.046864757344476815 Centerline is valid? [True, True] Translation: X:391.91, Y:-49.05, Z:-2.63 [[ 9.72614706e-01 2.32402192e-01 3.13926267e-03 3.91908756e+02] [-2.32401391e-01 9.72619764e-01 -6.22631985e-04 -4.90525277e+01] [-3.19800995e-03 -1.23987984e-04 9.99994879e-01 -2.62852139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.305769231 meters 0.04331511097093695 Centerline is valid? [True, True] Translation: X:391.97, Y:-49.06, Z:-2.63 [[ 9.73550266e-01 2.28433217e-01 4.25961558e-03 3.91967530e+02] [-2.28431706e-01 9.73559573e-01 -8.44444554e-04 -4.90630337e+01] [-4.33988872e-03 -1.50922036e-04 9.99990571e-01 -2.62637112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.365769231 meters 0.03441792213620371 Centerline is valid? [True, True] Translation: X:392.02, Y:-49.08, Z:-2.62 [[ 9.75523150e-01 2.19796993e-01 6.62316576e-03 3.92024379e+02] [-2.19793142e-01 9.75545617e-01 -1.31281536e-03 -4.90803381e+01] [-6.74975320e-03 -1.75044637e-04 9.99977205e-01 -2.62231626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.425769231 meters 0.027639782881673108 Centerline is valid? [True, True] Translation: X:392.08, Y:-49.10, Z:-2.62 [[ 9.76850738e-01 2.13832097e-01 6.20235899e-03 3.92081525e+02] [-2.13828600e-01 9.76870421e-01 -1.22930652e-03 -4.90994429e+01] [-6.32176622e-03 -1.25392754e-04 9.99980010e-01 -2.62458987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.485769231 meters 0.020782279946262295 Centerline is valid? [True, True] Translation: X:392.14, Y:-49.12, Z:-2.63 [[ 9.77920003e-01 2.08937611e-01 4.18840468e-03 3.92137970e+02] [-2.08935971e-01 9.77928970e-01 -8.30154771e-04 -4.91202895e+01] [-4.26941283e-03 -6.32834419e-05 9.99990884e-01 -2.62836129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.545769231 meters 0.023259687553783392 Centerline is valid? [True, True] Translation: X:392.20, Y:-49.13, Z:-2.63 [[ 9.77524843e-01 2.10773235e-01 4.45241184e-03 3.92195638e+02] [-2.10771401e-01 9.77534980e-01 -8.82450463e-04 -4.91255115e+01] [-4.53838526e-03 -7.58238320e-05 9.99989699e-01 -2.62789628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.605769231 meters 0.027153255473007253 Centerline is valid? [True, True] Translation: X:392.26, Y:-49.13, Z:-2.63 [[ 9.76409778e-01 2.15896334e-01 3.56630717e-03 3.92255771e+02] [-2.15895193e-01 9.76416287e-01 -7.06615987e-04 -4.91270959e+01] [-3.63475621e-03 -8.00018149e-05 9.99993391e-01 -2.62897866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.665769231 meters 0.03841474781101072 Centerline is valid? [True, True] Translation: X:392.32, Y:-49.11, Z:-2.63 [[ 9.74086516e-01 2.26144092e-01 3.78273007e-03 3.92319380e+02] [-2.26142886e-01 9.74093853e-01 -7.49258018e-04 -4.91147790e+01] [-3.85417438e-03 -1.25595363e-04 9.99992565e-01 -2.62843960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.725769231 meters 0.05221758117801998 Centerline is valid? [True, True] Translation: X:392.38, Y:-49.10, Z:-2.63 [[ 9.73044812e-01 2.30593467e-01 3.23229225e-03 3.92382915e+02] [-2.30592611e-01 9.73050172e-01 -6.40196506e-04 -4.90999815e+01] [-3.29280766e-03 -1.22402818e-04 9.99994571e-01 -2.63138074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.785769231 meters 0.04692213496803949 Centerline is valid? [True, True] Translation: X:392.44, Y:-49.10, Z:-2.63 [[ 9.73296323e-01 2.29489096e-01 5.38729048e-03 3.92441663e+02] [-2.29486699e-01 9.73311212e-01 -1.06716810e-03 -4.91041636e+01] [-5.48841367e-03 -1.97640723e-04 9.99984919e-01 -2.62781757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.845769231 meters 0.03843562271264313 Centerline is valid? [True, True] Translation: X:392.50, Y:-49.11, Z:-2.63 [[ 9.74510576e-01 2.24252930e-01 6.30561907e-03 3.92500635e+02] [-2.24249546e-01 9.74530956e-01 -1.24777964e-03 -4.91146325e+01] [-6.42483922e-03 -1.98057760e-04 9.99979341e-01 -2.62615138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.905769231 meters 0.03240974402579242 Centerline is valid? [True, True] Translation: X:392.56, Y:-49.13, Z:-2.63 [[ 9.75639372e-01 2.19328330e-01 4.78539164e-03 3.92559466e+02] [-2.19326322e-01 9.75651099e-01 -9.46946655e-04 -4.91263310e+01] [-4.87656485e-03 -1.25683907e-04 9.99988102e-01 -2.63010583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.965769231 meters 0.029018103492410158 Centerline is valid? [True, True] Translation: X:392.62, Y:-49.13, Z:-2.63 [[ 9.76548511e-01 2.15256962e-01 4.17693492e-03 3.92617456e+02] [-2.15255395e-01 9.76557439e-01 -8.26537670e-04 -4.91345344e+01] [-4.25693485e-03 -9.19536442e-05 9.99990935e-01 -2.63101153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.025769231 meters 0.026792400379030103 Centerline is valid? [True, True] Translation: X:392.68, Y:-49.14, Z:-2.63 [[ 9.77129654e-01 2.12597710e-01 4.45572134e-03 3.92675800e+02] [-2.12595900e-01 9.77139809e-01 -8.81638315e-04 -4.91433158e+01] [-4.54129698e-03 -8.57931456e-05 9.99989685e-01 -2.62984643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.08576923100003 meters 0.024032935115720373 Centerline is valid? [True, True] Translation: X:392.73, Y:-49.15, Z:-2.63 [[ 9.77697718e-01 2.09940669e-01 5.66461348e-03 3.92733423e+02] [-2.09937699e-01 9.77714123e-01 -1.12062538e-03 -4.91537054e+01] [-5.77363745e-03 -9.35830405e-05 9.99983328e-01 -2.62855917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.14576923100003 meters 0.01911348241338559 Centerline is valid? [True, True] Translation: X:392.79, Y:-49.17, Z:-2.63 [[ 9.78489809e-01 2.06229532e-01 5.20318992e-03 3.92790339e+02] [-2.06226979e-01 9.78503641e-01 -1.02839585e-03 -4.91674070e+01] [-5.30342588e-03 -6.67632761e-05 9.99985935e-01 -2.63024820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.20576923100003 meters 0.01600908600543774 Centerline is valid? [True, True] Translation: X:392.85, Y:-49.18, Z:-2.63 [[ 9.79229739e-01 2.02642223e-01 6.72668991e-03 3.92847538e+02] [-2.02637874e-01 9.79252840e-01 -1.32909982e-03 -4.91840736e+01] [-6.85646194e-03 -6.15880726e-05 9.99976492e-01 -2.62768930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26576923100004 meters 0.017206577202289377 Centerline is valid? [True, True] Translation: X:392.90, Y:-49.19, Z:-2.63 [[ 9.79036409e-01 2.03615813e-01 5.32078469e-03 3.92904644e+02] [-2.03613110e-01 9.79050866e-01 -1.05052709e-03 -4.91910231e+01] [-5.42322278e-03 -5.48772502e-05 9.99985293e-01 -2.63096124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32576923100004 meters 0.018931487103216918 Centerline is valid? [True, True] Translation: X:392.96, Y:-49.20, Z:-2.64 [[ 9.78669931e-01 2.05426187e-01 2.29078798e-03 3.92962887e+02] [-2.05425689e-01 9.78672612e-01 -4.52901750e-04 -4.91982628e+01] [-2.33496933e-03 -2.73453750e-05 9.99997274e-01 -2.63740745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38576923100004 meters 0.01527204728245967 Centerline is valid? [True, True] Translation: X:393.02, Y:-49.21, Z:-2.63 [[ 9.79382107e-01 2.01917348e-01 6.33026004e-03 3.93019728e+02] [-2.01913497e-01 9.79402563e-01 -1.24834320e-03 -4.92148319e+01] [-6.45193506e-03 -5.55599465e-05 9.99979185e-01 -2.63150489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.445769231 meters 0.012490175409415914 Centerline is valid? [True, True] Translation: X:393.07, Y:-49.24, Z:-2.63 [[ 9.80848222e-01 1.94672173e-01 6.28578173e-03 3.93074046e+02] [-1.94668234e-01 9.80868363e-01 -1.23836731e-03 -4.92387738e+01] [-6.40660009e-03 -8.99166055e-06 9.99979477e-01 -2.63301905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.505769231 meters 0.012933013176141667 Centerline is valid? [True, True] Translation: X:393.13, Y:-49.26, Z:-2.64 [[ 9.81675016e-01 1.90512051e-01 4.39556777e-03 3.93129997e+02] [-1.90510084e-01 9.81684857e-01 -8.65786141e-04 -4.92584296e+01] [-4.48000501e-03 1.25206399e-05 9.99989965e-01 -2.63623949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.565769231 meters 0.013884919884926234 Centerline is valid? [True, True] Translation: X:393.19, Y:-49.28, Z:-2.64 [[ 9.82202321e-01 1.87773616e-01 4.43515652e-03 3.93186216e+02] [-1.87771586e-01 9.82212334e-01 -8.73373026e-04 -4.92777513e+01] [-4.52026184e-03 2.50326393e-05 9.99989783e-01 -2.63633621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.625769231 meters 0.013630396309788023 Centerline is valid? [True, True] Translation: X:393.24, Y:-49.29, Z:-2.64 [[ 9.82119182e-01 1.88204595e-01 4.57623318e-03 3.93243117e+02] [-1.88202440e-01 9.82129844e-01 -9.00919581e-04 -4.92939344e+01] [-4.66401238e-03 2.35521516e-05 9.99989123e-01 -2.63633414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.685769231 meters 0.01302757908315174 Centerline is valid? [True, True] Translation: X:393.30, Y:-49.31, Z:-2.64 [[ 9.81824680e-01 1.89752667e-01 3.77133521e-03 3.93298746e+02] [-1.89751215e-01 9.81831923e-01 -7.42370559e-04 -4.93093029e+01] [-3.84368410e-03 1.32622987e-05 9.99992613e-01 -2.63799250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.745769231 meters 0.012377816425370287 Centerline is valid? [True, True] Translation: X:393.36, Y:-49.32, Z:-2.64 [[ 9.81161175e-01 1.93163876e-01 3.23513736e-03 3.93356672e+02] [-1.93162826e-01 9.81166508e-01 -6.36638322e-04 -4.93212179e+01] [-3.29718396e-03 -2.63472687e-07 9.99994564e-01 -2.63942958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.805769231 meters 0.012807883363355357 Centerline is valid? [True, True] Translation: X:393.41, Y:-49.33, Z:-2.64 [[ 9.80602094e-01 1.95933457e-01 5.44190324e-03 3.93413508e+02] [-1.95930533e-01 9.80617194e-01 -1.07047716e-03 -4.93291507e+01] [-5.54616617e-03 -1.65228603e-05 9.99984620e-01 -2.63546181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.865769231 meters 0.013660237461665973 Centerline is valid? [True, True] Translation: X:393.47, Y:-49.34, Z:-2.64 [[ 9.80320399e-01 1.97373068e-01 3.97323001e-03 3.93471124e+02] [-1.97371523e-01 9.80328451e-01 -7.81298977e-04 -4.93419530e+01] [-4.04927780e-03 -1.82791320e-05 9.99991801e-01 -2.64016747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.925769231 meters 0.013595972458869175 Centerline is valid? [True, True] Translation: X:393.53, Y:-49.35, Z:-2.64 [[ 9.80388561e-01 1.97025008e-01 4.40637347e-03 3.93528724e+02] [-1.97023105e-01 9.80398463e-01 -8.66231488e-04 -4.93523522e+01] [-4.49067104e-03 -1.89139409e-05 9.99989917e-01 -2.63997587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.985769231 meters 0.014729442706147058 Centerline is valid? [True, True] Translation: X:393.59, Y:-49.36, Z:-2.64 [[ 9.79822562e-01 1.99785427e-01 5.79055332e-03 3.93587658e+02] [-1.99782190e-01 9.79839671e-01 -1.13811245e-03 -4.93574168e+01] [-5.90119214e-03 -4.17011625e-05 9.99982587e-01 -2.63667388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.045769231 meters 0.018198611745818088 Centerline is valid? [True, True] Translation: X:393.65, Y:-49.36, Z:-2.64 [[ 9.79277989e-01 2.02453066e-01 5.23213541e-03 3.93646417e+02] [-2.02450467e-01 9.79291965e-01 -1.02736809e-03 -4.93582278e+01] [-5.33178198e-03 -5.31693008e-05 9.99985785e-01 -2.63869271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.105769231 meters 0.020191009610476235 Centerline is valid? [True, True] Translation: X:393.71, Y:-49.36, Z:-2.64 [[ 9.78649924e-01 2.05494067e-01 4.06378491e-03 3.93706006e+02] [-2.05492524e-01 9.78658360e-01 -7.98105158e-04 -4.93606414e+01] [-4.14106295e-03 -5.40118659e-05 9.99991424e-01 -2.64241264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.165769231 meters 0.01679282379845072 Centerline is valid? [True, True] Translation: X:393.76, Y:-49.37, Z:-2.64 [[ 9.79358991e-01 2.02018229e-01 6.67849366e-03 3.93763161e+02] [-2.02013995e-01 9.79381759e-01 -1.30969792e-03 -4.93740505e+01] [-6.80537772e-03 -6.64847511e-05 9.99976841e-01 -2.63904104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.225769231 meters 0.014435988728455548 Centerline is valid? [True, True] Translation: X:393.82, Y:-49.39, Z:-2.64 [[ 9.80100671e-01 1.98450504e-01 4.48026584e-03 3.93819975e+02] [-1.98448562e-01 9.80110910e-01 -8.78501740e-04 -4.93881814e+01] [-4.56549654e-03 -2.80821662e-05 9.99989578e-01 -2.64309982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.285769231 meters 0.013652866444357417 Centerline is valid? [True, True] Translation: X:393.88, Y:-49.40, Z:-2.65 [[ 9.80431000e-01 1.96833497e-01 3.41010891e-03 3.93877004e+02] [-1.96832361e-01 9.80436930e-01 -6.69095468e-04 -4.94006646e+01] [-3.47509711e-03 -1.52178474e-05 9.99993962e-01 -2.64548944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.345769231 meters 0.013218780965479663 Centerline is valid? [True, True] Translation: X:393.93, Y:-49.41, Z:-2.64 [[ 9.80587675e-01 1.96014263e-01 5.12055892e-03 3.93933783e+02] [-1.96011698e-01 9.80601044e-01 -1.00300045e-03 -4.94118846e+01] [-5.21782782e-03 -2.01595658e-05 9.99986387e-01 -2.64380295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.405769231 meters 0.012931322032130967 Centerline is valid? [True, True] Translation: X:393.99, Y:-49.43, Z:-2.64 [[ 9.80911231e-01 1.94392615e-01 4.96663966e-03 3.93989465e+02] [-1.94390187e-01 9.80923805e-01 -9.71643127e-04 -4.94264584e+01] [-5.06077532e-03 -1.23703564e-05 9.99987194e-01 -2.64445587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.465769231 meters 0.014017939269817252 Centerline is valid? [True, True] Translation: X:394.04, Y:-49.45, Z:-2.65 [[ 9.82478851e-01 1.86311469e-01 4.83151771e-03 3.94044196e+02] [-1.86309075e-01 9.82490731e-01 -9.44900966e-04 -4.94514807e+01] [-4.92296725e-03 2.81896214e-05 9.99987882e-01 -2.64543773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.525769231 meters 0.020617539376586037 Centerline is valid? [True, True] Translation: X:394.10, Y:-49.48, Z:-2.64 [[ 9.84099283e-01 1.77533470e-01 5.51981476e-03 3.94099284e+02] [-1.77530209e-01 9.84114760e-01 -1.07915624e-03 -4.94810381e+01] [-5.62371753e-03 8.20630099e-05 9.99984183e-01 -2.64465564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.58576923100003 meters 0.031533065102162666 Centerline is valid? [True, True] Translation: X:394.15, Y:-49.52, Z:-2.64 [[ 9.85903630e-01 1.67183222e-01 6.61836898e-03 3.94152717e+02] [-1.67178301e-01 9.85925830e-01 -1.29373055e-03 -4.95194684e+01] [-6.74151097e-03 1.69045966e-04 9.99977261e-01 -2.64272715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.64576923100003 meters 0.0366227788116693 Centerline is valid? [True, True] Translation: X:394.21, Y:-49.55, Z:-2.65 [[ 9.86741686e-01 1.62264710e-01 3.31787865e-03 3.94207615e+02] [-1.62263446e-01 9.86747259e-01 -6.48565243e-04 -4.95515473e+01] [-3.37914691e-03 1.01595939e-04 9.99994286e-01 -2.64937892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.70576923100003 meters 0.03668675824853299 Centerline is valid? [True, True] Translation: X:394.26, Y:-49.57, Z:-2.65 [[ 9.86813979e-01 1.61799218e-01 4.37996667e-03 3.94263975e+02] [-1.61797010e-01 9.86823690e-01 -8.56129407e-04 -4.95745859e+01] [-4.46077594e-03 1.36174954e-04 9.99990041e-01 -2.64820770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76576923100004 meters 0.036331677954264396 Centerline is valid? [True, True] Translation: X:394.32, Y:-49.60, Z:-2.64 [[ 9.86463967e-01 1.63843996e-01 6.63228503e-03 3.94318704e+02] [-1.63838982e-01 9.86486243e-01 -1.29613330e-03 -4.96039045e+01] [-6.75502161e-03 1.91961973e-04 9.99977166e-01 -2.64311465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82576923100004 meters 0.031693277881988946 Centerline is valid? [True, True] Translation: X:394.38, Y:-49.62, Z:-2.64 [[ 9.85853977e-01 1.67506668e-01 5.78370591e-03 3.94376970e+02] [-1.67502919e-01 9.85870932e-01 -1.13017991e-03 -4.96198005e+01] [-5.89130021e-03 1.45404742e-04 9.99982636e-01 -2.64428011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.885769231 meters 0.022720884994762283 Centerline is valid? [True, True] Translation: X:394.44, Y:-49.63, Z:-2.64 [[ 9.84664603e-01 1.74311444e-01 7.15116773e-03 3.94437192e+02] [-1.74305892e-01 9.84690562e-01 -1.39718925e-03 -4.96264590e+01] [-7.28523345e-03 1.29272128e-04 9.99973454e-01 -2.64210322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.945769231 meters 0.016325494070314733 Centerline is valid? [True, True] Translation: X:394.50, Y:-49.63, Z:-2.64 [[ 9.82996983e-01 1.83474424e-01 7.35298258e-03 3.94496378e+02] [-1.83468811e-01 9.83024482e-01 -1.43652576e-03 -4.96325505e+01] [-7.49172762e-03 6.30575219e-05 9.99971935e-01 -2.64203478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.005769231 meters 0.013273508714587512 Centerline is valid? [True, True] Translation: X:394.56, Y:-49.63, Z:-2.65 [[ 9.80964575e-01 1.94110158e-01 5.45421177e-03 3.94555630e+02] [-1.94107234e-01 9.80979738e-01 -1.06552518e-03 -4.96313899e+01] [-5.55730049e-03 -1.34595086e-05 9.99984558e-01 -2.64643412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.065769231 meters 0.014498573910145708 Centerline is valid? [True, True] Translation: X:394.61, Y:-49.64, Z:-2.65 [[ 9.80388985e-01 1.97055718e-01 2.54601757e-03 3.94613785e+02] [-1.97055091e-01 9.80392291e-01 -4.97411549e-04 -4.96413307e+01] [-2.59411379e-03 -1.40489196e-05 9.99996635e-01 -2.65226679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.125769231 meters 0.015239897135781206 Centerline is valid? [True, True] Translation: X:394.67, Y:-49.65, Z:-2.66 [[ 9.80186094e-01 1.98078825e-01 2.42293931e-05 3.94671841e+02] [-1.98078825e-01 9.80186094e-01 -5.07875736e-06 -4.96525500e+01] [-2.47553085e-05 1.78797645e-07 1.00000000e+00 -2.65720935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.185769231 meters 0.01609202457744074 Centerline is valid? [True, True] Translation: X:394.73, Y:-49.66, Z:-2.65 [[ 9.79786144e-01 2.00016525e-01 3.53587016e-03 3.94730361e+02] [-2.00015336e-01 9.79792523e-01 -6.90315897e-04 -4.96578892e+01] [-3.60249373e-03 -3.08663079e-05 9.99993511e-01 -2.65221681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.245769231 meters 0.021879481112245698 Centerline is valid? [True, True] Translation: X:394.79, Y:-49.65, Z:-2.65 [[ 9.78573124e-01 2.05800628e-01 6.38297298e-03 3.94790908e+02] [-2.05796881e-01 9.78593936e-01 -1.24555559e-03 -4.96549090e+01] [-6.50267478e-03 -9.47287071e-05 9.99978853e-01 -2.64754843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.305769231 meters 0.021895061890201763 Centerline is valid? [True, True] Translation: X:394.85, Y:-49.66, Z:-2.65 [[ 9.78302092e-01 2.07110077e-01 5.51667148e-03 3.94849140e+02] [-2.07107300e-01 9.78317642e-01 -1.07635333e-03 -4.96644327e+01] [-5.61998065e-03 -8.95442212e-05 9.99984204e-01 -2.65059435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.365769231 meters 0.01764821493243187 Centerline is valid? [True, True] Translation: X:394.90, Y:-49.68, Z:-2.65 [[ 9.79395480e-01 2.01816439e-01 7.39046222e-03 3.94904528e+02] [-2.01811307e-01 9.79423360e-01 -1.44146132e-03 -4.96813846e+01] [-7.52930193e-03 -7.97181362e-05 9.99971651e-01 -2.64728535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.425769231 meters 0.014378336736948832 Centerline is valid? [True, True] Translation: X:394.96, Y:-49.70, Z:-2.64 [[ 9.80245503e-01 1.97509435e-01 1.04295894e-02 3.94961866e+02] [-1.97498978e-01 9.80300984e-01 -2.03349407e-03 -4.96970298e+01] [-1.06257710e-02 -6.65098328e-05 9.99943543e-01 -2.64297456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.485769231 meters 0.013894021662709017 Centerline is valid? [True, True] Translation: X:395.02, Y:-49.71, Z:-2.65 [[ 9.80648199e-01 1.95614122e-01 8.01407831e-03 3.95019015e+02] [-1.95607886e-01 9.80680944e-01 -1.56226100e-03 -4.97061458e+01] [-8.16485419e-03 -3.55884815e-05 9.99966666e-01 -2.64703938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.545769231 meters 0.014291788101401198 Centerline is valid? [True, True] Translation: X:395.08, Y:-49.71, Z:-2.65 [[ 9.80544075e-01 1.96248861e-01 4.43857710e-03 3.95077492e+02] [-1.96246955e-01 9.80554121e-01 -8.65129950e-04 -4.97147015e+01] [-4.52204583e-03 -2.27591943e-05 9.99989775e-01 -2.65385417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.605769231 meters 0.01689485293144096 Centerline is valid? [True, True] Translation: X:395.14, Y:-49.72, Z:-2.65 [[ 9.79831629e-01 1.99769237e-01 4.71486323e-03 3.95135741e+02] [-1.99767129e-01 9.79842972e-01 -9.18816997e-04 -4.97162439e+01] [-4.80337697e-03 -4.15887353e-05 9.99988463e-01 -2.65342203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.665769231 meters 0.019899536083760938 Centerline is valid? [True, True] Translation: X:395.20, Y:-49.72, Z:-2.65 [[ 9.79087138e-01 2.03370245e-01 5.37765819e-03 3.95195855e+02] [-2.03367560e-01 9.79101904e-01 -1.04738816e-03 -4.97162649e+01] [-5.47828296e-03 -6.81569493e-05 9.99984992e-01 -2.65236012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.725769231 meters 0.02051717743781997 Centerline is valid? [True, True] Translation: X:395.25, Y:-49.72, Z:-2.66 [[ 9.78650094e-01 2.05494412e-01 4.00494729e-03 3.95254046e+02] [-2.05492941e-01 9.78658287e-01 -7.79968375e-04 -4.97230025e+01] [-4.07975400e-03 -5.96722713e-05 9.99991676e-01 -2.65572298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.785769231 meters 0.023697049243565374 Centerline is valid? [True, True] Translation: X:395.31, Y:-49.72, Z:-2.65 [[ 9.78251608e-01 2.07348916e-01 5.49713020e-03 3.95312604e+02] [-2.07346175e-01 9.78267049e-01 -1.07008068e-03 -4.97221888e+01] [-5.59954141e-03 -9.30007751e-05 9.99984318e-01 -2.65324646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.845769231 meters 0.024333256492240985 Centerline is valid? [True, True] Translation: X:395.37, Y:-49.73, Z:-2.65 [[ 9.78191578e-01 2.07627754e-01 5.65263485e-03 3.95371431e+02] [-2.07624864e-01 9.78207905e-01 -1.09988264e-03 -4.97260504e+01] [-5.75781826e-03 -9.77316034e-05 9.99983419e-01 -2.65337704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.905769231 meters 0.022034936533085518 Centerline is valid? [True, True] Translation: X:395.43, Y:-49.74, Z:-2.65 [[ 9.78414770e-01 2.06567104e-01 5.87962808e-03 3.95429250e+02] [-2.06563959e-01 9.78432431e-01 -1.14376233e-03 -4.97356937e+01] [-5.98908247e-03 -9.54452980e-05 9.99982061e-01 -2.65313214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.965769231 meters 0.025530159783685846 Centerline is valid? [True, True] Translation: X:395.49, Y:-49.74, Z:-2.66 [[ 9.78338325e-01 2.06948300e-01 5.15001103e-03 3.95487680e+02] [-2.06945893e-01 9.78351876e-01 -1.00169203e-03 -4.97366286e+01] [-5.24582142e-03 -8.57799290e-05 9.99986237e-01 -2.65611602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.025769231 meters 0.01983421501427298 Centerline is valid? [True, True] Translation: X:395.54, Y:-49.75, Z:-2.66 [[ 9.79090285e-01 2.03366392e-01 4.93196919e-03 3.95544133e+02] [-2.03364142e-01 9.79102705e-01 -9.58772759e-04 -4.97541382e+01] [-5.02388653e-03 -6.42605882e-05 9.99987378e-01 -2.65644244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.08576923100003 meters 0.017037948997364195 Centerline is valid? [True, True] Translation: X:395.60, Y:-49.77, Z:-2.66 [[ 9.79730152e-01 2.00258443e-01 5.03832071e-03 3.95600852e+02] [-2.00256055e-01 9.79743106e-01 -9.79195679e-04 -4.97693959e+01] [-5.13235218e-03 -4.96066950e-05 9.99986828e-01 -2.65631655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.14576923100003 meters 0.01589636890382195 Centerline is valid? [True, True] Translation: X:395.66, Y:-49.78, Z:-2.65 [[ 9.79962253e-01 1.99061395e-01 6.96734707e-03 3.95658187e+02] [-1.99056802e-01 9.79987019e-01 -1.35363055e-03 -4.97823342e+01] [-7.09736527e-03 -6.03909742e-05 9.99974812e-01 -2.65202234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.20576923100003 meters 0.01753914364072416 Centerline is valid? [True, True] Translation: X:395.72, Y:-49.79, Z:-2.65 [[ 9.79650040e-01 2.00581897e-01 7.25958182e-03 3.95716182e+02] [-2.00576955e-01 9.79676935e-01 -1.41002251e-03 -4.97891999e+01] [-7.39486985e-03 -7.47762096e-05 9.99972655e-01 -2.65197007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26576923100004 meters 0.020197171239641067 Centerline is valid? [True, True] Translation: X:395.78, Y:-49.79, Z:-2.66 [[ 9.78958409e-01 2.03988662e-01 5.39064231e-03 3.95775783e+02] [-2.03985990e-01 9.78973248e-01 -1.04677652e-03 -4.97927553e+01] [-5.49082515e-03 -7.48648360e-05 9.99984923e-01 -2.65502063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32576923100004 meters 0.020896670421997398 Centerline is valid? [True, True] Translation: X:395.83, Y:-49.80, Z:-2.65 [[ 9.78795770e-01 2.04749825e-01 6.02904114e-03 3.95834612e+02] [-2.04746499e-01 9.78814334e-01 -1.17051350e-03 -4.97997341e+01] [-6.14097432e-03 -8.87313974e-05 9.99981140e-01 -2.65460867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.385769231 meters 0.021636247258734257 Centerline is valid? [True, True] Translation: X:395.89, Y:-49.81, Z:-2.66 [[ 9.78909381e-01 2.04199855e-01 6.23237837e-03 3.95892033e+02] [-2.04196297e-01 9.78929217e-01 -1.20878954e-03 -4.98059923e+01] [-6.34789193e-03 -8.93331585e-05 9.99979848e-01 -2.65515038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.445769231 meters 0.02235678488974737 Centerline is valid? [True, True] Translation: X:395.95, Y:-49.81, Z:-2.65 [[ 9.78597981e-01 2.05641126e-01 7.59726322e-03 3.95951627e+02] [-2.05635887e-01 9.78627464e-01 -1.47287935e-03 -4.98095557e+01] [-7.73777501e-03 -1.20913206e-04 9.99970056e-01 -2.65327054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.505769231 meters 0.02142295535697338 Centerline is valid? [True, True] Translation: X:396.01, Y:-49.82, Z:-2.66 [[ 9.78716759e-01 2.05077400e-01 7.53428716e-03 3.96008472e+02] [-2.05072241e-01 9.78745752e-01 -1.45937738e-03 -4.98191482e+01] [-7.67343687e-03 -1.16756052e-04 9.99970552e-01 -2.65517180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.565769231 meters 0.01851896394411818 Centerline is valid? [True, True] Translation: X:396.06, Y:-49.83, Z:-2.66 [[ 9.79639564e-01 2.00676530e-01 5.93754951e-03 3.96064952e+02] [-2.00673251e-01 9.79657556e-01 -1.14906012e-03 -4.98338761e+01] [-6.04735464e-03 -6.58426019e-05 9.99981712e-01 -2.65806787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.625769231 meters 0.014361951893197207 Centerline is valid? [True, True] Translation: X:396.12, Y:-49.86, Z:-2.66 [[ 9.80702531e-01 1.95451279e-01 4.61980418e-03 3.96121064e+02] [-1.95449236e-01 9.80713412e-01 -8.93863499e-04 -4.98556121e+01] [-4.70541069e-03 -2.63230035e-05 9.99988929e-01 -2.66000808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.685769231 meters 0.012750379440465026 Centerline is valid? [True, True] Translation: X:396.18, Y:-49.88, Z:-2.65 [[ 9.82163293e-01 1.87867617e-01 7.81179262e-03 3.96175813e+02] [-1.87861541e-01 9.82194359e-01 -1.51099891e-03 -4.98818344e+01] [-7.95656641e-03 1.65122663e-05 9.99968346e-01 -2.65485570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.745769231 meters 0.014022987593657159 Centerline is valid? [True, True] Translation: X:396.23, Y:-49.90, Z:-2.65 [[ 9.82747362e-01 1.84747854e-01 8.70935536e-03 3.96231452e+02] [-1.84740184e-01 9.82785952e-01 -1.68411034e-03 -4.98985334e+01] [-8.87056788e-03 4.60870882e-05 9.99960655e-01 -2.65397932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.805769231 meters 0.015836341957540384 Centerline is valid? [True, True] Translation: X:396.29, Y:-49.92, Z:-2.66 [[ 9.83402959e-01 1.81313403e-01 6.63847887e-03 3.96287703e+02] [-1.81308870e-01 9.83425364e-01 -1.28335499e-03 -4.99176022e+01] [-6.76113796e-03 5.84399903e-05 9.99977142e-01 -2.65912568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.865769231 meters 0.01886314989722836 Centerline is valid? [True, True] Translation: X:396.34, Y:-49.94, Z:-2.66 [[ 9.84050314e-01 1.77839572e-01 4.25033083e-03 3.96343604e+02] [-1.77837682e-01 9.84059492e-01 -8.21588246e-04 -4.99398175e+01] [-4.32868930e-03 5.26151877e-05 9.99990630e-01 -2.66261702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.925769231 meters 0.018234038420729203 Centerline is valid? [True, True] Translation: X:396.40, Y:-49.96, Z:-2.66 [[ 9.83954345e-01 1.78357662e-01 4.73197630e-03 3.96399612e+02] [-1.78355326e-01 9.83965722e-01 -9.14425493e-04 -4.99583921e+01] [-4.81919727e-03 5.57797594e-05 9.99988386e-01 -2.66203856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.985769231 meters 0.016044663020992576 Centerline is valid? [True, True] Translation: X:396.46, Y:-49.97, Z:-2.66 [[ 9.83418816e-01 1.81223207e-01 6.75142211e-03 3.96456492e+02] [-1.81218524e-01 9.83441989e-01 -1.30419849e-03 -4.99719672e+01] [-6.87598302e-03 5.90905833e-05 9.99976358e-01 -2.65938371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.045769231 meters 0.012611961433113224 Centerline is valid? [True, True] Translation: X:396.52, Y:-49.98, Z:-2.66 [[ 9.81977803e-01 1.88958603e-01 3.77376910e-03 3.96516150e+02] [-1.88957197e-01 9.81985054e-01 -7.28921464e-04 -4.99753964e+01] [-3.84352084e-03 2.70386488e-06 9.99992614e-01 -2.66481060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.105769231 meters 0.014157876895145532 Centerline is valid? [True, True] Translation: X:396.58, Y:-49.98, Z:-2.67 [[ 9.80907338e-01 1.94466525e-01 1.88781323e-03 3.96575491e+02] [-1.94466183e-01 9.80909155e-01 -3.64759199e-04 -4.99795317e+01] [-1.92270673e-03 -9.32085904e-06 9.99998152e-01 -2.66943954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.165769231 meters 0.017312324974027418 Centerline is valid? [True, True] Translation: X:396.64, Y:-49.98, Z:-2.66 [[ 9.79654067e-01 2.00581036e-01 6.71985854e-03 3.96635377e+02] [-2.00576856e-01 9.79677111e-01 -1.29720800e-03 -4.99801343e+01] [-6.84348693e-03 -7.70330093e-05 9.99976580e-01 -2.65961673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.225769231 meters 0.018703092856399112 Centerline is valid? [True, True] Translation: X:396.69, Y:-49.98, Z:-2.66 [[ 9.79525274e-01 2.01216950e-01 6.47897016e-03 3.96694152e+02] [-2.01213080e-01 9.79546698e-01 -1.25039351e-03 -4.99815336e+01] [-6.59805419e-03 -7.88614944e-05 9.99978229e-01 -2.66197018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.285769231 meters 0.017293877802435662 Centerline is valid? [True, True] Translation: X:396.75, Y:-49.99, Z:-2.67 [[ 9.80027234e-01 1.98811587e-01 4.53571516e-03 3.96751199e+02] [-1.98809665e-01 9.80037729e-01 -8.75198600e-04 -4.99907856e+01] [-4.61917161e-03 -4.40255495e-05 9.99989331e-01 -2.66666460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.345769231 meters 0.013744066720136353 Centerline is valid? [True, True] Translation: X:396.81, Y:-50.00, Z:-2.66 [[ 9.80853461e-01 1.94664714e-01 5.66903066e-03 3.96808146e+02] [-1.94661645e-01 9.80869843e-01 -1.09342488e-03 -5.00044263e+01] [-5.77343245e-03 -3.10532585e-05 9.99983333e-01 -2.66380436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.405769231 meters 0.012892965590669945 Centerline is valid? [True, True] Translation: X:396.87, Y:-50.01, Z:-2.66 [[ 9.81232452e-01 1.92703987e-01 6.93168995e-03 3.96865690e+02] [-1.92699354e-01 9.81256935e-01 -1.33653426e-03 -5.00120397e+01] [-7.05932432e-03 -2.42813794e-05 9.99975082e-01 -2.66070777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.465769231 meters 0.01302120499233847 Centerline is valid? [True, True] Translation: X:396.92, Y:-50.02, Z:-2.66 [[ 9.81196709e-01 1.92780759e-01 9.41260556e-03 3.96924136e+02] [-1.92772229e-01 9.81241855e-01 -1.81389712e-03 -5.00177706e+01] [-9.58572700e-03 -3.46990698e-05 9.99954055e-01 -2.65655665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.525769231 meters 0.012832114543164172 Centerline is valid? [True, True] Translation: X:396.98, Y:-50.02, Z:-2.66 [[ 9.81259928e-01 1.92511230e-01 8.26923246e-03 3.96983311e+02] [-1.92504639e-01 9.81294770e-01 -1.59319123e-03 -5.00214912e+01] [-8.42126177e-03 -2.85309048e-05 9.99964540e-01 -2.66048329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.58576923100003 meters 0.012324616963705081 Centerline is valid? [True, True] Translation: X:397.04, Y:-50.03, Z:-2.66 [[ 9.81966873e-01 1.88950672e-01 6.22128986e-03 3.97041140e+02] [-1.88946872e-01 9.81986580e-01 -1.19840198e-03 -5.00320904e+01] [-6.33566201e-03 1.29778446e-06 9.99979929e-01 -2.66395747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.64576923100003 meters 0.017688681205533675 Centerline is valid? [True, True] Translation: X:397.10, Y:-50.06, Z:-2.67 [[ 9.83928878e-01 1.78508207e-01 4.33403941e-03 3.97096569e+02] [-1.78506262e-01 9.83938422e-01 -8.34720631e-04 -5.00561982e+01] [-4.41343238e-03 4.76525596e-05 9.99990260e-01 -2.66783630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.70576923100003 meters 0.023372752127940898 Centerline is valid? [True, True] Translation: X:397.15, Y:-50.07, Z:-2.67 [[ 9.85171259e-01 1.71538113e-01 3.50233239e-03 3.97153408e+02] [-1.71536799e-01 9.85177482e-01 -6.74459993e-04 -5.00737675e+01] [-3.56611460e-03 6.36797135e-05 9.99993639e-01 -2.67012952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76576923100004 meters 0.032776693309702475 Centerline is valid? [True, True] Translation: X:397.21, Y:-50.10, Z:-2.67 [[ 9.86358041e-01 1.64499088e-01 6.15352349e-03 3.97209073e+02] [-1.64494897e-01 9.86377223e-01 -1.18458386e-03 -5.00952245e+01] [-6.26455837e-03 1.56200603e-04 9.99980365e-01 -2.66541168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82576923100004 meters 0.03513531484695784 Centerline is valid? [True, True] Translation: X:397.27, Y:-50.11, Z:-2.66 [[ 9.86715291e-01 1.62308311e-01 6.99615780e-03 3.97267057e+02] [-1.62302840e-01 9.86740075e-01 -1.34660353e-03 -5.01107059e+01] [-7.12195422e-03 1.93218014e-04 9.99974620e-01 -2.66435028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.885769231 meters 0.03682779664761009 Centerline is valid? [True, True] Translation: X:397.32, Y:-50.12, Z:-2.67 [[ 9.86887906e-01 1.61392359e-01 2.18342834e-03 3.97323230e+02] [-1.61391824e-01 9.86890319e-01 -4.20481034e-04 -5.01226319e+01] [-2.22266672e-03 6.25801656e-05 9.99997528e-01 -2.67409018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.945769231 meters 0.037072263239354315 Centerline is valid? [True, True] Translation: X:397.38, Y:-50.13, Z:-2.67 [[ 9.86887736e-01 1.61373222e-01 3.35849809e-03 3.97380963e+02] [-1.61371956e-01 9.86893446e-01 -6.46327816e-04 -5.01348808e+01] [-3.41877975e-03 9.58855906e-05 9.99994151e-01 -2.67190095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.005769231 meters 0.040934027792933717 Centerline is valid? [True, True] Translation: X:397.44, Y:-50.15, Z:-2.67 [[ 9.87190576e-01 1.59470134e-01 4.90329963e-03 3.97437451e+02] [-1.59467414e-01 9.87202742e-01 -9.43271872e-04 -5.01494775e+01] [-4.99097453e-03 1.49272591e-04 9.99987534e-01 -2.66882617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.065769231 meters 0.04374114307879313 Centerline is valid? [True, True] Translation: X:397.49, Y:-50.16, Z:-2.67 [[ 9.87609485e-01 1.56887863e-01 3.70189717e-03 3.97494842e+02] [-1.56886295e-01 9.87616415e-01 -7.11966691e-04 -5.01647302e+01] [-3.76775335e-03 1.22368123e-04 9.99992895e-01 -2.67147011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.125769231 meters 0.04095691258132741 Centerline is valid? [True, True] Translation: X:397.55, Y:-50.18, Z:-2.67 [[ 9.88321713e-01 1.52242841e-01 6.50447831e-03 3.97553939e+02] [-1.52237903e-01 9.88343087e-01 -1.25057281e-03 -5.01755866e+01] [-6.61904693e-03 2.45740125e-04 9.99978064e-01 -2.66705345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.185769231 meters 0.04303911619267379 Centerline is valid? [True, True] Translation: X:397.61, Y:-50.19, Z:-2.67 [[ 9.88703714e-01 1.49789353e-01 5.30243714e-03 3.97611335e+02] [-1.49786037e-01 9.88717909e-01 -1.01943581e-03 -5.01942051e+01] [-5.39531519e-03 2.13688926e-04 9.99985422e-01 -2.66844517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.245769231 meters 0.04908081434846855 Centerline is valid? [True, True] Translation: X:397.67, Y:-50.22, Z:-2.67 [[ 9.88815404e-01 1.49015483e-01 6.20345727e-03 3.97666154e+02] [-1.49010929e-01 9.88834830e-01 -1.19248659e-03 -5.02177453e+01] [-6.31189358e-03 2.54766177e-04 9.99980047e-01 -2.66741223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.305769231 meters 0.044761523351554616 Centerline is valid? [True, True] Translation: X:397.72, Y:-50.23, Z:-2.67 [[ 9.88686602e-01 1.49890309e-01 5.63019170e-03 3.97724317e+02] [-1.49886573e-01 9.88702607e-01 -1.08212542e-03 -5.02294238e+01] [-5.72878532e-03 2.25992770e-04 9.99983565e-01 -2.66970835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.365769231 meters 0.050096788793168194 Centerline is valid? [True, True] Translation: X:397.78, Y:-50.25, Z:-2.67 [[ 9.88722197e-01 1.49703309e-01 4.16370372e-03 3.97780463e+02] [-1.49701264e-01 9.88730950e-01 -8.00116808e-04 -5.02536090e+01] [-4.23656286e-03 1.67781537e-04 9.99991012e-01 -2.67222033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.425769231 meters 0.05114611168267595 Centerline is valid? [True, True] Translation: X:397.84, Y:-50.27, Z:-2.67 [[ 9.88822434e-01 1.49018694e-01 4.86037276e-03 3.97838045e+02] [-1.49015900e-01 9.88834359e-01 -9.34068778e-04 -5.02745793e+01] [-4.94529729e-03 1.99355345e-04 9.99987752e-01 -2.67141242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.485769231 meters 0.04576216716468627 Centerline is valid? [True, True] Translation: X:397.90, Y:-50.29, Z:-2.67 [[ 9.88787053e-01 1.49227831e-01 5.58733974e-03 3.97897785e+02] [-1.49224141e-01 9.88802813e-01 -1.07377764e-03 -5.02860208e+01] [-5.68501476e-03 2.27971457e-04 9.99983814e-01 -2.67070363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.545769231 meters 0.04574113959988472 Centerline is valid? [True, True] Translation: X:397.95, Y:-50.31, Z:-2.67 [[ 9.88618534e-01 1.50357684e-01 5.09512544e-03 3.97954453e+02] [-1.50354631e-01 9.88631643e-01 -9.79162091e-04 -5.03090130e+01] [-5.18442678e-03 2.01942085e-04 9.99986540e-01 -2.67230947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.605769231 meters 0.04163321060347827 Centerline is valid? [True, True] Translation: X:398.01, Y:-50.33, Z:-2.68 [[ 9.88048794e-01 1.54116110e-01 2.79370437e-03 3.98012311e+02] [-1.54115208e-01 9.88052739e-01 -5.36879851e-04 -5.03300693e+01] [-2.84306909e-03 9.99111597e-05 9.99995953e-01 -2.67521524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.665769231 meters 0.03683741989266507 Centerline is valid? [True, True] Translation: X:398.07, Y:-50.34, Z:-2.67 [[ 9.87086818e-01 1.60151611e-01 3.32803261e-03 3.98070376e+02] [-1.60150364e-01 9.87092423e-01 -6.39704150e-04 -5.03418492e+01] [-3.38752542e-03 9.84579014e-05 9.99994257e-01 -2.67493606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.725769231 meters 0.03179193143686752 Centerline is valid? [True, True] Translation: X:398.13, Y:-50.35, Z:-2.67 [[ 9.86382550e-01 1.64403656e-01 4.57206468e-03 3.98130294e+02] [-1.64401348e-01 9.86393139e-01 -8.78732218e-04 -5.03479402e+01] [-4.65432002e-03 1.15112528e-04 9.99989162e-01 -2.67364047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.785769231 meters 0.01681459573480093 Centerline is valid? [True, True] Translation: X:398.19, Y:-50.34, Z:-2.67 [[ 9.83771697e-01 1.79349919e-01 5.18215113e-03 3.98192245e+02] [-1.79347161e-01 9.83785344e-01 -9.95974467e-04 -5.03388087e+01] [-5.27675227e-03 5.04073996e-05 9.99986077e-01 -2.67165259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.845769231 meters 0.012381164290364628 Centerline is valid? [True, True] Translation: X:398.25, Y:-50.34, Z:-2.68 [[ 9.82483863e-01 1.86315133e-01 3.48289042e-03 3.98252853e+02] [-1.86313930e-01 9.82490036e-01 -6.69541490e-04 -5.03372980e+01] [-3.54665084e-03 8.90270917e-06 9.99993711e-01 -2.67592442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.905769231 meters 0.012303032567280865 Centerline is valid? [True, True] Translation: X:398.31, Y:-50.34, Z:-2.67 [[ 9.81511335e-01 1.91333457e-01 5.19677865e-03 3.98313492e+02] [-1.91330853e-01 9.81525093e-01 -9.98347387e-04 -5.03359518e+01] [-5.29178591e-03 -1.44148170e-05 9.99985998e-01 -2.67318897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.965769231 meters 0.012588984478887134 Centerline is valid? [True, True] Translation: X:398.37, Y:-50.34, Z:-2.67 [[ 9.81335902e-01 1.92174466e-01 6.98732234e-03 3.98370683e+02] [-1.92169783e-01 9.81360777e-01 -1.34185374e-03 -5.03397409e+01] [-7.11495410e-03 -2.59429701e-05 9.99974688e-01 -2.66986807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.025769231 meters 0.012091936264237038 Centerline is valid? [True, True] Translation: X:398.43, Y:-50.34, Z:-2.67 [[ 9.81593625e-01 1.90836604e-01 7.43955539e-03 3.98428491e+02] [-1.90831261e-01 9.81621816e-01 -1.42803237e-03 -5.03440100e+01] [-7.57535073e-03 -1.79522686e-05 9.99971306e-01 -2.67065770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.08576923100003 meters 0.011770827077798834 Centerline is valid? [True, True] Translation: X:398.49, Y:-50.36, Z:-2.67 [[ 9.82045156e-01 1.88502896e-01 7.34637155e-03 3.98486262e+02] [-1.88497625e-01 9.82072634e-01 -1.40971276e-03 -5.03556019e+01] [-7.48040540e-03 -3.71999074e-07 9.99972021e-01 -2.67132903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.14576923100003 meters 0.012081157178722261 Centerline is valid? [True, True] Translation: X:398.54, Y:-50.37, Z:-2.67 [[ 9.82616748e-01 1.85513750e-01 6.99817260e-03 3.98543913e+02] [-1.85508893e-01 9.82641668e-01 -1.34256697e-03 -5.03663107e+01] [-7.12576063e-03 2.10055413e-05 9.99974611e-01 -2.67185048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.20576923100003 meters 0.012438250083478515 Centerline is valid? [True, True] Translation: X:398.60, Y:-50.37, Z:-2.68 [[ 9.82688380e-01 1.85202237e-01 4.86622051e-03 3.98602404e+02] [-1.85199885e-01 9.82700428e-01 -9.33425412e-04 -5.03726158e+01] [-4.95490945e-03 1.60428245e-05 9.99987724e-01 -2.67726420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26576923100004 meters 0.012150008696498914 Centerline is valid? [True, True] Translation: X:398.66, Y:-50.38, Z:-2.68 [[ 9.82534310e-01 1.86041454e-01 3.86086218e-03 3.98659881e+02] [-1.86039981e-01 9.82541896e-01 -7.40534931e-04 -5.03789408e+01] [-3.93122904e-03 9.32625237e-06 9.99992273e-01 -2.67911117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32576923100004 meters 0.012711604890742755 Centerline is valid? [True, True] Translation: X:398.72, Y:-50.39, Z:-2.68 [[ 9.82899304e-01 1.84040282e-01 6.17517003e-03 3.98716694e+02] [-1.84036478e-01 9.82918701e-01 -1.18368940e-03 -5.03879133e+01] [-6.28753664e-03 2.69909467e-05 9.99980233e-01 -2.67529559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.385769231 meters 0.01446544139041484 Centerline is valid? [True, True] Translation: X:398.77, Y:-50.40, Z:-2.68 [[ 9.83527700e-01 1.80638071e-01 6.56896990e-03 3.98774264e+02] [-1.80633693e-01 9.83549635e-01 -1.25857599e-03 -5.04009798e+01] [-6.68825469e-03 5.12670553e-05 9.99977632e-01 -2.67500443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.445769231 meters 0.01911037928228023 Centerline is valid? [True, True] Translation: X:398.83, Y:-50.42, Z:-2.68 [[ 9.84403432e-01 1.75815835e-01 6.21893637e-03 3.98830195e+02] [-1.75811818e-01 9.84423073e-01 -1.19123187e-03 -5.04169316e+01] [-6.33150187e-03 7.92902331e-05 9.99979953e-01 -2.67538851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.505769231 meters 0.020462336440485354 Centerline is valid? [True, True] Translation: X:398.89, Y:-50.43, Z:-2.67 [[ 9.84889941e-01 1.73015182e-01 7.58616968e-03 3.98887919e+02] [-1.73009125e-01 9.84919150e-01 -1.45258003e-03 -5.04295288e+01] [-7.72308220e-03 1.18154883e-04 9.99970170e-01 -2.67338334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.565769231 meters 0.021759174378506073 Centerline is valid? [True, True] Translation: X:398.94, Y:-50.44, Z:-2.67 [[ 9.85296405e-01 1.70695139e-01 7.35954457e-03 3.98944828e+02] [-1.70689376e-01 9.85323882e-01 -1.40882835e-03 -5.04423973e+01] [-7.49201518e-03 1.31917442e-04 9.99971926e-01 -2.67473296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.625769231 meters 0.020112560207466403 Centerline is valid? [True, True] Translation: X:399.00, Y:-50.45, Z:-2.68 [[ 9.85033785e-01 1.72309214e-01 4.23984997e-03 3.99003678e+02] [-1.72307317e-01 9.85042908e-01 -8.11514195e-04 -5.04476746e+01] [-4.31626552e-03 6.88117273e-05 9.99990683e-01 -2.67951699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.685769231 meters 0.02005092765947085 Centerline is valid? [True, True] Translation: X:399.06, Y:-50.46, Z:-2.68 [[ 9.84864799e-01 1.73280828e-01 3.88363636e-03 3.99060630e+02] [-1.73279244e-01 9.84872454e-01 -7.43201827e-04 -5.04567380e+01] [-3.95366910e-03 5.89997445e-05 9.99992182e-01 -2.68085465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.745769231 meters 0.01949775692699837 Centerline is valid? [True, True] Translation: X:399.12, Y:-50.46, Z:-2.68 [[ 9.84708611e-01 1.74163275e-01 4.01302415e-03 3.99118004e+02] [-1.74161592e-01 9.84716787e-01 -7.67687251e-04 -5.04631178e+01] [-4.08539517e-03 5.70335718e-05 9.99991653e-01 -2.68279445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.805769231 meters 0.01995608362845837 Centerline is valid? [True, True] Translation: X:399.18, Y:-50.47, Z:-2.68 [[ 9.84785798e-01 1.73731460e-01 3.78307365e-03 3.99176164e+02] [-1.73729963e-01 9.84793063e-01 -7.23452284e-04 -5.04746182e+01] [-3.85123111e-03 5.52122896e-05 9.99992582e-01 -2.68323231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.865769231 meters 0.02404149189103652 Centerline is valid? [True, True] Translation: X:399.23, Y:-50.50, Z:-2.68 [[ 9.85562559e-01 1.69213846e-01 5.75479651e-03 3.99233180e+02] [-1.69210306e-01 9.85579354e-01 -1.10003055e-03 -5.04952415e+01] [-5.85794903e-03 1.10378048e-04 9.99982836e-01 -2.67938000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.925769231 meters 0.028408706589923748 Centerline is valid? [True, True] Translation: X:399.29, Y:-50.52, Z:-2.68 [[ 9.86232884e-01 1.65304991e-01 4.35415438e-03 3.99289428e+02] [-1.65302927e-01 9.86242490e-01 -8.32231810e-04 -5.05181773e+01] [-4.43182413e-03 1.01019912e-04 9.99990174e-01 -2.68189383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.985769231 meters 0.0263529323658326 Centerline is valid? [True, True] Translation: X:399.35, Y:-50.53, Z:-2.68 [[ 9.85804277e-01 1.67859999e-01 3.59826043e-03 3.99346215e+02] [-1.67858606e-01 9.85810842e-01 -6.87813616e-04 -5.05292707e+01] [-3.66266053e-03 7.40506247e-05 9.99993290e-01 -2.68284933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.045769231 meters 0.01941365410804446 Centerline is valid? [True, True] Translation: X:399.41, Y:-50.53, Z:-2.68 [[ 9.84598642e-01 1.74693004e-01 6.91872413e-03 3.99406848e+02] [-1.74688029e-01 9.84622946e-01 -1.32173181e-03 -5.05325109e+01] [-7.04323183e-03 9.27570698e-05 9.99975192e-01 -2.67525292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.105769231 meters 0.01456566672418166 Centerline is valid? [True, True] Translation: X:399.47, Y:-50.54, Z:-2.68 [[ 9.83575153e-01 1.80383712e-01 6.45245075e-03 3.99466071e+02] [-1.80379507e-01 9.83596317e-01 -1.23260168e-03 -5.05368046e+01] [-6.56894806e-03 4.84665023e-05 9.99978423e-01 -2.67771340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.165769231 meters 0.01211210138512182 Centerline is valid? [True, True] Translation: X:399.52, Y:-50.54, Z:-2.68 [[ 9.82773898e-01 1.84718098e-01 5.88984172e-03 3.99524880e+02] [-1.84714673e-01 9.82791547e-01 -1.12488043e-03 -5.05446682e+01] [-5.99627243e-03 1.75629340e-05 9.99982022e-01 -2.67941648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.225769231 meters 0.012464706220756296 Centerline is valid? [True, True] Translation: X:399.58, Y:-50.55, Z:-2.67 [[ 9.81463701e-01 1.91475197e-01 8.13955165e-03 3.99584860e+02] [-1.91468893e-01 9.81497452e-01 -1.55401498e-03 -5.05468097e+01] [-8.28650453e-03 -3.32616550e-05 9.99965666e-01 -2.67447489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.285769231 meters 0.013528506391909115 Centerline is valid? [True, True] Translation: X:399.64, Y:-50.55, Z:-2.68 [[ 9.81106753e-01 1.93332061e-01 7.22860627e-03 3.99643219e+02] [-1.93327142e-01 9.81133382e-01 -1.37977953e-03 -5.05538056e+01] [-7.35898253e-03 -4.37747772e-05 9.99972921e-01 -2.67627098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.345769231 meters 0.014761338443240882 Centerline is valid? [True, True] Translation: X:399.70, Y:-50.56, Z:-2.68 [[ 9.80809120e-01 1.94904730e-01 5.06122843e-03 3.99700997e+02] [-1.94902340e-01 9.80822178e-01 -9.65928352e-04 -5.05627085e+01] [-5.15242910e-03 -3.90539279e-05 9.99986725e-01 -2.68241037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.405769231 meters 0.015852191758693807 Centerline is valid? [True, True] Translation: X:399.76, Y:-50.57, Z:-2.68 [[ 9.80562820e-01 1.96141835e-01 4.99356813e-03 3.99759254e+02] [-1.96139527e-01 9.80575534e-01 -9.52776146e-04 -5.05688814e+01] [-5.08345000e-03 -4.51792244e-05 9.99987078e-01 -2.68261193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.465769231 meters 0.016266191600609034 Centerline is valid? [True, True] Translation: X:399.82, Y:-50.58, Z:-2.69 [[ 9.80540231e-01 1.96286173e-01 3.54875432e-03 3.99816805e+02] [-1.96285008e-01 9.80546652e-01 -6.77028340e-04 -5.05786696e+01] [-3.61261047e-03 -3.27137461e-05 9.99993474e-01 -2.68625181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.525769231 meters 0.014227939570894087 Centerline is valid? [True, True] Translation: X:399.87, Y:-50.60, Z:-2.69 [[ 9.81115827e-01 1.93419626e-01 7.62536039e-04 3.99873223e+02] [-1.93419571e-01 9.81116124e-01 -1.45706718e-04 -5.05957188e+01] [-7.76318942e-04 -4.53422600e-06 9.99999699e-01 -2.69177209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.58576923100003 meters 0.013263458336029113 Centerline is valid? [True, True] Translation: X:399.93, Y:-50.61, Z:-2.69 [[ 9.81491243e-01 1.91504677e-01 9.47383607e-04 3.99929600e+02] [-1.91504592e-01 9.81491701e-01 -1.80968880e-04 -5.06099495e+01] [-9.64505534e-04 -3.80894034e-06 9.99999535e-01 -2.69149098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.64576923100003 meters 0.013095372083331188 Centerline is valid? [True, True] Translation: X:399.99, Y:-50.62, Z:-2.69 [[ 9.81477440e-01 1.91572198e-01 1.45849887e-03 3.99986501e+02] [-1.91571995e-01 9.81478524e-01 -2.78361590e-04 -5.06209880e+01] [-1.48481166e-03 -6.20191742e-06 9.99998898e-01 -2.69020937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.70576923100003 meters 0.015401910074268632 Centerline is valid? [True, True] Translation: X:400.04, Y:-50.62, Z:-2.69 [[ 9.80879616e-01 1.94609427e-01 1.53282098e-03 4.00044945e+02] [-1.94609208e-01 9.80880814e-01 -2.92336454e-04 -5.06241344e+01] [-1.56040612e-03 -1.15542079e-05 9.99998782e-01 -2.69095368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76576923100004 meters 0.0220797067546743 Centerline is valid? [True, True] Translation: X:400.11, Y:-50.62, Z:-2.69 [[ 9.79658646e-01 2.00649812e-01 2.93095549e-03 4.00105201e+02] [-2.00649039e-01 9.79663029e-01 -5.58313032e-04 -5.06203244e+01] [-2.98337414e-03 -4.11372151e-05 9.99995549e-01 -2.68861626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82576923100004 meters 0.023289394110494268 Centerline is valid? [True, True] Translation: X:400.16, Y:-50.63, Z:-2.68 [[ 9.79252257e-01 2.02578741e-01 5.18366721e-03 4.00164237e+02] [-2.02576353e-01 9.79265973e-01 -9.87075715e-04 -5.06263842e+01] [-5.27614947e-03 -8.34922768e-05 9.99986078e-01 -2.68395820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.885769231 meters 0.022125881938356677 Centerline is valid? [True, True] Translation: X:400.22, Y:-50.63, Z:-2.69 [[ 9.79255554e-01 2.02570006e-01 4.89420269e-03 4.00222651e+02] [-2.02567877e-01 9.79267781e-01 -9.32046476e-04 -5.06315783e+01] [-4.98153967e-03 -7.86965597e-05 9.99987589e-01 -2.68514891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.945769231 meters 0.018578231188166927 Centerline is valid? [True, True] Translation: X:400.28, Y:-50.64, Z:-2.68 [[ 9.80420413e-01 1.96831697e-01 5.75301558e-03 4.00280344e+02] [-1.96828666e-01 9.80437290e-01 -1.09407409e-03 -5.06388369e+01] [-5.85581947e-03 -5.97058066e-05 9.99982853e-01 -2.68322594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.005769231 meters 0.012495709704296464 Centerline is valid? [True, True] Translation: X:400.34, Y:-50.66, Z:-2.69 [[ 9.81852622e-01 1.89596097e-01 4.33002690e-03 4.00335685e+02] [-1.89594310e-01 9.81862169e-01 -8.23258551e-04 -5.06605571e+01] [-4.40757621e-03 -1.26298952e-05 9.99990287e-01 -2.68799936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.065769231 meters 0.014588024773193898 Centerline is valid? [True, True] Translation: X:400.39, Y:-50.68, Z:-2.69 [[ 9.83781228e-01 1.79303505e-01 4.97480141e-03 4.00390998e+02] [-1.79301015e-01 9.83793806e-01 -9.45595977e-04 -5.06845848e+01] [-5.06372749e-03 3.82726278e-05 9.99987179e-01 -2.68660906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.125769231 meters 0.016422618238450017 Centerline is valid? [True, True] Translation: X:400.45, Y:-50.70, Z:-2.69 [[ 9.84127088e-01 1.77410057e-01 4.42121532e-03 4.00446945e+02] [-1.77408072e-01 9.84137018e-01 -8.40294994e-04 -5.06969942e+01] [-4.50015844e-03 4.25977811e-05 9.99989873e-01 -2.68774993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.185769231 meters 0.01593579866666253 Centerline is valid? [True, True] Translation: X:400.50, Y:-50.71, Z:-2.69 [[ 9.83987151e-01 1.78225253e-01 2.24624064e-03 4.00504212e+02] [-1.78224743e-01 9.83989715e-01 -4.26934307e-04 -5.07070921e+01] [-2.28636816e-03 1.97622116e-05 9.99997386e-01 -2.69183441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.245769231 meters 0.015655855035793906 Centerline is valid? [True, True] Translation: X:400.56, Y:-50.72, Z:-2.69 [[ 9.83966588e-01 1.78341744e-01 1.99378024e-03 4.00560759e+02] [-1.78341342e-01 9.83968608e-01 -3.78870874e-04 -5.07197141e+01] [-2.02938566e-03 1.72228359e-05 9.99997941e-01 -2.69232216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.305769231 meters 0.01662940854098168 Centerline is valid? [True, True] Translation: X:400.62, Y:-50.74, Z:-2.69 [[ 9.84177377e-01 1.77150170e-01 3.56491764e-03 4.00617182e+02] [-1.77148881e-01 9.84183832e-01 -6.76717165e-04 -5.07370534e+01] [-3.62841486e-03 3.44885554e-05 9.99993417e-01 -2.69065175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.365769231 meters 0.01605665436116291 Centerline is valid? [True, True] Translation: X:400.67, Y:-50.75, Z:-2.69 [[ 9.84226775e-01 1.76873439e-01 3.66633990e-03 4.00674474e+02] [-1.76872074e-01 9.84233603e-01 -6.95877875e-04 -5.07486606e+01] [-3.73161725e-03 3.64284956e-05 9.99993037e-01 -2.68982454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.425769231 meters 0.013878101246747085 Centerline is valid? [True, True] Translation: X:400.73, Y:-50.76, Z:-2.69 [[ 9.83528229e-01 1.80725627e-01 3.23583565e-03 4.00731740e+02] [-1.80724585e-01 9.83533552e-01 -6.13899584e-04 -5.07593663e+01] [-3.29350032e-03 1.89925156e-05 9.99994576e-01 -2.69100898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.485769231 meters 0.011918534568430287 Centerline is valid? [True, True] Translation: X:400.79, Y:-50.76, Z:-2.69 [[ 9.82736742e-01 1.84974834e-01 3.57867597e-03 4.00790871e+02] [-1.84973589e-01 9.82743258e-01 -6.78723338e-04 -5.07633771e+01] [-3.64246642e-03 5.04582462e-06 9.99993366e-01 -2.69077225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.545769231 meters 0.013168477094389957 Centerline is valid? [True, True] Translation: X:400.85, Y:-50.76, Z:-2.69 [[ 9.81568534e-01 1.91088756e-01 2.88112181e-03 4.00850432e+02] [-1.91087975e-01 9.81572762e-01 -5.46372871e-04 -5.07638300e+01] [-2.93243640e-03 -1.42453146e-05 9.99995700e-01 -2.69044309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.605769231 meters 0.014080819609742761 Centerline is valid? [True, True] Translation: X:400.91, Y:-50.77, Z:-2.69 [[ 9.81169313e-01 1.93102225e-01 4.27909410e-03 4.00909251e+02] [-1.93100524e-01 9.81178643e-01 -8.11111336e-04 -5.07705056e+01] [-4.35518314e-03 -3.04577602e-05 9.99990516e-01 -2.68786162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.665769231 meters 0.014607714153705617 Centerline is valid? [True, True] Translation: X:400.97, Y:-50.78, Z:-2.68 [[ 9.81157107e-01 1.93099272e-01 6.58801900e-03 4.00965812e+02] [-1.93095244e-01 9.81179224e-01 -1.24826056e-03 -5.07775921e+01] [-6.70506557e-03 -4.73754157e-05 9.99977520e-01 -2.68499071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.725769231 meters 0.014461114826794455 Centerline is valid? [True, True] Translation: X:401.02, Y:-50.78, Z:-2.69 [[ 9.81050720e-01 1.93650319e-01 6.24813744e-03 4.01024355e+02] [-1.93646710e-01 9.81070615e-01 -1.18331697e-03 -5.07834181e+01] [-6.35901375e-03 -4.90372938e-05 9.99979780e-01 -2.68573737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.785769231 meters 0.014603219742714314 Centerline is valid? [True, True] Translation: X:401.08, Y:-50.79, Z:-2.69 [[ 9.80958678e-01 1.94129837e-01 5.80336744e-03 4.01083179e+02] [-1.94126733e-01 9.80975843e-01 -1.09881923e-03 -5.07895452e+01] [-5.90627686e-03 -4.86925075e-05 9.99982557e-01 -2.68759197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.845769231 meters 0.01403197569326657 Centerline is valid? [True, True] Translation: X:401.14, Y:-50.80, Z:-2.69 [[ 9.81304711e-01 1.92426394e-01 3.62595583e-03 4.01140021e+02] [-1.92425170e-01 9.81311410e-01 -6.86532057e-04 -5.07978694e+01] [-3.69029871e-03 -2.40280261e-05 9.99993191e-01 -2.69193612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.905769231 meters 0.012862797608242063 Centerline is valid? [True, True] Translation: X:401.20, Y:-50.81, Z:-2.69 [[ 9.81759770e-01 1.90104566e-01 2.82974165e-03 4.01197007e+02] [-1.90103811e-01 9.81763848e-01 -5.35641628e-04 -5.08122552e+01] [-2.87996597e-03 -1.20732716e-05 9.99995853e-01 -2.69462641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.965769231 meters 0.01205576975062692 Centerline is valid? [True, True] Translation: X:401.25, Y:-50.83, Z:-2.69 [[ 9.82329395e-01 1.87141980e-01 2.61531294e-03 4.01254354e+02] [-1.87141325e-01 9.82332876e-01 -4.94943564e-04 -5.08257346e+01] [-2.66173260e-03 -3.23551876e-06 9.99996458e-01 -2.69389332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.025769231 meters 0.011707987023425358 Centerline is valid? [True, True] Translation: X:401.31, Y:-50.84, Z:-2.69 [[ 9.82557601e-01 1.85882323e-01 5.32197443e-03 4.01311695e+02] [-1.85879597e-01 9.82572014e-01 -1.00655154e-03 -5.08387245e+01] [-5.41632327e-03 -2.51598607e-07 9.99985332e-01 -2.68953610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.08576923100003 meters 0.011699828300941828 Centerline is valid? [True, True] Translation: X:401.37, Y:-50.85, Z:-2.69 [[ 9.82509483e-01 1.86134827e-01 5.37985222e-03 4.01367432e+02] [-1.86132047e-01 9.82524212e-01 -1.01728052e-03 -5.08508300e+01] [-5.47518639e-03 -1.87514889e-06 9.99985011e-01 -2.69019763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.14576923100003 meters 0.011919539495781648 Centerline is valid? [True, True] Translation: X:401.42, Y:-50.87, Z:-2.69 [[ 9.83034074e-01 1.83310526e-01 6.42340477e-03 4.01422955e+02] [-1.83306507e-01 9.83055060e-01 -1.21393010e-03 -5.08689709e+01] [-6.53708672e-03 1.58827565e-05 9.99978633e-01 -2.68913928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.20576923100003 meters 0.013062962698565717 Centerline is valid? [True, True] Translation: X:401.48, Y:-50.89, Z:-2.69 [[ 9.83550985e-01 1.80521909e-01 6.26898980e-03 4.01479249e+02] [-1.80518027e-01 9.83570963e-01 -1.18428286e-03 -5.08870328e+01] [-6.37978533e-03 3.31369030e-05 9.99979648e-01 -2.68914072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26576923100004 meters 0.014020912600198127 Centerline is valid? [True, True] Translation: X:401.54, Y:-50.90, Z:-2.69 [[ 9.83884485e-01 1.78725831e-01 5.32887407e-03 4.01536098e+02] [-1.78723001e-01 9.83898915e-01 -1.00647622e-03 -5.09033520e+01] [-5.42295671e-03 3.78639740e-05 9.99985295e-01 -2.69100705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32576923100004 meters 0.0152000755199897 Centerline is valid? [True, True] Translation: X:401.59, Y:-50.92, Z:-2.69 [[ 9.84081963e-01 1.77642085e-01 5.09711562e-03 4.01592180e+02] [-1.77639483e-01 9.84095162e-01 -9.62489085e-04 -5.09182106e+01] [-5.18702539e-03 4.17191665e-05 9.99986546e-01 -2.69288649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.385769231 meters 0.01571178307900084 Centerline is valid? [True, True] Translation: X:401.65, Y:-50.93, Z:-2.69 [[ 9.84277855e-01 1.76482286e-01 7.14883614e-03 4.01649397e+02] [-1.76477141e-01 9.84303814e-01 -1.34931429e-03 -5.09300619e+01] [-7.27475675e-03 6.64940162e-05 9.99973536e-01 -2.68979918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.445769231 meters 0.016543461070844298 Centerline is valid? [True, True] Translation: X:401.71, Y:-50.95, Z:-2.69 [[ 9.84486386e-01 1.75250757e-01 8.58654115e-03 4.01706433e+02] [-1.75243291e-01 9.84523826e-01 -1.62019130e-03 -5.09462401e+01] [-8.73759410e-03 9.03225517e-05 9.99961822e-01 -2.68656111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.505769231 meters 0.016241209497897754 Centerline is valid? [True, True] Translation: X:401.76, Y:-50.96, Z:-2.69 [[ 9.84504135e-01 1.75176588e-01 8.04806164e-03 4.01763356e+02] [-1.75170029e-01 9.84537026e-01 -1.51818678e-03 -5.09580410e+01] [-8.18956546e-03 8.48819714e-05 9.99966461e-01 -2.68798134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.565769231 meters 0.016101697589909956 Centerline is valid? [True, True] Translation: X:401.82, Y:-50.97, Z:-2.69 [[ 9.84421943e-01 1.75699718e-01 6.56110301e-03 4.01818900e+02] [-1.75695374e-01 9.84443805e-01 -1.23729045e-03 -5.09729482e+01] [-6.67642879e-03 6.52604277e-05 9.99977710e-01 -2.69097728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.625769231 meters 0.014366531376521526 Centerline is valid? [True, True] Translation: X:401.88, Y:-50.98, Z:-2.69 [[ 9.84005772e-01 1.78041283e-01 5.82597228e-03 4.01877313e+02] [-1.78037901e-01 9.84023018e-01 -1.09829232e-03 -5.09830542e+01] [-5.92843220e-03 4.34821057e-05 9.99982426e-01 -2.69245719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.685769231 meters 0.012623508341547754 Centerline is valid? [True, True] Translation: X:401.94, Y:-50.99, Z:-2.70 [[ 9.83413798e-01 1.81327517e-01 4.19919299e-03 4.01935245e+02] [-1.81325790e-01 9.83422763e-01 -7.91569536e-04 -5.09917630e+01] [-4.27311531e-03 1.70184191e-05 9.99990870e-01 -2.69547082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.745769231 meters 0.012973152036200876 Centerline is valid? [True, True] Translation: X:401.99, Y:-51.00, Z:-2.70 [[ 9.83392999e-01 1.81469182e-01 2.67305445e-03 4.01991423e+02] [-1.81468482e-01 9.83396632e-01 -5.03927151e-04 -5.10043462e+01] [-2.72011999e-03 1.04832985e-05 9.99996300e-01 -2.69990441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.805769231 meters 0.014046964804482094 Centerline is valid? [True, True] Translation: X:402.05, Y:-51.02, Z:-2.70 [[ 9.83856748e-01 1.78930811e-01 3.10877279e-03 4.02048481e+02] [-1.78929854e-01 9.83861659e-01 -5.85752538e-04 -5.10218783e+01] [-3.16341153e-03 2.00443268e-05 9.99994996e-01 -2.69814135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.865769231 meters 0.01580319066864674 Centerline is valid? [True, True] Translation: X:402.10, Y:-51.04, Z:-2.69 [[ 9.84373456e-01 1.75994753e-01 5.89463572e-03 4.02104827e+02] [-1.75991260e-01 9.84391103e-01 -1.11008997e-03 -5.10382198e+01] [-5.99799697e-03 5.53387343e-05 9.99982010e-01 -2.69447824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.925769231 meters 0.015817674399708395 Centerline is valid? [True, True] Translation: X:402.16, Y:-51.05, Z:-2.69 [[ 9.84309883e-01 1.76294883e-01 7.35987236e-03 4.02161869e+02] [-1.76289452e-01 9.84337396e-01 -1.38547360e-03 -5.10499994e+01] [-7.48884950e-03 6.62674957e-05 9.99971956e-01 -2.69237697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.985769231 meters 0.015454163877047074 Centerline is valid? [True, True] Translation: X:402.22, Y:-51.06, Z:-2.70 [[ 9.84365647e-01 1.76058789e-01 5.25135108e-03 4.02219780e+02] [-1.76056021e-01 9.84379653e-01 -9.88336416e-04 -5.10614586e+01] [-5.34332846e-03 4.83524379e-05 9.99985723e-01 -2.69543710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.045769231 meters 0.01797787294239561 Centerline is valid? [True, True] Translation: X:402.27, Y:-51.08, Z:-2.69 [[ 9.84884825e-01 1.73086014e-01 6.56609002e-03 4.02274812e+02] [-1.73081623e-01 9.84906709e-01 -1.23537411e-03 -5.10789419e+01] [-6.68081210e-03 8.02316951e-05 9.99977680e-01 -2.69430409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.105769231 meters 0.02049044472005697 Centerline is valid? [True, True] Translation: X:402.33, Y:-51.10, Z:-2.69 [[ 9.85349812e-01 1.70384357e-01 7.41065975e-03 4.02330521e+02] [-1.70378693e-01 9.85377673e-01 -1.39367561e-03 -5.10991340e+01] [-7.53975919e-03 1.10639479e-04 9.99971569e-01 -2.69352917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.165769231 meters 0.018914570360058083 Centerline is valid? [True, True] Translation: X:402.39, Y:-51.11, Z:-2.70 [[ 9.85131214e-01 1.71725986e-01 5.16489613e-03 4.02387731e+02] [-1.71723254e-01 9.85144751e-01 -9.71181661e-04 -5.11109138e+01] [-5.25494744e-03 6.98085971e-05 9.99986190e-01 -2.69809568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.225769231 meters 0.01934017149722062 Centerline is valid? [True, True] Translation: X:402.45, Y:-51.13, Z:-2.70 [[ 9.85367827e-01 1.70319734e-01 6.43686942e-03 4.02445281e+02] [-1.70315464e-01 9.85388847e-01 -1.20994471e-03 -5.11278497e+01] [-6.54889679e-03 9.59421927e-05 9.99978551e-01 -2.69670282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.285769231 meters 0.02353185369495271 Centerline is valid? [True, True] Translation: X:402.50, Y:-51.15, Z:-2.69 [[ 9.85721586e-01 1.68155903e-01 8.74907492e-03 4.02501030e+02] [-1.68147930e-01 9.85760402e-01 -1.64434166e-03 -5.11541977e+01] [-8.90099736e-03 1.49724233e-04 9.99960374e-01 -2.69358718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.345769231 meters 0.02318517156774034 Centerline is valid? [True, True] Translation: X:402.56, Y:-51.17, Z:-2.70 [[ 9.85797870e-01 1.67798732e-01 6.79295140e-03 4.02559358e+02] [-1.67793917e-01 9.85821267e-01 -1.27672623e-03 -5.11709788e+01] [-6.91086900e-03 1.18778077e-04 9.99976113e-01 -2.69702369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.405769231 meters 0.019806231130789546 Centerline is valid? [True, True] Translation: X:402.62, Y:-51.18, Z:-2.70 [[ 9.85260700e-01 1.70996712e-01 4.63433945e-03 4.02618208e+02] [-1.70994506e-01 9.85271597e-01 -8.71045843e-04 -5.11833959e+01] [-4.71502901e-03 6.57606535e-05 9.99988882e-01 -2.70166390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.465769231 meters 0.014547007172854088 Centerline is valid? [True, True] Translation: X:402.68, Y:-51.19, Z:-2.70 [[ 9.84054485e-01 1.77762223e-01 6.11253147e-03 4.02677409e+02] [-1.77758517e-01 9.84073468e-01 -1.14878654e-03 -5.11900819e+01] [-6.21939089e-03 4.39140156e-05 9.99980658e-01 -2.69949103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.525769231 meters 0.012327091131428552 Centerline is valid? [True, True] Translation: X:402.74, Y:-51.20, Z:-2.70 [[ 9.83261170e-01 1.82074959e-01 6.79568439e-03 4.02736449e+02] [-1.82070481e-01 9.83284653e-01 -1.27699836e-03 -5.11973374e+01] [-6.91460159e-03 1.83293720e-05 9.99976094e-01 -2.69902396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.58576923100003 meters 0.012221994559142989 Centerline is valid? [True, True] Translation: X:402.80, Y:-51.21, Z:-2.70 [[ 9.82606874e-01 1.85604869e-01 5.87907498e-03 4.02795060e+02] [-1.85601583e-01 9.82624462e-01 -1.10434439e-03 -5.12057384e+01] [-5.98189459e-03 -6.02924065e-06 9.99982108e-01 -2.70123952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.64576923100003 meters 0.013896841434539795 Centerline is valid? [True, True] Translation: X:402.85, Y:-51.21, Z:-2.70 [[ 9.81750685e-01 1.90086922e-01 5.70562912e-03 4.02853473e+02] [-1.90083905e-01 9.81767264e-01 -1.07151691e-03 -5.12080154e+01] [-5.80528124e-03 -3.25858038e-05 9.99983149e-01 -2.70216777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.70576923100003 meters 0.01826303293736553 Centerline is valid? [True, True] Translation: X:402.91, Y:-51.21, Z:-2.70 [[ 9.80511466e-01 1.96382434e-01 5.58607670e-03 4.02914353e+02] [-1.96379646e-01 9.80527376e-01 -1.04864165e-03 -5.12074728e+01] [-5.68323593e-03 -6.87866086e-05 9.99983848e-01 -2.70328595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76576923100004 meters 0.01797860830549145 Centerline is valid? [True, True] Translation: X:402.97, Y:-51.22, Z:-2.71 [[ 9.80530873e-01 1.96308165e-01 4.72348723e-03 4.02971118e+02] [-1.96306171e-01 9.80542249e-01 -8.86732031e-04 -5.12168280e+01] [-4.80565153e-03 -5.77815577e-05 9.99988451e-01 -2.70574973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82576923100004 meters 0.01741032324504429 Centerline is valid? [True, True] Translation: X:403.03, Y:-51.23, Z:-2.71 [[ 9.80890187e-01 1.94529863e-01 3.54595275e-03 4.03028008e+02] [-1.94528729e-01 9.80896595e-01 -6.65494818e-04 -5.12251411e+01] [-3.60767159e-03 -3.70123432e-05 9.99993492e-01 -2.70862245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.885769231 meters 0.014615915109584975 Centerline is valid? [True, True] Translation: X:403.09, Y:-51.24, Z:-2.70 [[ 9.81449979e-01 1.91608291e-01 6.49619646e-03 4.03085361e+02] [-1.91604423e-01 9.81471477e-01 -1.21843059e-03 -5.12379095e+01] [-6.60929293e-03 -4.88713012e-05 9.99978157e-01 -2.70337492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.945769231 meters 0.013604652346198984 Centerline is valid? [True, True] Translation: X:403.14, Y:-51.25, Z:-2.70 [[ 9.81760928e-01 1.90000395e-01 6.73278526e-03 4.03142511e+02] [-1.89996205e-01 9.81784013e-01 -1.26246153e-03 -5.12496779e+01] [-6.85000912e-03 -3.97682447e-05 9.99976538e-01 -2.70340867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.005769231 meters 0.012743638684352873 Centerline is valid? [True, True] Translation: X:403.20, Y:-51.26, Z:-2.71 [[ 9.82148461e-01 1.88049729e-01 4.65835880e-03 4.03200080e+02] [-1.88047702e-01 9.82159508e-01 -8.73365321e-04 -5.12624913e+01] [-4.73948750e-03 -1.82192623e-05 9.99988768e-01 -2.70909196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.065769231 meters 0.011805476310739858 Centerline is valid? [True, True] Translation: X:403.26, Y:-51.28, Z:-2.70 [[ 9.82783594e-01 1.84634055e-01 6.83176829e-03 4.03255931e+02] [-1.84629616e-01 9.82807339e-01 -1.28034887e-03 -5.12783840e+01] [-6.95070802e-03 -3.04089502e-06 9.99975844e-01 -2.70464482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.125769231 meters 0.011845960060961098 Centerline is valid? [True, True] Translation: X:403.31, Y:-51.29, Z:-2.70 [[ 9.83068161e-01 1.83101179e-01 7.13785350e-03 4.03313231e+02] [-1.83096296e-01 9.83094074e-01 -1.33725845e-03 -5.12901959e+01] [-7.26203507e-03 7.70166865e-06 9.99973631e-01 -2.70481580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.185769231 meters 0.012503683963912528 Centerline is valid? [True, True] Translation: X:403.37, Y:-51.31, Z:-2.71 [[ 9.83487654e-01 1.80897728e-01 5.29585390e-03 4.03368575e+02] [-1.80895009e-01 9.83501912e-01 -9.92010256e-04 -5.13061809e+01] [-5.38793484e-03 1.76363027e-05 9.99985485e-01 -2.70773609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.245769231 meters 0.012342149484899438 Centerline is valid? [True, True] Translation: X:403.43, Y:-51.32, Z:-2.71 [[ 9.83482124e-01 1.80907317e-01 5.95443267e-03 4.03425934e+02] [-1.80903883e-01 9.83500149e-01 -1.11494599e-03 -5.13185320e+01] [-6.05788730e-03 1.93494605e-05 9.99981651e-01 -2.70665260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.305769231 meters 0.01206008059000129 Centerline is valid? [True, True] Translation: X:403.48, Y:-51.33, Z:-2.71 [[ 9.83263581e-01 1.82131067e-01 4.58312133e-03 4.03482226e+02] [-1.82129046e-01 9.83274262e-01 -8.58054764e-04 -5.13298051e+01] [-4.66274367e-03 8.97448453e-06 9.99989129e-01 -2.71074911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.365769231 meters 0.012552870548558186 Centerline is valid? [True, True] Translation: X:403.54, Y:-51.33, Z:-2.71 [[ 9.82346071e-01 1.87049756e-01 2.93015413e-03 4.03541227e+02] [-1.87048952e-01 9.82350441e-01 -5.48517157e-04 -5.13333980e+01] [-2.98103820e-03 -9.24858407e-06 9.99995557e-01 -2.71315214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.425769231 meters 0.013692769504988806 Centerline is valid? [True, True] Translation: X:403.60, Y:-51.34, Z:-2.71 [[ 9.81893993e-01 1.89409062e-01 2.89719826e-03 4.03599975e+02] [-1.89408287e-01 9.81898267e-01 -5.42208165e-04 -5.13392106e+01] [-2.94745309e-03 -1.63624179e-05 9.99995656e-01 -2.71325028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.485769231 meters 0.020172318124997646 Centerline is valid? [True, True] Translation: X:403.66, Y:-51.33, Z:-2.71 [[ 9.80164238e-01 1.98155012e-01 3.55777663e-03 4.03661907e+02] [-1.98153901e-01 9.80170694e-01 -6.65547679e-04 -5.13314325e+01] [-3.61910999e-03 -5.26412849e-05 9.99993450e-01 -2.71223738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.545769231 meters 0.03176514375295341 Centerline is valid? [True, True] Translation: X:403.72, Y:-51.32, Z:-2.71 [[ 9.78557810e-01 2.05902633e-01 5.35885536e-03 4.03724769e+02] [-2.05900231e-01 9.78572476e-01 -1.00212547e-03 -5.13152346e+01] [-5.45036863e-03 -1.22751853e-04 9.99985139e-01 -2.70962199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.605769231 meters 0.03221598697782208 Centerline is valid? [True, True] Translation: X:403.78, Y:-51.32, Z:-2.71 [[ 9.77650213e-01 2.10165061e-01 5.54158183e-03 4.03784550e+02] [-2.10162561e-01 9.77665906e-01 -1.03617182e-03 -5.13177926e+01] [-5.63558273e-03 -1.51619434e-04 9.99984108e-01 -2.70904142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.665769231 meters 0.03581936805869121 Centerline is valid? [True, True] Translation: X:403.84, Y:-51.31, Z:-2.71 [[ 9.78027340e-01 2.08426261e-01 4.58438460e-03 4.03844287e+02] [-2.08424531e-01 9.78038077e-01 -8.57128011e-04 -5.13120774e+01] [-4.66235068e-03 -1.17203584e-04 9.99989124e-01 -2.71249021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.725769231 meters 0.02733957963441272 Centerline is valid? [True, True] Translation: X:403.90, Y:-51.33, Z:-2.71 [[ 9.78740556e-01 2.05029833e-01 5.44908469e-03 4.03902083e+02] [-2.05027339e-01 9.78755717e-01 -1.01833731e-03 -5.13287657e+01] [-5.54211232e-03 -1.20523310e-04 9.99984635e-01 -2.71050424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.785769231 meters 0.026697519365576527 Centerline is valid? [True, True] Translation: X:403.96, Y:-51.33, Z:-2.71 [[ 9.78911220e-01 2.04163902e-01 7.06571835e-03 4.03961297e+02] [-2.04159688e-01 9.78936708e-01 -1.32023201e-03 -5.13303606e+01] [-7.18643478e-03 -1.50144925e-04 9.99974166e-01 -2.70581332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.845769231 meters 0.027083408538693968 Centerline is valid? [True, True] Translation: X:404.02, Y:-51.33, Z:-2.71 [[ 9.78991269e-01 2.03795468e-01 6.59569117e-03 4.04018753e+02] [-2.03791790e-01 9.79013477e-01 -1.23213692e-03 -5.13349454e+01] [-6.70837447e-03 -1.37896421e-04 9.99977489e-01 -2.70813039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.905769231 meters 0.025601280739751833 Centerline is valid? [True, True] Translation: X:404.08, Y:-51.34, Z:-2.71 [[ 9.79395274e-01 2.01888574e-01 5.08921829e-03 4.04076719e+02] [-2.01886361e-01 9.79408492e-01 -9.50123647e-04 -5.13414989e+01] [-5.17624272e-03 -9.68971517e-05 9.99986598e-01 -2.71115391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.965769231 meters 0.023546570615679614 Centerline is valid? [True, True] Translation: X:404.13, Y:-51.35, Z:-2.71 [[ 9.79810466e-01 1.99821721e-01 6.53687625e-03 4.04134835e+02] [-1.99818028e-01 9.79832265e-01 -1.21992375e-03 -5.13531039e+01] [-6.64880953e-03 -1.10891664e-04 9.99977890e-01 -2.70770723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.025769231 meters 0.0169066153619327 Centerline is valid? [True, True] Translation: X:404.19, Y:-51.37, Z:-2.71 [[ 9.81145543e-01 1.93134519e-01 7.24432404e-03 4.04191422e+02] [-1.93129810e-01 9.81172285e-01 -1.35076904e-03 -5.13727014e+01] [-7.36881010e-03 -7.37938970e-05 9.99972847e-01 -2.70791771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.08576923100003 meters 0.011325969505472454 Centerline is valid? [True, True] Translation: X:404.25, Y:-51.40, Z:-2.71 [[ 9.82774733e-01 1.84652527e-01 7.56754425e-03 4.04245962e+02] [-1.84647138e-01 9.82803869e-01 -1.41083041e-03 -5.13963427e+01] [-7.69792517e-03 -1.07969110e-05 9.99970370e-01 -2.70751361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.14576923100003 meters 0.01165708053077349 Centerline is valid? [True, True] Translation: X:404.30, Y:-51.42, Z:-2.71 [[ 9.83709268e-01 1.79567849e-01 8.45358802e-03 4.04302016e+02] [-1.79560940e-01 9.83745590e-01 -1.57549734e-03 -5.14156150e+01] [-8.59908860e-03 3.18971207e-05 9.99963027e-01 -2.70663779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.20576923100003 meters 0.01647937711795148 Centerline is valid? [True, True] Translation: X:404.36, Y:-51.44, Z:-2.71 [[ 9.84717980e-01 1.74016150e-01 6.99141077e-03 4.04356345e+02] [-1.74011286e-01 9.84742796e-01 -1.30270150e-03 -5.14390109e+01] [-7.11143249e-03 6.62092096e-05 9.99974711e-01 -2.70905544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26576923100004 meters 0.017940756484362542 Centerline is valid? [True, True] Translation: X:404.41, Y:-51.45, Z:-2.71 [[ 9.85314433e-01 1.70632070e-01 6.33757400e-03 4.04412946e+02] [-1.70628006e-01 9.85334811e-01 -1.18051854e-03 -5.14548064e+01] [-6.44606661e-03 8.18143352e-05 9.99979221e-01 -2.71060564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32576923100004 meters 0.021090599161839783 Centerline is valid? [True, True] Translation: X:404.47, Y:-51.48, Z:-2.71 [[ 9.85873254e-01 1.67333990e-01 7.29809731e-03 4.04468179e+02] [-1.67328513e-01 9.85900260e-01 -1.35902793e-03 -5.14782789e+01] [-7.42260760e-03 1.18649520e-04 9.99972445e-01 -2.70987436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.385769231 meters 0.021907550655834853 Centerline is valid? [True, True] Translation: X:404.52, Y:-51.50, Z:-2.71 [[ 9.85972760e-01 1.66808757e-01 5.70565909e-03 4.04523653e+02] [-1.66805402e-01 9.85989264e-01 -1.06229788e-03 -5.14953128e+01] [-5.80291919e-03 9.56620114e-05 9.99983158e-01 -2.71341013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.445769231 meters 0.024222072735239474 Centerline is valid? [True, True] Translation: X:404.58, Y:-51.52, Z:-2.72 [[ 9.85810545e-01 1.67834099e-01 3.04706793e-03 4.04577763e+02] [-1.67833147e-01 9.85815253e-01 -5.67318580e-04 -5.15180839e+01] [-3.09906145e-03 4.78696368e-05 9.99995197e-01 -2.72011928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.505769231 meters 0.017913676905179768 Centerline is valid? [True, True] Translation: X:404.64, Y:-51.53, Z:-2.72 [[ 9.85352349e-01 1.70483200e-01 4.02830116e-03 4.04635927e+02] [-1.70481560e-01 9.85360582e-01 -7.49609645e-04 -5.15280829e+01] [-4.09712502e-03 5.18785605e-05 9.99991605e-01 -2.71710551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.565769231 meters 0.019316894904058905 Centerline is valid? [True, True] Translation: X:404.69, Y:-51.55, Z:-2.72 [[ 9.85060759e-01 1.72133825e-01 5.02471242e-03 4.04690486e+02] [-1.72131296e-01 9.85073572e-01 -9.34718804e-04 -5.15507860e+01] [-5.11060813e-03 5.58445530e-05 9.99986939e-01 -2.71716108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.625769231 meters 0.01659148001193057 Centerline is valid? [True, True] Translation: X:404.75, Y:-51.56, Z:-2.71 [[ 9.84654295e-01 1.74392899e-01 6.56013742e-03 4.04748053e+02] [-1.74388642e-01 9.84676147e-01 -1.21980924e-03 -5.15637786e+01] [-6.67233691e-03 5.70769495e-05 9.99977738e-01 -2.71414384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.685769231 meters 0.012147223814287162 Centerline is valid? [True, True] Translation: X:404.81, Y:-51.57, Z:-2.72 [[ 9.83937917e-01 1.78398876e-01 6.32586124e-03 4.04806756e+02] [-1.78395003e-01 9.83958251e-01 -1.17597895e-03 -5.15727238e+01] [-6.43417669e-03 2.85882489e-05 9.99979300e-01 -2.71548544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.745769231 meters 0.011349773697153568 Centerline is valid? [True, True] Translation: X:404.86, Y:-51.59, Z:-2.72 [[ 9.83629250e-01 1.80104728e-01 5.98207801e-03 4.04863079e+02] [-1.80101297e-01 9.83647440e-01 -1.11187981e-03 -5.15895147e+01] [-6.08451054e-03 1.62974989e-05 9.99981489e-01 -2.71622978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.805769231 meters 0.011269900368920695 Centerline is valid? [True, True] Translation: X:404.92, Y:-51.60, Z:-2.72 [[ 9.83353108e-01 1.81646753e-01 4.59582824e-03 4.04919190e+02] [-1.81644745e-01 9.83363848e-01 -8.54102277e-04 -5.16030876e+01] [-4.67451625e-03 5.07607828e-06 9.99989074e-01 -2.71884641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.865769231 meters 0.01187770700349277 Centerline is valid? [True, True] Translation: X:404.98, Y:-51.61, Z:-2.72 [[ 9.82525934e-01 1.86069516e-01 4.57427673e-03 4.04976558e+02] [-1.86067576e-01 9.82536582e-01 -8.49835652e-04 -5.16133419e+01] [-4.65252273e-03 -1.61390128e-05 9.99989177e-01 -2.71916110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.925769231 meters 0.01448249541956001 Centerline is valid? [True, True] Translation: X:405.03, Y:-51.62, Z:-2.71 [[ 9.81900258e-01 1.89273681e-01 6.88163780e-03 4.05033985e+02] [-1.89269374e-01 9.81924371e-01 -1.27784095e-03 -5.16197291e+01] [-6.99910954e-03 -4.77709217e-05 9.99975505e-01 -2.71421744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.985769231 meters 0.01599337351004265 Centerline is valid? [True, True] Translation: X:405.09, Y:-51.63, Z:-2.71 [[ 9.81460498e-01 1.91415239e-01 9.77230301e-03 4.05091974e+02] [-1.91406666e-01 9.81509143e-01 -1.81383934e-03 -5.16317448e+01] [-9.93880125e-03 -9.02722818e-05 9.99950605e-01 -2.71076530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.045769231 meters 0.016891532574016505 Centerline is valid? [True, True] Translation: X:405.15, Y:-51.64, Z:-2.72 [[ 9.81318937e-01 1.92261694e-01 6.97026521e-03 4.05149691e+02] [-1.92257356e-01 9.81343689e-01 -1.29352370e-03 -5.16444868e+01] [-7.08892083e-03 -7.07254559e-05 9.99974871e-01 -2.71759222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.105769231 meters 0.018138121257989515 Centerline is valid? [True, True] Translation: X:405.21, Y:-51.65, Z:-2.72 [[ 9.80781211e-01 1.95089002e-01 2.91489157e-03 4.05207595e+02] [-1.95088255e-01 9.80785542e-01 -5.41004058e-04 -5.16549214e+01] [-2.96442745e-03 -3.80544948e-05 9.99995605e-01 -2.72392690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.165769231 meters 0.020156310373718678 Centerline is valid? [True, True] Translation: X:405.26, Y:-51.66, Z:-2.72 [[ 9.80410611e-01 1.96896524e-01 5.17609457e-03 4.05264923e+02] [-1.96894198e-01 9.80424272e-01 -9.60183413e-04 -5.16614664e+01] [-5.26382553e-03 -7.77689806e-05 9.99986143e-01 -2.72080039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.225769231 meters 0.021299943737732648 Centerline is valid? [True, True] Translation: X:405.32, Y:-51.67, Z:-2.71 [[ 9.80241963e-01 1.97599486e-01 8.95190542e-03 4.05321894e+02] [-1.97592566e-01 9.80282828e-01 -1.65975595e-03 -5.16700750e+01] [-9.10336608e-03 -1.41867530e-04 9.99958553e-01 -2.71456430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.285769231 meters 0.022099554952160285 Centerline is valid? [True, True] Translation: X:405.38, Y:-51.67, Z:-2.72 [[ 9.79968504e-01 1.99057242e-01 6.15991878e-03 4.05380606e+02] [-1.99053996e-01 9.79987859e-01 -1.14185119e-03 -5.16739059e+01] [-6.26393936e-03 -1.07178247e-04 9.99980376e-01 -2.71942977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.345769231 meters 0.022087160482552715 Centerline is valid? [True, True] Translation: X:405.44, Y:-51.68, Z:-2.72 [[ 9.79966031e-01 1.99106614e-01 4.80976111e-03 4.05439421e+02] [-1.99104636e-01 9.79977831e-01 -8.91414966e-04 -5.16812169e+01] [-4.89094588e-03 -8.40893493e-05 9.99988036e-01 -2.72256332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.405769231 meters 0.019756370100660336 Centerline is valid? [True, True] Translation: X:405.50, Y:-51.69, Z:-2.73 [[ 9.80542515e-01 1.96260656e-01 4.25807807e-03 4.05497762e+02] [-1.96259080e-01 9.80551759e-01 -7.88997852e-04 -5.16865529e+01] [-4.33011518e-03 -6.20405456e-05 9.99990623e-01 -2.72528591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.465769231 meters 0.01416687656068586 Centerline is valid? [True, True] Translation: X:405.56, Y:-51.70, Z:-2.72 [[ 9.81724454e-01 1.90200217e-01 6.40111182e-03 4.05555319e+02] [-1.90196530e-01 9.81745321e-01 -1.18561230e-03 -5.16989861e+01] [-6.50976530e-03 -5.35246681e-05 9.99978810e-01 -2.72144361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.525769231 meters 0.010775203363549092 Centerline is valid? [True, True] Translation: X:405.61, Y:-51.72, Z:-2.72 [[ 9.83052111e-01 1.83238274e-01 5.68177999e-03 4.05611813e+02] [-1.83235253e-01 9.83068530e-01 -1.05213770e-03 -5.17158031e+01] [-5.77837100e-03 -6.79621191e-06 9.99983305e-01 -2.72363846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.58576923100003 meters 0.016842755596288044 Centerline is valid? [True, True] Translation: X:405.67, Y:-51.75, Z:-2.73 [[ 9.85158367e-01 1.71558410e-01 5.54115377e-03 4.05667598e+02] [-1.71555354e-01 9.85173948e-01 -1.02574407e-03 -5.17469554e+01] [-5.63497536e-03 5.99057494e-05 9.99984122e-01 -2.72572966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.64576923100003 meters 0.022739965946195338 Centerline is valid? [True, True] Translation: X:405.72, Y:-51.77, Z:-2.73 [[ 9.86325094e-01 1.64717052e-01 5.57694846e-03 4.05724523e+02] [-1.64713847e-01 9.86340855e-01 -1.03244007e-03 -5.17727468e+01] [-5.67083260e-03 9.97209136e-05 9.99983916e-01 -2.72639623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.70576923100003 meters 0.028319030832198534 Centerline is valid? [True, True] Translation: X:405.78, Y:-51.80, Z:-2.72 [[ 9.87280922e-01 1.58851961e-01 6.51421195e-03 4.05780663e+02] [-1.58847460e-01 9.87302401e-01 -1.20604628e-03 -5.18031320e+01] [-6.62307991e-03 1.55940465e-04 9.99978055e-01 -2.72417971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76576923100004 meters 0.028011150292604516 Centerline is valid? [True, True] Translation: X:405.84, Y:-51.82, Z:-2.72 [[ 9.87022119e-01 1.60400343e-01 7.68544216e-03 4.05839180e+02] [-1.60394122e-01 9.87052025e-01 -1.42306614e-03 -5.18208339e+01] [-7.81419154e-03 1.71898015e-04 9.99969454e-01 -2.72195604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82576923100004 meters 0.020157714074218205 Centerline is valid? [True, True] Translation: X:405.90, Y:-51.83, Z:-2.72 [[ 9.85858921e-01 1.67425943e-01 7.12333313e-03 4.05899012e+02] [-1.67420778e-01 9.85884649e-01 -1.31961585e-03 -5.18336380e+01] [-7.24372272e-03 1.08361081e-04 9.99973758e-01 -2.72248672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.885769231 meters 0.014562467058879 Centerline is valid? [True, True] Translation: X:405.96, Y:-51.85, Z:-2.73 [[ 9.84498413e-01 1.75347965e-01 3.99581629e-03 4.05958614e+02] [-1.75346404e-01 9.84506521e-01 -7.40211502e-04 -5.18456316e+01] [-4.06370177e-03 2.80850296e-05 9.99991743e-01 -2.73033519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.945769231 meters 0.012052127263797535 Centerline is valid? [True, True] Translation: X:406.02, Y:-51.86, Z:-2.73 [[ 9.84023530e-01 1.78001122e-01 3.64600942e-03 4.06019543e+02] [-1.77999843e-01 9.84030284e-01 -6.75009702e-04 -5.18582013e+01] [-3.70793617e-03 1.52363255e-05 9.99993125e-01 -2.73082612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.005769231 meters 0.011345659372036548 Centerline is valid? [True, True] Translation: X:406.08, Y:-51.87, Z:-2.73 [[ 9.83417078e-01 1.81350943e-01 1.63924385e-03 4.06078886e+02] [-1.81350689e-01 9.83418444e-01 -3.03189699e-04 -5.18731631e+01] [-1.66704637e-03 8.83925975e-07 9.99998610e-01 -2.73473572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.065769231 meters 0.013342893137210494 Centerline is valid? [True, True] Translation: X:406.14, Y:-51.88, Z:-2.73 [[ 9.82057175e-01 1.88562443e-01 2.81229789e-03 4.06138794e+02] [-1.88561722e-01 9.82061202e-01 -5.22053640e-04 -5.18764713e+01] [-2.86028835e-03 -1.76052076e-05 9.99995909e-01 -2.73273475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.125769231 meters 0.018740436031942236 Centerline is valid? [True, True] Translation: X:406.20, Y:-51.88, Z:-2.73 [[ 9.80839547e-01 1.94795360e-01 2.92402562e-03 4.06199078e+02] [-1.94794607e-01 9.80843905e-01 -5.42849957e-04 -5.18766174e+01] [-2.97375736e-03 -3.71357162e-05 9.99995578e-01 -2.73332095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.185769231 meters 0.024709615574858585 Centerline is valid? [True, True] Translation: X:406.26, Y:-51.87, Z:-2.73 [[ 9.79290257e-01 2.02414914e-01 4.33525058e-03 4.06260969e+02] [-2.02413336e-01 9.79299849e-01 -8.04516900e-04 -5.18726033e+01] [-4.40835646e-03 -8.96569688e-05 9.99990279e-01 -2.72963348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.245769231 meters 0.02677857655657863 Centerline is valid? [True, True] Translation: X:406.32, Y:-51.87, Z:-2.73 [[ 9.78913107e-01 2.04195236e-01 5.78218876e-03 4.06320836e+02] [-2.04192459e-01 9.78930175e-01 -1.07297485e-03 -5.18741303e+01] [-5.87945541e-03 -1.30330197e-04 9.99982707e-01 -2.72717149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.305769231 meters 0.02579795298501534 Centerline is valid? [True, True] Translation: X:406.38, Y:-51.88, Z:-2.73 [[ 9.79145186e-01 2.03113097e-01 4.44681601e-03 4.06378840e+02] [-2.03111444e-01 9.79155279e-01 -8.25035893e-04 -5.18837236e+01] [-4.52169896e-03 -9.53692972e-05 9.99989773e-01 -2.73041041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.365769231 meters 0.02720785228057862 Centerline is valid? [True, True] Translation: X:406.44, Y:-51.89, Z:-2.73 [[ 9.79143117e-01 2.03092968e-01 5.65713523e-03 4.06437229e+02] [-2.03090294e-01 9.79159452e-01 -1.04923921e-03 -5.18875443e+01] [-5.75233053e-03 -1.21553910e-04 9.99983448e-01 -2.72913175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.425769231 meters 0.02821016941543431 Centerline is valid? [True, True] Translation: X:406.50, Y:-51.89, Z:-2.73 [[ 9.78806827e-01 2.04728719e-01 4.83184585e-03 4.06496221e+02] [-2.04726789e-01 9.78818747e-01 -8.95917354e-04 -5.18940739e+01] [-4.91292131e-03 -1.12278264e-04 9.99987925e-01 -2.73093970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.485769231 meters 0.026205760211795857 Centerline is valid? [True, True] Translation: X:406.55, Y:-51.91, Z:-2.73 [[ 9.79264412e-01 2.02559359e-01 3.30426210e-03 4.06554411e+02] [-2.02558444e-01 9.79269984e-01 -6.12576406e-04 -5.19060955e+01] [-3.35984778e-03 -6.94319164e-05 9.99994353e-01 -2.73441509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.545769231 meters 0.017550495495789176 Centerline is valid? [True, True] Translation: X:406.61, Y:-51.94, Z:-2.74 [[ 9.81042914e-01 1.93757337e-01 3.59100772e-03 4.06609836e+02] [-1.93756199e-01 9.81049485e-01 -6.65532814e-04 -5.19350778e+01] [-3.65190814e-03 -4.28637545e-05 9.99993331e-01 -2.73660174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.605769231 meters 0.011556523918566793 Centerline is valid? [True, True] Translation: X:406.67, Y:-51.96, Z:-2.73 [[ 9.82619562e-01 1.85572562e-01 4.64984438e-03 4.06667447e+02] [-1.85570563e-01 9.82630563e-01 -8.61481736e-04 -5.19637701e+01] [-4.72894658e-03 -1.63654332e-05 9.99988818e-01 -2.73376323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.665769231 meters 0.011976966024630413 Centerline is valid? [True, True] Translation: X:406.72, Y:-51.99, Z:-2.74 [[ 9.83924397e-01 1.78578092e-01 1.62670032e-03 4.06724964e+02] [-1.78577839e-01 9.83925742e-01 -3.00589660e-04 -5.19949768e+01] [-1.65423105e-03 5.26487195e-06 9.99998632e-01 -2.73803952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.725769231 meters 0.01194455653658106 Centerline is valid? [True, True] Translation: X:406.79, Y:-52.01, Z:-2.74 [[ 9.83686810e-01 1.79887873e-01 7.83600047e-04 4.06785155e+02] [-1.79887815e-01 9.83687122e-01 -1.44243481e-04 -5.20104943e+01] [-7.96764928e-04 9.30309647e-07 9.99999683e-01 -2.74017229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.785769231 meters 0.011043751692751043 Centerline is valid? [True, True] Translation: X:406.85, Y:-52.02, Z:-2.74 [[ 9.82945312e-01 1.83877067e-01 2.78152140e-03 4.06845218e+02] [-1.83876343e-01 9.82949248e-01 -5.16276417e-04 -5.20200683e+01] [-2.82902576e-03 -3.98449804e-06 9.99995998e-01 -2.73579375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.845769231 meters 0.01371715133225214 Centerline is valid? [True, True] Translation: X:406.91, Y:-52.03, Z:-2.73 [[ 9.81897929e-01 1.89374435e-01 3.71216345e-03 4.06906054e+02] [-1.89373182e-01 9.81904946e-01 -6.89511706e-04 -5.20273499e+01] [-3.77556754e-03 -2.59540873e-05 9.99992872e-01 -2.73494304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.905769231 meters 0.01558304961231202 Centerline is valid? [True, True] Translation: X:406.97, Y:-52.04, Z:-2.73 [[ 9.81165791e-01 1.93129357e-01 3.83961814e-03 4.06967488e+02] [-1.93128046e-01 9.81173303e-01 -7.12813972e-04 -5.20389583e+01] [-3.90499612e-03 -4.21492645e-05 9.99992375e-01 -2.73445054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.965769231 meters 0.02067893859460311 Centerline is valid? [True, True] Translation: X:407.03, Y:-52.05, Z:-2.74 [[ 9.80120970e-01 1.98369676e-01 3.51518118e-03 4.07027259e+02] [-1.98368607e-01 9.80127272e-01 -6.53546686e-04 -5.20460185e+01] [-3.57496878e-03 -5.67467836e-05 9.99993608e-01 -2.73538118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.025769231 meters 0.02442649280800965 Centerline is valid? [True, True] Translation: X:407.09, Y:-52.05, Z:-2.74 [[ 9.79313333e-01 2.02333093e-01 2.59149586e-03 4.07088057e+02] [-2.02332526e-01 9.79316760e-01 -4.81982805e-04 -5.20521512e+01] [-2.63541640e-03 -5.23317163e-05 9.99996526e-01 -2.73634432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.08576923100003 meters 0.026673900267378845 Centerline is valid? [True, True] Translation: X:407.15, Y:-52.06, Z:-2.74 [[ 9.78838080e-01 2.04625088e-01 2.14144064e-03 4.07148361e+02] [-2.04624706e-01 9.78840422e-01 -3.98348449e-04 -5.20589628e+01] [-2.17764075e-03 -4.82730303e-05 9.99997628e-01 -2.73725956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.14576923100003 meters 0.030834525581111417 Centerline is valid? [True, True] Translation: X:407.21, Y:-52.06, Z:-2.73 [[ 9.78132622e-01 2.07940186e-01 4.17776654e-03 4.07208043e+02] [-2.07938761e-01 9.78141538e-01 -7.77242190e-04 -5.20594939e+01] [-4.24806688e-03 -1.08473659e-04 9.99990971e-01 -2.73415777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.20576923100003 meters 0.034850536311582594 Centerline is valid? [True, True] Translation: X:407.27, Y:-52.06, Z:-2.74 [[ 9.77122221e-01 2.12677853e-01 5.44833781e-04 4.07269303e+02] [-2.12677829e-01 9.77122372e-01 -1.01407466e-04 -5.20599699e+01] [-5.53936399e-04 -1.67865774e-05 9.99999846e-01 -2.74138735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26576923100004 meters 0.03934746584413392 Centerline is valid? [True, True] Translation: X:407.33, Y:-52.06, Z:-2.75 [[ 9.76714574e-01 2.14541550e-01 -7.51362440e-04 4.07328047e+02] [-2.14541506e-01 9.76714863e-01 1.39449794e-04 -5.20624052e+01] [ 7.63784637e-04 2.49957834e-05 9.99999708e-01 -2.74506357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32576923100004 meters 0.045976924768441174 Centerline is valid? [True, True] Translation: X:407.39, Y:-52.06, Z:-2.74 [[ 9.75499435e-01 2.20000062e-01 9.08507668e-04 4.07389983e+02] [-2.20000000e-01 9.75499857e-01 -1.68927450e-04 -5.20588026e+01] [-9.23413150e-04 -3.50830545e-05 9.99999573e-01 -2.74176288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.385769231 meters 0.04626755963732155 Centerline is valid? [True, True] Translation: X:407.45, Y:-52.06, Z:-2.74 [[ 9.75021786e-01 2.22073336e-01 3.99369715e-03 4.07448921e+02] [-2.22072154e-01 9.75029952e-01 -7.42664388e-04 -5.20649205e+01] [-4.05890029e-03 -1.62774968e-04 9.99991749e-01 -2.73665508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.445769231 meters 0.04698481497836263 Centerline is valid? [True, True] Translation: X:407.51, Y:-52.07, Z:-2.73 [[ 9.75032563e-01 2.21995005e-01 5.45146166e-03 4.07507652e+02] [-2.21992802e-01 9.75047778e-01 -1.01349663e-03 -5.20679730e+01] [-5.54042677e-03 -2.21993035e-04 9.99984627e-01 -2.73366970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.505769231 meters 0.04671442734265369 Centerline is valid? [True, True] Translation: X:407.57, Y:-52.08, Z:-2.73 [[ 9.75182115e-01 2.21337798e-01 5.42416108e-03 4.07566453e+02] [-2.21335609e-01 9.75197176e-01 -1.00808330e-03 -5.20750640e+01] [-5.51275351e-03 -2.17495187e-04 9.99984781e-01 -2.73466658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.565769231 meters 0.04841528718565124 Centerline is valid? [True, True] Translation: X:407.63, Y:-52.08, Z:-2.74 [[ 9.75114472e-01 2.21629924e-01 5.65189119e-03 4.07625461e+02] [-2.21627554e-01 9.75130824e-01 -1.05017355e-03 -5.20759081e+01] [-5.74408320e-03 -2.28575393e-04 9.99983476e-01 -2.73503222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.625769231 meters 0.048681386728032267 Centerline is valid? [True, True] Translation: X:407.68, Y:-52.08, Z:-2.74 [[ 9.75193884e-01 2.21298357e-01 4.89131984e-03 4.07684481e+02] [-2.21296580e-01 9.75206131e-01 -9.08450171e-04 -5.20785277e+01] [-4.97108362e-03 -1.96517299e-04 9.99987625e-01 -2.73740394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.685769231 meters 0.04651681337756643 Centerline is valid? [True, True] Translation: X:407.74, Y:-52.08, Z:-2.74 [[ 9.75816953e-01 2.18515063e-01 5.69572513e-03 4.07744962e+02] [-2.18512608e-01 9.75833552e-01 -1.05749438e-03 -5.20815029e+01] [-5.78915814e-03 -2.12666805e-04 9.99983220e-01 -2.73712487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.745769231 meters 0.04529450294947582 Centerline is valid? [True, True] Translation: X:407.80, Y:-52.09, Z:-2.74 [[ 9.76230689e-01 2.16649056e-01 6.06869374e-03 4.07802723e+02] [-2.16646233e-01 9.76249528e-01 -1.12670516e-03 -5.20870925e+01] [-6.16865901e-03 -2.14835481e-04 9.99980951e-01 -2.73649098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.805769231 meters 0.03467079096039693 Centerline is valid? [True, True] Translation: X:407.86, Y:-52.10, Z:-2.74 [[ 9.77476084e-01 2.11021488e-01 3.23074902e-03 4.07860955e+02] [-2.11020657e-01 9.77481418e-01 -5.99616137e-04 -5.21032008e+01] [-3.28452903e-03 -9.56443496e-05 9.99994601e-01 -2.74191537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.865769231 meters 0.0293362760655873 Centerline is valid? [True, True] Translation: X:407.92, Y:-52.12, Z:-2.74 [[ 9.78659395e-01 2.05470103e-01 2.79730526e-03 4.07918777e+02] [-2.05469458e-01 9.78663391e-01 -5.19253445e-04 -5.21167688e+01] [-2.84431131e-03 -6.65885331e-05 9.99995953e-01 -2.74310985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.925769231 meters 0.021541681150652754 Centerline is valid? [True, True] Translation: X:407.98, Y:-52.14, Z:-2.74 [[ 9.80297534e-01 1.97486141e-01 3.99619287e-03 4.07975170e+02] [-1.97484758e-01 9.80305677e-01 -7.41609142e-04 -5.21361898e+01] [-4.06394809e-03 -6.21895687e-05 9.99991740e-01 -2.74229496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.985769231 meters 0.01649226831609212 Centerline is valid? [True, True] Translation: X:408.03, Y:-52.16, Z:-2.74 [[ 9.81282049e-01 1.92519832e-01 4.65350120e-03 4.08031138e+02] [-1.92517901e-01 9.81293082e-01 -8.63580618e-04 -5.21584972e+01] [-4.73270493e-03 -4.84661249e-05 9.99988800e-01 -2.74186584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.045769231 meters 0.015860781680288937 Centerline is valid? [True, True] Translation: X:408.09, Y:-52.17, Z:-2.74 [[ 9.81469581e-01 1.91578930e-01 3.86965452e-03 4.08088570e+02] [-1.91577588e-01 9.81477209e-01 -7.17988989e-04 -5.21727057e+01] [-3.93552928e-03 -3.66547287e-05 9.99992255e-01 -2.74356666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.105769231 meters 0.01637196439382847 Centerline is valid? [True, True] Translation: X:408.15, Y:-52.18, Z:-2.74 [[ 9.81102164e-01 1.93440892e-01 4.37778521e-03 4.08146432e+02] [-1.93439194e-01 9.81111930e-01 -8.12029832e-04 -5.21833747e+01] [-4.45217707e-03 -5.01510168e-05 9.99990088e-01 -2.74344289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.165769231 meters 0.02195023038431458 Centerline is valid? [True, True] Translation: X:408.21, Y:-52.18, Z:-2.74 [[ 9.80397907e-01 1.96938709e-01 5.92364227e-03 4.08205033e+02] [-1.96935667e-01 9.80415798e-01 -1.09836584e-03 -5.21837445e+01] [-6.02394321e-03 -8.97408726e-05 9.99981852e-01 -2.74077505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.225769231 meters 0.024164485492538464 Centerline is valid? [True, True] Translation: X:408.26, Y:-52.19, Z:-2.75 [[ 9.79531083e-01 2.01263593e-01 3.43866023e-03 4.08264615e+02] [-2.01262595e-01 9.79537116e-01 -6.37437417e-04 -5.21886270e+01] [-3.49658827e-03 -6.76839196e-05 9.99993885e-01 -2.74545349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.285769231 meters 0.026295533957660808 Centerline is valid? [True, True] Translation: X:408.32, Y:-52.19, Z:-2.75 [[ 9.79211519e-01 2.02813914e-01 3.36423204e-03 4.08323134e+02] [-2.02812967e-01 9.79217295e-01 -6.23787210e-04 -5.21935094e+01] [-3.42082693e-03 -7.14902618e-05 9.99994146e-01 -2.74628497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.345769231 meters 0.028517610816477947 Centerline is valid? [True, True] Translation: X:408.38, Y:-52.20, Z:-2.75 [[ 9.78860607e-01 2.04500665e-01 3.37481534e-03 4.08381313e+02] [-2.04499723e-01 9.78866422e-01 -6.25351990e-04 -5.21969970e+01] [-3.43137831e-03 -7.80163741e-05 9.99994110e-01 -2.74624911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.405769231 meters 0.029997397034738388 Centerline is valid? [True, True] Translation: X:408.44, Y:-52.20, Z:-2.75 [[ 9.78523679e-01 2.06129348e-01 1.44983604e-03 4.08439678e+02] [-2.06129176e-01 9.78524752e-01 -2.68739095e-04 -5.22034298e+01] [-1.47409546e-03 -3.58859404e-05 9.99998913e-01 -2.75089143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.465769231 meters 0.02930330572136011 Centerline is valid? [True, True] Translation: X:408.50, Y:-52.21, Z:-2.75 [[ 9.78958375e-01 2.04046686e-01 2.33445656e-03 4.08497087e+02] [-2.04046234e-01 9.78961157e-01 -4.32540542e-04 -5.22127973e+01] [-2.37360076e-03 -5.28978842e-05 9.99997182e-01 -2.75026356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.525769231 meters 0.03378331275745343 Centerline is valid? [True, True] Translation: X:408.56, Y:-52.22, Z:-2.75 [[ 9.78971448e-01 2.03938082e-01 4.91556611e-03 4.08555315e+02] [-2.03936083e-01 9.78983782e-01 -9.09782036e-04 -5.22152473e+01] [-4.99779871e-03 -1.11810663e-04 9.99987505e-01 -2.74567702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.58576923100003 meters 0.030013826367385976 Centerline is valid? [True, True] Translation: X:408.61, Y:-52.23, Z:-2.75 [[ 9.78194484e-01 2.07676546e-01 2.45011862e-03 4.08613417e+02] [-2.07676062e-01 9.78197551e-01 -4.53342732e-04 -5.22256758e+01] [-2.49084869e-03 -6.53736259e-05 9.99996896e-01 -2.75003359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.64576923100003 meters 0.03311391091172793 Centerline is valid? [True, True] Translation: X:408.67, Y:-52.22, Z:-2.75 [[ 9.77896060e-01 2.09045168e-01 4.40616805e-03 4.08672503e+02] [-2.09043616e-01 9.77905978e-01 -8.15032717e-04 -5.22243157e+01] [-4.47919672e-03 -1.24064019e-04 9.99989961e-01 -2.74761777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.70576923100003 meters 0.031617008205189256 Centerline is valid? [True, True] Translation: X:408.73, Y:-52.23, Z:-2.75 [[ 9.78967681e-01 2.03988184e-01 3.33159902e-03 4.08730267e+02] [-2.03987268e-01 9.78973347e-01 -6.15905862e-04 -5.22339849e+01] [-3.38718416e-03 -7.66518494e-05 9.99994261e-01 -2.75022773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76576923100004 meters 0.02750062269236917 Centerline is valid? [True, True] Translation: X:408.79, Y:-52.25, Z:-2.75 [[ 9.79706814e-01 2.00416271e-01 2.80648868e-03 4.08788101e+02] [-2.00415607e-01 9.79710833e-01 -5.18711112e-04 -5.22475944e+01] [-2.85350550e-03 -5.42793211e-05 9.99995927e-01 -2.75150932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82576923100004 meters 0.03473418356709161 Centerline is valid? [True, True] Translation: X:408.85, Y:-52.24, Z:-2.75 [[ 9.79211616e-01 2.02766175e-01 5.52171397e-03 4.08847840e+02] [-2.02763644e-01 9.79227177e-01 -1.02034252e-03 -5.22398386e+01] [-5.61390333e-03 -1.20471592e-04 9.99984235e-01 -2.74561038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.885769231 meters 0.034908911454354284 Centerline is valid? [True, True] Translation: X:408.91, Y:-52.24, Z:-2.75 [[ 9.78139831e-01 2.07912847e-01 3.83652008e-03 4.08908767e+02] [-2.07911665e-01 9.78147349e-01 -7.08619821e-04 -5.22434158e+01] [-3.90001311e-03 -1.04528007e-04 9.99992389e-01 -2.74867865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.945769231 meters 0.03472970421233139 Centerline is valid? [True, True] Translation: X:408.97, Y:-52.24, Z:-2.75 [[ 9.77701103e-01 2.09954725e-01 4.42340413e-03 4.08968823e+02] [-2.09953175e-01 9.77711101e-01 -8.17109855e-04 -5.22442977e+01] [-4.49636740e-03 -1.29818538e-04 9.99989883e-01 -2.74757237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.005769231 meters 0.035499687198008216 Centerline is valid? [True, True] Translation: X:409.03, Y:-52.25, Z:-2.74 [[ 9.78543272e-01 2.05943343e-01 6.35640675e-03 4.09027504e+02] [-2.05940060e-01 9.78563904e-01 -1.17383373e-03 -5.22489824e+01] [-6.46189344e-03 -1.60391687e-04 9.99979109e-01 -2.74359534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.065769231 meters 0.02395155597528627 Centerline is valid? [True, True] Translation: X:409.08, Y:-52.27, Z:-2.75 [[ 9.79525684e-01 2.01287919e-01 3.55080636e-03 4.09083925e+02] [-2.01286864e-01 9.79532117e-01 -6.55681462e-04 -5.22744003e+01] [-3.61010963e-03 -7.24738441e-05 9.99993481e-01 -2.74849029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.125769231 meters 0.024479223512784 Centerline is valid? [True, True] Translation: X:409.14, Y:-52.28, Z:-2.75 [[ 9.79671375e-01 2.00557031e-01 4.56879419e-03 4.09141266e+02] [-2.00555276e-01 9.79682025e-01 -8.43694842e-04 -5.22842378e+01] [-4.64517448e-03 -8.97520955e-05 9.99989207e-01 -2.74712819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.185769231 meters 0.02205417090015044 Centerline is valid? [True, True] Translation: X:409.20, Y:-52.30, Z:-2.74 [[ 9.80064651e-01 1.98498526e-01 8.46258250e-03 4.09197508e+02] [-1.98492438e-01 9.80101175e-01 -1.56185710e-03 -5.23024028e+01] [-8.60421338e-03 -1.49037697e-04 9.99962972e-01 -2.74019803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.245769231 meters 0.021052786458315195 Centerline is valid? [True, True] Translation: X:409.25, Y:-52.32, Z:-2.74 [[ 9.80327921e-01 1.97279357e-01 6.16628970e-03 4.09254099e+02] [-1.97276101e-01 9.80347308e-01 -1.13784017e-03 -5.23189998e+01] [-6.26957789e-03 -1.01005104e-04 9.99980341e-01 -2.74492443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.305769231 meters 0.017336768098206296 Centerline is valid? [True, True] Translation: X:409.31, Y:-52.35, Z:-2.75 [[ 9.81156190e-01 1.93164013e-01 4.49393679e-03 4.09309394e+02] [-1.93162242e-01 9.81166480e-01 -8.29089018e-04 -5.23457065e+01] [-4.56945030e-03 -5.45930826e-05 9.99989559e-01 -2.74906615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.365769231 meters 0.014757763477692103 Centerline is valid? [True, True] Translation: X:409.37, Y:-52.37, Z:-2.75 [[ 9.81769115e-01 1.90045653e-01 3.47185290e-03 4.09365594e+02] [-1.90044577e-01 9.81775254e-01 -6.40496669e-04 -5.23659167e+01] [-3.53030287e-03 -3.09869662e-05 9.99993768e-01 -2.75086560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.425769231 meters 0.014132647594779084 Centerline is valid? [True, True] Translation: X:409.42, Y:-52.38, Z:-2.75 [[ 9.82048003e-01 1.88609611e-01 2.85218689e-03 4.09421222e+02] [-1.88608878e-01 9.82052144e-01 -5.26147258e-04 -5.23839470e+01] [-2.90023268e-03 -2.12459054e-05 9.99995794e-01 -2.75259639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.485769231 meters 0.012162259716321419 Centerline is valid? [True, True] Translation: X:409.48, Y:-52.40, Z:-2.75 [[ 9.82439865e-01 1.86471994e-01 6.33308791e-03 4.09477302e+02] [-1.86468343e-01 9.82460276e-01 -1.16737122e-03 -5.24037080e+01] [-6.43968934e-03 -3.40483920e-05 9.99979264e-01 -2.74577525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.545769231 meters 0.010715560296359406 Centerline is valid? [True, True] Translation: X:409.53, Y:-52.43, Z:-2.75 [[ 9.83220150e-01 1.82374029e-01 4.22484864e-03 4.09532998e+02] [-1.82372367e-01 9.83229227e-01 -7.78670382e-04 -5.24272632e+01] [-4.29600391e-03 -4.89123632e-06 9.99990772e-01 -2.75138037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.605769231 meters 0.011379824580241785 Centerline is valid? [True, True] Translation: X:409.59, Y:-52.45, Z:-2.76 [[ 9.83997973e-01 1.78163081e-01 2.42999468e-03 4.09588214e+02] [-1.78162518e-01 9.84000974e-01 -4.47971088e-04 -5.24482279e+01] [-2.47092904e-03 7.86867156e-06 9.99996947e-01 -2.75505415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.665769231 meters 0.01420006326307027 Centerline is valid? [True, True] Translation: X:409.64, Y:-52.47, Z:-2.75 [[ 9.84945793e-01 1.72830236e-01 3.39039505e-03 4.09644586e+02] [-1.72829111e-01 9.84951628e-01 -6.24457044e-04 -5.24731962e+01] [-3.44730018e-03 2.90973768e-05 9.99994058e-01 -2.75350057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.725769231 meters 0.015963755901251094 Centerline is valid? [True, True] Translation: X:409.70, Y:-52.49, Z:-2.75 [[ 9.85269806e-01 1.70953713e-01 4.27059725e-03 4.09700586e+02] [-1.70951910e-01 9.85279060e-01 -7.86430691e-04 -5.24927018e+01] [-4.34217329e-03 4.47796553e-05 9.99990572e-01 -2.75217067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.785769231 meters 0.01559779245458128 Centerline is valid? [True, True] Translation: X:409.76, Y:-52.51, Z:-2.75 [[ 9.85204183e-01 1.71344609e-01 3.70713325e-03 4.09759296e+02] [-1.71343254e-01 9.85211157e-01 -6.82503982e-04 -5.25082785e+01] [-3.76925242e-03 3.72135054e-05 9.99992896e-01 -2.75323473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.845769231 meters 0.014828722688645773 Centerline is valid? [True, True] Translation: X:409.82, Y:-52.52, Z:-2.75 [[ 9.85075616e-01 1.72057982e-01 4.69904874e-03 4.09818265e+02] [-1.72055813e-01 9.85086823e-01 -8.65121177e-04 -5.25218788e+01] [-4.77782200e-03 4.37111246e-05 9.99988585e-01 -2.75140257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.905769231 meters 0.013012557135703949 Centerline is valid? [True, True] Translation: X:409.88, Y:-52.53, Z:-2.75 [[ 9.84644097e-01 1.74511085e-01 4.67796941e-03 4.09877662e+02] [-1.74508962e-01 9.84655209e-01 -8.61295093e-04 -5.25288991e+01] [-4.75649249e-03 3.17215418e-05 9.99988687e-01 -2.75177494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.965769231 meters 0.012878924585713727 Centerline is valid? [True, True] Translation: X:409.94, Y:-52.54, Z:-2.75 [[ 9.84646123e-01 1.74510586e-01 4.25064468e-03 4.09936497e+02] [-1.74508835e-01 9.84655297e-01 -7.82463183e-04 -5.25407203e+01] [-4.32196791e-03 2.86742905e-05 9.99990660e-01 -2.75317800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.025769231 meters 0.014531677483510093 Centerline is valid? [True, True] Translation: X:409.99, Y:-52.56, Z:-2.76 [[ 9.85001589e-01 1.72510373e-01 3.46988701e-03 4.09993664e+02] [-1.72509193e-01 9.85007701e-01 -6.38783136e-04 -5.25578996e+01] [-3.52806214e-03 3.06149957e-05 9.99993776e-01 -2.75676262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.08576923100003 meters 0.01774288154334563 Centerline is valid? [True, True] Translation: X:410.05, Y:-52.58, Z:-2.76 [[ 9.85667822e-01 1.68673705e-01 2.85062828e-03 4.10052086e+02] [-1.68672894e-01 9.85671943e-01 -5.24001858e-04 -5.25822932e+01] [-2.89816965e-03 3.56680472e-05 9.99995800e-01 -2.75737737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.14576923100003 meters 0.020469138815353307 Centerline is valid? [True, True] Translation: X:410.11, Y:-52.60, Z:-2.76 [[ 9.85956311e-01 1.66998365e-01 1.30351942e-03 4.10109830e+02] [-1.66998194e-01 9.85957172e-01 -2.39679512e-04 -5.26033151e+01] [-1.32524041e-03 1.86281370e-05 9.99999122e-01 -2.76140156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.20576923100003 meters 0.018488957569198817 Centerline is valid? [True, True] Translation: X:410.17, Y:-52.62, Z:-2.76 [[ 9.85744194e-01 1.68200301e-01 4.12824105e-03 4.10169396e+02] [-1.68198591e-01 9.85752837e-01 -7.60473368e-04 -5.26213626e+01] [-4.19733717e-03 5.52678791e-05 9.99991190e-01 -2.75618237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26576923100004 meters 0.017793987972312034 Centerline is valid? [True, True] Translation: X:410.23, Y:-52.64, Z:-2.76 [[ 9.85403350e-01 1.70189536e-01 3.96995635e-03 4.10228192e+02] [-1.70187967e-01 9.85411345e-01 -7.32185757e-04 -5.26396564e+01] [-4.03665038e-03 4.58594978e-05 9.99991852e-01 -2.75709176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32576923100004 meters 0.015722742849138212 Centerline is valid? [True, True] Translation: X:410.29, Y:-52.65, Z:-2.76 [[ 9.85043693e-01 1.72284830e-01 2.61934363e-03 4.10289178e+02] [-1.72284155e-01 9.85047175e-01 -4.82816838e-04 -5.26515360e+01] [-2.66335906e-03 2.43242763e-05 9.99996453e-01 -2.75910314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.385769231 meters 0.01291803730281577 Centerline is valid? [True, True] Translation: X:410.35, Y:-52.66, Z:-2.76 [[ 9.84341107e-01 1.76235967e-01 3.66988333e-03 4.10350431e+02] [-1.76234666e-01 9.84347948e-01 -6.77591518e-04 -5.26571833e+01] [-3.73185812e-03 2.02205230e-05 9.99993036e-01 -2.75735758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.445769231 meters 0.01081915070975001 Centerline is valid? [True, True] Translation: X:410.41, Y:-52.66, Z:-2.76 [[ 9.83619291e-01 1.80183891e-01 5.18217692e-03 4.10411562e+02] [-1.80181342e-01 9.83632942e-01 -9.58322622e-04 -5.26597849e+01] [-5.27003423e-03 8.89302554e-06 9.99986113e-01 -2.75519215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.505769231 meters 0.010629521766711747 Centerline is valid? [True, True] Translation: X:410.47, Y:-52.66, Z:-2.75 [[ 9.83250193e-01 1.82154730e-01 6.22191489e-03 4.10472582e+02] [-1.82151096e-01 9.83269879e-01 -1.15059788e-03 -5.26632169e+01] [-6.32740835e-03 -2.00302769e-06 9.99979982e-01 -2.75488735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.565769231 meters 0.013470274955761731 Centerline is valid? [True, True] Translation: X:410.53, Y:-52.68, Z:-2.76 [[ 9.84455792e-01 1.75598959e-01 3.43491651e-03 4.10531128e+02] [-1.75597812e-01 9.84461785e-01 -6.34901931e-04 -5.26843438e+01] [-3.49303216e-03 2.18690579e-05 9.99993899e-01 -2.76037508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.625769231 meters 0.017574329889129676 Centerline is valid? [True, True] Translation: X:410.59, Y:-52.70, Z:-2.76 [[ 9.85204615e-01 1.71341707e-01 