+ python -m lidar_slam --no-model /working/656bf4ad-117b-411f-8e6d-11390ced8143 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/656bf4ad-117b-411f-8e6d-11390ced8143 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 0.000281693 Adjusted end_distance from 9.223372036854776e+18 to 472.290281693 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000281693 meters 0.8480136990234686 Centerline is valid? [0, False] SLAMing on 0.060281693 meters 0.8398333202424864 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99999879e-01 -4.23011796e-04 -2.50988663e-04 9.14749118e-04] [ 4.22985807e-04 9.99999905e-01 -1.03590835e-04 2.90143685e-05] [ 2.51032460e-04 1.03484658e-04 9.99999963e-01 2.61662250e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.120281693 meters 0.8647884125360107 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999572e-01 -8.28916111e-04 -4.11456488e-04 1.95954981e-03] [ 8.29284997e-04 9.99999254e-01 8.97176924e-04 -8.42369070e-03] [ 4.10712497e-04 -8.97517754e-04 9.99999513e-01 -4.88682622e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.180281693 meters 0.8271062518565218 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 0.99994372 -0.00689053 0.00806725 0.0244418 ] [ 0.00685587 0.99996719 0.00431546 -0.01981667] [-0.00809672 -0.00425991 0.99995815 -0.00940201] [ 0. 0. 0. 1. ]] SLAMing on 0.240281693 meters 0.8532130335139356 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.01 [[ 0.99994336 -0.00622962 0.00862944 0.02119025] [ 0.00617848 0.99996327 0.00593965 -0.03066071] [-0.00866613 -0.005886 0.99994513 -0.00758013] [ 0. 0. 0. 1. ]] SLAMing on 0.300281693 meters 0.8878545790384451 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.01 [[ 0.99994365 -0.0059715 0.00877765 0.01995018] [ 0.0059154 0.999962 0.00640289 -0.03354164] [-0.00881555 -0.0063506 0.99994098 -0.00652924] [ 0. 0. 0. 1. ]] SLAMing on 0.360281693 meters 0.8570616888397088 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.01 [[ 0.99999036 0.00294653 0.00325618 0.02589388] [-0.00294105 0.99999425 -0.00168639 -0.03939547] [-0.00326113 0.0016768 0.99999328 -0.00879216] [ 0. 0. 0. 1. ]] SLAMing on 0.420281693 meters 0.8031884334570377 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:-0.01 [[ 9.99988884e-01 3.64115971e-03 2.99565730e-03 2.83921378e-02] [-3.63926425e-03 9.99993174e-01 -6.37942647e-04 -4.54881588e-02] [-2.99795971e-03 6.27033567e-04 9.99995310e-01 -1.09366763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.480281693 meters 0.8325752527695851 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:-0.01 [[ 9.99986283e-01 4.37108706e-03 2.88582330e-03 2.98297149e-02] [-4.37259562e-03 9.99990307e-01 5.16646803e-04 -5.24198264e-02] [-2.88353702e-03 -5.29258254e-04 9.99995703e-01 -1.24416410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5402816930000001 meters 0.7936369139661749 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 0.99998312 0.00508277 0.00281694 0.03102615] [-0.00508747 0.99998567 0.00166595 -0.05931114] [-0.00280843 -0.00168026 0.99999464 -0.01383411] [ 0. 0. 0. 1. ]] SLAMing on 0.600281693 meters 0.9028647225534382 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.02 [[ 9.99996448e-01 9.56936172e-04 2.48759718e-03 3.30350558e-02] [-9.50148305e-04 9.99995826e-01 -2.72843530e-03 -5.82908738e-02] [-2.49019774e-03 2.72606203e-03 9.99993184e-01 -1.50180719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.660281693 meters 0.9053771292240235 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.06, Z:-0.02 [[ 0.99999587 0.00234377 0.00166628 0.03984133] [-0.00234087 0.99999574 -0.00174254 -0.06173539] [-0.00167036 0.00173863 0.99999709 -0.01990668] [ 0. 0. 0. 1. ]] SLAMing on 0.720281693 meters 0.8618649148096564 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.06, Z:-0.02 [[ 0.99999642 0.00224929 0.00145046 0.04129038] [-0.00224606 0.999995 -0.00222467 -0.05854418] [-0.00145546 0.00222141 0.99999647 -0.02093801] [ 0. 0. 0. 1. ]] SLAMing on 0.780281693 meters 0.914049978981872 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.06, Z:-0.02 [[ 0.9999969 0.00222218 0.00112716 0.04342919] [-0.00221937 0.99999443 -0.00249347 -0.05685403] [-0.0011327 0.00249096 0.99999626 -0.02232121] [ 0. 0. 0. 1. ]] SLAMing on 0.840281693 meters 0.9506249529588061 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:-0.02 [[ 9.99997631e-01 1.98752906e-03 8.87159636e-04 4.52179303e-02] [-1.98456706e-03 9.99992495e-01 -3.32722898e-03 -5.12576173e-02] [-8.93765942e-04 3.32546047e-03 9.99994071e-01 -2.38822302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9002816929999999 meters 0.9284070420363837 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.04, Z:-0.02 [[ 0.99999811 0.00156791 0.00115383 0.0434394 ] [-0.00156265 0.99998846 -0.00454189 -0.04301243] [-0.00116093 0.00454008 0.99998902 -0.02242866] [ 0. 0. 0. 1. ]] SLAMing on 0.960281693 meters 0.9634111828896137 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.04, Z:-0.02 [[ 0.99999875 0.00103134 0.00119459 0.04299523] [-0.0010247 0.99998408 -0.00554821 -0.03668351] [-0.00120029 0.00554698 0.9999839 -0.0218735 ] [ 0. 0. 0. 1. ]] SLAMing on 1.020281693 meters 0.9238399082276807 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.02 [[ 0.99998789 0.00475494 0.00126556 0.04265869] [-0.00475202 0.99998606 -0.00230164 -0.03000365] [-0.00127649 0.0022956 0.99999655 -0.02169077] [ 0. 0. 0. 1. ]] SLAMing on 1.080281693 meters 0.8969855104981128 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.02 [[ 0.99999046 0.00421119 0.00116415 0.04319846] [-0.00420661 0.9999835 -0.00391092 -0.01908673] [-0.0011806 0.00390598 0.99999167 -0.02193509] [ 0. 0. 0. 1. ]] SLAMing on 1.140281693 meters 0.8825756568625913 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.02 [[ 0.99999153 0.00395807 0.00112694 0.04366374] [-0.00395313 0.99998274 -0.00434543 -0.01631431] [-0.00114412 0.00434094 0.99998992 -0.02236871] [ 0. 0. 0. 1. ]] SLAMing on 1.200281693 meters 0.8004389051374841 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.02 [[ 9.99991723e-01 3.95407114e-03 9.58743750e-04 4.50311310e-02] [-3.94987000e-03 9.99982760e-01 -4.34491599e-03 -1.61697459e-02] [-9.75907328e-04 4.34109311e-03 9.99990101e-01 -2.33099594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.260281693 meters 0.8791062318619003 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.02 [[ 9.99991445e-01 4.05519215e-03 8.15328926e-04 4.63130541e-02] [-4.05177311e-03 9.99983171e-01 -4.15224961e-03 -1.72846703e-02] [-8.32153374e-04 4.14891056e-03 9.99991047e-01 -2.43422679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3202816929999999 meters 0.7817277030083735 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.03 [[ 9.99991999e-01 3.94276172e-03 6.75959292e-04 4.75132800e-02] [-3.93977486e-03 9.99982714e-01 -4.36450280e-03 -1.58607071e-02] [-6.93155802e-04 4.36180475e-03 9.99990247e-01 -2.52314403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.380281693 meters 0.8843850827748208 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.03 [[ 9.99990470e-01 4.36317502e-03 -1.51954647e-04 5.67965441e-02] [-4.36378871e-03 9.99981215e-01 -4.30433829e-03 -1.46901908e-02] [ 1.33171211e-04 4.30496036e-03 9.99990725e-01 -3.27954386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.440281693 meters 0.865316467505809 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.03 [[ 9.99988600e-01 4.77219636e-03 -1.59524744e-04 5.70494067e-02] [-4.77273908e-03 9.99982148e-01 -3.59506836e-03 -1.94241755e-02] [ 1.42365524e-04 3.59578875e-03 9.99993525e-01 -3.32287107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.500281693 meters 0.7729459966131201 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.03 [[ 9.99987133e-01 5.06775785e-03 -2.26880539e-04 5.76342099e-02] [-5.06841945e-03 9.99982604e-01 -3.01721366e-03 -2.31497520e-02] [ 2.11586084e-04 3.01832476e-03 9.99995422e-01 -3.36096756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.560281693 meters 0.7924521576331403 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.03 [[ 9.99985032e-01 5.47074673e-03 -8.75215531e-05 5.63743704e-02] [-5.47092310e-03 9.99982700e-01 -2.16087432e-03 -2.91580659e-02] [ 7.56984428e-05 2.16132080e-03 9.99997661e-01 -3.25904671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.620281693 meters 0.8599582350375712 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.03 [[ 9.99984386e-01 5.58787606e-03 -6.22234302e-05 5.58985305e-02] [-5.58798701e-03 9.99982477e-01 -1.95453930e-03 -3.06501948e-02] [ 5.13006164e-05 1.95485649e-03 9.99998088e-01 -3.19835443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.680281693 meters 0.8744403006582951 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.03 [[ 9.99984337e-01 5.59545466e-03 -1.29284283e-04 5.65421949e-02] [-5.59569819e-03 9.99982409e-01 -1.96700570e-03 -3.05393994e-02] [ 1.18275717e-04 1.96769832e-03 9.99998057e-01 -3.24675654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.740281693 meters 0.8639665568909906 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.03 [[ 9.99984995e-01 5.47592109e-03 -1.53709792e-04 5.65385698e-02] [-5.47623913e-03 9.99982691e-01 -2.15118467e-03 -2.93247722e-02] [ 1.41927414e-04 2.15199415e-03 9.99997674e-01 -3.22424797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8002816929999998 meters 0.8524847635452083 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.03 [[ 9.99985113e-01 5.45122465e-03 -2.40671279e-04 5.72746717e-02] [-5.45173769e-03 9.99982752e-01 -2.18512102e-03 -2.91130039e-02] [ 2.28755542e-04 2.18640057e-03 9.99997584e-01 -3.26192936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.860281693 meters 0.8605972519426455 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.03 [[ 9.99986187e-01 5.24435676e-03 -3.49144660e-04 5.81277557e-02] [-5.24521355e-03 9.99983119e-01 -2.50001933e-03 -2.69831978e-02] [ 3.36027772e-04 2.50181614e-03 9.99996814e-01 -3.31586732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.920281693 meters 0.8580637548801339 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.03 [[ 9.99988760e-01 7.50457436e-04 -4.68149181e-03 8.62721814e-02] [-7.59143238e-04 9.99997993e-01 -1.85384805e-03 -2.04466390e-02] [ 4.68009118e-03 1.85738113e-03 9.99987323e-01 -3.38709632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.980281693 meters 0.9602333298612657 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-0.03 [[ 9.99988504e-01 1.67148475e-04 -4.79206735e-03 8.69496501e-02] [-1.80715942e-04 9.99995977e-01 -2.83094138e-03 -1.36949127e-02] [ 4.79157489e-03 2.83177484e-03 9.99984511e-01 -3.40726891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.040281693 meters 0.5686704250215774 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-0.03 [[ 9.99988048e-01 1.70406253e-04 -4.88622964e-03 8.74997148e-02] [-1.84173542e-04 9.99996015e-01 -2.81725731e-03 -1.37854159e-02] [ 4.88573009e-03 2.81812356e-03 9.99984094e-01 -3.40874594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.100281693 meters 1.0351362122998484 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-0.03 [[ 9.99987179e-01 1.60614977e-04 -5.06114307e-03 8.88387281e-02] [-1.74724529e-04 9.99996100e-01 -2.78750032e-03 -1.39055973e-02] [ 5.06067562e-03 2.78834889e-03 9.99983307e-01 -3.47605267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.160281693 meters 0.49588589170677294 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.03 [[ 9.99987066e-01 2.52830113e-04 -5.07966011e-03 8.87483520e-02] [-2.66196577e-04 9.99996504e-01 -2.63086604e-03 -1.50173959e-02] [ 5.07897719e-03 2.63218420e-03 9.99983638e-01 -3.43813675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2202816929999996 meters 0.5188848132584254 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-0.03 [[ 9.99986948e-01 2.31378480e-04 -5.10395687e-03 8.88409686e-02] [-2.45173346e-04 9.99996319e-01 -2.70231858e-03 -1.44828564e-02] [ 5.10331282e-03 2.70353467e-03 9.99983323e-01 -3.42527691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2802816929999996 meters 0.5259641167844704 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.03 [[ 9.99986604e-01 4.62053803e-04 -5.15533397e-03 8.94583324e-02] [-4.74002416e-04 9.99997204e-01 -2.31673749e-03 -1.71411119e-02] [ 5.15424910e-03 2.31915010e-03 9.99984028e-01 -3.47576148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3402816929999997 meters 0.5276162105106498 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.04 [[ 9.99985891e-01 4.53715254e-04 -5.29264976e-03 9.03963985e-02] [-4.66069914e-04 9.99997169e-01 -2.33330536e-03 -1.70019826e-02] [ 5.29157612e-03 2.33573918e-03 9.99983272e-01 -3.50804246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4002816929999997 meters 0.5372739051489887 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.04 [[ 9.99985157e-01 5.81457065e-04 -5.41735781e-03 9.14449821e-02] [-5.92937347e-04 9.99997582e-01 -2.11780134e-03 -1.84080821e-02] [ 5.41611330e-03 2.12098206e-03 9.99983083e-01 -3.55764532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4602816929999998 meters 0.8883966309000627 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.04 [[ 9.99984338e-01 7.16670934e-04 -5.55071457e-03 9.23145719e-02] [-7.26192645e-04 9.99998268e-01 -1.71357730e-03 -2.12202585e-02] [ 5.54947689e-03 1.71758135e-03 9.99983126e-01 -3.58865959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.520281693 meters 1.0883353667609257 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.04 [[ 9.99983283e-01 9.81838873e-04 -5.69817907e-03 9.32323395e-02] [-9.88097993e-04 9.99998912e-01 -1.09573085e-03 -2.56624057e-02] [ 5.69709704e-03 1.10134289e-03 9.99983165e-01 -3.60807600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.580281693 meters 0.9605130634267817 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.04 [[ 9.99982599e-01 8.14559211e-04 -5.84286314e-03 9.42290325e-02] [-8.22649243e-04 9.99998706e-01 -1.38233084e-03 -2.37321941e-02] [ 5.84172959e-03 1.38711341e-03 9.99981975e-01 -3.63818832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6402816929999995 meters 0.9730909923999804 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.04 [[ 9.99981794e-01 6.85399728e-04 -5.99515038e-03 9.54524009e-02] [-6.95231981e-04 9.99998417e-01 -1.63810406e-03 -2.19344321e-02] [ 5.99401813e-03 1.64224225e-03 9.99980687e-01 -3.69851992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7002816929999995 meters 0.9670937031374154 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.04 [[ 9.99981734e-01 4.72719455e-04 -6.02569745e-03 9.53023868e-02] [-4.84910744e-04 9.99997838e-01 -2.02191587e-03 -1.93572550e-02] [ 6.02472862e-03 2.02480086e-03 9.99979801e-01 -3.63489969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7602816929999996 meters 0.9395573556355671 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:-0.04 [[ 9.99980474e-01 2.38266609e-04 -6.24465330e-03 9.67514798e-02] [-2.55423609e-04 9.99996195e-01 -2.74681677e-03 -1.42643098e-02] [ 6.24397507e-03 2.74835817e-03 9.99976729e-01 -3.70634966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8202816929999996 meters 0.9383672205432135 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.00, Z:-0.04 [[ 9.99979640e-01 2.82772747e-04 -6.37486601e-03 9.74214552e-02] [-3.07773389e-04 9.99992265e-01 -3.92111195e-03 -4.75756767e-03] [ 6.37370792e-03 3.92299413e-03 9.99971993e-01 -3.70244791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8802816929999997 meters 0.9105241928597498 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:-0.03 [[ 9.99984914e-01 8.16653428e-04 -5.43188142e-03 8.82702524e-02] [-8.42164929e-04 9.99988619e-01 -4.69599543e-03 2.77870043e-03] [ 5.42798460e-03 4.70049912e-03 9.99974221e-01 -2.97787566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9402816929999998 meters 0.5745038559858316 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.03 [[ 0.99997428 0.0044729 -0.00560693 0.08955552] [-0.00448285 0.9999884 -0.00176195 0.01214712] [ 0.00559898 0.00178704 0.99998273 -0.03057234] [ 0. 0. 0. 1. ]] SLAMing on 3.000281693 meters 0.6182589030698589 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.05 [[ 9.99999097e-01 -7.65245926e-05 1.34191333e-03 1.21178428e-01] [ 7.22085999e-05 9.99994826e-01 3.21605115e-03 2.11552266e-02] [-1.34215250e-03 -3.21595135e-03 9.99993928e-01 -4.71271041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.060281693 meters 0.6071544989007875 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:-0.05 [[ 9.99999064e-01 -5.38037660e-04 1.25823176e-03 1.21298090e-01] [ 5.35088538e-04 9.99997112e-01 2.34302584e-03 2.68844636e-02] [-1.25948876e-03 -2.34235038e-03 9.99996464e-01 -4.65096557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.120281693 meters 0.6159845640419422 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:-0.05 [[ 0.99999857 -0.00123348 0.0011555 0.12165474] [ 0.00123155 0.99999785 0.00167098 0.03057927] [-0.00115756 -0.00166955 0.99999794 -0.04608553] [ 0. 0. 0. 1. ]] SLAMing on 3.1802816929999995 meters 0.6181327193337249 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:-0.05 [[ 9.99997402e-01 -2.08331126e-03 9.25455368e-04 1.23134201e-01] [ 2.08188392e-03 9.99996646e-01 1.54060794e-03 2.97766616e-02] [-9.28661830e-04 -1.53867725e-03 9.99998385e-01 -4.69739300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2402816929999996 meters 0.626300854641968 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.05 [[ 9.99995231e-01 -2.97557164e-03 8.27361999e-04 1.23464536e-01] [ 2.97367951e-03 9.99992982e-01 2.27884779e-03 2.19554578e-02] [-8.34137067e-04 -2.27637661e-03 9.99997061e-01 -4.69292814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3002816929999996 meters 0.6209498899910746 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.05 [[ 9.99974796e-01 -7.03625526e-03 9.48095434e-04 1.22753249e-01] [ 7.03728249e-03 9.99974650e-01 -1.08452488e-03 1.53321235e-02] [-9.40440406e-04 1.09116956e-03 9.99998962e-01 -4.60810926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3602816929999997 meters 0.658683148525826 Centerline is valid? [False, False] Translation: X:0.15, Y:0.00, Z:-0.05 [[ 0.99998805 -0.00394672 -0.00288653 0.14730487] [ 0.00394116 0.99999037 -0.00192882 0.00466643] [ 0.00289411 0.00191742 0.99999397 -0.04578117] [ 0. 0. 0. 1. ]] SLAMing on 3.4202816929999997 meters 0.633184150299743 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:-0.05 [[ 0.9999935 -0.00331273 0.00142424 0.1209653 ] [ 0.00332245 0.99997083 -0.00687787 -0.00316586] [-0.00140141 0.00688256 0.99997533 -0.04529173] [ 0. 0. 0. 1. ]] SLAMing on 3.480281693 meters 0.6588404058315848 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.05 [[ 9.99999359e-01 6.11182435e-05 1.13054438e-03 1.23118823e-01] [-6.04340334e-05 9.99999815e-01 -6.05228390e-04 -2.17444524e-02] [-1.13058117e-03 6.05159679e-04 9.99999178e-01 -4.71140339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.540281693 meters 0.6585941056282442 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.03, Z:-0.05 [[ 9.99998985e-01 9.90502033e-04 1.02384315e-03 1.23747652e-01] [-9.91812013e-04 9.99998689e-01 1.27975879e-03 -3.37250176e-02] [-1.02257420e-03 -1.28077295e-03 9.99998657e-01 -4.73181562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6002816929999994 meters 0.7018909500864576 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.05 [[ 9.99998514e-01 1.48788846e-03 8.70915434e-04 1.24239396e-01] [-1.48986377e-03 9.99996310e-01 2.27184723e-03 -3.97789950e-02] [-8.67531965e-04 -2.27314140e-03 9.99997040e-01 -4.67243053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6602816929999995 meters 0.7136348118522542 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.05 [[ 9.99997690e-01 1.99637607e-03 7.97008808e-04 1.24583568e-01] [-1.99903228e-03 9.99992404e-01 3.34595546e-03 -4.63991986e-02] [-7.90322969e-04 -3.34754098e-03 9.99994085e-01 -4.66503844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7202816929999996 meters 0.7368903546914257 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.05 [[ 9.99997251e-01 2.22644686e-03 7.35992069e-04 1.24743519e-01] [-2.22926176e-03 9.99990119e-01 3.84619810e-03 -4.94642382e-02] [-7.27421441e-04 -3.84782825e-03 9.99992333e-01 -4.64173966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7802816929999996 meters 1.041998903616082 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.05 [[ 9.99996788e-01 2.45512784e-03 6.28934027e-04 1.25238666e-01] [-2.45772560e-03 9.99988312e-01 4.16348252e-03 -5.11300706e-02] [-6.18704795e-04 -4.16501489e-03 9.99991135e-01 -4.64764535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8402816929999997 meters 1.0565684124062873 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.05 [[ 9.99996849e-01 2.43426281e-03 6.13668009e-04 1.25170765e-01] [-2.43646241e-03 9.99990518e-01 3.60945423e-03 -4.75541824e-02] [-6.04875830e-04 -3.61093803e-03 9.99993298e-01 -4.60229197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9002816929999997 meters 0.6911108829730724 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.04 [[ 0.99999159 0.00390982 0.00123872 0.12007138] [-0.00391449 0.99998516 0.00378915 -0.04280519] [-0.00122389 -0.00379396 0.99999205 -0.04184814] [ 0. 0. 0. 1. ]] SLAMing on 3.9602816929999998 meters 1.0887032748503802 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.04, Z:-0.04 [[ 9.99997344e-01 1.38065571e-03 1.84544353e-03 1.14911968e-01] [-1.38066553e-03 9.99999047e-01 4.04879030e-06 -3.84398461e-02] [-1.84543619e-03 -6.59671983e-06 9.99998297e-01 -3.73692306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.020281692999999 meters 1.094511076191765 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.04, Z:-0.03 [[ 9.99996499e-01 1.00413132e-04 2.64423591e-03 1.09117690e-01] [-9.91196747e-05 9.99999875e-01 -4.89287660e-04 -4.12432864e-02] [-2.64428472e-03 4.89023851e-04 9.99996384e-01 -3.33360990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.080281693 meters 1.0937934584171898 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.04, Z:-0.03 [[ 0.99999313 -0.0012744 0.00348157 0.10296418] [ 0.00127791 0.99999868 -0.0010062 -0.04415282] [-0.00348028 0.00101064 0.99999343 -0.02879247] [ 0. 0. 0. 1. ]] SLAMing on 4.1402816929999995 meters 1.1001430307199112 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.05, Z:-0.03 [[ 9.99993431e-01 -1.05475154e-03 3.46783025e-03 1.03095964e-01] [ 1.05647776e-03 9.99999319e-01 -4.95985932e-04 -4.70111030e-02] [-3.46730475e-03 4.99646359e-04 9.99993864e-01 -2.89771785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.200281693 meters 1.087475011680116 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.05, Z:-0.03 [[ 9.99993578e-01 -9.50426476e-04 3.45554687e-03 1.02864544e-01] [ 9.51231011e-04 9.99999521e-01 -2.31188398e-04 -4.85230192e-02] [-3.45532548e-03 2.34473937e-04 9.99994003e-01 -2.84183270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.260281693 meters 1.0964259995099854 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.05, Z:-0.03 [[ 9.99993871e-01 -6.70552179e-04 3.43622072e-03 1.02724555e-01] [ 6.69029518e-04 9.99999678e-01 4.44251235e-04 -5.22982743e-02] [-3.43651750e-03 -4.41949580e-04 9.99993997e-01 -2.79713327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.320281693 meters 1.0938933530884785 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.05, Z:-0.03 [[ 9.99993806e-01 -5.20248053e-04 3.48096526e-03 1.02566653e-01] [ 5.17409321e-04 9.99999533e-01 8.16352437e-04 -5.43370556e-02] [-3.48138834e-03 -8.14546296e-04 9.99993608e-01 -2.80195253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.380281693 meters 0.8038417923032372 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.05, Z:-0.02 [[ 0.99998947 0.00120421 0.00442717 0.09631744] [-0.00121392 0.99999686 0.00219089 -0.05496277] [-0.00442451 -0.00219624 0.9999878 -0.0234954 ] [ 0. 0. 0. 1. ]] SLAMing on 4.440281692999999 meters 1.1258983026211988 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.05, Z:-0.02 [[ 0.99998998 0.00110168 0.00433805 0.09677258] [-0.00110831 0.99999822 0.0015258 -0.05121187] [-0.00433636 -0.00153059 0.99998943 -0.02404154] [ 0. 0. 0. 1. ]] SLAMing on 4.500281693 meters 0.8520876149202171 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.05, Z:-0.02 [[ 0.99999013 0.0010314 0.00432156 0.0967547 ] [-0.00103721 0.99999856 0.00134339 -0.05024892] [-0.00432017 -0.00134786 0.99998976 -0.02385479] [ 0. 0. 0. 1. ]] SLAMing on 4.560281692999999 meters 0.7946270806795368 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.02 [[ 0.99998515 0.00218645 0.00499161 0.0913444 ] [-0.00219719 0.99999528 0.0021487 -0.0486376 ] [-0.00498689 -0.00215964 0.99998523 -0.01951911] [ 0. 0. 0. 1. ]] SLAMing on 4.620281693 meters 0.8177864789470453 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.02 [[ 9.99998483e-01 1.14843808e-03 1.30934841e-03 1.41969984e-01] [-1.14867486e-03 9.99999324e-01 1.80097347e-04 -4.06115681e-02] [-1.30914069e-03 -1.81601089e-04 9.99999127e-01 -2.12436837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6802816929999995 meters 0.7790328075728237 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.02 [[ 0.99997544 -0.00360283 0.00601171 0.08955356] [ 0.00364076 0.99997346 -0.00631019 -0.03244062] [-0.00598881 0.00633192 0.99996202 -0.01900353] [ 0. 0. 0. 1. ]] SLAMing on 4.740281693 meters 0.796461304688751 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.02 [[ 0.999902 -0.01063059 0.00910904 0.10889507] [ 0.01065663 0.99993925 -0.00281527 -0.02926066] [-0.00907856 0.00291207 0.99995455 -0.01993991] [ 0. 0. 0. 1. ]] SLAMing on 4.800281693 meters 0.7813240234704535 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.02 [[ 0.99988185 -0.0136034 -0.00715844 0.11260759] [ 0.01357112 0.9998976 -0.00453962 -0.02748452] [ 0.00721946 0.00444194 0.99996407 -0.01791437] [ 0. 0. 0. 1. ]] SLAMing on 4.860281692999999 meters 0.7638895755991032 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.02 [[ 0.99986604 -0.01302852 -0.00990728 0.09463805] [ 0.01287571 0.99979951 -0.01533466 -0.02128313] [ 0.01010508 0.01520504 0.99983333 -0.01874172] [ 0. 0. 0. 1. ]] SLAMing on 4.920281693 meters 0.7724864050643302 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.02 [[ 0.99987938 -0.01418536 -0.00632498 0.11362463] [ 0.01415065 0.99988475 -0.00549948 -0.02504357] [ 0.00640226 0.00540932 0.99996487 -0.01945707] [ 0. 0. 0. 1. ]] SLAMing on 4.980281692999999 meters 0.7759726281379498 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.03 [[ 0.9999881 -0.00358448 -0.00330867 0.0961734 ] [ 0.00356979 0.9999838 -0.0044337 -0.02668883] [ 0.00332451 0.00442184 0.9999847 -0.02761307] [ 0. 0. 0. 1. ]] SLAMing on 5.040281693 meters 0.730650574665461 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.02 [[ 0.99999663 -0.00143115 -0.00216622 0.08956672] [ 0.00142586 0.999996 -0.00244414 -0.02470263] [ 0.00216971 0.00244104 0.99999467 -0.02322614] [ 0. 0. 0. 1. ]] SLAMing on 5.1002816929999994 meters 0.7031765696567838 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.02 [[ 9.99999215e-01 6.78162411e-04 -1.05393544e-03 8.28666724e-02] [-6.78712482e-04 9.99999634e-01 -5.21651107e-04 -2.28411376e-02] [ 1.05358129e-03 5.22366017e-04 9.99999309e-01 -1.84080149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.160281693 meters 0.6975709949761153 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.02 [[ 9.99999362e-01 1.19455132e-04 -1.12362710e-03 8.31034340e-02] [-1.22034654e-04 9.99997357e-01 -2.29592157e-03 -1.45206157e-02] [ 1.12334987e-03 2.29605722e-03 9.99996733e-01 -1.84667461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.220281693 meters 0.658790539649247 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.02 [[ 0.99999139 -0.00225071 -0.00348706 0.06078657] [ 0.00226853 0.99998435 0.00511482 -0.01239125] [ 0.00347549 -0.00512268 0.99998084 -0.01609474] [ 0. 0. 0. 1. ]] SLAMing on 5.280281692999999 meters 0.6534187630312597 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.02 [[ 0.99999118 -0.00225898 -0.00354135 0.0609883 ] [ 0.00227697 0.99998448 0.00508549 -0.01223674] [ 0.0035298 -0.00509351 0.9999808 -0.01618831] [ 0. 0. 0. 1. ]] SLAMing on 5.340281693 meters 0.6050944812113395 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.02 [[ 9.99969850e-01 -6.88104510e-03 -3.59867412e-03 6.12483415e-02] [ 6.88138436e-03 9.99976320e-01 8.19003648e-05 -9.09552496e-03] [ 3.59802534e-03 -1.06661755e-04 9.99993521e-01 -1.62977474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.400281692999999 meters 0.21045695487341126 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99996172e-01 2.85889811e-04 -2.75201095e-03 4.47898439e-02] [-2.94339300e-04 9.99995243e-01 -3.07038094e-03 -1.16745083e-02] [ 2.75112007e-03 3.07117921e-03 9.99991500e-01 -2.29484927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.460281693 meters 0.29692453444899397 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 9.99995893e-01 3.72111126e-04 -2.84168949e-03 4.52142970e-02] [-3.80243564e-04 9.99995833e-01 -2.86182822e-03 -1.26203132e-02] [ 2.84061273e-03 2.86289700e-03 9.99991867e-01 -2.33080375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.520281692999999 meters 0.061020711900582184 Centerline is valid? [False, True] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 9.99995989e-01 3.16285327e-04 -2.81469595e-03 4.50652196e-02] [-3.24713976e-04 9.99995464e-01 -2.99456212e-03 -1.20322901e-02] [ 2.81373604e-03 2.99546408e-03 9.99991555e-01 -2.31273845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.580281693 meters 0.05743964064266262 Centerline is valid? [True, True] Translation: X:0.11, Y:-0.01, Z:-0.02 [[ 9.99994095e-01 3.03057756e-03 -1.62032799e-03 1.05007627e-01] [-3.03055241e-03 9.99995408e-01 1.79796383e-05 -8.89484799e-03] [ 1.62037503e-03 -1.30690432e-05 9.99998687e-01 -2.21764810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6402816929999995 meters 0.05396063039745065 Centerline is valid? [True, True] Translation: X:0.17, Y:-0.00, Z:-0.02 [[ 9.99981040e-01 5.85898445e-03 -1.89528944e-03 1.65035399e-01] [-5.85895518e-03 9.99982836e-01 2.09928796e-05 -4.90829359e-03] [ 1.89537990e-03 -9.88806572e-06 9.99998204e-01 -2.47315982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.700281693 meters 0.0483931226160007 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.00, Z:-0.02 [[ 9.99986977e-01 5.07938890e-03 -4.95102267e-04 2.24337454e-01] [-5.07938683e-03 9.99987100e-01 5.45035455e-06 -3.69264110e-03] [ 4.95123564e-04 -2.93546764e-06 9.99999877e-01 -2.20972026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.760281693 meters 0.04583240291829289 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.01, Z:-0.03 [[ 9.99998716e-01 5.06121410e-04 -1.52052882e-03 2.84467144e-01] [-5.06096476e-04 9.99999872e-01 1.67835252e-05 -1.07298210e-02] [ 1.52053712e-03 -1.60139693e-05 9.99998844e-01 -2.50473109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.820281692999999 meters 0.04502085492095086 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.02, Z:-0.02 [[ 9.99994899e-01 -3.12370683e-03 6.66652199e-04 3.43812164e-01] [ 3.12371243e-03 9.99995121e-01 -7.35170046e-06 -1.76944748e-02] [-6.66625981e-04 9.43409271e-06 9.99999778e-01 -2.06903315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.880281693 meters 0.041870002918683286 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.03, Z:-0.02 [[ 9.99966655e-01 -7.62330062e-03 2.92823867e-03 4.04885937e-01] [ 7.62342793e-03 9.99970941e-01 -3.23146361e-05 -2.64625311e-02] [-2.92790723e-03 5.46367750e-05 9.99995712e-01 -1.76387227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.940281692999999 meters 0.03699336065860964 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.02, Z:-0.02 [[ 9.99982575e-01 -5.63401474e-03 1.76276362e-03 4.66231284e-01] [ 5.63405784e-03 9.99984128e-01 -1.94872077e-05 -2.34329526e-02] [-1.76262585e-03 2.94183803e-05 9.99998446e-01 -1.99623155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.000281693 meters 0.03037702095786765 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.02, Z:-0.02 [[ 9.99992284e-01 -2.84236584e-03 2.71163449e-03 5.28129415e-01] [ 2.84245779e-03 9.99995960e-01 -3.00552498e-05 -1.69337848e-02] [-2.71153811e-03 3.77627245e-05 9.99996323e-01 -2.01918860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.060281692999999 meters 0.029404620056606323 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.02, Z:-0.02 [[ 9.99987811e-01 -3.77077227e-03 3.18748284e-03 5.90295502e-01] [ 3.77090447e-03 9.99992889e-01 -3.54663441e-05 -2.01600426e-02] [-3.18732644e-03 4.74856050e-05 9.99994919e-01 -2.12291145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.120281693 meters 0.03223512924158114 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.03, Z:-0.02 [[ 9.99952501e-01 -8.97594712e-03 3.79854087e-03 6.51164995e-01] [ 8.97617263e-03 9.99959712e-01 -4.23223470e-05 -3.18092682e-02] [-3.79800796e-03 7.64166953e-05 9.99992785e-01 -2.09544906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1802816929999995 meters 0.03655219047708583 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.04, Z:-0.02 [[ 9.99906716e-01 -1.27955563e-02 4.77838011e-03 7.11113222e-01] [ 1.27959568e-02 9.99918127e-01 -5.32443361e-05 -4.45851994e-02] [-4.77730760e-03 1.14383315e-04 9.99988582e-01 -2.01902192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.240281693 meters 0.033492106198425846 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.05, Z:-0.02 [[ 9.99903430e-01 -1.26184913e-02 5.82269086e-03 7.73248093e-01] [ 1.26190844e-02 9.99920374e-01 -6.51242470e-05 -5.25336188e-02] [-5.82140545e-03 1.38594985e-04 9.99983046e-01 -2.23966155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.300281693 meters 0.03298265284507542 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.06, Z:-0.03 [[ 9.99927483e-01 -1.17076850e-02 2.82107384e-03 8.35485506e-01] [ 1.17078209e-02 9.99931461e-01 -3.16690038e-05 -6.17690202e-02] [-2.82050971e-03 6.46953344e-05 9.99996020e-01 -2.65920940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.360281692999999 meters 0.030812384151761685 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.07, Z:-0.03 [[ 9.99916790e-01 -1.22109365e-02 4.16004165e-03 8.96265179e-01] [ 1.22112366e-02 9.99925439e-01 -4.67666614e-05 -6.82863616e-02] [-4.15916041e-03 9.75620230e-05 9.99991346e-01 -2.53320931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.420281693 meters 0.03142417664236762 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.07, Z:-0.02 [[ 9.99907559e-01 -1.25705159e-02 5.18231377e-03 9.58499277e-01] [ 1.25709878e-02 9.99920980e-01 -5.84877750e-05 -7.44121811e-02] [-5.18116905e-03 1.23629171e-04 9.99986570e-01 -2.41981719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.480281692999999 meters 0.030940373984742392 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.09, Z:-0.03 [[ 9.99922103e-01 -1.18149038e-02 4.02449415e-03 1.02010906e+00] [ 1.18151830e-02 9.99930197e-01 -4.56027476e-05 -8.59368459e-02] [-4.02367444e-03 9.31493303e-05 9.99991901e-01 -2.62439632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.540281693 meters 0.028276442535914246 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.09, Z:-0.03 [[ 9.99955954e-01 -8.90782602e-03 2.95659862e-03 1.08180518e+00] [ 8.90796430e-03 9.99960323e-01 -3.36042096e-05 -8.89591776e-02] [-2.95618197e-03 5.99400044e-05 9.99995629e-01 -2.69054243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6002816929999994 meters 0.02070834416058408 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.08, Z:-0.03 [[ 9.99994316e-01 1.97500154e-04 3.36586246e-03 1.14239619e+00] [-1.97372462e-04 9.99999980e-01 -3.82694510e-05 -8.12483656e-02] [-3.36586995e-03 3.76049049e-05 9.99994335e-01 -2.60310274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.660281693 meters 0.01693703262875765 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.07, Z:-0.03 [[ 9.99966822e-01 7.96777125e-03 1.69388616e-03 1.20307107e+00] [-7.96775003e-03 9.99968257e-01 -1.92748042e-05 -7.34253700e-02] [-1.69398597e-03 5.77770322e-06 9.99998565e-01 -2.90832437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.720281693 meters 0.01640164513240259 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.07, Z:-0.03 [[ 9.99944509e-01 1.02939002e-02 2.23913918e-03 1.26436826e+00] [-1.02938689e-02 9.99947016e-01 -2.55269068e-05 -7.31452693e-02] [-2.23928332e-03 2.47608515e-06 9.99997493e-01 -2.82921645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.780281692999999 meters 0.016500807870106837 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.08, Z:-0.03 [[ 9.99954992e-01 9.35027902e-03 1.60823578e-03 1.32543622e+00] [-9.35026157e-03 9.99956285e-01 -1.83682229e-05 -7.82260800e-02] [-1.60833723e-03 3.32997096e-06 9.99998707e-01 -3.01109264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.840281693 meters 0.016369621300788183 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.08, Z:-0.03 [[ 9.99954546e-01 9.46215257e-03 1.17210322e-03 1.38641167e+00] [-9.46214335e-03 9.99955233e-01 -1.34117372e-05 -8.15913253e-02] [-1.17217766e-03 2.32051885e-06 9.99999313e-01 -3.04480601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.900281692999999 meters 0.016157688735475864 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.08, Z:-0.03 [[ 9.99903540e-01 1.36404628e-02 2.61692022e-03 1.44733743e+00] [-1.36404311e-02 9.99906965e-01 -2.99618135e-05 -7.86623731e-02] [-2.61708545e-03 -5.73699654e-06 9.99996575e-01 -2.70177563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.960281693 meters 0.016526803823084323 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.08, Z:-0.03 [[ 9.99880634e-01 1.53520770e-02 1.74090306e-03 1.50839452e+00] [-1.53520655e-02 9.99882150e-01 -1.99651634e-05 -8.07779274e-02] [-1.74100440e-03 -6.76367764e-06 9.99998484e-01 -2.94184714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.020281692999999 meters 0.01637668232621821 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.09, Z:-0.03 [[ 9.99887441e-01 1.48279739e-02 2.28838952e-03 1.56823033e+00] [-1.48279526e-02 9.99890060e-01 -2.62775751e-05 -8.76346886e-02] [-2.28852757e-03 -7.65751406e-06 9.99997381e-01 -2.88566164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.080281693 meters 0.01595088612138559 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.10, Z:-0.03 [[ 9.99916396e-01 1.24693151e-02 3.42291093e-03 1.62955565e+00] [-1.24692534e-02 9.99922255e-01 -3.93831461e-05 -9.82403918e-02] [-3.42313590e-03 -3.30129016e-06 9.99994141e-01 -2.68491061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1402816929999995 meters 0.015794511823578775 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.10, Z:-0.03 [[ 9.99928786e-01 1.17877094e-02 1.86363979e-03 1.69166775e+00] [-1.17876894e-02 9.99930523e-01 -2.16972143e-05 -1.03844973e-01] [-1.86376607e-03 -2.72337905e-07 9.99998263e-01 -2.88041137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.200281692999999 meters 0.015728076652083922 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.11, Z:-0.03 [[ 9.99914602e-01 1.27433692e-02 2.89752378e-03 1.75253763e+00] [-1.27433245e-02 9.99918800e-01 -3.38826369e-05 -1.07917339e-01] [-2.89772028e-03 -3.04434257e-06 9.99995802e-01 -2.64810083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.260281693 meters 0.01577629824540837 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.11, Z:-0.03 [[ 9.99903398e-01 1.38004756e-02 1.65589326e-03 1.81422962e+00] [-1.38004624e-02 9.99904769e-01 -1.93992602e-05 -1.12780409e-01] [-1.65600329e-03 -3.45470651e-06 9.99998629e-01 -2.87243463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.320281692999999 meters 0.016404515284288115 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.11, Z:-0.03 [[ 9.99878779e-01 1.55580576e-02 6.11894376e-04 1.87504288e+00] [-1.55580561e-02 9.99878966e-01 -7.17469153e-06 -1.12872110e-01] [-6.11931941e-04 -2.34606522e-06 9.99999813e-01 -3.04143661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.380281693 meters 0.017693061387891864 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.11, Z:-0.03 [[ 9.99827446e-01 1.85193213e-02 1.45392834e-03 1.93586337e+00] [-1.85193161e-02 9.99828503e-01 -1.70575244e-05 -1.06822301e-01] [-1.45399488e-03 -9.87117731e-06 9.99998943e-01 -2.80252833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.440281692999999 meters 0.019595485764073852 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.10, Z:-0.03 [[ 9.99777707e-01 2.10818747e-02 3.02885151e-04 1.99575266e+00] [-2.10818746e-02 9.99777753e-01 -3.55345634e-06 -1.00548193e-01] [-3.02892749e-04 -2.83272035e-06 9.99999954e-01 -3.02329550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.500281693 meters 0.02086201669393005 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.10, Z:-0.03 [[ 9.99744220e-01 2.25504875e-02 1.72354337e-03 2.05577753e+00] [-2.25504862e-02 9.99745705e-01 -2.02052060e-05 -9.57570573e-02] [-1.72356072e-03 -1.86667030e-05 9.99998514e-01 -2.74061220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.560281692999999 meters 0.021466954236131774 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.09, Z:-0.03 [[ 9.99727134e-01 2.32280831e-02 2.47243769e-03 2.11586955e+00] [-2.32280825e-02 9.99730191e-01 -2.89553301e-05 -9.07984399e-02] [-2.47244318e-03 -2.84825575e-05 9.99996943e-01 -2.60170043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.620281693 meters 0.023760250661682532 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.08, Z:-0.03 [[ 9.99679041e-01 2.52187454e-02 2.41458101e-03 2.17550795e+00] [-2.52187507e-02 9.99681956e-01 -2.82512809e-05 -8.33222888e-02] [-2.41452553e-03 -3.26505030e-05 9.99997084e-01 -2.64694376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6802816929999995 meters 0.02568937523223509 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.08, Z:-0.03 [[ 9.99632750e-01 2.69650812e-02 2.69247607e-03 2.23631091e+00] [-2.69650941e-02 9.99636375e-01 -3.14985009e-05 -7.90587641e-02] [-2.69234637e-03 -4.11159375e-05 9.99996375e-01 -2.54285593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.740281692999999 meters 0.029419422774605027 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.07, Z:-0.03 [[ 9.99494373e-01 3.17617657e-02 1.47924598e-03 2.29698203e+00] [-3.17617749e-02 9.99495467e-01 -1.73052720e-05 -6.69155888e-02] [-1.47904930e-03 -2.96869557e-05 9.99998906e-01 -2.78293691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.800281693 meters 0.036175022013609455 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.05, Z:-0.03 [[ 9.99368665e-01 3.55280103e-02 1.76435895e-04 2.35620688e+00] [-3.55280105e-02 9.99368681e-01 -2.06784371e-06 -5.20408937e-02] [-1.76397974e-04 -4.20187811e-06 9.99999984e-01 -3.05378951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.860281692999999 meters 0.03241524131747073 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.05, Z:-0.03 [[ 9.99316837e-01 3.69537441e-02 5.28757935e-04 2.41579300e+00] [-3.69537460e-02 9.99316977e-01 -6.16964619e-06 -5.21449180e-02] [-5.28624772e-04 -1.33741551e-05 9.99999860e-01 -2.92267083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.920281693 meters 0.029202308457870182 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.05, Z:-0.03 [[ 9.99452895e-01 3.30390752e-02 -1.52636581e-03 2.47510746e+00] [-3.30390867e-02 9.99454060e-01 1.77422950e-05 -5.31860459e-02] [ 1.52611870e-03 3.26971443e-05 9.99998835e-01 -3.32566043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.980281692999999 meters 0.02801151918975117 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.05, Z:-0.03 [[ 9.99488659e-01 3.19737687e-02 -3.14880198e-04 2.53420202e+00] [-3.19737691e-02 9.99488708e-01 3.63060819e-06 -5.12090255e-02] [ 3.14835287e-04 6.43915504e-06 9.99999950e-01 -3.08032860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.040281692999999 meters 0.03001555618307147 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.04, Z:-0.03 [[ 9.99443532e-01 3.33482278e-02 7.22841071e-04 2.59265746e+00] [-3.33482304e-02 9.99443793e-01 -8.35865304e-06 -4.32028402e-02] [-7.22717768e-04 -1.57514689e-05 9.99999739e-01 -2.87091363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.100281693 meters 0.02933704247830126 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.04, Z:-0.03 [[ 9.99430992e-01 3.37295849e-02 -8.55690975e-05 2.65275399e+00] [-3.37295849e-02 9.99430996e-01 9.77769690e-07 -4.12974625e-02] [ 8.55533881e-05 1.90899681e-06 9.99999996e-01 -3.03299225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.160281693 meters 0.031951978568354474 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.03, Z:-0.03 [[ 9.99442119e-01 3.33909614e-02 7.02738183e-04 2.71098713e+00] [-3.33909640e-02 9.99442366e-01 -8.07651040e-06 -3.02833471e-02] [-7.02615995e-04 -1.53931007e-05 9.99999753e-01 -2.88114173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.220281692999999 meters 0.02424848765203133 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.04, Z:-0.03 [[ 9.99543230e-01 3.01939952e-02 1.28645113e-03 2.77087534e+00] [-3.01940012e-02 9.99544057e-01 -1.47239659e-05 -3.65978585e-02] [-1.28630915e-03 -2.41258666e-05 9.99999172e-01 -2.78636085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.280281693 meters 0.025098917305941302 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.04, Z:-0.03 [[ 9.99627825e-01 2.71624245e-02 2.53262626e-03 2.82963923e+00] [-2.71624385e-02 9.99631032e-01 -2.88880889e-05 -3.53051058e-02] [-2.53247648e-03 -3.99149676e-05 9.99996792e-01 -2.51442386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.340281693 meters 0.022120141645322278 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.04, Z:-0.02 [[ 9.99706571e-01 2.40239225e-02 3.10224622e-03 2.88918547e+00] [-2.40239286e-02 9.99711383e-01 -3.53081388e-05 -4.06206818e-02] [-3.10219910e-03 -3.92303633e-05 9.99995187e-01 -2.42333850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.400281693 meters 0.018753691026544072 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.05, Z:-0.03 [[ 9.99760673e-01 2.16394762e-02 3.21409822e-03 2.94915970e+00] [-2.16394705e-02 9.99765839e-01 -3.65732021e-05 -4.90569479e-02] [-3.21413702e-03 -3.29869343e-05 9.99994834e-01 -2.56197635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.460281692999999 meters 0.018638633842558008 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.05, Z:-0.03 [[ 9.99807339e-01 1.96213363e-02 5.36805991e-04 3.00871128e+00] [-1.96213358e-02 9.99807483e-01 -6.10603173e-06 -5.39083217e-02] [-5.36822456e-04 -4.42799529e-06 9.99999856e-01 -2.94127407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.520281693 meters 0.017846747357084514 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.06, Z:-0.03 [[ 9.99832490e-01 1.82967335e-02 -4.69623547e-04 3.06876757e+00] [-1.82967330e-02 9.99832601e-01 5.32948266e-06 -6.31065943e-02] [ 4.69642444e-04 3.26398671e-06 9.99999890e-01 -3.11471960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.580281693 meters 0.017143795829136724 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.07, Z:-0.03 [[ 9.99847104e-01 1.73996131e-02 1.73852880e-03 3.12820288e+00] [-1.73996051e-02 9.99848615e-01 -1.97135275e-05 -6.73814991e-02] [-1.73860862e-03 -1.05392012e-05 9.99998489e-01 -2.72054062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.640281693 meters 0.015550510126863025 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.08, Z:-0.03 [[ 9.99895761e-01 1.44344161e-02 -3.37775035e-04 3.18869072e+00] [-1.44344156e-02 9.99895818e-01 3.82866456e-06 -8.00706801e-02] [ 3.37795109e-04 1.04731977e-06 9.99999943e-01 -3.20975128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.700281692999999 meters 0.015551012583654706 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.09, Z:-0.03 [[ 9.99908527e-01 1.34267938e-02 -1.63050188e-03 3.24854605e+00] [-1.34267816e-02 9.99909857e-01 1.84358476e-05 -8.55293508e-02] [ 1.63060244e-03 3.45823147e-06 9.99998671e-01 -3.34195892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.760281693 meters 0.015792200828289943 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.09, Z:-0.03 [[ 9.99887113e-01 1.50241442e-02 1.88605964e-04 3.30729540e+00] [-1.50241441e-02 9.99887131e-01 -2.13888710e-06 -8.65043517e-02] [-1.88616811e-04 -6.94997528e-07 9.99999982e-01 -2.96064196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.820281693 meters 0.01546951731247302 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.09, Z:-0.03 [[ 9.99897115e-01 1.40346594e-02 2.96446565e-03 3.36722166e+00] [-1.40346221e-02 9.99901509e-01 -3.33716011e-05 -9.00131515e-02] [-2.96464204e-03 -8.23698743e-06 9.99995605e-01 -2.53833163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.880281692999999 meters 0.01640027756766768 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.09, Z:-0.02 [[ 9.99860852e-01 1.63685632e-02 3.21649290e-03 3.42823545e+00] [-1.63685312e-02 9.99866026e-01 -3.62649518e-05 -8.72818746e-02] [-3.21665558e-03 -1.63893588e-05 9.99994826e-01 -2.37974185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.940281693 meters 0.017326458995249896 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.08, Z:-0.03 [[ 9.99833218e-01 1.82074932e-02 1.42263013e-03 3.49003203e+00] [-1.82074888e-02 9.99834230e-01 -1.60676126e-05 -8.30285610e-02] [-1.42268685e-03 -9.83758933e-06 9.99998988e-01 -2.72125737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.000281693 meters 0.01794971132450753 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.08, Z:-0.03 [[ 9.99821138e-01 1.89075330e-02 4.43595977e-04 3.54983894e+00] [-1.89075327e-02 9.99821237e-01 -5.01033158e-06 -8.08478557e-02] [-4.43611411e-04 -3.37787000e-06 9.99999902e-01 -2.90629799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.060281693 meters 0.017677721917737116 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.08, Z:-0.03 [[ 9.99829101e-01 1.84316231e-02 1.42982144e-03 3.60970404e+00] [-1.84316189e-02 9.99830123e-01 -1.61121641e-05 -8.03494242e-02] [-1.42987552e-03 -1.02445133e-05 9.99998978e-01 -2.74630708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.120281692999999 meters 0.01949996433191465 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.07, Z:-0.03 [[ 9.99781305e-01 2.08655620e-02 1.40355731e-03 3.66934171e+00] [-2.08655604e-02 9.99782290e-01 -1.57888855e-05 -7.34100846e-02] [-1.40358119e-03 -1.35005773e-05 9.99999015e-01 -2.70813635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.180281693 meters 0.025288603525072773 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.06, Z:-0.03 [[ 9.99629706e-01 2.72086975e-02 3.70019462e-04 3.72932217e+00] [-2.72086978e-02 9.99629775e-01 -4.16037542e-06 -5.91824053e-02] [-3.69995670e-04 -5.90891288e-06 9.99999932e-01 -2.87854454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.240281693 meters 0.030342494038068425 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.05, Z:-0.03 [[ 9.99497783e-01 3.16806635e-02 -7.18824852e-04 3.78891310e+00] [-3.16806659e-02 9.99498042e-01 8.05797950e-06 -4.76736625e-02] [ 7.18719314e-04 1.47189173e-05 9.99999742e-01 -3.07418500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.300281692999999 meters 0.038365714647671946 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.03, Z:-0.03 [[ 9.99125005e-01 4.17959908e-02 -1.52323193e-03 3.84993003e+00] [-4.17960133e-02 9.99126165e-01 1.70934534e-05 -2.98281679e-02] [ 1.52261531e-03 4.65865252e-05 9.99998840e-01 -3.17770498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.360281693 meters 0.047333907230392346 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.01, Z:-0.03 [[ 9.98692830e-01 5.11086076e-02 7.36557657e-04 3.91089691e+00] [-5.11086154e-02 9.98693101e-01 -8.26617062e-06 -7.90287682e-03] [-7.36017523e-04 -2.93890767e-05 9.99999729e-01 -2.82803162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.420281693 meters 0.05982591825930079 Centerline is valid? [True, True] Translation: X:3.97, Y:0.01, Z:-0.03 [[ 9.98543388e-01 5.39264850e-02 1.74260301e-03 3.97002736e+00] [-5.39265328e-02 9.98544906e-01 -1.95259480e-05 1.43584525e-02] [-1.74112032e-03 -7.44750322e-05 9.99998481e-01 -2.69693588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.480281693 meters 0.0521229381923797 Centerline is valid? [True, True] Translation: X:4.03, Y:0.01, Z:-0.03 [[ 9.98490418e-01 5.49079424e-02 -1.41538882e-03 4.02907263e+00] [-5.49079751e-02 9.98491419e-01 1.57710440e-05 1.44824129e-02] [ 1.41411954e-03 6.19688977e-05 9.99998998e-01 -3.22500363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.540281692999999 meters 0.04793606062413292 Centerline is valid? [True, True] Translation: X:4.09, Y:0.02, Z:-0.03 [[ 9.98610092e-01 5.27021665e-02 6.05064763e-04 4.08879709e+00] [-5.27021721e-02 9.98610275e-01 -6.74264520e-06 2.07323355e-02] [-6.04579241e-04 -2.51549537e-05 9.99999817e-01 -2.90102882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.600281693 meters 0.044737036558073345 Centerline is valid? [True, True] Translation: X:4.15, Y:0.02, Z:-0.03 [[ 9.98766400e-01 4.96480842e-02 8.63738373e-04 4.14897312e+00] [-4.96480944e-02 9.98766773e-01 -9.60723491e-06 2.33364423e-02] [-8.63150169e-04 -3.32875809e-05 9.99999627e-01 -2.93025613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.660281693 meters 0.03522840001917698 Centerline is valid? [True, True] Translation: X:4.21, Y:0.02, Z:-0.03 [[ 9.99236526e-01 3.90663853e-02 4.27759195e-04 4.20813604e+00] [-3.90663868e-02 9.99236617e-01 -4.75469534e-06 1.73205597e-02] [-4.27618400e-04 -1.19599409e-05 9.99999908e-01 -3.14611113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.720281692999999 meters 0.02695782354906214 Centerline is valid? [True, True] Translation: X:4.27, Y:0.01, Z:-0.03 [[ 9.99559219e-01 2.96515858e-02 1.46653470e-03 4.26756986e+00] [-2.96515938e-02 9.99560295e-01 -1.62691470e-05 7.17086970e-03] [-1.46637226e-03 -2.72231152e-05 9.99998925e-01 -2.97567520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.780281693 meters 0.017251039763379467 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.01, Z:-0.03 [[ 9.99819636e-01 1.89742044e-02 8.21269773e-04 4.32690835e+00] [-1.89742033e-02 9.99819974e-01 -9.09727290e-06 -9.15565280e-03] [-8.21294536e-04 -6.48730755e-06 9.99999663e-01 -3.04531624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.840281693 meters 0.014926452804911635 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.02, Z:-0.03 [[ 9.99918694e-01 1.26246937e-02 1.79506875e-03 4.38581069e+00] [-1.26246784e-02 9.99920305e-01 -1.98163164e-05 -1.75003695e-02] [-1.79517586e-03 -2.84746052e-06 9.99998389e-01 -2.94054992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.900281693 meters 0.014989626645687574 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.02, Z:-0.03 [[ 9.99920406e-01 1.25808340e-02 9.50786455e-04 4.44528902e+00] [-1.25808297e-02 9.99920858e-01 -1.04970093e-05 -1.84049902e-02] [-9.50843269e-04 -1.46550867e-06 9.99999548e-01 -3.04777949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.960281692999999 meters 0.015419907645208347 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.02, Z:-0.04 [[ 9.99910648e-01 1.32775834e-02 -1.55006210e-03 4.50535159e+00] [-1.32775729e-02 9.99911849e-01 1.70766885e-05 -1.71208804e-02] [ 1.55015219e-03 3.50589985e-06 9.99998799e-01 -3.51129762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.020281693 meters 0.015221606150895935 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.02, Z:-0.03 [[ 9.99918961e-01 1.27305904e-02 -6.45364433e-05 4.56379871e+00] [-1.27305904e-02 9.99918963e-01 6.97322885e-07 -1.75206012e-02] [ 6.45400907e-05 1.24320651e-07 9.99999998e-01 -3.26275569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.080281693 meters 0.014963464636253795 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.02, Z:-0.03 [[ 9.99945399e-01 1.03867355e-02 1.14627566e-03 4.62342542e+00] [-1.03867279e-02 9.99946056e-01 -1.25765182e-05 -2.18706017e-02] [-1.14634445e-03 6.69778110e-07 9.99999343e-01 -3.04603068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.140281692999999 meters 0.017390905645112524 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.04, Z:-0.03 [[ 9.99987043e-01 4.12117768e-03 2.98831145e-03 4.68271062e+00] [-4.12109825e-03 9.99991508e-01 -3.27356972e-05 -3.50995917e-02] [-2.98842099e-03 2.04201479e-05 9.99995534e-01 -2.79872103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.200281692999999 meters 0.02135563320221517 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.05, Z:-0.03 [[ 9.99991642e-01 -1.85240239e-03 3.64486406e-03 4.74431516e+00] [ 1.85256197e-03 9.99998283e-01 -4.04062460e-05 -4.95668803e-02] [-3.64478295e-03 4.71582448e-05 9.99993357e-01 -2.71649573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.260281693 meters 0.022244986490645848 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.05, Z:-0.03 [[ 9.99993158e-01 -2.71731770e-03 2.50981996e-03 4.80681055e+00] [ 2.71739642e-03 9.99996307e-01 -2.79553007e-05 -5.37000844e-02] [-2.50973473e-03 3.47752852e-05 9.99996850e-01 -2.92997877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.320281693 meters 0.0226238164464917 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.06, Z:-0.03 [[ 9.99996476e-01 -2.63783450e-03 2.99234740e-04 4.86802707e+00] [ 2.63783561e-03 9.99996521e-01 -3.33329378e-06 -6.40995954e-02] [-2.99224906e-04 4.12261409e-06 9.99999955e-01 -3.35859217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.380281692999999 meters 0.018081994822012757 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.06, Z:-0.03 [[ 9.99992582e-01 3.43302256e-03 1.74674411e-03 4.92834360e+00] [-3.43299369e-03 9.99994107e-01 -1.95248593e-05 -6.09425697e-02] [-1.74680085e-03 1.35281529e-05 9.99998474e-01 -2.98226944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.440281693 meters 0.015320440174716872 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.05, Z:-0.03 [[ 9.99930007e-01 1.17268327e-02 1.56897147e-03 4.98839483e+00] [-1.17268196e-02 9.99931238e-01 -1.75511427e-05 -4.91402737e-02] [-1.56906941e-03 -8.49131093e-07 9.99998769e-01 -2.96734518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.500281693 meters 0.021378342988855416 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.03, Z:-0.03 [[ 9.99712529e-01 2.39554508e-02 9.98098609e-04 5.04839903e+00] [-2.39554516e-02 9.99713027e-01 -1.11525521e-05 -2.83853403e-02] [-9.98079346e-04 -1.27605569e-05 9.99999502e-01 -3.07709377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.560281692999999 meters 0.024764578410851 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.02, Z:-0.03 [[ 9.99607427e-01 2.80141107e-02 4.49549620e-04 5.10776594e+00] [-2.80141113e-02 9.99607528e-01 -5.01596793e-06 -2.16059669e-02] [-4.49513702e-04 -7.57973429e-06 9.99999899e-01 -3.16841203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.620281692999999 meters 0.026414172570279504 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.02, Z:-0.03 [[ 9.99574081e-01 2.91782382e-02 -5.35423792e-04 5.16639292e+00] [-2.91782392e-02 9.99574225e-01 5.91903401e-06 -1.50860782e-02] [ 5.35368528e-04 9.70621047e-06 9.99999857e-01 -3.25010700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.680281693 meters 0.029643620558374318 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.00, Z:-0.03 [[ 9.99558430e-01 2.96988428e-02 -9.60883790e-04 5.22414183e+00] [-2.96988464e-02 9.99558892e-01 1.05761604e-05 -4.50122297e-03] [ 9.60774036e-04 1.79656498e-05 9.99999538e-01 -3.45848578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.740281693 meters 0.02720754985489948 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.00, Z:-0.04 [[ 9.99566710e-01 2.94054788e-02 -1.30767871e-03 5.28288676e+00] [-2.94054852e-02 9.99567565e-01 1.43445547e-05 -3.82105244e-03] [ 1.30753503e-03 2.41145874e-05 9.99999145e-01 -3.51842597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.800281692999999 meters 0.02628739437501369 Centerline is valid? [True, True] Translation: X:5.34, Y:0.00, Z:-0.04 [[ 9.99603673e-01 2.81114139e-02 -1.49842424e-03 5.34046153e+00] [-2.81114209e-02 9.99604796e-01 1.63508323e-05 1.72184200e-03] [ 1.49829170e-03 2.57784824e-05 9.99998877e-01 -3.52767709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.860281693 meters 0.020353608502016077 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.00, Z:-0.03 [[ 9.99769537e-01 2.14648351e-02 -3.64372197e-04 5.39939874e+00] [-2.14648351e-02 9.99769604e-01 3.96494657e-06 -2.54791610e-03] [ 3.64373354e-04 3.85715633e-06 9.99999934e-01 -3.35545455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.920281693 meters 0.016586355791411326 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.01, Z:-0.03 [[ 9.99884036e-01 1.52239312e-02 -3.81474787e-04 5.45952140e+00] [-1.52239307e-02 9.99884109e-01 4.15109577e-06 -1.09089745e-02] [ 3.81493773e-04 1.65693132e-06 9.99999927e-01 -3.40916080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.980281693 meters 0.016863165949972645 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.02, Z:-0.03 [[ 9.99983539e-01 5.47731500e-03 1.70880024e-03 5.51944134e+00] [-5.47729125e-03 9.99984999e-01 -1.85809839e-05 -2.35652194e-02] [-1.70887638e-03 9.22108138e-06 9.99998540e-01 -3.07237293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.040281692999999 meters 0.02377989130650018 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.04, Z:-0.03 [[ 9.99991232e-01 -4.08793040e-03 9.07765157e-04 5.58010867e+00] [ 4.08794105e-03 9.99991644e-01 -9.87288636e-06 -4.40987019e-02] [-9.07717213e-04 1.35836902e-05 9.99999588e-01 -3.29883215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.100281693 meters 0.030946494475287963 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.06, Z:-0.04 [[ 9.99952856e-01 -9.64760814e-03 -1.09948781e-03 5.63975870e+00] [ 9.64762713e-03 9.99953460e-01 1.19627276e-05 -5.96167755e-02] [ 1.09932123e-03 -2.25696120e-05 9.99999395e-01 -3.67337599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.160281693 meters 0.038391779129037525 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.08, Z:-0.04 [[ 9.99871924e-01 -1.59813787e-02 -8.54983165e-04 5.70019681e+00] [ 1.59813925e-02 9.99872289e-01 9.30316955e-06 -8.05853266e-02] [ 8.54725297e-04 -2.29657996e-05 9.99999634e-01 -3.68738466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.220281692999999 meters 0.04409016140577787 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.10, Z:-0.03 [[ 9.99795520e-01 -2.02199968e-02 -2.64325015e-04 5.75972433e+00] [ 2.02199982e-02 9.99795555e-01 2.87294124e-06 -9.82231591e-02] [ 2.64212884e-04 -8.21700512e-06 9.99999965e-01 -3.48586819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.280281693 meters 0.038086735980805565 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.10, Z:-0.04 [[ 9.99804709e-01 -1.97233408e-02 -1.23836735e-03 5.81993615e+00] [ 1.97233726e-02 9.99805475e-01 1.34681293e-05 -9.75647265e-02] [ 1.23786082e-03 -3.78902796e-05 9.99999233e-01 -3.69537532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.340281693 meters 0.03261084204681619 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.10, Z:-0.04 [[ 9.99905062e-01 -1.35900482e-02 -2.27564551e-03 5.87950265e+00] [ 1.35901396e-02 9.99907649e-01 2.47133489e-05 -9.75982204e-02] [ 2.27509950e-03 -5.56373428e-05 9.99997410e-01 -3.84562717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.400281693 meters 0.02764473165421485 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.10, Z:-0.04 [[ 9.99963631e-01 -8.06780960e-03 -2.76550090e-03 5.93915485e+00] [ 8.06792332e-03 9.99967453e-01 2.99697244e-05 -9.82333328e-02] [ 2.76516910e-03 -5.22804836e-05 9.99996176e-01 -3.89332867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.460281692999999 meters 0.02728360716213324 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.11, Z:-0.03 [[ 9.99967281e-01 -8.08538331e-03 2.50648668e-04 5.99907949e+00] [ 8.08538425e-03 9.99967313e-01 -2.71910515e-06 -1.08387824e-01] [-2.50618490e-04 4.74560698e-06 9.99999969e-01 -3.41426410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.520281693 meters 0.02939381851903446 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.12, Z:-0.03 [[ 9.99949173e-01 -1.00696250e-02 5.04813180e-04 6.05981064e+00] [ 1.00696290e-02 9.99949300e-01 -5.46072397e-06 -1.19295937e-01] [-5.04732598e-04 1.05437279e-05 9.99999873e-01 -3.43375796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.580281693 meters 0.033149248000597036 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.14, Z:-0.04 [[ 9.99905123e-01 -1.36624768e-02 -1.75566382e-03 6.12014327e+00] [ 1.36625312e-02 9.99906663e-01 1.89915713e-05 -1.37808058e-01] [ 1.75524048e-03 -4.29765811e-05 9.99998459e-01 -3.94716914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.640281692999999 meters 0.03201284337889821 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.15, Z:-0.04 [[ 9.99933636e-01 -1.12394760e-02 -2.52952901e-03 6.17958654e+00] [ 1.12395811e-02 9.99936834e-01 2.73309833e-05 -1.46783659e-01] [ 2.52906204e-03 -5.57600159e-05 9.99996800e-01 -3.93668113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.700281692999999 meters 0.028420179643824445 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.15, Z:-0.04 [[ 9.99972262e-01 -7.20495326e-03 -1.88767987e-03 6.23850445e+00] [ 7.20500451e-03 9.99974043e-01 2.03506507e-05 -1.51586663e-01] [ 1.88748425e-03 -3.39508282e-05 9.99998218e-01 -3.80672079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.760281693 meters 0.02516161708628671 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.15, Z:-0.03 [[ 9.99988782e-01 -4.71121278e-03 4.90300760e-04 6.29835288e+00] [ 4.71121593e-03 9.99988902e-01 -5.28459763e-06 -1.52171203e-01] [-4.90270422e-04 7.59445110e-06 9.99999880e-01 -3.41335301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.820281693 meters 0.02345236733257095 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.16, Z:-0.03 [[ 9.99995989e-01 -2.79587693e-03 4.53594292e-04 6.35934531e+00] [ 2.79587944e-03 9.99996092e-01 -4.88154602e-06 -1.55504822e-01] [-4.53578871e-04 6.14972139e-06 9.99999897e-01 -3.41606607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.880281692999999 meters 0.02183655677996474 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.16, Z:-0.04 [[ 9.99995772e-01 -6.16023339e-04 -2.84188960e-03 6.42016433e+00] [ 6.16112719e-04 9.99999810e-01 3.05752512e-05 -1.59401211e-01] [ 2.84187022e-03 -3.23260462e-05 9.99995961e-01 -3.96338526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.940281693 meters 0.01843774263613748 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.16, Z:-0.04 [[ 9.99992018e-01 2.80274212e-03 -2.84752661e-03 6.47914295e+00] [-2.80266768e-03 9.99996072e-01 3.01303630e-05 -1.61502325e-01] [ 2.84759987e-03 -2.21494517e-05 9.99995945e-01 -4.06381612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.000281693 meters 0.015896584400514006 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.16, Z:-0.04 [[ 9.99966830e-01 8.10628379e-03 -7.92072120e-04 6.53816244e+00] [-8.10627983e-03 9.99967144e-01 8.21026882e-06 -1.58465261e-01] [ 7.92112650e-04 -1.78923824e-06 9.99999686e-01 -3.69301312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.060281692999999 meters 0.017239917452145852 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.15, Z:-0.04 [[ 9.99869783e-01 1.60676334e-02 -1.49908934e-03 6.59724072e+00] [-1.60676281e-02 9.99870907e-01 1.56032071e-05 -1.49589464e-01] [ 1.49914652e-03 8.48563465e-06 9.99998876e-01 -3.82255149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.120281692999999 meters 0.024515398398794446 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.13, Z:-0.04 [[ 9.99667859e-01 2.56724125e-02 -2.25828012e-03 6.65676190e+00] [-2.56724251e-02 9.99670409e-01 2.34292637e-05 -1.34878893e-01] [ 2.25813730e-03 3.45540453e-05 9.99997450e-01 -3.83457395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.180281693 meters 0.03328694660897963 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.12, Z:-0.04 [[ 9.99359482e-01 3.56933171e-02 -2.57143637e-03 6.71705795e+00] [-3.56933665e-02 9.99362788e-01 2.66904832e-05 -1.19046633e-01] [ 2.57075050e-03 6.51098336e-05 9.99996693e-01 -3.80816483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.240281693 meters 0.04991112023032441 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.09, Z:-0.03 [[ 9.98789552e-01 4.91875412e-02 -1.25690951e-04 6.77664124e+00] [-4.91875414e-02 9.98789560e-01 1.31052291e-06 -8.82864478e-02] [ 1.25603271e-04 4.87349226e-06 9.99999992e-01 -3.40079206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.300281692999999 meters 0.05592520956256207 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.07, Z:-0.03 [[ 9.98458595e-01 5.54951428e-02 8.50624657e-04 6.83685256e+00] [-5.54951554e-02 9.98458956e-01 -8.83461669e-06 -7.14413568e-02] [-8.49804086e-04 -3.83845485e-05 9.99999638e-01 -3.19588456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.360281693 meters 0.061936859181494455 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.05, Z:-0.04 [[ 9.98246614e-01 5.91447814e-02 -2.36470601e-03 6.89604474e+00] [-5.91448887e-02 9.98249408e-01 2.45531479e-05 -4.89740380e-02] [ 2.36201856e-03 1.15350177e-04 9.99997204e-01 -3.93246845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.420281693 meters 0.05089169950070127 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.05, Z:-0.04 [[ 9.98779207e-01 4.93904467e-02 -8.23870906e-04 6.95699575e+00] [-4.93904564e-02 9.98779547e-01 8.56183107e-06 -4.99974747e-02] [ 8.23288283e-04 3.21399812e-05 9.99999661e-01 -3.74127344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.480281693 meters 0.02826631095956178 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.08, Z:-0.03 [[ 9.99576990e-01 2.90510427e-02 1.37011001e-03 7.01759520e+00] [-2.90510505e-02 9.99577929e-01 -1.42350083e-05 -7.75122729e-02] [-1.36994527e-03 -2.55741484e-05 9.99999061e-01 -3.27521075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.540281692999999 meters 0.01740273107126778 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.10, Z:-0.04 [[ 9.99842690e-01 1.77315818e-02 -4.31661883e-04 7.07850761e+00] [-1.77315815e-02 9.99842783e-01 4.49594396e-06 -9.60097401e-02] [ 4.31673739e-04 3.15881118e-06 9.99999907e-01 -3.69328052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.600281693 meters 0.015435141296123353 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.11, Z:-0.04 [[ 9.99954550e-01 9.41651954e-03 -1.49259529e-03 7.13879593e+00] [-9.41650685e-03 9.99955664e-01 1.55289815e-05 -1.10400645e-01] [ 1.49267534e-03 -1.47324195e-06 9.99998886e-01 -3.83916943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.660281693 meters 0.01615202944675672 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.12, Z:-0.04 [[ 9.99967003e-01 7.43732519e-03 -3.26779411e-03 7.19755031e+00] [-7.43725422e-03 9.99972343e-01 3.38696898e-05 -1.18619493e-01] [ 3.26795563e-03 -9.56515669e-06 9.99994660e-01 -4.08836816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.720281692999999 meters 0.015771001572538895 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.12, Z:-0.04 [[ 9.99960684e-01 8.72842006e-03 -1.56349788e-03 7.25529497e+00] [-8.72840556e-03 9.99961907e-01 1.61002875e-05 -1.21906599e-01] [ 1.56357885e-03 -2.45281092e-06 9.99998778e-01 -3.87451143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.780281693 meters 0.015956161951161264 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.12, Z:-0.04 [[ 9.99916859e-01 1.27913236e-02 -1.63019187e-03 7.31528636e+00] [-1.27913133e-02 9.99918188e-01 1.67608043e-05 -1.15065172e-01] [ 1.63027289e-03 4.09288419e-06 9.99998671e-01 -3.88439890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.840281693 meters 0.01740665786887367 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.11, Z:-0.04 [[ 9.99870718e-01 1.59754155e-02 -1.82590902e-03 7.37423207e+00] [-1.59754080e-02 9.99872385e-01 1.87052572e-05 -1.08425684e-01] [ 1.82597483e-03 1.04668026e-05 9.99998333e-01 -3.93554571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.900281693 meters 0.017291354487657944 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.11, Z:-0.04 [[ 9.99863287e-01 1.64767732e-02 -1.38714363e-03 7.43341601e+00] [-1.64767694e-02 9.99864249e-01 1.41583876e-05 -1.06818375e-01] [ 1.38718861e-03 8.69919376e-06 9.99999038e-01 -3.85923231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.960281692999999 meters 0.01611296892272338 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.11, Z:-0.04 [[ 9.99911380e-01 1.33125213e-02 9.22140218e-05 7.49166835e+00] [-1.33125213e-02 9.99911384e-01 -9.50830524e-07 -1.10402917e-01] [-9.22185081e-05 -2.76854866e-07 9.99999996e-01 -3.61245612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020281693 meters 0.01565993983263781 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.12, Z:-0.04 [[ 9.99953659e-01 9.57535640e-03 -9.96071647e-04 7.55234151e+00] [-9.57535105e-03 9.99954155e-01 1.01409346e-05 -1.18130364e-01] [ 9.96123086e-04 -6.02728961e-07 9.99999504e-01 -3.85372271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080281693 meters 0.01713418659352515 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.13, Z:-0.04 [[ 9.99986248e-01 4.27878144e-03 -3.03242836e-03 7.61265883e+00] [-4.27870749e-03 9.99990846e-01 3.08729374e-05 -1.32267439e-01] [ 3.03253269e-03 -1.78976389e-05 9.99995402e-01 -4.23904013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.140281692999999 meters 0.018192658174601195 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.14, Z:-0.04 [[ 9.99992463e-01 2.94705925e-03 -2.52773155e-03 7.67117180e+00] [-2.94700387e-03 9.99995657e-01 2.56315535e-05 -1.36760022e-01] [ 2.52779611e-03 -1.81821257e-05 9.99996805e-01 -4.14917830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200281692999999 meters 0.018218300192090957 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.14, Z:-0.04 [[ 9.99997076e-01 2.30506752e-03 -7.31099647e-04 7.73014910e+00] [-2.30506275e-03 9.99997343e-01 7.36685743e-06 -1.41469346e-01] [ 7.31114686e-04 -5.68160533e-06 9.99999733e-01 -4.01671062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260281693 meters 0.017299359529828362 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.14, Z:-0.04 [[ 9.99987760e-01 4.38792882e-03 -2.28621768e-03 7.78923518e+00] [-4.38788757e-03 9.99990373e-01 2.30567341e-05 -1.43796006e-01] [ 2.28629684e-03 -1.30247857e-05 9.99997386e-01 -4.24568939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.320281693 meters 0.01602173989502897 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.14, Z:-0.04 [[ 9.99960749e-01 8.69421516e-03 -1.70622546e-03 7.84858181e+00] [-8.69419898e-03 9.99962205e-01 1.69000709e-05 -1.42562861e-01] [ 1.70630790e-03 -2.06514398e-06 9.99998544e-01 -4.03410132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.380281692999999 meters 0.01559281786864809 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.14, Z:-0.04 [[ 9.99940785e-01 1.08618059e-02 6.69513903e-04 7.90785992e+00] [-1.08618039e-02 9.99941009e-01 -6.64440719e-06 -1.41732329e-01] [-6.69546578e-04 -6.28115003e-07 9.99999776e-01 -3.56058913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.440281693 meters 0.01646545945045545 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.14, Z:-0.04 [[ 9.99909046e-01 1.34696229e-02 6.85438969e-04 7.96697269e+00] [-1.34696214e-02 9.99909281e-01 -6.79019895e-06 -1.40301597e-01] [-6.85468247e-04 -2.44302204e-06 9.99999765e-01 -3.65988502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.500281693 meters 0.016659414170600663 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.15, Z:-0.04 [[ 9.99901556e-01 1.39315897e-02 -1.67023850e-03 8.02785858e+00] [-1.39315815e-02 9.99902951e-01 1.65361727e-05 -1.46041706e-01] [ 1.67030678e-03 6.73451892e-06 9.99998605e-01 -4.12947462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.560281692999999 meters 0.01710337795069657 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.15, Z:-0.05 [[ 9.99878566e-01 1.49327549e-02 -4.45709335e-03 8.08748026e+00] [-1.49327071e-02 9.99888500e-01 4.40137147e-05 -1.45314036e-01] [ 4.45725363e-03 2.25480996e-05 9.99990066e-01 -4.58782326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.620281692999999 meters 0.017283685349258938 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.15, Z:-0.05 [[ 9.99882059e-01 1.48099611e-02 -4.06601014e-03 8.14545626e+00] [-1.48099213e-02 9.99890326e-01 3.99012896e-05 -1.45586936e-01] [ 4.06615515e-03 2.03207067e-05 9.99991733e-01 -4.60480963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.680281693 meters 0.01757011252393941 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.14, Z:-0.04 [[ 9.99864892e-01 1.64053830e-02 -1.02992969e-03 8.20452318e+00] [-1.64053814e-02 9.99865423e-01 1.00483267e-05 -1.43016287e-01] [ 1.02995593e-03 6.84942026e-06 9.99999470e-01 -3.87274051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.740281693 meters 0.0196090584281581 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.13, Z:-0.04 [[ 9.99817224e-01 1.91031332e-02 -7.67602966e-04 8.26281138e+00] [-1.91031331e-02 9.99817518e-01 7.44981877e-06 -1.34439316e-01] [ 7.67605208e-04 7.21516451e-06 9.99999705e-01 -3.89672499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.800281692999999 meters 0.018622188177146726 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.13, Z:-0.04 [[ 9.99831245e-01 1.82274433e-02 -2.28967764e-03 8.32296291e+00] [-1.82274402e-02 9.99833866e-01 2.22078664e-05 -1.34010235e-01] [ 2.28970204e-03 1.95308436e-05 9.99997378e-01 -4.14464827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.860281693 meters 0.020660192722343314 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.12, Z:-0.05 [[ 9.99803833e-01 1.91712813e-02 -4.97567802e-03 8.38201455e+00] [-1.91712792e-02 9.99816213e-01 4.81244974e-05 -1.23988111e-01] [ 4.97568616e-03 4.72750555e-05 9.99987620e-01 -4.73463376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.920281693 meters 0.021212185032101937 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.11, Z:-0.04 [[ 9.99766165e-01 2.13340516e-02 -3.53180726e-03 8.44041400e+00] [-2.13340648e-02 9.99772402e-01 3.39440942e-05 -1.13973976e-01] [ 3.53172759e-03 4.14116480e-05 9.99993763e-01 -4.25800002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.980281692999998 meters 0.021584718864242187 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.11, Z:-0.04 [[ 9.99757153e-01 2.16639182e-02 -4.03842392e-03 8.49915168e+00] [-2.16639388e-02 9.99765309e-01 3.86348510e-05 -1.07939324e-01] [ 4.03831312e-03 4.88627000e-05 9.99991845e-01 -4.48910958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.040281692999999 meters 0.02127638005718585 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.11, Z:-0.05 [[ 9.99775589e-01 2.06512471e-02 -4.72202447e-03 8.55697606e+00] [-2.06512654e-02 9.99786739e-01 4.48893655e-05 -1.08802259e-01] [ 4.72194447e-03 5.26364889e-05 9.99988850e-01 -4.73163005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.100281693 meters 0.01928955620490677 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.11, Z:-0.05 [[ 9.99827721e-01 1.76985130e-02 -5.59380874e-03 8.61603881e+00] [-1.76984938e-02 9.99843368e-01 5.29369905e-05 -1.11022486e-01] [ 5.59386947e-03 4.60741187e-05 9.99984353e-01 -4.87488300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.160281693 meters 0.016213603686269996 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.12, Z:-0.04 [[ 9.99908820e-01 1.32446495e-02 -2.63264593e-03 8.67459981e+00] [-1.32446302e-02 9.99912286e-01 2.47873940e-05 -1.17129142e-01] [ 2.63274331e-03 1.00832879e-05 9.99996534e-01 -4.19032403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.220281692999999 meters 0.015945901152713698 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.13, Z:-0.05 [[ 9.99969176e-01 7.03263633e-03 -3.49121743e-03 8.73438046e+00] [-7.03256465e-03 9.99975271e-01 3.28066105e-05 -1.27364439e-01] [ 3.49136181e-03 -8.25338696e-06 9.99993905e-01 -4.51389004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.280281693 meters 0.017726363716732845 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.14, Z:-0.04 [[ 9.99995091e-01 2.14727666e-03 -2.28210577e-03 8.79410942e+00] [-2.14723344e-03 9.99997694e-01 2.13902221e-05 -1.38832095e-01] [ 2.28214644e-03 -1.64899033e-05 9.99997396e-01 -4.29604779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.340281693 meters 0.021252757238819284 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.15, Z:-0.04 [[ 9.99997555e-01 -1.70412444e-03 -1.40890836e-03 8.85260008e+00] [ 1.70414467e-03 9.99998548e-01 1.31597195e-05 -1.53962621e-01] [ 1.40888389e-03 -1.55606710e-05 9.99999007e-01 -4.08658072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.400281692999998 meters 0.022217148697713095 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.16, Z:-0.04 [[ 9.99991107e-01 -3.44142508e-03 -2.43759574e-03 8.91257200e+00] [ 3.44149077e-03 9.99994078e-01 2.27546158e-05 -1.60502297e-01] [ 2.43750299e-03 -3.11433767e-05 9.99997029e-01 -4.29673042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.460281692999999 meters 0.02000407669472473 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.16, Z:-0.04 [[ 9.99997489e-01 -1.50434599e-03 -1.66120599e-03 8.97257742e+00] [ 1.50437376e-03 9.99998868e-01 1.54641287e-05 -1.62795060e-01] [ 1.66118085e-03 -1.79631645e-05 9.99998620e-01 -4.17455499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.520281693 meters 0.017999914684649326 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.17, Z:-0.04 [[ 9.99998607e-01 1.62529768e-03 3.79822449e-04 9.03241181e+00] [-1.62529645e-03 9.99998679e-01 -3.53775780e-06 -1.65663729e-01] [-3.79827697e-04 2.92042880e-06 9.99999928e-01 -3.78102551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.580281693 meters 0.017126806299078506 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.17, Z:-0.04 [[ 9.99994634e-01 3.26392580e-03 -2.81809075e-04 9.09247465e+00] [-3.26392518e-03 9.99994673e-01 2.62636336e-06 -1.67677432e-01] [ 2.81816146e-04 -1.70654552e-06 9.99999960e-01 -3.90974012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.640281692999999 meters 0.01656378365176662 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.17, Z:-0.04 [[ 9.99984140e-01 4.72706996e-03 -3.06165148e-03 9.15323672e+00] [-4.72700475e-03 9.99988827e-01 2.85335355e-05 -1.72587169e-01] [ 3.06175215e-03 -1.40606419e-05 9.99995313e-01 -4.41028976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.700281692999999 meters 0.015679460698095674 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.17, Z:-0.04 [[ 9.99943274e-01 1.03985647e-02 -2.30625172e-03 9.21210682e+00] [-1.03985430e-02 9.99945933e-01 2.14015609e-05 -1.69050736e-01] [ 2.30634958e-03 2.58131074e-06 9.99997340e-01 -4.17272758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.760281693 meters 0.01861708349107123 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.16, Z:-0.04 [[ 9.99838147e-01 1.78908365e-02 -1.89673611e-03 9.27129297e+00] [-1.78908355e-02 9.99839946e-01 1.75327777e-05 -1.58153599e-01] [ 1.89674620e-03 1.64042536e-05 9.99998201e-01 -4.18102742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.820281693 meters 0.026988004117198622 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.14, Z:-0.04 [[ 9.99674358e-01 2.54793501e-02 -1.40727334e-03 9.33037640e+00] [-2.54793571e-02 9.99675348e-01 1.29562080e-05 -1.40320334e-01] [ 1.40714658e-03 2.29044312e-05 9.99999010e-01 -4.29493009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.880281692999999 meters 0.024673219332017098 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.14, Z:-0.05 [[ 9.99686123e-01 2.47974509e-02 -3.56951333e-03 9.39004501e+00] [-2.47974918e-02 9.99692494e-01 3.28033247e-05 -1.39394249e-01] [ 3.56922912e-03 5.57219490e-05 9.99993629e-01 -4.64091148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.940281693 meters 0.022878153294842683 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.14, Z:-0.05 [[ 9.99748729e-01 2.20319859e-02 -4.13170208e-03 9.44908692e+00] [-2.20320173e-02 9.99757265e-01 3.79098611e-05 -1.37809245e-01] [ 4.13153440e-03 5.31293963e-05 9.99991464e-01 -4.74332229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.000281693 meters 0.019868948246103982 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.13, Z:-0.04 [[ 9.99834245e-01 1.81423038e-02 -1.52937857e-03 9.50776887e+00] [-1.81423036e-02 9.99835415e-01 1.39717595e-05 -1.33383877e-01] [ 1.52938034e-03 1.37770069e-05 9.99998830e-01 -4.31917384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.060281692999999 meters 0.01665502057596237 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.14, Z:-0.04 [[ 9.99907703e-01 1.35860410e-02 7.50197785e-05 9.56752419e+00] [-1.35860410e-02 9.99907705e-01 -6.92015794e-07 -1.35203890e-01] [-7.50222564e-05 -3.27269865e-07 9.99999997e-01 -4.04567274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.120281692999999 meters 0.016933438664486974 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.15, Z:-0.04 [[ 9.99991314e-01 4.09611910e-03 7.71169859e-04 9.62833979e+00] [-4.09611489e-03 9.99991611e-01 -7.03353207e-06 -1.45312045e-01] [-7.71192199e-04 3.87467063e-06 9.99999703e-01 -4.03847242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.180281693 meters 0.02335112060829389 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.16, Z:-0.04 [[ 9.99987075e-01 -4.03169516e-03 3.09774475e-03 9.68868157e+00] [ 4.03180212e-03 9.99991872e-01 -2.82837421e-05 -1.58539353e-01] [-3.09760554e-03 4.07728703e-05 9.99995202e-01 -3.65745277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.240281693 meters 0.02586002108466769 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.16, Z:-0.04 [[ 9.99984391e-01 -5.33636265e-03 1.65562462e-03 9.74986443e+00] [ 5.33639506e-03 9.99985761e-01 -1.51607135e-05 -1.62726822e-01] [-1.65552014e-03 2.39955439e-05 9.99998629e-01 -3.89723294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.300281692999999 meters 0.021821208294269527 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.15, Z:-0.04 [[ 9.99994453e-01 -3.32062746e-03 2.59597709e-04 9.81120620e+00] [ 3.32062819e-03 9.99994487e-01 -2.37697678e-06 -1.53257526e-01] [-2.59588385e-04 3.23899106e-06 9.99999966e-01 -4.09189654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.360281693 meters 0.02063797164061731 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.15, Z:-0.04 [[ 9.99997799e-01 -1.37761468e-03 1.58230092e-03 9.87139534e+00] [ 1.37763948e-03 9.99999051e-01 -1.45854631e-05 -1.50938558e-01] [-1.58227932e-03 1.67652712e-05 9.99998748e-01 -3.93270747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.420281693 meters 0.01940470087887199 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.15, Z:-0.03 [[ 9.99987190e-01 -6.92874341e-04 5.01402853e-03 9.93304642e+00] [ 6.93115556e-04 9.99999759e-01 -4.63704159e-05 -1.48899665e-01] [-5.01399519e-03 4.98451230e-05 9.99987429e-01 -3.44186170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.480281692999998 meters 0.018856357695970185 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.15, Z:-0.03 [[ 9.99989866e-01 1.04673841e-03 4.37858189e-03 9.99389234e+00] [-1.04657050e-03 9.99999452e-01 -4.06385562e-05 -1.50253662e-01] [-4.37862203e-03 3.60556497e-05 9.99990413e-01 -3.49930956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.540281692999999 meters 0.01645216328003636 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.14, Z:-0.04 [[ 9.99983519e-01 5.49781741e-03 1.65407079e-03 1.00552573e+01] [-5.49779948e-03 9.99984887e-01 -1.53871212e-05 -1.44977301e-01] [-1.65413039e-03 6.29311809e-06 9.99998632e-01 -4.03518657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.600281693 meters 0.015852584440192476 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.14, Z:-0.04 [[ 9.99947170e-01 1.00142860e-02 2.31763353e-03 1.01154989e+01] [-1.00142627e-02 9.99949856e-01 -2.16479450e-05 -1.40634845e-01] [-2.31773410e-03 -1.56258959e-06 9.99997314e-01 -3.85741183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.660281693 meters 0.018566727636483264 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.13, Z:-0.04 [[ 9.99844085e-01 1.72467093e-02 3.78912462e-03 1.01758168e+01] [-1.72466989e-02 9.99851264e-01 -3.54143922e-05 -1.30917369e-01] [-3.78917182e-03 -2.99410209e-05 9.99992821e-01 -3.68056587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.720281692999999 meters 0.023767466459185742 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.12, Z:-0.04 [[ 9.99701575e-01 2.43310646e-02 2.18166610e-03 1.02369347e+01] [-2.43310779e-02 9.99703955e-01 -2.04587790e-05 -1.21748931e-01] [-2.18151801e-03 -3.26296141e-05 9.99997620e-01 -4.07719696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.780281693 meters 0.025002709682675057 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.12, Z:-0.04 [[ 9.99635623e-01 2.68798437e-02 2.46878765e-03 1.02974087e+01] [-2.68798684e-02 9.99638671e-01 -2.31658138e-05 -1.18604199e-01] [-2.46851829e-03 -4.32033145e-05 9.99996952e-01 -4.01720628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.840281693 meters 0.0281459128366817 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.11, Z:-0.04 [[ 9.99566905e-01 2.91685380e-02 3.89866400e-03 1.03570736e+01] [-2.91686172e-02 9.99574505e-01 -3.65403320e-05 -1.14047520e-01] [-3.89807096e-03 -7.71941313e-05 9.99992400e-01 -3.73379184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.900281692999998 meters 0.03286734810048097 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.10, Z:-0.04 [[ 9.99406279e-01 3.42000302e-02 4.17699272e-03 1.04173461e+01] [-3.42001653e-02 9.99415002e-01 -3.90996824e-05 -1.04810344e-01] [-4.17588640e-03 -1.03777373e-04 9.99991276e-01 -3.69360142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.960281692999999 meters 0.03375982804338651 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.10, Z:-0.04 [[ 9.99348944e-01 3.57345350e-02 4.97306215e-03 1.04768487e+01] [-3.57347461e-02 9.99361309e-01 -4.64368947e-05 -1.02774963e-01] [-4.97154530e-03 -1.31304452e-04 9.99987633e-01 -3.62799940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.020281693 meters 0.03354440223934441 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.10, Z:-0.04 [[ 9.99392735e-01 3.45535022e-02 4.49635421e-03 1.05359261e+01] [-3.45536633e-02 9.99402843e-01 -4.18810358e-05 -1.01112805e-01] [-4.49511632e-03 -1.13509906e-04 9.99989890e-01 -3.85990062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.080281693 meters 0.030277172688523098 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.11, Z:-0.05 [[ 9.99529588e-01 3.06554133e-02 9.20713505e-04 1.05967134e+01] [-3.06554184e-02 9.99530012e-01 -8.58092560e-06 -1.08975088e-01] [-9.20543833e-04 -1.96479686e-05 9.99999576e-01 -4.62378269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.140281693000002 meters 0.026164158388583325 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.12, Z:-0.04 [[ 9.99650710e-01 2.64039369e-02 1.13545204e-03 1.06568986e+01] [-2.64039419e-02 9.99651355e-01 -1.05780615e-05 -1.16708289e-01] [-1.13533548e-03 -1.94060432e-05 9.99999355e-01 -4.49946104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.200281693 meters 0.027235034571145792 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.11, Z:-0.04 [[ 9.99639954e-01 2.66792464e-02 2.86025139e-03 1.07151395e+01] [-2.66792795e-02 9.99644044e-01 -2.65752278e-05 -1.14157352e-01] [-2.85994228e-03 -4.97437869e-05 9.99995909e-01 -4.19448300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.260281693 meters 0.028089724575870594 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.11, Z:-0.05 [[ 9.99611261e-01 2.78691679e-02 -7.97928925e-04 1.07749655e+01] [-2.78691709e-02 9.99611579e-01 7.38510596e-06 -1.10620451e-01] [ 7.97824809e-04 1.48553825e-05 9.99999682e-01 -4.82534680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.320281693000002 meters 0.026751783681909152 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.11, Z:-0.05 [[ 9.99642902e-01 2.67218425e-02 -1.11474988e-04 1.08335394e+01] [-2.67218425e-02 9.99642908e-01 1.01168060e-06 -1.12450953e-01] [ 1.11462215e-04 1.96749775e-06 9.99999994e-01 -4.69347006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.380281693 meters 0.020345551606576664 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.12, Z:-0.04 [[ 9.99805666e-01 1.93692664e-02 3.66906532e-03 1.08930108e+01] [-1.93692730e-02 9.99812397e-01 -3.37480160e-05 -1.22374101e-01] [-3.66903067e-03 -3.73256703e-05 9.99993268e-01 -4.05754028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.440281693 meters 0.017680934360456084 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.13, Z:-0.04 [[ 9.99890827e-01 1.43593619e-02 3.48462312e-03 1.09530474e+01] [-1.43593373e-02 9.99896899e-01 -3.20797043e-05 -1.26381223e-01] [-3.48472449e-03 -1.79606767e-05 9.99993928e-01 -4.01796331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.500281693 meters 0.01726040217296219 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.13, Z:-0.04 [[ 9.99900138e-01 1.34498007e-02 4.33784613e-03 1.10147171e+01] [-1.34497536e-02 9.99909547e-01 -4.00313169e-05 -1.25469425e-01] [-4.33799217e-03 -1.83156421e-05 9.99990591e-01 -3.89522269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.560281693 meters 0.016826658194563842 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.13, Z:-0.04 [[ 9.99925653e-01 1.17877066e-02 3.12075639e-03 1.10754191e+01] [-1.17876728e-02 9.99930523e-01 -2.92156831e-05 -1.27651786e-01] [-3.12088395e-03 -7.57294419e-06 9.99995130e-01 -4.08431019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.620281693000003 meters 0.016518933641475983 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.13, Z:-0.04 [[ 9.99954520e-01 8.59326684e-03 4.13693056e-03 1.11355822e+01] [-8.59317969e-03 9.99963077e-01 -3.88392192e-05 -1.34437367e-01] [-4.13711157e-03 3.28806509e-06 9.99991442e-01 -4.01208036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.680281693 meters 0.017027188114568097 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.14, Z:-0.04 [[ 9.99975940e-01 5.85906595e-03 3.71357052e-03 1.11975638e+01] [-5.85897488e-03 9.99982835e-01 -3.54024662e-05 -1.40208285e-01] [-3.71371421e-03 1.36438980e-05 9.99993104e-01 -3.98457963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.740281693 meters 0.01729295566502973 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.14, Z:-0.04 [[ 9.99981558e-01 4.95882465e-03 3.50623784e-03 1.12597325e+01] [-4.95873596e-03 9.99987705e-01 -3.39878223e-05 -1.43604211e-01] [-3.50636327e-03 1.66006878e-05 9.99993853e-01 -3.96254340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.800281693000002 meters 0.01772073955552417 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.15, Z:-0.04 [[ 9.99980398e-01 4.44959719e-03 4.40517706e-03 1.13215508e+01] [-4.44944902e-03 9.99990100e-01 -4.34346129e-05 -1.47819072e-01] [-4.40532672e-03 2.38331507e-05 9.99990296e-01 -3.81827129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.860281693 meters 0.018173386143668417 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.15, Z:-0.04 [[ 9.99987822e-01 3.69485681e-03 3.27158896e-03 1.13831173e+01] [-3.69476926e-03 9.99993174e-01 -3.28056647e-05 -1.52056235e-01] [-3.27168784e-03 2.07174989e-05 9.99994648e-01 -4.01558304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.920281693 meters 0.016772761348730014 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.14, Z:-0.04 [[ 9.99967132e-01 8.05246826e-03 9.44634362e-04 1.14440500e+01] [-8.05246287e-03 9.99967578e-01 -9.50313944e-06 -1.44225764e-01] [-9.44680259e-04 1.89619396e-06 9.99999554e-01 -4.40665904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.980281693000002 meters 0.0173642849791611 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.14, Z:-0.05 [[ 9.99899686e-01 1.41514448e-02 -5.94890495e-04 1.15043026e+01] [-1.41514438e-02 9.99899863e-01 5.98961716e-06 -1.35020037e-01] [ 5.94915687e-04 2.42954307e-06 9.99999823e-01 -4.70286642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.040281693 meters 0.016980050071928335 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.14, Z:-0.04 [[ 9.99931072e-01 1.15440316e-02 2.14156890e-03 1.15629915e+01] [-1.15440120e-02 9.99933365e-01 -2.14986548e-05 -1.42022286e-01] [-2.14167438e-03 -3.22512417e-06 9.99997707e-01 -4.28174719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.100281693 meters 0.024360375225145843 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.15, Z:-0.04 [[ 9.99971429e-01 7.54962810e-03 3.79425809e-04 1.16233534e+01] [-7.54962720e-03 9.99971501e-01 -3.80678989e-06 -1.53949615e-01] [-3.79443736e-04 9.42157722e-07 9.99999928e-01 -4.07047967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.160281693 meters 0.017650722108199214 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.16, Z:-0.05 [[ 9.99982106e-01 5.97620451e-03 2.68282900e-04 1.16830330e+01] [-5.97620400e-03 9.99982142e-01 -2.69260932e-06 -1.60606147e-01] [-2.68294200e-04 1.08924780e-06 9.99999964e-01 -4.72783579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.220281693 meters 0.01780392125741064 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.17, Z:-0.04 [[ 9.99987490e-01 4.67927453e-03 1.76769102e-03 1.17435615e+01] [-4.67925053e-03 9.99989052e-01 -1.77142466e-05 -1.71672765e-01] [-1.76775456e-03 9.44255584e-06 9.99998437e-01 -4.36283233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.280281693000003 meters 0.01744207075945171 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.18, Z:-0.05 [[ 9.99973165e-01 7.32425525e-03 1.55691105e-04 1.18041438e+01] [-7.32425510e-03 9.99973177e-01 -1.55206707e-06 -1.77830051e-01] [-1.55698296e-04 4.11704054e-07 9.99999988e-01 -4.59408084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.340281693 meters 0.017592794786516232 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.17, Z:-0.05 [[ 9.99921863e-01 1.24979909e-02 2.62069804e-04 1.18648803e+01] [-1.24979906e-02 9.99921897e-01 -2.63746193e-06 -1.74292309e-01] [-2.62082298e-04 -6.38090094e-07 9.99999966e-01 -4.57114481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.400281693 meters 0.02107612803113174 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.16, Z:-0.04 [[ 9.99781816e-01 2.06947390e-02 2.83692020e-03 1.19249565e+01] [-2.06947413e-02 9.99785841e-01 -2.85328093e-05 -1.64572980e-01] [-2.83690312e-03 -3.01827458e-05 9.99995976e-01 -4.14949545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.460281693000002 meters 0.022679765592405213 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.17, Z:-0.04 [[ 9.99733505e-01 2.29414256e-02 2.57080431e-03 1.19852007e+01] [-2.29414349e-02 9.99736810e-01 -2.58540585e-05 -1.65561515e-01] [-2.57072083e-03 -3.31307712e-05 9.99996695e-01 -4.32142122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.520281693 meters 0.022210475664513167 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.17, Z:-0.05 [[ 9.99761785e-01 2.18197475e-02 5.21495961e-04 1.20450255e+01] [-2.18197477e-02 9.99761921e-01 -5.24666384e-06 -1.72442895e-01] [-5.21486285e-04 -6.13349630e-06 9.99999864e-01 -4.65112934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.580281693 meters 0.022511851671960098 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.18, Z:-0.05 [[ 9.99762346e-01 2.17717295e-02 -1.11540473e-03 1.21057369e+01] [-2.17717305e-02 9.99762968e-01 1.12306105e-05 -1.75265021e-01] [ 1.11538485e-03 1.30563497e-05 9.99999378e-01 -4.97779194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.640281693000002 meters 0.02412507870826616 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.17, Z:-0.04 [[ 9.99709511e-01 2.40692265e-02 1.25108342e-03 1.21653829e+01] [-2.40692296e-02 9.99710294e-01 -1.25755813e-05 -1.72990779e-01] [-1.25102365e-03 -1.75406857e-05 9.99999217e-01 -4.47086476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.700281693 meters 0.03134416682697556 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.16, Z:-0.05 [[ 9.99507471e-01 3.12365316e-02 -3.01584257e-03 1.22243886e+01] [-3.12365822e-02 9.99512018e-01 3.03152731e-05 -1.57687627e-01] [ 3.01531784e-03 6.39042725e-05 9.99995452e-01 -5.30377538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.760281693 meters 0.03331975891747542 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.15, Z:-0.05 [[ 9.99443004e-01 3.32803985e-02 -2.46900831e-03 1.22832691e+01] [-3.32804390e-02 9.99446052e-01 2.46878716e-05 -1.51746266e-01] [ 2.46846223e-03 5.74955599e-05 9.99996952e-01 -5.15823854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.820281693000002 meters 0.03142441098661158 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.15, Z:-0.05 [[ 9.99466230e-01 3.26671171e-02 3.37685531e-04 1.23422915e+01] [-3.26671178e-02 9.99466287e-01 -3.37908559e-06 -1.47172896e-01] [-3.37615689e-04 -7.65393108e-06 9.99999943e-01 -4.52860519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.880281693 meters 0.03343497945325984 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.14, Z:-0.05 [[ 9.99467908e-01 3.26164155e-02 2.63929157e-04 1.24007705e+01] [-3.26164160e-02 9.99467943e-01 -2.63116510e-06 -1.41742243e-01] [-2.63874551e-04 -5.97865810e-06 9.99999965e-01 -4.56433380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.940281693 meters 0.03361164780651925 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.13, Z:-0.04 [[ 9.99394847e-01 3.47672161e-02 1.08623694e-03 1.24600960e+01] [-3.47672250e-02 9.99395437e-01 -1.07556134e-05 -1.30290403e-01] [-1.08595418e-03 -2.70163394e-05 9.99999410e-01 -4.35698941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.000281693 meters 0.03603118076809826 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.12, Z:-0.04 [[ 9.99412430e-01 3.42706154e-02 5.64992263e-04 1.25181165e+01] [-3.42706178e-02 9.99412590e-01 -5.57609637e-06 -1.16377158e-01] [-5.64851477e-04 -1.37898139e-05 9.99999840e-01 -4.36118670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.060281693 meters 0.02966327857021688 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.12, Z:-0.05 [[ 9.99528224e-01 3.07129012e-02 -2.18342923e-04 1.25783974e+01] [-3.07129015e-02 9.99528248e-01 2.14057340e-06 -1.21677571e-01] [ 2.18305662e-04 4.56638114e-06 9.99999976e-01 -4.51971548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.120281693000003 meters 0.02792673954939375 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.12, Z:-0.04 [[ 9.99660061e-01 2.60112245e-02 1.78273107e-03 1.26370900e+01] [-2.60112347e-02 9.99661650e-01 -1.74602639e-05 -1.15898039e-01] [-1.78258204e-03 -2.89167078e-05 9.99998411e-01 -4.12897827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.180281693 meters 0.02551274391847436 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.11, Z:-0.04 [[ 9.99682535e-01 2.49062815e-02 3.80874637e-03 1.26972433e+01] [-2.49063207e-02 9.99689789e-01 -3.71541191e-05 -1.12980733e-01] [-3.80849023e-03 -5.77195346e-05 9.99992746e-01 -3.91558682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.240281693 meters 0.01957597730225026 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.12, Z:-0.05 [[ 9.99866919e-01 1.62998328e-02 -6.78284771e-04 1.27581084e+01] [-1.62998321e-02 9.99867149e-01 6.62614949e-06 -1.23387098e-01] [ 6.78302665e-04 4.43066017e-06 9.99999770e-01 -4.88174506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.300281693000002 meters 0.01798340903628715 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.14, Z:-0.05 [[ 9.99969557e-01 7.76968065e-03 -7.19173323e-04 1.28172448e+01] [-7.76967760e-03 9.99969816e-01 7.03936366e-06 -1.37529823e-01] [ 7.19206309e-04 -1.45140451e-06 9.99999741e-01 -4.86689880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.360281693 meters 0.020474926266076315 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.15, Z:-0.05 [[ 9.99996682e-01 1.89159218e-03 -1.74862595e-03 1.28767673e+01] [-1.89156516e-03 9.99998211e-01 1.71094165e-05 -1.49082030e-01] [ 1.74865519e-03 -1.38017198e-05 9.99998471e-01 -4.89030760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.420281693 meters 0.020435999282208062 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.15, Z:-0.05 [[ 9.99987877e-01 2.50282137e-03 -4.24055893e-03 1.29356150e+01] [-2.50266857e-03 9.99996867e-01 4.13384343e-05 -1.45286805e-01] [ 4.24064911e-03 -3.07252196e-05 9.99991008e-01 -5.34293035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.480281693000002 meters 0.019719230048066173 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.14, Z:-0.05 [[ 9.99980981e-01 3.94227462e-03 -4.74303027e-03 1.29947728e+01] [-3.94210330e-03 9.99992229e-01 4.54673705e-05 -1.42269905e-01] [ 4.74317266e-03 -2.67689905e-05 9.99988751e-01 -5.48685280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.540281693 meters 0.01984332382586896 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.15, Z:-0.05 [[ 9.99993088e-01 2.23016632e-03 -2.97509956e-03 1.30533666e+01] [-2.23009171e-03 9.99997513e-01 2.83956078e-05 -1.47799027e-01] [ 2.97515549e-03 -2.17606667e-05 9.99995574e-01 -5.15488394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.600281693 meters 0.022218120652469305 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.16, Z:-0.05 [[ 9.99996568e-01 -2.01292376e-03 -1.67691741e-03 1.31122489e+01] [ 2.01295332e-03 9.99997974e-01 1.59434279e-05 -1.56245221e-01] [ 1.67688192e-03 -1.93189296e-05 9.99998594e-01 -4.84280705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.660281693 meters 0.023313224301251382 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.16, Z:-0.05 [[ 9.99998161e-01 -1.35219490e-03 -1.36011525e-03 1.31716919e+01] [ 1.35221372e-03 9.99999086e-01 1.29216608e-05 -1.58631545e-01] [ 1.36009653e-03 -1.47608035e-05 9.99999075e-01 -4.80085677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.720281693 meters 0.020106625414418305 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.15, Z:-0.05 [[ 9.99998787e-01 1.55725450e-03 -6.12234780e-06 1.32312997e+01] [-1.55725450e-03 9.99998787e-01 5.00250932e-08 -1.50665256e-01] [ 6.12241828e-06 -4.04909786e-08 1.00000000e+00 -4.53575965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.780281693 meters 0.02008384558476299 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.15, Z:-0.04 [[ 9.99995420e-01 2.02696309e-03 2.24753087e-03 1.32912937e+01] [-2.02692032e-03 9.99997946e-01 -2.13068914e-05 -1.51172481e-01] [-2.24756944e-03 1.67512278e-05 9.99997474e-01 -4.15249556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.840281693 meters 0.020679440413327164 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.15, Z:-0.04 [[ 9.99999126e-01 6.91100967e-04 1.12744435e-03 1.33527651e+01] [-6.91089335e-04 9.99999761e-01 -1.07068480e-05 -1.50547638e-01] [-1.12745148e-03 9.92767385e-06 9.99999364e-01 -4.45220833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.900281693 meters 0.02106689937826449 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.15, Z:-0.05 [[ 9.99999500e-01 4.46605164e-05 -9.98909247e-04 1.34134517e+01] [-4.46510399e-05 9.99999999e-01 9.50914031e-06 -1.53802261e-01] [ 9.98909670e-04 -9.46453322e-06 9.99999501e-01 -4.78137879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.960281693000002 meters 0.021167670114724695 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.15, Z:-0.05 [[ 9.99996948e-01 2.52722318e-04 -2.45766617e-03 1.34731949e+01] [-2.52665767e-04 9.99999968e-01 2.33205332e-05 -1.54721288e-01] [ 2.45767199e-03 -2.26994939e-05 9.99996980e-01 -5.11339085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.020281693 meters 0.020543102880489644 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.16, Z:-0.05 [[ 9.99995295e-01 1.65555272e-03 -2.58250804e-03 1.35317712e+01] [-1.65549519e-03 9.99998629e-01 2.44122211e-05 -1.57480322e-01] [ 2.58254491e-03 -2.01367766e-05 9.99996665e-01 -5.15741026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.080281693 meters 0.020115823184386664 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.16, Z:-0.05 [[ 9.99994685e-01 2.59134313e-03 -1.97886395e-03 1.35910324e+01] [-2.59131191e-03 9.99996642e-01 1.83420405e-05 -1.57615320e-01] [ 1.97890484e-03 -1.32140893e-05 9.99998042e-01 -5.04908175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.140281693000002 meters 0.019378648374703128 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.16, Z:-0.05 [[ 9.99984108e-01 5.08811720e-03 -2.42789564e-03 1.36504118e+01] [-5.08807755e-03 9.99987055e-01 2.25085256e-05 -1.58800475e-01] [ 2.42797874e-03 -1.01548466e-05 9.99997052e-01 -5.19050090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.200281693 meters 0.018601212663339396 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.15, Z:-0.05 [[ 9.99950842e-01 9.60463529e-03 -2.46274952e-03 1.37088537e+01] [-9.60460840e-03 9.99953874e-01 2.27436854e-05 -1.54435791e-01] [ 2.46285437e-03 9.11177326e-07 9.99996967e-01 -5.12507642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.260281693 meters 0.020034823658840156 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.15, Z:-0.05 [[ 9.99887580e-01 1.47119784e-02 -2.89574670e-03 1.37672027e+01] [-1.47119631e-02 9.99891773e-01 2.65763555e-05 -1.46716226e-01] [ 2.89582429e-03 1.60287508e-05 9.99995807e-01 -5.23863849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.320281693000002 meters 0.020681373974903036 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.14, Z:-0.06 [[ 9.99866712e-01 1.58489694e-02 -3.92024375e-03 1.38264458e+01] [-1.58489508e-02 9.99874397e-01 3.58135542e-05 -1.44490665e-01] [ 3.92031896e-03 2.63229696e-05 9.99992315e-01 -5.50299711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.380281693 meters 0.019075959613511308 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.15, Z:-0.05 [[ 9.99920777e-01 1.23396980e-02 -2.48433865e-03 1.38854636e+01] [-1.23396799e-02 9.99923863e-01 2.25765386e-05 -1.51655891e-01] [ 2.48442809e-03 8.08119375e-06 9.99996914e-01 -5.01159108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.440281693 meters 0.018837333385483247 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.16, Z:-0.05 [[ 9.99944179e-01 1.00718042e-02 -3.19323041e-03 1.39440296e+01] [-1.00717632e-02 9.99949278e-01 2.89198074e-05 -1.56318361e-01] [ 3.19335971e-03 3.24326734e-06 9.99994901e-01 -5.17700513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.500281693 meters 0.019115358171071673 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.15, Z:-0.05 [[ 9.99917577e-01 1.27122148e-02 -1.79983534e-03 1.40033716e+01] [-1.27122062e-02 9.99919197e-01 1.62095195e-05 -1.53235377e-01] [ 1.79989597e-03 6.67169454e-06 9.99998380e-01 -4.90636476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.560281693 meters 0.021583318977413016 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.14, Z:-0.05 [[ 9.99832949e-01 1.82762873e-02 2.28168477e-04 1.40624950e+01] [-1.82762873e-02 9.99832975e-01 -2.06228404e-06 -1.43596100e-01] [-2.28168058e-04 -2.10813310e-06 9.99999974e-01 -4.57105785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.620281693000003 meters 0.028216517185181433 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.13, Z:-0.05 [[ 9.99670521e-01 2.56635029e-02 4.82880533e-04 1.41211246e+01] [-2.56635038e-02 9.99670638e-01 -4.32625253e-06 -1.27916449e-01] [-4.82832517e-04 -8.06757925e-06 9.99999883e-01 -4.54408527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.680281693 meters 0.034931319354267694 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.11, Z:-0.05 [[ 9.99453625e-01 3.30452793e-02 -6.78495417e-04 1.41812332e+01] [-3.30452828e-02 9.99453855e-01 6.04599918e-06 -1.13279759e-01] [ 6.78324652e-04 1.63783771e-05 9.99999770e-01 -4.69439099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.740281693 meters 0.03832194159648758 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.11, Z:-0.05 [[ 9.99367756e-01 3.55532693e-02 -2.31445162e-04 1.42402757e+01] [-3.55532698e-02 9.99367783e-01 2.04472206e-06 -1.06451636e-01] [ 2.31371535e-04 6.18520301e-06 9.99999973e-01 -4.65987584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.800281693000002 meters 0.04520573249595848 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.09, Z:-0.05 [[ 9.99210537e-01 3.96977311e-02 -1.54717382e-03 1.42996783e+01] [-3.96977574e-02 9.99211733e-01 1.37044865e-05 -8.93797785e-02] [ 1.54649827e-03 4.77256636e-05 9.99998803e-01 -5.21250743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.860281693 meters 0.04055509068728426 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.09, Z:-0.05 [[ 9.99260461e-01 3.83248808e-02 -3.12003125e-03 1.43588468e+01] [-3.83249816e-02 9.99265328e-01 2.74935970e-05 -9.00307490e-02] [ 3.11879274e-03 9.21018759e-05 9.99995132e-01 -5.43295793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.920281693 meters 0.0363720621967792 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.09, Z:-0.05 [[ 9.99432879e-01 3.35738679e-02 -2.59135961e-03 1.44176233e+01] [-3.35739216e-02 9.99436237e-01 2.27814226e-05 -9.02199383e-02] [ 2.59066356e-03 6.42336016e-05 9.99996642e-01 -5.41368261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.980281693000002 meters 0.032310869683755135 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.09, Z:-0.05 [[ 9.99547413e-01 2.98970748e-02 -3.33669132e-03 1.44775662e+01] [-2.98971434e-02 9.99552980e-01 2.93023178e-05 -9.43281573e-02] [ 3.33607581e-03 7.04684831e-05 9.99994433e-01 -5.48941241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.040281693 meters 0.028289443692423397 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.10, Z:-0.05 [[ 9.99665092e-01 2.57443996e-02 -2.63227130e-03 1.45372021e+01] [-2.57444281e-02 9.99668557e-01 2.30523822e-05 -9.86385714e-02] [ 2.63199233e-03 4.47216576e-05 9.99996535e-01 -5.35619828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.100281693 meters 0.024582106138360846 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.10, Z:-0.05 [[ 9.99768064e-01 2.14172755e-02 -2.26251991e-03 1.45955070e+01] [-2.14172857e-02 9.99770623e-01 1.97342739e-05 -1.02852400e-01] [ 2.26242360e-03 2.87273385e-05 9.99997440e-01 -5.24180653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.160281693 meters 0.02235702747299639 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.10, Z:-0.05 [[ 9.99823449e-01 1.84670457e-02 -3.46984045e-03 1.46545613e+01] [-1.84670524e-02 9.99829469e-01 3.01147077e-05 -1.04538810e-01] [ 3.46980487e-03 3.39683346e-05 9.99993980e-01 -5.38269587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.220281693 meters 0.01873428057513442 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.11, Z:-0.05 [[ 9.99914132e-01 1.30351366e-02 1.34693788e-03 1.47135288e+01] [-1.30351328e-02 9.99915039e-01 -1.16486497e-05 -1.13160665e-01] [-1.34697528e-03 -5.90986466e-06 9.99999093e-01 -4.50171617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.280281693 meters 0.01815792723097279 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.13, Z:-0.04 [[ 9.99970895e-01 6.99538449e-03 3.04517710e-03 1.47726512e+01] [-6.99533673e-03 9.99975532e-01 -2.63327927e-05 -1.26586015e-01] [-3.04528680e-03 5.02998709e-06 9.99995363e-01 -4.26301047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.340281693 meters 0.02073317538585171 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.14, Z:-0.05 [[ 9.99999221e-01 1.09010263e-03 6.08715007e-04 1.48342041e+01] [-1.09009963e-03 9.99999406e-01 -5.27019599e-06 -1.43421015e-01] [-6.08720390e-04 4.60663188e-06 9.99999815e-01 -4.67547021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.400281693 meters 0.020441054674756213 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.15, Z:-0.05 [[ 9.99997944e-01 2.74001936e-04 -2.00924446e-03 1.48950004e+01] [-2.73967488e-04 9.99999962e-01 1.74198138e-05 -1.45827945e-01] [ 2.00924916e-03 -1.68693103e-05 9.99997981e-01 -5.13091858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.460281693000002 meters 0.018840695287632055 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.14, Z:-0.05 [[ 9.99988923e-01 4.31268242e-03 -1.88559375e-03 1.49549183e+01] [-4.31265936e-03 9.99990700e-01 1.62969543e-05 -1.44672301e-01] [ 1.88564649e-03 -8.16485022e-06 9.99998222e-01 -5.07384565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.520281693 meters 0.01822375210950683 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.14, Z:-0.05 [[ 9.99954029e-01 9.12788820e-03 -2.93622147e-03 1.50139752e+01] [-9.12785458e-03 9.99958340e-01 2.48535802e-05 -1.39019030e-01] [ 2.93632600e-03 1.94896485e-06 9.99995689e-01 -5.29487924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.580281693 meters 0.018718446800973794 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.13, Z:-0.05 [[ 9.99918747e-01 1.24215883e-02 -2.86429349e-03 1.50717568e+01] [-1.24215701e-02 9.99922849e-01 2.41148850e-05 -1.32837723e-01] [ 2.86437205e-03 1.14660969e-05 9.99995898e-01 -5.32412890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.640281693000002 meters 0.02078341322217587 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.12, Z:-0.05 [[ 9.99854406e-01 1.67795431e-02 -3.10061825e-03 1.51310603e+01] [-1.67795433e-02 9.99859213e-01 2.59682369e-05 -1.21035522e-01] [ 3.10061746e-03 2.60625020e-05 9.99995193e-01 -5.23234780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.700281693 meters 0.02153293780240071 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.12, Z:-0.05 [[ 9.99836035e-01 1.78606443e-02 -2.98348798e-03 1.51896757e+01] [-1.78606496e-02 9.99840486e-01 2.48510871e-05 -1.15930158e-01] [ 2.98345592e-03 2.84400211e-05 9.99995549e-01 -5.32682202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.760281693 meters 0.020384826544402972 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.12, Z:-0.05 [[ 9.99869268e-01 1.59100677e-02 -2.88396430e-03 1.52475262e+01] [-1.59100651e-02 9.99873427e-01 2.38487373e-05 -1.17903660e-01] [ 2.88397870e-03 2.20384402e-05 9.99995841e-01 -5.33863314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.820281693000002 meters 0.01828759201103351 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.13, Z:-0.06 [[ 9.99945263e-01 9.84822075e-03 -3.53309794e-03 1.53066398e+01] [-9.84817951e-03 9.99951505e-01 2.90692284e-05 -1.25971720e-01] [ 3.53321288e-03 5.72694549e-06 9.99993758e-01 -5.61600429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.880281693 meters 0.01820398682158526 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.14, Z:-0.05 [[ 9.99980597e-01 5.76916709e-03 -2.34987278e-03 1.53647993e+01] [-5.76913791e-03 9.99983358e-01 1.91956891e-05 -1.35018520e-01] [ 2.34994442e-03 -5.63857652e-06 9.99997239e-01 -5.36775102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.940281693 meters 0.018335302692430253 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.13, Z:-0.06 [[ 9.99969305e-01 6.83471293e-03 -3.83088564e-03 1.54233084e+01] [-6.83464378e-03 9.99976643e-01 3.11419800e-05 -1.32127396e-01] [ 3.83100901e-03 -4.95828540e-06 9.99992662e-01 -5.59672530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.000281693 meters 0.018001100200410184 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.13, Z:-0.06 [[ 9.99967663e-01 7.38831235e-03 -3.17588822e-03 1.54818378e+01] [-7.38826809e-03 9.99972706e-01 2.56688079e-05 -1.32901312e-01] [ 3.17599119e-03 -2.20366427e-06 9.99994957e-01 -5.56440408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.060281693 meters 0.01801024380607917 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.13, Z:-0.05 [[ 9.99953302e-01 9.44079287e-03 -2.06535492e-03 1.55392489e+01] [-9.44077879e-03 9.99955435e-01 1.65662307e-05 -1.33444780e-01] [ 2.06541927e-03 2.93310184e-06 9.99997867e-01 -5.37168629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.120281693 meters 0.01845121691409285 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.13, Z:-0.05 [[ 9.99931262e-01 1.16402708e-02 -1.40542652e-03 1.55981564e+01] [-1.16402666e-02 9.99932250e-01 1.12074401e-05 -1.32668234e-01] [ 1.40546176e-03 5.15286952e-06 9.99999012e-01 -5.12095556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.180281693 meters 0.0198604090137551 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.13, Z:-0.05 [[ 9.99885900e-01 1.50560527e-02 -1.22558631e-03 1.56569206e+01] [-1.50560521e-02 9.99886651e-01 9.71671137e-06 -1.30021520e-01] [ 1.22559369e-03 8.73688860e-06 9.99999249e-01 -5.03279613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.240281693 meters 0.02447641926363217 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.12, Z:-0.05 [[ 9.99771011e-01 2.13599429e-02 -1.29577643e-03 1.57168017e+01] [-2.13599475e-02 9.99771850e-01 1.02531026e-05 -1.20169084e-01] [ 1.29569981e-03 1.74269618e-05 9.99999160e-01 -5.02936830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.300281693000002 meters 0.026547587731591948 Centerline is valid? [True, True] Translation: X:15.78, Y:-0.12, Z:-0.05 [[ 9.99686224e-01 2.50266560e-02 -1.05805068e-03 1.57766737e+01] [-2.50266612e-02 9.99686784e-01 8.34558843e-06 -1.17318929e-01] [ 1.05792814e-03 1.81365060e-05 9.99999440e-01 -5.09450250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.360281693 meters 0.027654841817377436 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.11, Z:-0.05 [[ 9.99677095e-01 2.53450016e-02 -1.82640434e-03 1.58340611e+01] [-2.53450177e-02 9.99678763e-01 1.42946149e-05 -1.13745050e-01] [ 1.82617993e-03 3.20002514e-05 9.99998332e-01 -5.16706008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.420281693 meters 0.0316608923520486 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.10, Z:-0.05 [[ 9.99623539e-01 2.74257885e-02 -7.79319695e-04 1.58920288e+01] [-2.74257921e-02 9.99623842e-01 6.04447209e-06 -1.03987810e-01] [ 7.79192323e-04 1.53312634e-05 9.99999696e-01 -4.89828682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.480281693000002 meters 0.029829939358769788 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.10, Z:-0.05 [[ 9.99673832e-01 2.55381978e-02 1.72320769e-04 1.59495195e+01] [-2.55381979e-02 9.99673847e-01 -1.35008555e-06 -1.00540266e-01] [-1.72299045e-04 -3.05111670e-06 9.99999985e-01 -4.76248587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.540281693 meters 0.027105171717800604 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.10, Z:-0.05 [[ 9.99739746e-01 2.28097698e-02 3.93215554e-04 1.60088878e+01] [-2.28097704e-02 9.99739823e-01 -3.03716673e-06 -1.01931074e-01] [-3.93182526e-04 -5.93278021e-06 9.99999923e-01 -4.62186137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.600281693 meters 0.022284327411275753 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.11, Z:-0.05 [[ 9.99791821e-01 2.03952387e-02 -5.91513925e-04 1.60684160e+01] [-2.03952396e-02 9.99791995e-01 4.52999127e-06 -1.06325573e-01] [ 5.91483277e-04 7.53502002e-06 9.99999825e-01 -4.88397194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.660281693 meters 0.0198325608816198 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.11, Z:-0.05 [[ 9.99870546e-01 1.60752215e-02 -6.92320602e-04 1.61270734e+01] [-1.60752217e-02 9.99870785e-01 5.27509325e-06 -1.07498038e-01] [ 6.92315943e-04 5.85479680e-06 9.99999760e-01 -4.90041405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.720281693 meters 0.0185026260892947 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.11, Z:-0.05 [[ 9.99908968e-01 1.34659033e-02 -8.52099838e-04 1.61869076e+01] [-1.34659027e-02 9.99909331e-01 6.47950866e-06 -1.11249412e-01] [ 8.52109831e-04 4.99537467e-06 9.99999637e-01 -4.91883466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.780281693 meters 0.01801943297749552 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.13, Z:-0.05 [[ 9.99991474e-01 3.97040965e-03 -1.13447203e-03 1.62454847e+01] [-3.97040245e-03 9.99992118e-01 8.59894831e-06 -1.28580250e-01] [ 1.13449723e-03 -4.09456447e-06 9.99999356e-01 -5.23717345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.840281693 meters 0.021207982284695222 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.14, Z:-0.05 [[ 9.99994449e-01 -3.27900336e-03 -5.92220069e-04 1.63061831e+01] [ 3.27900659e-03 9.99994624e-01 4.49353918e-06 -1.40444899e-01] [ 5.92202151e-04 -6.43540774e-06 9.99999825e-01 -5.07803848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.900281693 meters 0.026426368886136052 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.16, Z:-0.06 [[ 9.99980818e-01 -5.73601088e-03 -2.33715524e-03 1.63658959e+01] [ 5.73606799e-03 9.99983548e-01 1.77334393e-05 -1.55057739e-01] [ 2.33701507e-03 -3.11391804e-05 9.99997269e-01 -5.59281777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.960281693000002 meters 0.021806626592744134 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.15, Z:-0.06 [[ 9.99983328e-01 -4.70658891e-03 -3.34546803e-03 1.64255655e+01] [ 4.70669987e-03 9.99988923e-01 2.52967158e-05 -1.50130509e-01] [ 3.34531191e-03 -4.10424080e-05 9.99994404e-01 -5.56077260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.020281693 meters 0.019088023164377247 Centerline is valid? [True, True] Translation: X:16.48, Y:-0.15, Z:-0.06 [[ 9.99990933e-01 1.42602008e-03 -4.01260967e-03 1.64847878e+01] [-1.42591018e-03 9.99998983e-01 3.02487673e-05 -1.48198251e-01] [ 4.01264872e-03 -2.45268721e-05 9.99991949e-01 -5.70730094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.080281693 meters 0.017708616796143238 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.14, Z:-0.06 [[ 9.99965103e-01 6.85195416e-03 -4.77944557e-03 1.65439436e+01] [-6.85186407e-03 9.99976525e-01 3.52220436e-05 -1.41069492e-01] [ 4.77957471e-03 -2.47270305e-06 9.99988578e-01 -5.75060058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.140281693000002 meters 0.01933332513033626 Centerline is valid? [True, True] Translation: X:16.60, Y:-0.13, Z:-0.06 [[ 9.99896667e-01 1.36071663e-02 -4.63693763e-03 1.66026477e+01] [-1.36071575e-02 9.99907418e-01 3.34346579e-05 -1.31974390e-01] [ 4.63696328e-03 2.96643378e-05 9.99989249e-01 -5.77928176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.200281693 meters 0.022098209041384504 Centerline is valid? [True, True] Translation: X:16.66, Y:-0.12, Z:-0.05 [[ 9.99814904e-01 1.90584901e-02 -2.63295463e-03 1.66618081e+01] [-1.90585065e-02 9.99818370e-01 1.88771998e-05 -1.24088114e-01] [ 2.63283618e-03 3.13064773e-05 9.99996534e-01 -5.36417743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.260281693 meters 0.02496625473568851 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.12, Z:-0.05 [[ 9.99757534e-01 2.19666716e-02 -1.52941061e-03 1.67192098e+01] [-2.19666807e-02 9.99758703e-01 1.08447086e-05 -1.15836037e-01] [ 1.52927979e-03 2.27539955e-05 9.99998830e-01 -5.15453693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.320281693000002 meters 0.02631992359018192 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.11, Z:-0.05 [[ 9.99696299e-01 2.46433846e-02 -1.13824566e-04 1.67778268e+01] [-2.46433847e-02 9.99696306e-01 7.87280197e-07 -1.08879751e-01] [ 1.13809399e-04 2.01798147e-06 9.99999994e-01 -4.94041231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.380281693 meters 0.024616595620750963 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.10, Z:-0.05 [[ 9.99744544e-01 2.25570090e-02 1.42393115e-03 1.68365863e+01] [-2.25570177e-02 9.99745558e-01 -1.00013690e-05 -1.04922907e-01] [-1.42379444e-03 -2.21208260e-05 9.99998986e-01 -4.72272986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.440281693 meters 0.021687368603416836 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.11, Z:-0.05 [[ 9.99838561e-01 1.79334777e-02 1.11426325e-03 1.68957098e+01] [-1.79334801e-02 9.99839182e-01 -7.79568758e-06 -1.09021154e-01] [-1.11422386e-03 -1.21881889e-05 9.99999379e-01 -4.84500495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.500281693 meters 0.017741200279979517 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.12, Z:-0.05 [[ 9.99949249e-01 1.00278546e-02 9.70212540e-04 1.69552246e+01] [-1.00278527e-02 9.99949720e-01 -6.76565525e-06 -1.21408347e-01] [-9.70231602e-04 -2.96383656e-06 9.99999529e-01 -4.98969619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.560281693 meters 0.01769296788669427 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.13, Z:-0.05 [[ 9.99989837e-01 4.48180490e-03 4.89335336e-04 1.70147072e+01] [-4.48180377e-03 9.99989957e-01 -3.40635515e-06 -1.29875497e-01] [-4.89345688e-04 1.21321558e-06 9.99999880e-01 -5.10500694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.620281693 meters 0.0181055957824283 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.13, Z:-0.05 [[ 9.99994156e-01 3.12434048e-03 -1.38824427e-03 1.70756691e+01] [-3.12433009e-03 9.99995119e-01 9.65208047e-06 -1.32360051e-01] [ 1.38826765e-03 -5.31469071e-06 9.99999036e-01 -5.40247449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.680281693 meters 0.0181985955251248 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.13, Z:-0.06 [[ 9.99986426e-01 4.08039472e-03 -3.24018146e-03 1.71340186e+01] [-4.08034354e-03 9.99991675e-01 2.24039250e-05 -1.32472707e-01] [ 3.24024590e-03 -9.18256735e-06 9.99994750e-01 -5.69708298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.740281693 meters 0.01772247571976829 Centerline is valid? [True, True] Translation: X:17.19, Y:-0.13, Z:-0.05 [[ 9.99981971e-01 5.90064997e-03 -1.11383536e-03 1.71927574e+01] [-5.90064513e-03 9.99982591e-01 7.63666300e-06 -1.29002076e-01] [ 1.11386103e-03 -1.06417813e-06 9.99999380e-01 -5.34579583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.800281693000002 meters 0.01779786843707933 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.13, Z:-0.05 [[ 9.99971628e-01 7.45398855e-03 -1.08712137e-03 1.72512497e+01] [-7.45398489e-03 9.99972219e-01 7.41921568e-06 -1.27013029e-01] [ 1.08714647e-03 6.84381110e-07 9.99999409e-01 -5.36513410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.860281693 meters 0.018138464240995158 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.13, Z:-0.06 [[ 9.99963962e-01 8.09101143e-03 -2.57102725e-03 1.73100286e+01] [-8.09099319e-03 9.99967267e-01 1.74952498e-05 -1.25033198e-01] [ 2.57108465e-03 3.30754466e-06 9.99996695e-01 -5.69694322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.920281693 meters 0.018039968220607886 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.13, Z:-0.06 [[ 9.99983616e-01 5.34124216e-03 -2.05906094e-03 1.73684464e+01] [-5.34122483e-03 9.99985735e-01 1.39114074e-05 -1.29720415e-01] [ 2.05910587e-03 -2.91327209e-06 9.99997880e-01 -5.66276726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.980281693000002 meters 0.018301287648435173 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.13, Z:-0.06 [[ 9.99991308e-01 3.42601930e-03 -2.37613294e-03 1.74276661e+01] [-3.42599109e-03 9.99994131e-01 1.59455688e-05 -1.32346945e-01] [ 2.37617362e-03 -7.80481990e-06 9.99997177e-01 -5.64681237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.040281693 meters 0.018653248770642023 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.13, Z:-0.06 [[ 9.99995104e-01 1.79720996e-03 -2.56176939e-03 1.74860374e+01] [-1.79717212e-03 9.99998385e-01 1.70707641e-05 -1.33579124e-01] [ 2.56179593e-03 -1.24667400e-05 9.99996719e-01 -5.60463088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.100281693 meters 0.019061980076954747 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.14, Z:-0.05 [[ 9.99999948e-01 1.59665691e-04 2.81967183e-04 1.75444237e+01] [-1.59665167e-04 9.99999987e-01 -1.88296522e-06 -1.35481322e-01] [-2.81967480e-04 1.83794478e-06 9.99999960e-01 -5.17733259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.160281693 meters 0.02241146230999118 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.15, Z:-0.05 [[ 9.99985217e-01 -5.40656914e-03 -5.79366718e-04 1.76048250e+01] [ 5.40657228e-03 9.99985384e-01 3.84408282e-06 -1.45533461e-01] [ 5.79337467e-04 -6.97641403e-06 9.99999832e-01 -5.35055098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.220281693 meters 0.026240852581742836 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.15, Z:-0.06 [[ 9.99948752e-01 -1.00496407e-02 -1.22420367e-03 1.76657748e+01] [ 1.00496582e-02 9.99949501e-01 8.14028470e-06 -1.53977639e-01] [ 1.22406004e-03 -2.04426959e-05 9.99999251e-01 -5.51850208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.280281693 meters 0.03306750529855261 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.17, Z:-0.06 [[ 9.99836560e-01 -1.79112353e-02 -2.45780399e-03 1.77265310e+01] [ 1.79113296e-02 9.99839579e-01 1.63418313e-05 -1.71999895e-01] [ 2.45711701e-03 -6.03616977e-05 9.99996979e-01 -5.74078457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.340281693 meters 0.038925473196653716 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.19, Z:-0.06 [[ 9.99750648e-01 -2.22051009e-02 -2.36136331e-03 1.77857786e+01] [ 2.22051997e-02 9.99753434e-01 1.56388192e-05 -1.86596588e-01] [ 2.36043381e-03 -6.80694634e-05 9.99997212e-01 -5.74575506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.400281693 meters 0.04459309385796376 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.21, Z:-0.06 [[ 9.99620409e-01 -2.74476997e-02 -2.37953141e-03 1.78458183e+01] [ 2.74478149e-02 9.99623238e-01 1.57558328e-05 -2.07794198e-01] [ 2.37820243e-03 -8.10627897e-05 9.99997169e-01 -5.91205477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.460281693000002 meters 0.04719243131699975 Centerline is valid? [True, True] Translation: X:17.90, Y:-0.22, Z:-0.06 [[ 9.99583924e-01 -2.86184741e-02 -3.60035124e-03 1.79046991e+01] [ 2.86187450e-02 9.99590400e-01 2.37136026e-05 -2.24263637e-01] [ 3.59819789e-03 -1.26741270e-04 9.99993518e-01 -5.96527317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.520281693 meters 0.0420634524119273 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.23, Z:-0.06 [[ 9.99702328e-01 -2.42396135e-02 -2.77427668e-03 1.79645611e+01] [ 2.42397574e-02 9.99706174e-01 1.82375520e-05 -2.30311410e-01] [ 2.77301945e-03 -8.54799168e-05 9.99996152e-01 -5.73665911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.580281693 meters 0.038843417963078365 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.23, Z:-0.05 [[ 9.99772141e-01 -2.13143214e-02 -1.16900136e-03 1.80249271e+01] [ 2.13143450e-02 9.99772824e-01 7.67035861e-06 -2.29370195e-01] [ 1.16857230e-03 -3.25851092e-05 9.99999317e-01 -5.44408863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.640281693000002 meters 0.030811786311404857 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.23, Z:-0.05 [[ 9.99912287e-01 -1.32376198e-02 -4.28236178e-04 1.80855218e+01] [ 1.32376222e-02 9.99912379e-01 2.80984556e-06 -2.27589299e-01] [ 4.28161459e-04 -8.47842784e-06 9.99999908e-01 -5.26081112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.700281693 meters 0.025665856361761996 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.22, Z:-0.06 [[ 9.99949881e-01 -9.48820271e-03 -3.19514147e-03 1.81465722e+01] [ 9.48831827e-03 9.99954985e-01 2.10102244e-05 -2.23573268e-01] [ 3.19479829e-03 -5.13256905e-05 9.99994895e-01 -5.66333017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.760281693 meters 0.021798864392067678 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.22, Z:-0.06 [[ 9.99980023e-01 -3.19116690e-03 -5.45623251e-03 1.82054197e+01] [ 3.19140904e-03 9.99994907e-01 3.56723142e-05 -2.20023610e-01] [ 5.45609089e-03 -5.30846714e-05 9.99985114e-01 -6.10953648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.820281693000002 meters 0.019153265708809472 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.21, Z:-0.06 [[ 9.99989725e-01 2.21096477e-03 -3.95744845e-03 1.82647098e+01] [-2.21088225e-03 9.99997556e-01 2.52264748e-05 -2.11044548e-01] [ 3.95749455e-03 -1.64767630e-05 9.99992169e-01 -5.76088851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.880281693 meters 0.01866662255314423 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.20, Z:-0.06 [[ 9.99957246e-01 8.55333805e-03 -3.51377857e-03 1.83222972e+01] [-8.55331277e-03 9.99963420e-01 2.22200274e-05 -1.96525061e-01] [ 3.51384009e-03 7.83536975e-06 9.99993826e-01 -5.63499677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.940281693 meters 0.019237008764117502 Centerline is valid? [True, True] Translation: X:18.38, Y:-0.19, Z:-0.06 [[ 9.99939464e-01 1.06189317e-02 -2.88202298e-03 1.83814533e+01] [-1.06189236e-02 9.99943617e-01 1.80959823e-05 -1.90018009e-01] [ 2.88205264e-03 1.25090951e-05 9.99995847e-01 -5.58233736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.000281693 meters 0.018593887644521054 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.18, Z:-0.05 [[ 9.99956015e-01 9.04875995e-03 -2.46752295e-03 1.84403942e+01] [-9.04874955e-03 9.99959059e-01 1.53788312e-05 -1.82775868e-01] [ 2.46756108e-03 6.94984243e-06 9.99996956e-01 -5.32782325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.060281693 meters 0.01853420549159521 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.18, Z:-0.05 [[ 9.99964548e-01 7.84825873e-03 -3.05075174e-03 1.84990359e+01] [-7.84823742e-03 9.99969202e-01 1.89563969e-05 -1.75103344e-01] [ 3.05080656e-03 4.98729916e-06 9.99995346e-01 -5.49611684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.120281693 meters 0.018606720465663654 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.17, Z:-0.06 [[ 9.99962666e-01 7.73980958e-03 -3.84212520e-03 1.85565508e+01] [-7.73977583e-03 9.99970047e-01 2.36513183e-05 -1.68766181e-01] [ 3.84219318e-03 6.08675255e-06 9.99992619e-01 -5.52621191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.180281693 meters 0.01855684514676859 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.17, Z:-0.05 [[ 9.99988871e-01 3.02584929e-03 -3.61959833e-03 1.86155581e+01] [-3.02578909e-03 9.99995422e-01 2.21081021e-05 -1.70983305e-01] [ 3.61964865e-03 -1.11557150e-05 9.99993449e-01 -5.41111034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.240281693 meters 0.02146995989218568 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.18, Z:-0.05 [[ 9.99991234e-01 -3.88560940e-03 -1.56032833e-03 1.86740224e+01] [ 3.88562890e-03 9.99992451e-01 9.46928161e-06 -1.80748943e-01] [ 1.56027975e-03 -1.55320554e-05 9.99998783e-01 -5.05471844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.300281693000002 meters 0.02479076492585565 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.19, Z:-0.05 [[ 9.99972008e-01 -7.10726393e-03 -2.33860143e-03 1.87331949e+01] [ 7.10731653e-03 9.99974743e-01 1.41812861e-05 -1.86660307e-01] [ 2.33844157e-03 -3.08020697e-05 9.99997265e-01 -5.33715274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.360281693 meters 0.02761112024973177 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.19, Z:-0.06 [[ 9.99913311e-01 -1.19538562e-02 -5.52047768e-03 1.87931428e+01] [ 1.19542228e-02 9.99928545e-01 3.34184904e-05 -1.93640920e-01] [ 5.51968373e-03 -9.94086137e-05 9.99984761e-01 -5.75866377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.420281693 meters 0.03080050894809714 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.20, Z:-0.05 [[ 9.99872357e-01 -1.56044813e-02 -3.43084795e-03 1.88521850e+01] [ 1.56046440e-02 9.99878240e-01 2.06427965e-05 -2.04570374e-01] [ 3.43010809e-03 -7.41773223e-05 9.99994114e-01 -5.39667740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.480281693000002 meters 0.031847835958633976 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.21, Z:-0.05 [[ 9.99827798e-01 -1.84004537e-02 -2.40792489e-03 1.89114466e+01] [ 1.84005417e-02 9.99830696e-01 1.43603477e-05 -2.11989165e-01] [ 2.40725298e-03 -5.86649969e-05 9.99997101e-01 -5.23509050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.540281693 meters 0.03235915692804109 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.21, Z:-0.06 [[ 9.99830140e-01 -1.78061937e-02 -4.75713256e-03 1.89708334e+01] [ 1.78065303e-02 9.99841451e-01 2.84223806e-05 -2.13887974e-01] [ 4.75587223e-03 -1.13125578e-04 9.99988684e-01 -5.66531699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.600281693 meters 0.0294289348591231 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.22, Z:-0.05 [[ 9.99871848e-01 -1.55931006e-02 -3.62543508e-03 1.90299530e+01] [ 1.55932809e-02 9.99878417e-01 2.14739988e-05 -2.17365612e-01] [ 3.62465945e-03 -7.80036745e-05 9.99993428e-01 -5.35574514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.660281693 meters 0.026480554925332245 Centerline is valid? [True, True] Translation: X:19.09, Y:-0.22, Z:-0.05 [[ 9.99919077e-01 -1.23053445e-02 -3.22764403e-03 1.90893344e+01] [ 1.23054686e-02 9.99924285e-01 1.85842803e-05 -2.18813531e-01] [ 3.22717096e-03 -5.83004486e-05 9.99994791e-01 -5.35595430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.720281693 meters 0.02419469407352179 Centerline is valid? [True, True] Translation: X:19.15, Y:-0.22, Z:-0.06 [[ 9.99959008e-01 -7.65993287e-03 -4.82790488e-03 1.91484949e+01] [ 7.66015615e-03 9.99970660e-01 2.77565343e-05 -2.18548988e-01] [ 4.82755062e-03 -6.47379017e-05 9.99988345e-01 -5.60912581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.780281693 meters 0.019593795846319803 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.21, Z:-0.06 [[ 9.99980046e-01 6.64844344e-04 -6.28208900e-03 1.92071692e+01] [-6.64632442e-04 9.99999778e-01 3.58188281e-05 -2.08124442e-01] [ 6.28211143e-03 -3.16428332e-05 9.99980267e-01 -5.75420061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.840281693 meters 0.01899527863177108 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.20, Z:-0.06 [[ 9.99953691e-01 8.29194715e-03 -4.88470721e-03 1.92664588e+01] [-8.29191418e-03 9.99965621e-01 2.70015597e-05 -1.98932239e-01] [ 4.88476318e-03 1.35032638e-05 9.99988069e-01 -5.50130653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.900281693 meters 0.019326647945234258 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.20, Z:-0.06 [[ 9.99945839e-01 8.61308382e-03 -5.84239181e-03 1.93238456e+01] [-8.61304385e-03 9.99962907e-01 3.20027308e-05 -2.00922527e-01] [ 5.84245074e-03 1.83197793e-05 9.99982933e-01 -5.70923676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.960281693000002 meters 0.019372363329644492 Centerline is valid? [True, True] Translation: X:19.38, Y:-0.20, Z:-0.06 [[ 9.99948098e-01 7.26169938e-03 -7.14625106e-03 1.93828992e+01] [-7.26160737e-03 9.99973633e-01 3.88229980e-05 -2.03414044e-01] [ 7.14634455e-03 1.30722863e-05 9.99974464e-01 -5.98556688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.020281693 meters 0.0196630637775486 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.20, Z:-0.06 [[ 9.99935243e-01 8.99044180e-03 -6.97721859e-03 1.94419733e+01] [-8.99039840e-03 9.99959585e-01 3.75850021e-05 -2.01336239e-01] [ 6.97727451e-03 2.51454066e-05 9.99975658e-01 -5.85018081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.080281693 meters 0.020279785842946995 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.20, Z:-0.06 [[ 9.99911346e-01 1.15886051e-02 -6.55774048e-03 1.95008242e+01] [-1.15886247e-02 9.99932849e-01 3.50156054e-05 -1.97458165e-01] [ 6.55770590e-03 4.09826919e-05 9.99978497e-01 -5.74087935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.140281693000002 meters 0.020013871565540884 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.20, Z:-0.06 [[ 9.99923157e-01 1.04150020e-02 -6.72361829e-03 1.95599400e+01] [-1.04149981e-02 9.99945762e-01 3.55880297e-05 -1.98808933e-01] [ 6.72362427e-03 3.44411769e-05 9.99977396e-01 -5.87378192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.200281693 meters 0.019622092100750697 Centerline is valid? [True, True] Translation: X:19.62, Y:-0.21, Z:-0.06 [[ 9.99937667e-01 7.55861953e-03 -8.21768575e-03 1.96178980e+01] [-7.55852121e-03 9.99971433e-01 4.30226456e-05 -2.05015262e-01] [ 8.21777619e-03 1.90935881e-05 9.99966233e-01 -6.28864630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.260281693 meters 0.019529996572892647 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.21, Z:-0.06 [[ 9.99963802e-01 2.93387638e-03 -7.98667193e-03 1.96771154e+01] [-2.93363888e-03 9.99995696e-01 4.14527773e-05 -2.13572602e-01] [ 7.98675917e-03 -1.80212656e-05 9.99968105e-01 -6.06674411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.320281693000002 meters 0.019431673592942702 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.22, Z:-0.05 [[ 9.99990441e-01 2.52129394e-04 -4.36516954e-03 1.97363972e+01] [-2.52033580e-04 9.99999968e-01 2.24996169e-05 -2.16917618e-01] [ 4.36517508e-03 -2.13992325e-05 9.99990472e-01 -5.23852333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.380281693 meters 0.020209686523684208 Centerline is valid? [True, True] Translation: X:19.80, Y:-0.22, Z:-0.05 [[ 9.99993207e-01 -2.02422820e-03 -3.08042196e-03 1.97956440e+01] [ 2.02428625e-03 9.99997951e-01 1.57270231e-05 -2.18658956e-01] [ 3.08038381e-03 -2.19625721e-05 9.99995255e-01 -5.12981085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.440281693 meters 0.02236057358583419 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.22, Z:-0.05 [[ 9.99982319e-01 -4.94091492e-03 -3.30891220e-03 1.98545554e+01] [ 4.94099751e-03 9.99987793e-01 1.67851971e-05 -2.24636256e-01] [ 3.30878887e-03 -3.31342273e-05 9.99994525e-01 -5.16253115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.500281693 meters 0.02233198255497931 Centerline is valid? [True, True] Translation: X:19.91, Y:-0.22, Z:-0.05 [[ 9.99974471e-01 -5.81285830e-03 -4.15547996e-03 1.99133629e+01] [ 5.81299314e-03 9.99983104e-01 2.03707046e-05 -2.22583221e-01] [ 4.15529134e-03 -4.45259611e-05 9.99991366e-01 -5.20156686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.560281693 meters 0.022577214124319425 Centerline is valid? [True, True] Translation: X:19.97, Y:-0.22, Z:-0.06 [[ 9.99971111e-01 -4.46743218e-03 -6.14970424e-03 1.99716791e+01] [ 4.46770028e-03 9.99990019e-01 2.98592576e-05 -2.18220285e-01] [ 6.14950946e-03 -5.73334304e-05 9.99981090e-01 -5.71000251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.620281693 meters 0.020588065786565052 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.21, Z:-0.06 [[ 9.99968099e-01 -2.16438812e-03 -7.68874415e-03 2.00306740e+01] [ 2.16472925e-03 9.99997656e-01 3.60453129e-05 -2.08173562e-01] [ 7.68864811e-03 -5.26882123e-05 9.99970441e-01 -5.85014373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.680281693 meters 0.020308886425180476 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.21, Z:-0.06 [[ 9.99976400e-01 -1.57968735e-03 -6.68605797e-03 2.00886655e+01] [ 1.57992861e-03 9.99998751e-01 3.08031836e-05 -2.05572987e-01] [ 6.68600096e-03 -4.13659510e-05 9.99977648e-01 -5.70077364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.740281693 meters 0.021194388190349165 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.21, Z:-0.05 [[ 9.99980031e-01 -4.51090137e-03 -4.42601085e-03 2.01471882e+01] [ 4.51103490e-03 9.99989825e-01 2.01874092e-05 -2.09916489e-01] [ 4.42587475e-03 -4.01528955e-05 9.99990205e-01 -5.27881446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.800281693000002 meters 0.0225091395029271 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.21, Z:-0.05 [[ 9.99967593e-01 -6.12663762e-03 -5.22277446e-03 2.02047007e+01] [ 6.12684315e-03 9.99981230e-01 2.33525492e-05 -2.14261807e-01] [ 5.22253336e-03 -5.53509123e-05 9.99986361e-01 -5.49028463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.860281693 meters 0.020988946545117515 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.21, Z:-0.05 [[ 9.99983886e-01 -4.05939955e-03 -3.96851618e-03 2.02639702e+01] [ 4.05950055e-03 9.99991760e-01 1.73958346e-05 -2.14308720e-01] [ 3.96841286e-03 -3.35057479e-05 9.99992125e-01 -5.16172876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.920281693 meters 0.020588186743427987 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.21, Z:-0.06 [[ 9.99973954e-01 -2.46768651e-03 -6.78248365e-03 2.03229010e+01] [ 2.46793741e-03 9.99996954e-01 2.86241809e-05 -2.12834041e-01] [ 6.78239235e-03 -4.53621805e-05 9.99976998e-01 -5.70060530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.980281693000002 meters 0.020712336632798912 Centerline is valid? [True, True] Translation: X:20.38, Y:-0.22, Z:-0.06 [[ 9.99963488e-01 -1.56404191e-03 -8.40102390e-03 2.03803357e+01] [ 1.56439133e-03 9.99998776e-01 3.50214321e-05 -2.15296455e-01] [ 8.40095884e-03 -4.81626423e-05 9.99964710e-01 -6.05287327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.040281693 meters 0.018672322297441 Centerline is valid? [True, True] Translation: X:20.44, Y:-0.21, Z:-0.05 [[ 9.99990272e-01 3.10293534e-03 -3.13496201e-03 2.04389052e+01] [-3.10291134e-03 9.99995186e-01 1.25184077e-05 -2.06419981e-01] [ 3.13498576e-03 -2.79077675e-06 9.99995086e-01 -4.93597958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.100281693 meters 0.019403943914961447 Centerline is valid? [True, True] Translation: X:20.50, Y:-0.19, Z:-0.05 [[ 9.99958506e-01 8.54630278e-03 -3.15399956e-03 2.04979201e+01] [-8.54630717e-03 9.99963480e-01 1.20836462e-05 -1.94729247e-01] [ 3.15398765e-03 1.48719043e-05 9.99995026e-01 -4.96423677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.160281693 meters 0.024288499743789695 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.18, Z:-0.06 [[ 9.99861242e-01 1.54637671e-02 -6.19422438e-03 2.05564262e+01] [-1.54639175e-02 9.99880426e-01 2.36165863e-05 -1.77195405e-01] [ 6.19384892e-03 7.21736652e-05 9.99980815e-01 -5.60228279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.220281693 meters 0.025807776208137585 Centerline is valid? [True, True] Translation: X:20.61, Y:-0.17, Z:-0.06 [[ 9.99832538e-01 1.71178835e-02 -6.47103943e-03 2.06149813e+01] [-1.71180842e-02 9.99853475e-01 2.43807476e-05 -1.69953205e-01] [ 6.47050860e-03 8.63951327e-05 9.99979062e-01 -5.66937537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.280281693 meters 0.022867423332238488 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.18, Z:-0.05 [[ 9.99878687e-01 1.44949686e-02 -5.70151000e-03 2.06734050e+01] [-1.44950832e-02 9.99894941e-01 2.12118015e-05 -1.75285799e-01] [ 5.70121847e-03 6.14346338e-05 9.99983746e-01 -5.41767450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.340281693 meters 0.020846709881922807 Centerline is valid? [True, True] Translation: X:20.73, Y:-0.18, Z:-0.06 [[ 9.99921349e-01 1.00037202e-02 -7.56453638e-03 2.07314430e+01] [-1.00037969e-02 9.99949960e-01 2.77004299e-05 -1.75398268e-01] [ 7.56443496e-03 4.79758347e-05 9.99971388e-01 -5.69794243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.400281693 meters 0.01952611881893875 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.17, Z:-0.05 [[ 9.99956558e-01 8.81285425e-03 -3.03559916e-03 2.07888850e+01] [-8.81286167e-03 9.99961166e-01 1.09347448e-05 -1.73599971e-01] [ 3.03557764e-03 1.58180457e-05 9.99995392e-01 -4.84062327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.460281693 meters 0.019266726713583062 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.17, Z:-0.05 [[ 9.99961077e-01 8.60112493e-03 -1.96618561e-03 2.08476379e+01] [-8.60112781e-03 9.99963010e-01 6.99285152e-06 -1.70292391e-01] [ 1.96617302e-03 9.91883436e-06 9.99998067e-01 -4.67277260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.520281693 meters 0.018208368389822375 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.17, Z:-0.05 [[ 9.99988426e-01 4.42432110e-03 -1.89045917e-03 2.09069805e+01] [-4.42431637e-03 9.99990213e-01 6.68539108e-06 -1.72069842e-01] [ 1.89047024e-03 1.67867574e-06 9.99998213e-01 -4.82057201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.580281693 meters 0.019870289183687044 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.18, Z:-0.05 [[ 9.99990250e-01 -2.86766772e-03 -3.35806564e-03 2.09659247e+01] [ 2.86772339e-03 9.99995888e-01 1.17603415e-05 -1.82871482e-01] [ 3.35801811e-03 -2.13902302e-05 9.99994362e-01 -5.13867951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.640281693000002 meters 0.02718728760960016 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.20, Z:-0.05 [[ 9.99890239e-01 -1.46089010e-02 -2.46783327e-03 2.10261207e+01] [ 1.46089668e-02 9.99893283e-01 8.61894086e-06 -2.01057149e-01] [ 2.46744399e-03 -4.46704890e-05 9.99996955e-01 -4.93772251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.700281693 meters 0.03238981412442616 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.22, Z:-0.05 [[ 9.99755319e-01 -2.18728937e-02 -3.29833329e-03 2.10865830e+01] [ 2.18730505e-02 9.99760756e-01 1.14836081e-05 -2.18847465e-01] [ 3.29729301e-03 -8.36254089e-05 9.99994560e-01 -5.15222450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.760281693 meters 0.033067576894128696 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.23, Z:-0.05 [[ 9.99779725e-01 -2.05371507e-02 -4.32755121e-03 2.11453104e+01] [ 2.05374075e-02 9.99789085e-01 1.49087141e-05 -2.28935949e-01] [ 4.32633228e-03 -1.03782113e-04 9.99990636e-01 -5.26615637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.820281693000002 meters 0.028287984983814733 Centerline is valid? [True, True] Translation: X:21.20, Y:-0.23, Z:-0.05 [[ 9.99865862e-01 -1.60577557e-02 -3.22592828e-03 2.12048301e+01] [ 1.60578748e-02 9.99871064e-01 1.10399433e-05 -2.31019520e-01] [ 3.22533506e-03 -6.28400149e-05 9.99994797e-01 -5.08840506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.880281693 meters 0.023248218577755542 Centerline is valid? [True, True] Translation: X:21.26, Y:-0.23, Z:-0.05 [[ 9.99949871e-01 -9.09110671e-03 -4.19612199e-03 2.12640189e+01] [ 9.09124661e-03 9.99958674e-01 1.42659713e-05 -2.30962483e-01] [ 4.19581889e-03 -5.24132360e-05 9.99991196e-01 -5.19967482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.940281693 meters 0.020540720121459393 Centerline is valid? [True, True] Translation: X:21.32, Y:-0.23, Z:-0.05 [[ 9.99975881e-01 -4.32650971e-03 -5.43303407e-03 2.13232154e+01] [ 4.32666929e-03 9.99990640e-01 1.76190875e-05 -2.29234591e-01] [ 5.43290699e-03 -4.11256042e-05 9.99985241e-01 -5.37936841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.000281693 meters 0.018162651995447008 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.22, Z:-0.05 [[ 9.99990466e-01 1.56910955e-03 -4.07491027e-03 2.13807625e+01] [-1.56906960e-03 9.99998769e-01 1.30019485e-05 -2.23723308e-01] [ 4.07492565e-03 -6.60800675e-06 9.99991697e-01 -5.11533221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.060281693 meters 0.01818691708917614 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.22, Z:-0.05 [[ 9.99983379e-01 5.13777467e-03 -2.61628146e-03 2.14392496e+01] [-5.13777128e-03 9.99986802e-01 8.01576869e-06 -2.21310283e-01] [ 2.61628811e-03 5.42622028e-06 9.99996577e-01 -4.94099419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.120281693 meters 0.018112064532005596 Centerline is valid? [True, True] Translation: X:21.50, Y:-0.22, Z:-0.05 [[ 9.99980065e-01 4.97297195e-03 -3.89095149e-03 2.14984039e+01] [-4.97296358e-03 9.99987635e-01 1.18257858e-05 -2.24175697e-01] [ 3.89096219e-03 7.52400998e-06 9.99992430e-01 -5.22792705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.180281693 meters 0.018872709447521757 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.23, Z:-0.06 [[ 9.99969422e-01 1.43414798e-03 -7.68750668e-03 2.15568612e+01] [-1.43401232e-03 9.99998972e-01 2.31599806e-05 -2.33569533e-01] [ 7.68753199e-03 -1.21352931e-05 9.99970450e-01 -6.01212526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.240281693 meters 0.018684506037267616 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.24, Z:-0.06 [[ 9.99979878e-01 1.23926357e-03 -6.22162868e-03 2.16151599e+01] [-1.23917274e-03 9.99999232e-01 1.84533859e-05 -2.39036480e-01] [ 6.22164677e-03 -1.07433420e-05 9.99980645e-01 -5.77956495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.300281693000002 meters 0.018390832355340458 Centerline is valid? [True, True] Translation: X:21.67, Y:-0.24, Z:-0.06 [[ 9.99979598e-01 2.67493626e-03 -5.80069803e-03 2.16735559e+01] [-2.67488785e-03 9.99996422e-01 1.61032842e-05 -2.36358810e-01] [ 5.80072035e-03 -5.86739001e-07 9.99983176e-01 -5.66288508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.360281693 meters 0.018769276639740835 Centerline is valid? [True, True] Translation: X:21.73, Y:-0.23, Z:-0.06 [[ 9.99966697e-01 5.07665710e-03 -6.38994954e-03 2.17320100e+01] [-5.07665384e-03 9.99987114e-01 1.67310899e-05 -2.34272818e-01] [ 6.38995213e-03 1.57090291e-05 9.99979584e-01 -5.76496216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.420281693 meters 0.018634740207663533 Centerline is valid? [True, True] Translation: X:21.79, Y:-0.23, Z:-0.05 [[ 9.99971415e-01 6.38049170e-03 -4.05690727e-03 2.17906237e+01] [-6.38050178e-03 9.99979644e-01 1.04575616e-05 -2.34188364e-01] [ 4.05689141e-03 1.54278414e-05 9.99991771e-01 -5.41110106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.480281693000002 meters 0.01778930346353256 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.24, Z:-0.05 [[ 9.99991748e-01 3.25857495e-03 -2.42619594e-03 2.18488416e+01] [-3.25856958e-03 9.99994691e-01 6.16987963e-06 -2.42041713e-01] [ 2.42620317e-03 1.73609958e-06 9.99997057e-01 -5.16843656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.540281693 meters 0.018475455300363017 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.25, Z:-0.05 [[ 9.99989965e-01 -1.81123319e-03 -4.09757922e-03 2.19080000e+01] [ 1.81129053e-03 9.99998360e-01 1.02821585e-05 -2.50147136e-01] [ 4.09755388e-03 -1.77039617e-05 9.99991605e-01 -5.35683125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.600281693 meters 0.01877749512741786 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.25, Z:-0.05 [[ 9.99988447e-01 -2.70780432e-03 -3.97161085e-03 2.19672359e+01] [ 2.70786249e-03 9.99996334e-01 9.26878937e-06 -2.53452954e-01] [ 3.97157119e-03 -2.00232583e-05 9.99992113e-01 -5.30812176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.660281693 meters 0.01807176460224462 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.25, Z:-0.05 [[ 9.99993284e-01 -5.69102754e-04 -3.62054024e-03 2.20258758e+01] [ 5.69134939e-04 9.99999838e-01 7.85921218e-06 -2.50760729e-01] [ 3.62053518e-03 -9.91973534e-06 9.99993446e-01 -5.23730741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.720281693 meters 0.01829908234682115 Centerline is valid? [True, True] Translation: X:22.08, Y:-0.24, Z:-0.05 [[ 9.99976441e-01 5.93737910e-03 -3.44464312e-03 2.20838780e+01] [-5.93738950e-03 9.99982374e-01 7.20554764e-06 -2.37382579e-01] [ 3.44462519e-03 1.32468100e-05 9.99994067e-01 -5.28513606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.780281693 meters 0.020405363908626156 Centerline is valid? [True, True] Translation: X:22.14, Y:-0.23, Z:-0.05 [[ 9.99941515e-01 1.05800654e-02 -2.24246511e-03 2.21428233e+01] [-1.05800824e-02 9.99944029e-01 4.29351218e-06 -2.27266166e-01] [ 2.24238503e-03 1.94322045e-05 9.99997486e-01 -4.92890434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.840281693 meters 0.026541339706873602 Centerline is valid? [True, True] Translation: X:22.20, Y:-0.21, Z:-0.05 [[ 9.99837906e-01 1.77682601e-02 -2.90690677e-03 2.22012888e+01] [-1.77683192e-02 9.99842131e-01 5.48984007e-06 -2.08499388e-01] [ 2.90654541e-03 4.61618973e-05 9.99995775e-01 -5.05504819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.900281693 meters 0.03378986132033904 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.19, Z:-0.05 [[ 9.99760384e-01 2.17945039e-02 -2.04298976e-03 2.22598873e+01] [-2.17945417e-02 9.99762471e-01 3.78917353e-06 -1.88755908e-01] [ 2.04258708e-03 4.07377599e-05 9.99997913e-01 -5.03301200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.960281693 meters 0.02996047050204339 Centerline is valid? [True, True] Translation: X:22.32, Y:-0.19, Z:-0.05 [[ 9.99765590e-01 2.16509885e-02 1.28508060e-05 2.23195859e+01] [-2.16509885e-02 9.99765590e-01 -3.14974057e-08 -1.88123474e-01] [-1.28484756e-05 -2.46742630e-07 1.00000000e+00 -4.61819407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.020281693 meters 0.0282071969592543 Centerline is valid? [True, True] Translation: X:22.38, Y:-0.19, Z:-0.05 [[ 9.99823602e-01 1.87478659e-02 -1.13262514e-03 2.23783038e+01] [-1.87478756e-02 9.99824243e-01 2.03127067e-06 -1.87659961e-01] [ 1.13246416e-03 1.92034030e-05 9.99999359e-01 -4.79080606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.080281693 meters 0.02663110214062267 Centerline is valid? [True, True] Translation: X:22.44, Y:-0.18, Z:-0.05 [[ 9.99831272e-01 1.82192177e-02 -2.34256345e-03 2.24366660e+01] [-1.82192581e-02 9.99834016e-01 4.10229512e-06 -1.83398626e-01] [ 2.34224936e-03 3.85781650e-05 9.99997256e-01 -5.07308462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.140281693000002 meters 0.026233735194060543 Centerline is valid? [True, True] Translation: X:22.50, Y:-0.18, Z:-0.05 [[ 9.99841344e-01 1.78123701e-02 7.96140621e-05 2.24955438e+01] [-1.78123701e-02 9.99841347e-01 -1.52083193e-07 -1.82490028e-01] [-7.96041400e-05 -1.26605608e-06 9.99999997e-01 -4.66820804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.200281693 meters 0.02406346875643755 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.18, Z:-0.05 [[ 9.99883209e-01 1.52583487e-02 -8.66618842e-04 2.25553721e+01] [-1.52583531e-02 9.99883585e-01 1.45653234e-06 -1.84441724e-01] [ 8.66540178e-04 1.17668141e-05 9.99999624e-01 -4.94214032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.260281693 meters 0.019493184940685533 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.20, Z:-0.05 [[ 9.99959847e-01 8.32109951e-03 -3.32610958e-03 2.26150746e+01] [-8.32112699e-03 9.99965379e-01 5.57911031e-06 -1.98084709e-01] [ 3.32604085e-03 2.20980939e-05 9.99994468e-01 -5.40203968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.320281693000002 meters 0.017265151597487403 Centerline is valid? [True, True] Translation: X:22.68, Y:-0.21, Z:-0.05 [[ 9.99994430e-01 3.27051292e-03 -6.66854042e-04 2.26750124e+01] [-3.27051292e-03 9.99994652e-01 1.09655549e-06 -2.05833327e-01] [ 6.66854062e-04 1.08440538e-06 9.99999778e-01 -4.79306842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.380281693 meters 0.016947436215263057 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.21, Z:-0.05 [[ 9.99998562e-01 1.33201455e-03 1.04957652e-03 2.27342107e+01] [-1.33201347e-03 9.99999113e-01 -1.73031361e-06 -2.10585854e-01] [-1.04957789e-03 3.32261066e-07 9.99999449e-01 -4.56935072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.440281693 meters 0.017199730474932905 Centerline is valid? [True, True] Translation: X:22.79, Y:-0.22, Z:-0.05 [[ 9.99999792e-01 -7.62691236e-05 6.39751123e-04 2.27944958e+01] [ 7.62698144e-05 9.99999997e-01 -1.05552421e-06 -2.16816646e-01] [-6.39751040e-04 1.10431769e-06 9.99999795e-01 -4.68055830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.500281693 meters 0.017248657399280106 Centerline is valid? [True, True] Translation: X:22.85, Y:-0.21, Z:-0.05 [[ 9.99998561e-01 1.68811535e-03 -1.68921519e-04 2.28546208e+01] [-1.68811532e-03 9.99998575e-01 2.79689187e-07 -2.14455042e-01] [ 1.68921751e-04 5.47022093e-09 9.99999986e-01 -4.75979455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.560281693 meters 0.018611324399371285 Centerline is valid? [True, True] Translation: X:22.91, Y:-0.21, Z:-0.05 [[ 9.99979050e-01 5.33625500e-03 -3.66396132e-03 2.29137642e+01] [-5.33626875e-03 9.99985762e-01 6.02410126e-06 -2.08900307e-01] [ 3.66394130e-03 1.35279073e-05 9.99993288e-01 -5.44013053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.620281693 meters 0.01985811158812523 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.20, Z:-0.05 [[ 9.99958944e-01 8.78936127e-03 -2.20389440e-03 2.29723896e+01] [-8.78937554e-03 9.99961373e-01 3.20992898e-06 -2.03764445e-01] [ 2.20383748e-03 1.61610583e-05 9.99997571e-01 -5.13015154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.680281693 meters 0.020892984151571693 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.20, Z:-0.05 [[ 9.99962214e-01 8.47459613e-03 -1.93700639e-03 2.30311244e+01] [-8.47460662e-03 9.99964090e-01 2.79128951e-06 -2.02657155e-01] [ 1.93696049e-03 1.36241831e-05 9.99998124e-01 -5.19720243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.740281693 meters 0.02097372340358997 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.20, Z:-0.05 [[ 9.99965788e-01 8.24109482e-03 -7.11570090e-04 2.30908115e+01] [-8.24109618e-03 9.99966042e-01 1.00773039e-06 -2.00882250e-01] [ 7.11554231e-04 4.85642164e-06 9.99999747e-01 -4.90054004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.800281693 meters 0.021465080145121964 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.20, Z:-0.05 [[ 9.99962615e-01 8.62654638e-03 -5.92030119e-04 2.31503346e+01] [-8.62654740e-03 9.99962791e-01 8.24867215e-07 -1.99328048e-01] [ 5.92015206e-04 4.28233951e-06 9.99999825e-01 -4.91691823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.860281693 meters 0.02224983788720044 Centerline is valid? [True, True] Translation: X:23.21, Y:-0.20, Z:-0.05 [[ 9.99941856e-01 1.01556827e-02 -3.62583841e-03 2.32100718e+01] [-1.01557313e-02 9.99948429e-01 5.00731324e-06 -1.97579011e-01] [ 3.62570228e-03 3.18160184e-05 9.99993427e-01 -5.46697085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.920281693 meters 0.02208404004821193 Centerline is valid? [True, True] Translation: X:23.27, Y:-0.20, Z:-0.05 [[ 9.99948891e-01 9.98979064e-03 -1.55524460e-03 2.32689124e+01] [-9.98979951e-03 9.99950101e-01 2.06565267e-06 -1.96199747e-01] [ 1.55518763e-03 1.34710347e-05 9.99998791e-01 -5.09020141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.980281693000002 meters 0.020202801981785465 Centerline is valid? [True, True] Translation: X:23.33, Y:-0.20, Z:-0.05 [[ 9.99975535e-01 6.81363788e-03 -1.58230277e-03 2.33281824e+01] [-6.81364313e-03 9.99976787e-01 2.07447455e-06 -1.98669554e-01] [ 1.58228018e-03 8.70682260e-06 9.99998748e-01 -5.12390204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.040281693 meters 0.019428350044463284 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.20, Z:-0.05 [[ 9.99988779e-01 4.53501073e-03 -1.36984119e-03 2.33878293e+01] [-4.53501257e-03 9.99989717e-01 1.76459932e-06 -2.02499979e-01] [ 1.36983510e-03 4.44766748e-06 9.99999062e-01 -5.13370654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.100281693 meters 0.01890725845616673 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.21, Z:-0.05 [[ 9.99996623e-01 2.48090279e-03 -7.74023202e-04 2.34471459e+01] [-2.48090278e-03 9.99996923e-01 9.76894156e-07 -2.08550265e-01] [ 7.74023243e-04 9.43385457e-07 9.99999700e-01 -5.01799534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.160281693 meters 0.018888825676036867 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.22, Z:-0.05 [[ 9.99997695e-01 2.75205842e-04 -2.12953651e-03 2.35064023e+01] [-2.75200812e-04 9.99999962e-01 2.65482404e-06 -2.17653172e-01] [ 2.12953716e-03 -2.06876774e-06 9.99997733e-01 -5.22599817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.220281693 meters 0.01895865964185399 Centerline is valid? [True, True] Translation: X:23.57, Y:-0.22, Z:-0.05 [[ 9.99995013e-01 3.11012638e-03 -5.48755963e-04 2.35652772e+01] [-3.11012649e-03 9.99995164e-01 6.57217144e-07 -2.16867081e-01] [ 5.48755353e-04 1.04948659e-06 9.99999849e-01 -4.96383237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.280281693 meters 0.019187112844548965 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.22, Z:-0.05 [[ 9.99991398e-01 4.09569797e-03 -6.54987994e-04 2.36254284e+01] [-4.09569834e-03 9.99991613e-01 7.75585612e-07 -2.15791726e-01] [ 6.54985677e-04 1.90705430e-06 9.99999785e-01 -5.00372803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.340281693 meters 0.021152989822238753 Centerline is valid? [True, True] Translation: X:23.69, Y:-0.21, Z:-0.05 [[ 9.99961182e-01 8.63040860e-03 -1.77482327e-03 2.36854038e+01] [-8.63041851e-03 9.99962757e-01 2.07506323e-06 -2.09211741e-01] [ 1.77477507e-03 1.32424849e-05 9.99998425e-01 -5.19324813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.400281693 meters 0.024894120965699228 Centerline is valid? [True, True] Translation: X:23.74, Y:-0.20, Z:-0.05 [[ 9.99905036e-01 1.37811411e-02 1.32044470e-06 2.37442311e+01] [-1.37811411e-02 9.99905036e-01 -5.50975115e-08 -1.95508080e-01] [-1.32107861e-06 3.68950448e-08 1.00000000e+00 -4.86386566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.460281693 meters 0.026411294692099633 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.19, Z:-0.05 [[ 9.99885087e-01 1.51434624e-02 -6.98727846e-04 2.38036949e+01] [-1.51434656e-02 9.99885331e-01 6.88235373e-07 -1.90743719e-01] [ 6.98658145e-04 9.89300480e-06 9.99999756e-01 -5.16593581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.520281693 meters 0.022516724313402656 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.20, Z:-0.05 [[ 9.99934456e-01 1.11510015e-02 -2.59590467e-03 2.38636980e+01] [-1.11510325e-02 9.99937825e-01 2.51672719e-06 -1.96588414e-01] [ 2.59577133e-03 2.64304551e-05 9.99996631e-01 -5.47608377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.580281693 meters 0.019892061545951346 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.21, Z:-0.06 [[ 9.99980667e-01 5.85071816e-03 -2.10609459e-03 2.39235299e+01] [-5.85072694e-03 9.99982884e-01 1.99120838e-06 -2.07140480e-01] [ 2.10607019e-03 1.03310145e-05 9.99997782e-01 -5.55669180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.640281693000002 meters 0.01938645431312485 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.21, Z:-0.05 [[ 9.99991191e-01 3.96369751e-03 -1.38113397e-03 2.39823191e+01] [-3.96369956e-03 9.99992145e-01 1.25160914e-06 -2.09337392e-01] [ 1.38112808e-03 4.22280199e-06 9.99999046e-01 -5.45642534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.700281693 meters 0.018994227480167256 Centerline is valid? [True, True] Translation: X:24.04, Y:-0.22, Z:-0.06 [[ 9.99998449e-01 2.99123458e-04 -1.73554064e-03 2.40422945e+01] [-2.99121191e-04 9.99999955e-01 1.56566631e-06 -2.17676552e-01] [ 1.73554103e-03 -1.04652690e-06 9.99998494e-01 -5.57147670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.760281693 meters 0.020420133957014364 Centerline is valid? [True, True] Translation: X:24.10, Y:-0.23, Z:-0.06 [[ 9.99987215e-01 -4.75233368e-03 -1.72790171e-03 2.41016083e+01] [ 4.75234350e-03 9.99988708e-01 1.57710659e-06 -2.28641705e-01] [ 1.72787470e-03 -9.78866888e-06 9.99998507e-01 -5.54318595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.820281693000002 meters 0.02172679461651335 Centerline is valid? [True, True] Translation: X:24.16, Y:-0.24, Z:-0.05 [[ 9.99959611e-01 -8.97719663e-03 4.32352069e-04 2.41610245e+01] [ 8.97719764e-03 9.99959704e-01 -3.91971930e-07 -2.36410941e-01] [-4.32331128e-04 4.27326607e-06 9.99999907e-01 -5.10158561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.880281693 meters 0.023051064861570374 Centerline is valid? [True, True] Translation: X:24.22, Y:-0.24, Z:-0.05 [[ 9.99938876e-01 -1.10521890e-02 3.05804215e-04 2.42213710e+01] [ 1.10521896e-02 9.99938923e-01 -2.71512688e-07 -2.41455297e-01] [-3.05782537e-04 3.65130224e-06 9.99999953e-01 -5.14137728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.940281693 meters 0.021543830114745935 Centerline is valid? [True, True] Translation: X:24.28, Y:-0.24, Z:-0.05 [[ 9.99964626e-01 -8.40897984e-03 -1.90106795e-04 2.42823665e+01] [ 8.40898002e-03 9.99964644e-01 1.66368115e-07 -2.41835005e-01] [ 1.90098674e-04 -1.76496647e-06 9.99999982e-01 -5.24132126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.000281693 meters 0.018985150988615043 Centerline is valid? [True, True] Translation: X:24.34, Y:-0.24, Z:-0.05 [[ 9.99996771e-01 -2.52384230e-03 -2.96257187e-04 2.43421726e+01] [ 2.52384249e-03 9.99996815e-01 2.54367777e-07 -2.35994444e-01] [ 2.96255602e-04 -1.00207343e-06 9.99999956e-01 -5.07380865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.060281693 meters 0.018696821719113778 Centerline is valid? [True, True] Translation: X:24.40, Y:-0.23, Z:-0.05 [[ 9.99996504e-01 2.26055951e-03 1.37145345e-03 2.44018152e+01] [-2.26056002e-03 9.99997445e-01 -1.18414353e-06 -2.30383136e-01] [-1.37145262e-03 -1.91611343e-06 9.99999060e-01 -4.75811184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.120281693 meters 0.019784160651566747 Centerline is valid? [True, True] Translation: X:24.46, Y:-0.23, Z:-0.05 [[ 9.99978125e-01 6.38288526e-03 1.73428741e-03 2.44631094e+01] [-6.38289222e-03 9.99979629e-01 -1.52385920e-06 -2.26315191e-01] [-1.73426181e-03 -9.54594376e-06 9.99998496e-01 -4.75572370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.180281693 meters 0.019466186639712734 Centerline is valid? [True, True] Translation: X:24.52, Y:-0.23, Z:-0.05 [[ 9.99983815e-01 5.57795184e-03 1.12040587e-03 2.45246314e+01] [-5.57795421e-03 9.99984443e-01 -1.00690167e-06 -2.30104898e-01] [-1.12039406e-03 -5.24268728e-06 9.99999372e-01 -4.97190959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.240281693 meters 0.019169787025931476 Centerline is valid? [True, True] Translation: X:24.58, Y:-0.24, Z:-0.05 [[ 9.99990440e-01 4.29703513e-03 -8.10163621e-04 2.45846691e+01] [-4.29703594e-03 9.99990768e-01 7.46553507e-07 -2.36567022e-01] [ 8.10159350e-04 2.73475583e-06 9.99999672e-01 -5.36674102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.300281693 meters 0.018746140411025465 Centerline is valid? [True, True] Translation: X:24.64, Y:-0.24, Z:-0.06 [[ 9.99997002e-01 1.54265602e-03 -1.90167399e-03 2.46448170e+01] [-1.54265555e-03 9.99998810e-01 1.71825849e-06 -2.44239531e-01] [ 1.90167437e-03 1.21537458e-06 9.99998192e-01 -5.59955110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.360281693 meters 0.018967628803029105 Centerline is valid? [True, True] Translation: X:24.70, Y:-0.25, Z:-0.06 [[ 9.99992549e-01 2.61722073e-03 -2.83779093e-03 2.47032381e+01] [-2.61722427e-03 9.99996575e-01 2.46453765e-06 -2.45140023e-01] [ 2.83778766e-03 4.96261602e-06 9.99995973e-01 -5.80652818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.420281693 meters 0.019333709049540775 Centerline is valid? [True, True] Translation: X:24.76, Y:-0.24, Z:-0.06 [[ 9.99983363e-01 3.90817149e-03 -4.24265951e-03 2.47619993e+01] [-3.90819179e-03 9.99992363e-01 3.50499378e-06 -2.41273719e-01] [ 4.24264080e-03 1.30761916e-05 9.99991000e-01 -6.16886873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.480281693000002 meters 0.019309641525523467 Centerline is valid? [True, True] Translation: X:24.82, Y:-0.24, Z:-0.06 [[ 9.99985037e-01 4.18081089e-03 -3.52789001e-03 2.48208606e+01] [-4.18082717e-03 9.99991260e-01 2.75844407e-06 -2.41947091e-01] [ 3.52787071e-03 1.19910956e-05 9.99993777e-01 -5.97978009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.540281693 meters 0.019518379646331775 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.24, Z:-0.06 [[ 9.99982359e-01 5.08387612e-03 -3.07186492e-03 2.48793699e+01] [-5.08389314e-03 9.99987077e-01 2.26721797e-06 -2.42404846e-01] [ 3.07183674e-03 1.33498550e-05 9.99995282e-01 -5.85559020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.600281693 meters 0.01929562593206309 Centerline is valid? [True, True] Translation: X:24.94, Y:-0.24, Z:-0.06 [[ 9.99987342e-01 4.44346891e-03 -2.36025990e-03 2.49377161e+01] [-4.44347735e-03 9.99990128e-01 1.66666421e-06 -2.43598484e-01] [ 2.36024400e-03 8.82111829e-06 9.99997215e-01 -5.74704508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.660281693 meters 0.018314918071470322 Centerline is valid? [True, True] Translation: X:25.00, Y:-0.25, Z:-0.05 [[ 9.99999818e-01 -5.03854431e-05 -6.00797402e-04 2.49976646e+01] [ 5.03856966e-05 9.99999999e-01 4.07026779e-07 -2.54276826e-01] [ 6.00797380e-04 -4.37298300e-07 9.99999820e-01 -5.46279931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.720281693 meters 0.02105523854100691 Centerline is valid? [True, True] Translation: X:25.06, Y:-0.27, Z:-0.06 [[ 9.99974322e-01 -6.87623133e-03 -2.01831404e-03 2.50579460e+01] [ 6.87624815e-03 9.99976358e-01 1.39194304e-06 -2.73848330e-01] [ 2.01825676e-03 -1.52703355e-05 9.99997963e-01 -5.74293316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.780281693 meters 0.021054001491766054 Centerline is valid? [True, True] Translation: X:25.12, Y:-0.28, Z:-0.06 [[ 9.99974295e-01 -6.69545561e-03 -2.56536879e-03 2.51167673e+01] [ 6.69548195e-03 9.99977585e-01 1.67855839e-06 -2.81704424e-01] [ 2.56530005e-03 -1.88548957e-05 9.99996709e-01 -5.77311968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.840281693 meters 0.01941995591168438 Centerline is valid? [True, True] Translation: X:25.18, Y:-0.28, Z:-0.06 [[ 9.99988892e-01 -4.18910788e-03 -2.16034797e-03 2.51768276e+01] [ 4.18912062e-03 9.99991226e-01 1.37049692e-06 -2.78250065e-01] [ 2.16032327e-03 -1.04204399e-05 9.99997666e-01 -5.72761488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.900281693 meters 0.01840615890718655 Centerline is valid? [True, True] Translation: X:25.24, Y:-0.28, Z:-0.06 [[ 9.99994292e-01 2.31455935e-04 -3.37070039e-03 2.52362846e+01] [-2.31450265e-04 9.99999973e-01 2.07221820e-06 -2.76595202e-01] [ 3.37070078e-03 -1.29205688e-06 9.99994319e-01 -5.98127223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.960281693 meters 0.01852372445039256 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.28, Z:-0.05 [[ 9.99995433e-01 2.97561513e-03 -5.29372685e-04 2.52955487e+01] [-2.97561544e-03 9.99995573e-01 1.98866208e-07 -2.75885716e-01] [ 5.29370933e-04 1.37634423e-06 9.99999860e-01 -5.36006152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.020281693 meters 0.019955722268016514 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.27, Z:-0.05 [[ 9.99982594e-01 5.86571112e-03 6.36414481e-04 2.53558695e+01] [-5.86571212e-03 9.99982797e-01 -2.99710904e-07 -2.71182883e-01] [-6.36405291e-04 -3.43331845e-06 9.99999797e-01 -5.02082773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.080281693 meters 0.02571938156712505 Centerline is valid? [True, True] Translation: X:25.42, Y:-0.26, Z:-0.05 [[ 9.99926042e-01 1.20767978e-02 -1.43587599e-03 2.54164970e+01] [-1.20768093e-02 9.99927073e-01 6.76206632e-07 -2.57921401e-01] [ 1.43577944e-03 1.66646439e-05 9.99998969e-01 -5.46917258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.140281693000002 meters 0.02602970683681763 Centerline is valid? [True, True] Translation: X:25.48, Y:-0.26, Z:-0.05 [[ 9.99865016e-01 1.64301746e-02 -1.17061704e-05 2.54760496e+01] [-1.64301746e-02 9.99865016e-01 -2.81307675e-09 -2.58668382e-01] [ 1.17045440e-05 1.95147121e-07 1.00000000e+00 -5.17315318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.200281693 meters 0.025895518486211706 Centerline is valid? [True, True] Translation: X:25.54, Y:-0.26, Z:-0.05 [[ 9.99862816e-01 1.65634865e-02 1.98149827e-05 2.55353908e+01] [-1.65634865e-02 9.99862816e-01 -1.64813560e-08 -2.60056496e-01] [-1.98125374e-05 -3.11726102e-07 1.00000000e+00 -5.16585680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.260281693 meters 0.02755799009585253 Centerline is valid? [True, True] Translation: X:25.59, Y:-0.26, Z:-0.06 [[ 9.99857511e-01 1.65824706e-02 -3.15915374e-03 2.55949955e+01] [-1.65825492e-02 9.99862500e-01 1.29981295e-06 -2.60778470e-01] [ 3.15874091e-03 5.10871945e-05 9.99995010e-01 -5.67942989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.320281693000002 meters 0.028650051605426486 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.26, Z:-0.06 [[ 9.99804398e-01 1.95253342e-02 -3.15063167e-03 2.56543805e+01] [-1.95254273e-02 9.99809361e-01 1.21845369e-06 -2.60364625e-01] [ 3.15005483e-03 6.02992143e-05 9.99995037e-01 -5.72981939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.380281693 meters 0.03345565903168748 Centerline is valid? [True, True] Translation: X:25.71, Y:-0.26, Z:-0.05 [[ 9.99714644e-01 2.38245129e-02 -1.73849702e-03 2.57127685e+01] [-2.38245478e-02 9.99716155e-01 6.23282764e-07 -2.55905189e-01] [ 1.73801841e-03 4.07958006e-05 9.99998489e-01 -5.46134867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.440281693 meters 0.041842072440148856 Centerline is valid? [True, True] Translation: X:25.77, Y:-0.24, Z:-0.06 [[ 9.99581743e-01 2.86593262e-02 -3.87060913e-03 2.57722199e+01] [-2.86595356e-02 9.99589231e-01 1.35988033e-06 -2.43719395e-01] [ 3.86905818e-03 1.09570549e-04 9.99992509e-01 -5.92788904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.500281693 meters 0.039866228184873766 Centerline is valid? [True, True] Translation: X:25.83, Y:-0.25, Z:-0.06 [[ 9.99559445e-01 2.94429349e-02 -3.74569905e-03 2.58313713e+01] [-2.94431372e-02 9.99566457e-01 1.13389966e-06 -2.48080306e-01] [ 3.74410851e-03 1.09151731e-04 9.99992985e-01 -5.93669757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.560281693 meters 0.03595974767764995 Centerline is valid? [True, True] Translation: X:25.89, Y:-0.25, Z:-0.06 [[ 9.99649932e-01 2.63160366e-02 -2.73471642e-03 2.58913260e+01] [-2.63161328e-02 9.99653671e-01 8.04182731e-07 -2.52296552e-01] [ 2.73379047e-03 7.11632591e-05 9.99996261e-01 -5.73341077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.620281693 meters 0.03615576481905501 Centerline is valid? [True, True] Translation: X:25.95, Y:-0.25, Z:-0.06 [[ 9.99653623e-01 2.57609374e-02 -5.38585872e-03 2.59514395e+01] [-2.57613032e-02 9.99668123e-01 1.46211525e-06 -2.50756412e-01] [ 5.38410894e-03 1.37285131e-04 9.99985496e-01 -6.22225613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.680281693 meters 0.030491271084532846 Centerline is valid? [True, True] Translation: X:26.01, Y:-0.25, Z:-0.06 [[ 9.99741286e-01 2.23158868e-02 -4.40025419e-03 2.60117096e+01] [-2.23160978e-02 9.99750965e-01 1.14475975e-06 -2.53768749e-01] [ 4.39918392e-03 9.70520393e-05 9.99990319e-01 -5.94741697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.740281693 meters 0.028639675915917644 Centerline is valid? [True, True] Translation: X:26.07, Y:-0.26, Z:-0.06 [[ 9.99826097e-01 1.84273425e-02 -2.86497693e-03 2.60707451e+01] [-1.84274162e-02 9.99830201e-01 6.72860654e-07 -2.56663496e-01] [ 2.86450286e-03 5.21213788e-05 9.99995896e-01 -5.79091265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.800281693 meters 0.02290062088560238 Centerline is valid? [True, True] Translation: X:26.13, Y:-0.26, Z:-0.06 [[ 9.99935545e-01 1.10271911e-02 -2.70326167e-03 2.61302131e+01] [-1.10272297e-02 9.99939198e-01 6.08357634e-07 -2.64404292e-01] [ 2.70310401e-03 2.92011690e-05 9.99996346e-01 -5.68576999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.860281693 meters 0.018654810724569246 Centerline is valid? [True, True] Translation: X:26.19, Y:-0.27, Z:-0.05 [[ 9.99985267e-01 5.42817949e-03 -3.52522615e-05 2.61904870e+01] [-5.42817950e-03 9.99985267e-01 3.84301009e-09 -2.74582440e-01] [ 3.52517630e-05 1.87512650e-07 9.99999999e-01 -5.17316084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.920281693 meters 0.017598707978053026 Centerline is valid? [True, True] Translation: X:26.25, Y:-0.28, Z:-0.05 [[ 9.99992033e-01 3.99154891e-03 2.76846696e-05 2.62510002e+01] [-3.99154891e-03 9.99992034e-01 -5.96888738e-09 -2.76038690e-01] [-2.76844728e-05 -1.04535872e-07 1.00000000e+00 -5.16284110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.980281693000002 meters 0.017581473469537017 Centerline is valid? [True, True] Translation: X:26.31, Y:-0.27, Z:-0.06 [[ 9.99994698e-01 2.71305668e-03 -1.80112197e-03 2.63108862e+01] [-2.71306043e-03 9.99996320e-01 3.63113690e-07 -2.74601348e-01] [ 1.80111633e-03 4.52344098e-06 9.99998378e-01 -5.55656398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.040281693 meters 0.017202494091195102 Centerline is valid? [True, True] Translation: X:26.37, Y:-0.28, Z:-0.05 [[ 9.99998868e-01 -3.95891082e-04 -1.45163572e-03 2.63703619e+01] [ 3.95891869e-04 9.99999922e-01 2.54866285e-07 -2.77276795e-01] [ 1.45163551e-03 -8.29556775e-07 9.99998946e-01 -5.48995461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.100281693 meters 0.01700370259688951 Centerline is valid? [True, True] Translation: X:26.43, Y:-0.28, Z:-0.05 [[ 9.99998925e-01 -9.30969836e-04 -1.13250750e-03 2.64303707e+01] [ 9.30970626e-04 9.99999567e-01 1.70183659e-07 -2.75807220e-01] [ 1.13250685e-03 -1.22451469e-06 9.99999359e-01 -5.36757100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.160281692999995 meters 0.017102732638245056 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.27, Z:-0.05 [[ 9.99998320e-01 1.42541779e-03 -1.15257143e-03 2.64903350e+01] [-1.42541857e-03 9.99998984e-01 1.46552108e-07 -2.72932524e-01] [ 1.15257047e-03 1.49634487e-06 9.99999336e-01 -5.44272497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.220281693 meters 0.017942870541885793 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.27, Z:-0.06 [[ 9.99988397e-01 3.66729793e-03 -3.12354460e-03 2.65499156e+01] [-3.66731464e-03 9.99993275e-01 3.78935542e-07 -2.67822614e-01] [ 3.12352499e-03 1.10760897e-05 9.99995122e-01 -5.92766860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.280281693 meters 0.018114082375287652 Centerline is valid? [True, True] Translation: X:26.61, Y:-0.27, Z:-0.06 [[ 9.99979803e-01 3.79708691e-03 -5.09661001e-03 2.66086427e+01] [-3.79713432e-03 9.99992791e-01 3.73562951e-07 -2.67869453e-01] [ 5.09657469e-03 1.89789574e-05 9.99987012e-01 -6.29983586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.340281692999994 meters 0.018076852061128773 Centerline is valid? [True, True] Translation: X:26.67, Y:-0.27, Z:-0.06 [[ 9.99978298e-01 3.49084529e-03 -5.58717747e-03 2.66669394e+01] [-3.49089929e-03 9.99993907e-01 8.79312370e-08 -2.68816193e-01] [ 5.58714373e-03 1.94163445e-05 9.99984392e-01 -6.38832367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.400281693 meters 0.017652189263197112 Centerline is valid? [True, True] Translation: X:26.73, Y:-0.27, Z:-0.06 [[ 9.99987594e-01 3.05882552e-03 -3.93138817e-03 2.67262409e+01] [-3.05885008e-03 9.99995322e-01 -2.34728061e-07 -2.71407696e-01] [ 3.93136906e-03 1.22602522e-05 9.99992272e-01 -6.02462513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.460281693 meters 0.017662827804789942 Centerline is valid? [True, True] Translation: X:26.79, Y:-0.27, Z:-0.06 [[ 9.99990552e-01 3.41044160e-03 -2.69551345e-03 2.67851035e+01] [-3.41045477e-03 9.99994184e-01 -2.87340860e-07 -2.73957567e-01] [ 2.69549680e-03 9.48026485e-06 9.99996367e-01 -5.82123417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.520281692999994 meters 0.017791882872316478 Centerline is valid? [True, True] Translation: X:26.84, Y:-0.28, Z:-0.06 [[ 9.99985324e-01 3.23340431e-03 -4.34703091e-03 2.68435097e+01] [-3.23343748e-03 9.99994772e-01 -6.01834843e-07 -2.75595763e-01] [ 4.34700624e-03 1.46576787e-05 9.99990552e-01 -6.11359102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.580281692999996 meters 0.018323286883235174 Centerline is valid? [True, True] Translation: X:26.90, Y:-0.27, Z:-0.06 [[ 9.99978912e-01 5.12667026e-03 -3.98648053e-03 2.69018872e+01] [-5.12671394e-03 9.99986858e-01 -7.38296792e-07 -2.71625011e-01] [ 3.98642435e-03 2.11758265e-05 9.99992054e-01 -6.02996275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.640281693 meters 0.022237054467150106 Centerline is valid? [True, True] Translation: X:26.96, Y:-0.26, Z:-0.06 [[ 9.99919797e-01 1.19060028e-02 -4.31809207e-03 2.69613594e+01] [-1.19061177e-02 9.99929120e-01 -8.92686748e-07 -2.57911303e-01] [ 4.31777537e-03 5.23043274e-05 9.99990677e-01 -5.94871989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.700281692999994 meters 0.026637615739844817 Centerline is valid? [True, True] Translation: X:27.02, Y:-0.24, Z:-0.06 [[ 9.99829635e-01 1.81262411e-02 -3.48432500e-03 2.70212527e+01] [-1.81263539e-02 9.99835704e-01 -8.06027154e-07 -2.42273386e-01] [ 3.48373793e-03 6.39639980e-05 9.99993930e-01 -5.72320918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.760281692999996 meters 0.030589299031223496 Centerline is valid? [True, True] Translation: X:27.08, Y:-0.23, Z:-0.05 [[ 9.99797983e-01 2.00363777e-02 -1.59253288e-03 2.70800780e+01] [-2.00364038e-02 9.99799251e-01 -4.33607462e-07 -2.28038633e-01] [ 1.59220449e-03 3.23421517e-05 9.99998732e-01 -5.38811875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.820281693 meters 0.02916044080407891 Centerline is valid? [True, True] Translation: X:27.14, Y:-0.22, Z:-0.05 [[ 9.99796954e-01 2.01485278e-02 2.95768777e-04 2.71399499e+01] [-2.01485287e-02 9.99796998e-01 7.70818129e-08 -2.16691896e-01] [-2.95707182e-04 -6.03637185e-06 9.99999956e-01 -5.01608200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88028169299999 meters 0.03266081236776135 Centerline is valid? [True, True] Translation: X:27.20, Y:-0.20, Z:-0.05 [[ 9.99790891e-01 2.04343547e-02 -7.81949070e-04 2.71990268e+01] [-2.04343612e-02 9.99791197e-01 -2.64227804e-07 -1.96225232e-01] [ 7.81780397e-04 1.62428023e-05 9.99999694e-01 -5.36865068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.940281692999996 meters 0.030971008328384297 Centerline is valid? [True, True] Translation: X:27.26, Y:-0.19, Z:-0.06 [[ 9.99826805e-01 1.83436407e-02 -3.14165483e-03 2.72584863e+01] [-1.83437347e-02 9.99831740e-01 -1.08822280e-06 -1.90738680e-01] [ 3.14110625e-03 5.87177169e-05 9.99995065e-01 -5.83013011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.000281693 meters 0.0210703266404904 Centerline is valid? [True, True] Translation: X:27.32, Y:-0.20, Z:-0.06 [[ 9.99942881e-01 9.54465213e-03 -4.80980380e-03 2.73187756e+01] [-9.54477098e-03 9.99954448e-01 -1.75489278e-06 -1.99351669e-01] [ 4.80956796e-03 4.76632683e-05 9.99988433e-01 -6.00822174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.060281693 meters 0.017036012840203042 Centerline is valid? [True, True] Translation: X:27.38, Y:-0.21, Z:-0.06 [[ 9.99987915e-01 -4.15998822e-04 -4.89867267e-03 2.73781035e+01] [ 4.15994493e-04 9.99999913e-01 -1.90257342e-06 -2.11002463e-01] [ 4.89867304e-03 -1.35270429e-07 9.99988001e-01 -6.05576906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.120281692999995 meters 0.017186648539948328 Centerline is valid? [True, True] Translation: X:27.44, Y:-0.21, Z:-0.06 [[ 9.99987927e-01 -3.06622191e-03 -3.83983129e-03 2.74366711e+01] [ 3.06623807e-03 9.99995299e-01 -1.67768030e-06 -2.14334204e-01] [ 3.83981838e-03 -1.00961769e-05 9.99992628e-01 -5.89652091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.180281693 meters 0.018490631514374915 Centerline is valid? [True, True] Translation: X:27.50, Y:-0.22, Z:-0.05 [[ 9.99969779e-01 -7.40552693e-03 -2.36625028e-03 2.74957093e+01] [ 7.40554494e-03 9.99972579e-01 -1.14789224e-06 -2.17809879e-01] [ 2.36619389e-03 -1.63755152e-05 9.99997200e-01 -5.49709764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.240281693 meters 0.01948848752451944 Centerline is valid? [True, True] Translation: X:27.55, Y:-0.22, Z:-0.06 [[ 9.99943138e-01 -7.46548586e-03 -7.61499555e-03 2.75548271e+01] [ 7.46567390e-03 9.99972131e-01 -3.73253911e-06 -2.19592653e-01] [ 7.61481119e-03 -5.31187467e-05 9.99971005e-01 -6.45046024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.300281692999995 meters 0.018057944727319 Centerline is valid? [True, True] Translation: X:27.61, Y:-0.22, Z:-0.06 [[ 9.99966201e-01 -5.35008448e-03 -6.24291205e-03 2.76135483e+01] [ 5.35016324e-03 9.99985688e-01 -4.08429229e-06 -2.15194254e-01] [ 6.24284456e-03 -2.93164443e-05 9.99980513e-01 -6.15394480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.360281693 meters 0.01641964544584725 Centerline is valid? [True, True] Translation: X:27.67, Y:-0.21, Z:-0.05 [[ 9.99998561e-01 -1.57379167e-03 -6.33424961e-04 2.76729318e+01] [ 1.57379167e-03 9.99998762e-01 -4.95432879e-07 -2.09220327e-01] [ 6.33424956e-04 -5.01446761e-07 9.99999799e-01 -5.04888723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.420281693 meters 0.01629720066792197 Centerline is valid? [True, True] Translation: X:27.73, Y:-0.20, Z:-0.05 [[ 9.99999845e-01 -5.14881978e-04 -2.12570870e-04 2.77334760e+01] [ 5.14881957e-04 9.99999867e-01 -1.56017178e-07 -2.03600131e-01] [ 2.12570922e-04 4.65682485e-08 9.99999977e-01 -5.00433093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.480281692999995 meters 0.016401639689151475 Centerline is valid? [True, True] Translation: X:27.79, Y:-0.20, Z:-0.05 [[ 9.99999912e-01 2.24475657e-04 -3.54579058e-04 2.77939891e+01] [-2.24475764e-04 9.99999975e-01 -2.60244614e-07 -2.01750197e-01] [ 3.54578991e-04 3.39838996e-07 9.99999937e-01 -5.05219823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.540281693 meters 0.016611679672509722 Centerline is valid? [True, True] Translation: X:27.85, Y:-0.20, Z:-0.06 [[ 9.99993567e-01 -1.15691852e-03 -3.39507385e-03 2.78532084e+01] [ 1.15691659e-03 9.99999331e-01 -2.53228971e-06 -2.02962367e-01] [ 3.39507450e-03 -1.39554382e-06 9.99994237e-01 -5.63462791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.600281693 meters 0.016998056777706837 Centerline is valid? [True, True] Translation: X:27.91, Y:-0.21, Z:-0.05 [[ 9.99987993e-01 -4.19988569e-03 -2.52474756e-03 2.79124534e+01] [ 4.19989402e-03 9.99991180e-01 -2.00229965e-06 -2.08322152e-01] [ 2.52473371e-03 -8.60139658e-06 9.99996813e-01 -5.48198179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.660281692999995 meters 0.019279650757659392 Centerline is valid? [True, True] Translation: X:27.97, Y:-0.22, Z:-0.05 [[ 9.99957558e-01 -9.15599544e-03 -1.02421193e-03 2.79722761e+01] [ 9.15599938e-03 9.99958083e-01 -8.36571034e-07 -2.18943493e-01] [ 1.02417666e-03 -8.54114828e-06 9.99999475e-01 -5.24857669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.720281693 meters 0.02263037191394398 Centerline is valid? [True, True] Translation: X:28.03, Y:-0.23, Z:-0.05 [[ 9.99906963e-01 -1.36094081e-02 -9.21090045e-04 2.80331013e+01] [ 1.36094132e-02 9.99907388e-01 -7.45478202e-07 -2.29861020e-01] [ 9.21014886e-04 -1.17900861e-05 9.99999576e-01 -5.22658201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.780281693 meters 0.02301713821337377 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.24, Z:-0.05 [[ 9.99881514e-01 -1.53882945e-02 -3.98430283e-04 2.80937951e+01] [ 1.53882956e-02 9.99881593e-01 -3.22466943e-07 -2.36465409e-01] [ 3.98388068e-04 -5.80873422e-06 9.99999921e-01 -5.08024516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.840281692999994 meters 0.022944051158312856 Centerline is valid? [True, True] Translation: X:28.15, Y:-0.24, Z:-0.05 [[ 9.99884156e-01 -1.51519571e-02 -1.44676719e-03 2.81546044e+01] [ 1.51519713e-02 9.99885202e-01 -1.17093156e-06 -2.38885266e-01] [ 1.44661885e-03 -2.07505791e-05 9.99998953e-01 -5.14964944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.900281693 meters 0.0216813660945078 Centerline is valid? [True, True] Translation: X:28.22, Y:-0.24, Z:-0.06 [[ 9.99903457e-01 -1.32257312e-02 -4.26116508e-03 2.82153865e+01] [ 1.32258366e-02 9.99912535e-01 -3.44874608e-06 -2.36955447e-01] [ 4.26083798e-03 -5.29090597e-05 9.99990921e-01 -5.71989950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.960281693 meters 0.0240765594058559 Centerline is valid? [True, True] Translation: X:28.27, Y:-0.24, Z:-0.06 [[ 9.99895048e-01 -1.39774443e-02 -3.81091623e-03 2.82731548e+01] [ 1.39775331e-02 9.99902310e-01 -3.32504883e-06 -2.44148949e-01] [ 3.81059042e-03 -4.99425079e-05 9.99992738e-01 -5.72177372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.020281692999994 meters 0.02613551033185068 Centerline is valid? [True, True] Translation: X:28.33, Y:-0.25, Z:-0.06 [[ 9.99824693e-01 -1.83909149e-02 -3.51537877e-03 2.83322994e+01] [ 1.83910174e-02 9.99830871e-01 -3.18082673e-06 -2.53550667e-01] [ 3.51484272e-03 -6.14711229e-05 9.99993821e-01 -5.56890146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.080281692999996 meters 0.027815616987205145 Centerline is valid? [True, True] Translation: X:28.39, Y:-0.26, Z:-0.06 [[ 9.99801928e-01 -1.93840959e-02 -4.51233027e-03 2.83913262e+01] [ 1.93842741e-02 9.99812107e-01 -4.23273499e-06 -2.60959406e-01] [ 4.51156449e-03 -8.32363503e-05 9.99989819e-01 -5.84720186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.140281693 meters 0.025640851678696737 Centerline is valid? [True, True] Translation: X:28.45, Y:-0.27, Z:-0.06 [[ 9.99847520e-01 -1.68716805e-02 -4.50359001e-03 2.84505993e+01] [ 1.68718295e-02 9.99857661e-01 -4.91585932e-06 -2.65697257e-01] [ 4.50303191e-03 -7.10686930e-05 9.99989859e-01 -5.78269731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.200281692999994 meters 0.018769072200567487 Centerline is valid? [True, True] Translation: X:28.51, Y:-0.26, Z:-0.06 [[ 9.99958333e-01 -8.20965634e-03 -3.99161027e-03 2.85101329e+01] [ 8.20970414e-03 9.99966300e-01 -4.40906978e-06 -2.55820562e-01] [ 3.99151195e-03 -2.83610533e-05 9.99992033e-01 -5.61415467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.260281692999996 meters 0.016624916413510164 Centerline is valid? [True, True] Translation: X:28.57, Y:-0.25, Z:-0.06 [[ 9.99989732e-01 -2.60395417e-03 -3.70874395e-03 2.85678567e+01] [ 2.60395608e-03 9.99996610e-01 -4.31282399e-06 -2.45482202e-01] [ 3.70874260e-03 -5.34462665e-06 9.99993123e-01 -5.56127098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.320281693 meters 0.016950686571165663 Centerline is valid? [True, True] Translation: X:28.63, Y:-0.24, Z:-0.06 [[ 9.99990942e-01 9.73721427e-04 -4.14335221e-03 2.86264821e+01] [-9.73752497e-04 9.99999526e-01 -5.48145993e-06 -2.36580759e-01] [ 4.14334490e-03 9.51600983e-06 9.99991416e-01 -5.73222862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38028169299999 meters 0.0170968836164558 Centerline is valid? [True, True] Translation: X:28.69, Y:-0.25, Z:-0.06 [[ 9.99982176e-01 -4.15870180e-03 -4.28410585e-03 2.86865444e+01] [ 4.15871549e-03 9.99991352e-01 -5.71359642e-06 -2.45278154e-01] [ 4.28409256e-03 -1.21028828e-05 9.99990823e-01 -5.82397132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.440281692999996 meters 0.01800605725493465 Centerline is valid? [True, True] Translation: X:28.74, Y:-0.25, Z:-0.06 [[ 9.99968039e-01 -7.11462121e-03 -3.64736276e-03 2.87449426e+01] [ 7.11465018e-03 9.99974691e-01 -5.03437080e-06 -2.51273619e-01] [ 3.64730626e-03 -2.09155002e-05 9.99993348e-01 -5.64486228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.500281693 meters 0.019010711656311387 Centerline is valid? [True, True] Translation: X:28.80, Y:-0.25, Z:-0.05 [[ 9.99959432e-01 -8.85321588e-03 -1.65997401e-03 2.88034301e+01] [ 8.85322418e-03 9.99960809e-01 -2.35022770e-06 -2.52941423e-01] [ 1.65992977e-03 -1.23459897e-05 9.99998622e-01 -5.23404399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.560281693 meters 0.019056548892258027 Centerline is valid? [True, True] Translation: X:28.86, Y:-0.25, Z:-0.06 [[ 9.99957779e-01 -8.62997617e-03 -3.15640547e-03 2.88627306e+01] [ 8.63000488e-03 9.99962761e-01 -4.52239805e-06 -2.50025463e-01] [ 3.15632695e-03 -2.27175875e-05 9.99995019e-01 -5.61268518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.620281692999995 meters 0.02042167547549288 Centerline is valid? [True, True] Translation: X:28.92, Y:-0.25, Z:-0.05 [[ 9.99938082e-01 -1.08282207e-02 -2.56552282e-03 2.89214930e+01] [ 1.08282458e-02 9.99941373e-01 -4.10718818e-06 -2.52446374e-01] [ 2.56541689e-03 -2.36731779e-05 9.99996709e-01 -5.44659816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.680281693 meters 0.023865574762129086 Centerline is valid? [True, True] Translation: X:28.98, Y:-0.26, Z:-0.06 [[ 9.99885035e-01 -1.48361692e-02 -3.13124400e-03 2.89806729e+01] [ 1.48362261e-02 9.99889937e-01 -5.06179410e-06 -2.57720301e-01] [ 3.13097446e-03 -4.13946317e-05 9.99995098e-01 -5.54469602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.740281693 meters 0.026859499935676136 Centerline is valid? [True, True] Translation: X:29.04, Y:-0.26, Z:-0.05 [[ 9.99840076e-01 -1.77483790e-02 -2.19481917e-03 2.90398013e+01] [ 1.77484138e-02 9.99842484e-01 -3.62136300e-06 -2.62919943e-01] [ 2.19453772e-03 -3.53337750e-05 9.99997591e-01 -5.32369488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.800281692999995 meters 0.02676387804364933 Centerline is valid? [True, True] Translation: X:29.10, Y:-0.26, Z:-0.06 [[ 9.99844367e-01 -1.72918536e-02 -3.49770061e-03 2.90997959e+01] [ 1.72919390e-02 9.99850483e-01 -5.83445180e-06 -2.61364292e-01] [ 3.49727853e-03 -5.46484818e-05 9.99993883e-01 -5.55819402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.860281693 meters 0.027360396140263612 Centerline is valid? [True, True] Translation: X:29.16, Y:-0.26, Z:-0.06 [[ 9.99831861e-01 -1.71495379e-02 -6.49169879e-03 2.91577901e+01] [ 1.71498268e-02 9.99852931e-01 -1.11721795e-05 -2.64994842e-01] [ 6.49093565e-03 -1.00161209e-04 9.99978929e-01 -6.31278581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.920281693 meters 0.026115893321510184 Centerline is valid? [True, True] Translation: X:29.22, Y:-0.26, Z:-0.06 [[ 9.99860227e-01 -1.63750264e-02 -3.37430159e-03 2.92160720e+01] [ 1.63750982e-02 9.99865919e-01 -6.33961096e-06 -2.64975865e-01] [ 3.37395297e-03 -4.89157952e-05 9.99994307e-01 -5.51148199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.980281692999995 meters 0.025766935977098376 Centerline is valid? [True, True] Translation: X:29.27, Y:-0.26, Z:-0.06 [[ 9.99863200e-01 -1.61072673e-02 -3.75989440e-03 2.92748840e+01] [ 1.61073526e-02 9.99870268e-01 -7.60463572e-06 -2.64960291e-01] [ 3.75952911e-03 -5.29583492e-05 9.99992932e-01 -5.53088259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.040281693 meters 0.027752017719808085 Centerline is valid? [True, True] Translation: X:29.33, Y:-0.27, Z:-0.06 [[ 9.99828635e-01 -1.73923279e-02 -6.34102013e-03 2.93332992e+01] [ 1.73925946e-02 9.99848737e-01 -1.30871806e-05 -2.71348980e-01] [ 6.34028859e-03 -9.72018543e-05 9.99979895e-01 -6.28329640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.100281693 meters 0.033282770973639624 Centerline is valid? [True, True] Translation: X:29.39, Y:-0.28, Z:-0.06 [[ 9.99752609e-01 -2.17951623e-02 -4.43755965e-03 2.93928007e+01] [ 2.17953358e-02 9.99762453e-01 -9.24528585e-06 -2.84780024e-01] [ 4.43670703e-03 -8.74751042e-05 9.99990154e-01 -5.96255336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.160281692999995 meters 0.03893046382318648 Centerline is valid? [True, True] Translation: X:29.45, Y:-0.30, Z:-0.06 [[ 9.99659949e-01 -2.59170026e-02 -2.88005958e-03 2.94519524e+01] [ 2.59170923e-02 9.99664096e-01 -6.14987280e-06 -2.99672426e-01] [ 2.87925154e-03 -6.84949886e-05 9.99995853e-01 -5.61613023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.220281693 meters 0.035305419786558385 Centerline is valid? [True, True] Translation: X:29.51, Y:-0.30, Z:-0.06 [[ 9.99623631e-01 -2.72901829e-02 -2.80024657e-03 2.95110195e+01] [ 2.72902719e-02 9.99627551e-01 -6.44643524e-06 -2.99666020e-01] [ 2.79937955e-03 -6.99754812e-05 9.99996079e-01 -5.56852421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.280281693 meters 0.030034764269545697 Centerline is valid? [True, True] Translation: X:29.57, Y:-0.30, Z:-0.05 [[ 9.99696807e-01 -2.44888614e-02 -2.56688595e-03 2.95697505e+01] [ 2.44889267e-02 9.99700101e-01 -5.99440601e-06 -2.96733904e-01] [ 2.56626294e-03 -5.68676931e-05 9.99996706e-01 -5.32470415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.340281692999994 meters 0.029984241373896648 Centerline is valid? [True, True] Translation: X:29.63, Y:-0.30, Z:-0.06 [[ 9.99818391e-01 -1.84849242e-02 -4.63598080e-03 2.96291814e+01] [ 1.84850722e-02 9.99829136e-01 -1.09114016e-05 -3.02282306e-01] [ 4.63539037e-03 -7.47870199e-05 9.99989254e-01 -5.94137238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.400281693 meters 0.021900209613294048 Centerline is valid? [True, True] Translation: X:29.69, Y:-0.29, Z:-0.06 [[ 9.99899298e-01 -1.32828522e-02 -4.99590917e-03 2.96879211e+01] [ 1.32829581e-02 9.99911778e-01 -1.19773885e-05 -2.90963940e-01] [ 4.99562751e-03 -5.43842699e-05 9.99987520e-01 -5.85042455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.460281693 meters 0.017964411330856765 Centerline is valid? [True, True] Translation: X:29.75, Y:-0.29, Z:-0.06 [[ 9.99951015e-01 -8.44273413e-03 -5.16594460e-03 2.97464006e+01] [ 8.44277842e-03 9.99964359e-01 -1.32332644e-05 -2.85549962e-01] [ 5.16587221e-03 -3.03823094e-05 9.99986656e-01 -5.81125373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.520281692999994 meters 0.016652600056335176 Centerline is valid? [True, True] Translation: X:29.80, Y:-0.28, Z:-0.05 [[ 9.99973832e-01 -6.59813768e-03 -2.96646199e-03 2.98048585e+01] [ 6.59814270e-03 9.99978232e-01 -8.09252632e-06 -2.83824529e-01] [ 2.96645081e-03 -1.14808250e-05 9.99995600e-01 -5.49600574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.580281692999996 meters 0.01656577909311906 Centerline is valid? [True, True] Translation: X:29.86, Y:-0.28, Z:-0.06 [[ 9.99972849e-01 -5.29431487e-03 -5.12561697e-03 2.98638140e+01] [ 5.29430864e-03 9.99985985e-01 -1.47832761e-05 -2.84247806e-01] [ 5.12562340e-03 -1.23537235e-05 9.99986864e-01 -5.77900411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.640281693 meters 0.0161570111858411 Centerline is valid? [True, True] Translation: X:29.92, Y:-0.28, Z:-0.06 [[ 9.99984655e-01 -2.63240293e-03 -4.87451980e-03 2.99220754e+01] [ 2.63236119e-03 9.99996535e-01 -1.49788324e-05 -2.78567753e-01] [ 4.87454234e-03 2.14710584e-06 9.99988119e-01 -5.72894372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.700281692999994 meters 0.015997290627299557 Centerline is valid? [True, True] Translation: X:29.98, Y:-0.28, Z:-0.05 [[ 9.99997031e-01 -1.28838806e-03 -2.06821425e-03 2.99802408e+01] [ 1.28837744e-03 9.99999170e-01 -6.46717418e-06 -2.82849015e-01] [ 2.06822087e-03 3.80251439e-06 9.99997861e-01 -5.26096406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.760281692999996 meters 0.01594168904008206 Centerline is valid? [True, True] Translation: X:30.04, Y:-0.29, Z:-0.06 [[ 9.99987382e-01 -3.79539060e-03 -3.29102583e-03 3.00399075e+01] [ 3.79537711e-03 9.99992797e-01 -1.03418125e-05 -2.90395335e-01] [ 3.29104138e-03 -2.14900216e-06 9.99994585e-01 -5.55438816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.820281693 meters 0.015932089750701626 Centerline is valid? [True, True] Translation: X:30.10, Y:-0.29, Z:-0.05 [[ 9.99986473e-01 -4.54247442e-03 -2.53376714e-03 3.00989810e+01] [ 4.54246767e-03 9.99989683e-01 -8.41860838e-06 -2.94922572e-01] [ 2.53377924e-03 -3.09106079e-06 9.99996790e-01 -5.34070494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88028169299999 meters 0.01610491910060767 Centerline is valid? [True, True] Translation: X:30.16, Y:-0.30, Z:-0.05 [[ 9.99977216e-01 -6.27415274e-03 -2.49046197e-03 3.01576481e+01] [ 6.27415060e-03 9.99980317e-01 -8.67364204e-06 -3.03779943e-01] [ 2.49046737e-03 -6.95208904e-06 9.99996899e-01 -5.23985730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.940281692999996 meters 0.016619276377344443 Centerline is valid? [True, True] Translation: X:30.22, Y:-0.31, Z:-0.05 [[ 9.99966165e-01 -7.83260468e-03 -2.51392098e-03 3.02166256e+01] [ 7.83260641e-03 9.99969325e-01 -9.15926758e-06 -3.10000056e-01] [ 2.51391560e-03 -1.05315959e-05 9.99996840e-01 -5.37249898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.000281693 meters 0.016656193072386805 Centerline is valid? [True, True] Translation: X:30.28, Y:-0.32, Z:-0.05 [[ 9.99962804e-01 -8.47931414e-03 -1.57837805e-03 3.02754094e+01] [ 8.47931518e-03 9.99964050e-01 -6.02793778e-06 -3.15438061e-01] [ 1.57837242e-03 -7.35585137e-06 9.99998754e-01 -5.15985195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06028169299999 meters 0.01652856636957283 Centerline is valid? [True, True] Translation: X:30.33, Y:-0.32, Z:-0.05 [[ 9.99967777e-01 -7.45636547e-03 -2.97433289e-03 3.03344319e+01] [ 7.45636464e-03 9.99972201e-01 -1.13677717e-05 -3.16979482e-01] [ 2.97433497e-03 -1.08103051e-05 9.99995577e-01 -5.33520286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.120281692999995 meters 0.016109294110156838 Centerline is valid? [True, True] Translation: X:30.39, Y:-0.31, Z:-0.05 [[ 9.99990012e-01 -2.33891641e-03 -3.80865545e-03 3.03931141e+01] [ 2.33887745e-03 9.99997265e-01 -1.46831782e-05 -3.10692664e-01] [ 3.80867938e-03 5.77505319e-06 9.99992747e-01 -5.49008864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.180281693 meters 0.02001481323863359 Centerline is valid? [True, True] Translation: X:30.45, Y:-0.29, Z:-0.05 [[ 9.99977242e-01 5.60100834e-03 -3.76082547e-03 3.04512917e+01] [-5.60110330e-03 9.99984314e-01 -1.47180108e-05 -2.94560326e-01] [ 3.76068404e-03 3.57824478e-05 9.99992928e-01 -5.47324263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.240281693 meters 0.02694043864278594 Centerline is valid? [True, True] Translation: X:30.51, Y:-0.28, Z:-0.05 [[ 9.99911097e-01 1.27969817e-02 -3.74641442e-03 3.05100505e+01] [-1.27971268e-02 9.99918113e-01 -1.47790437e-05 -2.75436754e-01] [ 3.74591851e-03 6.27210702e-05 9.99992982e-01 -5.36524173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.300281692999995 meters 0.029756729737864567 Centerline is valid? [True, True] Translation: X:30.57, Y:-0.27, Z:-0.06 [[ 9.99865907e-01 1.59809433e-02 -3.57457086e-03 3.05699913e+01] [-1.59810961e-02 9.99872294e-01 -1.41777333e-05 -2.66015506e-01] [ 3.57388779e-03 7.13013924e-05 9.99993611e-01 -5.50036551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.360281693 meters 0.027756312842284185 Centerline is valid? [True, True] Translation: X:30.63, Y:-0.26, Z:-0.06 [[ 9.99903625e-01 1.32343948e-02 -4.19427669e-03 3.06285565e+01] [-1.32345816e-02 9.99912419e-01 -1.67772849e-05 -2.63761412e-01] [ 4.19368731e-03 7.22851649e-05 9.99991204e-01 -5.67832072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.420281693 meters 0.021974686539941463 Centerline is valid? [True, True] Translation: X:30.69, Y:-0.27, Z:-0.06 [[ 9.99944182e-01 9.51876246e-03 -4.58542135e-03 3.06885856e+01] [-9.51894684e-03 9.99954694e-01 -1.83882531e-05 -2.70507596e-01] [ 4.58503857e-03 6.20356088e-05 9.99989487e-01 -5.58481621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.480281692999995 meters 0.019551637361816497 Centerline is valid? [True, True] Translation: X:30.75, Y:-0.28, Z:-0.06 [[ 9.99975993e-01 4.18325840e-03 -5.52401267e-03 3.07477893e+01] [-4.18344534e-03 9.99991249e-01 -2.22864639e-05 -2.75557224e-01] [ 5.52387110e-03 4.53953339e-05 9.99984742e-01 -5.89646239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.540281693 meters 0.01805525926789636 Centerline is valid? [True, True] Translation: X:30.81, Y:-0.28, Z:-0.06 [[ 9.99974362e-01 1.66622035e-03 -6.96413603e-03 3.08062156e+01] [-1.66645866e-03 9.99998611e-01 -2.84173993e-05 -2.77798397e-01] [ 6.96407901e-03 4.00221155e-05 9.99975750e-01 -6.15428790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.600281693 meters 0.018950426177069424 Centerline is valid? [True, True] Translation: X:30.86, Y:-0.28, Z:-0.06 [[ 9.99979584e-01 2.93019887e-03 -5.67859599e-03 3.08627261e+01] [-2.93038031e-03 9.99995706e-01 -2.36319286e-05 -2.77140794e-01] [ 5.67850236e-03 4.02718920e-05 9.99983876e-01 -5.84958809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.660281692999995 meters 0.021348954105439095 Centerline is valid? [True, True] Translation: X:30.92, Y:-0.27, Z:-0.05 [[ 9.99975262e-01 6.03218453e-03 -3.61784969e-03 3.09213877e+01] [-6.03228058e-03 9.99981806e-01 -1.56375831e-05 -2.71579481e-01] [ 3.61768953e-03 3.74610807e-05 9.99993455e-01 -5.42317752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.720281693 meters 0.026417323743517046 Centerline is valid? [True, True] Translation: X:30.98, Y:-0.26, Z:-0.06 [[ 9.99903627e-01 1.23813622e-02 -6.28002778e-03 3.09802908e+01] [-1.23817776e-02 9.99923342e-01 -2.72789831e-05 -2.59529347e-01] [ 6.27920861e-03 1.05034262e-04 9.99980280e-01 -5.90463246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.780281693 meters 0.026357370823287964 Centerline is valid? [True, True] Translation: X:31.04, Y:-0.26, Z:-0.06 [[ 9.99892646e-01 1.36483904e-02 -5.33087275e-03 3.10395275e+01] [-1.36487091e-02 9.99906852e-01 -2.34126389e-05 -2.56190161e-01] [ 5.33005664e-03 9.61696570e-05 9.99985791e-01 -5.58629455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.840281692999994 meters 0.02807858427895951 Centerline is valid? [True, True] Translation: X:31.10, Y:-0.25, Z:-0.05 [[ 9.99856088e-01 1.67966884e-02 -2.38208482e-03 3.10992168e+01] [-1.67967611e-02 9.99858924e-01 -1.05202853e-05 -2.46146681e-01] [ 2.38157206e-03 5.05300810e-05 9.99997163e-01 -5.02478934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.900281693 meters 0.031211371956649026 Centerline is valid? [True, True] Translation: X:31.16, Y:-0.24, Z:-0.05 [[ 9.99819635e-01 1.88864211e-02 -2.00035807e-03 3.11579599e+01] [-1.88864767e-02 9.99821635e-01 -8.91112352e-06 -2.37693995e-01] [ 1.99983298e-03 4.66892325e-05 9.99997999e-01 -5.02229783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.960281693 meters 0.03448180095305194 Centerline is valid? [True, True] Translation: X:31.22, Y:-0.22, Z:-0.05 [[ 9.99759591e-01 2.16998169e-02 -3.14287951e-03 3.12177071e+01] [-2.16999682e-02 9.99764528e-01 -1.40624450e-05 -2.24100767e-01] [ 3.14183430e-03 8.22594498e-05 9.99995061e-01 -5.43956218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.020281692999994 meters 0.032933513377495324 Centerline is valid? [True, True] Translation: X:31.28, Y:-0.22, Z:-0.06 [[ 9.99797456e-01 1.93289173e-02 -5.60712896e-03 3.12762250e+01] [-1.93293629e-02 9.99813170e-01 -2.52789799e-05 -2.16833571e-01] [ 5.60559276e-03 1.33656090e-04 9.99984280e-01 -5.75711949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.080281692999996 meters 0.03107618924954387 Centerline is valid? [True, True] Translation: X:31.34, Y:-0.21, Z:-0.06 [[ 9.99823404e-01 1.76171226e-02 -6.54194504e-03 3.13354115e+01] [-1.76176945e-02 9.99844796e-01 -2.97995540e-05 -2.14616373e-01] [ 6.54040472e-03 1.45048281e-04 9.99978601e-01 -6.05871159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.140281693 meters 0.027781073879324346 Centerline is valid? [True, True] Translation: X:31.39, Y:-0.21, Z:-0.06 [[ 9.99895007e-01 1.34304672e-02 -5.44043060e-03 3.13938368e+01] [-1.34308018e-02 9.99909802e-01 -2.49687467e-05 -2.08412175e-01] [ 5.43960454e-03 9.80354703e-05 9.99985200e-01 -5.84065409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.200281692999994 meters 0.02194878798945914 Centerline is valid? [True, True] Translation: X:31.45, Y:-0.21, Z:-0.06 [[ 9.99962336e-01 7.33220674e-03 -4.64389979e-03 3.14534529e+01] [-7.33238526e-03 9.99973117e-01 -2.14162884e-05 -2.06031622e-01] [ 4.64361792e-03 5.54663441e-05 9.99989217e-01 -5.67617895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.260281692999996 meters 0.018547596403362825 Centerline is valid? [True, True] Translation: X:31.51, Y:-0.21, Z:-0.06 [[ 9.99987845e-01 2.50920257e-03 -4.24430944e-03 3.15132411e+01] [-2.50930866e-03 9.99996851e-01 -1.96699484e-05 -2.07535396e-01] [ 4.24424673e-03 3.03199918e-05 9.99990993e-01 -5.60637264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.320281693 meters 0.01638740521124943 Centerline is valid? [True, True] Translation: X:31.57, Y:-0.21, Z:-0.06 [[ 9.99974414e-01 -5.09916206e-03 -5.01698158e-03 3.15726106e+01] [ 5.09910872e-03 9.99986999e-01 -2.34217770e-05 -2.13540511e-01] [ 5.01703579e-03 -2.16095683e-06 9.99987415e-01 -5.84752068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38028169299999 meters 0.018576528344607435 Centerline is valid? [True, True] Translation: X:31.63, Y:-0.22, Z:-0.06 [[ 9.99920760e-01 -1.18641523e-02 -4.20888328e-03 3.16314831e+01] [ 1.18641741e-02 9.99929618e-01 -1.97904782e-05 -2.19794022e-01] [ 4.20882185e-03 -3.01460140e-05 9.99991142e-01 -5.64276223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.440281692999996 meters 0.020349675572049395 Centerline is valid? [True, True] Translation: X:31.69, Y:-0.22, Z:-0.06 [[ 9.99884792e-01 -1.39882298e-02 -5.89335531e-03 3.16898185e+01] [ 1.39883075e-02 9.99902158e-01 -2.80333184e-05 -2.21888630e-01] [ 5.89317084e-03 -5.44079778e-05 9.99982634e-01 -6.05197041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.500281693 meters 0.02197176752885704 Centerline is valid? [True, True] Translation: X:31.75, Y:-0.23, Z:-0.06 [[ 9.99858074e-01 -1.62276802e-02 -4.52698705e-03 3.17484205e+01] [ 1.62277458e-02 9.99868321e-01 -2.22563151e-05 -2.25339164e-01] [ 4.52675211e-03 -5.12096385e-05 9.99989753e-01 -5.82672803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56028169299999 meters 0.021195345004282596 Centerline is valid? [True, True] Translation: X:31.81, Y:-0.22, Z:-0.06 [[ 9.99860957e-01 -1.63041908e-02 -3.49843726e-03 3.18070655e+01] [ 1.63042285e-02 9.99867077e-01 -1.77607348e-05 -2.23196105e-01] [ 3.49826181e-03 -3.92810551e-05 9.99993880e-01 -5.59716136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.620281692999995 meters 0.01895733967447526 Centerline is valid? [True, True] Translation: X:31.87, Y:-0.22, Z:-0.06 [[ 9.99898225e-01 -1.27069422e-02 -6.48638076e-03 3.18670690e+01] [ 1.27069956e-02 9.99919262e-01 -3.29846230e-05 -2.16965396e-01] [ 6.48627620e-03 -4.94411456e-05 9.99978963e-01 -5.99368615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.680281693 meters 0.017242269285920424 Centerline is valid? [True, True] Translation: X:31.92, Y:-0.21, Z:-0.06 [[ 9.99943059e-01 -8.53255048e-03 -6.40898710e-03 3.19249306e+01] [ 8.53251447e-03 9.99963597e-01 -3.29613411e-05 -2.11021660e-01] [ 6.40903504e-03 -2.17253109e-05 9.99979462e-01 -6.00427919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.740281693 meters 0.016596743477163684 Centerline is valid? [True, True] Translation: X:31.98, Y:-0.21, Z:-0.06 [[ 9.99960395e-01 -7.65371486e-03 -4.54196784e-03 3.19841908e+01] [ 7.65368428e-03 9.99970710e-01 -2.41150047e-05 -2.10399426e-01] [ 4.54201938e-03 -1.06487383e-05 9.99989685e-01 -5.69323594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.800281692999995 meters 0.016241818801077744 Centerline is valid? [True, True] Translation: X:32.04, Y:-0.21, Z:-0.05 [[ 9.99969354e-01 -7.54295511e-03 -2.09624802e-03 3.20418252e+01] [ 7.54294798e-03 9.99971551e-01 -1.13074648e-05 -2.10554720e-01] [ 2.09627367e-03 -4.50477150e-06 9.99997803e-01 -5.12585549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.860281693 meters 0.01598000849892968 Centerline is valid? [True, True] Translation: X:32.10, Y:-0.20, Z:-0.05 [[ 9.99989977e-01 -4.19474266e-03 -1.56550258e-03 3.21010892e+01] [ 4.19473454e-03 9.99991202e-01 -8.46758198e-06 -2.02181914e-01] [ 1.56552432e-03 1.90062937e-06 9.99998775e-01 -4.99150106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.920281693 meters 0.01881765425240812 Centerline is valid? [True, True] Translation: X:32.16, Y:-0.19, Z:-0.06 [[ 9.99990548e-01 1.77191842e-03 -3.97031333e-03 3.21608280e+01] [-1.77201777e-03 9.99998430e-01 -2.15041278e-05 -1.85185171e-01] [ 3.97026899e-03 2.85393903e-05 9.99992118e-01 -5.52294202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.980281692999995 meters 0.018325301950093714 Centerline is valid? [True, True] Translation: X:32.22, Y:-0.18, Z:-0.06 [[ 9.99988017e-01 1.47958564e-03 -4.66665129e-03 3.22199801e+01] [-1.47972079e-03 9.99998905e-01 -2.55083101e-05 -1.81437008e-01] [ 4.66660844e-03 3.24133453e-05 9.99989111e-01 -5.61764856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.040281693 meters 0.016420967808063108 Centerline is valid? [True, True] Translation: X:32.28, Y:-0.18, Z:-0.05 [[ 9.99994535e-01 -2.70575823e-03 -1.89957573e-03 3.22789002e+01] [ 2.70574325e-03 9.99996339e-01 -1.04554360e-05 -1.78040670e-01] [ 1.89959706e-03 5.31561466e-06 9.99998196e-01 -5.11921127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.100281693 meters 0.017054859099539105 Centerline is valid? [True, True] Translation: X:32.34, Y:-0.19, Z:-0.05 [[ 9.99946219e-01 -1.03322449e-02 -8.96652888e-04 3.23385233e+01] [ 1.03322446e-02 9.99946621e-01 -4.95717978e-06 -1.86688739e-01] [ 8.96656245e-04 -4.30752379e-06 9.99999598e-01 -5.06570642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.160281692999995 meters 0.02266208598915141 Centerline is valid? [True, True] Translation: X:32.40, Y:-0.19, Z:-0.05 [[ 9.99825270e-01 -1.84295236e-02 -3.12776045e-03 3.23988392e+01] [ 1.84295597e-02 9.99830161e-01 -1.72651157e-05 -1.92496067e-01] [ 3.12754742e-03 -4.03811491e-05 9.99995108e-01 -5.45367616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.220281693 meters 0.024562042548542103 Centerline is valid? [True, True] Translation: X:32.46, Y:-0.19, Z:-0.06 [[ 9.99789909e-01 -2.00062202e-02 -4.45975210e-03 3.24585274e+01] [ 2.00063092e-02 9.99799853e-01 -2.46703184e-05 -1.93618349e-01] [ 4.45935306e-03 -6.45580440e-05 9.99990055e-01 -5.78743357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.280281693 meters 0.028598686812629424 Centerline is valid? [True, True] Translation: X:32.52, Y:-0.20, Z:-0.06 [[ 9.99667085e-01 -2.52181727e-02 -5.45547255e-03 3.25177633e+01] [ 2.52183823e-02 9.99681966e-01 -3.03686409e-05 -1.96418106e-01] [ 5.45450336e-03 -1.07219662e-04 9.99985118e-01 -5.84546950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.340281692999994 meters 0.03140430145229459 Centerline is valid? [True, True] Translation: X:32.58, Y:-0.20, Z:-0.06 [[ 9.99595821e-01 -2.80173266e-02 -4.81908684e-03 3.25769079e+01] [ 2.80175188e-02 9.99607432e-01 -2.76214164e-05 -1.99425938e-01] [ 4.81796890e-03 -1.07408604e-04 9.99988388e-01 -5.78840389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.400281693 meters 0.0327092750558614 Centerline is valid? [True, True] Translation: X:32.64, Y:-0.20, Z:-0.06 [[ 9.99574726e-01 -2.88299402e-02 -4.38196320e-03 3.26355453e+01] [ 2.88301065e-02 9.99584326e-01 -2.52236108e-05 -2.02579938e-01] [ 4.38086893e-03 -1.01119582e-04 9.99990399e-01 -5.65634400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.460281693 meters 0.030175120590602813 Centerline is valid? [True, True] Translation: X:32.69, Y:-0.20, Z:-0.06 [[ 9.99645416e-01 -2.64048105e-02 -3.43931645e-03 3.26947696e+01] [ 2.64048968e-02 9.99651330e-01 -2.03256972e-05 -2.00677927e-01] [ 3.43865395e-03 -7.04963057e-05 9.99994085e-01 -5.54555442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.520281692999994 meters 0.02884801331267436 Centerline is valid? [True, True] Translation: X:32.75, Y:-0.20, Z:-0.05 [[ 9.99678679e-01 -2.52588291e-02 -2.12850590e-03 3.27542530e+01] [ 2.52588595e-02 9.99680944e-01 -1.26028159e-05 -2.01790590e-01] [ 2.12814512e-03 -4.11648651e-05 9.99997735e-01 -5.32282995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.580281692999996 meters 0.026975614909801573 Centerline is valid? [True, True] Translation: X:32.81, Y:-0.21, Z:-0.05 [[ 9.99735811e-01 -2.28412068e-02 -2.56643752e-03 3.28131272e+01] [ 2.28412428e-02 9.99739105e-01 -1.52814142e-05 -2.05125709e-01] [ 2.56611700e-03 -4.33432457e-05 9.99996707e-01 -5.34382027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.640281693 meters 0.022974356757624655 Centerline is valid? [True, True] Translation: X:32.87, Y:-0.20, Z:-0.05 [[ 9.99826653e-01 -1.85822691e-02 -1.16736298e-03 3.28717467e+01] [ 1.85822736e-02 9.99827335e-01 -6.99461796e-06 -2.04171222e-01] [ 1.16729139e-03 -1.46988528e-05 9.99999319e-01 -5.03611643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.700281692999994 meters 0.019296684539656928 Centerline is valid? [True, True] Translation: X:32.93, Y:-0.20, Z:-0.05 [[ 9.99900312e-01 -1.41175263e-02 -2.46879072e-04 3.29313710e+01] [ 1.41175263e-02 9.99900343e-01 -1.48954412e-06 -1.97439749e-01] [ 2.46875498e-04 -1.99592617e-06 9.99999970e-01 -4.84514423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.760281692999996 meters 0.01609921292564351 Centerline is valid? [True, True] Translation: X:32.99, Y:-0.18, Z:-0.05 [[ 9.99982417e-01 -5.92990658e-03 4.99531808e-05 3.29918543e+01] [ 5.92990657e-03 9.99982418e-01 2.99899295e-07 -1.83093856e-01] [-4.99540809e-05 -3.67632659e-09 9.99999999e-01 -4.79088316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.820281693 meters 0.016251519955714187 Centerline is valid? [True, True] Translation: X:33.05, Y:-0.18, Z:-0.05 [[ 9.99990569e-01 -4.33676131e-03 -2.33120708e-04 3.30523573e+01] [ 4.33676110e-03 9.99990596e-01 -1.39956525e-06 -1.80962388e-01] [ 2.33124585e-04 3.88563232e-07 9.99999973e-01 -4.89765751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88028169299999 meters 0.016590266864428646 Centerline is valid? [True, True] Translation: X:33.11, Y:-0.18, Z:-0.05 [[ 9.99996431e-01 -2.67134085e-03 3.51103715e-05 3.31126470e+01] [ 2.67134085e-03 9.99996432e-01 2.10788893e-07 -1.80585687e-01] [-3.51108093e-05 -1.16996371e-07 9.99999999e-01 -4.75126318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.940281692999996 meters 0.017777959381771666 Centerline is valid? [True, True] Translation: X:33.17, Y:-0.18, Z:-0.05 [[ 9.99996386e-01 -5.81764772e-04 -2.62480773e-03 3.31727249e+01] [ 5.81725502e-04 9.99999831e-01 -1.57246397e-05 -1.77425975e-01] [ 2.62481643e-03 1.41976653e-05 9.99996555e-01 -5.30423474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.000281693 meters 0.01828728376194735 Centerline is valid? [True, True] Translation: X:33.23, Y:-0.18, Z:-0.05 [[ 9.99997670e-01 2.64872857e-04 -2.14218860e-03 3.32310392e+01] [-2.64901136e-04 9.99999965e-01 -1.29174595e-05 -1.75144961e-01] [ 2.14218510e-03 1.34848976e-05 9.99997705e-01 -5.19132634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06028169299999 meters 0.01893896848108447 Centerline is valid? [True, True] Translation: X:33.29, Y:-0.18, Z:-0.05 [[ 9.99996828e-01 1.64644627e-03 -1.90626270e-03 3.32903696e+01] [-1.64647125e-03 9.99998644e-01 -1.15350443e-05 -1.75051505e-01] [ 1.90624112e-03 1.46736145e-05 9.99998183e-01 -5.07986872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.120281692999995 meters 0.019141882863663365 Centerline is valid? [True, True] Translation: X:33.35, Y:-0.18, Z:-0.06 [[ 9.99974422e-01 4.03274523e-04 -7.14085035e-03 3.33492919e+01] [-4.03594939e-04 9.99999918e-01 -4.34298326e-05 -1.79431810e-01] [ 7.14083224e-03 4.63107328e-05 9.99974503e-01 -6.09010860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.180281693 meters 0.018252882583510342 Centerline is valid? [True, True] Translation: X:33.41, Y:-0.18, Z:-0.06 [[ 9.99980656e-01 -9.44899033e-04 -6.14768977e-03 3.34067591e+01] [ 9.44684910e-04 9.99999553e-01 -3.77336952e-05 -1.82948085e-01] [ 6.14772267e-03 3.19253355e-05 9.99981102e-01 -5.88362564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.240281693 meters 0.01893935565030661 Centerline is valid? [True, True] Translation: X:33.46, Y:-0.18, Z:-0.05 [[ 9.99995930e-01 8.58766369e-04 -2.72068182e-03 3.34639753e+01] [-8.58815954e-04 9.99999631e-01 -1.70570034e-05 -1.78760220e-01] [ 2.72066617e-03 1.93934990e-05 9.99996299e-01 -5.13077785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.300281692999995 meters 0.021989899951164463 Centerline is valid? [True, True] Translation: X:33.52, Y:-0.17, Z:-0.05 [[ 9.99983963e-01 3.93242135e-03 -4.07540640e-03 3.35227795e+01] [-3.93256056e-03 9.99992267e-01 -2.61460590e-05 -1.70092536e-01] [ 4.07527207e-03 4.21724222e-05 9.99991695e-01 -5.38544352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.360281693 meters 0.02534766003440885 Centerline is valid? [True, True] Translation: X:33.58, Y:-0.16, Z:-0.05 [[ 9.99970197e-01 7.53501659e-03 -1.68171574e-03 3.35812466e+01] [-7.53504586e-03 9.99971611e-01 -1.10705145e-05 -1.56713028e-01] [ 1.68158458e-03 2.37419898e-05 9.99998586e-01 -4.79739391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.420281693 meters 0.024122985982264 Centerline is valid? [True, True] Translation: X:33.64, Y:-0.16, Z:-0.05 [[ 9.99981575e-01 5.91452679e-03 -1.36682778e-03 3.36396046e+01] [-5.91454460e-03 9.99982509e-01 -8.98519352e-06 -1.56205043e-01] [ 1.36675073e-03 1.70691919e-05 9.99999066e-01 -4.82684169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.480281692999995 meters 0.017522822558546952 Centerline is valid? [True, True] Translation: X:33.70, Y:-0.17, Z:-0.05 [[ 9.99995057e-01 -1.00915036e-03 -2.97771968e-03 3.36998449e+01] [ 1.00909658e-03 9.99999491e-01 -1.95618571e-05 -1.70544845e-01] [ 2.97773790e-03 1.65569537e-05 9.99995566e-01 -5.19757925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.540281693 meters 0.01706128884286691 Centerline is valid? [True, True] Translation: X:33.76, Y:-0.17, Z:-0.05 [[ 9.99992489e-01 -2.72918548e-03 -2.75194717e-03 3.37586696e+01] [ 2.72914588e-03 9.99996276e-01 -1.81456019e-05 -1.68708820e-01] [ 2.75198645e-03 1.06350003e-05 9.99996213e-01 -5.11444937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.600281693 meters 0.017373669230240533 Centerline is valid? [True, True] Translation: X:33.82, Y:-0.17, Z:-0.05 [[ 9.99997403e-01 -1.01862644e-03 -2.03881562e-03 3.38182352e+01] [ 1.01860105e-03 9.99999481e-01 -1.34931402e-05 -1.65122628e-01] [ 2.03882830e-03 1.14163654e-05 9.99997922e-01 -4.99751456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.660281692999995 meters 0.019053513431185044 Centerline is valid? [True, True] Translation: X:33.88, Y:-0.16, Z:-0.06 [[ 9.99988144e-01 1.05697478e-03 -4.75346318e-03 3.38772003e+01] [-1.05713701e-03 9.99999441e-01 -3.16157739e-05 -1.59824620e-01] [ 4.75342710e-03 3.66404609e-05 9.99988702e-01 -5.53365019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.720281693 meters 0.018040678487893605 Centerline is valid? [True, True] Translation: X:33.94, Y:-0.16, Z:-0.06 [[ 9.99980546e-01 -1.35544986e-03 -6.08851797e-03 3.39357668e+01] [ 1.35522674e-03 9.99999081e-01 -4.07724700e-05 -1.58698247e-01] [ 6.08856764e-03 3.25203545e-05 9.99981464e-01 -5.77306098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.780281693 meters 0.016752139528067107 Centerline is valid? [True, True] Translation: X:33.99, Y:-0.16, Z:-0.06 [[ 9.99976205e-01 -4.66901556e-03 -5.07834852e-03 3.39946898e+01] [ 4.66890188e-03 9.99989100e-01 -3.42395270e-05 -1.59420840e-01] [ 5.07845303e-03 1.05284013e-05 9.99987105e-01 -5.62193289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.840281692999994 meters 0.01670951600049179 Centerline is valid? [True, True] Translation: X:34.05, Y:-0.16, Z:-0.06 [[ 9.99952071e-01 -8.28764624e-03 -5.21260192e-03 3.40524381e+01] [ 8.28757411e-03 9.99965657e-01 -3.54387038e-05 -1.62180677e-01] [ 5.21271660e-03 -7.76281949e-06 9.99986414e-01 -5.58621581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.900281693 meters 0.01669997576420856 Centerline is valid? [True, True] Translation: X:34.11, Y:-0.16, Z:-0.05 [[ 9.99944372e-01 -9.64556721e-03 -4.26811250e-03 3.41108935e+01] [ 9.64552809e-03 9.99953480e-01 -2.97514413e-05 -1.60736292e-01] [ 4.26820091e-03 -1.14184126e-05 9.99990891e-01 -5.44526697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.960281693 meters 0.017411136985979823 Centerline is valid? [True, True] Translation: X:34.17, Y:-0.17, Z:-0.05 [[ 9.99926103e-01 -1.18406826e-02 -2.75426463e-03 3.41699844e+01] [ 1.18406744e-02 9.99929897e-01 -1.92622842e-05 -1.66325827e-01] [ 2.75429963e-03 -1.33514900e-05 9.99996207e-01 -5.25313673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.020281692999994 meters 0.018193870861220745 Centerline is valid? [True, True] Translation: X:34.23, Y:-0.17, Z:-0.06 [[ 9.99905036e-01 -1.25404913e-02 -5.71440824e-03 3.42293339e+01] [ 1.25404670e-02 9.99921364e-01 -4.00699305e-05 -1.66446987e-01] [ 5.71446138e-03 -3.15952230e-05 9.99983672e-01 -5.75846828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.080281692999996 meters 0.01625578697040993 Centerline is valid? [True, True] Translation: X:34.29, Y:-0.15, Z:-0.05 [[ 9.99972549e-01 -6.46580543e-03 -3.61851950e-03 3.42883341e+01] [ 6.46575361e-03 9.99979096e-01 -2.60176002e-05 -1.52686799e-01] [ 3.61861208e-03 2.62043054e-06 9.99993453e-01 -5.19324908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.140281693 meters 0.017169434141511123 Centerline is valid? [True, True] Translation: X:34.35, Y:-0.14, Z:-0.05 [[ 9.99995500e-01 -2.84021225e-03 -9.66143317e-04 3.43472931e+01] [ 2.84020684e-03 9.99995967e-01 -6.97710174e-06 -1.43278722e-01] [ 9.66159236e-04 4.23302349e-06 9.99999533e-01 -4.81209482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.200281692999994 meters 0.01608559432535407 Centerline is valid? [True, True] Translation: X:34.41, Y:-0.15, Z:-0.05 [[ 9.99974209e-01 -7.15383150e-03 6.35429832e-04 3.44074892e+01] [ 7.15383002e-03 9.99974411e-01 4.59074558e-06 -1.51334651e-01] [-6.35446414e-04 -4.48701700e-08 9.99999798e-01 -4.57996014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.260281692999996 meters 0.019157135097035035 Centerline is valid? [True, True] Translation: X:34.47, Y:-0.16, Z:-0.05 [[ 9.99898831e-01 -1.40702607e-02 -2.08709693e-03 3.44676226e+01] [ 1.40702600e-02 9.99901009e-01 -1.50089440e-05 -1.64785709e-01] [ 2.08710150e-03 -1.43585709e-05 9.99997822e-01 -5.16386773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.320281693 meters 0.02516491982885102 Centerline is valid? [True, True] Translation: X:34.53, Y:-0.18, Z:-0.06 [[ 9.99721079e-01 -2.28951819e-02 -5.79433213e-03 3.45282156e+01] [ 2.28953246e-02 9.99737867e-01 -4.17113604e-05 -1.82498009e-01] [ 5.79376823e-03 -9.09633886e-05 9.99983212e-01 -5.75041437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38028169299999 meters 0.031304040115598064 Centerline is valid? [True, True] Translation: X:34.59, Y:-0.20, Z:-0.05 [[ 9.99536965e-01 -3.01985210e-02 -3.72903488e-03 3.45882720e+01] [ 3.01986307e-02 9.99543917e-01 -2.69054768e-05 -1.98668228e-01] [ 3.72814664e-03 -8.57187287e-05 9.99993047e-01 -5.28092584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.440281692999996 meters 0.03789423123626295 Centerline is valid? [True, True] Translation: X:34.65, Y:-0.22, Z:-0.06 [[ 9.99344685e-01 -3.54656074e-02 -7.23813585e-03 3.46475050e+01] [ 3.54661584e-02 9.99370877e-01 -5.22561398e-05 -2.19935343e-01] [ 7.23543546e-03 -2.04486977e-04 9.99973803e-01 -5.96785266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.500281693 meters 0.036658721981965514 Centerline is valid? [True, True] Translation: X:34.71, Y:-0.23, Z:-0.05 [[ 9.99377304e-01 -3.48389314e-02 -5.59041799e-03 3.47062387e+01] [ 3.48392451e-02 9.99392928e-01 -4.12871175e-05 -2.26382629e-01] [ 5.58846261e-03 -1.53504534e-04 9.99984373e-01 -5.49935332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56028169299999 meters 0.03448795669350449 Centerline is valid? [True, True] Translation: X:34.77, Y:-0.24, Z:-0.05 [[ 9.99466321e-01 -3.25331846e-02 -2.94374276e-03 3.47658627e+01] [ 3.25332615e-02 9.99470653e-01 -2.17853371e-05 -2.40351115e-01] [ 2.94289325e-03 -7.39958422e-05 9.99995667e-01 -5.09572069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.620281692999995 meters 0.02787092602849924 Centerline is valid? [True, True] Translation: X:34.83, Y:-0.24, Z:-0.05 [[ 9.99675375e-01 -2.53005081e-02 -3.00476900e-03 3.48251882e+01] [ 2.53005554e-02 9.99679889e-01 -2.22751680e-05 -2.44252822e-01] [ 3.00437072e-03 -5.37543876e-05 9.99995485e-01 -5.00150168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.680281693 meters 0.018082332485655057 Centerline is valid? [True, True] Translation: X:34.88, Y:-0.23, Z:-0.05 [[ 9.99905208e-01 -1.32811335e-02 -3.63132827e-03 3.48846068e+01] [ 1.32811230e-02 9.99911802e-01 -2.70076160e-05 -2.33243086e-01] [ 3.63136669e-03 -2.12230614e-05 9.99993406e-01 -5.06092050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.740281693 meters 0.017064224657942308 Centerline is valid? [True, True] Translation: X:34.94, Y:-0.23, Z:-0.05 [[ 9.99947306e-01 -9.56357124e-03 -3.73146276e-03 3.49433466e+01] [ 9.56353376e-03 9.99954268e-01 -2.78865750e-05 -2.29896335e-01] [ 3.73155881e-03 -7.80086454e-06 9.99993038e-01 -5.08740412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.800281692999995 meters 0.018917442073021148 Centerline is valid? [True, True] Translation: X:35.00, Y:-0.22, Z:-0.05 [[ 9.99984206e-01 -1.42786076e-03 -5.43594272e-03 3.50023888e+01] [ 1.42766006e-03 9.99998980e-01 -4.08011003e-05 -2.17224209e-01] [ 5.43599543e-03 3.30397776e-05 9.99985224e-01 -5.27468396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.860281693 meters 0.023001139760117754 Centerline is valid? [True, True] Translation: X:35.06, Y:-0.21, Z:-0.05 [[ 9.99982769e-01 4.41669720e-03 -3.86711294e-03 3.50608046e+01] [-4.41684384e-03 9.99990245e-01 -2.93790795e-05 -2.09757449e-01] [ 3.86694546e-03 4.64590073e-05 9.99992522e-01 -5.04477416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.920281693 meters 0.026345067744682087 Centerline is valid? [True, True] Translation: X:35.12, Y:-0.20, Z:-0.05 [[ 9.99956873e-01 8.37413810e-03 -4.01564648e-03 3.51198604e+01] [-8.37432880e-03 9.99964934e-01 -3.06771189e-05 -2.01271508e-01] [ 4.01524878e-03 6.43041399e-05 9.99991937e-01 -4.99564484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.980281692999995 meters 0.02890647545610633 Centerline is valid? [True, True] Translation: X:35.18, Y:-0.19, Z:-0.05 [[ 9.99899677e-01 1.25908759e-02 -6.48887493e-03 3.51789860e+01] [-1.25914641e-02 9.99920723e-01 -4.97889586e-05 -1.91456821e-01] [ 6.48773363e-03 1.31488399e-04 9.99978946e-01 -5.42219308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.040281693 meters 0.028067557524032595 Centerline is valid? [True, True] Translation: X:35.24, Y:-0.19, Z:-0.05 [[ 9.99910644e-01 1.19145102e-02 -6.06205297e-03 3.52380338e+01] [-1.19150129e-02 9.99929013e-01 -4.68087505e-05 -1.91516997e-01] [ 6.06106493e-03 1.19034007e-04 9.99981624e-01 -5.26604791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.100281693 meters 0.023238399910904206 Centerline is valid? [True, True] Translation: X:35.30, Y:-0.20, Z:-0.05 [[ 9.99972384e-01 6.69050960e-03 -3.23552590e-03 3.52983805e+01] [-6.69062556e-03 9.99977617e-01 -2.50179223e-05 -1.95053999e-01] [ 3.23528610e-03 4.66649237e-05 9.99994765e-01 -4.71811685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.160281692999995 meters 0.019302814582116162 Centerline is valid? [True, True] Translation: X:35.36, Y:-0.20, Z:-0.05 [[ 9.99995017e-01 -2.22978233e-04 -3.14895090e-03 3.53569504e+01] [ 2.22902284e-04 9.99999975e-01 -2.44696391e-05 -2.04631169e-01] [ 3.14895628e-03 2.37676089e-05 9.99995042e-01 -4.86695302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.220281693 meters 0.01985432318055185 Centerline is valid? [True, True] Translation: X:35.42, Y:-0.20, Z:-0.05 [[ 9.99978597e-01 -6.91190355e-05 -6.54225864e-03 3.54154665e+01] [ 6.87865274e-05 9.99999996e-01 -5.10496471e-05 -2.04682321e-01] [ 6.54226215e-03 5.05985352e-05 9.99978598e-01 -5.25575072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.280281693 meters 0.019987190097957293 Centerline is valid? [True, True] Translation: X:35.47, Y:-0.21, Z:-0.05 [[ 9.99992881e-01 2.99591008e-04 -3.76140559e-03 3.54736116e+01] [-2.99704807e-04 9.99999955e-01 -2.96906084e-05 -2.05306544e-01] [ 3.76139652e-03 3.08177083e-05 9.99992925e-01 -4.81077393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.340281692999994 meters 0.01841601178514151 Centerline is valid? [True, True] Translation: X:35.53, Y:-0.21, Z:-0.04 [[ 9.99997116e-01 -2.36749393e-03 -4.03962723e-04 3.55324094e+01] [ 2.36749283e-03 9.99997197e-01 -3.21929793e-06 -2.14567457e-01] [ 4.03969212e-04 2.26290980e-06 9.99999918e-01 -4.21311045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.400281693 meters 0.017597189218285 Centerline is valid? [True, True] Translation: X:35.59, Y:-0.22, Z:-0.05 [[ 9.99987443e-01 -4.42988023e-03 -2.34292777e-03 3.55916989e+01] [ 4.42984894e-03 9.99990188e-01 -1.85442131e-05 -2.19414701e-01] [ 2.34298693e-03 8.16516415e-06 9.99997255e-01 -4.57496780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.460281693 meters 0.01799007313004696 Centerline is valid? [True, True] Translation: X:35.65, Y:-0.22, Z:-0.05 [[ 9.99963994e-01 -5.55919714e-03 -6.41147312e-03 3.56513584e+01] [ 5.55898499e-03 9.99984547e-01 -5.09099427e-05 -2.21300721e-01] [ 6.41165706e-03 1.52668268e-05 9.99979445e-01 -5.26801668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.520281692999994 meters 0.01840282670708861 Centerline is valid? [True, True] Translation: X:35.71, Y:-0.22, Z:-0.06 [[ 9.99958716e-01 -4.57235685e-03 -7.85243405e-03 3.57103128e+01] [ 4.57199763e-03 9.99989546e-01 -6.36964222e-05 -2.16250479e-01] [ 7.85264320e-03 2.77924827e-05 9.99969167e-01 -5.54384019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.580281692999996 meters 0.01731982716759954 Centerline is valid? [True, True] Translation: X:35.77, Y:-0.22, Z:-0.05 [[ 9.99958320e-01 -8.00041337e-03 -4.39912842e-03 3.57696698e+01] [ 8.00033321e-03 9.99967996e-01 -3.58200299e-05 -2.20076334e-01] [ 4.39927420e-03 6.24043709e-07 9.99990323e-01 -4.87262154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.640281693 meters 0.018014500513674703 Centerline is valid? [True, True] Translation: X:35.83, Y:-0.22, Z:-0.05 [[ 9.99916399e-01 -1.22437200e-02 -4.15780256e-03 3.58281840e+01] [ 1.22436842e-02 9.99925043e-01 -3.40572341e-05 -2.24631421e-01] [ 4.15790789e-03 -1.68524347e-05 9.99991356e-01 -4.74343169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.700281692999994 meters 0.02069667429071875 Centerline is valid? [True, True] Translation: X:35.89, Y:-0.23, Z:-0.05 [[ 9.99828836e-01 -1.71677914e-02 -6.89684870e-03 3.58857508e+01] [ 1.71678074e-02 9.99852621e-01 -5.68900988e-05 -2.32896286e-01] [ 6.89680893e-03 -6.15234086e-05 9.99976215e-01 -5.25163215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.760281692999996 meters 0.018798732965072684 Centerline is valid? [True, True] Translation: X:35.94, Y:-0.23, Z:-0.05 [[ 9.99880623e-01 -1.44712926e-02 -5.41494594e-03 3.59449950e+01] [ 1.44712582e-02 9.99895285e-01 -4.55241323e-05 -2.27966539e-01] [ 5.41503771e-03 -3.28423833e-05 9.99985338e-01 -4.96785979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.820281693 meters 0.017458487282038342 Centerline is valid? [True, True] Translation: X:36.00, Y:-0.22, Z:-0.05 [[ 9.99943085e-01 -9.87663119e-03 -4.03467780e-03 3.60031988e+01] [ 9.87657203e-03 9.99951225e-01 -3.45867574e-05 -2.22303339e-01] [ 4.03482261e-03 -5.26399702e-06 9.99991860e-01 -4.67703155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88028169299999 meters 0.01735475907571137 Centerline is valid? [True, True] Translation: X:36.06, Y:-0.22, Z:-0.05 [[ 9.99960739e-01 -8.17642663e-03 -3.41568876e-03 3.60615008e+01] [ 8.17637244e-03 9.99966572e-01 -2.98276105e-05 -2.18937851e-01] [ 3.41581847e-03 1.89849598e-06 9.99994166e-01 -4.67643822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.940281692999996 meters 0.017797436475978905 Centerline is valid? [True, True] Translation: X:36.12, Y:-0.21, Z:-0.04 [[ 9.99981740e-01 -5.76542744e-03 -1.81090328e-03 3.61204931e+01] [ 5.76540770e-03 9.99983380e-01 -1.61252536e-05 -2.13596548e-01] [ 1.81096615e-03 5.68436343e-06 9.99998360e-01 -4.25877895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.000281693 meters 0.019902034682209756 Centerline is valid? [True, True] Translation: X:36.18, Y:-0.20, Z:-0.05 [[ 9.99985570e-01 -1.93397812e-03 -5.01200970e-03 3.61798697e+01] [ 1.93377918e-03 9.99998129e-01 -4.45385016e-05 -2.03053136e-01] [ 5.01208646e-03 3.48457389e-05 9.99987439e-01 -4.87486891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06028169299999 meters 0.0217559139132924 Centerline is valid? [True, True] Translation: X:36.24, Y:-0.19, Z:-0.05 [[ 9.99983151e-01 1.85254401e-03 -5.50143926e-03 3.62384080e+01] [-1.85284634e-03 9.99998282e-01 -4.98575858e-05 -1.91559327e-01] [ 5.50133745e-03 6.00500674e-05 9.99984866e-01 -4.80227264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.120281692999995 meters 0.022915601899981732 Centerline is valid? [True, True] Translation: X:36.30, Y:-0.18, Z:-0.05 [[ 9.99978210e-01 2.94010603e-03 -5.91058767e-03 3.62958164e+01] [-2.94047581e-03 9.99995675e-01 -5.38727031e-05 -1.84323285e-01] [ 5.91040372e-03 7.12514693e-05 9.99982531e-01 -4.94242214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.180281693 meters 0.021599359808728732 Centerline is valid? [True, True] Translation: X:36.35, Y:-0.18, Z:-0.05 [[ 9.99977585e-01 1.00334557e-03 -6.61994885e-03 3.63549815e+01] [-1.00376902e-03 9.99999494e-01 -6.06435767e-05 -1.81724393e-01] [ 6.61988465e-03 6.72871169e-05 9.99978086e-01 -5.12055906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24028169299999 meters 0.020775610448070365 Centerline is valid? [True, True] Translation: X:36.41, Y:-0.18, Z:-0.05 [[ 9.99969223e-01 -2.69220904e-04 -7.84099890e-03 3.64133580e+01] [ 2.68663059e-04 9.99999961e-01 -7.21978828e-05 -1.77302815e-01] [ 7.84101804e-03 7.00890739e-05 9.99969256e-01 -5.16813084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.300281692999995 meters 0.021675399816899872 Centerline is valid? [True, True] Translation: X:36.47, Y:-0.17, Z:-0.05 [[ 9.99960373e-01 -2.18090036e-04 -8.89969798e-03 3.64708099e+01] [ 2.17364718e-04 9.99999973e-01 -8.24663232e-05 -1.70915093e-01] [ 8.89971572e-03 8.05285750e-05 9.99960394e-01 -5.45310599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.360281693 meters 0.02084805114992695 Centerline is valid? [True, True] Translation: X:36.53, Y:-0.17, Z:-0.04 [[ 9.99993783e-01 4.81673428e-04 -3.49300080e-03 3.65295407e+01] [-4.81791602e-04 9.99999883e-01 -3.29904585e-05 -1.65694481e-01] [ 3.49298451e-03 3.46731519e-05 9.99993899e-01 -4.31135830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.420281693 meters 0.017892470671190996 Centerline is valid? [True, True] Translation: X:36.59, Y:-0.17, Z:-0.04 [[ 9.99989926e-01 -4.47167162e-03 -3.90195868e-04 3.65884604e+01] [ 4.47167052e-03 9.99990002e-01 -3.70449698e-06 -1.66959628e-01] [ 3.90208532e-04 1.95963230e-06 9.99999924e-01 -3.86243757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.480281692999995 meters 0.017088008034756734 Centerline is valid? [True, True] Translation: X:36.65, Y:-0.17, Z:-0.04 [[ 9.99957337e-01 -9.15526968e-03 -1.22700068e-03 3.66493337e+01] [ 9.15526232e-03 9.99958090e-01 -1.16113402e-05 -1.72356613e-01] [ 1.22705556e-03 3.77331708e-07 9.99999247e-01 -4.05113171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.540281693 meters 0.017401311736076085 Centerline is valid? [True, True] Translation: X:36.71, Y:-0.17, Z:-0.04 [[ 9.99930207e-01 -1.15369793e-02 -2.54528278e-03 3.67086292e+01] [ 1.15369553e-02 9.99933447e-01 -2.41196758e-05 -1.72801477e-01] [ 2.54539165e-03 -5.24682127e-06 9.99996760e-01 -4.27179163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.600281693 meters 0.017869943897709472 Centerline is valid? [True, True] Translation: X:36.77, Y:-0.17, Z:-0.04 [[ 9.99907081e-01 -1.31342419e-02 -3.64986630e-03 3.67679254e+01] [ 1.31342028e-02 9.99913742e-01 -3.46772555e-05 -1.73175405e-01] [ 3.65000693e-03 -1.32640509e-05 9.99993339e-01 -4.47366872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.660281692999995 meters 0.017744766358249356 Centerline is valid? [True, True] Translation: X:36.83, Y:-0.17, Z:-0.04 [[ 9.99912460e-01 -1.28044496e-02 -3.33445702e-03 3.68261585e+01] [ 1.28044146e-02 9.99918020e-01 -3.18439176e-05 -1.73135188e-01] [ 3.33459140e-03 -1.08546403e-05 9.99994440e-01 -4.48778064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.720281693 meters 0.01757799076565737 Centerline is valid? [True, True] Translation: X:36.89, Y:-0.18, Z:-0.04 [[ 9.99913071e-01 -1.31834391e-02 -2.18253350e-04 3.68855645e+01] [ 1.31834389e-02 9.99913095e-01 -2.09611417e-06 -1.76603181e-01] [ 2.18262017e-04 -7.81397764e-07 9.99999976e-01 -3.93982111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.780281693 meters 0.017619845224986667 Centerline is valid? [True, True] Translation: X:36.95, Y:-0.18, Z:-0.04 [[ 9.99932948e-01 -1.13483310e-02 -2.30535370e-03 3.69465501e+01] [ 1.13483104e-02 9.99935606e-01 -2.20275604e-05 -1.75202188e-01] [ 2.30545522e-03 -4.13578601e-06 9.99997342e-01 -4.49661612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.840281692999994 meters 0.017396316688264784 Centerline is valid? [True, True] Translation: X:37.01, Y:-0.17, Z:-0.04 [[ 9.99960482e-01 -8.71028126e-03 -1.77896928e-03 3.70057382e+01] [ 8.71026476e-03 9.99962065e-01 -1.70248179e-05 -1.73190412e-01] [ 1.77905008e-03 1.52885170e-06 9.99998417e-01 -4.47501462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.900281693 meters 0.018218866347604553 Centerline is valid? [True, True] Translation: X:37.07, Y:-0.17, Z:-0.04 [[ 9.99988900e-01 -4.53779488e-03 -1.26792304e-03 3.70657183e+01] [ 4.53778309e-03 9.99989704e-01 -1.21686953e-05 -1.68064405e-01] [ 1.26796520e-03 6.41500048e-06 9.99999196e-01 -4.23295823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.960281693 meters 0.02388446771950852 Centerline is valid? [True, True] Translation: X:37.12, Y:-0.15, Z:-0.05 [[ 9.99989262e-01 3.27395438e-03 -3.27975332e-03 3.71247770e+01] [-3.27407543e-03 9.99994640e-01 -3.15397407e-05 -1.54964985e-01] [ 3.27963248e-03 4.22775617e-05 9.99994621e-01 -4.68619823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.020281692999994 meters 0.02854099405083554 Centerline is valid? [True, True] Translation: X:37.18, Y:-0.14, Z:-0.05 [[ 9.99961927e-01 8.18565695e-03 -3.02329478e-03 3.71830419e+01] [-8.18578269e-03 9.99966495e-01 -2.92194138e-05 -1.39565144e-01] [ 3.02295431e-03 5.39663354e-05 9.99995429e-01 -4.71719738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.080281692999996 meters 0.029319433321249054 Centerline is valid? [True, True] Translation: X:37.24, Y:-0.13, Z:-0.05 [[ 9.99955631e-01 9.03671516e-03 -2.65985044e-03 3.72418563e+01] [-9.03681583e-03 9.99959167e-01 -2.58302477e-05 -1.33400071e-01] [ 2.65950841e-03 4.98656802e-05 9.99996462e-01 -4.64252287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.140281693 meters 0.025301015070679875 Centerline is valid? [True, True] Translation: X:37.30, Y:-0.13, Z:-0.04 [[ 9.99989460e-01 4.56531798e-03 -4.88425463e-04 3.73006527e+01] [-4.56532084e-03 9.99989579e-01 -4.74699586e-06 -1.27950001e-01] [ 4.88398702e-04 6.97676477e-06 9.99999881e-01 -4.41940233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.200281692999994 meters 0.020515291980850874 Centerline is valid? [True, True] Translation: X:37.36, Y:-0.14, Z:-0.05 [[ 9.99996926e-01 -1.65585398e-03 -1.84573808e-03 3.73616125e+01] [ 1.65582375e-03 9.99998629e-01 -1.79028850e-05 -1.35053755e-01] [ 1.84576519e-03 1.48466130e-05 9.99998296e-01 -4.68207886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.260281692999996 meters 0.018141205328056804 Centerline is valid? [True, True] Translation: X:37.42, Y:-0.14, Z:-0.05 [[ 9.99966273e-01 -8.00336082e-03 -1.84361160e-03 3.74215888e+01] [ 8.00334135e-03 9.99967973e-01 -1.79375788e-05 -1.40177226e-01] [ 1.84369612e-03 3.18192091e-06 9.99998300e-01 -4.60762741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.320281693 meters 0.017998982782759118 Centerline is valid? [True, True] Translation: X:37.48, Y:-0.14, Z:-0.05 [[ 9.99950510e-01 -9.81250695e-03 -1.64079049e-03 3.74812888e+01] [ 9.81249394e-03 9.99951856e-01 -1.59799368e-05 -1.41171454e-01] [ 1.64086829e-03 -1.21100771e-07 9.99998654e-01 -4.68246715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38028169299999 meters 0.01792622832125441 Centerline is valid? [True, True] Translation: X:37.54, Y:-0.14, Z:-0.05 [[ 9.99944681e-01 -1.04603369e-02 -1.10306223e-03 3.75421335e+01] [ 1.04603314e-02 9.99945289e-01 -1.07402283e-05 -1.41358501e-01] [ 1.10311423e-03 -7.98762429e-07 9.99999392e-01 -4.54712050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.440281692999996 meters 0.018040457775800895 Centerline is valid? [True, True] Translation: X:37.60, Y:-0.14, Z:-0.05 [[ 9.99946774e-01 -1.01902002e-02 -1.61547769e-03 3.76022321e+01] [ 1.01901881e-02 9.99948079e-01 -1.57069706e-05 -1.41892472e-01] [ 1.61555387e-03 -7.55887002e-07 9.99998695e-01 -4.65143906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.500281693 meters 0.01897517816639087 Centerline is valid? [True, True] Translation: X:37.66, Y:-0.15, Z:-0.05 [[ 9.99908433e-01 -1.33308263e-02 -2.32706652e-03 3.76629768e+01] [ 1.33308097e-02 9.99911141e-01 -2.26313219e-05 -1.49994696e-01] [ 2.32716143e-03 -8.39243139e-06 9.99997292e-01 -4.62560904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56028169299999 meters 0.020259223294894914 Centerline is valid? [True, True] Translation: X:37.72, Y:-0.16, Z:-0.04 [[ 9.99850179e-01 -1.72589708e-02 -1.32201890e-03 3.77225776e+01] [ 1.72589688e-02 9.99851053e-01 -1.28948024e-05 -1.58453737e-01] [ 1.32204454e-03 -9.92381243e-06 9.99999126e-01 -4.45083456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.620281692999995 meters 0.021850172570041116 Centerline is valid? [True, True] Translation: X:37.78, Y:-0.17, Z:-0.05 [[ 9.99810671e-01 -1.93945130e-02 -1.57312995e-03 3.77819024e+01] [ 1.93945128e-02 9.99811909e-01 -1.53563631e-05 -1.69670537e-01] [ 1.57313188e-03 -1.51566332e-05 9.99998763e-01 -4.68260095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.680281693 meters 0.02298966802857329 Centerline is valid? [True, True] Translation: X:37.84, Y:-0.18, Z:-0.05 [[ 9.99778501e-01 -2.06579733e-02 -4.02444035e-03 3.78413475e+01] [ 2.06579822e-02 9.99786600e-01 -3.93719559e-05 -1.79552760e-01] [ 4.02439488e-03 -4.37735820e-05 9.99991901e-01 -5.02427563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74028169299999 meters 0.023164196843650425 Centerline is valid? [True, True] Translation: X:37.90, Y:-0.19, Z:-0.05 [[ 9.99780128e-01 -2.07366086e-02 -3.11268974e-03 3.79003867e+01] [ 2.07366126e-02 9.99784973e-01 -3.09805478e-05 -1.89584604e-01] [ 3.11266286e-03 -3.35729053e-05 9.99995155e-01 -4.84908242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.800281692999995 meters 0.02115447132315198 Centerline is valid? [True, True] Translation: X:37.96, Y:-0.19, Z:-0.05 [[ 9.99818067e-01 -1.88717033e-02 -2.77328106e-03 3.79592434e+01] [ 1.88716981e-02 9.99821913e-01 -2.80554042e-05 -1.89928483e-01] [ 2.77331663e-03 -2.42862229e-05 9.99996154e-01 -4.71124705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.860281693 meters 0.020155696314166274 Centerline is valid? [True, True] Translation: X:38.02, Y:-0.19, Z:-0.05 [[ 9.99867990e-01 -1.60833588e-02 -2.30809642e-03 3.80181664e+01] [ 1.60833477e-02 9.99870654e-01 -2.33935683e-05 -1.92824256e-01] [ 2.30817412e-03 -1.37314370e-05 9.99997336e-01 -4.74165963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.920281693 meters 0.018475394468109606 Centerline is valid? [True, True] Translation: X:38.08, Y:-0.19, Z:-0.05 [[ 9.99940269e-01 -1.08157075e-02 -1.57449319e-03 3.80774664e+01] [ 1.08156958e-02 9.99941509e-01 -1.59912925e-05 -1.87282678e-01] [ 1.57457405e-03 -1.03890193e-06 9.99998760e-01 -4.52113855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.980281692999995 meters 0.020245397868215137 Centerline is valid? [True, True] Translation: X:38.14, Y:-0.18, Z:-0.05 [[ 9.99979900e-01 -5.01060681e-03 -3.88511152e-03 3.81369672e+01] [ 5.01049104e-03 9.99987447e-01 -3.95310909e-05 -1.75778711e-01] [ 3.88526082e-03 2.00639798e-05 9.99992452e-01 -4.88863451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.040281693 meters 0.022567208516858242 Centerline is valid? [True, True] Translation: X:38.20, Y:-0.16, Z:-0.05 [[ 9.99995977e-01 -3.31618743e-05 -2.83628679e-03 3.81960784e+01] [ 3.30787342e-05 9.99999999e-01 -2.93599015e-05 -1.64800929e-01] [ 2.83628776e-03 2.92659626e-05 9.99995977e-01 -4.68721641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.100281693 meters 0.021650529299771168 Centerline is valid? [True, True] Translation: X:38.25, Y:-0.16, Z:-0.05 [[ 9.99996883e-01 -1.34198988e-03 -2.10562609e-03 3.82547861e+01] [ 1.34194681e-03 9.99999099e-01 -2.18659784e-05 -1.63465894e-01] [ 2.10565353e-03 1.90402721e-05 9.99997783e-01 -4.62032252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.160281692999995 meters 0.020111531722661714 Centerline is valid? [True, True] Translation: X:38.31, Y:-0.17, Z:-0.05 [[ 9.99989390e-01 -4.17839392e-03 -1.93925212e-03 3.83141288e+01] [ 4.17836265e-03 9.99991270e-01 -2.01752047e-05 -1.66483851e-01] [ 1.93931950e-03 1.20720920e-05 9.99998119e-01 -4.58779108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.220281693 meters 0.01924235199249715 Centerline is valid? [True, True] Translation: X:38.37, Y:-0.17, Z:-0.05 [[ 9.99977653e-01 -5.98059844e-03 -2.98755654e-03 3.83741403e+01] [ 5.98053208e-03 9.99982116e-01 -3.11482236e-05 -1.68085202e-01] [ 2.98768940e-03 1.32803499e-05 9.99995537e-01 -4.74472311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.280281693 meters 0.019434825332582197 Centerline is valid? [True, True] Translation: X:38.43, Y:-0.16, Z:-0.05 [[ 9.99978276e-01 -5.68592791e-03 -3.33428274e-03 3.84324234e+01] [ 5.68584320e-03 9.99983835e-01 -3.48830916e-05 -1.64689377e-01] [ 3.33442718e-03 1.59241250e-05 9.99994441e-01 -4.78980497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.340281692999994 meters 0.02135230638240621 Centerline is valid? [True, True] Translation: X:38.49, Y:-0.16, Z:-0.04 [[ 9.99997008e-01 -1.07141974e-03 -2.19924882e-03 3.84910945e+01] [ 1.07137081e-03 9.99999426e-01 -2.34259396e-05 -1.56368064e-01] [ 2.19927265e-03 2.10696585e-05 9.99997581e-01 -4.48989664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.400281693 meters 0.025807174909524708 