3.72624921e-03 4.10590921e+02] [-1.71340327e-01 9.85211661e-01 -6.88895292e-04 -5.27034162e+01] [-3.78918067e-03 4.02460615e-05 9.99992820e-01 -2.76004044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.685769231 meters 0.01898667477643952 Centerline is valid? [True, True] Translation: X:410.65, Y:-52.72, Z:-2.76 [[ 9.85379698e-01 1.70299914e-01 4.97902115e-03 4.10650070e+02] [-1.70297430e-01 9.85392275e-01 -9.21754544e-04 -5.27173517e+01] [-5.06326370e-03 6.03637064e-05 9.99987180e-01 -2.75814988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.745769231 meters 0.016948280084242658 Centerline is valid? [True, True] Translation: X:410.71, Y:-52.72, Z:-2.76 [[ 9.85004560e-01 1.72511388e-01 2.41623724e-03 4.10711628e+02] [-1.72510808e-01 9.85007523e-01 -4.47633258e-04 -5.27234948e+01] [-2.45723370e-03 2.40937602e-05 9.99996981e-01 -2.76389734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.805769231 meters 0.012292920612485244 Centerline is valid? [True, True] Translation: X:410.77, Y:-52.72, Z:-2.76 [[ 9.84078140e-01 1.77728008e-01 1.72346333e-03 4.10773665e+02] [-1.77727722e-01 9.84079649e-01 -3.19339258e-04 -5.27234727e+01] [-1.75278072e-03 7.94757254e-06 9.99998464e-01 -2.76293525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.865769231 meters 0.010986685613722926 Centerline is valid? [True, True] Translation: X:410.83, Y:-52.72, Z:-2.76 [[ 9.83213386e-01 1.82433088e-01 3.09924495e-03 4.10833941e+02] [-1.82432183e-01 9.83218271e-01 -5.74502485e-04 -5.27230446e+01] [-3.15204252e-03 -5.43489085e-07 9.99995032e-01 -2.76194618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.925769231 meters 0.012395652886371572 Centerline is valid? [True, True] Translation: X:410.89, Y:-52.72, Z:-2.76 [[ 9.82375139e-01 1.86874196e-01 4.13786033e-03 4.10893955e+02] [-1.86872623e-01 9.82383853e-01 -7.66933175e-04 -5.27197694e+01] [-4.20828719e-03 -1.98367284e-05 9.99991145e-01 -2.75995556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.985769231 meters 0.010757995909173894 Centerline is valid? [True, True] Translation: X:410.95, Y:-52.73, Z:-2.76 [[ 9.82905522e-01 1.83997896e-01 6.44282277e-03 4.10953434e+02] [-1.83994025e-01 9.82926637e-01 -1.19364749e-03 -5.27329100e+01] [-6.55245075e-03 -1.21981852e-05 9.99978532e-01 -2.75666038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.045769231 meters 0.010643121335029425 Centerline is valid? [True, True] Translation: X:411.01, Y:-52.75, Z:-2.76 [[ 9.83310856e-01 1.81796185e-01 7.06445983e-03 4.11011711e+02] [-1.81791474e-01 9.83336233e-01 -1.30881894e-03 -5.27475200e+01] [-7.18467761e-03 2.71730706e-06 9.99974190e-01 -2.75654827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.105769231 meters 0.01349433237257735 Centerline is valid? [True, True] Translation: X:411.07, Y:-52.77, Z:-2.76 [[ 9.84434489e-01 1.75659561e-01 5.69701613e-03 4.11069432e+02] [-1.75656393e-01 9.84450973e-01 -1.05552260e-03 -5.27707001e+01] [-5.79384571e-03 3.83755429e-05 9.99983215e-01 -2.75985835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.165769231 meters 0.017895388721411797 Centerline is valid? [True, True] Translation: X:411.13, Y:-52.79, Z:-2.76 [[ 9.85418590e-01 1.70107228e-01 3.70596341e-03 4.11128855e+02] [-1.70105849e-01 9.85425557e-01 -6.86575248e-04 -5.27916375e+01] [-3.76874248e-03 4.61579603e-05 9.99992897e-01 -2.76233971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.225769231 meters 0.017744743666601465 Centerline is valid? [True, True] Translation: X:411.19, Y:-52.81, Z:-2.76 [[ 9.85349536e-01 1.70480528e-01 4.76253726e-03 4.11189576e+02] [-1.70478254e-01 9.85361044e-01 -8.82387121e-04 -5.28052337e+01] [-4.84324851e-03 5.75507035e-05 9.99988270e-01 -2.76213214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.285769231 meters 0.016603601446949137 Centerline is valid? [True, True] Translation: X:411.25, Y:-52.82, Z:-2.76 [[ 9.85196292e-01 1.71369228e-01 4.56672737e-03 4.11250471e+02] [-1.71367143e-01 9.85206874e-01 -8.46835204e-04 -5.28177077e+01] [-4.64429270e-03 5.17118784e-05 9.99989214e-01 -2.76216702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.345769231 meters 0.016869748112803357 Centerline is valid? [True, True] Translation: X:411.31, Y:-52.83, Z:-2.77 [[ 9.85081099e-01 1.72080904e-01 1.84154735e-03 4.11310852e+02] [-1.72080567e-01 9.85082820e-01 -3.41038429e-04 -5.28330104e+01] [-1.87276286e-03 1.90559973e-05 9.99998246e-01 -2.76811018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.405769231 meters 0.016849877937446384 Centerline is valid? [True, True] Translation: X:411.37, Y:-52.85, Z:-2.77 [[ 9.85172356e-01 1.71557206e-01 1.88544444e-03 4.11371648e+02] [-1.71556852e-01 9.85174159e-01 -3.49449117e-04 -5.28513072e+01] [-1.91744166e-03 2.08066972e-05 9.99998161e-01 -2.76750618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.465769231 meters 0.015934556003980697 Centerline is valid? [True, True] Translation: X:411.43, Y:-52.86, Z:-2.76 [[ 9.84946301e-01 1.72780070e-01 5.27557766e-03 4.11432371e+02] [-1.72777292e-01 9.84960428e-01 -9.81446796e-04 -5.28642071e+01] [-5.36580967e-03 5.51723722e-05 9.99985602e-01 -2.76220905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.525769231 meters 0.01393792575415292 Centerline is valid? [True, True] Translation: X:411.49, Y:-52.88, Z:-2.76 [[ 9.84399955e-01 1.75885213e-01 4.59570868e-03 4.11492067e+02] [-1.75883134e-01 9.84410682e-01 -8.55797096e-04 -5.28774191e+01] [-4.67458677e-03 3.41389764e-05 9.99989073e-01 -2.76449130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.58576923100003 meters 0.013349537961951248 Centerline is valid? [True, True] Translation: X:411.55, Y:-52.89, Z:-2.77 [[ 9.84236604e-01 1.76825990e-01 3.29793069e-03 4.11553365e+02] [-1.76824926e-01 9.84242129e-01 -6.13899651e-04 -5.28924643e+01] [-3.35451574e-03 2.10661569e-05 9.99994373e-01 -2.76645956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.64576923100003 meters 0.012496346743965311 Centerline is valid? [True, True] Translation: X:411.61, Y:-52.91, Z:-2.76 [[ 9.83982060e-01 1.78193834e-01 5.12476815e-03 4.11613196e+02] [-1.78191273e-01 9.83995405e-01 -9.55806099e-04 -5.29100610e+01] [-5.21306706e-03 2.73070966e-05 9.99986412e-01 -2.76298274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.70576923100003 meters 0.012204676644422508 Centerline is valid? [True, True] Translation: X:411.67, Y:-52.93, Z:-2.77 [[ 9.83812035e-01 1.79142327e-01 4.68041694e-03 4.11672392e+02] [-1.79140198e-01 9.83823168e-01 -8.73622369e-04 -5.29287211e+01] [-4.76120536e-03 2.10293823e-05 9.99988665e-01 -2.76529562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76576923100004 meters 0.011532442269992532 Centerline is valid? [True, True] Translation: X:411.73, Y:-52.94, Z:-2.76 [[ 9.83435963e-01 1.81149614e-01 6.20669328e-03 4.11731730e+02] [-1.81145900e-01 9.83455549e-01 -1.16009978e-03 -5.29434524e+01] [-6.31415858e-03 1.65667993e-05 9.99980065e-01 -2.76212703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82576923100004 meters 0.012296853795912284 Centerline is valid? [True, True] Translation: X:411.79, Y:-52.95, Z:-2.76 [[ 9.82053755e-01 1.88499767e-01 6.18552779e-03 4.11794114e+02] [-1.88496218e-01 9.82073234e-01 -1.15710116e-03 -5.29493530e+01] [-6.29275458e-03 -2.96130541e-05 9.99980200e-01 -2.76234763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.885769231 meters 0.016703269724446107 Centerline is valid? [True, True] Translation: X:411.86, Y:-52.95, Z:-2.77 [[ 9.80938375e-01 1.94278536e-01 3.96914816e-03 4.11856634e+02] [-1.94277120e-01 9.80946405e-01 -7.42806342e-04 -5.29544300e+01] [-4.03783295e-03 -4.24674283e-05 9.99991847e-01 -2.76745604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.945769231 meters 0.024603058646932487 Centerline is valid? [True, True] Translation: X:411.92, Y:-52.96, Z:-2.77 [[ 9.79360133e-01 2.02072141e-01 4.53643651e-03 4.11917651e+02] [-2.02070370e-01 9.79370636e-01 -8.50283856e-04 -5.29561390e+01] [-4.61467139e-03 -8.39452903e-05 9.99989349e-01 -2.76590538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.005769231 meters 0.027911825602554233 Centerline is valid? [True, True] Translation: X:411.98, Y:-52.96, Z:-2.76 [[ 9.78526673e-01 2.06035343e-01 5.91511988e-03 4.11977493e+02] [-2.06032403e-01 9.78544541e-01 -1.10864371e-03 -5.29618727e+01] [-6.01662806e-03 -1.33868928e-04 9.99981891e-01 -2.76475656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.065769231 meters 0.03364030753504794 Centerline is valid? [True, True] Translation: X:412.04, Y:-52.97, Z:-2.77 [[ 9.77886089e-01 2.09087466e-01 4.60752793e-03 4.12037000e+02] [-2.09085717e-01 9.77896936e-01 -8.63557710e-04 -5.29655026e+01] [-4.68624654e-03 -1.18907208e-04 9.99989012e-01 -2.76821747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.125769231 meters 0.0328844653238446 Centerline is valid? [True, True] Translation: X:412.10, Y:-52.98, Z:-2.77 [[ 9.77106156e-01 2.12714868e-01 3.99312638e-03 4.12096722e+02] [-2.12713585e-01 9.77114308e-01 -7.48228239e-04 -5.29771534e+01] [-4.06090019e-03 -1.18293809e-04 9.99991748e-01 -2.76811827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.185769231 meters 0.04025923974523843 Centerline is valid? [True, True] Translation: X:412.16, Y:-52.98, Z:-2.77 [[ 9.75848817e-01 2.18412098e-01 3.90396368e-03 4.12157590e+02] [-2.18410917e-01 9.75856617e-01 -7.31600178e-04 -5.29755186e+01] [-3.96949911e-03 -1.38737117e-04 9.99992112e-01 -2.76955423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.245769231 meters 0.047108691574862 Centerline is valid? [True, True] Translation: X:412.22, Y:-52.97, Z:-2.77 [[ 9.75368332e-01 2.20535677e-01 4.54224955e-03 4.12217390e+02] [-2.20534100e-01 9.75378893e-01 -8.51309708e-04 -5.29746562e+01] [-4.61815850e-03 -1.71380388e-04 9.99989322e-01 -2.77011659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.305769231 meters 0.047499440803844585 Centerline is valid? [True, True] Translation: X:412.28, Y:-52.98, Z:-2.77 [[ 9.74357558e-01 2.24962053e-01 4.40718157e-03 4.12277225e+02] [-2.24960615e-01 9.74367508e-01 -8.25766086e-04 -5.29821997e+01] [-4.47998056e-03 -1.86850848e-04 9.99989947e-01 -2.77044662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.365769231 meters 0.05033742603000012 Centerline is valid? [True, True] Translation: X:412.34, Y:-52.99, Z:-2.77 [[ 9.73914643e-01 2.26872319e-01 4.38387665e-03 4.12337222e+02] [-2.26870915e-01 9.73924490e-01 -8.21431466e-04 -5.29867314e+01] [-4.45592489e-03 -1.94569973e-04 9.99990053e-01 -2.77133018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.425769231 meters 0.047353276142621754 Centerline is valid? [True, True] Translation: X:412.39, Y:-53.00, Z:-2.77 [[ 9.73928629e-01 2.26831911e-01 3.21075132e-03 4.12394889e+02] [-2.26831157e-01 9.73933912e-01 -6.01676991e-04 -5.29981995e+01] [-3.26353913e-03 -1.42307991e-04 9.99994665e-01 -2.77381340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.485769231 meters 0.049243267039161806 Centerline is valid? [True, True] Translation: X:412.45, Y:-53.00, Z:-2.77 [[ 9.74137976e-01 2.25891091e-01 5.33085055e-03 4.12453313e+02] [-2.25889003e-01 9.74152535e-01 -9.98488481e-04 -5.30032430e+01] [-5.41861123e-03 -2.31514969e-04 9.99985292e-01 -2.77028302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.545769231 meters 0.047384572437520076 Centerline is valid? [True, True] Translation: X:412.51, Y:-53.01, Z:-2.77 [[ 9.74144442e-01 2.25841829e-01 6.17047618e-03 4.12510136e+02] [-2.25839033e-01 9.74163947e-01 -1.15542100e-03 -5.30123216e+01] [-6.27199782e-03 -2.67987423e-04 9.99980295e-01 -2.76947362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.605769231 meters 0.04697737665213407 Centerline is valid? [True, True] Translation: X:412.57, Y:-53.01, Z:-2.77 [[ 9.73879934e-01 2.27039775e-01 3.28874705e-03 4.12570128e+02] [-2.27038987e-01 9.73885475e-01 -6.15683880e-04 -5.30126967e+01] [-3.34264771e-03 -1.47071624e-04 9.99994403e-01 -2.77486881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.665769231 meters 0.046711439180349916 Centerline is valid? [True, True] Translation: X:412.63, Y:-53.02, Z:-2.78 [[ 9.74099761e-01 2.26103934e-01 2.58187810e-03 4.12629631e+02] [-2.26103445e-01 9.74103176e-01 -4.83362676e-04 -5.30158973e+01] [-2.62430586e-03 -1.12928067e-04 9.99996550e-01 -2.77662576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.725769231 meters 0.03894930870234862 Centerline is valid? [True, True] Translation: X:412.69, Y:-53.03, Z:-2.77 [[ 9.75935793e-01 2.17989590e-01 5.46494978e-03 4.12688359e+02] [-2.17987278e-01 9.75951075e-01 -1.02240723e-03 -5.30280398e+01] [-5.55639775e-03 -1.93485721e-04 9.99984544e-01 -2.77192267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.785769231 meters 0.029201722649182728 Centerline is valid? [True, True] Translation: X:412.74, Y:-53.05, Z:-2.77 [[ 9.78234378e-01 2.07424060e-01 5.72365844e-03 4.12744930e+02] [-2.07421343e-01 9.78251113e-01 -1.07077301e-03 -5.30487934e+01] [-5.82127932e-03 -1.39741950e-04 9.99983046e-01 -2.77262743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.845769231 meters 0.022647346772148677 Centerline is valid? [True, True] Translation: X:412.80, Y:-53.07, Z:-2.77 [[ 9.79664244e-01 2.00571369e-01 5.39392073e-03 4.12802650e+02] [-2.00568852e-01 9.79679089e-01 -1.00904218e-03 -5.30681553e+01] [-5.48669632e-03 -9.33299481e-05 9.99984944e-01 -2.77247576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.905769231 meters 0.015606815606629194 Centerline is valid? [True, True] Translation: X:412.86, Y:-53.09, Z:-2.77 [[ 9.81121470e-01 1.93327357e-01 5.01935802e-03 4.12859757e+02] [-1.93325084e-01 9.81134308e-01 -9.38848548e-04 -5.30902990e+01] [-5.10616947e-03 -4.92433421e-05 9.99986962e-01 -2.77263288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.965769231 meters 0.014477667284246003 Centerline is valid? [True, True] Translation: X:412.92, Y:-53.10, Z:-2.77 [[ 9.81489295e-01 1.91439961e-01 5.43181509e-03 4.12916915e+02] [-1.91437270e-01 9.81504325e-01 -1.01595873e-03 -5.31039622e+01] [-5.52584510e-03 -4.26992391e-05 9.99984731e-01 -2.77262393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.025769231 meters 0.012661545383624937 Centerline is valid? [True, True] Translation: X:412.97, Y:-53.12, Z:-2.77 [[ 9.82002589e-01 1.88796767e-01 5.16690367e-03 4.12974976e+02] [-1.88794297e-01 9.82016181e-01 -9.66168284e-04 -5.31225496e+01] [-5.25639246e-03 -2.67021878e-05 9.99986185e-01 -2.77324833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.08576923100003 meters 0.013355916068059186 Centerline is valid? [True, True] Translation: X:413.03, Y:-53.13, Z:-2.77 [[ 9.81865538e-01 1.89486813e-01 5.90026228e-03 4.13033388e+02] [-1.89483604e-01 9.81883265e-01 -1.10331259e-03 -5.31336397e+01] [-6.00243198e-03 -3.46983508e-05 9.99981985e-01 -2.77286427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.14576923100003 meters 0.012456041936231461 Centerline is valid? [True, True] Translation: X:413.09, Y:-53.15, Z:-2.77 [[ 9.82120959e-01 1.88116184e-01 7.12200234e-03 4.13091623e+02] [-1.88111473e-01 9.82146781e-01 -1.33166835e-03 -5.31517190e+01] [-7.24536005e-03 -3.18709546e-05 9.99973752e-01 -2.77103314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.20576923100003 meters 0.011797991790786515 Centerline is valid? [True, True] Translation: X:413.15, Y:-53.17, Z:-2.77 [[ 9.82446774e-01 1.86454764e-01 5.74078748e-03 4.13150733e+02] [-1.86451675e-01 9.82463547e-01 -1.07338248e-03 -5.31707839e+01] [-5.84025171e-03 -1.58382864e-05 9.99982945e-01 -2.77354980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26576923100004 meters 0.012648870731610294 Centerline is valid? [True, True] Translation: X:413.21, Y:-53.19, Z:-2.77 [[ 9.82039139e-01 1.88614080e-01 4.88444342e-03 4.13210096e+02] [-1.88611871e-01 9.82051286e-01 -9.13354496e-04 -5.31853317e+01] [-4.96904546e-03 -2.43141461e-05 9.99987654e-01 -2.77417904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32576923100004 meters 0.01933971720842058 Centerline is valid? [True, True] Translation: X:413.27, Y:-53.18, Z:-2.77 [[ 9.79985872e-01 1.98974044e-01 6.08443091e-03 4.13271129e+02] [-1.98970813e-01 9.80004755e-01 -1.13796475e-03 -5.31843890e+01] [-6.18919667e-03 -9.54347873e-05 9.99980842e-01 -2.77166343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.385769231 meters 0.027264769823842794 Centerline is valid? [True, True] Translation: X:413.33, Y:-53.18, Z:-2.78 [[ 9.78197985e-01 2.07622313e-01 4.65596758e-03 4.13333237e+02] [-2.07620519e-01 9.78209058e-01 -8.70744034e-04 -5.31814882e+01] [-4.73529555e-03 -1.14914346e-04 9.99988782e-01 -2.77520390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.445769231 meters 0.042912633801870076 Centerline is valid? [True, True] Translation: X:413.40, Y:-53.16, Z:-2.78 [[ 9.75502806e-01 2.19946811e-01 4.20431644e-03 4.13396477e+02] [-2.19945462e-01 9.75511853e-01 -7.86242677e-04 -5.31646787e+01] [-4.27429209e-03 -1.57738386e-04 9.99990853e-01 -2.77595112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.505769231 meters 0.05007256548870303 Centerline is valid? [True, True] Translation: X:413.46, Y:-53.16, Z:-2.78 [[ 9.73859520e-01 2.27126567e-01 3.34021737e-03 4.13459217e+02] [-2.27125758e-01 9.73865237e-01 -6.24651320e-04 -5.31593020e+01] [-3.39479650e-03 -1.50326768e-04 9.99994226e-01 -2.77795988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.565769231 meters 0.05743534563886794 Centerline is valid? [True, True] Translation: X:413.52, Y:-53.15, Z:-2.78 [[ 9.71813881e-01 2.35743646e-01 1.64732636e-03 4.13522999e+02] [-2.35743461e-01 9.71815273e-01 -3.08126961e-04 -5.31459367e+01] [-1.67353589e-03 -8.89043599e-05 9.99998596e-01 -2.78144346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.625769231 meters 0.06252296962237826 Centerline is valid? [True, True] Translation: X:413.59, Y:-53.13, Z:-2.78 [[ 9.70900262e-01 2.39433204e-01 4.94184174e-03 4.13586624e+02] [-2.39431591e-01 9.70912797e-01 -9.24135922e-04 -5.31307660e+01] [-5.01936621e-03 -2.85989223e-04 9.99987362e-01 -2.77502234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.685769231 meters 0.06155846295071671 Centerline is valid? [True, True] Translation: X:413.65, Y:-53.12, Z:-2.77 [[ 9.71554011e-01 2.36745249e-01 5.87293124e-03 4.13648511e+02] [-2.36742922e-01 9.71571707e-01 -1.09824350e-03 -5.31228291e+01] [-5.96597776e-03 -3.23372022e-04 9.99982151e-01 -2.77488432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.745769231 meters 0.05749354359138604 Centerline is valid? [True, True] Translation: X:413.71, Y:-53.13, Z:-2.78 [[ 9.72528804e-01 2.32734892e-01 4.71118249e-03 4.13708765e+02] [-2.32733349e-01 9.72540185e-01 -8.80913797e-04 -5.31271904e+01] [-4.78683367e-03 -2.39735236e-04 9.99988514e-01 -2.77741712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.805769231 meters 0.05038073514375539 Centerline is valid? [True, True] Translation: X:413.77, Y:-53.13, Z:-2.77 [[ 9.74408417e-01 2.24698798e-01 6.21996530e-03 4.13769415e+02] [-2.24695944e-01 9.74428233e-01 -1.16292883e-03 -5.31278525e+01] [-6.32221851e-03 -2.64433338e-04 9.99979980e-01 -2.77493311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.865769231 meters 0.04529664145085895 Centerline is valid? [True, True] Translation: X:413.83, Y:-53.13, Z:-2.78 [[ 9.75533634e-01 2.19773375e-01 5.81309788e-03 4.13829061e+02] [-2.19770795e-01 9.75550930e-01 -1.08681804e-03 -5.31349919e+01] [-5.90982671e-03 -2.17321591e-04 9.99982513e-01 -2.77577743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.925769231 meters 0.03509244165995451 Centerline is valid? [True, True] Translation: X:413.89, Y:-53.15, Z:-2.77 [[ 9.77621118e-01 2.10186415e-01 8.86681979e-03 4.13887012e+02] [-2.10180019e-01 9.77661297e-01 -1.65763793e-03 -5.31466828e+01] [-9.01715951e-03 -2.43086509e-04 9.99959315e-01 -2.77100727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.985769231 meters 0.018682392931260436 Centerline is valid? [True, True] Translation: X:413.94, Y:-53.18, Z:-2.77 [[ 9.80344775e-01 1.97142193e-01 7.68624607e-03 4.13942093e+02] [-1.97136986e-01 9.80374900e-01 -1.43681671e-03 -5.31759966e+01] [-7.81865992e-03 -1.06667630e-04 9.99969428e-01 -2.77371094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.045769231 meters 0.014274994901524013 Centerline is valid? [True, True] Translation: X:414.00, Y:-53.19, Z:-2.78 [[ 9.81695179e-01 1.90408526e-01 4.37830333e-03 4.13998075e+02] [-1.90406769e-01 9.81704942e-01 -8.18494825e-04 -5.31929264e+01] [-4.45405041e-03 -3.01461681e-05 9.99990080e-01 -2.78185727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.105769231 meters 0.011945404175732841 Centerline is valid? [True, True] Translation: X:414.05, Y:-53.21, Z:-2.78 [[ 9.82371725e-01 1.86878388e-01 4.71828612e-03 4.14054047e+02] [-1.86876308e-01 9.82383056e-01 -8.81807532e-04 -5.32094050e+01] [-4.79995511e-03 -1.54731046e-05 9.99988480e-01 -2.77997037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.165769231 meters 0.013030833768263424 Centerline is valid? [True, True] Translation: X:414.11, Y:-53.22, Z:-2.78 [[ 9.82118221e-01 1.88243986e-01 2.82870939e-03 4.14112472e+02] [-1.88243244e-01 9.82122295e-01 -5.28609957e-04 -5.32162204e+01] [-2.87764621e-03 -1.33279631e-05 9.99995859e-01 -2.78350818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.225769231 meters 0.015849366265558634 Centerline is valid? [True, True] Translation: X:414.17, Y:-53.22, Z:-2.78 [[ 9.81283574e-01 1.92540352e-01 3.28021430e-03 4.14171535e+02] [-1.92539379e-01 9.81289056e-01 -6.12841149e-04 -5.32180022e+01] [-3.33683505e-03 -3.01994727e-05 9.99994432e-01 -2.78323830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.285769231 meters 0.018662429471364074 Centerline is valid? [True, True] Translation: X:414.23, Y:-53.22, Z:-2.78 [[ 9.81012973e-01 1.93893919e-01 4.32375760e-03 4.14229588e+02] [-1.93892244e-01 9.81022500e-01 -8.07411072e-04 -5.32213194e+01] [-4.39825558e-03 -4.62623259e-05 9.99990327e-01 -2.78163850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.345769231 meters 0.016026214007124402 Centerline is valid? [True, True] Translation: X:414.29, Y:-53.23, Z:-2.78 [[ 9.81347052e-01 1.92224382e-01 2.78387985e-03 4.14287351e+02] [-1.92223681e-01 9.81351001e-01 -5.19783279e-04 -5.32337400e+01] [-2.83187829e-03 -2.50398428e-05 9.99995990e-01 -2.78484328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.405769231 meters 0.013998702391238743 Centerline is valid? [True, True] Translation: X:414.34, Y:-53.25, Z:-2.79 [[ 9.81829083e-01 1.89765560e-01 8.27225790e-04 4.14344311e+02] [-1.89765497e-01 9.81829431e-01 -1.54653710e-04 -5.32490012e+01] [-8.41542574e-04 -5.13540335e-06 9.99999646e-01 -2.78877168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.465769231 meters 0.013851456666032623 Centerline is valid? [True, True] Translation: X:414.40, Y:-53.26, Z:-2.78 [[ 9.81764290e-01 1.90057292e-01 4.13584344e-03 4.14402214e+02] [-1.90055727e-01 9.81773001e-01 -7.71662179e-04 -5.32580326e+01] [-4.20711945e-03 -2.84503622e-05 9.99991150e-01 -2.78243338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.525769231 meters 0.015343990143710502 Centerline is valid? [True, True] Translation: X:414.46, Y:-53.26, Z:-2.78 [[ 9.81276192e-01 1.92478349e-01 7.00854762e-03 4.14460570e+02] [-1.92473923e-01 9.81301218e-01 -1.30705773e-03 -5.32642251e+01] [-7.12907663e-03 -6.63780268e-05 9.99974586e-01 -2.77649804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.58576923100003 meters 0.01622532653136411 Centerline is valid? [True, True] Translation: X:414.52, Y:-53.27, Z:-2.78 [[ 9.81389381e-01 1.91874707e-01 7.67984696e-03 4.14518206e+02] [-1.91869384e-01 9.81419427e-01 -1.43087797e-03 -5.32730593e+01] [-7.81170030e-03 -6.92790570e-05 9.99969486e-01 -2.77680442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.64576923100003 meters 0.012077121531838143 Centerline is valid? [True, True] Translation: X:414.57, Y:-53.30, Z:-2.78 [[ 9.82240450e-01 1.87486034e-01 7.25851078e-03 4.14573627e+02] [-1.87481163e-01 9.82267268e-01 -1.35195492e-03 -5.32966392e+01] [-7.38327022e-03 -3.28892306e-05 9.99972743e-01 -2.77760462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.70576923100003 meters 0.010841263090296031 Centerline is valid? [True, True] Translation: X:414.63, Y:-53.32, Z:-2.78 [[ 9.83145757e-01 1.82700094e-01 6.71539054e-03 4.14628639e+02] [-1.82695814e-01 9.83168691e-01 -1.25048865e-03 -5.33164781e+01] [-6.83082612e-03 2.53886274e-06 9.99976670e-01 -2.77875884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76576923100004 meters 0.01267125558775086 Centerline is valid? [True, True] Translation: X:414.68, Y:-53.34, Z:-2.79 [[ 9.84030666e-01 1.77981069e-01 2.52715707e-03 4.14683582e+02] [-1.77980447e-01 9.84033911e-01 -4.70696091e-04 -5.33396166e+01] [-2.57058325e-03 1.33948424e-05 9.99996696e-01 -2.78680040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82576923100004 meters 0.014087358774068127 Centerline is valid? [True, True] Translation: X:414.74, Y:-53.36, Z:-2.78 [[ 9.84460551e-01 1.75570743e-01 3.51256266e-03 4.14739182e+02] [-1.75569528e-01 9.84466817e-01 -6.53812050e-04 -5.33617196e+01] [-3.57279164e-03 2.69532046e-05 9.99993617e-01 -2.78434863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.885769231 meters 0.014360383170503198 Centerline is valid? [True, True] Translation: X:414.79, Y:-53.38, Z:-2.78 [[ 9.84533646e-01 1.75142436e-01 4.31583522e-03 4.14794608e+02] [-1.75140599e-01 9.84543105e-01 -8.03134501e-04 -5.33753636e+01] [-4.38978874e-03 3.48349756e-05 9.99990364e-01 -2.78292217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.945769231 meters 0.012546308883237657 Centerline is valid? [True, True] Translation: X:414.85, Y:-53.39, Z:-2.79 [[ 9.84004075e-01 1.78113315e-01 3.40983947e-03 4.14851460e+02] [-1.78112187e-01 9.84009983e-01 -6.34286474e-04 -5.33877925e+01] [-3.46829094e-03 1.68065107e-05 9.99993985e-01 -2.78518462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.005769231 meters 0.011153057969224289 Centerline is valid? [True, True] Translation: X:414.91, Y:-53.39, Z:-2.78 [[ 9.83345600e-01 1.81698388e-01 4.13834276e-03 4.14910005e+02] [-1.81696759e-01 9.83354308e-01 -7.69436345e-04 -5.33929673e+01] [-4.20926253e-03 4.69837674e-06 9.99991141e-01 -2.78402142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.065769231 meters 0.013017626503432758 Centerline is valid? [True, True] Translation: X:414.97, Y:-53.39, Z:-2.78 [[ 9.82129817e-01 1.88137603e-01 5.02635785e-03 4.14969710e+02] [-1.88135285e-01 9.82142679e-01 -9.34236616e-04 -5.33924336e+01] [-5.11236560e-03 -2.80936299e-05 9.99986931e-01 -2.78228200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.125769231 meters 0.016756215315948415 Centerline is valid? [True, True] Translation: X:415.03, Y:-53.40, Z:-2.79 [[ 9.81303645e-01 1.92436075e-01 3.39319920e-03 4.15029176e+02] [-1.92435045e-01 9.81309511e-01 -6.30631322e-04 -5.33954255e+01] [-3.45113487e-03 -3.41296264e-05 9.99994044e-01 -2.78598197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.185769231 meters 0.019871380964835268 Centerline is valid? [True, True] Translation: X:415.09, Y:-53.40, Z:-2.79 [[ 9.80820396e-01 1.94887772e-01 3.17922000e-03 4.15087173e+02] [-1.94886881e-01 9.80825548e-01 -5.90775942e-04 -5.33999395e+01] [-3.23339521e-03 -4.01431767e-05 9.99994772e-01 -2.78717438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.245769231 meters 0.021402071449763294 Centerline is valid? [True, True] Translation: X:415.15, Y:-53.41, Z:-2.78 [[ 9.80548542e-01 1.96172616e-01 6.39229747e-03 4.15145287e+02] [-1.96169045e-01 9.80569374e-01 -1.18705479e-03 -5.34085148e+01] [-6.50095877e-03 -9.00060409e-05 9.99978864e-01 -2.78144677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.305769231 meters 0.02189551242079648 Centerline is valid? [True, True] Translation: X:415.20, Y:-53.42, Z:-2.78 [[ 9.80527607e-01 1.96278839e-01 6.34269567e-03 4.15202966e+02] [-1.96275327e-01 9.80548117e-01 -1.17755929e-03 -5.34187625e+01] [-6.45044827e-03 -9.02852757e-05 9.99979192e-01 -2.78231900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.365769231 meters 0.021410009852530245 Centerline is valid? [True, True] Translation: X:415.26, Y:-53.43, Z:-2.79 [[ 9.80465261e-01 1.96664701e-01 3.29666538e-03 4.15260847e+02] [-1.96663754e-01 9.80470802e-01 -6.12053361e-04 -5.34311439e+01] [-3.35265344e-03 -4.82375334e-05 9.99994379e-01 -2.78803774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.425769231 meters 0.02522981726048056 Centerline is valid? [True, True] Translation: X:415.32, Y:-53.44, Z:-2.79 [[ 9.80096098e-01 1.98490973e-01 3.60177042e-03 4.15318392e+02] [-1.98489856e-01 9.80102714e-01 -6.68574767e-04 -5.34355974e+01] [-3.66281102e-03 -5.96473724e-05 9.99993290e-01 -2.78880614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.485769231 meters 0.024527470075346235 Centerline is valid? [True, True] Translation: X:415.38, Y:-53.45, Z:-2.79 [[ 9.79935982e-01 1.99252818e-01 4.87700533e-03 4.15375050e+02] [-1.99250782e-01 9.79948115e-01 -9.04758009e-04 -5.34500778e+01] [-4.95948776e-03 -8.51421963e-05 9.99987698e-01 -2.78689452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.545769231 meters 0.02218603685151099 Centerline is valid? [True, True] Translation: X:415.43, Y:-53.47, Z:-2.79 [[ 9.80011790e-01 1.98871496e-01 5.19800442e-03 4.15431651e+02] [-1.98869180e-01 9.80025571e-01 -9.63966672e-04 -5.34666307e+01] [-5.28588274e-03 -8.90241710e-05 9.99986026e-01 -2.78593360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.605769231 meters 0.02402753891876644 Centerline is valid? [True, True] Translation: X:415.49, Y:-53.47, Z:-2.79 [[ 9.79620487e-01 2.00830116e-01 3.31136849e-03 4.15490042e+02] [-2.00829188e-01 9.79626082e-01 -6.14054179e-04 -5.34737937e+01] [-3.36722351e-03 -6.34793891e-05 9.99994329e-01 -2.79021786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.665769231 meters 0.03148518880052336 Centerline is valid? [True, True] Translation: X:415.55, Y:-53.47, Z:-2.79 [[ 9.78254819e-01 2.07394587e-01 2.23483427e-03 4.15550752e+02] [-2.07394182e-01 9.78257370e-01 -4.14255648e-04 -5.34709596e+01] [-2.27215748e-03 -5.82440423e-05 9.99997417e-01 -2.79217656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.725769231 meters 0.03749854215655316 Centerline is valid? [True, True] Translation: X:415.61, Y:-53.47, Z:-2.80 [[ 9.77135991e-01 2.12615063e-01 -3.00878380e-04 4.15612503e+02] [-2.12615056e-01 9.77136037e-01 5.57918065e-05 -5.34708807e+01] [ 3.05861286e-04 9.45509149e-06 9.99999953e-01 -2.79817052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.785769231 meters 0.040131428757308275 Centerline is valid? [True, True] Translation: X:415.67, Y:-53.48, Z:-2.80 [[ 9.77021817e-01 2.13136012e-01 1.18704839e-03 4.15670187e+02] [-2.13135902e-01 9.77022538e-01 -2.20333051e-04 -5.34756932e+01] [-1.20673394e-03 -3.77324317e-05 9.99999271e-01 -2.79709761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.845769231 meters 0.04038130142502626 Centerline is valid? [True, True] Translation: X:415.73, Y:-53.48, Z:-2.80 [[ 9.76947211e-01 2.13480871e-01 2.54138120e-04 4.15728449e+02] [-2.13480866e-01 9.76947244e-01 -4.76726645e-05 -5.34814552e+01] [-2.58456738e-04 -7.67994921e-06 9.99999967e-01 -2.79963726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.905769231 meters 0.047011034766175894 Centerline is valid? [True, True] Translation: X:415.79, Y:-53.48, Z:-2.80 [[ 9.76036932e-01 2.17604339e-01 -5.09885139e-04 4.15788844e+02] [-2.17604319e-01 9.76037065e-01 9.42473122e-05 -5.34807092e+01] [ 5.18175418e-04 1.89643511e-05 9.99999866e-01 -2.80205004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.965769231 meters 0.051167477005538274 Centerline is valid? [True, True] Translation: X:415.85, Y:-53.48, Z:-2.80 [[ 9.75139070e-01 2.21592285e-01 8.08701937e-04 4.15849399e+02] [-2.21592237e-01 9.75139404e-01 -1.49805543e-04 -5.34843013e+01] [-8.21792878e-04 -3.31208336e-05 9.99999662e-01 -2.79885165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.025769231 meters 0.05821630638978989 Centerline is valid? [True, True] Translation: X:415.91, Y:-53.48, Z:-2.80 [[ 9.73963690e-01 2.26679709e-01 3.32266710e-03 4.15910341e+02] [-2.26678926e-01 9.73969345e-01 -6.15217312e-04 -5.34810066e+01] [-3.37563318e-03 -1.53979287e-04 9.99994291e-01 -2.79508475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.08576923100003 meters 0.059615679412889394 Centerline is valid? [True, True] Translation: X:415.97, Y:-53.48, Z:-2.79 [[ 9.73344560e-01 2.29325231e-01 3.21023459e-03 4.15971157e+02] [-2.29324515e-01 9.73349841e-01 -5.94349599e-04 -5.34814053e+01] [-3.26098069e-03 -1.57678542e-04 9.99994671e-01 -2.79431915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.14576923100003 meters 0.0660147832529507 Centerline is valid? [True, True] Translation: X:416.03, Y:-53.48, Z:-2.79 [[ 9.72838961e-01 2.31447814e-01 4.03305620e-03 4.16032372e+02] [-2.31446703e-01 9.72847299e-01 -7.46614251e-04 -5.34757945e+01] [-4.09635006e-03 -2.07102125e-04 9.99991588e-01 -2.79314668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.20576923100003 meters 0.058282158895179154 Centerline is valid? [True, True] Translation: X:416.09, Y:-53.48, Z:-2.79 [[ 9.72638307e-01 2.32270534e-01 5.01229333e-03 4.16090891e+02] [-2.32268827e-01 9.72651186e-01 -9.28137695e-04 -5.34842502e+01] [-5.09079209e-03 -2.61457217e-04 9.99987008e-01 -2.79189782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26576923100004 meters 0.053678615112947345 Centerline is valid? [True, True] Translation: X:416.15, Y:-53.49, Z:-2.79 [[ 9.73537250e-01 2.28488900e-01 4.24805620e-03 4.16150644e+02] [-2.28487642e-01 9.73546496e-01 -7.85646681e-04 -5.34905245e+01] [-4.31519178e-03 -2.05772034e-04 9.99990668e-01 -2.79327704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32576923100004 meters 0.056970433784334244 Centerline is valid? [True, True] Translation: X:416.21, Y:-53.49, Z:-2.80 [[ 9.74694170e-01 2.23517647e-01 3.33697160e-03 4.16211217e+02] [-2.23516842e-01 9.74699872e-01 -6.17174418e-04 -5.34892494e+01] [-3.39049517e-03 -1.44313047e-04 9.99994242e-01 -2.79640884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.385769231 meters 0.042208961566033036 Centerline is valid? [True, True] Translation: X:416.27, Y:-53.51, Z:-2.80 [[ 9.76176854e-01 2.16945433e-01 3.66459178e-03 4.16268229e+02] [-2.16944416e-01 9.76183723e-01 -6.77679282e-04 -5.35093639e+01] [-3.72433427e-03 -1.33477893e-04 9.99993056e-01 -2.79610413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.445769231 meters 0.03554676816883161 Centerline is valid? [True, True] Translation: X:416.33, Y:-53.52, Z:-2.80 [[ 9.77620814e-01 2.10334078e-01 4.13751237e-03 4.16327574e+02] [-2.10332723e-01 9.77629562e-01 -7.65017953e-04 -5.35190815e+01] [-4.20586375e-03 -1.22356768e-04 9.99991148e-01 -2.79624131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.505769231 meters 0.03052764178818808 Centerline is valid? [True, True] Translation: X:416.38, Y:-53.53, Z:-2.80 [[ 9.78790095e-01 2.04844934e-01 2.91605903e-03 4.16384845e+02] [-2.04844236e-01 9.78794436e-01 -5.39244732e-04 -5.35312873e+01] [-2.96468390e-03 -6.95304827e-05 9.99995603e-01 -2.79964425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.565769231 meters 0.02204813765195003 Centerline is valid? [True, True] Translation: X:416.44, Y:-53.55, Z:-2.80 [[ 9.80482293e-01 1.96602826e-01 1.34223084e-03 4.16441905e+02] [-1.96602671e-01 9.80483212e-01 -2.48206197e-04 -5.35475315e+01] [-1.36483285e-03 -2.05243872e-05 9.99999068e-01 -2.80235289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.625769231 meters 0.016594678407373654 Centerline is valid? [True, True] Translation: X:416.50, Y:-53.56, Z:-2.80 [[ 9.81585763e-01 1.91010754e-01 2.06943923e-03 4.16499212e+02] [-1.91010371e-01 9.81587944e-01 -3.83212392e-04 -5.35634418e+01] [-2.10453428e-03 -1.91285259e-05 9.99997785e-01 -2.80148350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.685769231 meters 0.011728003599958688 Centerline is valid? [True, True] Translation: X:416.55, Y:-53.59, Z:-2.80 [[ 9.83278870e-01 1.82104732e-01 7.28471736e-04 4.16554420e+02] [-1.82104682e-01 9.83279140e-01 -1.35584977e-04 -5.35874576e+01] [-7.40981728e-04 6.59729266e-07 9.99999725e-01 -2.80340183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.745769231 meters 0.012926912379251863 Centerline is valid? [True, True] Translation: X:416.61, Y:-53.61, Z:-2.80 [[ 9.84246428e-01 1.76799841e-01 8.85840161e-04 4.16609890e+02] [-1.76799765e-01 9.84246827e-01 -1.63792814e-04 -5.36057454e+01] [-9.00843911e-04 4.59615907e-06 9.99999594e-01 -2.80412791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.805769231 meters 0.01585191282070412 Centerline is valid? [True, True] Translation: X:416.67, Y:-53.63, Z:-2.80 [[ 9.85052220e-01 1.72237750e-01 2.50635711e-03 4.16666389e+02] [-1.72237129e-01 9.85055408e-01 -4.62965216e-04 -5.36250518e+01] [-2.54864071e-03 2.43571606e-05 9.99996752e-01 -2.80109718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.865769231 meters 0.018418075925677097 Centerline is valid? [True, True] Translation: X:416.72, Y:-53.65, Z:-2.80 [[ 9.85879788e-01 1.67438259e-01 2.33931480e-03 4.16721971e+02] [-1.67437707e-01 9.85882563e-01 -4.31487336e-04 -5.36450961e+01] [-2.37853716e-03 3.37051384e-05 9.99997171e-01 -2.80052734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.925769231 meters 0.023184436827384223 Centerline is valid? [True, True] Translation: X:416.78, Y:-53.67, Z:-2.80 [[ 9.86277722e-01 1.65069997e-01 2.85498038e-03 4.16776447e+02] [-1.65069166e-01 9.86281853e-01 -5.26056276e-04 -5.36708350e+01] [-2.90265145e-03 4.75683559e-05 9.99995786e-01 -2.80217211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.985769231 meters 0.02584973907088934 Centerline is valid? [True, True] Translation: X:416.83, Y:-53.69, Z:-2.80 [[ 9.86588566e-01 1.63185930e-01 3.65428210e-03 4.16831252e+02] [-1.63184556e-01 9.86595331e-01 -6.73112079e-04 -5.36902465e+01] [-3.71514008e-03 6.77622776e-05 9.99993097e-01 -2.80071974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.045769231 meters 0.024199449516796756 Centerline is valid? [True, True] Translation: X:416.89, Y:-53.71, Z:-2.80 [[ 9.86872084e-01 1.61410324e-01 5.49525901e-03 4.16887760e+02] [-1.61407194e-01 9.86887377e-01 -1.01126007e-03 -5.37078259e+01] [-5.58642957e-03 1.11009994e-04 9.99984390e-01 -2.79753218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.105769231 meters 0.02628916485658328 Centerline is valid? [True, True] Translation: X:416.94, Y:-53.73, Z:-2.80 [[ 9.87068852e-01 1.60210001e-01 5.27612936e-03 4.16942684e+02] [-1.60207100e-01 9.87082946e-01 -9.70754679e-04 -5.37286042e+01] [-5.36350192e-03 1.12928322e-04 9.99985610e-01 -2.79789115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.165769231 meters 0.028136272448485586 Centerline is valid? [True, True] Translation: X:417.00, Y:-53.75, Z:-2.80 [[ 9.87271775e-01 1.59004930e-01 3.44597363e-03 4.16998158e+02] [-1.59003685e-01 9.87277786e-01 -6.33831994e-04 -5.37470504e+01] [-3.50291563e-03 7.78419304e-05 9.99993862e-01 -2.80212279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.225769231 meters 0.033465261479379366 Centerline is valid? [True, True] Translation: X:417.05, Y:-53.78, Z:-2.80 [[ 9.87934261e-01 1.54851540e-01 2.62627872e-03 4.17052894e+02] [-1.54850803e-01 9.87937749e-01 -4.82852084e-04 -5.37763457e+01] [-2.66937027e-03 7.03447478e-05 9.99996435e-01 -2.80354332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.285769231 meters 0.040403821367197154 Centerline is valid? [True, True] Translation: X:417.11, Y:-53.81, Z:-2.81 [[ 9.88749663e-01 1.49566718e-01 1.97528217e-03 4.17107122e+02] [-1.49566291e-01 9.88751634e-01 -3.63128068e-04 -5.38102232e+01] [-2.00737534e-03 6.36071282e-05 9.99997983e-01 -2.80666327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.345769231 meters 0.03965191590711626 Centerline is valid? [True, True] Translation: X:417.16, Y:-53.83, Z:-2.81 [[ 9.89113068e-01 1.47152352e-01 1.23414623e-03 4.17163895e+02] [-1.47152183e-01 9.89113837e-01 -2.26942217e-04 -5.38323525e+01] [-1.25410619e-03 4.28641999e-05 9.99999213e-01 -2.80734758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.405769231 meters 0.04229232807115928 Centerline is valid? [True, True] Translation: X:417.22, Y:-53.86, Z:-2.81 [[ 9.88828410e-01 1.49048185e-01 1.73602212e-03 4.17219842e+02] [-1.49047855e-01 9.88829932e-01 -3.19119622e-04 -5.38550444e+01] [-1.76419484e-03 5.68041755e-05 9.99998442e-01 -2.80688994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.465769231 meters 0.03727472506142123 Centerline is valid? [True, True] Translation: X:417.28, Y:-53.87, Z:-2.80 [[ 9.88425490e-01 1.51675237e-01 3.11020889e-03 4.17278407e+02] [-1.51674189e-01 9.88430379e-01 -5.71474802e-04 -5.38701309e+01] [-3.16090353e-03 9.31218492e-05 9.99995000e-01 -2.80482440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.525769231 meters 0.04000627706775609 Centerline is valid? [True, True] Translation: X:417.33, Y:-53.89, Z:-2.80 [[ 9.88360303e-01 1.52043900e-01 5.15397158e-03 4.17334065e+02] [-1.52041028e-01 9.88373730e-01 -9.46927156e-04 -5.38916742e+01] [-5.23802461e-03 1.52290076e-04 9.99986270e-01 -2.80109109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.58576923100003 meters 0.035007884997982845 Centerline is valid? [True, True] Translation: X:417.39, Y:-53.90, Z:-2.80 [[ 9.88158999e-01 1.53374682e-01 4.24262407e-03 4.17393322e+02] [-1.53372748e-01 9.88168099e-01 -7.79354573e-04 -5.39000280e+01] [-4.31195902e-03 1.19423322e-04 9.99990696e-01 -2.80277347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.64576923100003 meters 0.03053491400580123 Centerline is valid? [True, True] Translation: X:417.45, Y:-53.91, Z:-2.81 [[ 9.87795220e-01 1.55730093e-01 2.95647134e-03 4.17452398e+02] [-1.55729165e-01 9.87799642e-01 -5.43099409e-04 -5.39107033e+01] [-3.00497825e-03 7.60621882e-05 9.99995482e-01 -2.80543251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.70576923100003 meters 0.02932581152898472 Centerline is valid? [True, True] Translation: X:417.51, Y:-53.92, Z:-2.80 [[ 9.87562838e-01 1.57162705e-01 4.41882105e-03 4.17510802e+02] [-1.57160646e-01 9.87572718e-01 -8.11480422e-04 -5.39221906e+01] [-4.49144158e-03 1.06923135e-04 9.99989908e-01 -2.80229144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76576923100004 meters 0.029640306226699782 Centerline is valid? [True, True] Translation: X:417.57, Y:-53.93, Z:-2.80 [[ 9.87643084e-01 1.56623031e-01 5.51049578e-03 4.17569447e+02] [-1.56619822e-01 9.87658447e-01 -1.01178404e-03 -5.39346223e+01] [-5.60095638e-03 1.36228638e-04 9.99984305e-01 -2.80117007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82576923100004 meters 0.029563325676123346 Centerline is valid? [True, True] Translation: X:417.63, Y:-53.95, Z:-2.80 [[ 9.87815532e-01 1.55549203e-01 4.99204199e-03 4.17628715e+02] [-1.55546557e-01 9.87828137e-01 -9.16439155e-04 -5.39480607e+01] [-5.07383092e-03 1.28777890e-04 9.99987120e-01 -2.80245712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.885769231 meters 0.031661435628155855 Centerline is valid? [True, True] Translation: X:417.69, Y:-53.96, Z:-2.80 [[ 9.88061541e-01 1.53974336e-01 5.12781257e-03 4.17686660e+02] [-1.53971522e-01 9.88074837e-01 -9.41385803e-04 -5.39608253e+01] [-5.21161183e-03 1.40610000e-04 9.99986410e-01 -2.80244151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.945769231 meters 0.033551742250483005 Centerline is valid? [True, True] Translation: X:417.75, Y:-53.97, Z:-2.80 [[ 9.88071429e-01 1.53932357e-01 4.43639173e-03 4.17745075e+02] [-1.53930251e-01 9.88081381e-01 -8.14350522e-04 -5.39729982e+01] [-4.50887096e-03 1.21741590e-04 9.99989828e-01 -2.80369156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.005769231 meters 0.0324289375223192 Centerline is valid? [True, True] Translation: X:417.80, Y:-53.98, Z:-2.81 [[ 9.88069121e-01 1.53990939e-01 2.49043798e-03 4.17803804e+02] [-1.53990276e-01 9.88072257e-01 -4.57299361e-04 -5.39812291e+01] [-2.53115263e-03 6.83401471e-05 9.99996794e-01 -2.80756177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.065769231 meters 0.036299223205862347 Centerline is valid? [True, True] Translation: X:417.86, Y:-54.00, Z:-2.81 [[ 9.88167047e-01 1.53327743e-01 4.06088238e-03 4.17861335e+02] [-1.53325973e-01 9.88175384e-01 -7.45428266e-04 -5.39994049e+01] [-4.12715884e-03 1.13968904e-04 9.99991477e-01 -2.80548792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.125769231 meters 0.037986836019956054 Centerline is valid? [True, True] Translation: X:417.92, Y:-54.02, Z:-2.80 [[ 9.88709079e-01 1.49735113e-01 5.80974880e-03 4.17919887e+02] [-1.49731430e-01 9.88726131e-01 -1.06632437e-03 -5.40182692e+01] [-5.90391665e-03 1.84382587e-04 9.99982555e-01 -2.80302589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.185769231 meters 0.04011885262801076 Centerline is valid? [True, True] Translation: X:417.98, Y:-54.04, Z:-2.81 [[ 9.88848603e-01 1.48886038e-01 3.37470430e-03 4.17978256e+02] [-1.48884792e-01 9.88854355e-01 -6.18906350e-04 -5.40385021e+01] [-3.42923755e-03 1.09562532e-04 9.99994114e-01 -2.80794005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.245769231 meters 0.038248159484421694 Centerline is valid? [True, True] Translation: X:418.04, Y:-54.05, Z:-2.81 [[ 9.88572081e-01 1.50728345e-01 2.49132458e-03 4.18038334e+02] [-1.50727670e-01 9.88575217e-01 -4.57517379e-04 -5.40528712e+01] [-2.53182257e-03 7.67773585e-05 9.99996792e-01 -2.80971785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.305769231 meters 0.036455183084597685 Centerline is valid? [True, True] Translation: X:418.10, Y:-54.07, Z:-2.81 [[ 9.88191112e-01 1.53196471e-01 3.02784058e-03 4.18097152e+02] [-1.53195485e-01 9.88195747e-01 -5.56249103e-04 -5.40696328e+01] [-3.07731458e-03 8.58289120e-05 9.99995261e-01 -2.80888103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.365769231 meters 0.026500748042907772 Centerline is valid? [True, True] Translation: X:418.16, Y:-54.07, Z:-2.81 [[ 9.87073562e-01 1.60220189e-01 3.90819004e-03 4.18158381e+02] [-1.60218601e-01 9.87081296e-01 -7.18179461e-04 -5.40722853e+01] [-3.97276814e-03 8.27312178e-05 9.99992105e-01 -2.80704796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.425769231 meters 0.02334863434308891 Centerline is valid? [True, True] Translation: X:418.22, Y:-54.08, Z:-2.81 [[ 9.86253968e-01 1.65156154e-01 5.15325189e-03 4.18217251e+02] [-1.65153460e-01 9.86267427e-01 -9.47019187e-04 -5.40801260e+01] [-5.23889053e-03 8.29240527e-05 9.99986273e-01 -2.80675715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.485769231 meters 0.015690826215755984 Centerline is valid? [True, True] Translation: X:418.28, Y:-54.08, Z:-2.81 [[ 9.85115820e-01 1.71832687e-01 4.51104244e-03 4.18278235e+02] [-1.71830693e-01 9.85126147e-01 -8.28989875e-04 -5.40800619e+01] [-4.58639342e-03 4.15154922e-05 9.99989482e-01 -2.80685951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.545769231 meters 0.011866003550344915 Centerline is valid? [True, True] Translation: X:418.34, Y:-54.08, Z:-2.81 [[ 9.83921712e-01 1.78571685e-01 3.19641103e-03 4.18338078e+02] [-1.78570719e-01 9.83926904e-01 -5.87450419e-04 -5.40776075e+01] [-3.24993682e-03 7.21980537e-06 9.99994719e-01 -2.81007702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.605769231 meters 0.012595022165351478 Centerline is valid? [True, True] Translation: X:418.40, Y:-54.07, Z:-2.80 [[ 9.82659642e-01 1.85280393e-01 7.15565416e-03 4.18398215e+02] [-1.85275734e-01 9.82685695e-01 -1.31435142e-03 -5.40745552e+01] [-7.27528253e-03 -3.42089872e-05 9.99973534e-01 -2.80288186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.665769231 meters 0.014641273155884935 Centerline is valid? [True, True] Translation: X:418.46, Y:-54.08, Z:-2.81 [[ 9.82076357e-01 1.88415232e-01 5.07245259e-03 4.18457521e+02] [-1.88412933e-01 9.82089456e-01 -9.31557674e-04 -5.40770219e+01] [-5.15712186e-03 -4.08549052e-05 9.99986701e-01 -2.80828898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.725769231 meters 0.016763644494735535 Centerline is valid? [True, True] Translation: X:418.52, Y:-54.08, Z:-2.82 [[ 9.81669628e-01 1.90587383e-01 1.09106240e-03 4.18516350e+02] [-1.90587278e-01 9.81670234e-01 -2.00588448e-04 -5.40822845e+01] [-1.10929311e-03 -1.10310255e-05 9.99999385e-01 -2.81637870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.785769231 meters 0.020491086241750892 Centerline is valid? [True, True] Translation: X:418.58, Y:-54.08, Z:-2.81 [[ 9.80934507e-01 1.94322447e-01 2.50571689e-03 4.18575260e+02] [-1.94321905e-01 9.80937707e-01 -4.60206773e-04 -5.40796368e+01] [-2.54738069e-03 -3.54829773e-05 9.99996755e-01 -2.81310034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.845769231 meters 0.025306587601265428 Centerline is valid? [True, True] Translation: X:418.63, Y:-54.08, Z:-2.81 [[ 9.80408831e-01 1.96948024e-01 3.16235673e-03 4.18634083e+02] [-1.96947176e-01 9.80413929e-01 -5.80433488e-04 -5.40772354e+01] [-3.21473381e-03 -5.37551106e-05 9.99994831e-01 -2.81291884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.905769231 meters 0.02838593349727509 Centerline is valid? [True, True] Translation: X:418.69, Y:-54.07, Z:-2.81 [[ 9.79573069e-01 2.01065142e-01 3.06772965e-03 4.18694932e+02] [-2.01064366e-01 9.79577870e-01 -5.62721683e-04 -5.40743737e+01] [-3.11822379e-03 -6.55841093e-05 9.99995136e-01 -2.81449306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.965769231 meters 0.03533209352381615 Centerline is valid? [True, True] Translation: X:418.76, Y:-54.06, Z:-2.81 [[ 9.78891169e-01 2.04267647e-01 6.84164185e-03 4.18756664e+02] [-2.04263865e-01 9.78915063e-01 -1.25443598e-03 -5.40624411e+01] [-6.95362694e-03 -1.69543904e-04 9.99975809e-01 -2.80718041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.025769231 meters 0.029883629590117144 Centerline is valid? [True, True] Translation: X:418.82, Y:-54.07, Z:-2.81 [[ 9.78830398e-01 2.04591544e-01 5.77510967e-03 4.18815052e+02] [-2.04588856e-01 9.78847424e-01 -1.05873554e-03 -5.40715997e+01] [-5.86955956e-03 -1.45200556e-04 9.99982763e-01 -2.80936432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.08576923100003 meters 0.02127417015837249 Centerline is valid? [True, True] Translation: X:418.87, Y:-54.09, Z:-2.81 [[ 9.81006828e-01 1.93879975e-01 6.01318090e-03 4.18872571e+02] [-1.93876861e-01 9.81025254e-01 -1.10203801e-03 -5.40855222e+01] [-6.11274542e-03 -8.47098257e-05 9.99981313e-01 -2.81033526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.14576923100003 meters 0.013384231130364799 Centerline is valid? [True, True] Translation: X:418.92, Y:-54.13, Z:-2.81 [[ 9.84395370e-01 1.75831657e-01 6.99884412e-03 4.18924614e+02] [-1.75826982e-01 9.84420249e-01 -1.28254922e-03 -5.41257663e+01] [-7.11531663e-03 3.19498772e-05 9.99974685e-01 -2.80830853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.20576923100003 meters 0.022645390128303085 Centerline is valid? [True, True] Translation: X:418.98, Y:-54.16, Z:-2.82 [[ 9.86478038e-01 1.63857199e-01 3.44954352e-03 4.18980611e+02] [-1.63855991e-01 9.86484067e-01 -6.32016921e-04 -5.41558694e+01] [-3.50648024e-03 5.82424403e-05 9.99993851e-01 -2.81566978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26576923100004 meters 0.02597468022509377 Centerline is valid? [True, True] Translation: X:419.04, Y:-54.18, Z:-2.81 [[ 9.87376658e-01 1.58306653e-01 5.13211401e-03 4.19036977e+02] [-1.58303903e-01 9.87389989e-01 -9.40316574e-04 -5.41814076e+01] [-5.21625637e-03 1.16012956e-04 9.99986389e-01 -2.81128741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32576923100004 meters 0.03084661475794272 Centerline is valid? [True, True] Translation: X:419.09, Y:-54.21, Z:-2.81 [[ 9.87617727e-01 1.56765486e-01 5.98389484e-03 4.19092831e+02] [-1.56761719e-01 9.87635845e-01 -1.09628801e-03 -5.42070371e+01] [-6.08176915e-03 1.44667830e-04 9.99981495e-01 -2.80934693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.385769231 meters 0.02829387270549489 Centerline is valid? [True, True] Translation: X:419.15, Y:-54.23, Z:-2.81 [[ 9.87510526e-01 1.57493383e-01 4.33545829e-03 4.19149765e+02] [-1.57491413e-01 9.87520037e-01 -7.94283862e-04 -5.42252027e+01] [-4.40644638e-03 1.01566223e-04 9.99990286e-01 -2.81303834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.445769231 meters 0.02178887454477996 Centerline is valid? [True, True] Translation: X:419.21, Y:-54.23, Z:-2.82 [[ 9.86675927e-01 1.62693089e-01 1.25432045e-03 4.19209247e+02] [-1.62692928e-01 9.86676724e-01 -2.29823089e-04 -5.42343771e+01] [-1.27499942e-03 2.26918425e-05 9.99999187e-01 -2.81714204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.505769231 meters 0.015769270762801935 Centerline is valid? [True, True] Translation: X:419.27, Y:-54.24, Z:-2.82 [[ 9.85159889e-01 1.71635470e-01 1.12216124e-03 4.19268340e+02] [-1.71635347e-01 9.85160528e-01 -2.05749426e-04 -5.42376657e+01] [-1.14082286e-03 1.00935473e-05 9.99999349e-01 -2.81965696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.565769231 meters 0.012541507024009068 Centerline is valid? [True, True] Translation: X:419.33, Y:-54.24, Z:-2.82 [[ 9.84159670e-01 1.77269131e-01 2.32378160e-03 4.19327963e+02] [-1.77268620e-01 9.84162413e-01 -4.25746978e-04 -5.42407470e+01] [-2.36245031e-03 7.06944714e-06 9.99997209e-01 -2.81841105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.625769231 meters 0.013431928974049325 Centerline is valid? [True, True] Translation: X:419.39, Y:-54.24, Z:-2.81 [[ 9.82686879e-01 1.85232158e-01 3.94287385e-03 4.19387984e+02] [-1.85230752e-01 9.82694788e-01 -7.21961097e-04 -5.42402690e+01] [-4.00837200e-03 -2.08797939e-05 9.99991966e-01 -2.81471617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.685769231 meters 0.018304227122614376 Centerline is valid? [True, True] Translation: X:419.45, Y:-54.24, Z:-2.82 [[ 9.81302477e-01 1.92426348e-01 4.18919177e-03 4.19448490e+02] [-1.92424828e-01 9.81311417e-01 -7.66771280e-04 -5.42429888e+01] [-4.25844871e-03 -5.36699492e-05 9.99990931e-01 -2.81577113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.745769231 meters 0.02259270137791801 Centerline is valid? [True, True] Translation: X:419.51, Y:-54.25, Z:-2.82 [[ 9.80455666e-01 1.96733622e-01 1.60297013e-03 4.19508261e+02] [-1.96733405e-01 9.80456976e-01 -2.93465963e-04 -5.42470556e+01] [-1.62937787e-03 -2.76274063e-05 9.99998672e-01 -2.82022340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.805769231 meters 0.027915861438509052 Centerline is valid? [True, True] Translation: X:419.57, Y:-54.25, Z:-2.82 [[ 9.79817629e-01 1.99885154e-01 1.82741637e-03 4.19567617e+02] [-1.99884877e-01 9.79819332e-01 -3.34548969e-04 -5.42495013e+01] [-1.85740926e-03 -3.74759203e-05 9.99998274e-01 -2.82103775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.865769231 meters 0.024505670487485948 Centerline is valid? [True, True] Translation: X:419.62, Y:-54.26, Z:-2.82 [[ 9.80092736e-01 1.98502112e-01 3.89107422e-03 4.19624465e+02] [-1.98500849e-01 9.80100457e-01 -7.11953063e-04 -5.42638198e+01] [-3.95496781e-03 -7.46015118e-05 9.99992176e-01 -2.81848039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.925769231 meters 0.026391334560369278 Centerline is valid? [True, True] Translation: X:419.68, Y:-54.27, Z:-2.82 [[ 9.80110339e-01 1.98391036e-01 4.97190606e-03 4.19682193e+02] [-1.98388975e-01 9.80122945e-01 -9.09400151e-04 -5.42686575e+01] [-5.05349605e-03 -9.50588544e-05 9.99987226e-01 -2.81677342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.985769231 meters 0.025933084707675587 Centerline is valid? [True, True] Translation: X:419.74, Y:-54.28, Z:-2.82 [[ 9.79806381e-01 1.99922391e-01 3.23927389e-03 4.19740674e+02] [-1.99921524e-01 9.79811734e-01 -5.92397308e-04 -5.42766823e+01] [-3.29231205e-03 -6.71659108e-05 9.99994578e-01 -2.81941941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.045769231 meters 0.026446552760828176 Centerline is valid? [True, True] Translation: X:419.80, Y:-54.28, Z:-2.82 [[ 9.79896371e-01 1.99459137e-01 4.37666253e-03 4.19798275e+02] [-1.99457553e-01 9.79906141e-01 -8.00097224e-04 -5.42839236e+01] [-4.44830519e-03 -8.89460313e-05 9.99990102e-01 -2.81868335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.105769231 meters 0.02354001671190484 Centerline is valid? [True, True] Translation: X:419.86, Y:-54.30, Z:-2.82 [[ 9.80499356e-01 1.96484316e-01 3.86339249e-03 4.19855786e+02] [-1.96483059e-01 9.80506965e-01 -7.06042125e-04 -5.42951139e+01] [-3.92680945e-03 -6.68173235e-05 9.99992288e-01 -2.81963736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.165769231 meters 0.020743638911655708 Centerline is valid? [True, True] Translation: X:419.91, Y:-54.31, Z:-2.82 [[ 9.81133856e-01 1.93298862e-01 3.45053618e-03 4.19912664e+02] [-1.93297840e-01 9.81139923e-01 -6.30460009e-04 -5.43079915e+01] [-3.50732600e-03 -4.84155299e-05 9.99993848e-01 -2.82030623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.225769231 meters 0.01915476965136983 Centerline is valid? [True, True] Translation: X:419.97, Y:-54.32, Z:-2.82 [[ 9.81454883e-01 1.91637185e-01 4.63697695e-03 4.19970003e+02] [-1.91635322e-01 9.81465835e-01 -8.46904942e-04 -5.43223062e+01] [-4.71333294e-03 -5.74095812e-05 9.99988891e-01 -2.81889908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.285769231 meters 0.01811356161437527 Centerline is valid? [True, True] Translation: X:420.03, Y:-54.34, Z:-2.82 [[ 9.81721091e-01 1.90277208e-01 4.27598799e-03 4.20027714e+02] [-1.90275612e-01 9.81730402e-01 -7.80796427e-04 -5.43353028e+01] [-4.34643517e-03 -4.70919100e-05 9.99990553e-01 -2.81992313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.345769231 meters 0.014609483473181348 Centerline is valid? [True, True] Translation: X:420.08, Y:-54.35, Z:-2.82 [[ 9.82394520e-01 1.86804468e-01 2.25805050e-03 4.20084150e+02] [-1.86804013e-01 9.82397115e-01 -4.12382629e-04 -5.43540644e+01] [-2.29533721e-03 -1.66904606e-05 9.99997366e-01 -2.82297323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.405769231 meters 0.013568553282612326 Centerline is valid? [True, True] Translation: X:420.14, Y:-54.37, Z:-2.82 [[ 9.82695819e-01 1.85181920e-01 4.07222618e-03 4.20141052e+02] [-1.85180430e-01 9.82704257e-01 -7.43220841e-04 -5.43672569e+01] [-4.13942507e-03 -2.37365833e-05 9.99991432e-01 -2.82016106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.465769231 meters 0.015787306074129814 Centerline is valid? [True, True] Translation: X:420.20, Y:-54.37, Z:-2.82 [[ 9.82069534e-01 1.88450176e-01 5.09533767e-03 4.20200556e+02] [-1.88447889e-01 9.82082751e-01 -9.29609247e-04 -5.43709757e+01] [-5.17922826e-03 -4.72647064e-05 9.99986587e-01 -2.81804776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.525769231 meters 0.024827879037447556 Centerline is valid? [True, True] Translation: X:420.26, Y:-54.36, Z:-2.82 [[ 9.80679984e-01 1.95586382e-01 3.56869322e-03 4.20261268e+02] [-1.95585307e-01 9.80686476e-01 -6.51008441e-04 -5.43620348e+01] [-3.62709757e-03 -5.95530136e-05 9.99993420e-01 -2.82200000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.58576923100003 meters 0.024643678960930265 Centerline is valid? [True, True] Translation: X:420.32, Y:-54.37, Z:-2.82 [[ 9.80235658e-01 1.97803797e-01 3.42244776e-03 4.20318974e+02] [-1.97802823e-01 9.80241630e-01 -6.24220545e-04 -5.43710680e+01] [-3.47829896e-03 -6.50865894e-05 9.99993949e-01 -2.82233603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.64576923100003 meters 0.029939136325032662 Centerline is valid? [True, True] Translation: X:420.38, Y:-54.37, Z:-2.82 [[ 9.79201224e-01 2.02841378e-01 4.50981034e-03 4.20379622e+02] [-2.02839742e-01 9.79211603e-01 -8.22075544e-04 -5.43691051e+01] [-4.58280955e-03 -1.09791388e-04 9.99989493e-01 -2.82092738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.70576923100003 meters 0.02886881888166058 Centerline is valid? [True, True] Translation: X:420.44, Y:-54.38, Z:-2.82 [[ 9.79425758e-01 2.01739062e-01 5.15130440e-03 4.20438539e+02] [-2.01736913e-01 9.79439297e-01 -9.38812096e-04 -5.43756989e+01] [-5.23478504e-03 -1.19711499e-04 9.99986291e-01 -2.82024214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76576923100004 meters 0.0232000036451364 Centerline is valid? [True, True] Translation: X:420.50, Y:-54.39, Z:-2.82 [[ 9.80630758e-01 1.95797854e-01 5.14934301e-03 4.20495936e+02] [-1.95795627e-01 9.80644274e-01 -9.38162040e-04 -5.43909450e+01] [-5.23336385e-03 -8.82282891e-05 9.99986302e-01 -2.82084360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82576923100004 meters 0.02028273264607864 Centerline is valid? [True, True] Translation: X:420.55, Y:-54.40, Z:-2.82 [[ 9.81268960e-01 1.92527094e-01 6.67431069e-03 4.20552838e+02] [-1.92523277e-01 9.81291654e-01 -1.21579616e-03 -5.44030339e+01] [-6.78351907e-03 -9.19371353e-05 9.99976987e-01 -2.81901150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.885769231 meters 0.018300387396708938 Centerline is valid? [True, True] Translation: X:420.61, Y:-54.41, Z:-2.82 [[ 9.81733191e-01 1.90194793e-01 5.08752309e-03 4.20611019e+02] [-1.90192545e-01 9.81746371e-01 -9.26497555e-04 -5.44148991e+01] [-5.17087234e-03 -5.80355618e-05 9.99986629e-01 -2.82253405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.945769231 meters 0.017233891630331264 Centerline is valid? [True, True] Translation: X:420.67, Y:-54.42, Z:-2.83 [[ 9.82075118e-01 1.88459958e-01 3.36260250e-03 4.20668580e+02] [-1.88458966e-01 9.82080874e-01 -6.12415198e-04 -5.44239766e+01] [-3.41776334e-03 -3.22748623e-05 9.99994159e-01 -2.82569648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.005769231 meters 0.014328908075305827 Centerline is valid? [True, True] Translation: X:420.73, Y:-54.43, Z:-2.82 [[ 9.82661997e-01 1.85279539e-01 6.84783307e-03 4.20726624e+02] [-1.85275352e-01 9.82685856e-01 -1.24634691e-03 -5.44345536e+01] [-6.96019128e-03 -4.39969346e-05 9.99975777e-01 -2.81975834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.065769231 meters 0.012703442555965387 Centerline is valid? [True, True] Translation: X:420.78, Y:-54.45, Z:-2.82 [[ 9.83195527e-01 1.82462620e-01 5.82653546e-03 4.20783555e+02] [-1.82459541e-01 9.83212791e-01 -1.06023997e-03 -5.44474473e+01] [-5.92217835e-03 -2.06837842e-05 9.99982464e-01 -2.82261063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.125769231 meters 0.012870677721600233 Centerline is valid? [True, True] Translation: X:420.84, Y:-54.47, Z:-2.82 [[ 9.84552333e-01 1.74979111e-01 6.24619104e-03 4.20838512e+02] [-1.74975423e-01 9.84572146e-01 -1.13630787e-03 -5.44705177e+01] [-6.34865586e-03 2.58246439e-05 9.99979847e-01 -2.82261474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.185769231 meters 0.018223192669933035 Centerline is valid? [True, True] Translation: X:420.89, Y:-54.50, Z:-2.82 [[ 9.85668756e-01 1.68553164e-01 6.85080486e-03 4.20892853e+02] [-1.68548576e-01 9.85692561e-01 -1.24579018e-03 -5.44985890e+01] [-6.96276927e-03 7.32430545e-05 9.99975757e-01 -2.82184581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.245769231 meters 0.01923869704648193 Centerline is valid? [True, True] Translation: X:420.95, Y:-54.52, Z:-2.82 [[ 9.85828711e-01 1.67641864e-01 6.16092914e-03 4.20949484e+02] [-1.67638138e-01 9.85847960e-01 -1.12002674e-03 -5.45161356e+01] [-6.26150279e-03 7.13478355e-05 9.99980394e-01 -2.82340998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.305769231 meters 0.013403202342397731 Centerline is valid? [True, True] Translation: X:421.01, Y:-54.52, Z:-2.82 [[ 9.84895296e-01 1.73055639e-01 5.74465819e-03 4.21007893e+02] [-1.73052493e-01 9.84912049e-01 -1.04412253e-03 -5.45236328e+01] [-5.83867436e-03 3.42239450e-05 9.99982954e-01 -2.82410409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.365769231 meters 0.013030683784679772 Centerline is valid? [True, True] Translation: X:421.07, Y:-54.52, Z:-2.83 [[ 9.83031796e-01 1.83350987e-01 5.55915027e-03 4.21067584e+02] [-1.83348206e-01 9.83047514e-01 -1.01014341e-03 -5.45242142e+01] [-5.65011964e-03 -2.62571403e-05 9.99984038e-01 -2.82541172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.425769231 meters 0.019785803201423893 Centerline is valid? [True, True] Translation: X:421.13, Y:-54.52, Z:-2.83 [[ 9.81398488e-01 1.91902453e-01 5.51881266e-03 4.21127442e+02] [-1.91899849e-01 9.81414002e-01 -1.00252900e-03 -5.45220726e+01] [-5.60862780e-03 -7.51788752e-05 9.99984269e-01 -2.82574405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.485769231 meters 0.02354904603410482 Centerline is valid? [True, True] Translation: X:421.19, Y:-54.53, Z:-2.83 [[ 9.80659869e-01 1.95640335e-01 5.57499650e-03 4.21187081e+02] [-1.95637740e-01 9.80675711e-01 -1.01251191e-03 -5.45262582e+01] [-5.66535183e-03 -9.77499206e-05 9.99983947e-01 -2.82747701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.545769231 meters 0.025562832722981342 Centerline is valid? [True, True] Translation: X:421.25, Y:-54.53, Z:-2.83 [[ 9.80151652e-01 1.98143952e-01 6.45865704e-03 4.21245448e+02] [-1.98140523e-01 9.80172922e-01 -1.17282815e-03 -5.45325461e+01] [-6.56298955e-03 -1.30172236e-04 9.99978455e-01 -2.82644562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.605769231 meters 0.026277484436410987 Centerline is valid? [True, True] Translation: X:421.30, Y:-54.54, Z:-2.83 [[ 9.80091191e-01 1.98467184e-01 5.65982867e-03 4.21303633e+02] [-1.98464558e-01 9.80107527e-01 -1.02753421e-03 -5.45392926e+01] [-5.75117250e-03 -1.16198168e-04 9.99983455e-01 -2.82780739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.665769231 meters 0.02620987284468027 Centerline is valid? [True, True] Translation: X:421.36, Y:-54.54, Z:-2.83 [[ 9.79933803e-01 1.99252727e-01 5.30023868e-03 4.21362619e+02] [-1.99250437e-01 9.79948130e-01 -9.62017921e-04 -5.45444618e+01] [-5.38564368e-03 -1.13360994e-04 9.99985491e-01 -2.82974511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.725769231 meters 0.02743568300238756 Centerline is valid? [True, True] Translation: X:421.42, Y:-54.55, Z:-2.83 [[ 9.79818254e-01 1.99808483e-01 5.72360641e-03 4.21420192e+02] [-1.99805824e-01 9.79834963e-01 -1.03856395e-03 -5.45490917e+01] [-5.81570356e-03 -1.26005975e-04 9.99983081e-01 -2.82967447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.785769231 meters 0.02701940743400123 Centerline is valid? [True, True] Translation: X:421.48, Y:-54.56, Z:-2.83 [[ 9.80180097e-01 1.98043243e-01 5.08445590e-03 4.21477682e+02] [-1.98041122e-01 9.80193279e-01 -9.22322887e-04 -5.45560142e+01] [-5.16640931e-03 -1.02888815e-04 9.99986649e-01 -2.83063851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.845769231 meters 0.024905613816334705 Centerline is valid? [True, True] Translation: X:421.54, Y:-54.56, Z:-2.83 [[ 9.80541653e-01 1.96192119e-01 6.83515360e-03 4.21536313e+02] [-1.96188245e-01 9.80565468e-01 -1.23934401e-03 -5.45643051e+01] [-6.94546511e-03 -1.25748363e-04 9.99975872e-01 -2.82735377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.905769231 meters 0.026627765605190905 Centerline is valid? [True, True] Translation: X:421.59, Y:-54.57, Z:-2.83 [[ 9.80276562e-01 1.97470576e-01 7.95196263e-03 4.21594985e+02] [-1.97465377e-01 9.80308802e-01 -1.44139900e-03 -5.45674412e+01] [-8.08001284e-03 -1.57267646e-04 9.99967344e-01 -2.82554612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.965769231 meters 0.030551963060050903 Centerline is valid? [True, True] Translation: X:421.66, Y:-54.56, Z:-2.83 [[ 9.79732013e-01 2.00163870e-01 7.72065606e-03 4.21655445e+02] [-2.00159057e-01 9.79762417e-01 -1.39904787e-03 -5.45632722e+01] [-7.84444748e-03 -1.74667257e-04 9.99969217e-01 -2.82701646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.025769231 meters 0.026836326594348755 Centerline is valid? [True, True] Translation: X:421.71, Y:-54.57, Z:-2.83 [[ 9.79793819e-01 1.99886990e-01 7.01871724e-03 4.21713079e+02] [-1.99883007e-01 9.79818946e-01 -1.27160974e-03 -5.45723998e+01] [-7.13125037e-03 -1.57006948e-04 9.99974560e-01 -2.82903347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.08576923100003 meters 0.02428950332072317 Centerline is valid? [True, True] Translation: X:421.77, Y:-54.58, Z:-2.83 [[ 9.80508925e-01 1.96376083e-01 6.21955148e-03 4.21770807e+02] [-1.96372892e-01 9.80528643e-01 -1.12562727e-03 -5.45790918e+01] [-6.31949465e-03 -1.17663728e-04 9.99980025e-01 -2.83190373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.14576923100003 meters 0.020222862809800093 Centerline is valid? [True, True] Translation: X:421.83, Y:-54.59, Z:-2.83 [[ 9.81687466e-01 1.90408624e-01 5.85443460e-03 4.21828234e+02] [-1.90405693e-01 9.81704920e-01 -1.05918272e-03 -5.45898305e+01] [-5.94900478e-03 -7.49312777e-05 9.99982302e-01 -2.83291955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.20576923100003 meters 0.01622193704317809 Centerline is valid? [True, True] Translation: X:421.89, Y:-54.60, Z:-2.83 [[ 9.82523064e-01 1.86027997e-01 6.48174761e-03 4.21885043e+02] [-1.86024310e-01 9.82544442e-01 -1.17241420e-03 -5.46038443e+01] [-6.58670696e-03 -5.38386385e-05 9.99978306e-01 -2.83191050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26576923100004 meters 0.011999535180422087 Centerline is valid? [True, True] Translation: X:421.94, Y:-54.62, Z:-2.83 [[ 9.83697741e-01 1.79703573e-01 6.73654325e-03 4.21940836e+02] [-1.79699444e-01 9.83720807e-01 -1.21818431e-03 -5.46235857e+01] [-6.84578983e-03 -1.22279223e-05 9.99976567e-01 -2.83177584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32576923100004 meters 0.011840738298084024 Centerline is valid? [True, True] Translation: X:422.00, Y:-54.64, Z:-2.83 [[ 9.84159353e-01 1.77169543e-01 6.42816731e-03 4.21996578e+02] [-1.77165731e-01 9.84180346e-01 -1.16213826e-03 -5.46365529e+01] [-6.53237143e-03 4.87827192e-06 9.99978664e-01 -2.83273052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.385769231 meters 0.01197668603327117 Centerline is valid? [True, True] Translation: X:422.05, Y:-54.65, Z:-2.83 [[ 9.84334990e-01 1.76129982e-01 7.92823582e-03 4.22053048e+02] [-1.76124157e-01 9.84366918e-01 -1.43254157e-03 -5.46490630e+01] [-8.05660658e-03 1.37469444e-05 9.99967545e-01 -2.83082634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.445769231 meters 0.01210002935953596 Centerline is valid? [True, True] Translation: X:422.11, Y:-54.66, Z:-2.83 [[ 9.84270547e-01 1.76525465e-01 7.08876574e-03 4.22109019e+02] [-1.76520822e-01 9.84296073e-01 -1.28039632e-03 -5.46576138e+01] [-7.20346684e-03 8.94163701e-06 9.99974055e-01 -2.83329323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.505769231 meters 0.012085605375549448 Centerline is valid? [True, True] Translation: X:422.17, Y:-54.67, Z:-2.83 [[ 9.84106086e-01 1.77466692e-01 6.38630176e-03 4.22166393e+02] [-1.77462948e-01 9.84126808e-01 -1.15275388e-03 -5.46661700e+01] [-6.48950618e-03 1.10017191e-06 9.99978943e-01 -2.83497586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.565769231 meters 0.012792701684189623 Centerline is valid? [True, True] Translation: X:422.23, Y:-54.67, Z:-2.83 [[ 9.83423871e-01 1.81109734e-01 8.76090179e-03 4.22226277e+02] [-1.81102839e-01 9.83462894e-01 -1.58062262e-03 -5.46655778e+01] [-8.90228797e-03 -3.22021737e-05 9.99960373e-01 -2.83111064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.625769231 meters 0.01390869352057965 Centerline is valid? [True, True] Translation: X:422.29, Y:-54.67, Z:-2.83 [[ 9.83005297e-01 1.83396392e-01 8.14545861e-03 4.22285438e+02] [-1.83390514e-01 9.83039043e-01 -1.46921148e-03 -5.46694492e+01] [-8.27675192e-03 -4.95571760e-05 9.99965746e-01 -2.83339013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.685769231 meters 0.014572494016444195 Centerline is valid? [True, True] Translation: X:422.34, Y:-54.67, Z:-2.83 [[ 9.82911513e-01 1.83921915e-01 7.59513856e-03 4.22344043e+02] [-1.83916822e-01 9.82940856e-01 -1.36959019e-03 -5.46726621e+01] [-7.71746965e-03 -5.06877810e-05 9.99970219e-01 -2.83485861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.745769231 meters 0.013506349760624111 Centerline is valid? [True, True] Translation: X:422.40, Y:-54.68, Z:-2.83 [[ 9.83127004e-01 1.82616744e-01 1.06027669e-02 4.22402044e+02] [-1.82606753e-01 9.83184175e-01 -1.91106818e-03 -5.46806972e+01] [-1.07734656e-02 -5.73140977e-05 9.99941963e-01 -2.83166307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.805769231 meters 0.013640926572588731 Centerline is valid? [True, True] Translation: X:422.46, Y:-54.69, Z:-2.83 [[ 9.83239973e-01 1.82072309e-01 9.42492654e-03 4.22459324e+02] [-1.82064396e-01 9.83285143e-01 -1.69814579e-03 -5.46875393e+01] [-9.57657556e-03 -4.62587333e-05 9.99954142e-01 -2.83267256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.865769231 meters 0.013500436171856846 Centerline is valid? [True, True] Translation: X:422.52, Y:-54.70, Z:-2.84 [[ 9.83268680e-01 1.81982288e-01 8.07149663e-03 4.22516629e+02] [-1.81976487e-01 9.83301808e-01 -1.45368795e-03 -5.46958844e+01] [-8.20126268e-03 -3.94567695e-05 9.99966368e-01 -2.83597718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.925769231 meters 0.01297820416949942 Centerline is valid? [True, True] Translation: X:422.57, Y:-54.71, Z:-2.84 [[ 9.83562326e-01 1.80384227e-01 8.16584457e-03 4.22573415e+02] [-1.80378247e-01 9.83596223e-01 -1.46903515e-03 -5.47066111e+01] [-8.29688464e-03 -2.80530963e-05 9.99965580e-01 -2.83778542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.985769231 meters 0.01270904660368766 Centerline is valid? [True, True] Translation: X:422.63, Y:-54.72, Z:-2.84 [[ 9.84024969e-01 1.77970307e-01 4.62930225e-03 4.22629436e+02] [-1.77968362e-01 9.84035858e-01 -8.32176560e-04 -5.47191701e+01] [-4.70350213e-03 -4.98682471e-06 9.99988938e-01 -2.84376915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.045769231 meters 0.012755754928115084 Centerline is valid? [True, True] Translation: X:422.68, Y:-54.74, Z:-2.84 [[ 9.84562505e-01 1.74962325e-01 4.98582254e-03 4.22684885e+02] [-1.74960031e-01 9.84575129e-01 -8.95951954e-04 -5.47356732e+01] [-5.06567470e-03 9.80103614e-06 9.99987169e-01 -2.84360743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.105769231 meters 0.013423548927892243 Centerline is valid? [True, True] Translation: X:422.74, Y:-54.75, Z:-2.84 [[ 9.84942422e-01 1.72742852e-01 6.95213859e-03 4.22741436e+02] [-1.72738342e-01 9.84966957e-01 -1.24858533e-03 -5.47506410e+01] [-7.06331098e-03 2.88837664e-05 9.99975054e-01 -2.84228685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.165769231 meters 0.014684084041733648 Centerline is valid? [True, True] Translation: X:422.80, Y:-54.77, Z:-2.85 [[ 9.85337880e-01 1.70544301e-01 4.88920836e-03 4.22797226e+02] [-1.70542044e-01 9.85350009e-01 -8.77913594e-04 -5.47692484e+01] [-4.96730467e-03 3.12259316e-05 9.99987662e-01 -2.84642553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.225769231 meters 0.01457934147103401 Centerline is valid? [True, True] Translation: X:422.85, Y:-54.78, Z:-2.84 [[ 9.85356543e-01 1.70392952e-01 6.22293449e-03 4.22854493e+02] [-1.70389296e-01 9.85376192e-01 -1.11692591e-03 -5.47806916e+01] [-6.32224780e-03 4.02488275e-05 9.99980014e-01 -2.84133794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.285769231 meters 0.014211598908069705 Centerline is valid? [True, True] Translation: X:422.91, Y:-54.79, Z:-2.84 [[ 9.85209570e-01 1.71145597e-01 8.44317319e-03 4.22912078e+02] [-1.71138900e-01 9.85245747e-01 -1.51467562e-03 -5.47923265e+01] [-8.57783054e-03 4.73175403e-05 9.99963209e-01 -2.83872976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.345769231 meters 0.014255839250605954 Centerline is valid? [True, True] Translation: X:422.97, Y:-54.81, Z:-2.84 [[ 9.85221557e-01 1.70971939e-01 1.03479498e-02 4.22969092e+02] [-1.70961877e-01 9.85275897e-01 -1.85581587e-03 -5.48076668e+01] [-1.05128779e-02 5.92848811e-05 9.99944736e-01 -2.83765643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.405769231 meters 0.015201821518538744 Centerline is valid? [True, True] Translation: X:423.03, Y:-54.82, Z:-2.84 [[ 9.85636377e-01 1.68634590e-01 9.12728625e-03 4.23026433e+02] [-1.68626665e-01 9.85678634e-01 -1.63649626e-03 -5.48233627e+01] [-9.27254092e-03 7.38864054e-05 9.99957006e-01 -2.84064446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.465769231 meters 0.017392856284610448 Centerline is valid? [True, True] Translation: X:423.08, Y:-54.84, Z:-2.85 [[ 9.86144110e-01 1.65781829e-01 6.01493635e-03 4.23081240e+02] [-1.65778336e-01 9.86162451e-01 -1.07828640e-03 -5.48428709e+01] [-6.11046467e-03 6.61996486e-05 9.99981329e-01 -2.84632077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.525769231 meters 0.021268825321699596 Centerline is valid? [True, True] Translation: X:423.14, Y:-54.87, Z:-2.85 [[ 9.86971901e-01 1.60844998e-01 3.91823384e-03 4.23136350e+02] [-1.60843478e-01 9.86979677e-01 -7.02243814e-04 -5.48705800e+01] [-3.98016958e-03 6.28725548e-05 9.99992077e-01 -2.85087221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.58576923100003 