Centerline is valid? [True, True] Translation: X:38.55, Y:-0.15, Z:-0.04 [[ 9.99993226e-01 3.61624632e-03 -6.85543686e-04 3.85499616e+01] [-3.61625215e-03 9.99993461e-01 -7.26957919e-06 -1.45343958e-01] [ 6.85512915e-04 9.74862878e-06 9.99999765e-01 -4.31824994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.460281693 meters 0.032138622684867495 Centerline is valid? [True, True] Translation: X:38.61, Y:-0.13, Z:-0.05 [[ 9.99929115e-01 1.15837495e-02 -2.75333714e-03 3.86098714e+01] [-1.15838739e-02 9.99932904e-01 -2.92526709e-05 -1.30962609e-01] [ 2.75281355e-03 6.11449077e-05 9.99996209e-01 -4.53818897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.520281692999994 meters 0.035768523640767866 Centerline is valid? [True, True] Translation: X:38.67, Y:-0.12, Z:-0.05 [[ 9.99874244e-01 1.54755648e-02 -3.46459392e-03 3.86687726e+01] [-1.54757856e-02 9.99880242e-01 -3.69379621e-05 -1.22231160e-01] [ 3.46360737e-03 9.05506297e-05 9.99993998e-01 -4.66573730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.580281692999996 meters 0.04844722165506515 Centerline is valid? [True, True] Translation: X:38.73, Y:-0.10, Z:-0.04 [[ 9.99628419e-01 2.71845749e-02 -2.00560977e-03 3.87280871e+01] [-2.71846724e-02 9.99630428e-01 -2.13745329e-05 -9.59475994e-02] [ 2.00428749e-03 7.58884351e-05 9.99997989e-01 -4.42705923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.640281693 meters 0.05441568440338474 Centerline is valid? [True, True] Translation: X:38.79, Y:-0.08, Z:-0.04 [[ 9.99495733e-01 3.17001272e-02 -1.83867805e-03 3.87868506e+01] [-3.17002169e-02 9.99497422e-01 -1.96486145e-05 -8.07175016e-02] [ 1.83713111e-03 7.79251994e-05 9.99998309e-01 -4.41815816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.700281692999994 meters 0.053369686644108696 Centerline is valid? [True, True] Translation: X:38.85, Y:-0.08, Z:-0.04 [[ 9.99544992e-01 3.00833336e-02 -2.19148085e-03 3.88458107e+01] [-3.00834573e-02 9.99547390e-01 -2.35196281e-05 -7.85790703e-02] [ 2.18978142e-03 8.94362472e-05 9.99997598e-01 -4.47770988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.760281692999996 meters 0.050434848323521665 Centerline is valid? [True, True] Translation: X:38.90, Y:-0.08, Z:-0.05 [[ 9.99649184e-01 2.62928991e-02 -3.19256374e-03 3.89049827e+01] [-2.62931426e-02 9.99654275e-01 -3.43167476e-05 -7.68881850e-02] [ 3.19055770e-03 1.18247242e-04 9.99994903e-01 -4.71308127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.820281693 meters 0.04792102244047573 Centerline is valid? [True, True] Translation: X:38.96, Y:-0.08, Z:-0.04 [[ 9.99710287e-01 2.40202678e-02 -1.53899583e-03 3.89648830e+01] [-2.40203217e-02 9.99711470e-01 -1.65599290e-05 -7.68896773e-02] [ 1.53815401e-03 5.35223065e-05 9.99998816e-01 -4.35525652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88028169299999 meters 0.04319787682202318 Centerline is valid? [True, True] Translation: X:39.02, Y:-0.08, Z:-0.04 [[ 9.99711922e-01 2.39301537e-02 -1.84962682e-03 3.90234392e+01] [-2.39302316e-02 9.99713631e-01 -2.00016447e-05 -7.51990268e-02] [ 1.84861850e-03 6.42578809e-05 9.99998289e-01 -4.20104576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.940281692999996 meters 0.04288642777139878 Centerline is valid? [True, True] Translation: X:39.08, Y:-0.07, Z:-0.04 [[ 9.99749239e-01 2.23757304e-02 -8.85964716e-04 3.90819323e+01] [-2.23757477e-02 9.99749632e-01 -9.61620647e-06 -7.10890177e-02] [ 8.85527729e-04 2.94379181e-05 9.99999607e-01 -4.03572450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.000281693 meters 0.03291061581809696 Centerline is valid? [True, True] Translation: X:39.14, Y:-0.08, Z:-0.04 [[ 9.99922093e-01 1.24788128e-02 -2.95195963e-04 3.91428885e+01] [-1.24788142e-02 9.99922137e-01 -3.19376026e-06 -8.18058757e-02] [ 2.95133124e-04 6.87720703e-06 9.99999956e-01 -4.10144195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06028169299999 meters 0.021894191679573363 Centerline is valid? [True, True] Translation: X:39.20, Y:-0.10, Z:-0.04 [[ 9.99999924e-01 -3.85442350e-04 6.01938430e-05 3.92039178e+01] [ 3.85442311e-04 9.99999926e-01 6.54756608e-07 -1.00479262e-01] [-6.01940909e-05 -6.31555304e-07 9.99999998e-01 -4.12065053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.120281692999995 meters 0.018521372434273282 Centerline is valid? [True, True] Translation: X:39.26, Y:-0.12, Z:-0.04 [[ 9.99967687e-01 -8.03870564e-03 -6.06186222e-05 3.92643998e+01] [ 8.03870562e-03 9.99967689e-01 -6.51254092e-07 -1.15175125e-01] [ 6.06218988e-05 1.63937790e-07 9.99999998e-01 -4.28130805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.180281693 meters 0.018535620713801722 Centerline is valid? [True, True] Translation: X:39.32, Y:-0.12, Z:-0.05 [[ 9.99933088e-01 -1.11827793e-02 -2.96064638e-03 3.93246409e+01] [ 1.11827335e-02 9.99937471e-01 -3.20018534e-05 -1.24268429e-01] [ 2.96081913e-03 -1.10840746e-06 9.99995617e-01 -4.72727401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24028169299999 meters 0.01822264530000682 Centerline is valid? [True, True] Translation: X:39.38, Y:-0.13, Z:-0.04 [[ 9.99920771e-01 -1.25872670e-02 1.14495927e-04 3.93834673e+01] [ 1.25872669e-02 9.99920777e-01 1.22781093e-06 -1.30332509e-01] [-1.14502312e-04 2.13477153e-07 9.99999993e-01 -3.98337134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.300281692999995 meters 0.01817708683417341 Centerline is valid? [True, True] Translation: X:39.44, Y:-0.13, Z:-0.04 [[ 9.99954386e-01 -9.50875321e-03 -8.99959722e-04 3.94437976e+01] [ 9.50874828e-03 9.99954791e-01 -9.76585274e-06 -1.30821385e-01] [ 9.00011897e-04 1.20791682e-06 9.99999595e-01 -4.28925910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.360281693 meters 0.019469681729084608 Centerline is valid? [True, True] Translation: X:39.50, Y:-0.12, Z:-0.04 [[ 9.99984311e-01 -5.49964826e-03 -1.06410751e-03 3.95032186e+01] [ 5.49963908e-03 9.99984877e-01 -1.15490746e-05 -1.19524537e-01] [ 1.06415494e-03 5.69668612e-06 9.99999434e-01 -4.22016108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.420281693 meters 0.020664081192278777 Centerline is valid? [True, True] Translation: X:39.56, Y:-0.11, Z:-0.04 [[ 9.99997281e-01 -2.32157270e-03 2.20915843e-04 3.95639284e+01] [ 2.32157222e-03 9.99997305e-01 2.39756428e-06 -1.11036550e-01] [-2.20920814e-04 -1.88468568e-06 9.99999976e-01 -3.95459357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.480281692999995 meters 0.02337510824964062 Centerline is valid? [True, True] Translation: X:39.62, Y:-0.10, Z:-0.04 [[ 9.99999265e-01 1.17812422e-03 -2.86383107e-04 3.96240270e+01] [-1.17812515e-03 9.99999306e-01 -3.10089695e-06 -9.64117151e-02] [ 2.86379255e-04 3.43828981e-06 9.99999959e-01 -4.02298316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.540281693 meters 0.02652356483798012 Centerline is valid? [True, True] Translation: X:39.68, Y:-0.08, Z:-0.05 [[ 9.99985073e-01 4.54118726e-03 -3.03817992e-03 3.96846330e+01] [-4.54130828e-03 9.99989688e-01 -3.29383910e-05 -8.01800635e-02] [ 3.03799901e-03 4.67352110e-05 9.99995384e-01 -4.52741705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.600281693 meters 0.029730830356183714 Centerline is valid? [True, True] Translation: X:39.74, Y:-0.07, Z:-0.05 [[ 9.99975164e-01 6.18759054e-03 -3.37413095e-03 3.97419303e+01] [-6.18774989e-03 9.99980855e-01 -3.67892075e-05 -6.72413887e-02] [ 3.37383871e-03 5.76665722e-05 9.99994307e-01 -4.58518719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.660281692999995 meters 0.028417426297710824 Centerline is valid? [True, True] Translation: X:39.80, Y:-0.05, Z:-0.04 [[ 9.99979396e-01 6.41813230e-03 -1.20290054e-04 3.98009201e+01] [-6.41813251e-03 9.99979404e-01 -1.33159024e-06 -5.28316566e-02] [ 1.20279030e-04 2.10360032e-06 9.99999993e-01 -3.98289831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.720281693 meters 0.02470053895159692 Centerline is valid? [True, True] Translation: X:39.86, Y:-0.05, Z:-0.04 [[ 9.99995018e-01 2.73892139e-03 -1.56893930e-03 3.98612129e+01] [-2.73895178e-03 9.99996249e-01 -1.72215385e-05 -5.46348540e-02] [ 1.56888624e-03 2.15187018e-05 9.99998769e-01 -4.37819577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.780281693 meters 0.019399007702227487 Centerline is valid? [True, True] Translation: X:39.92, Y:-0.06, Z:-0.04 [[ 9.99983895e-01 -5.16500406e-03 -2.35219046e-03 3.99216092e+01] [ 5.16495765e-03 9.99986661e-01 -2.58042913e-05 -5.89386782e-02] [ 2.35229236e-03 1.36549117e-05 9.99997233e-01 -4.49876542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.840281692999994 meters 0.01822463048128586 Centerline is valid? [True, True] Translation: X:39.98, Y:-0.06, Z:-0.04 [[ 9.99954844e-01 -9.13277363e-03 -2.62719511e-03 3.99809562e+01] [ 9.13272925e-03 9.99958295e-01 -2.88898036e-05 -5.92771182e-02] [ 2.62734938e-03 4.89503749e-06 9.99996548e-01 -4.49959737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.900281693 meters 0.01840265641182048 Centerline is valid? [True, True] Translation: X:40.04, Y:-0.06, Z:-0.05 [[ 9.99923305e-01 -1.16460831e-02 -4.21332837e-03 4.00411705e+01] [ 1.16459913e-02 9.99932182e-01 -4.63188387e-05 -5.56939017e-02] [ 4.21358207e-03 -2.75309930e-06 9.99991123e-01 -4.88434944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.960281693 meters 0.018165227616678915 Centerline is valid? [True, True] Translation: X:40.10, Y:-0.05, Z:-0.05 [[ 9.99909967e-01 -1.28661617e-02 -3.81045942e-03 4.01007515e+01] [ 1.28660951e-02 9.99917227e-01 -4.19879534e-05 -5.41994059e-02] [ 3.81068425e-03 -7.04156034e-06 9.99992739e-01 -4.80495168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.020281692999994 meters 0.018400798842273497 Centerline is valid? [True, True] Translation: X:40.16, Y:-0.05, Z:-0.05 [[ 9.99895261e-01 -1.39253940e-02 -3.94329441e-03 4.01604830e+01] [ 1.39253310e-02 9.99903037e-01 -4.34340979e-05 -5.48716637e-02] [ 3.94351690e-03 -1.14821314e-05 9.99992224e-01 -4.81264160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.080281692999996 meters 0.018234177675517223 Centerline is valid? [True, True] Translation: X:40.22, Y:-0.06, Z:-0.04 [[ 9.99883420e-01 -1.52494617e-02 7.74756524e-04 4.02200950e+01] [ 1.52494596e-02 9.99883720e-01 8.54369482e-06 -5.51675801e-02] [-7.74796722e-04 3.27191954e-06 9.99999700e-01 -4.03474347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.140281693 meters 0.019213032257660967 Centerline is valid? [True, True] Translation: X:40.28, Y:-0.06, Z:-0.04 [[ 9.99855570e-01 -1.68378955e-02 2.30745778e-03 4.02810638e+01] [ 1.68378817e-02 9.99858232e-01 2.54023801e-05 -6.05148920e-02] [-2.30755838e-03 1.34539900e-05 9.99997337e-01 -3.70290194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.200281692999994 meters 0.020274233011619444 Centerline is valid? [True, True] Translation: X:40.34, Y:-0.07, Z:-0.05 [[ 9.99802096e-01 -1.97563821e-02 -2.33537932e-03 4.03435865e+01] [ 1.97563762e-02 9.99804823e-01 -2.55730392e-05 -6.80388366e-02] [ 2.33542874e-03 -2.05706543e-05 9.99997273e-01 -4.56403408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.260281692999996 meters 0.021973391960941464 Centerline is valid? [True, True] Translation: X:40.40, Y:-0.08, Z:-0.04 [[ 9.99744489e-01 -2.26043335e-02 -2.74508338e-05 4.04039128e+01] [ 2.26043335e-02 9.99744489e-01 -2.88195991e-07 -7.87704400e-02] [ 2.74503343e-05 -3.32385448e-07 1.00000000e+00 -4.23506544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.320281693 meters 0.023504451925275175 Centerline is valid? [True, True] Translation: X:40.46, Y:-0.09, Z:-0.04 [[ 9.99729907e-01 -2.32301712e-02 -6.87118520e-04 4.04639127e+01] [ 2.32301716e-02 9.99730143e-01 -7.46734915e-06 -8.72403377e-02] [ 6.87106564e-04 -8.49654884e-06 9.99999764e-01 -4.42484536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38028169299999 meters 0.01843906939271562 Centerline is valid? [True, True] Translation: X:40.52, Y:-0.08, Z:-0.05 [[ 9.99883868e-01 -1.50687914e-02 -2.27661950e-03 4.05242053e+01] [ 1.50687740e-02 9.99886459e-01 -2.47839438e-05 -8.10577363e-02] [ 2.27673447e-03 -9.52479916e-06 9.99997408e-01 -4.66541092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.440281692999996 meters 0.017651351257854307 Centerline is valid? [True, True] Translation: X:40.58, Y:-0.08, Z:-0.05 [[ 9.99929082e-01 -1.18175957e-02 -1.47494678e-03 4.05847715e+01] [ 1.18175849e-02 9.99930170e-01 -1.60567008e-05 -7.64694376e-02] [ 1.47503353e-03 -1.37474669e-06 9.99998912e-01 -4.50984243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.500281693 meters 0.021886160746276348 Centerline is valid? [True, True] Translation: X:40.64, Y:-0.06, Z:-0.05 [[ 9.99998590e-01 -7.22390410e-04 -1.51601988e-03 4.06448134e+01] [ 7.22366220e-04 9.99999739e-01 -1.65038346e-05 -5.84127974e-02] [ 1.51603141e-03 1.54086898e-05 9.99998851e-01 -4.55346892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56028169299999 meters 0.02789791773831942 Centerline is valid? [True, True] Translation: X:40.70, Y:-0.05, Z:-0.05 [[ 9.99976398e-01 6.47311308e-03 -2.30253358e-03 4.07048206e+01] [-6.47318802e-03 9.99979048e-01 -2.50959344e-05 -4.67783682e-02] [ 2.30232288e-03 4.00000749e-05 9.99997349e-01 -4.76208342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.620281692999995 meters 0.03344986986421676 Centerline is valid? [True, True] Translation: X:40.76, Y:-0.03, Z:-0.05 [[ 9.99939665e-01 1.09209306e-02 -1.18309243e-03 4.07635089e+01] [-1.09209535e-02 9.99940365e-01 -1.29442622e-05 -3.37419517e-02] [ 1.18288051e-03 2.58639787e-05 9.99999300e-01 -4.56745609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.680281693 meters 0.03424411554027076 Centerline is valid? [True, True] Translation: X:40.82, Y:-0.03, Z:-0.05 [[ 9.99936680e-01 1.09470840e-02 -2.60717790e-03 4.08222544e+01] [-1.09471958e-02 9.99940077e-01 -2.85961688e-05 -3.10600787e-02] [ 2.60670863e-03 5.71356450e-05 9.99996601e-01 -4.92547029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74028169299999 meters 0.03267021961390186 Centerline is valid? [True, True] Translation: X:40.88, Y:-0.03, Z:-0.04 [[ 9.99955500e-01 9.43262612e-03 -1.54586926e-04 4.08814963e+01] [-9.43262650e-03 9.99955512e-01 -1.70568497e-06 -2.66300432e-02] [ 1.54563960e-04 3.16376980e-06 9.99999988e-01 -4.41608267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.800281692999995 meters 0.028268147906528318 Centerline is valid? [True, True] Translation: X:40.94, Y:-0.03, Z:-0.05 [[ 9.99973839e-01 7.23256978e-03 1.07571287e-04 4.09411891e+01] [-7.23256995e-03 9.99973845e-01 1.17634499e-06 -3.01061315e-02] [-1.07559966e-04 -1.95433107e-06 9.99999994e-01 -4.52627601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.860281693 meters 0.024248242389439536 Centerline is valid? [True, True] Translation: X:41.00, Y:-0.03, Z:-0.05 [[ 9.99993655e-01 1.99333695e-03 -2.95225063e-03 4.10009661e+01] [-1.99344169e-03 9.99998013e-01 -3.25356056e-05 -3.46821063e-02] [ 2.95217991e-03 3.84205386e-05 9.99995642e-01 -5.14102453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.920281693 meters 0.020891099833033614 Centerline is valid? [True, True] Translation: X:41.06, Y:-0.04, Z:-0.05 [[ 9.99992373e-01 -2.82552381e-03 -2.69634887e-03 4.10597161e+01] [ 2.82545369e-03 9.99996008e-01 -2.98121898e-05 -4.29487151e-02] [ 2.69642234e-03 2.21935535e-05 9.99996364e-01 -5.19509306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.980281692999995 meters 0.018347300913454653 Centerline is valid? [True, True] Translation: X:41.12, Y:-0.05, Z:-0.05 [[ 9.99978352e-01 -6.56640120e-03 -4.22662774e-04 4.11191432e+01] [ 6.56639981e-03 9.99978441e-01 -4.68815340e-06 -4.96563159e-02] [ 4.22684446e-04 1.91267916e-06 9.99999911e-01 -4.66226794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.040281693 meters 0.017909440599047057 Centerline is valid? [True, True] Translation: X:41.18, Y:-0.05, Z:-0.04 [[ 9.99975491e-01 -6.98859923e-03 4.19840569e-04 4.11807521e+01] [ 6.98859790e-03 9.99975579e-01 4.64765232e-06 -4.86957881e-02] [-4.19862797e-04 -1.71344149e-06 9.99999912e-01 -4.43600379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.100281693 meters 0.017829992541588267 Centerline is valid? [True, True] Translation: X:41.24, Y:-0.05, Z:-0.04 [[ 9.99970705e-01 -7.51559837e-03 1.45061662e-03 4.12418924e+01] [ 7.51558306e-03 9.99971757e-01 1.60044760e-05 -4.75112208e-02] [-1.45069594e-03 -5.10177739e-06 9.99998948e-01 -4.35507785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.160281692999995 meters 0.0173577378619807 Centerline is valid? [True, True] Translation: X:41.30, Y:-0.05, Z:-0.05 [[ 9.99952644e-01 -9.66790636e-03 -1.11395607e-03 4.13032200e+01] [ 9.66789873e-03 9.99953265e-01 -1.22317295e-05 -4.83170002e-02] [ 1.11402226e-03 1.46153583e-06 9.99999379e-01 -4.82189602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.220281693 meters 0.0173466640593663 Centerline is valid? [True, True] Translation: X:41.36, Y:-0.05, Z:-0.05 [[ 9.99920219e-01 -1.25736760e-02 -1.20767296e-03 4.13639328e+01] [ 1.25736692e-02 9.99920948e-01 -1.32563026e-05 -4.87575107e-02] [ 1.20774418e-03 -1.92963532e-06 9.99999271e-01 -4.86130498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.280281693 meters 0.01796386230148007 Centerline is valid? [True, True] Translation: X:41.43, Y:-0.04, Z:-0.05 [[ 9.99879763e-01 -1.54460499e-02 -1.37076577e-03 4.14250908e+01] [ 1.54460439e-02 9.99880703e-01 -1.50101735e-05 -4.43244808e-02] [ 1.37083409e-03 -6.16453951e-06 9.99999060e-01 -4.97527819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.340281692999994 meters 0.019110379843440304 Centerline is valid? [True, True] Translation: X:41.49, Y:-0.04, Z:-0.05 [[ 9.99838034e-01 -1.79393363e-02 -1.44424031e-03 4.14851956e+01] [ 1.79393322e-02 9.99839077e-01 -1.58023613e-05 -3.99681932e-02] [ 1.44429139e-03 -1.01089049e-05 9.99998957e-01 -4.99369003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.400281693 meters 0.02177762171251959 Centerline is valid? [True, True] Translation: X:41.55, Y:-0.04, Z:-0.04 [[ 9.99722687e-01 -2.33946218e-02 2.69092558e-03 4.15465408e+01] [ 2.33946274e-02 9.99726308e-01 2.93956236e-05 -4.28184103e-02] [-2.69087679e-03 3.35657293e-05 9.99996379e-01 -4.41543796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.460281693 meters 0.026627443276577147 Centerline is valid? [True, True] Translation: X:41.61, Y:-0.05, Z:-0.04 [[ 9.99573012e-01 -2.90900636e-02 2.74971898e-03 4.16066998e+01] [ 2.90900911e-02 9.99576793e-01 3.00295894e-05 -5.31232972e-02] [-2.74942885e-03 4.99728084e-05 9.99996219e-01 -4.44102125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.520281692999994 meters 0.03187445569001057 Centerline is valid? [True, True] Translation: X:41.67, Y:-0.07, Z:-0.05 [[ 9.99384968e-01 -3.50668383e-02 4.78657338e-05 4.16680588e+01] [ 3.50668383e-02 9.99384969e-01 5.26161221e-07 -6.59780010e-02] [-4.78547458e-05 1.15266233e-06 9.99999999e-01 -4.94511003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.580281692999996 meters 0.03579778905651671 Centerline is valid? [True, True] Translation: X:41.73, Y:-0.08, Z:-0.05 [[ 9.99359111e-01 -3.57961880e-02 1.44093014e-05 4.17280106e+01] [ 3.57961880e-02 9.99359111e-01 1.57197871e-07 -7.77071637e-02] [-1.44056937e-05 3.58700936e-07 1.00000000e+00 -4.91296763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.640281693 meters 0.030796116552637472 Centerline is valid? [True, True] Translation: X:41.79, Y:-0.07, Z:-0.05 [[ 9.99378976e-01 -3.52071011e-02 1.45654647e-03 4.17893622e+01] [ 3.52071154e-02 9.99380037e-01 1.58641210e-05 -7.40866093e-02] [-1.45620199e-03 3.54265305e-05 9.99998939e-01 -4.57403658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.700281692999994 meters 0.032642651582735535 Centerline is valid? [True, True] Translation: X:41.85, Y:-0.08, Z:-0.05 [[ 9.99380913e-01 -3.51662366e-02 -1.06105666e-03 4.18495179e+01] [ 3.51662442e-02 9.99381476e-01 -1.15343484e-05 -8.03962690e-02] [ 1.06080599e-03 -2.57861698e-05 9.99999437e-01 -5.00827315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.760281692999996 meters 0.03384506655931718 Centerline is valid? [True, True] Translation: X:41.91, Y:-0.08, Z:-0.05 [[ 9.99364315e-01 -3.55801458e-02 -2.24037357e-03 4.19096662e+01] [ 3.55801806e-02 9.99366825e-01 -2.43337758e-05 -8.39793480e-02] [ 2.23982082e-03 -5.53945890e-05 9.99997490e-01 -5.25406232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.820281693 meters 0.029489268835367375 Centerline is valid? [True, True] Translation: X:41.97, Y:-0.08, Z:-0.04 [[ 9.99514985e-01 -3.10867229e-02 1.84654594e-03 4.19698722e+01] [ 3.10867388e-02 9.99516690e-01 2.00760812e-05 -7.71423235e-02] [-1.84627759e-03 3.73367475e-05 9.99998295e-01 -4.30105856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88028169299999 meters 0.02452409618481627 Centerline is valid? [True, True] Translation: X:42.03, Y:-0.07, Z:-0.05 [[ 9.99649972e-01 -2.64514562e-02 5.04055035e-04 4.20308599e+01] [ 2.64514568e-02 9.99650099e-01 5.47943448e-06 -6.83769678e-02] [-5.04023604e-04 7.85547346e-06 9.99999873e-01 -4.67625620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.940281692999996 meters 0.02561013123894823 Centerline is valid? [True, True] Translation: X:42.09, Y:-0.07, Z:-0.05 [[ 9.99652226e-01 -2.63648088e-02 -5.68569190e-04 4.20913199e+01] [ 2.63648095e-02 9.99652388e-01 -6.16588764e-06 -7.04812780e-02] [ 5.68534111e-04 -8.82647508e-06 9.99999838e-01 -4.97440776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.000281693 meters 0.027123497854345778 Centerline is valid? [True, True] Translation: X:42.15, Y:-0.07, Z:-0.04 [[ 9.99575767e-01 -2.89553918e-02 3.14180986e-03 4.21516695e+01] [ 2.89554276e-02 9.99580703e-01 3.40932831e-05 -7.26278679e-02] [-3.14147970e-03 5.68936285e-05 9.99995064e-01 -4.25870049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06028169299999 meters 0.02889593443607311 Centerline is valid? [True, True] Translation: X:42.21, Y:-0.08, Z:-0.05 [[ 9.99487691e-01 -3.19396432e-02 2.05291880e-03 4.22130336e+01] [ 3.19396649e-02 9.99489799e-01 2.22380149e-05 -7.73550530e-02] [-2.05258167e-03 4.33429165e-05 9.99997893e-01 -4.57102085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.120281692999995 meters 0.029686237330679714 Centerline is valid? [True, True] Translation: X:42.27, Y:-0.08, Z:-0.05 [[ 9.99469907e-01 -3.25552262e-02 -2.49443534e-04 4.22739034e+01] [ 3.25552266e-02 9.99469938e-01 -2.69429940e-06 -7.83986857e-02] [ 2.49399027e-04 -5.42781959e-06 9.99999969e-01 -4.91676593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.180281693 meters 0.03057885425859639 Centerline is valid? [True, True] Translation: X:42.33, Y:-0.08, Z:-0.05 [[ 9.99496818e-01 -3.17158999e-02 -4.61972222e-04 4.23341512e+01] [ 3.17159010e-02 9.99496924e-01 -4.96398191e-06 -8.26884019e-02] [ 4.61897252e-04 -9.69038113e-06 9.99999893e-01 -5.02929931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24028169299999 meters 0.029035727652724195 Centerline is valid? [True, True] Translation: X:42.39, Y:-0.08, Z:-0.05 [[ 9.99565395e-01 -2.94253265e-02 -1.78107705e-03 4.23937670e+01] [ 2.94253389e-02 9.99566981e-01 -1.92159917e-05 -8.31356100e-02] [ 1.78087125e-03 -3.32011557e-05 9.99998414e-01 -5.26884194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.300281692999995 meters 0.02630467784931841 Centerline is valid? [True, True] Translation: X:42.45, Y:-0.08, Z:-0.05 [[ 9.99588019e-01 -2.85328481e-02 -3.10948592e-03 4.24539416e+01] [ 2.85328817e-02 9.99592854e-01 -3.35815507e-05 -8.36089054e-02] [ 3.10917808e-03 -5.51548780e-05 9.99995165e-01 -5.49044937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.360281693 meters 0.025628539326821072 Centerline is valid? [True, True] Translation: X:42.51, Y:-0.08, Z:-0.05 [[ 9.99612125e-01 -2.77751311e-02 -2.03518819e-03 4.25131878e+01] [ 2.77751438e-02 9.99614196e-01 -2.20316886e-05 -8.41665480e-02] [ 2.03501494e-03 -3.45045015e-05 9.99997929e-01 -5.29554912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.420281693 meters 0.024283905193032883 Centerline is valid? [True, True] Translation: X:42.57, Y:-0.08, Z:-0.05 [[ 9.99689721e-01 -2.49089620e-02 -7.42676389e-05 4.25726154e+01] [ 2.49089620e-02 9.99689724e-01 -8.08457373e-07 -8.48565343e-02] [ 7.42647333e-05 -1.04172327e-06 9.99999997e-01 -4.89010871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.480281692999995 meters 0.023356864474131468 Centerline is valid? [True, True] Translation: X:42.63, Y:-0.09, Z:-0.04 [[ 9.99669510e-01 -2.55672486e-02 2.68065297e-03 4.26336134e+01] [ 2.55672627e-02 9.99673104e-01 2.90390817e-05 -8.79114660e-02] [-2.68051913e-03 3.95074741e-05 9.99996407e-01 -4.48413496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.540281693 meters 0.025237830526453404 Centerline is valid? [True, True] Translation: X:42.69, Y:-0.09, Z:-0.04 [[ 9.99627051e-01 -2.71122858e-02 3.26842492e-03 4.26940061e+01] [ 2.71123153e-02 9.99632393e-01 3.53052972e-05 -9.33657764e-02] [-3.26818063e-03 5.33224366e-05 9.99994658e-01 -4.38858388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.600281693 meters 0.024515085751873472 Centerline is valid? [True, True] Translation: X:42.75, Y:-0.09, Z:-0.05 [[ 9.99635213e-01 -2.70081591e-02 -2.15979162e-05 4.27549291e+01] [ 2.70081591e-02 9.99635213e-01 -2.24642344e-07 -9.33223933e-02] [ 2.15961047e-05 -3.58759560e-07 1.00000000e+00 -5.00026715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.660281692999995 meters 0.02612757367392009 Centerline is valid? [True, True] Translation: X:42.82, Y:-0.09, Z:-0.05 [[ 9.99570457e-01 -2.92904733e-02 9.84850875e-04 4.28156398e+01] [ 2.92904771e-02 9.99570942e-01 1.06116789e-05 -9.33279414e-02] [-9.84739138e-04 1.82396313e-05 9.99999515e-01 -4.89538466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.720281693 meters 0.03308015002428482 Centerline is valid? [True, True] Translation: X:42.88, Y:-0.11, Z:-0.05 [[ 9.99346555e-01 -3.61254476e-02 1.18951193e-03 4.28756078e+01] [ 3.61254579e-02 9.99347263e-01 1.27975193e-05 -1.08052144e-01] [-1.18919781e-03 3.01825064e-05 9.99999292e-01 -4.90778254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.780281693 meters 0.03730207398691629 Centerline is valid? [True, True] Translation: X:42.94, Y:-0.12, Z:-0.05 [[ 9.99153720e-01 -4.11318097e-02 -1.34876343e-04 4.29360695e+01] [ 4.11318098e-02 9.99153729e-01 -1.45571312e-06 -1.15592657e-01] [ 1.34822077e-04 -4.09322691e-06 9.99999991e-01 -5.03694203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.840281692999994 meters 0.03790771945361732 Centerline is valid? [True, True] Translation: X:43.00, Y:-0.12, Z:-0.05 [[ 9.99140605e-01 -4.14448618e-02 6.12550785e-04 4.29954242e+01] [ 4.14448655e-02 9.99140792e-01 6.59928662e-06 -1.18178865e-01] [-6.12297983e-04 1.87934697e-05 9.99999812e-01 -4.95265097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.900281693 meters 0.036489955196938505 Centerline is valid? [True, True] Translation: X:43.05, Y:-0.11, Z:-0.05 [[ 9.99287629e-01 -3.77281957e-02 -9.04045232e-04 4.30541932e+01] [ 3.77282022e-02 9.99288038e-01 -9.77964045e-06 -1.13639911e-01] [ 9.03770554e-04 -2.43353276e-05 9.99999591e-01 -5.00796028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.960281693 meters 0.029710486654064255 Centerline is valid? [True, True] Translation: X:43.11, Y:-0.11, Z:-0.05 [[ 9.99465855e-01 -3.26398387e-02 1.62656719e-03 4.31144959e+01] [ 3.26398533e-02 9.99467178e-01 1.75962298e-05 -1.05436144e-01] [-1.62627485e-03 3.55040835e-05 9.99998677e-01 -4.59652306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.020281692999994 meters 0.0261137685851821 Centerline is valid? [True, True] Translation: X:43.18, Y:-0.10, Z:-0.05 [[ 9.99566185e-01 -2.94329820e-02 -1.06872594e-03 4.31754947e+01] [ 2.94329865e-02 9.99566756e-01 -1.15474877e-05 -9.85934125e-02] [ 1.06860280e-03 -1.99133181e-05 9.99999429e-01 -5.00965756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.080281692999996 meters 0.021315930743868727 Centerline is valid? [True, True] Translation: X:43.24, Y:-0.09, Z:-0.05 [[ 9.99736596e-01 -2.29165258e-02 -1.25323963e-03 4.32355008e+01] [ 2.29165268e-02 9.99737382e-01 -1.35646743e-05 -8.72202945e-02] [ 1.25322136e-03 -1.51587982e-05 9.99999215e-01 -4.99763653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.140281693 meters 0.01780179233384902 Centerline is valid? [True, True] Translation: X:43.30, Y:-0.08, Z:-0.05 [[ 9.99867293e-01 -1.62889083e-02 2.59476455e-04 4.32951098e+01] [ 1.62889081e-02 9.99867327e-01 2.80664762e-06 -7.57269518e-02] [-2.59487746e-04 1.42031297e-06 9.99999966e-01 -4.70497410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.200281692999994 meters 0.01671847685040877 Centerline is valid? [True, True] Translation: X:43.35, Y:-0.07, Z:-0.05 [[ 9.99928173e-01 -1.19303378e-02 1.14670766e-03 4.33549852e+01] [ 1.19303314e-02 9.99928831e-01 1.23883250e-05 -6.80246215e-02] [-1.14677385e-03 1.29316728e-06 9.99999342e-01 -4.52951289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.260281692999996 meters 0.016602346951678823 Centerline is valid? [True, True] Translation: X:43.42, Y:-0.07, Z:-0.04 [[ 9.99927330e-01 -1.17163841e-02 2.83931709e-03 4.34164653e+01] [ 1.17163445e-02 9.99931361e-01 3.05820425e-05 -6.81788250e-02] [-2.83948052e-03 2.68659700e-06 9.99995969e-01 -4.19665664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.320281693 meters 0.01724774328251329 Centerline is valid? [True, True] Translation: X:43.48, Y:-0.07, Z:-0.05 [[ 9.99932340e-01 -1.15356625e-02 -1.49788480e-03 4.34774573e+01] [ 1.15356513e-02 9.99933462e-01 -1.60875447e-05 -6.83925108e-02] [ 1.49797071e-03 -1.19262051e-06 9.99998878e-01 -5.01808219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38028169299999 meters 0.017139661965979092 Centerline is valid? [True, True] Translation: X:43.54, Y:-0.06, Z:-0.05 [[ 9.99950618e-01 -9.82557222e-03 -1.48960295e-03 4.35381352e+01] [ 9.82555928e-03 9.99951728e-01 -1.60064019e-05 -6.37503167e-02] [ 1.48968832e-03 1.36942938e-06 9.99998890e-01 -5.03723999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.440281692999996 meters 0.017232345458998922 Centerline is valid? [True, True] Translation: X:43.60, Y:-0.06, Z:-0.05 [[ 9.99964968e-01 -8.30910739e-03 -1.01023628e-03 4.35985936e+01] [ 8.30910066e-03 9.99965479e-01 -1.08554080e-05 -6.23253393e-02] [ 1.01029160e-03 2.46087284e-06 9.99999490e-01 -5.07934087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.500281693 meters 0.017271067073107885 Centerline is valid? [True, True] Translation: X:43.66, Y:-0.06, Z:-0.05 [[ 9.99953484e-01 -9.28059378e-03 -2.62667883e-03 4.36590556e+01] [ 9.28055166e-03 9.99956934e-01 -2.82247541e-05 -6.42613341e-02] [ 2.62682765e-03 3.84641262e-06 9.99996550e-01 -5.21655940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56028169299999 meters 0.01693119892017074 Centerline is valid? [True, True] Translation: X:43.72, Y:-0.07, Z:-0.05 [[ 9.99950409e-01 -9.95891275e-03 1.25203138e-05 4.37190721e+01] [ 9.95891275e-03 9.99950409e-01 1.26666479e-07 -6.54550033e-02] [-1.25209544e-05 -1.97148400e-09 1.00000000e+00 -4.82581807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.620281692999995 meters 0.017376984590748316 Centerline is valid? [True, True] Translation: X:43.78, Y:-0.07, Z:-0.05 [[ 9.99895411e-01 -1.44601663e-02 2.65031841e-04 4.37790484e+01] [ 1.44601660e-02 9.99895446e-01 2.85713000e-06 -7.29669985e-02] [-2.65045446e-04 9.75573243e-07 9.99999965e-01 -4.79285659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.680281693 meters 0.02470558446920272 Centerline is valid? [True, True] Translation: X:43.84, Y:-0.09, Z:-0.05 [[ 9.99656542e-01 -2.61626840e-02 -1.52065369e-03 4.38392640e+01] [ 2.61626896e-02 9.99657698e-01 -1.62142821e-05 -9.47620341e-02] [ 1.52055737e-03 -2.35756771e-05 9.99998844e-01 -5.07017449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74028169299999 meters 0.0314291774506308 Centerline is valid? [True, True] Translation: X:43.90, Y:-0.11, Z:-0.05 [[ 9.99455970e-01 -3.29787872e-02 -4.03586399e-04 4.38982878e+01] [ 3.29787881e-02 9.99456052e-01 -4.32549173e-06 -1.14056970e-01] [ 4.03509518e-04 -8.98665181e-06 9.99999919e-01 -4.96442453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.800281692999995 meters 0.03001183056872535 Centerline is valid? [True, True] Translation: X:43.96, Y:-0.12, Z:-0.04 [[ 9.99508969e-01 -3.11757436e-02 3.14543891e-03 4.39569559e+01] [ 3.11757917e-02 9.99513916e-01 3.37438726e-05 -1.20420712e-01] [-3.14496195e-03 6.43342450e-05 9.99995053e-01 -4.15563186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.860281693 meters 0.027300183675966844 Centerline is valid? [True, True] Translation: X:44.02, Y:-0.13, Z:-0.05 [[ 9.99598406e-01 -2.82938987e-02 1.57516915e-03 4.40172337e+01] [ 2.82939071e-02 9.99599647e-01 1.69039823e-05 -1.26966905e-01] [-1.57501681e-03 2.76704959e-05 9.99998759e-01 -4.58788963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.920281693 meters 0.025559371070122537 Centerline is valid? [True, True] Translation: X:44.08, Y:-0.13, Z:-0.05 [[ 9.99665532e-01 -2.58193443e-02 -1.47868444e-03 4.40780368e+01] [ 2.58193491e-02 9.99666625e-01 -1.58685532e-05 -1.29829156e-01] [ 1.47860120e-03 -2.23154240e-05 9.99998907e-01 -5.09865331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.980281692999995 meters 0.022877753558536787 Centerline is valid? [True, True] Translation: X:44.14, Y:-0.14, Z:-0.05 [[ 9.99736280e-01 -2.29004865e-02 -1.71393742e-03 4.41368414e+01] [ 2.29004881e-02 9.99737749e-01 -1.87094487e-05 -1.37188510e-01] [ 1.71391639e-03 -2.05454887e-05 9.99998531e-01 -5.06066775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.040281693 meters 0.01854684590770488 Centerline is valid? [True, True] Translation: X:44.20, Y:-0.13, Z:-0.05 [[ 9.99860643e-01 -1.65890777e-02 -1.87024316e-03 4.41953622e+01] [ 1.65890685e-02 9.99862392e-01 -2.04244499e-05 -1.33600199e-01] [ 1.87032463e-03 -1.06039884e-05 9.99998251e-01 -5.07764772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.100281693 meters 0.02077887856192188 Centerline is valid? [True, True] Translation: X:44.26, Y:-0.11, Z:-0.05 [[ 9.99997171e-01 -1.98521499e-03 -1.31036190e-03 4.42550111e+01] [ 1.98519790e-03 9.99998029e-01 -1.43383882e-05 -1.08272586e-01] [ 1.31038778e-03 1.17370199e-05 9.99999141e-01 -4.76200053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.160281692999995 meters 0.031385715713132006 Centerline is valid? [True, True] Translation: X:44.32, Y:-0.09, Z:-0.04 [[ 9.99962711e-01 8.59753444e-03 8.12162962e-04 4.43154681e+01] [-8.59754449e-03 9.99963040e-01 8.88045647e-06 -8.63310916e-02] [-8.12056594e-04 -1.58627325e-05 9.99999670e-01 -4.38663843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.220281693 meters 0.03677728333496087 Centerline is valid? [True, True] Translation: X:44.38, Y:-0.08, Z:-0.04 [[ 9.99915091e-01 1.30142310e-02 6.64135906e-04 4.43758479e+01] [-1.30142387e-02 9.99915311e-01 7.26073734e-06 -7.60138728e-02] [-6.63985169e-04 -1.59033440e-05 9.99999779e-01 -4.47350197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.280281693 meters 0.04727399981247635 Centerline is valid? [True, True] Translation: X:44.44, Y:-0.05, Z:-0.05 [[ 9.99781284e-01 2.07919456e-02 -2.25379612e-03 4.44359908e+01] [-2.07920539e-02 9.99783822e-01 -2.46381221e-05 -5.45788110e-02] [ 2.25279663e-03 7.14937838e-05 9.99997460e-01 -5.21107697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.340281692999994 meters 0.05180762974362675 Centerline is valid? [True, True] Translation: X:44.50, Y:-0.04, Z:-0.05 [[ 9.99718331e-01 2.36589518e-02 -1.87417712e-03 4.44955130e+01] [-2.36590318e-02 9.99720086e-01 -2.05116274e-05 -3.71225225e-02] [ 1.87316722e-03 6.48470658e-05 9.99998244e-01 -5.08644625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.400281693 meters 0.045052629382942785 Centerline is valid? [True, True] Translation: X:44.55, Y:-0.03, Z:-0.05 [[ 9.99659552e-01 2.60066612e-02 -2.10583449e-03 4.45545971e+01] [-2.60067676e-02 9.99661767e-01 -2.31294153e-05 -3.47235226e-02] [ 2.10452071e-03 7.78874890e-05 9.99997782e-01 -5.08131805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.460281693 meters 0.04849970488988719 Centerline is valid? [True, True] Translation: X:44.61, Y:-0.02, Z:-0.05 [[ 9.99579717e-01 2.89256985e-02 -1.92203510e-03 4.46146592e+01] [-2.89257925e-02 9.99581561e-01 -2.11259893e-05 -2.09160546e-02] [ 1.92061976e-03 7.67134989e-05 9.99998153e-01 -5.05859877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.520281692999994 meters 0.05177405589338361 Centerline is valid? [True, True] Translation: X:44.67, Y:-0.00, Z:-0.05 [[ 9.99540451e-01 3.01857384e-02 -2.77642596e-03 4.46733290e+01] [-3.01859397e-02 9.99544300e-01 -3.06194735e-05 -1.48880980e-03] [ 2.77423648e-03 1.14414429e-04 9.99996145e-01 -5.25648750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.580281692999996 meters 0.045230475251002766 Centerline is valid? [True, True] Translation: X:44.73, Y:0.00, Z:-0.05 [[ 9.99646579e-01 2.64594407e-02 -2.57200192e-03 4.47333712e+01] [-2.64596012e-02 9.99649883e-01 -2.83883678e-05 1.94100046e-03] [ 2.57035028e-03 9.64324798e-05 9.99996692e-01 -5.22448961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.640281693 meters 0.03749429605296791 Centerline is valid? [True, True] Translation: X:44.79, Y:-0.00, Z:-0.05 [[ 9.99862336e-01 1.65745210e-02 -7.70673263e-04 4.47926362e+01] [-1.65745324e-02 9.99862633e-01 -8.51228779e-06 -1.49209812e-04] [ 7.70426311e-04 2.12846650e-05 9.99999703e-01 -5.01587398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.700281692999994 meters 0.02986898088536559 Centerline is valid? [True, True] Translation: X:44.85, Y:-0.01, Z:-0.05 [[ 9.99939584e-01 1.09076472e-02 -1.36059780e-03 4.48523029e+01] [-1.09076778e-02 9.99940509e-01 -1.50652445e-05 -6.78585118e-03] [ 1.36035253e-03 2.99052967e-05 9.99999074e-01 -5.14022088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.760281692999996 meters 0.02664149001547597 Centerline is valid? [True, True] Translation: X:44.91, Y:-0.01, Z:-0.06 [[ 9.99962118e-01 5.83345910e-03 -6.46012282e-03 4.49108400e+01] [-5.83404422e-03 9.99982979e-01 -7.17340020e-05 -7.43954760e-03] [ 6.45959440e-03 1.09419927e-04 9.99979131e-01 -5.95992716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.820281693 meters 0.025815563678192592 Centerline is valid? [True, True] Translation: X:44.97, Y:-0.00, Z:-0.05 [[ 9.99985062e-01 4.68452866e-03 -2.81609022e-03 4.49689655e+01] [-4.68463579e-03 9.99989027e-01 -3.14498029e-05 -2.24568369e-03] [ 2.81591199e-03 4.46416901e-05 9.99996034e-01 -5.20723017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88028169299999 meters 0.029502492087486364 Centerline is valid? [True, True] Translation: X:45.03, Y:0.01, Z:-0.05 [[ 9.99974834e-01 7.07243827e-03 -5.58295740e-04 4.50270370e+01] [-7.07244288e-03 9.99974990e-01 -6.28197789e-06 9.02892643e-03] [ 5.58237348e-04 1.02303345e-05 9.99999844e-01 -4.78407361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.940281692999996 meters 0.02693234635661493 Centerline is valid? [True, True] Translation: X:45.09, Y:0.01, Z:-0.05 [[ 9.99970186e-01 7.69870293e-03 -5.97061420e-04 4.50868724e+01] [-7.69870832e-03 9.99970364e-01 -6.71994074e-06 6.55161388e-03] [ 5.96991991e-04 1.13163421e-05 9.99999822e-01 -4.77113387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.000281693 meters 0.025727327077183584 Centerline is valid? [True, True] Translation: X:45.15, Y:0.00, Z:-0.05 [[ 9.99984455e-01 5.57091061e-03 2.32180678e-04 4.51456103e+01] [-5.57091137e-03 9.99984482e-01 2.60809733e-06 4.43240717e-03] [-2.32162545e-04 -3.90151476e-06 9.99999973e-01 -4.54838707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06028169299999 meters 0.025213127572160522 Centerline is valid? [True, True] Translation: X:45.21, Y:0.00, Z:-0.05 [[ 9.99980729e-01 6.14181042e-03 -9.05205218e-04 4.52051432e+01] [-6.14182219e-03 9.99981139e-01 -1.02210917e-05 4.60575602e-03] [ 9.05125368e-04 1.57805043e-05 9.99999590e-01 -4.77031189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.120281692999995 meters 0.028762705877510068 Centerline is valid? [True, True] Translation: X:45.26, Y:0.01, Z:-0.05 [[ 9.99941755e-01 1.07261243e-02 -1.19858586e-03 4.52645181e+01] [-1.07261483e-02 9.99942473e-01 -1.35606739e-05 1.19581290e-02] [ 1.19837146e-03 2.64160937e-05 9.99999282e-01 -4.69357344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.180281693 meters 0.03351188586563585 Centerline is valid? [True, True] Translation: X:45.32, Y:0.02, Z:-0.05 [[ 9.99919583e-01 1.25854126e-02 -1.56042543e-03 4.53229368e+01] [-1.25854556e-02 9.99920800e-01 -1.77104675e-05 2.12996971e-02] [ 1.56007895e-03 3.73477082e-05 9.99998782e-01 -4.83347303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24028169299999 meters 0.03183689334309859 Centerline is valid? [True, True] Translation: X:45.38, Y:0.02, Z:-0.05 [[ 9.99942136e-01 1.04384955e-02 -2.60042579e-03 4.53813126e+01] [-1.04386076e-02 9.99945516e-01 -2.95399356e-05 2.11030792e-02] [ 2.59997575e-03 5.66830507e-05 9.99996618e-01 -5.10122027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.300281692999995 meters 0.023815908700457383 Centerline is valid? [True, True] Translation: X:45.44, Y:0.01, Z:-0.05 [[ 9.99987823e-01 2.85178579e-03 -4.02752854e-03 4.54413456e+01] [-2.85199335e-03 9.99995932e-01 -4.57941985e-05 8.43020945e-03] [ 4.02738156e-03 5.72801255e-05 9.99991888e-01 -5.31719883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.360281693 meters 0.019551242727755734 Centerline is valid? [True, True] Translation: X:45.50, Y:-0.00, Z:-0.05 [[ 9.99992468e-01 -3.50293799e-03 -1.67116819e-03 4.55003900e+01] [ 3.50291105e-03 9.99993865e-01 -1.90466777e-05 -8.73399497e-04] [ 1.67122466e-03 1.31925807e-05 9.99998603e-01 -4.84435119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42028169299999 meters 0.01902803661467976 Centerline is valid? [True, True] Translation: X:45.56, Y:-0.00, Z:-0.05 [[ 9.99985092e-01 -4.19915193e-03 -3.49031583e-03 4.55602313e+01] [ 4.19903840e-03 9.99991183e-01 -3.98534889e-05 -4.55451192e-03] [ 3.49045241e-03 2.51969246e-05 9.99993908e-01 -5.19516581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.480281692999995 meters 0.0220180732167288 Centerline is valid? [True, True] Translation: X:45.62, Y:0.00, Z:-0.06 [[ 9.99980777e-01 -1.23284170e-03 -6.07660028e-03 4.56191633e+01] [ 1.23244155e-03 9.99999238e-01 -6.95946966e-05 3.39399905e-03] [ 6.07668145e-03 6.21043041e-05 9.99981535e-01 -5.61969697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.540281693 meters 0.022623931705461266 Centerline is valid? [True, True] Translation: X:45.68, Y:0.01, Z:-0.05 [[ 9.99982884e-01 6.38848578e-04 -5.81578107e-03 4.56774825e+01] [-6.39249825e-04 9.99999793e-01 -6.71341868e-05 8.80546807e-03] [ 5.81573698e-03 7.08507748e-05 9.99983086e-01 -5.37465825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.600281693 meters 0.020171341813170676 Centerline is valid? [True, True] Translation: X:45.74, Y:0.01, Z:-0.05 [[ 9.99989788e-01 -3.18256299e-03 -3.20847100e-03 4.57357976e+01] [ 3.18246007e-03 9.99994935e-01 -3.71822780e-05 7.41475664e-03] [ 3.20857308e-03 2.69710675e-05 9.99994852e-01 -5.09546528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.660281692999995 meters 0.017891891435143463 Centerline is valid? [True, True] Translation: X:45.80, Y:0.00, Z:-0.05 [[ 9.99972604e-01 -6.81065387e-03 -2.89948463e-03 4.57951754e+01] [ 6.81058489e-03 9.99976807e-01 -3.36623688e-05 1.75056384e-03] [ 2.89964665e-03 1.39142604e-05 9.99995796e-01 -4.96937187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.720281693 meters 0.017018695167364026 Centerline is valid? [True, True] Translation: X:45.85, Y:-0.00, Z:-0.05 [[ 9.99946760e-01 -1.01245883e-02 -1.99229903e-03 4.58549527e+01] [ 1.01245623e-02 9.99948745e-01 -2.31513544e-05 -3.34258762e-03] [ 1.99243131e-03 2.97896622e-06 9.99998015e-01 -4.72072660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.780281693 meters 0.017037298996779075 Centerline is valid? [True, True] Translation: X:45.92, Y:-0.00, Z:-0.05 [[ 9.99951183e-01 -9.80531222e-03 -1.21956824e-03 4.59153467e+01] [ 9.80530225e-03 9.99951927e-01 -1.41519032e-05 -1.27298020e-03] [ 1.21964838e-03 2.19297716e-06 9.99999256e-01 -4.56726253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.840281692999994 meters 0.0173781492676676 Centerline is valid? [True, True] Translation: X:45.98, Y:0.00, Z:-0.05 [[ 9.99966601e-01 -8.11686238e-03 -9.55876147e-04 4.59761542e+01] [ 8.11685550e-03 9.99967058e-01 -1.10804215e-05 2.00970707e-03] [ 9.55934597e-04 3.32134287e-06 9.99999543e-01 -4.54229397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.900281693 meters 0.017826624647194107 Centerline is valid? [True, True] Translation: X:46.04, Y:0.01, Z:-0.05 [[ 9.99969191e-01 -7.28194361e-03 -2.93087904e-03 4.60363368e+01] [ 7.28187527e-03 9.99973486e-01 -3.39863706e-05 5.87378347e-03] [ 2.93104882e-03 1.26430279e-05 9.99995704e-01 -4.79925877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.960281693 meters 0.01779582060580199 Centerline is valid? [True, True] Translation: X:46.10, Y:0.01, Z:-0.05 [[ 9.99963683e-01 -8.10029636e-03 -2.64913296e-03 4.60957360e+01] [ 8.10024331e-03 9.99967192e-01 -3.07535591e-05 8.97894800e-03] [ 2.64929516e-03 9.29382063e-06 9.99996491e-01 -4.83280984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.020281692999994 meters 0.017387439482747232 Centerline is valid? [True, True] Translation: X:46.16, Y:0.00, Z:-0.05 [[ 9.99914453e-01 -1.25632312e-02 -3.64032609e-03 4.61550789e+01] [ 1.25631603e-02 9.99921079e-01 -4.23424048e-05 3.17423457e-03] [ 3.64057075e-03 -3.39521772e-06 9.99993373e-01 -5.01241340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.080281692999996 meters 0.018895656111489464 Centerline is valid? [True, True] Translation: X:46.22, Y:-0.01, Z:-0.05 [[ 9.99824094e-01 -1.82152258e-02 -4.47061768e-03 4.62152472e+01] [ 1.82151753e-02 9.99834089e-01 -5.20097093e-05 -9.22600485e-03] [ 4.47082333e-03 -2.94325244e-05 9.99990005e-01 -5.14836692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.140281693 meters 0.01977250253397179 Centerline is valid? [True, True] Translation: X:46.27, Y:-0.01, Z:-0.05 [[ 9.99779688e-01 -2.05406790e-02 -4.31917307e-03 4.62745696e+01] [ 2.05406531e-02 9.99789017e-01 -5.03573124e-05 -1.30378945e-02] [ 4.31929617e-03 -3.83724176e-05 9.99990671e-01 -5.06479808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.200281692999994 meters 0.024852151575113078 Centerline is valid? [True, True] Translation: X:46.33, Y:-0.03, Z:-0.05 [[ 9.99620713e-01 -2.72102239e-02 -4.24651175e-03 4.63339186e+01] [ 2.72102591e-02 9.99629731e-01 -4.95023276e-05 -3.48911316e-02] [ 4.24628637e-03 -6.60651329e-05 9.99990982e-01 -5.17119000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.260281692999996 meters 0.030545412685495155 Centerline is valid? [True, True] Translation: X:46.39, Y:-0.06, Z:-0.05 [[ 9.99451911e-01 -3.29244402e-02 -3.44365821e-03 4.63926633e+01] [ 3.29244966e-02 9.99457841e-01 -4.03145923e-05 -5.87124927e-02] [ 3.44311853e-03 -7.30882167e-05 9.99994070e-01 -4.95064994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.320281693 meters 0.030757858389978705 Centerline is valid? [True, True] Translation: X:46.45, Y:-0.07, Z:-0.05 [[ 9.99418183e-01 -3.39389704e-02 -3.38255833e-03 4.64523956e+01] [ 3.39390305e-02 9.99423904e-01 -3.96689552e-05 -6.86731910e-02] [ 3.38195598e-03 -7.51548751e-05 9.99994278e-01 -4.89823950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38028169299999 meters 0.03152159253882565 Centerline is valid? [True, True] Translation: X:46.51, Y:-0.09, Z:-0.04 [[ 9.99521760e-01 -3.09029850e-02 -1.12125268e-03 4.65110481e+01] [ 3.09029896e-02 9.99522388e-01 -1.32132018e-05 -8.60670783e-02] [ 1.12112548e-03 -2.14431771e-05 9.99999371e-01 -4.48262355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.440281692999996 meters 0.02304265195207984 Centerline is valid? [True, True] Translation: X:46.57, Y:-0.08, Z:-0.05 [[ 9.99667440e-01 -2.57415846e-02 -1.54299031e-03 4.65704754e+01] [ 2.57415872e-02 9.99668630e-01 -1.82052943e-05 -8.26508741e-02] [ 1.54294764e-03 -2.15197795e-05 9.99998809e-01 -4.54766955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.500281693 meters 0.020190272448717766 Centerline is valid? [True, True] Translation: X:46.63, Y:-0.08, Z:-0.05 [[ 9.99767578e-01 -2.11915374e-02 -3.96349735e-03 4.66303168e+01] [ 2.11915183e-02 9.99775433e-01 -4.68432654e-05 -8.39139214e-02] [ 3.96359996e-03 -3.71601485e-05 9.99992144e-01 -4.72737695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56028169299999 meters 0.01854041207947583 Centerline is valid? [True, True] Translation: X:46.69, Y:-0.08, Z:-0.04 [[ 9.99827309e-01 -1.84440988e-02 -2.27326146e-03 4.66887963e+01] [ 1.84440844e-02 9.99829893e-01 -2.72861838e-05 -8.00257720e-02] [ 2.27337803e-03 -1.46467546e-05 9.99997416e-01 -4.47717233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.620281692999995 meters 0.016908482695046856 Centerline is valid? [True, True] Translation: X:46.75, Y:-0.07, Z:-0.04 [[ 9.99920576e-01 -1.25581907e-02 -1.06448943e-03 4.67480888e+01] [ 1.25581842e-02 9.99921143e-01 -1.27840262e-05 -7.21771395e-02] [ 1.06456603e-03 -5.85043570e-07 9.99999433e-01 -4.30364356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.680281693 meters 0.01793218831168798 Centerline is valid? [True, True] Translation: X:46.81, Y:-0.06, Z:-0.04 [[ 9.99973128e-01 -7.12186641e-03 -1.73820532e-03 4.68079574e+01] [ 7.12184090e-03 9.99974639e-01 -2.08618240e-05 -5.68453889e-02] [ 1.73830982e-03 8.48204168e-06 9.99998489e-01 -4.36240299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74028169299999 meters 0.01962858515109939 Centerline is valid? [True, True] Translation: X:46.87, Y:-0.05, Z:-0.05 [[ 9.99986535e-01 -4.13805069e-03 -3.13143588e-03 4.68669410e+01] [ 4.13795316e-03 9.99991438e-01 -3.76237034e-05 -4.81443184e-02] [ 3.13156475e-03 2.46654618e-05 9.99995096e-01 -4.61739799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.800281692999995 meters 0.018605234566931556 Centerline is valid? [True, True] Translation: X:46.93, Y:-0.05, Z:-0.05 [[ 9.99968048e-01 -6.65790245e-03 -4.42432059e-03 4.69252997e+01] [ 6.65773173e-03 9.99977836e-01 -5.33140041e-05 -4.76927070e-02] [ 4.42457748e-03 2.38563610e-05 9.99990211e-01 -4.86766331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.860281693 meters 0.016812825109477316 Centerline is valid? [True, True] Translation: X:46.98, Y:-0.05, Z:-0.04 [[ 9.99923988e-01 -1.23293954e-02 7.21073151e-05 4.69843932e+01] [ 1.23293954e-02 9.99923990e-01 8.56294457e-07 -5.22225852e-02] [-7.21123918e-05 3.28102284e-08 9.99999997e-01 -4.01562940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92028169299999 meters 0.018489576178043816 Centerline is valid? [True, True] Translation: X:47.04, Y:-0.05, Z:-0.04 [[ 9.99838644e-01 -1.79328176e-02 1.04907766e-03 4.70442709e+01] [ 1.79328142e-02 9.99839194e-01 1.26864940e-05 -5.44183649e-02] [-1.04913646e-03 6.12846770e-06 9.99999450e-01 -3.76243350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.980281692999995 meters 0.020737917964002407 Centerline is valid? [True, True] Translation: X:47.11, Y:-0.05, Z:-0.04 [[ 9.99757174e-01 -2.20320906e-02 4.23898905e-04 4.71059234e+01] [ 2.20320904e-02 9.99757264e-01 5.12446893e-06 -5.15166950e-02] [-4.23908912e-04 4.21615441e-06 9.99999910e-01 -3.90229382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.040281693 meters 0.02162718176220478 Centerline is valid? [True, True] Translation: X:47.17, Y:-0.05, Z:-0.04 [[ 9.99716540e-01 -2.37760544e-02 -1.24069815e-03 4.71662405e+01] [ 2.37760541e-02 9.99717310e-01 -1.49762325e-05 -4.68117468e-02] [ 1.24070349e-03 -1.45269190e-05 9.99999230e-01 -4.14099087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.100281693 meters 0.02532882139371069 Centerline is valid? [True, True] Translation: X:47.23, Y:-0.05, Z:-0.04 [[ 9.99582918e-01 -2.87547673e-02 -2.67464506e-03 4.72264582e+01] [ 2.87547837e-02 9.99586495e-01 -3.23199251e-05 -4.54547215e-02] [ 2.67446843e-03 -4.46023951e-05 9.99996423e-01 -4.36424256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.160281692999995 meters 0.028362531194491877 Centerline is valid? [True, True] Translation: X:47.29, Y:-0.05, Z:-0.05 [[ 9.99488155e-01 -3.18058748e-02 -3.43719375e-03 4.72863461e+01] [ 3.18059198e-02 9.99494063e-01 -4.15597372e-05 -4.58994385e-02] [ 3.43677659e-03 -6.77846438e-05 9.99994092e-01 -4.51901480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.220281693 meters 0.030807225161051294 Centerline is valid? [True, True] Translation: X:47.35, Y:-0.05, Z:-0.05 [[ 9.99454323e-01 -3.27049621e-02 -4.63055883e-03 4.73451318e+01] [ 3.27050528e-02 9.99465045e-01 -5.61524997e-05 -4.65718057e-02] [ 4.62991815e-03 -9.53208123e-05 9.99989277e-01 -4.79236274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.280281693 meters 0.03337168326899938 Centerline is valid? [True, True] Translation: X:47.41, Y:-0.05, Z:-0.05 [[ 9.99331193e-01 -3.64117937e-02 -3.36872723e-03 4.74051238e+01] [ 3.64118625e-02 9.99336867e-01 -4.09254517e-05 -4.94194812e-02] [ 3.36798349e-03 -8.17635524e-05 9.99994325e-01 -4.59403534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.340281692999994 meters 0.03861946119827301 Centerline is valid? [True, True] Translation: X:47.46, Y:-0.06, Z:-0.05 [[ 9.99154801e-01 -4.09919637e-02 -3.05648689e-03 4.74648282e+01] [ 4.09920417e-02 9.99159472e-01 -3.71626788e-05 -5.95424450e-02] [ 3.05544120e-03 -8.81603692e-05 9.99995328e-01 -4.64042267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.400281693 meters 0.0447682595389708 Centerline is valid? [True, True] Translation: X:47.53, Y:-0.08, Z:-0.04 [[ 9.98907362e-01 -4.66714962e-02 -2.41952324e-03 4.75253069e+01] [ 4.66715617e-02 9.98910288e-01 -2.94180913e-05 -7.51250596e-02] [ 2.41825964e-03 -8.35369801e-05 9.99997073e-01 -4.45939772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.460281693 meters 0.042810393355190386 Centerline is valid? [True, True] Translation: X:47.58, Y:-0.08, Z:-0.05 [[ 9.98978303e-01 -4.51239314e-02 -2.48619159e-03 4.75844775e+01] [ 4.51239955e-02 9.98981393e-01 -3.03534133e-05 -7.86351788e-02] [ 2.48502880e-03 -8.18644967e-05 9.99996909e-01 -4.50711660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.520281692999994 meters 0.04040122505491338 Centerline is valid? [True, True] Translation: X:47.64, Y:-0.08, Z:-0.04 [[ 9.99087957e-01 -4.26974817e-02 -4.22370182e-04 4.76448180e+01] [ 4.26974834e-02 9.99088047e-01 -5.17886325e-06 -7.99214637e-02] [ 4.22206124e-04 -1.28600039e-05 9.99999911e-01 -4.11641324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.580281692999996 meters 0.037064368407223665 Centerline is valid? [True, True] Translation: X:47.70, Y:-0.08, Z:-0.05 [[ 9.99129539e-01 -4.16316000e-02 -2.64077966e-03 4.77037003e+01] [ 4.16316587e-02 9.99133026e-01 -3.27879578e-05 -8.32314412e-02] [ 2.63985519e-03 -7.71806201e-05 9.99996513e-01 -4.52036263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.640281693 meters 0.03450372751259051 Centerline is valid? [True, True] Translation: X:47.76, Y:-0.09, Z:-0.05 [[ 9.99254852e-01 -3.84395269e-02 -3.48467518e-03 4.77627613e+01] [ 3.84396095e-02 9.99260924e-01 -4.32796886e-05 -8.90284547e-02] [ 3.48376339e-03 -9.07021145e-05 9.99993928e-01 -4.72434557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.700281692999994 meters 0.0273737710968413 Centerline is valid? [True, True] Translation: X:47.82, Y:-0.08, Z:-0.05 [[ 9.99487218e-01 -3.18647007e-02 -3.15292580e-03 4.78225995e+01] [ 3.18647356e-02 9.99492190e-01 -3.91786582e-05 -8.28889950e-02] [ 3.15257313e-03 -6.13085791e-05 9.99995029e-01 -4.68504107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.760281692999996 meters 0.024462889554789036 Centerline is valid? [True, True] Translation: X:47.88, Y:-0.08, Z:-0.05 [[ 9.99599826e-01 -2.79466042e-02 -4.37902528e-03 4.78820244e+01] [ 2.79466308e-02 9.99609415e-01 -5.51242675e-05 -8.14653201e-02] [ 4.37885543e-03 -6.72767947e-05 9.99990411e-01 -4.98379889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.820281693 meters 0.020009401484041237 Centerline is valid? [True, True] Translation: X:47.94, Y:-0.08, Z:-0.05 [[ 9.99753324e-01 -2.21098200e-02 -2.10868453e-03 4.79422240e+01] [ 2.21098131e-02 9.99755548e-01 -2.66057500e-05 -7.76292958e-02] [ 2.10875730e-03 -2.00234337e-05 9.99997776e-01 -4.50484805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88028169299999 meters 0.017850847110230827 Centerline is valid? [True, True] Translation: X:48.00, Y:-0.07, Z:-0.05 [[ 9.99841354e-01 -1.72985061e-02 -4.24602745e-03 4.80012091e+01] [ 1.72984315e-02 9.99850369e-01 -5.43062874e-05 -7.16487619e-02] [ 4.24633153e-03 -1.91519430e-05 9.99990984e-01 -4.77602114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.940281692999996 meters 0.016863411503901304 Centerline is valid? [True, True] Translation: X:48.06, Y:-0.06, Z:-0.04 [[ 9.99906868e-01 -1.35057422e-02 -1.96212663e-03 4.80597721e+01] [ 1.35057189e-02 9.99908793e-01 -2.51500801e-05 -6.29771412e-02] [ 1.96228734e-03 -1.35219289e-06 9.99998075e-01 -4.36858999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.000281693 meters 0.016558094975995055 Centerline is valid? [True, True] Translation: X:48.12, Y:-0.06, Z:-0.04 [[ 9.99906644e-01 -1.36548753e-02 4.97390708e-04 4.81195273e+01] [ 1.36548738e-02 9.99906768e-01 6.37592451e-06 -6.17099649e-02] [-4.97431398e-04 4.16478063e-07 9.99999876e-01 -3.99685576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06028169299999 meters 0.017192326964584278 Centerline is valid? [True, True] Translation: X:48.18, Y:-0.06, Z:-0.04 [[ 9.99856209e-01 -1.69331032e-02 9.11914411e-04 4.81798585e+01] [ 1.69330995e-02 9.99856625e-01 1.17044481e-05 -6.29509122e-02] [-9.11981858e-04 3.73877234e-06 9.99999584e-01 -3.87292030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.120281692999995 meters 0.01990677406026422 Centerline is valid? [True, True] Translation: X:48.24, Y:-0.07, Z:-0.04 [[ 9.99748880e-01 -2.24031284e-02 -5.26847076e-04 4.82401661e+01] [ 2.24031280e-02 9.99749018e-01 -6.75191526e-06 -7.08779586e-02] [ 5.26866111e-04 -5.05280276e-06 9.99999861e-01 -4.10732711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.180281693 meters 0.026858386869552185 Centerline is valid? [True, True] Translation: X:48.30, Y:-0.09, Z:-0.04 [[ 9.99474595e-01 -3.24022052e-02 -7.94500172e-04 4.83005432e+01] [ 3.24022074e-02 9.99474911e-01 -1.02017745e-05 -8.70428651e-02] [ 7.94413548e-04 -1.55471449e-05 9.99999684e-01 -4.27630259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24028169299999 meters 0.03281075261436854 Centerline is valid? [True, True] Translation: X:48.36, Y:-0.10, Z:-0.04 [[ 9.99316642e-01 -3.69621217e-02 2.24414602e-04 4.83596215e+01] [ 3.69621220e-02 9.99316667e-01 2.87615285e-06 -9.95840904e-02] [-2.24367560e-04 5.42065247e-06 9.99999975e-01 -4.12756503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.300281692999995 meters 0.031633588492356216 Centerline is valid? [True, True] Translation: X:48.42, Y:-0.10, Z:-0.04 [[ 9.99302457e-01 -3.72782047e-02 2.22129678e-03 4.84187014e+01] [ 3.72782325e-02 9.99304925e-01 2.88954981e-05 -1.03308933e-01] [-2.22082999e-03 5.39306757e-05 9.99997532e-01 -3.74384110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.360281693 meters 0.032502448649953275 Centerline is valid? [True, True] Translation: X:48.48, Y:-0.11, Z:-0.04 [[ 9.99337834e-01 -3.63746208e-02 8.83233994e-04 4.84775037e+01] [ 3.63746248e-02 9.99338224e-01 1.15304400e-05 -1.06349580e-01] [-8.83068906e-04 2.06045002e-05 9.99999610e-01 -3.93066851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42028169299999 meters 0.02985498780176211 Centerline is valid? [True, True] Translation: X:48.54, Y:-0.11, Z:-0.05 [[ 9.99376161e-01 -3.49895655e-02 -4.79785253e-03 4.85368029e+01] [ 3.49896637e-02 9.99387672e-01 -6.34772250e-05 -1.09094860e-01] [ 4.79713571e-03 -1.04437621e-04 9.99988488e-01 -4.96121606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.480281692999995 meters 0.025072576082944484 Centerline is valid? [True, True] Translation: X:48.60, Y:-0.11, Z:-0.05 [[ 9.99581937e-01 -2.84592300e-02 -5.10124406e-03 4.85961064e+01] [ 2.84592557e-02 9.99594951e-01 -6.75612382e-05 -1.05049535e-01] [ 5.10110055e-03 -7.76446156e-05 9.99986986e-01 -4.89435993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.540281693 meters 0.020158570928415765 Centerline is valid? [True, True] Translation: X:48.66, Y:-0.10, Z:-0.05 [[ 9.99743341e-01 -2.19945159e-02 -5.43086288e-03 4.86555077e+01] [ 2.19944489e-02 9.99758090e-01 -7.20509830e-05 -9.67408242e-02] [ 5.43113383e-03 -4.74163459e-05 9.99985250e-01 -4.92082144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.600281693 meters 0.017313289803655638 Centerline is valid? [True, True] Translation: X:48.71, Y:-0.09, Z:-0.05 [[ 9.99858570e-01 -1.64853362e-02 -3.32771895e-03 4.87148588e+01] [ 1.64852787e-02 9.99864108e-01 -4.46909108e-05 -9.31682518e-02] [ 3.32800348e-03 -1.01737842e-05 9.99994462e-01 -4.61820938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.660281692999995 meters 0.01671298884820099 Centerline is valid? [True, True] Translation: X:48.77, Y:-0.10, Z:-0.04 [[ 9.99890410e-01 -1.48042446e-02 -5.55392888e-05 4.87737214e+01] [ 1.48042445e-02 9.99890411e-01 -8.10050277e-07 -9.57913401e-02] [ 5.55451945e-05 -1.22557103e-08 9.99999998e-01 -4.08369276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.720281693 meters 0.016522228930872105 Centerline is valid? [True, True] Translation: X:48.83, Y:-0.10, Z:-0.04 [[ 9.99886107e-01 -1.47201278e-02 3.33018592e-03 4.88339390e+01] [ 1.47200589e-02 9.99891653e-01 4.52125070e-05 -1.00630118e-01] [-3.33049064e-03 3.81317518e-06 9.99994454e-01 -3.56204038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.780281693 meters 0.016712673012434023 Centerline is valid? [True, True] Translation: X:48.89, Y:-0.10, Z:-0.03 [[ 9.99922536e-01 -1.17655016e-02 4.06137202e-03 4.88938607e+01] [ 1.17653753e-02 9.99930784e-01 5.49900820e-05 -9.69599590e-02] [-4.06173789e-03 -7.20225603e-06 9.99991751e-01 -3.38381794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.840281692999994 meters 0.022312567816929568 Centerline is valid? [True, True] Translation: X:48.95, Y:-0.08, Z:-0.04 [[ 9.99997558e-01 -2.20978634e-03 4.15521480e-06 4.89533449e+01] [ 2.20978634e-03 9.99997558e-01 7.51528809e-08 -7.80962492e-02] [-4.15537073e-06 -6.59705601e-08 1.00000000e+00 -4.09537237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.900281693 meters 0.02903347295942192 Centerline is valid? [True, True] Translation: X:49.01, Y:-0.06, Z:-0.04 [[ 9.99975064e-01 7.05009517e-03 -4.08485011e-04 4.90135273e+01] [-7.05009801e-03 9.99975148e-01 -5.51561235e-06 -5.95031791e-02] [ 4.08435974e-04 8.39533418e-06 9.99999917e-01 -4.07144439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.960281693 meters 0.03398908909864568 Centerline is valid? [True, True] Translation: X:49.07, Y:-0.04, Z:-0.04 [[ 9.99931785e-01 1.16103302e-02 1.27490583e-03 4.90729398e+01] [-1.16103615e-02 9.99932597e-01 1.72126273e-05 -4.47696009e-02] [-1.27462005e-03 -3.20135708e-05 9.99999187e-01 -3.85634309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.020281692999994 meters 0.03858132902972652 Centerline is valid? [True, True] Translation: X:49.13, Y:-0.03, Z:-0.04 [[ 9.99900492e-01 1.41040690e-02 2.84149861e-04 4.91325569e+01] [-1.41040706e-02 9.99900533e-01 3.84070364e-06 -2.83425514e-02] [-2.84067427e-04 -7.84799116e-06 9.99999960e-01 -4.02868977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.080281692999996 meters 0.036515554065220376 Centerline is valid? [True, True] Translation: X:49.19, Y:-0.02, Z:-0.05 [[ 9.99913066e-01 1.23719048e-02 -4.56023103e-03 4.91920582e+01] [-1.23723135e-02 9.99923458e-01 -6.14333598e-05 -1.92494223e-02] [ 4.55912193e-03 1.17848627e-04 9.99989600e-01 -4.98100131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.140281693 meters 0.033991300118350935 Centerline is valid? [True, True] Translation: X:49.25, Y:-0.02, Z:-0.05 [[ 9.99945349e-01 9.60073237e-03 -4.13820079e-03 4.92516526e+01] [-9.60104563e-03 9.99953907e-01 -5.58411289e-05 -1.60454293e-02] [ 4.13747394e-03 9.55691318e-05 9.99991436e-01 -4.90341249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.200281692999994 meters 0.02962115717533347 Centerline is valid? [True, True] Translation: X:49.31, Y:-0.01, Z:-0.05 [[ 9.99978559e-01 5.33437123e-03 -3.79822628e-03 4.93112859e+01] [-5.33460470e-03 9.99985770e-01 -5.13387357e-05 -1.32924985e-02] [ 3.79789837e-03 7.15996707e-05 9.99992785e-01 -4.90317270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.260281692999996 meters 0.021381600964357605 Centerline is valid? [True, True] Translation: X:49.37, Y:-0.02, Z:-0.05 [[ 9.99993108e-01 -3.37553797e-03 -1.54588143e-03 4.93704425e+01] [ 3.37550964e-03 9.99994303e-01 -2.09322477e-05 -2.14609855e-02] [ 1.54594328e-03 1.57139658e-05 9.99998805e-01 -4.52873453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.320281693 meters 0.016667822996958445 Centerline is valid? [True, True] Translation: X:49.43, Y:-0.04, Z:-0.04 [[ 9.99886057e-01 -1.50932930e-02 -2.55129646e-04 4.94308529e+01] [ 1.50932927e-02 9.99886090e-01 -3.45340259e-06 -4.06802951e-02] [ 2.55152708e-04 -3.97737314e-07 9.99999967e-01 -4.34667202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38028169299999 meters 0.02233465366086576 Centerline is valid? [True, True] Translation: X:49.49, Y:-0.06, Z:-0.05 [[ 9.99692491e-01 -2.47548685e-02 -1.45572982e-03 4.94915973e+01] [ 2.47548660e-02 9.99693551e-01 -1.97045745e-05 -6.23288255e-02] [ 1.45577149e-03 -1.63378814e-05 9.99998940e-01 -4.60418034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.440281692999996 meters 0.03457340439886498 Centerline is valid? [True, True] Translation: X:49.55, Y:-0.09, Z:-0.04 [[ 9.99263152e-01 -3.83749997e-02 -7.15514271e-04 4.95528193e+01] [ 3.83750026e-02 9.99263408e-01 -9.68429457e-06 -9.08135711e-02] [ 7.15358864e-04 -1.77807033e-05 9.99999744e-01 -4.48828884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.500281693 meters 0.04141864769712531 Centerline is valid? [True, True] Translation: X:49.61, Y:-0.11, Z:-0.05 [[ 9.99140055e-01 -4.14206776e-02 -1.86498698e-03 4.96116251e+01] [ 4.14207024e-02 9.99141794e-01 -2.53161725e-05 -1.08712948e-01] [ 1.86443505e-03 -5.19546689e-05 9.99998261e-01 -4.64972266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56028169299999 meters 0.03552085924034 Centerline is valid? [True, True] Translation: X:49.67, Y:-0.10, Z:-0.05 [[ 9.99349338e-01 -3.60077430e-02 -2.08405426e-03 4.96706051e+01] [ 3.60077622e-02 9.99351510e-01 -2.83172508e-05 -1.03505979e-01] [ 2.08372242e-03 -4.67433044e-05 9.99997828e-01 -4.54018225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.620281692999995 meters 0.02085966679301235 Centerline is valid? [True, True] Translation: X:49.73, Y:-0.08, Z:-0.04 [[ 9.99707787e-01 -2.41660206e-02 -5.86359344e-04 4.97307778e+01] [ 2.41660201e-02 9.99707959e-01 -7.96752307e-06 -8.29943830e-02] [ 5.86380647e-04 -6.20477681e-06 9.99999828e-01 -4.27067085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.680281693 meters 0.017698240162095955 Centerline is valid? [True, True] Translation: X:49.79, Y:-0.07, Z:-0.04 [[ 9.99812405e-01 -1.93674652e-02 -2.38182057e-04 4.97898217e+01] [ 1.93674649e-02 9.99812433e-01 -3.33155309e-06 -7.21240768e-02] [ 2.38201906e-04 -1.28205453e-06 9.99999972e-01 -4.28774600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74028169299999 meters 0.017538472628526355 Centerline is valid? [True, True] Translation: X:49.85, Y:-0.07, Z:-0.04 [[ 9.99821348e-01 -1.88887107e-02 -6.99247991e-04 4.98506135e+01] [ 1.88887086e-02 9.99821592e-01 -9.61490336e-06 -6.73407978e-02] [ 6.99304853e-04 -3.59470592e-06 9.99999755e-01 -4.43012318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.800281692999995 meters 0.017200633827389327 Centerline is valid? [True, True] Translation: X:49.91, Y:-0.06, Z:-0.05 [[ 9.99843297e-01 -1.76602053e-02 -1.22388379e-03 4.99104567e+01] [ 1.76601979e-02 9.99844046e-01 -1.68656451e-05 -6.22879057e-02] [ 1.22399077e-03 -4.75102771e-06 9.99999251e-01 -4.58512267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.860281693 meters 0.016497061687338638 Centerline is valid? [True, True] Translation: X:49.97, Y:-0.06, Z:-0.04 [[ 9.99875578e-01 -1.56980436e-02 1.54888664e-03 4.99701627e+01] [ 1.56980294e-02 9.99876778e-01 2.13480706e-05 -5.60391527e-02] [-1.54903090e-03 2.96905347e-06 9.99998800e-01 -3.96388795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92028169299999 meters 0.01682923150139329 Centerline is valid? [True, True] Translation: X:50.03, Y:-0.05, Z:-0.04 [[ 9.99937190e-01 -1.12021106e-02 -3.60090572e-04 5.00300110e+01] [ 1.12021096e-02 9.99937254e-01 -4.93712347e-06 -4.52580514e-02] [ 3.60123284e-04 9.03039312e-07 9.99999935e-01 -4.33672971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.980281692999995 meters 0.017190335710583798 Centerline is valid? [True, True] Translation: X:50.09, Y:-0.04, Z:-0.05 [[ 9.99949891e-01 -9.93906478e-03 -1.19638435e-03 5.00906274e+01] [ 9.93905222e-03 9.99950606e-01 -1.64471030e-05 -4.15903757e-02] [ 1.19648872e-03 4.55535239e-06 9.99999284e-01 -4.58168906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.040281693 meters 0.017672176951454344 Centerline is valid? [True, True] Translation: X:50.15, Y:-0.03, Z:-0.05 [[ 9.99960764e-01 -8.79608761e-03 -1.04802514e-03 5.01496555e+01] [ 8.79607732e-03 9.99961314e-01 -1.44234080e-05 -3.29376742e-02] [ 1.04811146e-03 5.20433193e-06 9.99999451e-01 -4.54824095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.100281693 meters 0.01710793612920301 Centerline is valid? [True, True] Translation: X:50.21, Y:-0.03, Z:-0.04 [[ 9.99949402e-01 -1.00524106e-02 3.77364009e-04 5.02096929e+01] [ 1.00524094e-02 9.99949473e-01 5.19204362e-06 -3.11327579e-02] [-3.77397135e-04 -1.39836340e-06 9.99999929e-01 -4.28444549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.160281692999995 meters 0.016804509713815145 Centerline is valid? [True, True] Translation: X:50.27, Y:-0.03, Z:-0.05 [[ 9.99915180e-01 -1.27564968e-02 -2.62756685e-03 5.02697616e+01] [ 1.27564458e-02 9.99918633e-01 -3.61519418e-05 -2.99090453e-02] [ 2.62781423e-03 2.63046120e-06 9.99996547e-01 -4.89069107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.220281693 meters 0.016860504146034305 Centerline is valid? [True, True] Translation: X:50.33, Y:-0.03, Z:-0.05 [[ 9.99870993e-01 -1.60179478e-02 -1.19258010e-03 5.03283925e+01] [ 1.60179395e-02 9.99871704e-01 -1.64622210e-05 -2.70871906e-02] [ 1.19269079e-03 -2.64257858e-06 9.99999289e-01 -4.66566161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.280281693 meters 0.021637764199492288 Centerline is valid? [True, True] Translation: X:50.39, Y:-0.04, Z:-0.04 [[ 9.99683836e-01 -2.50645192e-02 1.99927861e-03 5.03884138e+01] [ 2.50645141e-02 9.99685835e-01 2.75959033e-05 -3.86845818e-02] [-1.99934218e-03 2.25237684e-05 9.99998001e-01 -4.13077794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.340281692999994 meters 0.027158368709460808 Centerline is valid? [True, True] Translation: X:50.45, Y:-0.05, Z:-0.05 [[ 9.99516932e-01 -3.10393618e-02 -1.56876097e-03 5.04487626e+01] [ 3.10393660e-02 9.99518163e-01 -2.16776606e-05 -4.77037797e-02] [ 1.56867794e-03 -2.70261570e-05 9.99998769e-01 -4.78199071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.400281693 meters 0.02932746215771851 Centerline is valid? [True, True] Translation: X:50.51, Y:-0.05, Z:-0.05 [[ 9.99473816e-01 -3.24058517e-02 -1.39685646e-03 5.05073288e+01] [ 3.24058563e-02 9.99474792e-01 -1.93557393e-05 -4.95279245e-02] [ 1.39675006e-03 -2.59207751e-05 9.99999024e-01 -4.76666003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.460281693 meters 0.027176456387432175 Centerline is valid? [True, True] Translation: X:50.57, Y:-0.04, Z:-0.05 [[ 9.99500432e-01 -3.15665106e-02 -1.56273333e-03 5.05661059e+01] [ 3.15665149e-02 9.99501653e-01 -2.19388742e-05 -4.30541502e-02] [ 1.56264708e-03 -2.74021306e-05 9.99998779e-01 -4.82118230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.520281692999994 meters 0.026826376235450578 Centerline is valid? [True, True] Translation: X:50.62, Y:-0.05, Z:-0.05 [[ 9.99527267e-01 -3.07359619e-02 -7.37465427e-04 5.06239785e+01] [ 3.07359626e-02 9.99527539e-01 -1.03873043e-05 -4.54420003e-02] [ 7.37436267e-04 -1.22843159e-05 9.99999728e-01 -4.71358404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.580281692999996 meters 0.025539465508909308 Centerline is valid? [True, True] Translation: X:50.68, Y:-0.04, Z:-0.04 [[ 9.99525537e-01 -3.07615836e-02 1.55776361e-03 5.06822385e+01] [ 3.07615865e-02 9.99526750e-01 2.20935620e-05 -4.01892600e-02] [-1.55770603e-03 2.58362006e-05 9.99998786e-01 -4.14044244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.640281693 meters 0.019584909207746956 Centerline is valid? [True, True] Translation: X:50.74, Y:-0.02, Z:-0.04 [[ 9.99733335e-01 -2.30915247e-02 2.01225669e-04 5.07414984e+01] [ 2.30915246e-02 9.99733355e-01 2.85776014e-06 -2.19461932e-02] [-2.01238004e-04 1.78960943e-06 9.99999980e-01 -4.43144822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.700281692999994 meters 0.01821913521683674 Centerline is valid? [True, True] Translation: X:50.80, Y:-0.01, Z:-0.05 [[ 9.99776014e-01 -2.10957784e-02 -1.70026655e-03 5.08016173e+01] [ 2.10957677e-02 9.99777459e-01 -2.42131730e-05 -1.04977866e-02] [ 1.70039896e-03 -1.16606785e-05 9.99998554e-01 -4.71103560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.760281692999996 meters 0.020435863630054715 Centerline is valid? [True, True] Translation: X:50.86, Y:-0.01, Z:-0.05 [[ 9.99691683e-01 -2.48296158e-02 1.69933059e-04 5.08610320e+01] [ 2.48296157e-02 9.99691698e-01 2.41788697e-06 -1.48491105e-02] [-1.69940704e-04 1.80223107e-06 9.99999986e-01 -4.63146394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.820281693 meters 0.024068765863269424 Centerline is valid? [True, True] Translation: X:50.92, Y:-0.02, Z:-0.05 [[ 9.99557332e-01 -2.97244410e-02 -1.26372084e-03 5.09211905e+01] [ 2.97244419e-02 9.99558131e-01 -1.80303612e-05 -2.03959919e-02] [ 1.26369838e-03 -1.95410169e-05 9.99999201e-01 -4.82055864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88028169299999 meters 0.032354835091286574 Centerline is valid? [True, True] Translation: X:50.98, Y:-0.04, Z:-0.05 [[ 9.99356701e-01 -3.57906269e-02 -2.28388235e-03 5.09802856e+01] [ 3.57906457e-02 9.99359309e-01 -3.26394841e-05 -3.80357690e-02] [ 2.28358727e-03 -4.91231367e-05 9.99997391e-01 -5.11204011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.940281692999996 meters 0.027393092097379047 Centerline is valid? [True, True] Translation: X:51.04, Y:-0.04, Z:-0.05 [[ 9.99415046e-01 -3.41893078e-02 -8.10394115e-04 5.10395211e+01] [ 3.41893095e-02 9.99415375e-01 -1.17547777e-05 -3.56534080e-02] [ 8.10322226e-04 -1.59589135e-05 9.99999672e-01 -4.76334014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.000281693 meters 0.023225922198596174 Centerline is valid? [True, True] Translation: X:51.10, Y:-0.03, Z:-0.05 [[ 9.99601766e-01 -2.81485026e-02 -1.99285050e-03 5.10981287e+01] [ 2.81485010e-02 9.99603752e-01 -2.88370169e-05 -3.30690755e-02] [ 1.99287255e-03 -2.72702212e-05 9.99998014e-01 -5.00268682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06028169299999 meters 0.021426520772548956 Centerline is valid? [True, True] Translation: X:51.16, Y:-0.03, Z:-0.05 [[ 9.99665863e-01 -2.58488116e-02 -1.91135118e-05 5.11566356e+01] [ 2.58488116e-02 9.99665864e-01 -3.34572819e-07 -3.08989704e-02] [ 1.91157736e-05 -1.59600539e-07 1.00000000e+00 -4.61321383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.120281692999995 meters 0.01763649684961959 Centerline is valid? [True, True] Translation: X:51.22, Y:-0.02, Z:-0.04 [[ 9.99808193e-01 -1.95498545e-02 1.17475362e-03 5.12161164e+01] [ 1.95498478e-02 9.99808883e-01 1.72002473e-05 -1.96883211e-02] [-1.17486537e-03 5.76930634e-06 9.99999310e-01 -4.46226314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.180281693 meters 0.01714934763621023 Centerline is valid? [True, True] Translation: X:51.28, Y:-0.01, Z:-0.05 [[ 9.99905495e-01 -1.36390714e-02 -1.72523294e-03 5.12765833e+01] [ 1.36390482e-02 9.99906984e-01 -2.52480870e-05 -6.15137643e-03] [ 1.72541683e-03 1.71516570e-06 9.99998511e-01 -5.00999018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24028169299999 meters 0.017081899041119435 Centerline is valid? [True, True] Translation: X:51.34, Y:-0.00, Z:-0.05 [[ 9.99902659e-01 -1.37258783e-02 -2.50461394e-03 5.13359813e+01] [ 1.37258294e-02 9.99905796e-01 -3.67269486e-05 -2.33965302e-03] [ 2.50488211e-03 2.34546985e-06 9.99996863e-01 -5.04324915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.300281692999995 meters 0.017108978174783792 Centerline is valid? [True, True] Translation: X:51.40, Y:-0.00, Z:-0.05 [[ 9.99849722e-01 -1.73246774e-02 6.23883088e-04 5.13958466e+01] [ 1.73246751e-02 9.99849917e-01 9.14966373e-06 -1.56125540e-03] [-6.23947969e-04 1.66028304e-06 9.99999805e-01 -4.64687751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.360281693 meters 0.01844242477286389 Centerline is valid? [True, True] Translation: X:51.46, Y:-0.00, Z:-0.05 [[ 9.99784149e-01 -2.07141942e-02 -1.60577191e-03 5.14574630e+01] [ 2.07141832e-02 9.99785438e-01 -2.35150629e-05 -3.01249774e-03] [ 1.60591447e-03 -9.75226645e-06 9.99998710e-01 -5.13940592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42028169299999 meters 0.02027557403914984 Centerline is valid? [True, True] Translation: X:51.52, Y:-0.01, Z:-0.05 [[ 9.99714813e-01 -2.37852839e-02 -2.13361527e-03 5.15167172e+01] [ 2.37852713e-02 9.99717090e-01 -3.12837602e-05 -6.08590646e-03] [ 2.13375574e-03 -1.94737796e-05 9.99997723e-01 -5.10825379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.480281692999995 meters 0.02072766250294674 Centerline is valid? [True, True] Translation: X:51.58, Y:-0.01, Z:-0.05 [[ 9.99715704e-01 -2.37111998e-02 -2.50797775e-03 5.15758892e+01] [ 2.37111819e-02 9.99718850e-01 -3.68630385e-05 -8.25785221e-03] [ 2.50814670e-03 -2.26145583e-05 9.99996854e-01 -5.13113690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.540281693 meters 0.020294865152439306 Centerline is valid? [True, True] Translation: X:51.64, Y:-0.01, Z:-0.05 [[ 9.99717947e-01 -2.37097171e-02 -1.36956750e-03 5.16351131e+01] [ 2.37097118e-02 9.99718885e-01 -2.01627320e-05 -7.29328230e-03] [ 1.36966055e-03 -1.23150056e-05 9.99999062e-01 -4.93715254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60028169299999 meters 0.020723062144468913 Centerline is valid? [True, True] Translation: X:51.70, Y:-0.01, Z:-0.04 [[ 9.99693925e-01 -2.46206161e-02 2.42508271e-03 5.16954682e+01] [ 2.46206020e-02 9.99696866e-01 3.56882002e-05 -9.48861835e-03] [-2.42522625e-03 2.40297192e-05 9.99997059e-01 -4.21407404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.660281692999995 meters 0.020082805295251766 Centerline is valid? [True, True] Translation: X:51.76, Y:-0.01, Z:-0.04 [[ 9.99708645e-01 -2.40561235e-02 1.98203515e-03 5.17563713e+01] [ 2.40561130e-02 9.99710609e-01 2.91304139e-05 -6.73934525e-03] [-1.98216233e-03 1.85581348e-05 9.99998035e-01 -4.26390586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.720281693 meters 0.021365413108611755 Centerline is valid? [True, True] Translation: X:51.82, Y:-0.01, Z:-0.04 [[ 9.99659602e-01 -2.60614898e-02 1.21571396e-03 5.18169340e+01] [ 2.60614873e-02 9.99660342e-01 1.78627291e-05 -1.22125438e-02] [-1.21576657e-03 1.38266654e-05 9.99999261e-01 -4.48037466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.780281693 meters 0.024274929891638413 Centerline is valid? [True, True] Translation: X:51.88, Y:-0.02, Z:-0.04 [[ 9.99552065e-01 -2.98989078e-02 1.31356406e-03 5.18772489e+01] [ 2.98989082e-02 9.99552928e-01 1.93004602e-05 -1.95505744e-02] [-1.31355386e-03 1.99823165e-05 9.99999137e-01 -4.39965341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.840281692999994 meters 0.02519563291592467 Centerline is valid? [True, True] Translation: X:51.94, Y:-0.02, Z:-0.04 [[ 9.99500087e-01 -3.16001616e-02 1.00283373e-03 5.19370626e+01] [ 3.16001627e-02 9.99500590e-01 1.47502909e-05 -2.24304464e-02] [-1.00279902e-03 1.69467921e-05 9.99999497e-01 -4.40032627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.900281693 meters 0.02630960120189236 Centerline is valid? [True, True] Translation: X:52.00, Y:-0.03, Z:-0.05 [[ 9.99482264e-01 -3.21680716e-02 6.47866683e-04 5.19958768e+01] [ 3.21680722e-02 9.99482474e-01 9.54870592e-06 -3.13221011e-02] [-6.47838558e-04 1.12968600e-05 9.99999790e-01 -4.53709339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.960281693 meters 0.026543662301500168 Centerline is valid? [True, True] Translation: X:52.06, Y:-0.04, Z:-0.05 [[ 9.99459972e-01 -3.28596769e-02 7.60230707e-05 5.20553389e+01] [ 3.28596769e-02 9.99459975e-01 1.11611131e-06 -3.74155602e-02] [-7.60186914e-05 1.38258496e-06 9.99999997e-01 -4.58943857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.020281692999994 meters 0.026586943917575486 Centerline is valid? [True, True] Translation: X:52.11, Y:-0.04, Z:-0.05 [[ 9.99488813e-01 -3.19316659e-02 -1.57503074e-03 5.21144404e+01] [ 3.19316687e-02 9.99490054e-01 -2.33565731e-05 -4.12213591e-02] [ 1.57497338e-03 -2.69487264e-05 9.99998759e-01 -4.81679946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.080281692999996 meters 0.024288768715512443 Centerline is valid? [True, True] Translation: X:52.17, Y:-0.04, Z:-0.05 [[ 9.99567691e-01 -2.92808497e-02 -2.65744885e-03 5.21733691e+01] [ 2.92808472e-02 9.99571223e-01 -3.98711053e-05 -4.05402707e-02] [ 2.65747685e-03 -3.79584848e-05 9.99996468e-01 -5.07896192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.140281693 meters 0.02356671055545662 Centerline is valid? [True, True] Translation: X:52.23, Y:-0.05, Z:-0.05 [[ 9.99617362e-01 -2.76217481e-02 -1.47247370e-03 5.22311010e+01] [ 2.76217454e-02 9.99618447e-01 -2.21653310e-05 -4.55646916e-02] [ 1.47252412e-03 -1.85154440e-05 9.99998916e-01 -4.76991600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.200281692999994 meters 0.020722197721600406 Centerline is valid? [True, True] Translation: X:52.29, Y:-0.04, Z:-0.05 [[ 9.99713975e-01 -2.38544111e-02 -1.71310414e-03 5.22901456e+01] [ 2.38544014e-02 9.99715443e-01 -2.60879236e-05 -3.93016915e-02] [ 1.71323898e-03 -1.47846121e-05 9.99998532e-01 -4.83935148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.260281692999996 meters 0.01794627721171463 Centerline is valid? [True, True] Translation: X:52.35, Y:-0.02, Z:-0.05 [[ 9.99856028e-01 -1.66190241e-02 -3.42513511e-03 5.23491242e+01] [ 1.66189414e-02 9.99861894e-01 -5.26209036e-05 -2.32791573e-02] [ 3.42553659e-03 -4.30879205e-06 9.99994133e-01 -5.08755720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.320281693 meters 0.018757880472261332 Centerline is valid? [True, True] Translation: X:52.41, Y:-0.00, Z:-0.05 [[ 9.99942995e-01 -1.04320705e-02 -2.27583322e-03 5.24077010e+01] [ 1.04320178e-02 9.99945584e-01 -3.50197377e-05 -4.63063544e-03] [ 2.27607471e-03 1.12762086e-05 9.99997410e-01 -4.91089945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38028169299999 meters 0.018681607571957134 Centerline is valid? [True, True] Translation: X:52.47, Y:-0.00, Z:-0.05 [[ 9.99942140e-01 -1.07499536e-02 -3.93661910e-04 5.24659202e+01] [ 1.07499521e-02 9.99942218e-01 -6.08039061e-06 -4.00855385e-04] [ 3.93704527e-04 1.84819214e-06 9.99999922e-01 -4.67087554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.440281692999996 meters 0.017777511633018078 Centerline is valid? [True, True] Translation: X:52.53, Y:-0.00, Z:-0.04 [[ 9.99891110e-01 -1.47564815e-02 -1.23796743e-04 5.25268175e+01] [ 1.47564813e-02 9.99891117e-01 -1.90846683e-06 -2.65057359e-03] [ 1.23811426e-04 8.14546912e-08 9.99999992e-01 -4.47395631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.500281693 meters 0.018380893535119812 Centerline is valid? [True, True] Translation: X:52.59, Y:-0.00, Z:-0.04 [[ 9.99814160e-01 -1.92443313e-02 1.14045741e-03 5.25861078e+01] [ 1.92443237e-02 9.99814811e-01 1.75809353e-05 -4.81435912e-03] [-1.14058455e-03 4.36966358e-06 9.99999350e-01 -4.24626667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56028169299999 meters 0.018874134896352437 Centerline is valid? [True, True] Translation: X:52.65, Y:0.00, Z:-0.05 [[ 9.99811020e-01 -1.89608018e-02 -4.29089571e-03 5.26461132e+01] [ 1.89606925e-02 9.99820228e-01 -6.61462812e-05 4.37635723e-03] [ 4.29137852e-03 -1.52245735e-05 9.99990792e-01 -5.23740090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.620281692999995 meters 0.019716123529179393 Centerline is valid? [True, True] Translation: X:52.70, Y:0.01, Z:-0.05 [[ 9.99763694e-01 -2.15792122e-02 -2.62556446e-03 5.27044160e+01] [ 2.15791791e-02 9.99767142e-01 -4.09430710e-05 8.70408027e-03] [ 2.62583660e-03 -1.57241299e-05 9.99996552e-01 -4.99042306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.680281693 meters 0.02302840796610288 Centerline is valid? [True, True] Translation: X:52.76, Y:0.01, Z:-0.05 [[ 9.99617071e-01 -2.76712537e-02 1.12084776e-04 5.27636542e+01] [ 2.76712536e-02 9.99617078e-01 1.73412338e-06 5.88263346e-03] [-1.12089841e-04 1.36806693e-06 9.99999994e-01 -4.51230178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74028169299999 meters 0.02600788113847091 Centerline is valid? [True, True] Translation: X:52.82, Y:0.01, Z:-0.05 [[ 9.99500195e-01 -3.15854310e-02 -1.31181520e-03 5.28240539e+01] [ 3.15854313e-02 9.99501056e-01 -2.04933069e-05 6.60721175e-03] [ 1.31180797e-03 -2.09511849e-05 9.99999139e-01 -4.65453310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.800281692999995 meters 0.028832555906224057 Centerline is valid? [True, True] Translation: X:52.88, Y:0.01, Z:-0.05 [[ 9.99395263e-01 -3.46227703e-02 -3.22049116e-03 5.28832323e+01] [ 3.46227875e-02 9.99400450e-01 -5.04328239e-05 8.93398127e-03] [ 3.22030644e-03 -6.11000557e-05 9.99994813e-01 -5.00620735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.860281693 meters 0.03206161366605278 Centerline is valid? [True, True] Translation: X:52.94, Y:0.01, Z:-0.05 [[ 9.99280682e-01 -3.78543057e-02 -2.27377529e-03 5.29417430e+01] [ 3.78543225e-02 9.99283268e-01 -3.56876365e-05 5.07809528e-03] [ 2.27349653e-03 -5.04102573e-05 9.99997414e-01 -4.87840068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92028169299999 meters 0.031520371599665746 Centerline is valid? [True, True] Translation: X:53.00, Y:0.01, Z:-0.05 [[ 9.99311095e-01 -3.70736463e-02 -1.69729590e-03 5.30009795e+01] [ 3.70736540e-02 9.99312535e-01 -2.69267430e-05 7.21604109e-03] [ 1.69712734e-03 -3.60167679e-05 9.99998559e-01 -4.71893673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.980281692999995 meters 0.02753485809155199 Centerline is valid? [True, True] Translation: X:53.06, Y:0.02, Z:-0.05 [[ 9.99395529e-01 -3.45509413e-02 -3.84815209e-03 5.30602155e+01] [ 3.45509603e-02 9.99402935e-01 -6.15752296e-05 1.51491387e-02] [ 3.84798198e-03 -7.14193408e-05 9.99992594e-01 -5.00871492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.040281693 meters 0.025510949286254817 Centerline is valid? [True, True] Translation: X:53.12, Y:0.02, Z:-0.04 [[ 9.99537438e-01 -3.03844657e-02 -1.30188417e-03 5.31189785e+01] [ 3.03844643e-02 9.99538285e-01 -2.08713993e-05 1.63603646e-02] [ 1.30191724e-03 -1.86953081e-05 9.99999152e-01 -4.44620139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10028169299999 meters 0.021141314108945958 Centerline is valid? [True, True] Translation: X:53.18, Y:0.03, Z:-0.05 [[ 9.99688489e-01 -2.47058269e-02 -3.54210118e-03 5.31782520e+01] [ 2.47057806e-02 9.99694764e-01 -5.68436251e-05 2.76085968e-02] [ 3.54242438e-03 -3.06844570e-05 9.99993725e-01 -4.84173898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.160281692999995 meters 0.018979033088012395 Centerline is valid? [True, True] Translation: X:53.24, Y:0.05, Z:-0.05 [[ 9.99896517e-01 -1.40058399e-02 -3.28513757e-03 5.32371543e+01] [ 1.40057405e-02 9.99901913e-01 -5.32667149e-05 4.94707059e-02] [ 3.28556138e-03 7.25041857e-06 9.99994603e-01 -4.77356630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.220281693 meters 0.023146833114362088 Centerline is valid? [True, True] Translation: X:53.30, Y:0.07, Z:-0.05 [[ 9.99983836e-01 -4.87020623e-03 -2.93401544e-03 5.32958438e+01] [ 4.87008740e-03 9.99988140e-01 -4.76409120e-05 6.98582792e-02] [ 2.93421267e-03 3.33512303e-05 9.99995695e-01 -4.79283770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.280281693 meters 0.02651195694349972 Centerline is valid? [True, True] Translation: X:53.35, Y:0.08, Z:-0.05 [[ 9.99988630e-01 -9.84654650e-04 -4.66593820e-03 5.33540219e+01] [ 9.84311138e-04 9.99999513e-01 -7.59169867e-05 8.16973822e-02] [ 4.66601067e-03 7.13233886e-05 9.99989112e-01 -5.02520856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.340281692999994 meters 0.03225799989515756 Centerline is valid? [True, True] Translation: X:53.41, Y:0.10, Z:-0.05 [[ 9.99980986e-01 4.98419237e-03 -3.63122112e-03 5.34144376e+01] [-4.98443973e-03 9.99987576e-01 -5.90723626e-05 1.02019205e-01] [ 3.63088157e-03 7.71708422e-05 9.99993405e-01 -4.77558030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.400281693 meters 0.03907319681893093 Centerline is valid? [True, True] Translation: X:53.47, Y:0.12, Z:-0.04 [[ 9.99941043e-01 1.07066279e-02 -1.81076778e-03 5.34732882e+01] [-1.07066989e-02 9.99942681e-01 -2.95063935e-05 1.23275825e-01] [ 1.81034808e-03 4.88919993e-05 9.99998360e-01 -4.48988981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.460281693 meters 0.03592065184768705 Centerline is valid? [True, True] Translation: X:53.53, Y:0.13, Z:-0.04 [[ 9.99948120e-01 1.01434266e-02 -9.31512948e-04 5.35318686e+01] [-1.01434452e-02 9.99948554e-01 -1.52351552e-05 1.32549685e-01] [ 9.31310489e-04 2.46831153e-05 9.99999566e-01 -4.38567224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.520281692999994 meters 0.032755372387367955 Centerline is valid? [True, True] Translation: X:53.59, Y:0.13, Z:-0.04 [[ 9.99984476e-01 5.34892697e-03 -1.56078659e-03 5.35910847e+01] [-5.34897335e-03 9.99985694e-01 -2.55442473e-05 1.34751793e-01] [ 1.56062762e-03 3.38924566e-05 9.99998782e-01 -4.47012777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.580281692999996 meters 0.023934024206199517 Centerline is valid? [True, True] Translation: X:53.65, Y:0.13, Z:-0.04 [[ 9.99989178e-01 -4.64331055e-03 -2.89487181e-04 5.36502824e+01] [ 4.64330937e-03 9.99989220e-01 -4.74348766e-06 1.29400653e-01] [ 2.89506086e-04 3.39925779e-06 9.99999958e-01 -4.16232298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.640281693 meters 0.020958594330062783 Centerline is valid? [True, True] Translation: X:53.71, Y:0.13, Z:-0.05 [[ 9.99952653e-01 -9.45721727e-03 -2.29184351e-03 5.37109341e+01] [ 9.45715618e-03 9.99955279e-01 -3.74943245e-05 1.28075433e-01] [ 2.29209561e-03 1.58182272e-05 9.99997373e-01 -4.57915877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.700281692999994 meters 0.019850256670662186 Centerline is valid? [True, True] Translation: X:53.77, Y:0.13, Z:-0.05 [[ 9.99932679e-01 -1.12130271e-02 -2.98414779e-03 5.37712030e+01] [ 1.12129314e-02 9.99937132e-01 -4.88252298e-05 1.27138712e-01] [ 2.98450766e-03 1.53608985e-05 9.99995546e-01 -4.51639579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.760281692999996 meters 0.01973976679776503 Centerline is valid? [True, True] Translation: X:53.83, Y:0.13, Z:-0.04 [[ 9.99935611e-01 -1.10832459e-02 -2.43627488e-03 5.38318436e+01] [ 1.10831817e-02 9.99938579e-01 -3.98611895e-05 1.29839737e-01] [ 2.43656703e-03 1.28569457e-05 9.99997031e-01 -4.42652462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.820281693 meters 0.021160694738803026 Centerline is valid? [True, True] Translation: X:53.89, Y:0.14, Z:-0.05 [[ 9.99963217e-01 -8.00867121e-03 -3.07027458e-03 5.38926326e+01] [ 8.00855472e-03 9.99967930e-01 -5.02343960e-05 1.39852582e-01] [ 3.07057843e-03 2.56440863e-05 9.99995285e-01 -4.58507325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88028169299999 meters 0.02092099519058226 Centerline is valid? [True, True] Translation: X:53.95, Y:0.14, Z:-0.05 [[ 9.99951422e-01 -9.06963980e-03 -3.85955221e-03 5.39519244e+01] [ 9.06946343e-03 9.99958870e-01 -6.31971504e-05 1.40790002e-01] [ 3.85996664e-03 2.81900128e-05 9.99992550e-01 -4.87645466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.940281692999996 meters 0.01889884684475166 Centerline is valid? [True, True] Translation: X:54.01, Y:0.14, Z:-0.04 [[ 9.99903173e-01 -1.38888067e-02 -8.63131468e-04 5.40121085e+01] [ 1.38887996e-02 9.99903546e-01 -1.41462779e-05 1.37068993e-01] [ 8.63244690e-04 2.15704816e-06 9.99999627e-01 -4.35398851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.000281693 meters 0.019981056919082116 Centerline is valid? [True, True] Translation: X:54.07, Y:0.12, Z:-0.05 [[ 9.99766447e-01 -2.13392405e-02 -3.41873489e-03 5.40724752e+01] [ 2.13391739e-02 9.99772292e-01 -5.59720359e-05 1.20517386e-01] [ 3.41915082e-03 -1.69940149e-05 9.99994155e-01 -4.82063944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06028169299999 meters 0.021418566401218555 Centerline is valid? [True, True] Translation: X:54.13, Y:0.11, Z:-0.05 [[ 9.99688550e-01 -2.45866143e-02 -4.27791219e-03 5.41334574e+01] [ 2.45865403e-02 9.99697703e-01 -6.98942383e-05 1.14387301e-01] [ 4.27833746e-03 -3.53065910e-05 9.99990847e-01 -5.01030263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.120281692999995 meters 0.022177176248049445 Centerline is valid? [True, True] Translation: X:54.19, Y:0.10, Z:-0.05 [[ 9.99652653e-01 -2.58626155e-02 -5.06932625e-03 5.41937365e+01] [ 2.58625280e-02 9.99665505e-01 -8.28379016e-05 1.04388721e-01] [ 5.06977300e-03 -4.82964638e-05 9.99987147e-01 -5.27687474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.180281693 meters 0.019439868824935192 Centerline is valid? [True, True] Translation: X:54.25, Y:0.11, Z:-0.05 [[ 9.99811410e-01 -1.89091789e-02 -4.42578176e-03 5.42522860e+01] [ 1.89090433e-02 9.99821205e-01 -7.24835125e-05 1.10556582e-01] [ 4.42636105e-03 -1.12174559e-05 9.99990204e-01 -5.02284424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24028169299999 meters 0.02112159683422382 Centerline is valid? [True, True] Translation: X:54.31, Y:0.12, Z:-0.05 [[ 9.99956322e-01 -8.96994726e-03 -2.62551112e-03 5.43104826e+01] [ 8.96986503e-03 9.99959769e-01 -4.30925393e-05 1.20215732e-01] [ 2.62579203e-03 1.95401767e-05 9.99996552e-01 -4.73602600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.300281692999995 meters 0.023361872666058582 Centerline is valid? [True, True] Translation: X:54.37, Y:0.12, Z:-0.04 [[ 9.99984977e-01 -5.44864233e-03 5.98626835e-04 5.43713594e+01] [ 5.44863743e-03 9.99985156e-01 9.82261626e-06 1.21080560e-01] [-5.98671469e-04 -6.56076812e-06 9.99999821e-01 -4.20543278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.360281693 meters 0.021312003518514165 Centerline is valid? [True, True] Translation: X:54.43, Y:0.11, Z:-0.04 [[ 9.99973710e-01 -7.24953351e-03 1.56668468e-04 5.44332953e+01] [ 7.24953320e-03 9.99973722e-01 2.57529852e-06 1.10459976e-01] [-1.56683020e-04 -1.43945755e-06 9.99999988e-01 -4.40314060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42028169299999 meters 0.020916539119354358 Centerline is valid? [True, True] Translation: X:54.49, Y:0.11, Z:-0.04 [[ 9.99964061e-01 -8.35578128e-03 -1.43462236e-03 5.44937920e+01] [ 8.35575618e-03 9.99965090e-01 -2.34839071e-05 1.06417576e-01] [ 1.43476851e-03 1.14957084e-05 9.99998971e-01 -4.37127649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.480281692999995 meters 0.0211775802749046 Centerline is valid? [True, True] Translation: X:54.55, Y:0.10, Z:-0.04 [[ 9.99966860e-01 -8.12998103e-03 -4.26696044e-04 5.45545980e+01] [ 8.12997879e-03 9.99966951e-01 -6.98598880e-06 1.01421722e-01] [ 4.26738738e-04 3.51672750e-06 9.99999909e-01 -4.33582360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.540281693 meters 0.02189155121889448 Centerline is valid? [True, True] Translation: X:54.62, Y:0.10, Z:-0.04 [[ 9.99967557e-01 -8.03480788e-03 -5.72515174e-04 5.46154529e+01] [ 8.03480385e-03 9.99967720e-01 -9.33643595e-06 9.52478339e-02] [ 5.72571710e-04 4.73608592e-06 9.99999836e-01 -4.39387190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60028169299999 meters 0.02234379972462534 Centerline is valid? [True, True] Translation: X:54.68, Y:0.09, Z:-0.05 [[ 9.99978553e-01 -5.99011488e-03 -2.64804958e-03 5.46757657e+01] [ 5.99002136e-03 9.99982059e-01 -4.32480465e-05 8.92464261e-02] [ 2.64826113e-03 2.73852455e-05 9.99996493e-01 -4.63669692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.660281692999995 meters 0.025568029656008535 Centerline is valid? [True, True] Translation: X:54.74, Y:0.09, Z:-0.04 [[ 9.99999402e-01 -2.19181640e-04 -1.07124290e-03 5.47359051e+01] [ 2.19163009e-04 9.99999976e-01 -1.75088181e-05 8.93606904e-02] [ 1.07124672e-03 1.72740308e-05 9.99999426e-01 -4.45357595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.720281693 meters 0.043184720922658 Centerline is valid? [True, True] Translation: X:54.80, Y:0.11, Z:-0.05 [[ 9.99940943e-01 1.08245283e-02 -9.69260632e-04 5.47950942e+01] [-1.08245487e-02 9.99941413e-01 -1.58545647e-05 1.13990810e-01] [ 9.69032228e-04 2.63454373e-05 9.99999530e-01 -4.52420833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.780281693 meters 0.040401653459639336 Centerline is valid? [True, True] Translation: X:54.86, Y:0.11, Z:-0.04 [[ 9.99886502e-01 1.50257042e-02 -1.10100322e-03 5.48550137e+01] [-1.50257331e-02 9.99887107e-01 -1.80219290e-05 1.10054044e-01] [ 1.10060813e-03 3.45632641e-05 9.99999394e-01 -4.38947004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.840281692999994 meters 0.03711717668699721 Centerline is valid? [True, True] Translation: X:54.91, Y:0.10, Z:-0.05 [[ 9.99939852e-01 1.07410404e-02 -2.21848962e-03 5.49138790e+01] [-1.07411476e-02 9.99942312e-01 -3.63804340e-05 1.03436876e-01] [ 2.21797088e-03 6.02073702e-05 9.99997538e-01 -4.74513062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.900281693 meters 0.03160605573427745 Centerline is valid? [True, True] Translation: X:54.97, Y:0.10, Z:-0.04 [[ 9.99985244e-01 5.42814853e-03 -2.15077260e-04 5.49743104e+01] [-5.42814941e-03 9.99985267e-01 -3.53256015e-06 9.66735737e-02] [ 2.15054916e-04 4.69997953e-06 9.99999977e-01 -4.31555971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.960281693 meters 0.029692865671631225 Centerline is valid? [True, True] Translation: X:55.03, Y:0.09, Z:-0.05 [[ 9.99992865e-01 2.17139298e-03 -3.09115260e-03 5.50343473e+01] [-2.17156011e-03 9.99997641e-01 -5.07130169e-05 9.10976439e-02] [ 3.09103519e-03 5.74252787e-05 9.99995221e-01 -4.84037471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.020281692999994 meters 0.030912795843815625 Centerline is valid? [True, True] Translation: X:55.09, Y:0.10, Z:-0.05 [[ 9.99985337e-01 3.75278787e-03 -3.90402930e-03 5.50934256e+01] [-3.75306919e-03 9.99992955e-01 -6.47346030e-05 9.62474850e-02] [ 3.90375886e-03 7.93857459e-05 9.99992377e-01 -4.89407221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.080281692999996 meters 0.03547863142974936 Centerline is valid? [True, True] Translation: X:55.15, Y:0.11, Z:-0.04 [[ 9.99968305e-01 7.96011931e-03 -1.61583960e-04 5.51520704e+01] [-7.96011985e-03 9.99968318e-01 -2.70336341e-06 1.08291676e-01] [ 1.61557322e-04 3.98950542e-06 9.99999987e-01 -3.99389221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.140281693 meters 0.04021022150167545 Centerline is valid? [True, True] Translation: X:55.21, Y:0.12, Z:-0.04 [[ 9.99891265e-01 1.45653312e-02 2.30402359e-03 5.52125679e+01] [-1.45654581e-02 9.99893917e-01 3.82935961e-05 1.24570784e-01] [-2.30322142e-03 -7.18485913e-05 9.99997345e-01 -3.57209806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.200281692999994 meters 0.04566387303382917 Centerline is valid? [True, True] Translation: X:55.27, Y:0.14, Z:-0.03 [[ 9.99845888e-01 1.72192902e-02 3.41989969e-03 5.52719321e+01] [-1.72195854e-02 9.99851730e-01 5.68758127e-05 1.38065761e-01] [-3.41841326e-03 -1.15756302e-04 9.99994151e-01 -3.41110116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.260281692999996 meters 0.04199694475518859 Centerline is valid? [True, True] Translation: X:55.33, Y:0.14, Z:-0.04 [[ 9.99838059e-01 1.76912342e-02 3.29793508e-03 5.53319098e+01] [-1.76915114e-02 9.99843491e-01 5.48863426e-05 1.41930436e-01] [-3.29644792e-03 -1.13222910e-04 9.99994560e-01 -3.54449407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.320281693 meters 0.04157374879483637 Centerline is valid? [True, True] Translation: X:55.39, Y:0.15, Z:-0.04 [[ 9.99861568e-01 1.66386492e-02 -2.01425301e-05 5.53924680e+01] [-1.66386492e-02 9.99861568e-01 -3.35249919e-07 1.48125327e-01] [ 2.01341636e-05 6.70348002e-07 1.00000000e+00 -4.06730440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38028169299999 meters 0.04325245710531238 Centerline is valid? [True, True] Translation: X:55.45, Y:0.16, Z:-0.04 [[ 9.99853822e-01 1.70623943e-02 -1.09938864e-03 5.54504871e+01] [-1.70624248e-02 9.99854426e-01 -1.83656761e-05 1.59181224e-01] [ 1.09891524e-03 3.71212275e-05 9.99999396e-01 -4.30441457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.440281692999996 meters 0.04226141772741923 Centerline is valid? [True, True] Translation: X:55.51, Y:0.16, Z:-0.04 [[ 9.99870102e-01 1.61015958e-02 -7.19829017e-04 5.55102053e+01] [-1.61016087e-02 9.99870361e-01 -1.20391396e-05 1.63818006e-01] [ 7.19541849e-04 2.36279809e-05 9.99999741e-01 -4.17419870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.500281693 meters 0.0351656432055092 Centerline is valid? [True, True] Translation: X:55.57, Y:0.16, Z:-0.04 [[ 9.99951022e-01 9.80934970e-03 -1.31503022e-03 5.55710175e+01] [-9.80938709e-03 9.99951887e-01 -2.19825749e-05 1.61422536e-01] [ 1.31475131e-03 3.48811387e-05 9.99999135e-01 -4.41668812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56028169299999 meters 0.029737780160834996 Centerline is valid? [True, True] Translation: X:55.63, Y:0.16, Z:-0.04 [[ 9.99992424e-01 3.85769006e-03 -5.20490331e-04 5.56315785e+01] [-3.85769512e-03 9.99992559e-01 -8.71062296e-06 1.56620495e-01] [ 5.20452855e-04 1.07184500e-05 9.99999865e-01 -4.31991857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.620281692999995 meters 0.020856272857750824 Centerline is valid? [True, True] Translation: X:55.69, Y:0.14, Z:-0.04 [[ 9.99970504e-01 -7.48575106e-03 1.71887200e-03 5.56915284e+01] [ 7.48571268e-03 9.99971981e-01 2.87632232e-05 1.40163968e-01] [-1.71903916e-03 -1.58953929e-05 9.99998522e-01 -3.85214239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.680281693 meters 0.018707449684819313 Centerline is valid? [True, True] Translation: X:55.75, Y:0.14, Z:-0.04 [[ 9.99947653e-01 -1.00406261e-02 1.96900901e-03 