meters 0.024174105564327204 Centerline is valid? [True, True] Translation: X:423.19, Y:-54.89, Z:-2.85 [[ 9.87524253e-01 1.57352950e-01 5.99150987e-03 4.23191364e+02] [-1.57349332e-01 9.87542422e-01 -1.07348857e-03 -5.48941641e+01] [-6.08578676e-03 1.17335925e-04 9.99981475e-01 -2.84665061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.64576923100003 meters 0.022459318611968752 Centerline is valid? [True, True] Translation: X:423.25, Y:-54.91, Z:-2.85 [[ 9.87083772e-01 1.60105697e-01 5.63853706e-03 4.23248336e+02] [-1.60102539e-01 9.87099872e-01 -1.00990915e-03 -5.49069972e+01] [-5.72749142e-03 9.41208349e-05 9.99983593e-01 -2.84823494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.70576923100003 meters 0.018495109394046704 Centerline is valid? [True, True] Translation: X:423.31, Y:-54.92, Z:-2.85 [[ 9.86360342e-01 1.64564415e-01 3.43940414e-03 4.23306833e+02] [-1.64563268e-01 9.86366337e-01 -6.15947113e-04 -5.49161173e+01] [-3.49387545e-03 4.15462188e-05 9.99993896e-01 -2.85173857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76576923100004 meters 0.017810742946900313 Centerline is valid? [True, True] Translation: X:423.36, Y:-54.93, Z:-2.85 [[ 9.86241742e-01 1.65259449e-01 4.06714541e-03 4.23364131e+02] [-1.65257851e-01 9.86250127e-01 -7.28204896e-04 -5.49296890e+01] [-4.13156541e-03 4.60583558e-05 9.99991464e-01 -2.85148475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82576923100004 meters 0.017442577984376168 Centerline is valid? [True, True] Translation: X:423.42, Y:-54.94, Z:-2.85 [[ 9.86283033e-01 1.65002480e-01 4.46767852e-03 4.23421357e+02] [-1.65000550e-01 9.86293151e-01 -7.99670515e-04 -5.49412135e+01] [-4.53838834e-03 5.15320466e-05 9.99989700e-01 -2.85097587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.885769231 meters 0.01610948386993433 Centerline is valid? [True, True] Translation: X:423.48, Y:-54.94, Z:-2.85 [[ 9.85883364e-01 1.67299526e-01 6.69787564e-03 4.23479256e+02] [-1.67295245e-01 9.85906114e-01 -1.19834407e-03 -5.49445424e+01] [-6.80395894e-03 6.09047412e-05 9.99976851e-01 -2.84712943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.945769231 meters 0.013855993221730067 Centerline is valid? [True, True] Translation: X:423.54, Y:-54.95, Z:-2.85 [[ 9.85210568e-01 1.71258588e-01 5.53476874e-03 4.23538677e+02] [-1.71255728e-01 9.85226114e-01 -9.89958764e-04 -5.49460805e+01] [-5.62253764e-03 2.74569827e-05 9.99984193e-01 -2.85072057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.005769231 meters 0.013964328519107942 Centerline is valid? [True, True] Translation: X:423.60, Y:-54.95, Z:-2.85 [[ 9.85273218e-01 1.70906752e-01 5.25056784e-03 4.23597418e+02] [-1.70904176e-01 9.85287207e-01 -9.38887826e-04 -5.49530330e+01] [-5.33377959e-03 2.77170617e-05 9.99985775e-01 -2.85210173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.065769231 meters 0.015859598701498532 Centerline is valid? [True, True] Translation: X:423.65, Y:-54.97, Z:-2.85 [[ 9.85700811e-01 1.68416603e-01 5.45519037e-03 4.23653096e+02] [-1.68413785e-01 9.85715905e-01 -9.75215263e-04 -5.49681743e+01] [-5.54151036e-03 4.25412190e-05 9.99984645e-01 -2.85186328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.125769231 meters 0.02009714324755878 Centerline is valid? [True, True] Translation: X:423.71, Y:-54.99, Z:-2.86 [[ 9.86646078e-01 1.62849111e-01 3.11192636e-03 4.23710247e+02] [-1.62848167e-01 9.86650985e-01 -5.56166633e-04 -5.49857567e+01] [-3.16095645e-03 4.19681245e-05 9.99995003e-01 -2.85583532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.185769231 meters 0.022232723526983588 Centerline is valid? [True, True] Translation: X:423.77, Y:-55.00, Z:-2.86 [[ 9.86986587e-01 1.60788841e-01 2.10384174e-03 4.23766594e+02] [-1.60788405e-01 9.86988828e-01 -3.76174604e-04 -5.50017387e+01] [-2.13695297e-03 3.30059319e-05 9.99997716e-01 -2.85813901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.245769231 meters 0.021779995200188234 Centerline is valid? [True, True] Translation: X:423.82, Y:-55.02, Z:-2.85 [[ 9.87068065e-01 1.60235688e-01 4.59996526e-03 4.23823826e+02] [-1.60233598e-01 9.87078780e-01 -8.21705248e-04 -5.50150994e+01] [-4.67219460e-03 7.40100242e-05 9.99989082e-01 -2.85313576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.305769231 meters 0.021905528575047937 Centerline is valid? [True, True] Translation: X:423.88, Y:-55.03, Z:-2.85 [[ 9.86876446e-01 1.61404239e-01 4.85308933e-03 4.23880126e+02] [-1.61401928e-01 9.86888376e-01 -8.66698319e-04 -5.50280937e+01] [-4.92934623e-03 7.20261792e-05 9.99987848e-01 -2.85424557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.365769231 meters 0.021222913171438172 Centerline is valid? [True, True] Translation: X:423.94, Y:-55.04, Z:-2.86 [[ 9.86806389e-01 1.61856228e-01 3.96371068e-03 4.23938015e+02] [-1.61854691e-01 9.86814348e-01 -7.07643276e-04 -5.50383379e+01] [-4.02598304e-03 5.67617375e-05 9.99991894e-01 -2.85649780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.425769231 meters 0.020932341382974867 Centerline is valid? [True, True] Translation: X:424.00, Y:-55.05, Z:-2.85 [[ 9.86810992e-01 1.61734534e-01 6.78285176e-03 4.23995222e+02] [-1.61730034e-01 9.86834298e-01 -1.21039981e-03 -5.50512009e+01] [-6.88931420e-03 9.74449949e-05 9.99976264e-01 -2.85037944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.485769231 meters 0.024459981973037247 Centerline is valid? [True, True] Translation: X:424.05, Y:-55.07, Z:-2.85 [[ 9.87317147e-01 1.58500743e-01 9.07553150e-03 4.24050323e+02] [-1.58492555e-01 9.87358845e-01 -1.61906967e-03 -5.50740388e+01] [-9.21743004e-03 1.60131078e-04 9.99957506e-01 -2.84700836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.545769231 meters 0.026624433548647197 Centerline is valid? [True, True] Translation: X:424.11, Y:-55.09, Z:-2.85 [[ 9.87624727e-01 1.56590712e-01 8.76055234e-03 4.24107797e+02] [-1.56583008e-01 9.87663566e-01 -1.56276601e-03 -5.50915311e+01] [-8.89719300e-03 1.71672712e-04 9.99960404e-01 -2.84750339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.605769231 meters 0.027547246995607396 Centerline is valid? [True, True] Translation: X:424.16, Y:-55.11, Z:-2.85 [[ 9.87703092e-01 1.56107821e-01 8.54107276e-03 4.24164109e+02] [-1.56100481e-01 9.87740006e-01 -1.52340171e-03 -5.51112979e+01] [-8.67417418e-03 1.71403011e-04 9.99962364e-01 -2.84775131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.665769231 meters 0.023928832039363943 Centerline is valid? [True, True] Translation: X:424.22, Y:-55.13, Z:-2.85 [[ 9.87438283e-01 1.57914450e-01 5.35379595e-03 4.24221693e+02] [-1.57911594e-01 9.87452792e-01 -9.54801839e-04 -5.51259335e+01] [-5.43739777e-03 9.73814375e-05 9.99985213e-01 -2.85441324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.725769231 meters 0.021003294224800705 Centerline is valid? [True, True] Translation: X:424.28, Y:-55.14, Z:-2.86 [[ 9.86931502e-01 1.61080595e-01 4.38770358e-03 4.24280199e+02] [-1.61078708e-01 9.86941253e-01 -7.82432802e-04 -5.51376765e+01] [-4.45644041e-03 6.54419599e-05 9.99990068e-01 -2.85640297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.785769231 meters 0.014744616669256298 Centerline is valid? [True, True] Translation: X:424.34, Y:-55.14, Z:-2.86 [[ 9.85462531e-01 1.69850483e-01 3.79664475e-03 4.24339374e+02] [-1.69849135e-01 9.85469844e-01 -6.77000687e-04 -5.51390931e+01] [-3.85646781e-03 2.23019840e-05 9.99992564e-01 -2.85869272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.845769231 meters 0.013792704709482247 Centerline is valid? [True, True] Translation: X:424.40, Y:-55.13, Z:-2.86 [[ 9.83761079e-01 1.79436068e-01 4.10324206e-03 4.24400203e+02] [-1.79434577e-01 9.83769636e-01 -7.31526288e-04 -5.51319647e+01] [-4.16790715e-03 -1.66164139e-05 9.99991314e-01 -2.85859282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.905769231 meters 0.022770652337959926 Centerline is valid? [True, True] Translation: X:424.46, Y:-55.12, Z:-2.86 [[ 9.82152209e-01 1.88060362e-01 3.21548651e-03 4.24461289e+02] [-1.88059493e-01 9.82157471e-01 -5.73179519e-04 -5.51211457e+01] [-3.26590644e-03 -4.17532308e-05 9.99994666e-01 -2.86169617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.965769231 meters 0.030325915040383664 Centerline is valid? [True, True] Translation: X:424.52, Y:-55.12, Z:-2.86 [[ 9.81085372e-01 1.93549755e-01 3.15990083e-03 4.24522918e+02] [-1.93548945e-01 9.81090459e-01 -5.63051944e-04 -5.51168132e+01] [-3.20912712e-03 -5.91934473e-05 9.99994849e-01 -2.86163950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.025769231 meters 0.03108637118549055 Centerline is valid? [True, True] Translation: X:424.58, Y:-55.11, Z:-2.86 [[ 9.79682014e-01 2.00529837e-01 3.30703712e-03 4.24584795e+02] [-2.00528990e-01 9.79687592e-01 -5.89158053e-04 -5.51131450e+01] [-3.35800700e-03 -8.59692667e-05 9.99994358e-01 -2.86029559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.08576923100003 meters 0.040955948147502017 Centerline is valid? [True, True] Translation: X:424.65, Y:-55.10, Z:-2.86 [[ 9.78774639e-01 2.04858480e-01 5.76282019e-03 4.24647396e+02] [-2.04855984e-01 9.78791588e-01 -1.02652717e-03 -5.51014039e+01] [-5.85089272e-03 -1.75809442e-04 9.99982868e-01 -2.85602893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.14576923100003 meters 0.041168253155772556 Centerline is valid? [True, True] Translation: X:424.71, Y:-55.09, Z:-2.86 [[ 9.78291356e-01 2.07143458e-01 6.13270825e-03 4.24709302e+02] [-2.07140676e-01 9.78310558e-01 -1.09234358e-03 -5.50945156e+01] [-6.22596505e-03 -2.01703047e-04 9.99980598e-01 -2.85608279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.20576923100003 meters 0.038732565588262914 Centerline is valid? [True, True] Translation: X:424.77, Y:-55.09, Z:-2.85 [[ 9.78912161e-01 2.04156712e-01 7.14268630e-03 4.24769158e+02] [-2.04152860e-01 9.78938196e-01 -1.27204310e-03 -5.50926746e+01] [-7.25194458e-03 -2.12981372e-04 9.99973682e-01 -2.85489181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26576923100004 meters 0.03422484783800695 Centerline is valid? [True, True] Translation: X:424.83, Y:-55.10, Z:-2.86 [[ 9.79522165e-01 2.01219603e-01 6.85565071e-03 4.24828454e+02] [-2.01215984e-01 9.79546139e-01 -1.22070531e-03 -5.50990122e+01] [-6.96105602e-03 -1.83758592e-04 9.99975755e-01 -2.85586704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32576923100004 meters 0.025067374683846504 Centerline is valid? [True, True] Translation: X:424.89, Y:-55.11, Z:-2.86 [[ 9.80765179e-01 1.95079039e-01 6.62059812e-03 4.24887215e+02] [-1.95075531e-01 9.80787515e-01 -1.17783418e-03 -5.51113787e+01] [-6.72317074e-03 -1.36337946e-04 9.99977390e-01 -2.85631755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.385769231 meters 0.015198331822612465 Centerline is valid? [True, True] Translation: X:424.94, Y:-55.13, Z:-2.85 [[ 9.83086979e-01 1.82912004e-01 9.12090144e-03 4.24944008e+02] [-1.82904823e-01 9.83129286e-01 -1.62249051e-03 -5.51300604e+01] [-9.26379831e-03 -7.32075694e-05 9.99957087e-01 -2.85422029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.445769231 meters 0.01260680294081091 Centerline is valid? [True, True] Translation: X:425.00, Y:-55.15, Z:-2.86 [[ 9.84919522e-01 1.72896252e-01 6.35777271e-03 4.24997973e+02] [-1.72892554e-01 9.84940042e-01 -1.13091400e-03 -5.51543267e+01] [-6.45755571e-03 1.46477116e-05 9.99979150e-01 -2.86047858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.505769231 meters 0.02240028270654945 Centerline is valid? [True, True] Translation: X:425.05, Y:-55.19, Z:-2.86 [[ 9.87272947e-01 1.58990915e-01 3.74399145e-03 4.25053282e+02] [-1.58989533e-01 9.87280044e-01 -6.65770648e-04 -5.51858717e+01] [-3.80221953e-03 6.20418971e-05 9.99992770e-01 -2.86466995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.565769231 meters 0.033280290416281576 Centerline is valid? [True, True] Translation: X:425.11, Y:-55.22, Z:-2.87 [[ 9.88846400e-01 1.48923036e-01 2.17392120e-03 4.25108075e+02] [-1.48922546e-01 9.88848788e-01 -3.86580141e-04 -5.52173129e+01] [-2.20725003e-03 5.85225015e-05 9.99997562e-01 -2.86761662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.625769231 meters 0.03604844467015808 Centerline is valid? [True, True] Translation: X:425.17, Y:-55.24, Z:-2.87 [[ 9.89319293e-01 1.45734690e-01 2.95572022e-03 4.25165073e+02] [-1.45733769e-01 9.89323704e-01 -5.25690584e-04 -5.52353699e+01] [-3.00077543e-03 8.93275876e-05 9.99995494e-01 -2.86707127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.685769231 meters 0.036856632267994426 Centerline is valid? [True, True] Translation: X:425.22, Y:-55.25, Z:-2.86 [[ 9.89228791e-01 1.46286696e-01 5.15765692e-03 4.25220585e+02] [-1.46283902e-01 9.89242225e-01 -9.16834078e-04 -5.52515813e+01] [-5.23629264e-03 1.52476485e-04 9.99986279e-01 -2.86185485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.745769231 meters 0.02945320020861953 Centerline is valid? [True, True] Translation: X:425.28, Y:-55.26, Z:-2.86 [[ 9.88132590e-01 1.53534647e-01 4.59308751e-03 4.25280519e+02] [-1.53532511e-01 9.88143260e-01 -8.16117934e-04 -5.52568559e+01] [-4.66393084e-03 1.01244469e-04 9.99989119e-01 -2.86318339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.805769231 meters 0.021506248731487064 Centerline is valid? [True, True] Translation: X:425.34, Y:-55.26, Z:-2.86 [[ 9.87200875e-01 1.59345963e-01 6.58000822e-03 4.25341021e+02] [-1.59341709e-01 9.87222798e-01 -1.16915079e-03 -5.52575427e+01] [-6.68223359e-03 1.05716924e-04 9.99977668e-01 -2.85996014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.865769231 meters 0.015093203301740458 Centerline is valid? [True, True] Translation: X:425.40, Y:-55.26, Z:-2.86 [[ 9.85967297e-01 1.66778780e-01 7.30252651e-03 4.25402535e+02] [-1.66773746e-01 9.85994338e-01 -1.29733952e-03 -5.52557316e+01] [-7.41661849e-03 6.12646446e-05 9.99972495e-01 -2.86000873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.925769231 meters 0.013881242668608703 Centerline is valid? [True, True] Translation: X:425.46, Y:-55.27, Z:-2.87 [[ 9.85578791e-01 1.69176488e-01 3.70986835e-03 4.25460527e+02] [-1.69175205e-01 9.85585773e-01 -6.59196536e-04 -5.52655215e+01] [-3.76791402e-03 2.20723855e-05 9.99992901e-01 -2.86637277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.985769231 meters 0.01452403346857144 Centerline is valid? [True, True] Translation: X:425.52, Y:-55.28, Z:-2.87 [[ 9.85791366e-01 1.67908427e-01 4.70563457e-03 4.25515862e+02] [-1.67906350e-01 9.85802596e-01 -8.35896315e-04 -5.52827330e+01] [-4.77918081e-03 3.39134459e-05 9.99988579e-01 -2.86526100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.045769231 meters 0.014254925453138863 Centerline is valid? [True, True] Translation: X:425.57, Y:-55.30, Z:-2.86 [[ 9.85748914e-01 1.68064807e-01 7.30068313e-03 4.25573448e+02] [-1.68059819e-01 9.85775947e-01 -1.29589694e-03 -5.52955431e+01] [-7.41463250e-03 5.04775154e-05 9.99972510e-01 -2.86156823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.105769231 meters 0.012741861230248532 Centerline is valid? [True, True] Translation: X:425.63, Y:-55.30, Z:-2.87 [[ 9.85160565e-01 1.71590112e-01 3.93623771e-03 4.25631443e+02] [-1.71588690e-01 9.85168429e-01 -6.98659897e-04 -5.53045040e+01] [-3.99774025e-03 1.28783063e-05 9.99992009e-01 -2.86847790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.165769231 meters 0.012799601230120326 Centerline is valid? [True, True] Translation: X:425.69, Y:-55.31, Z:-2.87 [[ 9.84207846e-01 1.77000509e-01 2.39489566e-03 4.25689732e+02] [-1.76999999e-01 9.84210760e-01 -4.25147888e-04 -5.53095764e+01] [-2.43233347e-03 -5.46264168e-06 9.99997042e-01 -2.87129701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.225769231 meters 0.01625439700312648 Centerline is valid? [True, True] Translation: X:425.75, Y:-55.31, Z:-2.87 [[ 9.83179456e-01 1.82635124e-01 1.60290879e-03 4.25748003e+02] [-1.82634903e-01 9.83180762e-01 -2.84588639e-04 -5.53110772e+01] [-1.62792497e-03 -1.29453886e-05 9.99998675e-01 -2.87249037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.285769231 meters 0.02436287564899785 Centerline is valid? [True, True] Translation: X:425.81, Y:-55.30, Z:-2.86 [[ 9.81487387e-01 1.91454463e-01 5.26276857e-03 4.25810565e+02] [-1.91452212e-01 9.81501493e-01 -9.33078848e-04 -5.53006402e+01] [-5.34405732e-03 -9.17635622e-05 9.99985716e-01 -2.86477801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.345769231 meters 0.027879584316970837 Centerline is valid? [True, True] Translation: X:425.87, Y:-55.30, Z:-2.86 [[ 9.80879254e-01 1.94512472e-01 6.38644604e-03 4.25871185e+02] [-1.94509222e-01 9.80900036e-01 -1.13211826e-03 -5.53020335e+01] [-6.48467627e-03 -1.31751337e-04 9.99978966e-01 -2.86287187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.405769231 meters 0.035005167500868885 Centerline is valid? [True, True] Translation: X:425.93, Y:-55.29, Z:-2.87 [[ 9.79804270e-01 1.99867772e-01 6.03876169e-03 4.25933510e+02] [-1.99864968e-01 9.79822866e-01 -1.07033902e-03 -5.52903123e+01] [-6.13084306e-03 -1.58214172e-04 9.99981194e-01 -2.86563452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.465769231 meters 0.028846101102807848 Centerline is valid? [True, True] Translation: X:425.99, Y:-55.29, Z:-2.87 [[ 9.80490988e-01 1.96518542e-01 4.22901320e-03 4.25993253e+02] [-1.96517134e-01 9.80500104e-01 -7.49950083e-04 -5.52925192e+01] [-4.29392698e-03 -9.57542590e-05 9.99990776e-01 -2.86943883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.525769231 meters 0.022829167787320123 Centerline is valid? [True, True] Translation: X:426.05, Y:-55.30, Z:-2.87 [[ 9.81757847e-01 1.90102895e-01 3.52415455e-03 4.26051514e+02] [-1.90101879e-01 9.81764170e-01 -6.24120885e-04 -5.53020612e+01] [-3.57853586e-03 -5.72128255e-05 9.99993595e-01 -2.87087994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.58576923100003 meters 0.012881621898762283 Centerline is valid? [True, True] Translation: X:426.11, Y:-55.32, Z:-2.86 [[ 9.84044512e-01 1.77807837e-01 6.38523504e-03 4.26108817e+02] [-1.77804244e-01 9.84065228e-01 -1.13052187e-03 -5.53181698e+01] [-6.48450342e-03 -2.28380497e-05 9.99978975e-01 -2.86492751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.64576923100003 meters 0.013710157523374815 Centerline is valid? [True, True] Translation: X:426.17, Y:-55.34, Z:-2.86 [[ 9.85602836e-01 1.68913452e-01 7.43604130e-03 4.26165094e+02] [-1.68908328e-01 9.85630886e-01 -1.31635471e-03 -5.53371949e+01] [-7.55154199e-03 4.13936377e-05 9.99971486e-01 -2.86332173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.70576923100003 meters 0.02854902678335825 Centerline is valid? [True, True] Translation: X:426.22, Y:-55.37, Z:-2.87 [[ 9.87908944e-01 1.54889680e-01 6.71608435e-03 4.26219248e+02] [-1.54885177e-01 9.87931763e-01 -1.18861503e-03 -5.53712392e+01] [-6.81913726e-03 1.34021508e-04 9.99976740e-01 -2.86584722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76576923100004 meters 0.0405788311185604 Centerline is valid? [True, True] Translation: X:426.27, Y:-55.41, Z:-2.86 [[ 9.89708705e-01 1.42828301e-01 8.76105677e-03 4.26273867e+02] [-1.42820167e-01 9.89747441e-01 -1.55040743e-03 -5.54062777e+01] [-8.89267557e-03 2.83196146e-04 9.99960419e-01 -2.86291101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82576923100004 meters 0.04912923726044608 Centerline is valid? [True, True] Translation: X:426.33, Y:-55.44, Z:-2.86 [[ 9.90686017e-01 1.35931943e-01 7.98263673e-03 4.26329237e+02] [-1.35924966e-01 9.90718127e-01 -1.41261613e-03 -5.54403949e+01] [-8.10056257e-03 3.14419424e-04 9.99967140e-01 -2.86420540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.885769231 meters 0.05142686328297453 Centerline is valid? [True, True] Translation: X:426.39, Y:-55.47, Z:-2.87 [[ 9.90873438e-01 1.34588887e-01 7.46060431e-03 4.26385037e+02] [-1.34582756e-01 9.90901478e-01 -1.32022458e-03 -5.54651654e+01] [-7.57041140e-03 3.04106783e-04 9.99971298e-01 -2.86528949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.945769231 meters 0.055290779543189165 Centerline is valid? [True, True] Translation: X:426.44, Y:-55.50, Z:-2.87 [[ 9.91151107e-01 1.32623067e-01 5.53216400e-03 4.26439117e+02] [-1.32619666e-01 9.91166518e-01 -9.78774142e-04 -5.54993369e+01] [-5.61310376e-03 2.36439335e-04 9.99984218e-01 -2.87038386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.005769231 meters 0.0575940066719589 Centerline is valid? [True, True] Translation: X:426.49, Y:-55.53, Z:-2.87 [[ 9.91281731e-01 1.31665360e-01 4.97629146e-03 4.26494033e+02] [-1.31662596e-01 9.91294197e-01 -8.80551846e-04 -5.55331965e+01] [-5.04890702e-03 2.17683509e-04 9.99987230e-01 -2.87227375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.065769231 meters 0.05510983496382208 Centerline is valid? [True, True] Translation: X:426.55, Y:-55.55, Z:-2.87 [[ 9.90947295e-01 1.34183798e-01 4.26222104e-03 4.26551726e+02] [-1.34181793e-01 9.90956446e-01 -7.54132922e-04 -5.55531915e+01] [-4.32486783e-03 1.75393517e-04 9.99990632e-01 -2.87222126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.125769231 meters 0.03883113666644605 Centerline is valid? [True, True] Translation: X:426.61, Y:-55.56, Z:-2.87 [[ 9.89729337e-01 1.42899636e-01 3.94135676e-03 4.26612144e+02] [-1.42897990e-01 9.89737176e-01 -6.97362408e-04 -5.55586486e+01] [-4.00056014e-03 1.26988073e-04 9.99991990e-01 -2.87147502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.185769231 meters 0.030627460668859144 Centerline is valid? [True, True] Translation: X:426.67, Y:-55.57, Z:-2.87 [[ 9.88690781e-01 1.49896120e-01 4.65760767e-03 4.26671985e+02] [-1.49893900e-01 9.88701745e-01 -8.24093082e-04 -5.55676630e+01] [-4.72851319e-03 1.16626254e-04 9.99988814e-01 -2.87102880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.245769231 meters 0.020519381649922053 Centerline is valid? [True, True] Translation: X:426.73, Y:-55.57, Z:-2.87 [[ 9.87178043e-01 1.59571828e-01 4.04264766e-03 4.26731741e+02] [-1.59570237e-01 9.87186319e-01 -7.15279184e-04 -5.55742235e+01] [-4.10498487e-03 6.10216607e-05 9.99991573e-01 -2.87271652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.305769231 meters 0.016385505379990346 Centerline is valid? [True, True] Translation: X:426.79, Y:-55.59, Z:-2.87 [[ 9.86341786e-01 1.64681930e-01 3.12152215e-03 4.26789346e+02] [-1.64681006e-01 9.86346725e-01 -5.52473552e-04 -5.55850951e+01] [-3.16988556e-03 3.08723414e-05 9.99994975e-01 -2.87425178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.365769231 meters 0.01237264383152612 Centerline is valid? [True, True] Translation: X:426.85, Y:-55.59, Z:-2.87 [[ 9.85303442e-01 1.70666110e-01 7.08557957e-03 4.26847973e+02] [-1.70661510e-01 9.85328919e-01 -1.25329263e-03 -5.55926363e+01] [-7.19552104e-03 2.56378277e-05 9.99974112e-01 -2.86770222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.425769231 meters 0.011796144062361017 Centerline is valid? [True, True] Translation: X:426.91, Y:-55.60, Z:-2.87 [[ 9.84750724e-01 1.73860676e-01 6.20298083e-03 4.26905189e+02] [-1.73857216e-01 9.84770260e-01 -1.09692003e-03 -5.56008673e+01] [-6.29922231e-03 1.75981495e-06 9.99980160e-01 -2.86987703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.485769231 meters 0.012819231427958674 Centerline is valid? [True, True] Translation: X:426.96, Y:-55.61, Z:-2.87 [[ 9.83994980e-01 1.78129459e-01 4.87604130e-03 4.26963723e+02] [-1.78127375e-01 9.84007061e-01 -8.62029220e-04 -5.56062692e+01] [-4.95161187e-03 -2.03240116e-05 9.99987740e-01 -2.87344553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.545769231 meters 0.014632308915511654 Centerline is valid? [True, True] Translation: X:427.02, Y:-55.61, Z:-2.87 [[ 9.83403999e-01 1.81360553e-01 4.99252120e-03 4.27022402e+02] [-1.81358411e-01 9.83416671e-01 -8.82367376e-04 -5.56136044e+01] [-5.06975521e-03 -3.77121044e-05 9.99987148e-01 -2.87228499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.605769231 meters 0.017534991131310722 Centerline is valid? [True, True] Translation: X:427.08, Y:-55.62, Z:-2.87 [[ 9.82746889e-01 1.84878083e-01 5.35219536e-03 4.27081515e+02] [-1.84875674e-01 9.82761462e-01 -9.45650346e-04 -5.56166841e+01] [-5.43476136e-03 -6.01557909e-05 9.99985230e-01 -2.87118912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.665769231 meters 0.025218942975877144 Centerline is valid? [True, True] Translation: X:427.14, Y:-55.61, Z:-2.87 [[ 9.81302479e-01 1.92411460e-01 4.82450119e-03 4.27144095e+02] [-1.92409595e-01 9.81314334e-01 -8.52116286e-04 -5.56101379e+01] [-4.89830911e-03 -9.20964958e-05 9.99987999e-01 -2.87332247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.725769231 meters 0.03126165855088765 Centerline is valid? [True, True] Translation: X:427.20, Y:-55.61, Z:-2.88 [[ 9.80361622e-01 1.97163363e-01 4.20685967e-03 4.27204683e+02] [-1.97161989e-01 9.80370643e-01 -7.43090242e-04 -5.56077695e+01] [-4.27079189e-03 -1.00935664e-04 9.99990875e-01 -2.87535740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.785769231 meters 0.035315113277344316 Centerline is valid? [True, True] Translation: X:427.27, Y:-55.60, Z:-2.88 [[ 9.79647319e-01 2.00682806e-01 4.18822110e-03 4.27266053e+02] [-2.00681476e-01 9.79656265e-01 -7.39700074e-04 -5.56028912e+01] [-4.25146213e-03 -1.15853199e-04 9.99990956e-01 -2.87595957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.845769231 meters 0.03287548237374184 Centerline is valid? [True, True] Translation: X:427.32, Y:-55.61, Z:-2.88 [[ 9.80203333e-01 1.97954292e-01 3.94013810e-03 4.27324398e+02] [-1.97953093e-01 9.80211247e-01 -6.95870283e-04 -5.56109869e+01] [-3.99991819e-03 -9.78681547e-05 9.99991996e-01 -2.87609898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.905769231 meters 0.02850351579005111 Centerline is valid? [True, True] Translation: X:427.38, Y:-55.62, Z:-2.88 [[ 9.81051744e-01 1.93699394e-01 4.24498808e-03 4.27382646e+02] [-1.93697964e-01 9.81060924e-01 -7.49430143e-04 -5.56214527e+01] [-4.30975609e-03 -8.70157979e-05 9.99990709e-01 -2.87591822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.965769231 meters 0.02381097812334743 Centerline is valid? [True, True] Translation: X:427.44, Y:-55.64, Z:-2.87 [[ 9.81845254e-01 1.89582088e-01 6.20713851e-03 4.27440928e+02] [-1.89578948e-01 9.81864869e-01 -1.09563062e-03 -5.56372897e+01] [-6.30228318e-03 -1.01003069e-04 9.99980135e-01 -2.87269463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.025769231 meters 0.017206819499857567 Centerline is valid? [True, True] Translation: X:427.50, Y:-55.66, Z:-2.87 [[ 9.83048661e-01 1.83171301e-01 7.97526010e-03 4.27497043e+02] [-1.83165911e-01 9.83081008e-01 -1.40739242e-03 -5.56575084e+01] [-8.09812064e-03 -7.72605427e-05 9.99967207e-01 -2.86981801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.08576923100003 meters 0.015223921803547803 Centerline is valid? [True, True] Translation: X:427.55, Y:-55.67, Z:-2.87 [[ 9.83473648e-01 1.80901385e-01 7.36703207e-03 4.27553496e+02] [-1.80896723e-01 9.83501238e-01 -1.29981902e-03 -5.56724089e+01] [-7.48062423e-03 -5.43342115e-05 9.99972018e-01 -2.87090448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.14576923100003 meters 0.015536072586068147 Centerline is valid? [True, True] Translation: X:427.61, Y:-55.68, Z:-2.87 [[ 9.83429907e-01 1.81115240e-01 7.93016783e-03 4.27611902e+02] [-1.81109849e-01 9.83461878e-01 -1.39871801e-03 -5.56813463e+01] [-8.05234690e-03 -6.06903761e-05 9.99967577e-01 -2.86940485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.20576923100003 meters 0.015712493278908408 Centerline is valid? [True, True] Translation: X:427.67, Y:-55.69, Z:-2.87 [[ 9.83406485e-01 1.81216557e-01 8.49966839e-03 4.27669917e+02] [-1.81210371e-01 9.83443214e-01 -1.49876988e-03 -5.56914964e+01] [-8.63054311e-03 -6.63280356e-05 9.99962754e-01 -2.86864574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26576923100004 meters 0.016904114358287873 Centerline is valid? [True, True] Translation: X:427.73, Y:-55.70, Z:-2.87 [[ 9.83226293e-01 1.82179750e-01 8.75183615e-03 4.27726919e+02] [-1.82173233e-01 9.83265240e-01 -1.54282399e-03 -5.57012945e+01] [-8.88644756e-03 -7.74051780e-05 9.99960512e-01 -2.86880798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32576923100004 meters 0.018267938712787996 Centerline is valid? [True, True] Translation: X:427.79, Y:-55.71, Z:-2.87 [[ 9.83025990e-01 1.83312962e-01 7.50075159e-03 4.27785237e+02] [-1.83308211e-01 9.83054603e-01 -1.32192877e-03 -5.57078247e+01] [-7.61597506e-03 -7.54590223e-05 9.99970995e-01 -2.87224755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.385769231 meters 0.025917168589486207 Centerline is valid? [True, True] Translation: X:427.85, Y:-55.71, Z:-2.88 [[ 9.81926993e-01 1.89185641e-01 5.30792655e-03 4.27846068e+02] [-1.89183348e-01 9.81941335e-01 -9.35289126e-04 -5.57054294e+01] [-5.38901576e-03 -8.57856786e-05 9.99985475e-01 -2.87723911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.445769231 meters 0.03736699960643957 Centerline is valid? [True, True] Translation: X:427.91, Y:-55.70, Z:-2.88 [[ 9.80390010e-01 1.97047408e-01 2.78351047e-03 4.27908439e+02] [-1.97046809e-01 9.80393959e-01 -4.90448043e-04 -5.56964022e+01] [-2.82557836e-03 -6.76514956e-05 9.99996006e-01 -2.88239345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.505769231 meters 0.03465160691051899 Centerline is valid? [True, True] Translation: X:427.97, Y:-55.71, Z:-2.88 [[ 9.79906305e-01 1.99446554e-01 2.16916404e-03 4.27966995e+02] [-1.99446196e-01 9.79908704e-01 -3.82240394e-04 -5.57097791e+01] [-2.20181925e-03 -5.80717447e-05 9.99997574e-01 -2.88299791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.565769231 meters 0.029913251014666516 Centerline is valid? [True, True] Translation: X:428.02, Y:-55.73, Z:-2.88 [[ 9.80333910e-01 1.97255678e-01 5.96852637e-03 4.28023899e+02] [-1.97252931e-01 9.80352067e-01 -1.05135025e-03 -5.57255858e+01] [-6.05864197e-03 -1.46635018e-04 9.99981636e-01 -2.87630220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.625769231 meters 0.031102253009836683 Centerline is valid? [True, True] Translation: X:428.08, Y:-55.74, Z:-2.88 [[ 9.81416107e-01 1.91815452e-01 5.40906492e-03 4.28081843e+02] [-1.91813114e-01 9.81431007e-01 -9.52534433e-04 -5.57377894e+01] [-5.49133486e-03 -1.02696954e-04 9.99984917e-01 -2.87792655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.685769231 meters 0.02581224156924123 Centerline is valid? [True, True] Translation: X:428.14, Y:-55.76, Z:-2.88 [[ 9.82190881e-01 1.87802516e-01 5.59364134e-03 4.28137898e+02] [-1.87799952e-01 9.82206805e-01 -9.84923610e-04 -5.57593928e+01] [-5.67908372e-03 -8.31025869e-05 9.99983870e-01 -2.87779552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.745769231 meters 0.017132867923796886 Centerline is valid? [True, True] Translation: X:428.19, Y:-55.79, Z:-2.87 [[ 9.82823917e-01 1.84394490e-01 7.47134989e-03 4.28192893e+02] [-1.84389820e-01 9.82852311e-01 -1.31512701e-03 -5.57883951e+01] [-7.58573568e-03 -8.51025829e-05 9.99971224e-01 -2.87385275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.805769231 meters 0.017078099472176533 Centerline is valid? [True, True] Translation: X:428.25, Y:-55.80, Z:-2.87 [[ 9.82996570e-01 1.83474974e-01 7.39442255e-03 4.28249347e+02] [-1.83470376e-01 9.83024378e-01 -1.30122149e-03 -5.58034596e+01] [-7.50763921e-03 -7.75612274e-05 9.99971814e-01 -2.87391055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.865769231 meters 0.015112035958147321 Centerline is valid? [True, True] Translation: X:428.31, Y:-55.83, Z:-2.87 [[ 9.83354443e-01 1.81524590e-01 7.92856570e-03 4.28305191e+02] [-1.81519245e-01 9.83386403e-01 -1.39471713e-03 -5.58267790e+01] [-8.05001916e-03 -6.76859709e-05 9.99967596e-01 -2.87330981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.925769231 meters 0.014186326501536423 Centerline is valid? [True, True] Translation: X:428.36, Y:-55.85, Z:-2.87 [[ 9.83598769e-01 1.80154783e-01 8.81570585e-03 4.28361541e+02] [-1.80148124e-01 9.83638272e-01 -1.55031184e-03 -5.58460614e+01] [-8.95076176e-03 -6.32480545e-05 9.99959939e-01 -2.87225431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.985769231 meters 0.016292756999181476 Centerline is valid? [True, True] Translation: X:428.42, Y:-55.86, Z:-2.88 [[ 9.83204050e-01 1.82430462e-01 5.37802441e-03 4.28417645e+02] [-1.82428018e-01 9.83218757e-01 -9.45668819e-04 -5.58596176e+01] [-5.46029327e-03 -5.13169218e-05 9.99985091e-01 -2.87895533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.045769231 meters 0.01827247367442991 Centerline is valid? [True, True] Translation: X:428.48, Y:-55.87, Z:-2.88 [[ 9.82866125e-01 1.84274921e-01 4.11498010e-03 4.28475020e+02] [-1.84273507e-01 9.82874738e-01 -7.23354561e-04 -5.58709710e+01] [-4.17780610e-03 -4.73211215e-05 9.99991272e-01 -2.88255064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.105769231 meters 0.01693661880359267 Centerline is valid? [True, True] Translation: X:428.53, Y:-55.89, Z:-2.88 [[ 9.83160627e-01 1.82691125e-01 4.37423863e-03 4.28531297e+02] [-1.82689513e-01 9.83170357e-01 -7.68703381e-04 -5.58904990e+01] [-4.44105704e-03 -4.33686285e-05 9.99990138e-01 -2.88189681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.165769231 meters 0.019339269876161833 Centerline is valid? [True, True] Translation: X:428.59, Y:-55.90, Z:-2.88 [[ 9.82594240e-01 1.85739459e-01 3.06813979e-03 4.28589333e+02] [-1.85738681e-01 9.82599029e-01 -5.39136610e-04 -5.59008842e+01] [-3.11489012e-03 -4.01197100e-05 9.99995148e-01 -2.88275877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.225769231 meters 0.02607204438838305 Centerline is valid? [True, True] Translation: X:428.65, Y:-55.90, Z:-2.88 [[ 9.81390874e-01 1.91998614e-01 2.91294536e-03 4.28648584e+02] [-1.91997941e-01 9.81395195e-01 -5.11738672e-04 -5.58984427e+01] [-2.95700370e-03 -5.70638484e-05 9.99995626e-01 -2.88314997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.285769231 meters 0.03907697100801817 Centerline is valid? [True, True] Translation: X:428.71, Y:-55.88, Z:-2.88 [[ 9.79141449e-01 2.03147256e-01 3.63524418e-03 4.28712410e+02] [-2.03146285e-01 9.79148191e-01 -6.38261475e-04 -5.58807766e+01] [-3.68910382e-03 -1.13538083e-04 9.99993189e-01 -2.88148929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.345769231 meters 0.0434099314178162 Centerline is valid? [True, True] Translation: X:428.78, Y:-55.87, Z:-2.88 [[ 9.77476488e-01 2.10984386e-01 5.03038729e-03 4.28775253e+02] [-2.10982630e-01 9.77489412e-01 -8.83111108e-04 -5.58731457e+01] [-5.10347297e-03 -1.98103998e-04 9.99986958e-01 -2.87845637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.405769231 meters 0.047599215096745265 Centerline is valid? [True, True] Translation: X:428.84, Y:-55.86, Z:-2.88 [[ 9.77108001e-01 2.12703218e-01 4.15872363e-03 4.28837439e+02] [-2.12702033e-01 9.77116836e-01 -7.30192973e-04 -5.58598611e+01] [-4.21887327e-03 -1.71091575e-04 9.99991086e-01 -2.88147729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.465769231 meters 0.045543205727858915 Centerline is valid? [True, True] Translation: X:428.90, Y:-55.86, Z:-2.88 [[ 9.77442090e-01 2.11151668e-01 4.68331518e-03 4.28896828e+02] [-2.11150149e-01 9.77453292e-01 -8.22125263e-04 -5.58622964e+01] [-4.75131496e-03 -1.85302862e-04 9.99988695e-01 -2.88087623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.525769231 meters 0.03747840209372972 Centerline is valid? [True, True] Translation: X:428.96, Y:-55.87, Z:-2.88 [[ 9.79094063e-01 2.03355346e-01 4.62817834e-03 4.28956138e+02] [-2.03353776e-01 9.79104990e-01 -8.12167786e-04 -5.58691691e+01] [-4.69663117e-03 -1.45968885e-04 9.99988960e-01 -2.88154308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.58576923100003 meters 0.029540189252563194 Centerline is valid? [True, True] Translation: X:429.01, Y:-55.88, Z:-2.88 [[ 9.80799264e-01 1.94961732e-01 4.76716330e-03 4.29013542e+02] [-1.94959968e-01 9.80810844e-01 -8.36469143e-04 -5.58842534e+01] [-4.83876493e-03 -1.08997685e-04 9.99988287e-01 -2.88204179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.64576923100003 meters 0.014974041620775848 Centerline is valid? [True, True] Translation: X:429.07, Y:-55.92, Z:-2.88 [[ 9.83615745e-01 1.80185079e-01 5.77959832e-03 4.29067595e+02] [-1.80182232e-01 9.83632724e-01 -1.01390039e-03 -5.59180596e+01] [-5.86769176e-03 -4.40925349e-05 9.99982784e-01 -2.88202867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.70576923100003 meters 0.012719389398397195 Centerline is valid? [True, True] Translation: X:429.12, Y:-55.95, Z:-2.89 [[ 9.85689760e-01 1.68518298e-01 4.15705375e-03 4.29121256e+02] [-1.68516721e-01 9.85698525e-01 -7.29244652e-04 -5.59532263e+01] [-4.22049282e-03 1.82759165e-05 9.99991094e-01 -2.88543039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76576923100004 meters 0.018651722609917903 Centerline is valid? [True, True] Translation: X:429.18, Y:-55.98, Z:-2.89 [[ 9.86861368e-01 1.61552319e-01 2.34283214e-03 4.29175582e+02] [-1.61551798e-01 9.86864149e-01 -4.10963703e-04 -5.59837620e+01] [-2.37844919e-03 2.70754560e-05 9.99997171e-01 -2.88802849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82576923100004 meters 0.02032695102882902 Centerline is valid? [True, True] Translation: X:429.23, Y:-56.00, Z:-2.89 [[ 9.87095537e-01 1.60128414e-01 1.13642760e-03 4.29232205e+02] [-1.60128291e-01 9.87096191e-01 -1.99492457e-04 -5.60020908e+01] [-1.15370777e-03 1.49439053e-05 9.99999334e-01 -2.88976928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.885769231 meters 0.020336452884024712 Centerline is valid? [True, True] Translation: X:429.29, Y:-56.02, Z:-2.88 [[ 9.87116870e-01 1.59949732e-01 4.04582730e-03 4.29288966e+02] [-1.59948168e-01 9.87125160e-01 -7.09223876e-04 -5.60213537e+01] [-4.10717809e-03 5.29641871e-05 9.99991564e-01 -2.88482412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.945769231 meters 0.018648017712279783 Centerline is valid? [True, True] Translation: X:429.35, Y:-56.03, Z:-2.88 [[ 9.87126658e-01 1.59899736e-01 3.61057565e-03 4.29347289e+02] [-1.59898491e-01 9.87133260e-01 -6.32727151e-04 -5.60344930e+01] [-3.66529221e-03 4.72562405e-05 9.99993282e-01 -2.88429953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.005769231 meters 0.01974489236435207 Centerline is valid? [True, True] Translation: X:429.40, Y:-56.05, Z:-2.89 [[ 9.86966730e-01 1.60890936e-01 3.28344673e-03 4.29404421e+02] [-1.60889912e-01 9.86972191e-01 -5.75378702e-04 -5.60483656e+01] [-3.33324383e-03 3.96061796e-05 9.99994444e-01 -2.88570141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.065769231 meters 0.015157589075555927 Centerline is valid? [True, True] Translation: X:429.46, Y:-56.05, Z:-2.88 [[ 9.86433314e-01 1.64041003e-01 6.31393674e-03 4.29463618e+02] [-1.64037284e-01 9.86453520e-01 -1.10598506e-03 -5.60538240e+01] [-6.40983202e-03 5.52594738e-05 9.99979455e-01 -2.87917572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.125769231 meters 0.014573700755748029 Centerline is valid? [True, True] Translation: X:429.52, Y:-56.06, Z:-2.88 [[ 9.86304609e-01 1.64801934e-01 6.59853180e-03 4.29522998e+02] [-1.64797892e-01 9.86326680e-01 -1.15536703e-03 -5.60634055e+01] [-6.69871469e-03 5.21196933e-05 9.99977562e-01 -2.87934641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.185769231 meters 0.013723599064653952 Centerline is valid? [True, True] Translation: X:429.58, Y:-56.07, Z:-2.88 [[ 9.86065746e-01 1.66252741e-01 5.86266070e-03 4.29580548e+02] [-1.66249576e-01 9.86083173e-01 -1.02643538e-03 -5.60713210e+01] [-5.95171876e-03 3.74679145e-05 9.99982288e-01 -2.88238502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.245769231 meters 0.015063096499600855 Centerline is valid? [True, True] Translation: X:429.64, Y:-56.08, Z:-2.88 [[ 9.86387124e-01 1.64342547e-01 5.65410387e-03 4.29638495e+02] [-1.64339574e-01 9.86403328e-01 -9.89586556e-04 -5.60832629e+01] [-5.73985805e-03 4.69224158e-05 9.99983526e-01 -2.88320666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.305769231 meters 0.014919052413148852 Centerline is valid? [True, True] Translation: X:429.70, Y:-56.09, Z:-2.88 [[ 9.86438216e-01 1.64029959e-01 5.81530721e-03 4.29697926e+02] [-1.64026810e-01 9.86455356e-01 -1.01749012e-03 -5.60920315e+01] [-5.90343981e-03 4.98248468e-05 9.99982573e-01 -2.88203067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.365769231 meters 0.013040803590701994 Centerline is valid? [True, True] Translation: X:429.76, Y:-56.09, Z:-2.88 [[ 9.86004920e-01 1.66607980e-01 6.00655003e-03 4.29757287e+02] [-1.66604670e-01 9.86023215e-01 -1.05082284e-03 -5.60945159e+01] [-6.09767324e-03 3.53972045e-05 9.99981408e-01 -2.88148470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.425769231 meters 0.0121093929697515 Centerline is valid? [True, True] Translation: X:429.82, Y:-56.10, Z:-2.89 [[ 9.85644384e-01 1.68794216e-01 3.69597365e-03 4.29815791e+02] [-1.68792979e-01 9.85651314e-01 -6.46546512e-04 -5.60986363e+01] [-3.75207460e-03 1.34105369e-05 9.99992961e-01 -2.88657367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.485769231 meters 0.011794343228152714 Centerline is valid? [True, True] Translation: X:429.87, Y:-56.11, Z:-2.88 [[ 9.85488038e-01 1.69680877e-01 4.66117242e-03 4.29872670e+02] [-1.69678920e-01 9.85499061e-01 -8.15102182e-04 -5.61073788e+01] [-4.73188829e-03 1.23707493e-05 9.99988804e-01 -2.88409234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.545769231 meters 0.012310374365315806 Centerline is valid? [True, True] Translation: X:429.93, Y:-56.12, Z:-2.88 [[ 9.85827124e-01 1.67666714e-01 5.72321692e-03 4.29929465e+02] [-1.67663732e-01 9.85843736e-01 -1.00036523e-03 -5.61216852e+01] [-5.80992550e-03 2.66112740e-05 9.99983122e-01 -2.88263798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.605769231 meters 0.011510588698529937 Centerline is valid? [True, True] Translation: X:429.99, Y:-56.13, Z:-2.88 [[ 9.85577103e-01 1.69143205e-01 5.32456919e-03 4.29988180e+02] [-1.69140647e-01 9.85591485e-01 -9.30432753e-04 -5.61303264e+01] [-5.40522643e-03 1.64121399e-05 9.99985392e-01 -2.88348270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.665769231 meters 0.011784782310363433 Centerline is valid? [True, True] Translation: X:430.05, Y:-56.13, Z:-2.89 [[ 9.84598681e-01 1.74802565e-01 3.08236186e-03 4.30046552e+02] [-1.74801735e-01 9.84603506e-01 -5.38712437e-04 -5.61320908e+01] [-3.12907261e-03 -8.38664655e-06 9.99995104e-01 -2.88670968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.725769231 meters 0.01436039478452091 Centerline is valid? [True, True] Translation: X:430.11, Y:-56.13, Z:-2.88 [[ 9.83524401e-01 1.80628939e-01 7.27597479e-03 4.30105573e+02] [-1.80624481e-01 9.83551311e-01 -1.27057106e-03 -5.61336676e+01] [-7.38579645e-03 -6.45815306e-05 9.99972723e-01 -2.87977495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.785769231 meters 0.01738833466642515 Centerline is valid? [True, True] Translation: X:430.16, Y:-56.13, Z:-2.88 [[ 9.82929223e-01 1.83780135e-01 8.66052684e-03 4.30163914e+02] [-1.83773948e-01 9.82967370e-01 -1.51170847e-03 -5.61348616e+01] [-8.79083728e-03 -1.05676779e-04 9.99961354e-01 -2.87810248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.845769231 meters 0.019196768486022833 Centerline is valid? [True, True] Translation: X:430.22, Y:-56.14, Z:-2.89 [[ 9.82487126e-01 1.86259847e-01 5.13000828e-03 4.30223537e+02] [-1.86257711e-01 9.82500516e-01 -8.95281270e-04 -5.61367863e+01] [-5.20699073e-03 -7.59012768e-05 9.99986441e-01 -2.88529571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.905769231 meters 0.0190195884404132 Centerline is valid? [True, True] Translation: X:430.28, Y:-56.14, Z:-2.89 [[ 9.82750806e-01 1.84860857e-01 5.22648867e-03 4.30281160e+02] [-1.84858621e-01 9.82764702e-01 -9.11901581e-04 -5.61436517e+01] [-5.30498349e-03 -6.99894729e-05 9.99985926e-01 -2.88619566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.965769231 meters 0.016619355125417273 Centerline is valid? [True, True] Translation: X:430.34, Y:-56.16, Z:-2.89 [[ 9.83006028e-01 1.83516076e-01 4.58236646e-03 4.30338618e+02] [-1.83514344e-01 9.83016707e-01 -7.99137808e-04 -5.61559265e+01] [-4.65119742e-03 -5.53726932e-05 9.99989182e-01 -2.88705856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.025769231 meters 0.016089781712060967 Centerline is valid? [True, True] Translation: X:430.40, Y:-56.16, Z:-2.89 [[ 9.83184276e-01 1.82550078e-01 4.91415828e-03 4.30395793e+02] [-1.82548076e-01 9.83196555e-01 -8.56745251e-04 -5.61628704e+01] [-4.98798240e-03 -5.47316795e-05 9.99987558e-01 -2.88839112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.08576923100003 meters 0.017705028694737966 Centerline is valid? [True, True] Translation: X:430.45, Y:-56.17, Z:-2.89 [[ 9.83030484e-01 1.83393265e-01 4.24001016e-03 4.30453986e+02] [-1.83391783e-01 9.83039627e-01 -7.39000404e-04 -5.61656202e+01] [-4.30362570e-03 -5.11230988e-05 9.99990738e-01 -2.88899596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.14576923100003 meters 0.01739082073262174 Centerline is valid? [True, True] Translation: X:430.51, Y:-56.17, Z:-2.89 [[ 9.83010834e-01 1.83528785e-01 2.62396425e-03 4.30512206e+02] [-1.83528218e-01 9.83014336e-01 -4.57281226e-04 -5.61719877e+01] [-2.66331874e-03 -3.20590826e-05 9.99996453e-01 -2.89203078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.20576923100003 meters 0.016833982708077854 Centerline is valid? [True, True] Translation: X:430.57, Y:-56.18, Z:-2.89 [[ 9.83186733e-01 1.82569320e-01 3.50598808e-03 4.30569714e+02] [-1.82568303e-01 9.83192983e-01 -6.10740894e-04 -5.61770415e+01] [-3.55856543e-03 -3.96099501e-05 9.99993668e-01 -2.89157783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26576923100004 meters 0.0130379854705905 Centerline is valid? [True, True] Translation: X:430.63, Y:-56.19, Z:-2.89 [[ 9.84121110e-01 1.77447129e-01 4.26102771e-03 4.30626754e+02] [-1.77445580e-01 9.84130335e-01 -7.41877258e-04 -5.61916405e+01] [-4.32505062e-03 -2.60034629e-05 9.99990647e-01 -2.89134668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32576923100004 meters 0.010964053312456186 Centerline is valid? [True, True] Translation: X:430.68, Y:-56.21, Z:-2.89 [[ 9.85288334e-01 1.70787667e-01 6.20259726e-03 4.30681369e+02] [-1.70784255e-01 9.85307857e-01 -1.07946677e-03 -5.62142718e+01] [-6.29582742e-03 4.28006414e-06 9.99980181e-01 -2.88988818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.385769231 meters 0.017358525996059873 Centerline is valid? [True, True] Translation: X:430.73, Y:-56.25, Z:-2.89 [[ 9.87068314e-01 1.60248136e-01 4.08395966e-03 4.30734758e+02] [-1.60246567e-01 9.87076761e-01 -7.10540430e-04 -5.62544363e+01] [-4.14504445e-03 4.69114279e-05 9.99991408e-01 -2.89355736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.445769231 meters 0.017954290402326874 Centerline is valid? [True, True] Translation: X:430.79, Y:-56.27, Z:-2.90 [[ 9.87131786e-01 1.59891012e-01 2.38790298e-03 4.30791214e+02] [-1.59890475e-01 9.87134673e-01 -4.15572789e-04 -5.62725525e+01] [-2.42362818e-03 2.84221684e-05 9.99997063e-01 -2.89716427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.505769231 meters 0.01100168619227962 Centerline is valid? [True, True] Translation: X:430.85, Y:-56.27, Z:-2.89 [[ 9.85286210e-01 1.70853762e-01 4.48061966e-03 4.30850754e+02] [-1.70851985e-01 9.85296398e-01 -7.79273347e-04 -5.62743832e+01] [-4.54788020e-03 2.28451985e-06 9.99989658e-01 -2.89202913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.565769231 meters 0.020686227043508882 Centerline is valid? [True, True] Translation: X:430.91, Y:-56.26, Z:-2.89 [[ 9.82194258e-01 1.87839730e-01 3.26720522e-03 4.30914133e+02] [-1.87838879e-01 9.82199691e-01 -5.68047424e-04 -5.62606188e+01] [-3.31574983e-03 -5.57752460e-05 9.99994501e-01 -2.89470657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.625769231 meters 0.03424204687084147 Centerline is valid? [True, True] Translation: X:430.98, Y:-56.25, Z:-2.90 [[ 9.79701262e-01 2.00436737e-01 3.24850001e-03 4.30976254e+02] [-2.00435965e-01 9.79706642e-01 -5.64795574e-04 -5.62471149e+01] [-3.29578281e-03 -9.77852958e-05 9.99994564e-01 -2.89611084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.685769231 meters 0.03964598215436481 Centerline is valid? [True, True] Translation: X:431.04, Y:-56.24, Z:-2.89 [[ 9.78822077e-01 2.04645309e-01 5.25718181e-03 4.31036825e+02] [-2.04643350e-01 9.78836179e-01 -9.13802246e-04 -5.62441683e+01] [-5.33292510e-03 -1.81397483e-04 9.99985763e-01 -2.89235995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.745769231 meters 0.04425805612641387 Centerline is valid? [True, True] Translation: X:431.10, Y:-56.24, Z:-2.90 [[ 9.78024491e-01 2.08459515e-01 3.56720980e-03 4.31099146e+02] [-2.08458638e-01 9.78030987e-01 -6.19992192e-04 -5.62364363e+01] [-3.61808500e-03 -1.37248150e-04 9.99993445e-01 -2.89694239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.805769231 meters 0.046558233184506116 Centerline is valid? [True, True] Translation: X:431.16, Y:-56.23, Z:-2.90 [[ 9.77238387e-01 2.12115247e-01 3.50113208e-03 4.31161833e+02] [-2.12114426e-01 9.77244647e-01 -6.08397109e-04 -5.62289972e+01] [-3.55051288e-03 -1.48091612e-04 9.99993686e-01 -2.89652226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.865769231 meters 0.05006190661629794 Centerline is valid? [True, True] Translation: X:431.22, Y:-56.22, Z:-2.90 [[ 9.77021376e-01 2.13112879e-01 3.48301256e-03 4.31220723e+02] [-2.13112072e-01 9.77027573e-01 -6.05498153e-04 -5.62242797e+01] [-3.53203876e-03 -1.50687385e-04 9.99993751e-01 -2.89719711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.925769231 meters 0.04757181714232509 Centerline is valid? [True, True] Translation: X:431.28, Y:-56.22, Z:-2.90 [[ 9.77423067e-01 2.11268356e-01 3.13527572e-03 4.31281448e+02] [-2.11267692e-01 9.77428087e-01 -5.45188322e-04 -5.62219728e+01] [-3.17968759e-03 -1.29502823e-04 9.99994936e-01 -2.89853508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.985769231 meters 0.04662225565427969 Centerline is valid? [True, True] Translation: X:431.34, Y:-56.23, Z:-2.90 [[ 9.77736449e-01 2.09805386e-01 3.62444615e-03 4.31339808e+02] [-2.09804493e-01 9.77743156e-01 -6.29151309e-04 -5.62280392e+01] [-3.67577675e-03 -1.45280919e-04 9.99993234e-01 -2.89852791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.045769231 meters 0.04416640968686198 Centerline is valid? [True, True] Translation: X:431.40, Y:-56.23, Z:-2.90 [[ 9.79086840e-01 2.03406644e-01 3.83377189e-03 4.31398918e+02] [-2.03405596e-01 9.79094337e-01 -6.65229720e-04 -5.62295328e+01] [-3.88893650e-03 -1.28492994e-04 9.99992430e-01 -2.89948144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.105769231 meters 0.032685109467598734 Centerline is valid? [True, True] Translation: X:431.46, Y:-56.25, Z:-2.90 [[ 9.80573167e-01 1.96114130e-01 3.93845293e-03 4.31456764e+02] [-1.96112967e-01 9.80581071e-01 -6.83218918e-04 -5.62476440e+01] [-3.99596127e-03 -1.02435549e-04 9.99992011e-01 -2.89962480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.165769231 meters 0.026362697567295097 Centerline is valid? [True, True] Translation: X:431.51, Y:-56.26, Z:-2.90 [[ 9.81429959e-01 1.91715893e-01 6.34450136e-03 4.31514990e+02] [-1.91712783e-01 9.81450456e-01 -1.10046454e-03 -5.62633006e+01] [-6.43779029e-03 -1.36293145e-04 9.99979268e-01 -2.89610530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.225769231 meters 0.024598008337493867 Centerline is valid? [True, True] Translation: X:431.57, Y:-56.27, Z:-2.90 [[ 9.81867598e-01 1.89443562e-01 6.86715972e-03 4.31572844e+02] [-1.89439863e-01 9.81891603e-01 -1.19103766e-03 -5.62716517e+01] [-6.96844088e-03 -1.31472506e-04 9.99975711e-01 -2.89655831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.285769231 meters 0.02900360986174097 Centerline is valid? [True, True] Translation: X:431.63, Y:-56.27, Z:-2.90 [[ 9.81099239e-01 1.93474623e-01 3.44295988e-03 4.31632676e+02] [-1.93473720e-01 9.81105277e-01 -5.96678835e-04 -5.62729102e+01] [-3.49334832e-03 -8.07211041e-05 9.99993895e-01 -2.90301535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.345769231 meters 0.031173313053493613 Centerline is valid? [True, True] Translation: X:431.69, Y:-56.28, Z:-2.90 [[ 9.80777757e-01 1.95104224e-01 3.05488812e-03 4.31691312e+02] [-1.95103520e-01 9.80782512e-01 -5.29859312e-04 -5.62785234e+01] [-3.09955864e-03 -7.63451980e-05 9.99995193e-01 -2.90445856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.405769231 meters 0.028632285874828946 Centerline is valid? [True, True] Translation: X:431.75, Y:-56.29, Z:-2.91 [[ 9.81521758e-01 1.91340363e-01 1.97559252e-03 4.31749073e+02] [-1.91340062e-01 9.81523746e-01 -3.42014165e-04 -5.62912284e+01] [-2.00453209e-03 -4.23156526e-05 9.99997990e-01 -2.90819891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.465769231 meters 0.02532939856743466 Centerline is valid? [True, True] Translation: X:431.81, Y:-56.30, Z:-2.90 [[ 9.81909744e-01 1.89291548e-01 4.68660098e-03 4.31806269e+02] [-1.89289832e-01 9.81920924e-01 -8.11055067e-04 -5.63043134e+01] [-4.75539743e-03 -9.07430404e-05 9.99988689e-01 -2.90216923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.525769231 meters 0.029494491237559806 Centerline is valid? [True, True] Translation: X:431.87, Y:-56.30, Z:-2.90 [[ 9.81005853e-01 1.93909251e-01 5.16900469e-03 4.31866501e+02] [-1.93907229e-01 9.81019463e-01 -8.94263886e-04 -5.63023265e+01] [-5.24430024e-03 -1.25029271e-04 9.99986241e-01 -2.90136071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.58576923100003 meters 0.03054453780114492 Centerline is valid? [True, True] Translation: X:431.92, Y:-56.30, Z:-2.90 [[ 9.80959171e-01 1.94159362e-01 4.60943100e-03 4.31924936e+02] [-1.94157758e-01 9.80969994e-01 -7.97265866e-04 -5.63049344e+01] [-4.67651014e-03 -1.12871527e-04 9.99989059e-01 -2.90404491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.64576923100003 meters 0.025384726409143292 Centerline is valid? [True, True] Translation: X:431.98, Y:-56.32, Z:-2.90 [[ 9.81909148e-01 1.89204940e-01 7.47771617e-03 4.31982862e+02] [-1.89200580e-01 9.81937610e-01 -1.29268311e-03 -5.63192656e+01] [-7.58723277e-03 -1.45490867e-04 9.99971206e-01 -2.89886557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.70576923100003 meters 0.016843719295651 Centerline is valid? [True, True] Translation: X:432.04, Y:-56.34, Z:-2.91 [[ 9.83488097e-01 1.80947804e-01 3.00904590e-03 4.32039079e+02] [-1.80947060e-01 9.83492700e-01 -5.20207273e-04 -5.63444805e+01] [-3.05350504e-03 -3.28603463e-05 9.99995338e-01 -2.90747138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76576923100004 meters 0.013454917385790733 Centerline is valid? [True, True] Translation: X:432.10, Y:-56.36, Z:-2.90 [[ 9.84268196e-01 1.76586284e-01 5.77948056e-03 4.32095086e+02] [-1.76583462e-01 9.84285163e-01 -9.98905327e-04 -5.63606990e+01] [-5.86504995e-03 -3.73699437e-05 9.99982800e-01 -2.90185619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82576923100004 meters 0.01554588362144736 Centerline is valid? [True, True] Translation: X:432.15, Y:-56.37, Z:-2.90 [[ 9.83789967e-01 1.79212175e-01 6.34807529e-03 4.32153288e+02] [-1.79208828e-01 9.83810446e-01 -1.09681646e-03 -5.63713707e+01] [-6.44186564e-03 -5.85941003e-05 9.99979249e-01 -2.90087258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.885769231 meters 0.016795250896539663 Centerline is valid? [True, True] Translation: X:432.21, Y:-56.38, Z:-2.91 [[ 9.83686333e-01 1.79866008e-01 3.06885536e-03 4.32209733e+02] [-1.79865230e-01 9.83691119e-01 -5.29899946e-04 -5.63831851e+01] [-3.11411676e-03 -3.07250407e-05 9.99995151e-01 -2.90785498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.945769231 meters 0.012769861538162746 Centerline is valid? [True, True] Translation: X:432.27, Y:-56.41, Z:-2.90 [[ 9.84512541e-01 1.75133565e-01 7.95561087e-03 4.32265168e+02] [-1.75128193e-01 9.84544683e-01 -1.37245472e-03 -5.64066453e+01] [-8.07301727e-03 -4.20528710e-05 9.99967412e-01 -2.89938672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.005769231 meters 0.011370703637119698 Centerline is valid? [True, True] Translation: X:432.32, Y:-56.42, Z:-2.90 [[ 9.85072260e-01 1.71986845e-01 7.29167812e-03 4.32320769e+02] [-1.71982254e-01 9.85099246e-01 -1.25682963e-03 -5.64248961e+01] [-7.39918478e-03 -1.59712372e-05 9.99972626e-01 -2.90170140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.065769231 meters 0.011102794663788664 Centerline is valid? [True, True] Translation: X:432.38, Y:-56.44, Z:-2.91 [[ 9.85584399e-01 1.69118434e-01 4.72730325e-03 4.32376179e+02] [-1.69116473e-01 9.85595736e-01 -8.14589424e-04 -5.64444886e+01] [-4.79697202e-03 3.38177750e-06 9.99988494e-01 -2.90593544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.125769231 meters 0.011129082209915571 Centerline is valid? [True, True] Translation: X:432.43, Y:-56.45, Z:-2.90 [[ 9.85277525e-01 1.70849228e-01 6.22418888e-03 4.32433764e+02] [-1.70845866e-01 9.85297184e-01 -1.07191373e-03 -5.64535270e+01] [-6.31581141e-03 -7.24443228e-06 9.99980055e-01 -2.90316371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.185769231 meters 0.011697945671951995 Centerline is valid? [True, True] Translation: X:432.49, Y:-56.46, Z:-2.90 [[ 9.84954861e-01 1.72707388e-01 6.00662986e-03 4.32491800e+02] [-1.72704294e-01 9.84973176e-01 -1.03400369e-03 -5.64620746e+01] [-6.09494936e-03 -1.89238038e-05 9.99981425e-01 -2.90390216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.245769231 meters 0.011311333798217072 Centerline is valid? [True, True] Translation: X:432.55, Y:-56.47, Z:-2.91 [[ 9.85182190e-01 1.71412109e-01 5.82583168e-03 4.32549465e+02] [-1.71409178e-01 9.85199416e-01 -1.00260714e-03 -5.64749229e+01] [-5.91146497e-03 -1.08503221e-05 9.99982527e-01 -2.90512743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.305769231 meters 0.01121542574703675 Centerline is valid? [True, True] Translation: X:432.61, Y:-56.49, Z:-2.91 [[ 9.85330519e-01 1.70582736e-01 5.02972858e-03 4.32606056e+02] [-1.70580541e-01 9.85343356e-01 -8.65451980e-04 -5.64874057e+01] [-5.10364081e-03 -5.21757105e-06 9.99986976e-01 -2.90741550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.365769231 meters 0.011350408194293275 Centerline is valid? [True, True] Translation: X:432.66, Y:-56.50, Z:-2.91 [[ 9.85728766e-01 1.68312808e-01 3.09817771e-03 4.32662725e+02] [-1.68311964e-01 9.85733635e-01 -5.33012542e-04 -5.64997360e+01] [-3.14369081e-03 3.94541891e-06 9.99995059e-01 -2.91024756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.425769231 meters 0.011376037525827436 Centerline is valid? [True, True] Translation: X:432.72, Y:-56.51, Z:-2.91 [[ 9.85875352e-01 1.67426553e-01 4.25913063e-03 4.32721178e+02] [-1.67424951e-01 9.85884552e-01 -7.32294098e-04 -5.65080777e+01] [-4.32161656e-03 8.86596363e-06 9.99990662e-01 -2.90856012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.485769231 meters 0.0110691584300619 Centerline is valid? [True, True] Translation: X:432.78, Y:-56.51, Z:-2.91 [[ 9.85565058e-01 1.69229761e-01 4.77548716e-03 4.32779851e+02] [-1.69227771e-01 9.85576627e-01 -8.20822265e-04 -5.65098917e+01] [-4.84551608e-03 8.28696752e-07 9.99988260e-01 -2.90748061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.545769231 meters 0.011026279179783745 Centerline is valid? [True, True] Translation: X:432.84, Y:-56.51, Z:-2.91 [[ 9.85456283e-01 1.69793844e-01 6.77974241e-03 4.32836859e+02] [-1.69789849e-01 9.85479604e-01 -1.16474237e-03 -5.65124490e+01] [-6.87906395e-03 -3.32875242e-06 9.99976339e-01 -2.90502301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.605769231 meters 0.011034053597518289 Centerline is valid? [True, True] Translation: X:432.89, Y:-56.52, Z:-2.91 [[ 9.85682055e-01 1.68512691e-01 5.86176468e-03 4.32892716e+02] [-1.68509686e-01 9.85699484e-01 -1.00634258e-03 -5.65214090e+01] [-5.94751992e-03 4.16969354e-06 9.99982313e-01 -2.90710757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.665769231 meters 0.011213680093115106 Centerline is valid? [True, True] Translation: X:432.95, Y:-56.53, Z:-2.91 [[ 9.85892322e-01 1.67300516e-01 5.18327867e-03 4.32951232e+02] [-1.67298152e-01 9.85905948e-01 -8.89453064e-04 -5.65267616e+01] [-5.25903123e-03 9.75200590e-06 9.99986171e-01 -2.90843113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.725769231 meters 0.01105335358670097 Centerline is valid? [True, True] Translation: X:433.01, Y:-56.53, Z:-2.90 [[ 9.85748523e-01 1.68089350e-01 6.76898805e-03 4.33010202e+02] [-1.68085340e-01 9.85771764e-01 -1.16113203e-03 -5.65306223e+01] [-6.86785121e-03 6.81652659e-06 9.99976416e-01 -2.90474844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.785769231 meters 0.012207851374884376 Centerline is valid? [True, True] Translation: X:433.07, Y:-56.55, Z:-2.91 [[ 9.86295104e-01 1.64902167e-01 5.40767225e-03 4.33065984e+02] [-1.64899560e-01 9.86309928e-01 -9.27485480e-04 -5.65455576e+01] [-5.48658520e-03 2.30516126e-05 9.99984948e-01 -2.90853765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.845769231 meters 0.015040622734754443 Centerline is valid? [True, True] Translation: X:433.12, Y:-56.57, Z:-2.91 [[ 9.87056299e-01 1.60300537e-01 4.85800008e-03 4.33122062e+02] [-1.60298380e-01 9.87068253e-01 -8.32755025e-04 -5.65658879e+01] [-4.92866873e-03 4.32465489e-05 9.99987853e-01 -2.91098407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.905769231 meters 0.021346647557827718 Centerline is valid? [True, True] Translation: X:433.18, Y:-56.59, Z:-2.91 [[ 9.88128050e-01 1.53604740e-01 2.92261794e-03 4.33178110e+02] [-1.53603930e-01 9.88132371e-01 -5.00889123e-04 -5.65925774e+01] [-2.96487233e-03 4.60169909e-05 9.99995604e-01 -2.91362444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.965769231 meters 0.02220310613803424 Centerline is valid? [True, True] Translation: X:433.24, Y:-56.61, Z:-2.91 [[ 9.88273397e-01 1.52674339e-01 2.49790963e-03 4.33235333e+02] [-1.52673744e-01 9.88276553e-01 -4.28169554e-04 -5.66077977e+01] [-2.53399602e-03 4.17833648e-05 9.99996789e-01 -2.91429254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.025769231 meters 0.021454949523022557 Centerline is valid? [True, True] Translation: X:433.29, Y:-56.62, Z:-2.91 [[ 9.88106645e-01 1.53745843e-01 2.73383448e-03 4.33292700e+02] [-1.53745136e-01 9.88110426e-01 -4.68448336e-04 -5.66221381e+01] [-2.77335234e-03 4.25631606e-05 9.99996153e-01 -2.91462348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.08576923100003 meters 0.02103523587381332 Centerline is valid? [True, True] Translation: X:433.35, Y:-56.64, Z:-2.91 [[ 9.88003063e-01 1.54384703e-01 3.91284679e-03 4.33348017e+02] [-1.54383260e-01 9.88010810e-01 -6.70187200e-04 -5.66395690e+01] [-3.96940157e-03 5.80689653e-05 9.99992120e-01 -2.91261795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.14576923100003 meters 0.023792934442079902 Centerline is valid? [True, True] Translation: X:433.40, Y:-56.66, Z:-2.91 [[ 9.88357709e-01 1.52101764e-01 3.75407376e-03 4.33403444e+02] [-1.52100419e-01 9.88364836e-01 -6.42789873e-04 -5.66611685e+01] [-3.80816397e-03 6.43101337e-05 9.99992747e-01 -2.91352607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.20576923100003 meters 0.023500766260982874 Centerline is valid? [True, True] Translation: X:433.46, Y:-56.68, Z:-2.91 [[ 9.88332269e-01 1.52266399e-01 3.77743495e-03 4.33460551e+02] [-1.52265040e-01 9.88339486e-01 -6.46536942e-04 -5.66751748e+01] [-3.83183397e-03 6.38220410e-05 9.99992656e-01 -2.91333005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26576923100004 meters 0.020521905589021557 Centerline is valid? [True, True] Translation: X:433.52, Y:-56.69, Z:-2.91 [[ 9.87885227e-01 1.55045437e-01 6.60988254e-03 4.33517330e+02] [-1.55041341e-01 9.87907336e-01 -1.13079315e-03 -5.66921293e+01] [-6.70527577e-03 9.22887987e-05 9.99977515e-01 -2.90924366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32576923100004 meters 0.020461842553187292 Centerline is valid? [True, True] Translation: X:433.57, Y:-56.71, Z:-2.91 [[ 9.87848697e-01 1.55309844e-01 5.81407022e-03 4.33573470e+02] [-1.55306681e-01 9.87865804e-01 -9.94434481e-04 -5.67076655e+01] [-5.89796661e-03 7.93868580e-05 9.99982604e-01 -2.91166612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.385769231 meters 0.018342414982855975 Centerline is valid? [True, True] Translation: X:433.63, Y:-56.73, Z:-2.91 [[ 9.87517498e-01 1.57414747e-01 5.45798189e-03 4.33629924e+02] [-1.57411993e-01 9.87532579e-01 -9.33230185e-04 -5.67266473e+01] [-5.53683912e-03 6.24293328e-05 9.99984670e-01 -2.91367058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.445769231 meters 0.012416613305147064 Centerline is valid? [True, True] Translation: X:433.69, Y:-56.73, Z:-2.92 [[ 9.86372006e-01 1.64493162e-01 3.50232557e-03 4.33687361e+02] [-1.64492073e-01 9.86378223e-01 -5.98870411e-04 -5.67338162e+01] [-3.55312776e-03 1.46042156e-05 9.99993688e-01 -2.91661581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.505769231 meters 0.013255339587990267 Centerline is valid? [True, True] Translation: X:433.75, Y:-56.73, Z:-2.92 [[ 9.84613094e-01 1.74716128e-01 3.36595053e-03 4.33747130e+02] [-1.74715182e-01 9.84618847e-01 -5.75287016e-04 -5.67333951e+01] [-3.41469025e-03 -2.16475303e-05 9.99994170e-01 -2.91672826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.565769231 meters 0.022176457654908693 Centerline is valid? [True, True] Translation: X:433.81, Y:-56.73, Z:-2.92 [[ 9.83089475e-01 1.83112525e-01 2.21075430e-03 4.33806437e+02] [-1.83112138e-01 9.83091960e-01 -3.77854772e-04 -5.67308973e+01] [-2.24256472e-03 -3.33508962e-05 9.99997485e-01 -2.91939465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.625769231 meters 0.030857864145560195 Centerline is valid? [True, True] Translation: X:433.87, Y:-56.73, Z:-2.92 [[ 9.81679583e-01 1.90513582e-01 3.12583538e-03 4.33867941e+02] [-1.90512848e-01 9.81684557e-01 -5.33823220e-04 -5.67290337e+01] [-3.17028489e-03 -7.14684437e-05 9.99994972e-01 -2.91797947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.685769231 meters 0.04321291065915072 Centerline is valid? [True, True] Translation: X:433.93, Y:-56.72, Z:-2.92 [[ 9.80520551e-01 1.96391910e-01 3.10923551e-03 4.33930305e+02] [-1.96391212e-01 9.80525476e-01 -5.30980651e-04 -5.67163209e+01] [-3.15296494e-03 -8.99890917e-05 9.99995025e-01 -2.91839172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.745769231 meters 0.039979740243665865 Centerline is valid? [True, True] Translation: X:433.99, Y:-56.73, Z:-2.92 [[ 9.80445261e-01 1.96751341e-01 4.00001733e-03 4.33988066e+02] [-1.96750191e-01 9.80453413e-01 -6.83068416e-04 -5.67277783e+01] [-4.05622527e-03 -1.17292981e-04 9.99991767e-01 -2.91756859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.805769231 meters 0.04055954666203797 Centerline is valid? [True, True] Translation: X:434.05, Y:-56.73, Z:-2.92 [[ 9.81048991e-01 1.93699342e-01 4.84165307e-03 4.34046724e+02] [-1.93697621e-01 9.81060930e-01 -8.26464717e-04 -5.67340515e+01] [-4.91004234e-03 -1.27014304e-04 9.99987938e-01 -2.91719356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.865769231 meters 0.025516582609254115 Centerline is valid? [True, True] Translation: X:434.10, Y:-56.76, Z:-2.92 [[ 9.82439097e-01 1.86538326e-01 4.10764633e-03 4.34102672e+02] [-1.86537024e-01 9.82447682e-01 -7.01062573e-04 -5.67632112e+01] [-4.16632265e-03 -7.74768418e-05 9.99991318e-01 -2.91801159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.925769231 meters 0.020613929372038688 Centerline is valid? [True, True] Translation: X:434.16, Y:-56.78, Z:-2.92 [[ 9.83306880e-01 1.81883025e-01 5.11311449e-03 4.34160710e+02] [-1.81880946e-01 9.83320172e-01 -8.72622601e-04 -5.67794720e+01] [-5.18654385e-03 -7.19222934e-05 9.99986547e-01 -2.91606743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.985769231 meters 0.014744225184819245 Centerline is valid? [True, True] Translation: X:434.22, Y:-56.80, Z:-2.91 [[ 9.84319302e-01 1.76272745e-01 6.59023563e-03 4.34217868e+02] [-1.76269166e-01 9.84341362e-01 -1.12462209e-03 -5.67974484e+01] [-6.68528173e-03 -5.46681122e-05 9.99977652e-01 -2.91363211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.045769231 meters 0.013307996017357816 Centerline is valid? [True, True] Translation: X:434.27, Y:-56.81, Z:-2.92 [[ 9.84864257e-01 1.73253756e-01 5.05283663e-03 4.34273831e+02] [-1.73251612e-01 9.84877218e-01 -8.62186970e-04 -5.68118079e+01] [-5.12580081e-03 -2.62749638e-05 9.99986863e-01 -2.91736558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.105769231 meters 0.0111643509053175 Centerline is valid? [True, True] Translation: X:434.33, Y:-56.83, Z:-2.92 [[ 9.85528355e-01 1.69471861e-01 3.62625571e-03 4.34329546e+02] [-1.69470732e-01 9.85535026e-01 -6.18643678e-04 -5.68347092e+01] [-3.67864472e-03 -4.85332315e-06 9.99993234e-01 -2.91976169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.165769231 meters 0.01177081696059166 Centerline is valid? [True, True] Translation: X:434.38, Y:-56.85, Z:-2.92 [[ 9.86206278e-01 1.65501211e-01 2.55477283e-03 4.34384639e+02] [-1.65500638e-01 9.86209587e-01 -4.35873881e-04 -5.68542666e+01] [-2.59167911e-03 7.04502566e-06 9.99996642e-01 -2.92354258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.225769231 meters 0.012872228858840894 Centerline is valid? [True, True] Translation: X:434.44, Y:-56.87, Z:-2.92 [[ 9.86626534e-01 1.62961032e-01 3.43286957e-03 4.34440663e+02] [-1.62959982e-01 9.86632506e-01 -5.85264929e-04 -5.68737976e+01] [-3.48235608e-03 1.80175458e-05 9.99993936e-01 -2.92086371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.285769231 meters 0.01146708608088435 Centerline is valid? [True, True] Translation: X:434.50, Y:-56.88, Z:-2.92 [[ 9.85491406e-01 1.69668051e-01 4.40917499e-03 4.34498704e+02] [-1.69666387e-01 9.85501270e-01 -7.51468615e-04 -5.68751686e+01] [-4.47274777e-03 -7.52293028e-06 9.99989997e-01 -2.91762487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.345769231 meters 0.01654183727800513 Centerline is valid? [True, True] Translation: X:434.56, Y:-56.87, Z:-2.92 [[ 9.84114580e-01 1.77467367e-01 4.88137184e-03 4.34558620e+02] [-1.77465425e-01 9.84126685e-01 -8.31521714e-04 -5.68712770e+01] [-4.95145625e-03 -4.79620881e-05 9.99987740e-01 -2.91685058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.405769231 meters 0.017043984101040664 Centerline is valid? [True, True] Translation: X:434.62, Y:-56.88, Z:-2.92 [[ 9.83821143e-01 1.79066938e-01 5.56697299e-03 4.34616788e+02] [-1.79064441e-01 9.83836891e-01 -9.47917834e-04 -5.68784813e+01] [-5.64673414e-03 -6.42652970e-05 9.99984055e-01 -2.91599219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.465769231 meters 0.014279685516569806 Centerline is valid? [True, True] Translation: X:434.67, Y:-56.89, Z:-2.92 [[ 9.84519819e-01 1.75195063e-01 5.23605518e-03 4.34673398e+02] [-1.75192800e-01 9.84533742e-01 -8.91332804e-04 -5.68937726e+01] [-5.31123011e-03 -3.97843570e-05 9.99985895e-01 -2.91749433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.525769231 meters 0.011601451067328343 Centerline is valid? [True, True] Translation: X:434.73, Y:-56.91, Z:-2.92 [[ 9.85440697e-01 1.69935596e-01 5.34094276e-03 4.34729340e+02] [-1.69933166e-01 9.85455170e-01 -9.08939124e-04 -5.69108583e+01] [-5.41772077e-03 -1.18977065e-05 9.99985324e-01 -2.91724135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.58576923100003 meters 0.01176726186319742 Centerline is valid? [True, True] Translation: X:434.79, Y:-56.92, Z:-2.92 [[ 9.85292947e-01 1.70795233e-01 5.17650846e-03 4.34787822e+02] [-1.70792964e-01 9.85306545e-01 -8.80639691e-04 -5.69183251e+01] [-5.25085672e-03 -1.64231441e-05 9.99986214e-01 -2.91709648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.64576923100003 meters 0.01390548825619257 Centerline is valid? [True, True] Translation: X:434.85, Y:-56.92, Z:-2.92 [[ 9.84587468e-01 1.74845440e-01 4.07313332e-03 4.34847226e+02] [-1.74844070e-01 9.84595892e-01 -6.92810075e-04 -5.69195793e+01] [-4.13152502e-03 -3.00310891e-05 9.99991465e-01 -2.91939480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.70576923100003 meters 0.014757812489039863 Centerline is valid? [True, True] Translation: X:434.91, Y:-56.93, Z:-2.92 [[ 9.84318964e-01 1.76362311e-01 3.53724613e-03 4.34906089e+02] [-1.76361288e-01 9.84325319e-01 -6.01531444e-04 -5.69265129e+01] [-3.58788840e-03 -3.17344773e-05 9.99993563e-01 -2.92072252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76576923100004 meters 0.015987273976906354 Centerline is valid? [True, True] Translation: X:434.96, Y:-56.93, Z:-2.92 [[ 9.84145517e-01 1.77334799e-01 3.15771016e-03 4.34964363e+02] [-1.77333989e-01 9.84150582e-01 -5.36910444e-04 -5.69313791e+01] [-3.20287520e-03 -3.15713336e-05 9.99994870e-01 -2.92134835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82576923100004 meters 0.017599798952175297 Centerline is valid? [True, True] Translation: X:435.02, Y:-56.93, Z:-2.92 [[ 9.83764547e-01 1.79443323e-01 2.72204871e-03 4.35023367e+02] [-1.79442729e-01 9.83768313e-01 -4.62667462e-04 -5.69347868e+01] [-2.76088785e-03 -3.32960039e-05 9.99996188e-01 -2.92274541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.885769231 meters 0.022297695454308184 Centerline is valid? [True, True] Translation: X:435.08, Y:-56.93, Z:-2.92 [[ 9.82858895e-01 1.84337954e-01 2.81279688e-03 4.35083958e+02] [-1.84337341e-01 9.82862918e-01 -4.77887778e-04 -5.69305657e+01] [-2.85268661e-03 -4.88072449e-05 9.99995930e-01 -2.92260998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.945769231 meters 0.024802629426117242 Centerline is valid? [True, True] Translation: X:435.14, Y:-56.93, Z:-2.92 [[ 9.82425289e-01 1.86622484e-01 3.54976235e-03 4.35142790e+02] [-1.86621523e-01 9.82431699e-01 -6.02979329e-04 -5.69321946e+01] [-3.59992855e-03 -7.00799153e-05 9.99993518e-01 -2.92109454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.005769231 meters 0.021915502148667214 Centerline is valid? [True, True] Translation: X:435.20, Y:-56.94, Z:-2.93 [[ 9.83100610e-01 1.83057706e-01 1.75114583e-03 4.35201329e+02] [-1.83057466e-01 9.83102169e-01 -2.97667339e-04 -5.69415994e+01] [-1.77604556e-03 -2.79233750e-05 9.99998422e-01 -2.92570422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.065769231 meters 0.015562929818094035 Centerline is valid? [True, True] Translation: X:435.26, Y:-56.96, Z:-2.92 [[ 9.84373068e-01 1.76065574e-01 3.25229920e-03 4.35258385e+02] [-1.76064712e-01 9.84378440e-01 -5.51887983e-04 -5.69591681e+01] [-3.29866168e-03 -2.93514541e-05 9.99994559e-01 -2.92366503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.125769231 meters 0.012786120552421367 Centerline is valid? [True, True] Translation: X:435.32, Y:-56.98, Z:-2.92 [[ 9.85055886e-01 1.72174082e-01 4.58120566e-03 4.35315118e+02] [-1.72172329e-01 9.85066538e-01 -7.77269376e-04 -5.69752136e+01] [-4.64661804e-03 -2.31030722e-05 9.99989204e-01 -2.92134258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.185769231 meters 0.011607983615550075 Centerline is valid? [True, True] Translation: X:435.37, Y:-56.99, Z:-2.92 [[ 9.85549561e-01 1.69342407e-01 3.90034841e-03 4.35372011e+02] [-1.69341115e-01 9.85557278e-01 -6.61614603e-04 -5.69911575e+01] [-3.95605617e-03 -8.43536611e-06 9.99992175e-01 -2.92394250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.245769231 meters 0.011277052317099056 Centerline is valid? [True, True] Translation: X:435.43, Y:-57.01, Z:-2.92 [[ 9.85717926e-01 1.68315842e-01 5.47240714e-03 4.35428210e+02] [-1.68313284e-01 9.85733117e-01 -9.27910024e-04 -5.70051464e+01] [-5.55051491e-03 -6.42127337e-06 9.99984596e-01 -2.92044551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.305769231 meters 0.011444900289137826 Centerline is valid? [True, True] Translation: X:435.48, Y:-57.02, Z:-2.92 [[ 9.85887000e-01 1.67375770e-01 3.48932799e-03 4.35484456e+02] [-1.67374724e-01 9.85893175e-01 -5.91596336e-04 -5.70198521e+01] [-3.53912354e-03 -7.78173196e-07 9.99993737e-01 -2.92438598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.365769231 meters 0.011894003062859919 Centerline is valid? [True, True] Translation: X:435.54, Y:-57.04, Z:-2.93 [[ 9.86096187e-01 1.66172680e-01 9.74968211e-04 4.35540609e+02] [-1.66172598e-01 9.86096669e-01 -1.65527810e-04 -5.70363631e+01] [-9.88919105e-04 1.21334227e-06 9.99999511e-01 -2.92986166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.425769231 meters 0.011318831056959905 Centerline is valid? [True, True] Translation: X:435.60, Y:-57.05, Z:-2.92 [[ 9.85833988e-01 1.67654679e-01 4.82254859e-03 4.35598433e+02] [-1.67652689e-01 9.85845783e-01 -8.16905293e-04 -5.70463363e+01] [-4.89124719e-03 -3.18023802e-06 9.99988038e-01 -2.92147811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.485769231 meters 0.01372375761311613 Centerline is valid? [True, True] Translation: X:435.66, Y:-57.05, Z:-2.93 [[ 9.85098228e-01 1.71988332e-01 1.22244180e-03 4.35657361e+02] [-1.71988208e-01 9.85098987e-01 -2.07248652e-04 -5.70495622e+01] [-1.23987053e-03 -6.08529506e-06 9.99999231e-01 -2.92966834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.545769231 meters 0.01769307002638105 Centerline is valid? [True, True] Translation: X:435.72, Y:-57.05, Z:-2.93 [[ 9.84295523e-01 1.76518261e-01 1.90419893e-03 4.35717629e+02] [-1.76517967e-01 9.84297365e-01 -3.22572366e-04 -5.70480216e+01] [-1.93123791e-03 -1.86187890e-05 9.99998135e-01 -2.92789668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.605769231 meters 0.021358435863468247 Centerline is valid? [True, True] Translation: X:435.78, Y:-57.05, Z:-2.92 [[ 9.83711096e-01 1.79686471e-01 5.02503645e-03 4.35776713e+02] [-1.79684470e-01 9.83723929e-01 -8.50538093e-04 -5.70476992e+01] [-5.09607879e-03 -6.62372505e-05 9.99987013e-01 -2.92207585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.665769231 meters 0.019405080635881974 Centerline is valid? [True, True] Translation: X:435.83, Y:-57.05, Z:-2.93 [[ 9.83655634e-01 1.80045500e-01 2.28309374e-03 4.35834975e+02] [-1.80045088e-01 9.83658283e-01 -3.86489594e-04 -5.70535580e+01] [-2.31536978e-03 -3.08871464e-05 9.99997319e-01 -2.92851379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.725769231 meters 0.01732708815180776 Centerline is valid? [True, True] Translation: X:435.89, Y:-57.06, Z:-2.93 [[ 9.84147612e-01 1.77341363e-01 1.87565705e-03 4.35892160e+02] [-1.77341080e-01 9.84149400e-01 -3.17545197e-04 -5.70603393e+01] [-1.90224066e-03 -2.01196990e-05 9.99998191e-01 -2.92975129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.785769231 meters 0.011877829345620589 Centerline is valid? [True, True] Translation: X:435.95, Y:-57.08, Z:-2.93 [[ 9.85604538e-01 1.69041352e-01 2.95216191e-03 4.35948490e+02] [-1.69040615e-01 9.85608960e-01 -4.99285007e-04 -5.70825604e+01] [-2.99407704e-03 -6.93769495e-06 9.99995518e-01 -2.92787524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.845769231 meters 0.011712415014121092 Centerline is valid? [True, True] Translation: X:436.00, Y:-57.10, Z:-2.93 [[ 9.86281514e-01 1.65035733e-01 3.46139961e-03 4.36004990e+02] [-1.65034695e-01 9.86287588e-01 -5.85320985e-04 -5.70973883e+01] [-3.51053435e-03 6.04023863e-06 9.99993838e-01 -2.92671948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.905769231 meters 0.011671695677319596 Centerline is valid? [True, True] Translation: X:436.06, Y:-57.11, Z:-2.93 [[ 9.86196784e-01 1.65552045e-01 2.90231165e-03 4.36062378e+02] [-1.65551318e-01 9.86201055e-01 -4.90718498e-04 -5.71051481e+01] [-2.94350226e-03 3.46348559e-06 9.99995668e-01 -2.92825471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.965769231 meters 0.011484724732671318 Centerline is valid? [True, True] Translation: X:436.12, Y:-57.11, Z:-2.93 [[ 9.86230157e-01 1.65341303e-01 3.51152979e-03 4.36119563e+02] [-1.65340239e-01 9.86236408e-01 -5.93365771e-04 -5.71128784e+01] [-3.56130640e-03 4.59804287e-06 9.99993659e-01 -2.92695449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.025769231 meters 0.012123716213831258 Centerline is valid? [True, True] Translation: X:436.18, Y:-57.13, Z:-2.93 [[ 9.86519135e-01 1.63601727e-01 3.80415226e-03 4.36175782e+02] [-1.63600466e-01 9.86526469e-01 -6.42457841e-04 -5.71259641e+01] [-3.85800411e-03 1.14358725e-05 9.99992558e-01 -2.92757857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.08576923100003 meters 0.013477173792563135 Centerline is valid? [True, True] Translation: X:436.23, Y:-57.14, Z:-2.93 [[ 9.86906193e-01 1.61286281e-01 1.70317491e-03 4.36232993e+02] [-1.61286025e-01 9.86907663e-01 -2.87697106e-04 -5.71376995e+01] [-1.72727797e-03 9.23174530e-06 9.99998508e-01 -2.93140966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.14576923100003 meters 0.013587617468625232 Centerline is valid? [True, True] Translation: X:436.29, Y:-57.15, Z:-2.93 [[ 9.86926464e-01 1.61164826e-01 1.43327730e-03 4.36290683e+02] [-1.61164644e-01 9.86927504e-01 -2.42216548e-04 -5.71464607e+01] [-1.45357757e-03 8.05629489e-06 9.99998944e-01 -2.93229361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.20576923100003 meters 0.012641420242075265 Centerline is valid? [True, True] Translation: X:436.35, Y:-57.15, Z:-2.93 [[ 9.86803938e-01 1.61882171e-01 3.48589859e-03 4.36348904e+02] [-1.61881104e-01 9.86810094e-01 -5.88097530e-04 -5.71533916e+01] [-3.53512242e-03 1.60358482e-05 9.99993751e-01 -2.92748089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26576923100004 meters 0.012575004035353955 Centerline is valid? [True, True] Translation: X:436.41, Y:-57.16, Z:-2.93 [[ 9.86829399e-01 1.61711268e-01 4.14776305e-03 4.36406749e+02] [-1.61709756e-01 9.86838115e-01 -6.99563706e-04 -5.71612381e+01] [-4.20629800e-03 1.96162821e-05 9.99991153e-01 -2.92771845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32576923100004 meters 0.01313782535957426 Centerline is valid? [True, True] Translation: X:436.46, Y:-57.17, Z:-2.93 [[ 9.86865609e-01 1.61515031e-01 3.02732515e-03 4.36464152e+02] [-1.61514225e-01 9.86870252e-01 -5.10453961e-04 -5.71655413e+01] [-3.07002312e-03 1.47933821e-05 9.99995287e-01 -2.93107648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.385769231 meters 0.01284855565860899 Centerline is valid? [True, True] Translation: X:436.52, Y:-57.17, Z:-2.93 [[ 9.86762582e-01 1.62148498e-01 2.73323451e-03 4.36521048e+02] [-1.62147843e-01 9.86766368e-01 -4.60950970e-04 -5.71679636e+01] [-2.77180639e-03 1.16610889e-05 9.99996158e-01 -2.93244049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.445769231 meters 0.014097847970507425 Centerline is valid? [True, True] Translation: X:436.58, Y:-57.18, Z:-2.93 [[ 9.87066980e-01 1.60279630e-01 3.03596045e-03 4.36579202e+02] [-1.60278816e-01 9.87071649e-01 -5.11317351e-04 -5.71783194e+01] [-3.07866424e-03 1.81043275e-05 9.99995261e-01 -2.93259220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.505769231 meters 0.019317305359473423 Centerline is valid? [True, True] Translation: X:436.63, Y:-57.19, Z:-2.93 [[ 9.87928159e-01 1.54891133e-01 2.58635801e-03 4.36634674e+02] [-1.54890523e-01 9.87931544e-01 -4.35618556e-04 -5.71937237e+01] [-2.62261812e-03 2.97574917e-05 9.99996560e-01 -2.93373891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.565769231 meters 0.02844471219376335 Centerline is valid? [True, True] Translation: X:436.69, Y:-57.22, Z:-2.93 [[ 9.89069214e-01 1.47383981e-01 4.47791827e-03 4.36690321e+02] [-1.47382080e-01 9.89079347e-01 -7.53442872e-04 -5.72185366e+01] [-4.54006189e-03 8.52422424e-05 9.99989690e-01 -2.93072524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.625769231 meters 0.03212901932085128 Centerline is valid? [True, True] Translation: X:436.75, Y:-57.24, Z:-2.93 [[ 9.90242290e-01 1.39314481e-01 3.41798307e-03 4.36748648e+02] [-1.39313325e-01 9.90248184e-01 -5.75073648e-04 -5.72390810e+01] [-3.46476762e-03 9.32916582e-05 9.99993993e-01 -2.93123238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.685769231 meters 0.03896641255566736 Centerline is valid? [True, True] Translation: X:436.81, Y:-57.27, Z:-2.94 [[ 9.91073810e-01 1.33313927e-01 3.17132640e-04 4.36805895e+02] [-1.33313917e-01 9.91073860e-01 -5.33596276e-05 -5.72650998e+01] [-3.21415451e-04 1.06051350e-05 9.99999948e-01 -2.93706032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.745769231 meters 0.039567226836545524 Centerline is valid? [True, True] Translation: X:436.86, Y:-57.28, Z:-2.94 [[ 9.91254749e-01 1.31961167e-01 5.22420339e-04 4.36864120e+02] [-1.31961139e-01 9.91254887e-01 -8.80506749e-05 -5.72783167e+01] [-5.29470983e-04 1.83414669e-05 9.99999860e-01 -2.93679547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.805769231 meters 0.0422368007287997 Centerline is valid? [True, True] Translation: X:436.92, Y:-57.30, Z:-2.93 [[ 9.91491763e-01 1.30140362e-01 2.75126297e-03 4.36919703e+02] [-1.30139577e-01 9.91495575e-01 -4.63025654e-04 -5.72989886e+01] [-2.78812338e-03 1.01037922e-04 9.99996108e-01 -2.93220894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.865769231 meters 0.041959622631455744 Centerline is valid? [True, True] Translation: X:436.98, Y:-57.32, Z:-2.93 [[ 9.91590095e-01 1.29343670e-01 4.39304344e-03 4.36977482e+02] [-1.29341665e-01 9.91599812e-01 -7.38830222e-04 -5.73177188e+01] [-4.45170406e-03 1.64413179e-04 9.99990078e-01 -2.92948711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.925769231 meters 0.040482757796447395 Centerline is valid? [True, True] Translation: X:437.04, Y:-57.33, Z:-2.93 [[ 9.91335813e-01 1.31310585e-01 3.29188905e-03 4.37036189e+02] [-1.31309469e-01 9.91341272e-01 -5.53661857e-04 -5.73304258e+01] [-3.33608714e-03 1.16608624e-04 9.99994428e-01 -2.93239148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.985769231 meters 0.032547863247238795 Centerline is valid? [True, True] Translation: X:437.10, Y:-57.33, Z:-2.93 [[ 9.90230841e-01 1.39420875e-01 2.16827776e-03 4.37096569e+02] [-1.39420410e-01 9.90233213e-01 -3.64661178e-04 -5.73336564e+01] [-2.19794204e-03 5.87965691e-05 9.99997583e-01 -2.93438163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.045769231 meters 0.0297992806261301 Centerline is valid? [True, True] Translation: X:437.15, Y:-57.34, Z:-2.94 [[ 9.89592486e-01 1.43885146e-01 1.94347439e-03 4.37154976e+02] [-1.43884781e-01 9.89594393e-01 -3.26854447e-04 -5.73442235e+01] [-1.97028086e-03 4.38163170e-05 9.99998058e-01 -2.93645144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.105769231 meters 0.027494942521279146 Centerline is valid? [True, True] Translation: X:437.21, Y:-57.35, Z:-2.94 [[ 9.89740507e-01 1.42857329e-01 2.34786884e-03 4.37214208e+02] [-1.42856794e-01 9.89743290e-01 -3.94780679e-04 -5.73541095e+01] [-2.38018475e-03 5.53214124e-05 9.99997166e-01 -2.93597249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.165769231 meters 0.032684387945140024 Centerline is valid? [True, True] Translation: X:437.27, Y:-57.38, Z:-2.94 [[ 9.90139104e-01 1.40081176e-01 1.34837012e-03 4.37270561e+02] [-1.40080997e-01 9.90140022e-01 -2.26758993e-04 -5.73759527e+01] [-1.36683988e-03 3.56419156e-05 9.99999065e-01 -2.93852245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.225769231 meters 0.030988736595677108 Centerline is valid? [True, True] Translation: X:437.33, Y:-57.39, Z:-2.94 [[ 9.90056930e-01 1.40643078e-01 2.60762160e-03 4.37329931e+02] [-1.40642411e-01 9.90060362e-01 -4.38253021e-04 -5.73856324e+01] [-2.64334004e-03 6.71532517e-05 9.99996504e-01 -2.93516959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.285769231 meters 0.027976106898684884 Centerline is valid? [True, True] Translation: X:437.39, Y:-57.39, Z:-2.93 [[ 9.89389042e-01 1.45196288e-01 5.23078041e-03 4.37388103e+02] [-1.45193669e-01 9.89402863e-01 -8.79010500e-04 -5.73926644e+01] [-5.30297817e-03 1.10207158e-04 9.99985933e-01 -2.93296693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.345769231 meters 0.02191477519074214 Centerline is valid? [True, True] Translation: X:437.45, Y:-57.39, Z:-2.93 [[ 9.88909176e-01 1.48470219e-01 3.90331974e-03 4.37448563e+02] [-1.48468786e-01 9.88916877e-01 -6.55826276e-04 -5.73946508e+01] [-3.95742944e-03 6.90314778e-05 9.99992167e-01 -2.93445311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.405769231 meters 0.02051909678057014 Centerline is valid? [True, True] Translation: X:437.51, Y:-57.41, Z:-2.94 [[ 9.88430106e-01 1.51665936e-01 1.83566709e-03 4.37505919e+02] [-1.51665625e-01 9.88431810e-01 -3.08532093e-04 -5.74053158e+01] [-1.86122555e-03 2.65548144e-05 9.99998268e-01 -2.93814117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.465769231 meters 0.01829729030443753 Centerline is valid? [True, True] Translation: X:437.56, Y:-57.41, Z:-2.94 [[ 9.88003632e-01 1.54399652e-01 3.09352947e-03 4.37563393e+02] [-1.54398782e-01 9.88008475e-01 -5.19742222e-04 -5.74140122e+01] [-3.13668136e-03 3.58700222e-05 9.99995080e-01 -2.93714681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.525769231 meters 0.015370569867615971 Centerline is valid? [True, True] Translation: X:437.62, Y:-57.42, Z:-2.94 [[ 9.87444235e-01 1.57950203e-01 2.36979548e-03 4.37622205e+02] [-1.57949702e-01 9.87447079e-01 -3.97992015e-04 -5.74220526e+01] [-2.40291055e-03 1.86864296e-05 9.99997113e-01 -2.93913001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.58576923100003 meters 0.013015996346953362 Centerline is valid? [True, True] Translation: X:437.68, Y:-57.43, Z:-2.94 [[ 9.86776058e-01 1.62074682e-01 2.19304888e-03 4.37679931e+02] [-1.62074263e-01 9.86778495e-01 -3.68357652e-04 -5.74257709e+01] [-2.22375492e-03 8.04973057e-06 9.99997527e-01 -2.94018295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.64576923100003 meters 0.012981250513735325 Centerline is valid? [True, True] Translation: X:437.74, Y:-57.42, Z:-2.94 [[ 9.85461710e-01 1.69888970e-01 1.71947634e-03 4.37740137e+02] [-1.69888725e-01 9.85463210e-01 -2.88755875e-04 -5.74216482e+01] [-1.74353711e-03 -7.56178455e-06 9.99998480e-01 -2.93920948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.70576923100003 meters 0.016052316350377054 Centerline is valid? [True, True] Translation: X:437.80, Y:-57.42, Z:-2.94 [[ 9.84619676e-01 1.74692832e-01 2.55110741e-03 4.37799545e+02] [-1.74692309e-01 9.84622981e-01 -4.28176110e-04 -5.74200384e+01] [-2.58667828e-03 -2.40682201e-05 9.99996654e-01 -2.93759334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76576923100004 meters 0.01911875691096232 Centerline is valid? [True, True] Translation: X:437.86, Y:-57.42, Z:-2.93 [[ 9.83866728e-01 1.78830713e-01 5.08302783e-03 4.37859752e+02] [-1.78828696e-01 9.83879856e-01 -8.52382933e-04 -5.74168497e+01] [-5.15352093e-03 -7.03600282e-05 9.99986718e-01 -2.93313702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82576923100004 meters 0.020815730537806602 Centerline is valid? [True, True] Translation: X:437.92, Y:-57.42, Z:-2.94 [[ 9.83709351e-01 1.79723985e-01 3.89903893e-03 4.37918148e+02] [-1.79722805e-01 9.83717076e-01 -6.53759447e-04 -5.74164919e+01] [-3.95304743e-03 -5.76369325e-05 9.99992185e-01 -2.93701409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.885769231 meters 0.02104363345750046 Centerline is valid? [True, True] Translation: X:437.98, Y:-57.42, Z:-2.93 [[ 9.83607537e-01 1.80268450e-01 4.41574818e-03 4.37978454e+02] [-1.80266944e-01 9.83617447e-01 -7.40040036e-04 -5.74151070e+01] [-4.47681282e-03 -6.81044731e-05 9.99989977e-01 -2.93494848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.945769231 meters 0.021382240283033822 Centerline is valid? [True, True] Translation: X:438.04, Y:-57.41, Z:-2.94 [[ 9.83591914e-01 1.80346030e-01 4.71761437e-03 4.38037524e+02] [-1.80344313e-01 9.83603225e-01 -7.90430572e-04 -5.74126923e+01] [-4.78281172e-03 -7.33338031e-05 9.99988560e-01 -2.93618036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.005769231 meters 0.01836350393408739 Centerline is valid? [True, True] Translation: X:438.10, Y:-57.42, Z:-2.94 [[ 9.84241489e-01 1.76775027e-01 4.39112604e-03 4.38095894e+02] [-1.76773504e-01 9.84251282e-01 -7.35654730e-04 -5.74229173e+01] [-4.45201682e-03 -5.21728305e-05 9.99990088e-01 -2.93799294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.065769231 meters 0.012014578070962723 Centerline is valid? [True, True] Translation: X:438.15, Y:-57.44, Z:-2.94 [[ 9.85979318e-01 1.66824727e-01 3.78077872e-03 4.38151451e+02] [-1.66823528e-01 9.85986567e-01 -6.32623797e-04 -5.74431978e+01] [-3.83333433e-03 -6.96886535e-06 9.99992653e-01 -2.93890856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.125769231 meters 0.01374387969913167 Centerline is valid? [True, True] Translation: X:438.21, Y:-57.46, Z:-2.94 [[ 9.87229372e-01 1.59254890e-01 4.00596361e-03 4.38207801e+02] [-1.59253482e-01 9.87237499e-01 -6.70091165e-04 -5.74645326e+01] [-4.06155279e-03 2.35700257e-05 9.99991752e-01 -2.93902774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.185769231 meters 0.015095871989930629 Centerline is valid? [True, True] Translation: X:438.26, Y:-57.48, Z:-2.95 [[ 9.87407972e-01 1.58194486e-01 -4.81010500e-05 4.38264992e+02] [-1.58194486e-01 9.87407973e-01 7.72157732e-06 -5.74766342e+01] [ 4.87168712e-05 -1.50261052e-08 9.99999999e-01 -2.94773271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.245769231 meters 0.015751736162797673 Centerline is valid? [True, True] Translation: X:438.32, Y:-57.49, Z:-2.95 [[ 9.87508414e-01 1.57565720e-01 -4.20764644e-04 4.38322337e+02] [-1.57565704e-01 9.87508503e-01 6.99944748e-05 -5.74909449e+01] [ 4.26537393e-04 -2.82205536e-06 9.99999909e-01 -2.94880629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.305769231 meters 0.016622441995230545 Centerline is valid? [True, True] Translation: X:438.38, Y:-57.51, Z:-2.94 [[ 9.87743544e-01 1.56044400e-01 3.58287530e-03 4.38378137e+02] [-1.56043254e-01 9.87750041e-01 -5.98890872e-04 -5.75092767e+01] [-3.63243880e-03 3.24670690e-05 9.99993402e-01 -2.94105757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.365769231 meters 0.013057401463436782 Centerline is valid? [True, True] Translation: X:438.44, Y:-57.51, Z:-2.94 [[ 9.86955942e-01 1.60967498e-01 2.72630024e-03 4.38436012e+02] [-1.60966854e-01 9.86959708e-01 -4.55648103e-04 -5.75139533e+01] [-2.76409302e-03 1.08606298e-05 9.99996180e-01 -2.94270786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.425769231 meters 0.012385555394894072 Centerline is valid? [True, True] Translation: X:438.49, Y:-57.51, Z:-2.94 [[ 9.86116609e-01 1.66043762e-01 1.87180883e-03 4.38494514e+02] [-1.66043467e-01 9.86118385e-01 -3.12905940e-04 -5.75138593e+01] [-1.89778118e-03 -2.23988239e-06 9.99998199e-01 -2.94423884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.485769231 meters 0.01643009315236391 Centerline is valid? [True, True] Translation: X:438.56, Y:-57.51, Z:-2.95 [[ 9.85019512e-01 1.72434382e-01 1.71578638e-03 4.38555243e+02] [-1.72434145e-01 9.85021007e-01 -2.86633224e-04 -5.75071446e+01] [-1.73951106e-03 -1.35208393e-05 9.99998487e-01 -2.94542484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.545769231 meters 0.014683369221766147 Centerline is valid? [True, True] Translation: X:438.61, Y:-57.52, Z:-2.95 [[ 9.85449431e-01 1.69958232e-01 1.90228077e-03 4.38612193e+02] [-1.69957935e-01 9.85451267e-01 -3.17724885e-04 -5.75197061e+01] [-1.92860495e-03 -1.02059043e-05 9.99998140e-01 -2.94613830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.605769231 meters 0.013810703990068266 Centerline is valid? [True, True] Translation: X:438.67, Y:-57.54, Z:-2.95 [[ 9.86233339e-01 1.65355589e-01 1.15377799e-03 4.38668631e+02] [-1.65355477e-01 9.86234013e-01 -1.92727590e-04 -5.75380288e+01] [-1.16976368e-03 -7.09135176e-07 9.99999316e-01 -2.94774029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.665769231 meters 0.016098987789061273 Centerline is valid? [True, True] Translation: X:438.73, Y:-57.56, Z:-2.94 [[ 9.87190167e-01 1.59546232e-01 7.56982173e-04 4.38725001e+02] [-1.59546182e-01 9.87190458e-01 -1.26557366e-04 -5.75577405e+01] [-7.67477329e-04 4.16257180e-06 9.99999705e-01 -2.94487784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.725769231 meters 0.020565833913862817 Centerline is valid? [True, True] Translation: X:438.78, Y:-57.58, Z:-2.95 [[ 9.87716677e-01 1.56254741e-01 4.71173624e-04 4.38780462e+02] [-1.56254721e-01 9.87716789e-01 -7.89551474e-05 -5.75755027e+01] [-4.77723215e-04 4.36221253e-06 9.99999886e-01 -2.94520609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.785769231 meters 0.025831021332383065 Centerline is valid? [True, True] Translation: X:438.84, Y:-57.59, Z:-2.94 [[ 9.87771859e-01 1.55880414e-01 2.83749649e-03 4.38837166e+02] [-1.55879698e-01 9.87775934e-01 -4.73115106e-04 -5.75949560e+01] [-2.87656013e-03 2.50216916e-05 9.99995862e-01 -2.94051137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.845769231 meters 0.030800450017055787 Centerline is valid? [True, True] Translation: X:438.90, Y:-57.61, Z:-2.94 [[ 9.87398406e-01 1.58149816e-01 5.74666432e-03 4.38898300e+02] [-1.58206857e-01 9.87340127e-01 1.14045544e-02 -5.76100305e+01] [-3.87028410e-03 -1.21700005e-02 9.99918453e-01 -2.94454702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.905769231 meters 0.039091074443992437 Centerline is valid? [True, True] Translation: X:438.95, Y:-57.61, Z:-2.94 [[ 9.86036554e-01 1.66525289e-01 1.11500375e-03 4.38954908e+02] [-1.66499264e-01 9.85964826e-01 -1.23027081e-02 -5.76071333e+01] [-3.14806649e-03 1.19452725e-02 9.99923697e-01 -2.93995091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.965769231 meters 0.047459152677617494 Centerline is valid? [True, True] Translation: X:439.01, Y:-57.61, Z:-2.94 [[ 9.85680409e-01 1.68590542e-01 -3.37046472e-03 4.39012136e+02] [-1.68620968e-01 9.85588744e-01 -1.34832149e-02 -5.76096323e+01] [ 1.04874957e-03 1.38584719e-02 9.99903417e-01 -2.93767991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.025769231 meters 0.0577282797582982 Centerline is valid? [True, True] Translation: X:439.07, Y:-57.62, Z:-2.93 [[ 9.85210695e-01 1.71114662e-01 -8.92517439e-03 4.39070118e+02] [-1.71214769e-01 9.85160491e-01 -1.20129173e-02 -5.76204015e+01] [ 6.73714290e-03 1.33633763e-02 9.99888009e-01 -2.93343255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.08576923100003 meters 0.07044725021582307 Centerline is valid? [True, True] Translation: X:439.13, Y:-57.64, Z:-2.94 [[ 9.86538540e-01 1.63487993e-01 -3.65865373e-03 4.39130783e+02] [-1.63441500e-01 9.86495795e-01 1.06265313e-02 -5.76385797e+01] [ 5.34655678e-03 -9.88550679e-03 9.99936844e-01 -2.93826564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.14576923100003 meters 0.08526022817832381 Centerline is valid? [True, True] Translation: X:439.19, Y:-57.66, Z:-2.94 [[ 9.87737469e-01 1.55985462e-01 -6.57482429e-03 4.39190271e+02] [-1.55994915e-01 9.87757404e-01 -9.47108369e-04 -5.76551059e+01] [ 6.34659624e-03 1.96113358e-03 9.99977937e-01 -2.93735928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.20576923100003 meters 0.10167188349828014 Centerline is valid? [True, False] Translation: X:439.19, Y:-57.65, Z:-2.93 [[ 9.90192326e-01 1.39579780e-01 -6.05330525e-03 4.39188164e+02] [-1.39578323e-01 9.90210811e-01 6.64459233e-04 -5.76497113e+01] [ 6.08679337e-03 1.86967764e-04 9.99981458e-01 -2.93492153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26576923100004 meters 0.11620556176060101 Centerline is valid? [False, False] Translation: X:439.19, Y:-57.64, Z:-2.93 [[ 9.91975172e-01 1.26345586e-01 -4.69590819e-03 4.39186441e+02] [-1.26322651e-01 9.91977120e-01 4.89715732e-03 -5.76426076e+01] [ 5.27696770e-03 -4.26465891e-03 9.99976983e-01 -2.93237644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32576923100004 meters 0.5686086015086246 Centerline is valid? [False, False] Translation: X:439.19, Y:-57.63, Z:-2.94 [[ 9.93652381e-01 1.12481774e-01 -1.67209531e-03 4.39191053e+02] [-1.12469305e-01 9.93635425e-01 6.26876947e-03 -5.76322718e+01] [ 2.36657544e-03 -6.04091831e-03 9.99978953e-01 -2.93541703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.385769231 meters 0.5841906938639105 Centerline is valid? [False, False] Translation: X:439.20, Y:-57.63, Z:-2.94 [[ 9.95085472e-01 9.90009474e-02 1.92744157e-03 4.39195690e+02] [-9.90148479e-02 9.95040964e-01 9.46255712e-03 -5.76265207e+01] [-9.81081200e-04 -9.60689845e-03 9.99953371e-01 -2.94042828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.445769231 meters 0.5889436687558776 Centerline is valid? [False, False] Translation: X:439.24, Y:-57.62, Z:-2.94 [[ 9.95668469e-01 9.29526712e-02 2.02524947e-03 4.39237421e+02] [-9.29536690e-02 9.95670353e-01 4.04042828e-04 -5.76158456e+01] [-1.97892399e-03 -5.90547073e-04 9.99997868e-01 -2.93998331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.505769231 meters 0.6708951611112485 Centerline is valid? [False, False] Translation: X:439.24, Y:-57.60, Z:-2.94 [[ 9.96173168e-01 8.73912908e-02 1.33506268e-03 4.39239392e+02] [-8.73803194e-02 9.96151869e-01 -6.79223531e-03 -5.76020634e+01] [-1.92350739e-03 6.64958436e-03 9.99976041e-01 -2.94095429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.565769231 meters 0.5893556848118012 Centerline is valid? [False, False] Translation: X:439.24, Y:-57.59, Z:-2.94 [[ 9.96677734e-01 8.14423611e-02 7.97113723e-04 4.39240439e+02] [-8.14232576e-02 9.96581101e-01 -1.40129662e-02 -5.75874942e+01] [-1.93563752e-03 1.39015078e-02 9.99901496e-01 -2.94070559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.625769231 meters 0.672432018289972 Centerline is valid? [False, False] Translation: X:439.27, Y:-57.58, Z:-2.94 [[ 9.97856928e-01 6.54297317e-02 -7.08430089e-04 4.39266365e+02] [-6.54318631e-02 9.97850590e-01 -3.58759404e-03 -5.75827944e+01] [ 4.72172067e-04 3.62625946e-03 9.99993314e-01 -2.94396868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.685769231 meters 0.5999516810071914 Centerline is valid? [False, False] Translation: X:439.28, Y:-57.58, Z:-2.94 [[ 9.98927245e-01 4.60411209e-02 -4.95732914e-03 4.39281874e+02] [-4.60256259e-02 9.98935148e-01 3.19573419e-03 -5.75829138e+01] [ 5.09918550e-03 -2.96414178e-03 9.99982606e-01 -2.93732638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.745769231 meters 0.6821122371682864 Centerline is valid? [False, False] Translation: X:439.30, Y:-57.59, Z:-2.94 [[ 9.99370593e-01 3.54741703e-02 -3.34946210e-05 4.39303650e+02] [-3.54739554e-02 9.99367054e-01 2.66274080e-03 -5.75872013e+01] [ 1.27931941e-04 -2.65987666e-03 9.99996454e-01 -2.94267656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.805769231 meters 0.4660142906977463 Centerline is valid? [False, False] Translation: X:439.33, Y:-57.60, Z:-2.95 [[ 9.99773200e-01 1.99702008e-02 7.39864999e-03 4.39331962e+02] [-2.00748801e-02 9.99695418e-01 1.43551680e-02 -5.76007740e+01] [-7.10972090e-03 -1.45004393e-02 9.99869586e-01 -2.95114782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.865769231 meters 0.47433316503498285 Centerline is valid? [False, False] Translation: X:439.33, Y:-57.60, Z:-2.95 [[ 9.99940827e-01 7.80580322e-03 7.57706554e-03 4.39329575e+02] [-7.82191237e-03 9.99967206e-01 2.09874069e-03 -5.76037885e+01] [-7.56043470e-03 -2.15788365e-03 9.99969091e-01 -2.94948587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.925769231 meters 0.4822869715929391 Centerline is valid? [False, False] Translation: X:439.34, Y:-57.62, Z:-2.96 [[ 9.99969567e-01 3.46084629e-03 6.99199573e-03 4.39336756e+02] [-3.45356890e-03 9.99993482e-01 -1.05262374e-03 -5.76185913e+01] [-6.99559313e-03 1.02844436e-03 9.99975002e-01 -2.95591947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.985769231 meters 0.6658969787208057 Centerline is valid? [False, False] Translation: X:439.34, Y:-57.63, Z:-2.96 [[ 9.99975368e-01 3.76069656e-04 7.00867609e-03 4.39337221e+02] [-3.50982825e-04 9.99993529e-01 -3.58028278e-03 -5.76281561e+01] [-7.00997718e-03 3.57773466e-03 9.99969030e-01 -2.95673919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.045769231 meters 0.699703145056782 Centerline is valid? [False, False] Translation: X:439.34, Y:-57.64, Z:-2.96 [[ 9.99974541e-01 1.96228956e-03 6.86054133e-03 4.39337274e+02] [-1.95034127e-03 9.99996571e-01 -1.74785250e-03 -5.76376250e+01] [-6.86394759e-03 1.73442761e-03 9.99974939e-01 -2.95618271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.105769231 meters 0.6963653871170623 Centerline is valid? [False, False] Translation: X:439.33, Y:-57.65, Z:-2.95 [[ 9.99883703e-01 1.51241015e-02 -1.96016780e-03 4.39332936e+02] [-1.51330173e-02 9.99874832e-01 -4.61640745e-03 -5.76450915e+01] [ 1.89010344e-03 4.64553383e-03 9.99987423e-01 -2.94663939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.165769231 meters 0.7320663430148909 Centerline is valid? [False, False] Translation: X:439.37, Y:-57.65, Z:-2.95 [[ 9.99825752e-01 1.86115586e-02 1.44052225e-03 4.39374218e+02] [-1.86097941e-02 9.99826068e-01 -1.22873306e-03 -5.76530396e+01] [-1.46314034e-03 1.20171114e-03 9.99998208e-01 -2.94795210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.225769231 meters 0.7309659350473872 Centerline is valid? [False, False] Translation: X:439.37, Y:-57.65, Z:-2.95 [[ 9.99879679e-01 1.54584970e-02 1.28959989e-03 4.39374544e+02] [-1.54521641e-02 9.99869163e-01 -4.78408933e-03 -5.76549326e+01] [-1.36338599e-03 4.76358659e-03 9.99987725e-01 -2.94797831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.285769231 meters 0.7326551784495032 Centerline is valid? [False, False] Translation: X:439.40, Y:-57.66, Z:-2.95 [[ 9.99911766e-01 1.29564843e-02 -2.93085161e-03 4.39400327e+02] [-1.29536115e-02 9.99915601e-01 9.97058313e-04 -5.76625140e+01] [ 2.94352262e-03 -9.59005225e-04 9.99995208e-01 -2.94589739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.345769231 meters 0.7469209339678955 Centerline is valid? [False, False] Translation: X:439.40, Y:-57.67, Z:-2.95 [[ 9.99907246e-01 1.32747147e-02 -3.04661839e-03 4.39401511e+02] [-1.32702842e-02 9.99910866e-01 1.46985952e-03 -5.76653042e+01] [ 3.06585880e-03 -1.42929369e-03 9.99994279e-01 -2.94677776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.405769231 meters 0.7785279349644832 Centerline is valid? [False, False] Translation: X:439.44, Y:-57.67, Z:-2.95 [[ 9.99880809e-01 1.53394798e-02 1.75160097e-03 4.39443548e+02] [-1.53439492e-02 9.99878979e-01 2.56732465e-03 -5.76709943e+01] [-1.71200757e-03 -2.59389512e-03 9.99995170e-01 -2.94964397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.465769231 meters 0.7813224553099681 Centerline is valid? [False, False] Translation: X:439.44, Y:-57.67, Z:-2.95 [[ 9.99925749e-01 1.20710419e-02 1.66926264e-03 4.39443748e+02] [-1.20687071e-02 9.99926188e-01 -1.40175905e-03 -5.76696020e+01] [-1.68606012e-03 1.38150912e-03 9.99997624e-01 -2.94966979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.525769231 meters 0.7891025860454597 Centerline is valid? [False, False] Translation: X:439.44, Y:-57.67, Z:-2.95 [[ 9.99921866e-01 1.23574945e-02 1.88523336e-03 4.39442304e+02] [-1.23555955e-02 9.99923151e-01 -1.01567486e-03 -5.76719284e+01] [-1.89763968e-03 9.92302320e-04 9.99997707e-01 -2.94879702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.58576923100003 meters 0.8042823846264102 Centerline is valid? [False, False] Translation: X:439.44, Y:-57.67, Z:-2.95 [[ 9.99922149e-01 1.23348300e-02 1.88335414e-03 4.39442616e+02] [-1.23321086e-02 9.99922906e-01 -1.44982341e-03 -5.76685969e+01] [-1.90109227e-03 1.42648481e-03 9.99997175e-01 -2.94902923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.64576923100003 meters 0.7855994768935912 Centerline is valid? [False, False] Translation: X:439.45, Y:-57.66, Z:-2.95 [[ 9.99854206e-01 1.70040181e-02 1.55901276e-03 4.39445314e+02] [-1.70077850e-02 9.99852391e-01 2.43565732e-03 -5.76645959e+01] [-1.51736667e-03 -2.46181757e-03 9.99995819e-01 -2.95070044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.70576923100003 meters 0.7983784546423918 Centerline is valid? [False, False] Translation: X:439.45, Y:-57.66, Z:-2.96 [[ 9.99837057e-01 1.80358412e-02 7.53690953e-04 4.39453717e+02] [-1.80376120e-02 9.99834398e-01 2.41273161e-03 -5.76587731e+01] [-7.10050496e-04 -2.42593326e-03 9.99996805e-01 -2.95733457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76576923100004 meters 0.798639735534935 Centerline is valid? [False, False] Translation: X:439.47, Y:-57.65, Z:-2.95 [[ 9.99920639e-01 1.22167079e-02 -3.07703816e-03 4.39474418e+02] [-1.22105588e-02 9.99923430e-01 2.00930542e-03 -5.76495043e+01] [ 3.10134964e-03 -1.97157360e-03 9.99993247e-01 -2.95463915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82576923100004 meters 0.7690413982069757 Centerline is valid? [False, False] Translation: X:439.48, Y:-57.64, Z:-2.96 [[ 9.99929360e-01 1.14347452e-02 -3.24374333e-03 4.39475903e+02] [-1.14324490e-02 9.99934384e-01 7.25530207e-04 -5.76417977e+01] [ 3.25182674e-03 -6.88395025e-04 9.99994476e-01 -2.95561332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.885769231 meters 1.0143031222236483 Centerline is valid? [False, False] Translation: X:439.49, Y:-57.63, Z:-2.96 [[ 9.99961559e-01 7.67496661e-03 -4.23974795e-03 4.39487575e+02] [-7.69276016e-03 9.99961604e-01 -4.19659920e-03 -5.76305102e+01] [ 4.20737641e-03 4.22905324e-03 9.99982206e-01 -2.96466129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.945769231 meters SLAMing on 449.005769231 meters 1.0014587291134474 Centerline is valid? [False, False] Translation: X:439.49, Y:-57.62, Z:-2.96 [[ 9.99970364e-01 6.31552036e-03 -4.40279234e-03 4.39488592e+02] [-6.34331220e-03 9.99959864e-01 -6.32719859e-03 -5.76172308e+01] [ 4.36265608e-03 6.35493937e-03 9.99970291e-01 -2.96481389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.065769231 meters 0.9964966533190733 Centerline is valid? [False, False] Translation: X:439.49, Y:-57.61, Z:-2.97 [[ 9.99995543e-01 9.80127444e-04 2.82010816e-03 4.39494304e+02] [-9.88845017e-04 9.99994732e-01 3.09148736e-03 -5.76129040e+01] [-2.81706325e-03 -3.09426223e-03 9.99991245e-01 -2.96986282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.125769231 meters 0.9935884176237039 Centerline is valid? [False, False] Translation: X:439.50, Y:-57.61, Z:-2.97 [[ 9.99989219e-01 -3.90644214e-03 2.51012826e-03 4.39495763e+02] [ 3.91045327e-03 9.99991082e-01 -1.59506161e-03 -5.76117108e+01] [-2.50387486e-03 1.60486016e-03 9.99995578e-01 -2.97008443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.185769231 meters 0.6601022036583282 Centerline is valid? [False, False] Translation: X:439.50, Y:-57.61, Z:-2.97 [[ 9.99958305e-01 -8.82991559e-03 2.32811440e-03 4.39496738e+02] [ 8.84314343e-03 9.99944458e-01 -5.73406286e-03 -5.76149320e+01] [-2.27735380e-03 5.75441163e-03 9.99980850e-01 -2.96997926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.245769231 meters 0.5636263902222771 Centerline is valid? [False, False] Translation: X:439.52, Y:-57.62, Z:-2.97 [[ 9.99930724e-01 -1.16103969e-02 -1.93520151e-03 4.39516105e+02] [ 1.15810576e-02 9.99827235e-01 -1.45389046e-02 -5.76219535e+01] [ 2.10366963e-03 1.45154857e-02 9.99892432e-01 -2.96529075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.305769231 meters 0.5878314606997731 Centerline is valid? [False, False] Translation: X:439.52, Y:-57.63, Z:-2.97 [[ 9.99879505e-01 -1.54100311e-02 -1.87243566e-03 4.39515968e+02] [ 1.53746590e-02 9.99726390e-01 -1.76285366e-02 -5.76290533e+01] [ 2.14357964e-03 1.75976244e-02 9.99842852e-01 -2.96505438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.365769231 meters 0.5761157900799126 Centerline is valid? [False, False] Translation: X:439.52, Y:-57.64, Z:-2.97 [[ 9.99888671e-01 -1.47409821e-02 -2.31264131e-03 4.39518439e+02] [ 1.47016812e-02 9.99761031e-01 -1.61784364e-02 -5.76372494e+01] [ 2.55057470e-03 1.61426355e-02 9.99866446e-01 -2.96645912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.425769231 meters 0.5501498935534591 Centerline is valid? [False, False] Translation: X:439.52, Y:-57.65, Z:-2.97 [[ 9.99950661e-01 -9.46787755e-03 -3.00569274e-03 4.39521736e+02] [ 9.43761074e-03 9.99906167e-01 -9.92917507e-03 -5.76492355e+01] [ 3.09941892e-03 9.90031862e-03 9.99946187e-01 -2.96771776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.485769231 meters 0.5185950851279805 Centerline is valid? [False, False] Translation: X:439.52, Y:-57.66, Z:-2.97 [[ 9.99984127e-01 -4.53126804e-03 -3.34855453e-03 4.39523183e+02] [ 4.51613268e-03 9.99979615e-01 -4.51378958e-03 -5.76551462e+01] [ 3.36893946e-03 4.49859541e-03 9.99984206e-01 -2.96801413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.545769231 meters 0.5131697662443562 Centerline is valid? [False, False] Translation: X:439.55, Y:-57.66, Z:-2.97 [[ 9.99989889e-01 4.43581226e-03 7.39196406e-04 4.39545613e+02] [-4.43107806e-03 9.99970415e-01 -6.28760123e-03 -5.76573481e+01] [-7.67065156e-04 6.28426222e-03 9.99979960e-01 -2.97191689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.605769231 meters 0.4722162074929751 Centerline is valid? [False, False] Translation: X:439.55, Y:-57.66, Z:-2.97 [[ 9.99913204e-01 1.31551452e-02 7.25992258e-04 4.39545945e+02] [-1.31566716e-02 9.99911159e-01 2.13936296e-03 -5.76560843e+01] [-6.97784130e-04 -2.14872892e-03 9.99997448e-01 -2.97164169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.665769231 meters 0.5077715125101352 Centerline is valid? [False, False] Translation: X:439.57, Y:-57.65, Z:-2.97 [[ 9.99938237e-01 1.01475295e-02 -4.53321481e-03 4.39571981e+02] [-1.01305311e-02 9.99941627e-01 3.75710962e-03 -5.76461044e+01] [ 4.57107557e-03 -3.71095370e-03 9.99982667e-01 -2.97333392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.725769231 meters 0.5940767366306693 Centerline is valid? [False, False] Translation: X:439.57, Y:-57.64, Z:-2.97 [[ 9.99893286e-01 1.39163078e-02 -4.44450486e-03 4.39571750e+02] [-1.38850055e-02 9.99879111e-01 6.99779838e-03 -5.76405098e+01] [ 4.54135108e-03 -6.93533964e-03 9.99965638e-01 -2.97323019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.785769231 meters 0.5828012185254293 Centerline is valid? [False, False] Translation: X:439.57, Y:-57.63, Z:-2.97 [[ 9.99904914e-01 1.30456523e-02 -4.46928745e-03 4.39572175e+02] [-1.30220631e-02 9.99901337e-01 5.26711670e-03 -5.76317095e+01] [ 4.53755947e-03 -5.20841652e-03 9.99976141e-01 -2.97391287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.845769231 meters 0.5677743923646167 Centerline is valid? [False, False] Translation: X:439.59, Y:-57.62, Z:-2.97 [[ 9.99929227e-01 7.25758886e-03 -9.42697258e-03 4.39594480e+02] [-7.20812205e-03 9.99960130e-01 5.27079009e-03 -5.76187339e+01] [ 9.46484995e-03 -5.20246630e-03 9.99941674e-01 -2.97045894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.905769231 meters 0.5905792321878733 Centerline is valid? [False, False] Translation: X:439.59, Y:-57.61, Z:-2.97 [[ 9.99933213e-01 6.63094949e-03 -9.46576406e-03 4.39594886e+02] [-6.59341973e-03 9.99970301e-01 3.99050514e-03 -5.76124139e+01] [ 9.49194377e-03 -3.92782687e-03 9.99947236e-01 -2.97097915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.965769231 meters 0.6078698226226082 Centerline is valid? [False, False] Translation: X:439.60, Y:-57.61, Z:-2.97 [[ 9.99899254e-01 1.04423125e-02 -9.61455628e-03 4.39596397e+02] [-1.03727889e-02 9.99919898e-01 7.25276428e-03 -5.76072424e+01] [ 9.68952177e-03 -7.15230383e-03 9.99927476e-01 -2.97232915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3905.17 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%| | 0/14996 [00:00