5.57538775e+01] [ 1.00405809e-02 9.99949592e-01 3.28727603e-05 1.35170554e-01] [-1.96923982e-03 -1.31010453e-05 9.99998061e-01 -3.81714100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74028169299999 meters 0.0182623808342261 Centerline is valid? [True, True] Translation: X:55.81, Y:0.13, Z:-0.04 [[ 9.99927642e-01 -1.20109346e-02 6.69454668e-04 5.58147376e+01] [ 1.20109298e-02 9.99927866e-01 1.11591386e-05 1.33902325e-01] [-6.69540409e-04 -3.11755808e-06 9.99999776e-01 -4.11188265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.800281692999995 meters 0.01909314558256914 Centerline is valid? [True, True] Translation: X:55.88, Y:0.14, Z:-0.04 [[ 9.99940088e-01 -1.08518375e-02 -1.43484613e-03 5.58750885e+01] [ 1.08518145e-02 9.99941117e-01 -2.38237293e-05 1.35820506e-01] [ 1.43502018e-03 8.25161790e-06 9.99998970e-01 -4.43846075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.860281693 meters 0.019175561739867023 Centerline is valid? [True, True] Translation: X:55.94, Y:0.14, Z:-0.04 [[ 9.99945640e-01 -1.04210433e-02 -3.44873153e-04 5.59360151e+01] [ 1.04210419e-02 9.99945699e-01 -5.72928538e-06 1.36752689e-01] [ 3.44914131e-04 2.13503636e-06 9.99999941e-01 -4.33176382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92028169299999 meters 0.018832755898228824 Centerline is valid? [True, True] Translation: X:56.00, Y:0.14, Z:-0.04 [[ 9.99939373e-01 -1.04300780e-02 3.53032184e-03 5.59978737e+01] [ 1.04299362e-02 9.99945605e-01 5.85753757e-05 1.35215883e-01] [-3.53074075e-03 -2.17507928e-05 9.99993767e-01 -3.59266976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.980281692999995 meters 0.021140116319639416 Centerline is valid? [True, True] Translation: X:56.06, Y:0.15, Z:-0.04 [[ 9.99977935e-01 -6.64015356e-03 1.94693511e-04 5.60588889e+01] [ 6.64015306e-03 9.99977954e-01 3.23507486e-06 1.45324060e-01] [-1.94710700e-04 -1.94220876e-06 9.99999981e-01 -4.13645973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.040281693 meters 0.025036261199367638 Centerline is valid? [True, True] Translation: X:56.12, Y:0.16, Z:-0.04 [[ 9.99998981e-01 -1.35238744e-03 -4.57333858e-04 5.61191609e+01] [ 1.35238412e-03 9.99999086e-01 -7.57150026e-06 1.56426519e-01] [ 4.57343680e-04 6.95300150e-06 9.99999895e-01 -4.22907572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10028169299999 meters 0.03576652464299256 Centerline is valid? [True, True] Translation: X:56.18, Y:0.18, Z:-0.05 [[ 9.99946384e-01 9.82855809e-03 -3.26010757e-03 5.61794183e+01] [-9.82878625e-03 9.99951695e-01 -5.39708865e-05 1.83191618e-01] [ 3.25941963e-03 8.60108932e-05 9.99994684e-01 -4.63877111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.160281692999995 meters 0.039269763659409526 Centerline is valid? [True, True] Translation: X:56.24, Y:0.19, Z:-0.04 [[ 9.99933760e-01 1.14744665e-02 -9.01237429e-04 5.62380992e+01] [-1.14744846e-02 9.99934166e-01 -1.49632052e-05 1.92561691e-01] [ 9.01006402e-04 2.53034490e-05 9.99999594e-01 -4.23057330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.220281693 meters 0.03548718466058456 Centerline is valid? [True, True] Translation: X:56.30, Y:0.19, Z:-0.04 [[ 9.99965830e-01 8.07397110e-03 1.77472883e-03 5.62976734e+01] [-8.07403612e-03 9.99967404e-01 2.94743189e-05 1.93557674e-01] [-1.77443301e-03 -4.38025365e-05 9.99998425e-01 -3.77168957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.280281693 meters 0.02988163547438792 Centerline is valid? [True, True] Translation: X:56.36, Y:0.19, Z:-0.04 [[ 9.99989406e-01 4.60310263e-03 7.58355707e-06 5.63578883e+01] [-4.60310263e-03 9.99989406e-01 1.22003194e-07 1.88231656e-01] [-7.58291514e-06 -1.56909793e-07 1.00000000e+00 -4.14560716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.340281692999994 meters 0.02649947986889083 Centerline is valid? [True, True] Translation: X:56.42, Y:0.19, Z:-0.05 [[ 9.99997549e-01 5.86808582e-04 -2.13509594e-03 5.64182355e+01] [-5.86885764e-04 9.99999827e-01 -3.55226756e-05 1.85001590e-01] [ 2.13507473e-03 3.67756459e-05 9.99997720e-01 -4.56236312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.400281693 meters 0.02338216626036891 Centerline is valid? [True, True] Translation: X:56.48, Y:0.18, Z:-0.05 [[ 9.99991126e-01 -3.88538807e-03 -1.62850544e-03 5.64767856e+01] [ 3.88534899e-03 9.99992452e-01 -2.71596428e-05 1.79707395e-01] [ 1.62859867e-03 2.08320898e-05 9.99998674e-01 -4.55142858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.460281693 meters 0.018255053093504132 Centerline is valid? [True, True] Translation: X:56.54, Y:0.17, Z:-0.04 [[ 9.99934362e-01 -1.14301182e-02 7.89385196e-04 5.65376438e+01] [ 1.14301114e-02 9.99934674e-01 1.31592828e-05 1.68328346e-01] [-7.89484041e-04 -4.13565835e-06 9.99999688e-01 -4.06483934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.520281692999994 meters 0.017470231160643307 Centerline is valid? [True, True] Translation: X:56.60, Y:0.16, Z:-0.05 [[ 9.99847028e-01 -1.74053429e-02 -1.72498208e-03 5.65987582e+01] [ 1.74053193e-02 9.99848516e-01 -2.87084176e-05 1.57491536e-01] [ 1.72522045e-03 -1.31983783e-06 9.99998512e-01 -4.58828949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.580281692999996 meters 0.018189458067454575 Centerline is valid? [True, True] Translation: X:56.66, Y:0.15, Z:-0.05 [[ 9.99764790e-01 -2.16125909e-02 -1.80579767e-03 5.66604133e+01] [ 2.16125720e-02 9.99766421e-01 -3.00118511e-05 1.50743668e-01] [ 1.80602451e-03 -9.02314013e-06 9.99998369e-01 -4.52698549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.640281693 meters 0.019515722250775518 Centerline is valid? [True, True] Translation: X:56.72, Y:0.14, Z:-0.05 [[ 9.99706288e-01 -2.41391066e-02 -2.15455863e-03 5.67213905e+01] [ 2.41390856e-02 9.99708609e-01 -3.57340422e-05 1.40041213e-01] [ 2.15479340e-03 -1.62855286e-05 9.99997678e-01 -4.60743938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.700281692999994 meters 0.01996034598453958 Centerline is valid? [True, True] Translation: X:56.78, Y:0.14, Z:-0.05 [[ 9.99702962e-01 -2.41841731e-02 -3.01885221e-03 5.67813174e+01] [ 2.41841321e-02 9.99707520e-01 -5.00777482e-05 1.37306253e-01] [ 3.01918035e-03 -2.29454475e-05 9.99995442e-01 -4.79133775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.760281692999996 meters 0.02027324741549153 Centerline is valid? [True, True] Translation: X:56.84, Y:0.13, Z:-0.05 [[ 9.99695878e-01 -2.43216704e-02 -4.07530110e-03 5.68412533e+01] [ 2.43215965e-02 9.99704184e-01 -6.77010039e-05 1.32184077e-01] [ 4.07574216e-03 -3.14374145e-05 9.99991694e-01 -4.97046370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.820281693 meters 0.01878388273648599 Centerline is valid? [True, True] Translation: X:56.90, Y:0.13, Z:-0.05 [[ 9.99756142e-01 -2.18087184e-02 -3.46943604e-03 5.69008292e+01] [ 2.18086494e-02 9.99762161e-01 -5.77142219e-05 1.33248617e-01] [ 3.46986955e-03 -1.79635665e-05 9.99993980e-01 -4.63522378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88028169299999 meters 0.017593812086741767 Centerline is valid? [True, True] Translation: X:56.96, Y:0.14, Z:-0.04 [[ 9.99886395e-01 -1.50356859e-02 -1.06123938e-03 5.69606899e+01] [ 1.50356756e-02 9.99886958e-01 -1.76828173e-05 1.42076657e-01] [ 1.06138528e-03 1.72435737e-06 9.99999437e-01 -4.34718412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.940281692999996 meters 0.019176947467412706 Centerline is valid? [True, True] Translation: X:57.02, Y:0.16, Z:-0.04 [[ 9.99951072e-01 -9.84805572e-03 9.32921862e-04 5.70205899e+01] [ 9.84804553e-03 9.99951507e-01 1.55185073e-05 1.56614895e-01] [-9.33029449e-04 -6.33029101e-06 9.99999565e-01 -3.78480117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.000281693 meters 0.020445512070043033 Centerline is valid? [True, True] Translation: X:57.08, Y:0.16, Z:-0.04 [[ 9.99972123e-01 -7.46559063e-03 -1.34520633e-04 5.70813015e+01] [ 7.46559040e-03 9.99972132e-01 -2.23056949e-06 1.64584347e-01] [ 1.34533537e-04 1.22623137e-06 9.99999991e-01 -3.95804879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06028169299999 meters 0.021068626978219113 Centerline is valid? [True, True] Translation: X:57.14, Y:0.17, Z:-0.04 [[ 9.99981335e-01 -6.10691331e-03 -1.85469752e-04 5.71421586e+01] [ 6.10691285e-03 9.99981353e-01 -3.06844182e-06 1.71230675e-01] [ 1.85485032e-04 1.93573694e-06 9.99999983e-01 -3.88055338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.120281692999995 meters 0.019250516015627966 Centerline is valid? [True, True] Translation: X:57.20, Y:0.17, Z:-0.03 [[ 9.99959515e-01 -8.72878911e-03 2.18561315e-03 5.72027063e+01] [ 8.72873077e-03 9.99961903e-01 3.62325300e-05 1.74193768e-01] [-2.18584615e-03 -1.71534343e-05 9.99997611e-01 -3.48545248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.180281693 meters 0.017717798285466147 Centerline is valid? [True, True] Translation: X:57.26, Y:0.17, Z:-0.04 [[ 9.99908685e-01 -1.34135363e-02 -1.64291597e-03 5.72648077e+01] [ 1.34135098e-02 9.99910034e-01 -2.71416189e-05 1.71417368e-01] [ 1.64313223e-03 5.10187097e-06 9.99998650e-01 -4.28431734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24028169299999 meters 0.01840333314624249 Centerline is valid? [True, True] Translation: X:57.32, Y:0.16, Z:-0.05 [[ 9.99774194e-01 -2.07264156e-02 -4.68803709e-03 5.73248967e+01] [ 2.07262803e-02 9.99785185e-01 -7.74363120e-05 1.64113644e-01] [ 4.68863500e-03 -1.97467445e-05 9.99989008e-01 -4.81668550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.300281692999995 meters 0.023361807026720784 Centerline is valid? [True, True] Translation: X:57.39, Y:0.15, Z:-0.05 [[ 9.99559841e-01 -2.94366128e-02 -3.68909784e-03 5.73851144e+01] [ 2.94365880e-02 9.99566648e-01 -6.10294016e-05 1.48849789e-01] [ 3.68929566e-03 -4.75919142e-05 9.99993193e-01 -4.66443276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.360281693 meters 0.03422638615806246 Centerline is valid? [True, True] Translation: X:57.45, Y:0.12, Z:-0.05 [[ 9.99113039e-01 -4.18816760e-02 -4.36577622e-03 5.74455774e+01] [ 4.18817599e-02 9.99122572e-01 -7.22413366e-05 1.22552520e-01] [ 4.36497115e-03 -1.10669130e-04 9.99990467e-01 -4.83971005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42028169299999 meters 0.03774477151573699 Centerline is valid? [True, True] Translation: X:57.51, Y:0.11, Z:-0.04 [[ 9.98971416e-01 -4.53000948e-02 -2.00279821e-03 5.75050542e+01] [ 4.53001191e-02 9.98973422e-01 -3.32188859e-05 1.07718206e-01] [ 2.00224700e-03 -5.75422801e-05 9.99997994e-01 -4.37416280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.480281692999995 meters 0.03519262378687997 Centerline is valid? [True, True] Translation: X:57.56, Y:0.10, Z:-0.04 [[ 9.99082862e-01 -4.28163013e-02 -4.45213246e-04 5.75638029e+01] [ 4.28163022e-02 9.99082962e-01 -7.41701022e-06 1.01618465e-01] [ 4.45122538e-04 -1.16521771e-05 9.99999901e-01 -4.02960086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.540281693 meters 0.03110697813524077 Centerline is valid? [True, True] Translation: X:57.62, Y:0.10, Z:-0.04 [[ 9.99239134e-01 -3.89971887e-02 -6.10432932e-04 5.76241621e+01] [ 3.89971897e-02 9.99239320e-01 -1.01591916e-05 1.03780503e-01] [ 6.10364768e-04 -1.36537071e-05 9.99999814e-01 -4.01000927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60028169299999 meters 0.027340804407645202 Centerline is valid? [True, True] Translation: X:57.68, Y:0.11, Z:-0.04 [[ 9.99361416e-01 -3.57195250e-02 -9.35416663e-04 5.76840509e+01] [ 3.57195261e-02 9.99361854e-01 -1.55914966e-05 1.06394557e-01] [ 9.35376652e-04 -1.78310998e-05 9.99999562e-01 -4.04174937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.660281692999995 meters 0.025827753099783936 Centerline is valid? [True, True] Translation: X:57.74, Y:0.11, Z:-0.04 [[ 9.99478781e-01 -3.22475142e-02 -1.50440249e-03 5.77437126e+01] [ 3.22475130e-02 9.99479913e-01 -2.50837006e-05 1.08363166e-01] [ 1.50442896e-03 -2.34426124e-05 9.99998868e-01 -4.12472902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.720281693 meters 0.020409336744021657 Centerline is valid? [True, True] Translation: X:57.80, Y:0.12, Z:-0.04 [[ 9.99655018e-01 -2.61388557e-02 -2.57010682e-03 5.78034629e+01] [ 2.61388317e-02 9.99658321e-01 -4.29542073e-05 1.21280599e-01] [ 2.57035144e-03 -2.42402007e-05 9.99996696e-01 -4.28605833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.780281693 meters 0.01856755613278715 Centerline is valid? [True, True] Translation: X:57.86, Y:0.13, Z:-0.04 [[ 9.99768783e-01 -2.14121398e-02 -1.97496413e-03 5.78630738e+01] [ 2.14121164e-02 9.99770734e-01 -3.30245347e-05 1.29861102e-01] [ 1.97521846e-03 -9.27126287e-06 9.99998049e-01 -4.34965514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.840281692999994 meters 0.017509450324992158 Centerline is valid? [True, True] Translation: X:57.92, Y:0.14, Z:-0.04 [[ 9.99854454e-01 -1.69784676e-02 -1.67392695e-03 5.79225939e+01] [ 1.69784444e-02 9.99855855e-01 -2.80338618e-05 1.39978074e-01] [ 1.67416164e-03 -3.90894168e-07 9.99998599e-01 -4.26228548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.900281693 meters 0.01799471074015392 Centerline is valid? [True, True] Translation: X:57.98, Y:0.14, Z:-0.05 [[ 9.99799337e-01 -1.97323206e-02 -3.45270119e-03 5.79827587e+01] [ 1.97322391e-02 9.99805299e-01 -5.76699392e-05 1.36072204e-01] [ 3.45316691e-03 -1.04711585e-05 9.99994038e-01 -4.66205714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.960281693 meters 0.019042962953158285 Centerline is valid? [True, True] Translation: X:58.04, Y:0.13, Z:-0.04 [[ 9.99738849e-01 -2.25902283e-02 -3.45177071e-03 5.80411011e+01] [ 2.25901634e-02 9.99744808e-01 -5.77956760e-05 1.28741863e-01] [ 3.45219546e-03 -2.01954816e-05 9.99994041e-01 -4.44335932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.020281693 meters 0.01787062131061335 Centerline is valid? [True, True] Translation: X:58.10, Y:0.14, Z:-0.04 [[ 9.99810382e-01 -1.93428975e-02 -2.24772709e-03 5.81002718e+01] [ 1.93428616e-02 9.99812909e-01 -3.76886836e-05 1.37703321e-01] [ 2.24803556e-03 -5.79593677e-06 9.99997473e-01 -4.21406025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.080281693 meters 0.018078809190584758 Centerline is valid? [True, True] Translation: X:58.16, Y:0.15, Z:-0.05 [[ 9.99885669e-01 -1.42111182e-02 -5.16644890e-03 5.81594672e+01] [ 1.42108601e-02 9.99899017e-01 -8.66734089e-05 1.50361923e-01] [ 5.16715890e-03 1.32438170e-05 9.99986650e-01 -4.72515136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.140281693 meters 0.01776193350948569 Centerline is valid? [True, True] Translation: X:58.22, Y:0.15, Z:-0.05 [[ 9.99887245e-01 -1.45100631e-02 -3.86721361e-03 5.82184626e+01] [ 1.45099201e-02 9.99894723e-01 -6.50199104e-05 1.54120066e-01] [ 3.86774993e-03 8.89961845e-06 9.99992520e-01 -4.50576159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20028169300001 meters 0.017651800225480088 Centerline is valid? [True, True] Translation: X:58.28, Y:0.15, Z:-0.04 [[ 9.99806063e-01 -1.95421761e-02 -2.43699251e-03 5.82779686e+01] [ 1.95421341e-02 9.99809033e-01 -4.10292580e-05 1.50111101e-01] [ 2.43732892e-03 -6.60273346e-06 9.99997030e-01 -4.17625307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.260281693 meters 0.019506504157086265 Centerline is valid? [True, True] Translation: X:58.34, Y:0.15, Z:-0.04 [[ 9.99690854e-01 -2.48171641e-02 -1.51798959e-03 5.83381488e+01] [ 2.48171539e-02 9.99692007e-01 -2.55520058e-05 1.48950115e-01] [ 1.51815619e-03 -1.21280749e-05 9.99998848e-01 -3.92457998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.320281693 meters 0.021394839738377983 Centerline is valid? [True, True] Translation: X:58.40, Y:0.15, Z:-0.04 [[ 9.99633635e-01 -2.69736558e-02 -2.24021414e-03 5.83973253e+01] [ 2.69736390e-02 9.99636144e-01 -3.77389581e-05 1.47538672e-01] [ 2.24041699e-03 -2.27015957e-05 9.99997490e-01 -4.16056887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.380281693 meters 0.021883023241411403 Centerline is valid? [True, True] Translation: X:58.46, Y:0.15, Z:-0.04 [[ 9.99590524e-01 -2.84417946e-02 -3.13821289e-03 5.84576798e+01] [ 2.84417688e-02 9.99595450e-01 -5.28611741e-05 1.48103141e-01] [ 3.13844679e-03 -3.64167967e-05 9.99995074e-01 -4.29613993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.440281693 meters 0.02251703404456403 Centerline is valid? [True, True] Translation: X:58.52, Y:0.15, Z:-0.04 [[ 9.99553686e-01 -2.97506025e-02 -2.70749319e-03 5.85177010e+01] [ 2.97505879e-02 9.99557352e-01 -4.56770289e-05 1.45603501e-01] [ 2.70765364e-03 -3.48928716e-05 9.99996334e-01 -4.17432414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.500281693 meters 0.0221739382867906 Centerline is valid? [True, True] Translation: X:58.58, Y:0.15, Z:-0.04 [[ 9.99555544e-01 -2.96581562e-02 -3.01805381e-03 5.85777462e+01] [ 2.96581374e-02 9.99560099e-01 -5.09873496e-05 1.45777089e-01] [ 3.01823836e-03 -3.85451668e-05 9.99995444e-01 -4.19107581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56028169300001 meters 0.02026611125418441 Centerline is valid? [True, True] Translation: X:58.64, Y:0.15, Z:-0.04 [[ 9.99662836e-01 -2.57500579e-02 -3.33890684e-03 5.86374751e+01] [ 2.57500130e-02 9.99668412e-01 -5.64422909e-05 1.47480531e-01] [ 3.33925309e-03 -2.95536340e-05 9.99994424e-01 -4.23632231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62028169300001 meters 0.019968394081385163 Centerline is valid? [True, True] Translation: X:58.70, Y:0.14, Z:-0.04 [[ 9.99654990e-01 -2.60754998e-02 -3.15727964e-03 5.86970665e+01] [ 2.60754610e-02 9.99659976e-01 -5.34508829e-05 1.44115772e-01] [ 3.15759984e-03 -2.88950804e-05 9.99995014e-01 -4.20982059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.680281693 meters 0.019465696292390103 Centerline is valid? [True, True] Translation: X:58.76, Y:0.14, Z:-0.04 [[ 9.99700423e-01 -2.42921398e-02 -2.99258525e-03 5.87561496e+01] [ 2.42920967e-02 9.99704902e-01 -5.07714074e-05 1.39548790e-01] [ 2.99293549e-03 -2.19399728e-05 9.99995521e-01 -4.24095929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.740281693 meters 0.019210841995404546 Centerline is valid? [True, True] Translation: X:58.82, Y:0.14, Z:-0.04 [[ 9.99709911e-01 -2.39745099e-02 -2.30570890e-03 5.88157589e+01] [ 2.39744833e-02 9.99712570e-01 -3.91689627e-05 1.38352362e-01] [ 2.30598522e-03 -1.61205792e-05 9.99997341e-01 -4.05906038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.800281693 meters 0.021931613842223398 Centerline is valid? [True, True] Translation: X:58.88, Y:0.13, Z:-0.04 [[ 9.99576741e-01 -2.90218380e-02 -2.01761985e-03 5.88759110e+01] [ 2.90218279e-02 9.99578777e-01 -3.43238208e-05 1.27018916e-01] [ 2.01776612e-03 -2.42457230e-05 9.99997964e-01 -4.23306259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.860281693 meters 0.024818862900396536 Centerline is valid? [True, True] Translation: X:58.94, Y:0.12, Z:-0.04 [[ 9.99457308e-01 -3.27859519e-02 -3.18922569e-03 5.89359971e+01] [ 3.27859454e-02 9.99462395e-01 -5.43249555e-05 1.18149544e-01] [ 3.18929224e-03 -5.02663055e-05 9.99994913e-01 -4.37425972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.920281693 meters 0.022702874135789017 Centerline is valid? [True, True] Translation: X:58.99, Y:0.12, Z:-0.04 [[ 9.99535649e-01 -3.04213381e-02 -1.74038347e-03 5.89945155e+01] [ 3.04213320e-02 9.99537164e-01 -2.99817643e-05 1.21633801e-01] [ 1.74049005e-03 -2.29769412e-05 9.99998485e-01 -3.99979215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98028169300001 meters 0.019487419614307337 Centerline is valid? [True, True] Translation: X:59.05, Y:0.13, Z:-0.04 [[ 9.99701190e-01 -2.42660467e-02 -2.94780669e-03 5.90529376e+01] [ 2.42660024e-02 9.99705536e-01 -5.08010701e-05 1.30154515e-01] [ 2.94817140e-03 -2.07455937e-05 9.99995654e-01 -4.32807418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.040281693 meters 0.018007441963468967 Centerline is valid? [True, True] Translation: X:59.11, Y:0.14, Z:-0.04 [[ 9.99786905e-01 -2.03322728e-02 -3.56979922e-03 5.91126146e+01] [ 2.03321825e-02 9.99793278e-01 -6.15948454e-05 1.40205404e-01] [ 3.57031362e-03 -1.10000891e-05 9.99993626e-01 -4.40976495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.100281693 meters 0.019693778423605604 Centerline is valid? [True, True] Translation: X:59.17, Y:0.14, Z:-0.04 [[ 9.99670329e-01 -2.56059777e-02 -1.88862963e-03 5.91727547e+01] [ 2.56059618e-02 9.99672113e-01 -3.26359665e-05 1.36041744e-01] [ 1.88884605e-03 -1.57349707e-05 9.99998216e-01 -4.18050707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.160281693 meters 0.02353246364466515 Centerline is valid? [True, True] Translation: X:59.23, Y:0.13, Z:-0.05 [[ 9.99553281e-01 -2.96103364e-02 -4.05780088e-03 5.92325266e+01] [ 2.96102956e-02 9.99561517e-01 -7.01536979e-05 1.28566607e-01] [ 4.05809888e-03 -5.00303246e-05 9.99991765e-01 -4.59187663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.220281693 meters 0.023127255817036584 Centerline is valid? [True, True] Translation: X:59.29, Y:0.13, Z:-0.04 [[ 9.99513640e-01 -3.09781867e-02 -3.58260753e-03 5.92911559e+01] [ 3.09781613e-02 9.99520060e-01 -6.25834462e-05 1.30560262e-01] [ 3.58282682e-03 -4.84295860e-05 9.99993580e-01 -4.41469928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.280281693 meters 0.022358026374710387 Centerline is valid? [True, True] Translation: X:59.35, Y:0.13, Z:-0.04 [[ 9.99556684e-01 -2.97581981e-02 -9.40826807e-04 5.93491864e+01] [ 2.97581958e-02 9.99557127e-01 -1.64950091e-05 1.32802473e-01] [ 9.40901002e-04 -1.15096118e-05 9.99999557e-01 -3.97319379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34028169300001 meters 0.021056971236772398 Centerline is valid? [True, True] Translation: X:59.41, Y:0.14, Z:-0.04 [[ 9.99631151e-01 -2.69474941e-02 -3.37551668e-03 5.94089951e+01] [ 2.69474480e-02 9.99636850e-01 -5.91511611e-05 1.35866552e-01] [ 3.37588484e-03 -3.18322169e-05 9.99994301e-01 -4.41527344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.400281693 meters 0.017472890305796913 Centerline is valid? [True, True] Translation: X:59.47, Y:0.15, Z:-0.04 [[ 9.99828486e-01 -1.83751373e-02 -2.31365578e-03 5.94680996e+01] [ 1.83750925e-02 9.99831163e-01 -4.06004024e-05 1.52617542e-01] [ 2.31401119e-03 -1.92020019e-06 9.99997323e-01 -4.11727295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.460281693 meters 0.017772931413415915 Centerline is valid? [True, True] Translation: X:59.53, Y:0.16, Z:-0.04 [[ 9.99893075e-01 -1.45399441e-02 -1.55833495e-03 5.95281046e+01] [ 1.45399191e-02 9.99894289e-01 -2.73842755e-05 1.60586764e-01] [ 1.55856838e-03 4.72328344e-06 9.99998785e-01 -3.89006983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.520281693 meters 0.022634858976166763 Centerline is valid? [True, True] Translation: X:59.59, Y:0.18, Z:-0.04 [[ 9.99981948e-01 -5.83236070e-03 -1.44501262e-03 5.95873651e+01] [ 5.83233008e-03 9.99982991e-01 -2.54058680e-05 1.78179487e-01] [ 1.44513622e-03 1.69776188e-05 9.99998956e-01 -3.70985019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.580281693 meters 0.025644380699043196 Centerline is valid? [True, True] Translation: X:59.65, Y:0.19, Z:-0.04 [[ 9.99996886e-01 -2.48591801e-03 -2.18918018e-04 5.96469911e+01] [ 2.48591723e-03 9.99996910e-01 -3.81663827e-06 1.88920561e-01] [ 2.18926829e-04 3.27241431e-06 9.99999976e-01 -3.60176378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.640281693 meters 0.023967449001989886 Centerline is valid? [True, True] Translation: X:59.71, Y:0.19, Z:-0.04 [[ 9.99993191e-01 -3.49779861e-03 -1.17601536e-03 5.97077489e+01] [ 3.49777679e-03 9.99993883e-01 -2.06071106e-05 1.90719878e-01] [ 1.17608025e-03 1.64935311e-05 9.99999308e-01 -3.76747399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70028169300001 meters 0.02333684107672208 Centerline is valid? [True, True] Translation: X:59.77, Y:0.20, Z:-0.04 [[ 9.99987525e-01 -4.45243004e-03 -2.26404616e-03 5.97680611e+01] [ 4.45235163e-03 9.99990087e-01 -3.96724832e-05 1.95113297e-01] [ 2.26420035e-03 2.95916587e-05 9.99997436e-01 -3.97376196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.760281693 meters 0.02663819364908746 Centerline is valid? [True, True] Translation: X:59.83, Y:0.21, Z:-0.04 [[ 9.99991674e-01 -2.50765725e-03 -3.21920111e-03 5.98277496e+01] [ 2.50748859e-03 9.99996855e-01 -5.64263633e-05 2.05509997e-01] [ 3.21933248e-03 4.83537834e-05 9.99994817e-01 -4.19724709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.820281693 meters 0.03314097070136239 Centerline is valid? [True, True] Translation: X:59.89, Y:0.22, Z:-0.04 [[ 9.99989868e-01 3.32203565e-03 -3.03782795e-03 5.98879488e+01] [-3.32221272e-03 9.99994480e-01 -5.32457004e-05 2.22510068e-01] [ 3.03763430e-03 6.33374716e-05 9.99995384e-01 -4.14426622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.880281693 meters 0.03752446052171671 Centerline is valid? [True, True] Translation: X:59.95, Y:0.24, Z:-0.04 [[ 9.99959364e-01 8.98384974e-03 -7.49320950e-04 5.99480405e+01] [-8.98386211e-03 9.99959644e-01 -1.31504287e-05 2.39735162e-01] [ 7.49172569e-04 1.98816904e-05 9.99999719e-01 -3.74845021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.940281693 meters 0.04023652577424248 Centerline is valid? [True, True] Translation: X:60.01, Y:0.25, Z:-0.04 [[ 9.99957844e-01 9.15115415e-03 -7.52718802e-04 6.00065246e+01] [-9.15116671e-03 9.99958127e-01 -1.32417185e-05 2.50261004e-01] [ 7.52566107e-04 2.01294155e-05 9.99999717e-01 -3.71875709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.000281693 meters 0.0316277152864304 Centerline is valid? [True, True] Translation: X:60.07, Y:0.24, Z:-0.04 [[ 9.99991131e-01 3.96289902e-03 -1.42573252e-03 6.00668534e+01] [-3.96293880e-03 9.99992147e-01 -2.50795258e-05 2.40982233e-01] [ 1.42562193e-03 3.07293941e-05 9.99998983e-01 -4.00583969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06028169300001 meters 0.028789254924932294 Centerline is valid? [True, True] Translation: X:60.13, Y:0.24, Z:-0.04 [[ 9.99997125e-01 9.84460356e-04 -2.18635553e-03 6.01267031e+01] [-9.84546907e-04 9.99999515e-01 -3.85107777e-05 2.41015460e-01] [ 2.18631655e-03 4.06632365e-05 9.99997609e-01 -4.15252314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12028169300001 meters 0.025207890534110586 Centerline is valid? [True, True] Translation: X:60.19, Y:0.24, Z:-0.04 [[ 9.99987591e-01 -3.80813299e-03 -3.21170982e-03 6.01859453e+01] [ 3.80797072e-03 9.99992748e-01 -5.66398961e-05 2.40554121e-01] [ 3.21190222e-03 4.44090964e-05 9.99994841e-01 -4.04535640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.180281693 meters 0.023243827809781185 Centerline is valid? [True, True] Translation: X:60.25, Y:0.24, Z:-0.04 [[ 9.99979673e-01 -5.71418341e-03 -2.82882335e-03 6.02457180e+01] [ 5.71406496e-03 9.99983673e-01 -4.99507919e-05 2.41117431e-01] [ 2.82906259e-03 3.37856962e-05 9.99995998e-01 -4.01265374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.240281693 meters 0.020325905863833274 Centerline is valid? [True, True] Translation: X:60.31, Y:0.24, Z:-0.04 [[ 9.99953781e-01 -9.32103010e-03 -2.35693794e-03 6.03058601e+01] [ 9.32095784e-03 9.99956558e-01 -4.16420328e-05 2.36914731e-01] [ 2.35722369e-03 1.96711890e-05 9.99997222e-01 -3.98505850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.300281693 meters 0.018760615774058235 Centerline is valid? [True, True] Translation: X:60.37, Y:0.23, Z:-0.04 [[ 9.99927558e-01 -1.19992333e-02 -9.47109447e-04 6.03651815e+01] [ 1.19992229e-02 9.99928007e-01 -1.67235656e-05 2.34934976e-01] [ 9.47241931e-04 5.35777675e-06 9.99999551e-01 -3.65471380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.360281693 meters 0.01778403101093377 Centerline is valid? [True, True] Translation: X:60.43, Y:0.23, Z:-0.04 [[ 9.99893538e-01 -1.44476154e-02 -2.04440331e-03 6.04266886e+01] [ 1.44475718e-02 9.99895628e-01 -3.60525212e-05 2.28714467e-01] [ 2.04471081e-03 6.51201925e-06 9.99997910e-01 -3.94673245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.420281693 meters 0.018425691437446753 Centerline is valid? [True, True] Translation: X:60.49, Y:0.23, Z:-0.04 [[ 9.99908534e-01 -1.29153221e-02 -4.01462966e-03 6.04871060e+01] [ 1.29151418e-02 9.99916594e-01 -7.08115032e-05 2.29267768e-01] [ 4.01520937e-03 1.89555148e-05 9.99991939e-01 -4.07633093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48028169300001 meters 0.01977933994733354 Centerline is valid? [True, True] Translation: X:60.55, Y:0.24, Z:-0.04 [[ 9.99956352e-01 -9.27708087e-03 -1.10886434e-03 6.05469493e+01] [ 9.27706486e-03 9.99956967e-01 -1.95755749e-05 2.35572020e-01] [ 1.10899822e-03 9.28771409e-06 9.99999385e-01 -3.56654062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.540281693 meters 0.021640991841865888 Centerline is valid? [True, True] Translation: X:60.61, Y:0.24, Z:-0.03 [[ 9.99981336e-01 -6.10954621e-03 3.64536525e-05 6.06085768e+01] [ 6.10954619e-03 9.99981337e-01 6.50578351e-07 2.42626422e-01] [-3.64569468e-05 -4.27850934e-07 9.99999999e-01 -3.40671705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.600281693 meters 0.025733551560804015 Centerline is valid? [True, True] Translation: X:60.67, Y:0.26, Z:-0.03 [[ 9.99999401e-01 -1.06646383e-03 2.46946589e-04 6.06688014e+01] [ 1.06646279e-03 9.99999431e-01 4.35289518e-06 2.55225982e-01] [-2.46951091e-04 -4.08953322e-06 9.99999969e-01 -3.39497213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.660281693 meters 0.031621344880358226 Centerline is valid? [True, True] Translation: X:60.73, Y:0.27, Z:-0.04 [[ 9.99994906e-01 3.24965861e-04 -3.17537898e-03 6.07292989e+01] [-3.25144850e-04 9.99999946e-01 -5.58517018e-05 2.67414508e-01] [ 3.17536065e-03 5.68838754e-05 9.99994957e-01 -4.18706345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.720281693 meters 0.025960589365150152 Centerline is valid? [True, True] Translation: X:60.79, Y:0.26, Z:-0.04 [[ 9.99985934e-01 -1.43895346e-03 -5.10492241e-03 6.07887254e+01] [ 1.43851276e-03 9.99998961e-01 -9.00009096e-05 2.61535983e-01] [ 5.10504661e-03 8.26561477e-05 9.99986966e-01 -4.39221147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.780281693 meters 0.022967789219565764 Centerline is valid? [True, True] Translation: X:60.85, Y:0.26, Z:-0.04 [[ 9.99980131e-01 -6.14494998e-03 -1.40599300e-03 6.08474016e+01] [ 6.14492112e-03 9.99981119e-01 -2.48453964e-05 2.56275816e-01] [ 1.40611913e-03 1.62051867e-05 9.99999011e-01 -3.77448800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84028169300001 meters 0.020124704307470043 Centerline is valid? [True, True] Translation: X:60.91, Y:0.25, Z:-0.04 [[ 9.99958995e-01 -9.01207838e-03 -8.89363036e-04 6.09076480e+01] [ 9.01206797e-03 9.99959390e-01 -1.57084114e-05 2.48536957e-01] [ 8.89468485e-04 7.69276716e-06 9.99999604e-01 -3.69254493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.900281693 meters 0.01875666356528067 Centerline is valid? [True, True] Translation: X:60.97, Y:0.24, Z:-0.04 [[ 9.99912397e-01 -1.27592861e-02 -3.52126274e-03 6.09678919e+01] [ 1.27591461e-02 9.99918597e-01 -6.21944488e-05 2.36905710e-01] [ 3.52176965e-03 1.72606945e-05 9.99993798e-01 -3.98207482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.960281693 meters 0.01927399861448444 Centerline is valid? [True, True] Translation: X:61.03, Y:0.24, Z:-0.04 [[ 9.99944076e-01 -1.05324772e-02 -9.54455304e-04 6.10288088e+01] [ 1.05324659e-02 9.99944532e-01 -1.68581063e-05 2.35790889e-01] [ 9.54579920e-04 6.80439559e-06 9.99999544e-01 -3.57234874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.020281693 meters 0.025349759691218963 Centerline is valid? [True, True] Translation: X:61.09, Y:0.25, Z:-0.04 [[ 9.99996308e-01 -2.37280590e-03 -1.32442816e-03 6.10889237e+01] [ 2.37277697e-03 9.99997185e-01 -2.34136947e-05 2.45351028e-01] [ 1.32447998e-03 2.02710356e-05 9.99999123e-01 -3.61174283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.080281693 meters 0.03475356103379001 Centerline is valid? [True, True] Translation: X:61.15, Y:0.26, Z:-0.04 [[ 9.99978558e-01 5.24853029e-03 -3.91629375e-03 6.11479832e+01] [-5.24884184e-03 9.99986222e-01 -6.92776574e-05 2.59297321e-01] [ 3.91587619e-03 8.98321784e-05 9.99992329e-01 -4.16554480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.140281693 meters 0.041128949803083514 Centerline is valid? [True, True] Translation: X:61.21, Y:0.28, Z:-0.04 [[ 9.99939920e-01 1.07868528e-02 -1.94930806e-03 6.12073385e+01] [-1.07869406e-02 9.99941819e-01 -3.45146484e-05 2.77537645e-01] [ 1.94882234e-03 5.55396450e-05 9.99998100e-01 -3.75924993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20028169300001 meters 0.04433956009577803 Centerline is valid? [True, True] Translation: X:61.27, Y:0.30, Z:-0.04 [[ 9.99882691e-01 1.51995042e-02 -1.89165249e-03 6.12668163e+01] [-1.51995948e-02 9.99884479e-01 -3.35143075e-05 2.96136556e-01] [ 1.89092456e-03 6.22627272e-05 9.99998210e-01 -3.71165973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.260281693 meters 0.043401419727930796 Centerline is valid? [True, True] Translation: X:61.33, Y:0.31, Z:-0.04 [[ 9.99904270e-01 1.36603656e-02 -2.20099113e-03 6.13253889e+01] [-1.36604848e-02 9.99906690e-01 -3.91051105e-05 3.10625526e-01] [ 2.20025157e-03 6.91679728e-05 9.99997577e-01 -3.87810525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.320281693 meters 0.03672692605134469 Centerline is valid? [True, True] Translation: X:61.39, Y:0.31, Z:-0.04 [[ 9.99951805e-01 9.46644471e-03 -2.60282711e-03 6.13850982e+01] [-9.46659725e-03 9.99955190e-01 -4.62948421e-05 3.10722456e-01] [ 2.60227223e-03 7.09325268e-05 9.99996612e-01 -3.75801517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.380281693 meters 0.031616537868362916 Centerline is valid? [True, True] Translation: X:61.44, Y:0.31, Z:-0.04 [[ 9.99988363e-01 2.37897755e-03 -4.19693179e-03 6.14449282e+01] [-2.37931201e-03 9.99997167e-01 -7.47009563e-05 3.11882758e-01] [ 4.19674218e-03 8.46858972e-05 9.99991190e-01 -4.07771477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.440281693 meters 0.02527723988891724 Centerline is valid? [True, True] Translation: X:61.50, Y:0.31, Z:-0.04 [[ 9.99979237e-01 -5.37961732e-03 -3.54743711e-03 6.15043270e+01] [ 5.37942688e-03 9.99985529e-01 -6.32212123e-05 3.05825790e-01] [ 3.54772588e-03 4.41367211e-05 9.99993706e-01 -4.04314266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.500281693 meters 0.017778477916876062 Centerline is valid? [True, True] Translation: X:61.56, Y:0.29, Z:-0.04 [[ 9.99862242e-01 -1.64981465e-02 -1.81880832e-03 6.15643883e+01] [ 1.64981148e-02 9.99863896e-01 -3.24571929e-05 2.87833697e-01] [ 1.81909625e-03 2.44581326e-06 9.99998345e-01 -3.74134066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56028169300001 meters 0.020258577153256338 Centerline is valid? [True, True] Translation: X:61.63, Y:0.27, Z:-0.04 [[ 9.99658584e-01 -2.60300871e-02 -2.26928858e-03 6.16265206e+01] [ 2.60300624e-02 9.99661160e-01 -4.04285648e-05 2.66808122e-01] [ 2.26957201e-03 -1.86549613e-05 9.99997424e-01 -3.80632651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62028169300001 meters 0.02214061986473967 Centerline is valid? [True, True] Translation: X:61.69, Y:0.26, Z:-0.03 [[ 9.99567432e-01 -2.93612501e-02 -1.69264817e-03 6.16872999e+01] [ 2.93612412e-02 9.99568865e-01 -3.01611544e-05 2.55167710e-01] [ 1.69280398e-03 -1.95501434e-05 9.99998567e-01 -3.44044590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.680281693 meters 0.019721440271153256 Centerline is valid? [True, True] Translation: X:61.75, Y:0.25, Z:-0.03 [[ 9.99657662e-01 -2.61049085e-02 -1.75883354e-03 6.17482658e+01] [ 2.61048938e-02 9.99659209e-01 -3.13154455e-05 2.52940786e-01] [ 1.75905164e-03 -1.46094379e-05 9.99998453e-01 -3.46721830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.740281693 meters 0.017859393473193787 Centerline is valid? [True, True] Translation: X:61.81, Y:0.26, Z:-0.03 [[ 9.99867280e-01 -1.62491328e-02 -1.17815593e-03 6.18087955e+01] [ 1.62491194e-02 9.99867974e-01 -2.09614278e-05 2.59308564e-01] [ 1.17834099e-03 1.81464944e-06 9.99999306e-01 -3.33022423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.800281693 meters 0.022697865121305685 Centerline is valid? [True, True] Translation: X:61.87, Y:0.27, Z:-0.03 [[ 9.99986065e-01 -4.75547365e-03 -2.29261204e-03 6.18688043e+01] [ 4.75539261e-03 9.99988692e-01 -4.07974686e-05 2.72895517e-01] [ 2.29278013e-03 2.98946297e-05 9.99997371e-01 -3.49720452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.860281693 meters 0.026574169079304294 Centerline is valid? [True, True] Translation: X:61.93, Y:0.28, Z:-0.03 [[ 9.99999529e-01 -3.27955133e-04 -9.13042254e-04 6.19283976e+01] [ 3.27940420e-04 9.99999946e-01 -1.62627721e-05 2.78782561e-01] [ 9.13047538e-04 1.59633410e-05 9.99999583e-01 -3.22878169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.920281693 meters 0.02780229746312123 Centerline is valid? [True, True] Translation: X:61.99, Y:0.28, Z:-0.03 [[ 9.99999006e-01 1.10727167e-03 8.72908878e-04 6.19887222e+01] [-1.10728566e-03 9.99999387e-01 1.55439918e-05 2.78615217e-01] [-8.72891132e-04 -1.65105358e-05 9.99999619e-01 -2.96184910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98028169300001 meters 0.03294147727060202 Centerline is valid? [True, True] Translation: X:62.05, Y:0.29, Z:-0.03 [[ 9.99982363e-01 5.58373377e-03 -2.02351991e-03 6.20485770e+01] [-5.58381811e-03 9.99984410e-01 -3.60330587e-05 2.89698320e-01] [ 2.02328716e-03 4.73313904e-05 9.99997952e-01 -3.42534520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.040281693 meters 0.039448774775747465 Centerline is valid? [True, True] Translation: X:62.11, Y:0.31, Z:-0.03 [[ 9.99933725e-01 1.15075495e-02 -3.48000543e-04 6.21086632e+01] [-1.15075523e-02 9.99933786e-01 -6.20893389e-06 3.06796069e-01] [ 3.47906051e-04 1.02131569e-05 9.99999939e-01 -2.82248485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.100281693 meters 0.03826669989492711 Centerline is valid? [True, True] Translation: X:62.17, Y:0.31, Z:-0.03 [[ 9.99928445e-01 1.17167303e-02 2.41296966e-03 6.21685970e+01] [-1.17168683e-02 9.99931354e-01 4.30588423e-05 3.12975595e-01] [-2.41229952e-03 -7.13282090e-05 9.99997088e-01 -2.67472568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.160281693 meters 0.036863135135789676 Centerline is valid? [True, True] Translation: X:62.23, Y:0.32, Z:-0.04 [[ 9.99959986e-01 7.82361856e-03 -4.33786833e-03 6.22279175e+01] [-7.82402823e-03 9.99969389e-01 -7.74772875e-05 3.17131726e-01] [ 4.33712939e-03 1.11413792e-04 9.99990588e-01 -3.94263623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.220281693 meters 0.03257393396916102 Centerline is valid? [True, True] Translation: X:62.29, Y:0.32, Z:-0.04 [[ 9.99989007e-01 3.58946415e-03 -3.01680974e-03 6.22866873e+01] [-3.58964325e-03 9.99993556e-01 -5.39549287e-05 3.21555526e-01] [ 3.01659663e-03 6.47836064e-05 9.99995448e-01 -3.63250057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.280281693 meters 0.026424488286415956 Centerline is valid? [True, True] Translation: X:62.35, Y:0.32, Z:-0.03 [[ 9.99994683e-01 -2.50320351e-03 -2.09006379e-03 6.23464903e+01] [ 2.50313075e-03 9.99996866e-01 -3.74290173e-05 3.19572098e-01] [ 2.09015094e-03 3.21971154e-05 9.99997815e-01 -3.46680589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34028169300001 meters 0.019096991130871478 Centerline is valid? [True, True] Translation: X:62.41, Y:0.31, Z:-0.03 [[ 9.99938308e-01 -1.10851849e-02 -7.06635503e-04 6.24069887e+01] [ 1.10851787e-02 9.99938557e-01 -1.26641320e-05 3.12035215e-01] [ 7.06732470e-04 4.83016991e-06 9.99999750e-01 -3.25813810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.400281693 meters 0.017439432905485934 Centerline is valid? [True, True] Translation: X:62.47, Y:0.30, Z:-0.03 [[ 9.99843314e-01 -1.76662530e-02 -1.11864130e-03 6.24681257e+01] [ 1.76662419e-02 9.99843940e-01 -1.98238319e-05 3.04039675e-01] [ 1.11881694e-03 5.85379715e-08 9.99999374e-01 -3.29084432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.460281693 meters 0.019212253747408675 Centerline is valid? [True, True] Translation: X:62.53, Y:0.29, Z:-0.04 [[ 9.99690819e-01 -2.46209171e-02 -3.47525778e-03 6.25300380e+01] [ 2.46208521e-02 9.99696859e-01 -6.14906440e-05 2.93244875e-01] [ 3.47571824e-03 -2.40921756e-05 9.99993959e-01 -3.65261732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.520281693 meters 0.02055289768995187 Centerline is valid? [True, True] Translation: X:62.59, Y:0.29, Z:-0.03 [[ 9.99656268e-01 -2.61944962e-02 1.09262104e-03 6.25904887e+01] [ 2.61944907e-02 9.99656865e-01 1.93314363e-05 2.87512519e-01] [-1.09275250e-03 9.29586027e-06 9.99999403e-01 -2.83448814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.580281693 meters 0.018043813524844327 Centerline is valid? [True, True] Translation: X:62.65, Y:0.29, Z:-0.03 [[ 9.99725234e-01 -2.33942593e-02 1.47177804e-03 6.26529032e+01] [ 2.33942464e-02 9.99726317e-01 2.59819449e-05 2.89865173e-01] [-1.47198306e-03 8.45633205e-06 9.99998917e-01 -2.71283241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.640281693 meters 0.01725128577556918 Centerline is valid? [True, True] Translation: X:62.72, Y:0.29, Z:-0.03 [[ 9.99802430e-01 -1.98608139e-02 -8.05626771e-04 6.27152102e+01] [ 1.98608089e-02 9.99802755e-01 -1.41595804e-05 2.92302222e-01] [ 8.05749085e-04 -1.84361642e-06 9.99999675e-01 -3.09125442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70028169300001 meters 0.016843052384073808 Centerline is valid? [True, True] Translation: X:62.78, Y:0.29, Z:-0.03 [[ 9.99869322e-01 -1.61022149e-02 1.43409383e-03 6.27762550e+01] [ 1.61021953e-02 9.99870351e-01 2.52088667e-05 2.93012209e-01] [-1.43431382e-03 -2.11351364e-06 9.99998971e-01 -2.72509789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.760281693 meters 0.01690736859529751 Centerline is valid? [True, True] Translation: X:62.84, Y:0.29, Z:-0.03 [[ 9.99852918e-01 -1.71469055e-02 3.53760331e-04 6.28375709e+01] [ 1.71469043e-02 9.99852981e-01 6.21622780e-06 2.85014898e-01] [-3.53814911e-04 -1.49418946e-07 9.99999937e-01 -3.00819371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.820281693 meters 0.01691659882343343 Centerline is valid? [True, True] Translation: X:62.90, Y:0.27, Z:-0.03 [[ 9.99796170e-01 -2.01811633e-02 5.82401747e-04 6.28989685e+01] [ 2.01811607e-02 9.99796340e-01 1.02086728e-05 2.70753058e-01] [-5.82489158e-04 1.54695132e-06 9.99999830e-01 -2.97887656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.880281693 meters 0.016870233110740793 Centerline is valid? [True, True] Translation: X:62.96, Y:0.27, Z:-0.03 [[ 9.99826234e-01 -1.85899242e-02 -1.38465515e-03 6.29594457e+01] [ 1.85899085e-02 9.99827192e-01 -2.42310506e-05 2.65266882e-01] [ 1.38486632e-03 -1.51377240e-06 9.99999041e-01 -3.13255348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.940281693 meters 0.01822184156218201 Centerline is valid? [True, True] Translation: X:63.02, Y:0.27, Z:-0.03 [[ 9.99930838e-01 -1.14879111e-02 -2.51951899e-03 6.30198000e+01] [ 1.14878367e-02 9.99934012e-01 -4.39974509e-05 2.70795425e-01] [ 2.51985817e-03 1.50505852e-05 9.99996825e-01 -3.41202471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.000281693 meters 0.02062347863732861 Centerline is valid? [True, True] Translation: X:63.08, Y:0.27, Z:-0.03 [[ 9.99975363e-01 -6.97566760e-03 -7.83422649e-04 6.30800277e+01] [ 6.97565902e-03 9.99975670e-01 -1.36844066e-05 2.74438970e-01] [ 7.83499046e-04 8.21918018e-06 9.99999693e-01 -3.24533672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06028169300001 meters 0.0204155351430453 Centerline is valid? [True, True] Translation: X:63.14, Y:0.27, Z:-0.04 [[ 9.99966202e-01 -7.83711326e-03 -2.48495715e-03 6.31402899e+01] [ 7.83702967e-03 9.99969289e-01 -4.33731476e-05 2.66391788e-01] [ 2.48522075e-03 2.38969988e-05 9.99996912e-01 -3.70686136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12028169300001 meters 0.01750688680405464 Centerline is valid? [True, True] Translation: X:63.20, Y:0.25, Z:-0.04 [[ 9.99907674e-01 -1.34314473e-02 -2.05883661e-03 6.32003179e+01] [ 1.34314017e-02 9.99909794e-01 -3.59940054e-05 2.50677224e-01] [ 2.05913435e-03 8.33762070e-06 9.99997880e-01 -3.65605106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.180281693 meters 0.016624309301418793 Centerline is valid? [True, True] Translation: X:63.26, Y:0.23, Z:-0.03 [[ 9.99833446e-01 -1.82497280e-02 -1.64819398e-04 6.32597363e+01] [ 1.82497278e-02 9.99833460e-01 -2.88661307e-06 2.32326041e-01] [ 1.64844629e-04 -1.21776863e-07 9.99999986e-01 -3.22900190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.240281693 meters 0.016800060016146152 Centerline is valid? [True, True] Translation: X:63.32, Y:0.22, Z:-0.04 [[ 9.99854014e-01 -1.68831181e-02 -2.62879061e-03 6.33207290e+01] [ 1.68830556e-02 9.99857470e-01 -4.59778916e-05 2.18183536e-01] [ 2.62919218e-03 1.58916143e-06 9.99996544e-01 -3.63399836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.300281693 meters 0.016845035359885015 Centerline is valid? [True, True] Translation: X:63.38, Y:0.22, Z:-0.04 [[ 9.99872646e-01 -1.57286068e-02 -2.70242315e-03 6.33799588e+01] [ 1.57285364e-02 9.99876298e-01 -4.73337082e-05 2.17173142e-01] [ 2.70283335e-03 4.82251925e-06 9.99996347e-01 -3.62329968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.360281693 meters 0.018861995078697257 Centerline is valid? [True, True] Translation: X:63.44, Y:0.21, Z:-0.03 [[ 9.99940852e-01 -1.07503328e-02 -1.64993591e-03 6.34387766e+01] [ 1.07502997e-02 9.99942213e-01 -2.89603819e-05 2.14979624e-01] [ 1.65015190e-03 1.12213635e-05 9.99998638e-01 -3.46287063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.420281693 meters 0.020063531923664744 Centerline is valid? [True, True] Translation: X:63.50, Y:0.21, Z:-0.03 [[ 9.99961448e-01 -8.78042698e-03 -8.06991848e-05 6.34995694e+01] [ 8.78042689e-03 9.99961451e-01 -1.41590787e-06 2.09628005e-01] [ 8.07085063e-05 7.07279990e-07 9.99999997e-01 -3.15813068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48028169300001 meters 0.021234655363783453 Centerline is valid? [True, True] Translation: X:63.56, Y:0.21, Z:-0.03 [[ 9.99981134e-01 -6.11913892e-03 -5.37067949e-04 6.35603555e+01] [ 6.11913474e-03 9.99981278e-01 -9.42312783e-06 2.08699280e-01] [ 5.37115555e-04 6.13655891e-06 9.99999856e-01 -3.22519523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.540281693 meters 0.023357021118036482 Centerline is valid? [True, True] Translation: X:63.62, Y:0.22, Z:-0.03 [[ 9.99993213e-01 -3.63648174e-03 -5.92285943e-04 6.36196730e+01] [ 3.63647622e-03 9.99993388e-01 -1.03965155e-05 2.15840415e-01] [ 5.92319834e-04 8.24261123e-06 9.99999825e-01 -3.16027073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.600281693 meters 0.027867384536223665 Centerline is valid? [True, True] Translation: X:63.68, Y:0.23, Z:-0.03 [[ 9.99999035e-01 1.11550737e-03 8.28070787e-04 6.36797066e+01] [-1.11551979e-03 9.99999378e-01 1.45385035e-05 2.26009310e-01] [-8.28054054e-04 -1.54622188e-05 9.99999657e-01 -2.88927065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.660281693 meters 0.031301878498010166 Centerline is valid? [True, True] Translation: X:63.74, Y:0.24, Z:-0.03 [[ 9.99987261e-01 4.86091204e-03 -1.36025744e-03 6.37398800e+01] [-4.86094903e-03 9.99988185e-01 -2.38886809e-05 2.39678590e-01] [ 1.36012525e-03 3.05005186e-05 9.99999075e-01 -3.28408416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.720281693 meters 0.02794287055906217 Centerline is valid? [True, True] Translation: X:63.80, Y:0.24, Z:-0.03 [[ 9.99996739e-01 2.39593446e-03 -8.84418863e-04 6.37997059e+01] [-2.39594916e-03 9.99997130e-01 -1.55612295e-05 2.40202582e-01] [ 8.84379041e-04 1.76802014e-05 9.99999609e-01 -3.18938256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.780281693 meters 0.024681111487650564 Centerline is valid? [True, True] Translation: X:63.86, Y:0.24, Z:-0.03 [[ 9.99995340e-01 -2.45765458e-03 -1.81119149e-03 6.38595850e+01] [ 2.45760092e-03 9.99996980e-01 -3.18508883e-05 2.39589119e-01] [ 1.81126430e-03 2.73995540e-05 9.99998359e-01 -3.47467038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84028169300001 meters 0.02390951129271342 Centerline is valid? [True, True] Translation: X:63.92, Y:0.24, Z:-0.04 [[ 9.99987191e-01 -3.87945967e-03 -3.25087514e-03 6.39192669e+01] [ 3.87929418e-03 9.99992474e-01 -5.72095306e-05 2.42160838e-01] [ 3.25107262e-03 4.45976967e-05 9.99994714e-01 -3.74204868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.900281693 meters 0.021155026494684103 Centerline is valid? [True, True] Translation: X:63.98, Y:0.24, Z:-0.03 [[ 9.99978943e-01 -6.28753749e-03 -1.60633989e-03 6.39786319e+01] [ 6.28750012e-03 9.99980233e-01 -2.83121622e-05 2.43752500e-01] [ 1.60648616e-03 1.82117037e-05 9.99998709e-01 -3.40666220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.960281693 meters 0.017924988054767464 Centerline is valid? [True, True] Translation: X:64.04, Y:0.24, Z:-0.03 [[ 9.99935506e-01 -1.13352592e-02 -7.03794774e-04 6.40378935e+01] [ 1.13352533e-02 9.99935754e-01 -1.23767260e-05 2.39443690e-01] [ 7.03889851e-04 4.39823580e-06 9.99999752e-01 -3.45483684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.020281693 meters 0.01647857024295253 Centerline is valid? [True, True] Translation: X:64.10, Y:0.23, Z:-0.04 [[ 9.99821982e-01 -1.85027294e-02 -3.69498680e-03 6.40985196e+01] [ 1.85026155e-02 9.99828810e-01 -6.50209781e-05 2.27967972e-01] [ 3.69555733e-03 -3.35751679e-06 9.99993171e-01 -4.01766273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.080281693 meters 0.019304428598140667 Centerline is valid? [True, True] Translation: X:64.16, Y:0.21, Z:-0.04 [[ 9.99659572e-01 -2.60672597e-02 -1.11275670e-03 6.41571158e+01] [ 2.60672540e-02 9.99660191e-01 -1.96300978e-05 2.14495924e-01] [ 1.11289028e-03 -9.38309643e-06 9.99999381e-01 -3.50618475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.140281693 meters 0.020117411525265583 Centerline is valid? [True, True] Translation: X:64.22, Y:0.21, Z:-0.04 [[ 9.99631204e-01 -2.69105651e-02 -3.64383158e-03 6.42166590e+01] [ 2.69105093e-02 9.99637845e-01 -6.43306866e-05 2.10964814e-01] [ 3.64424312e-03 -3.37504021e-05 9.99993359e-01 -3.95845834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20028169300001 meters 0.018794584767273068 Centerline is valid? [True, True] Translation: X:64.28, Y:0.22, Z:-0.04 [[ 9.99675605e-01 -2.51267624e-02 -4.16296555e-03 6.42755127e+01] [ 2.51266714e-02 9.99684273e-01 -7.41811915e-05 2.15241180e-01] [ 4.16351512e-03 -3.04443399e-05 9.99991332e-01 -3.99455399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.260281693 meters 0.017755078633287135 Centerline is valid? [True, True] Translation: X:64.33, Y:0.22, Z:-0.04 [[ 9.99716069e-01 -2.37103122e-02 -2.36713015e-03 6.43333594e+01] [ 2.37102785e-02 9.99718871e-01 -4.22980503e-05 2.17939127e-01] [ 2.36746758e-03 -1.38392747e-05 9.99997197e-01 -3.57366766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.320281693 meters 0.02436727033898769 Centerline is valid? [True, True] Translation: X:64.39, Y:0.22, Z:-0.03 [[ 9.99742700e-01 -2.26307392e-02 -1.54382373e-03 6.43930829e+01] [ 2.26307236e-02 9.99743892e-01 -2.76148651e-05 2.21458361e-01] [ 1.54405329e-03 -7.33008834e-06 9.99998808e-01 -2.60098523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.380281693 meters 0.015999178958580516 Centerline is valid? [True, True] Translation: X:64.45, Y:0.23, Z:-0.02 [[ 9.99773724e-01 -2.09641943e-02 3.60606537e-03 6.44524197e+01] [ 2.09640978e-02 9.99780227e-01 6.45580598e-05 2.26376196e-01] [-3.60662626e-03 1.10544554e-05 9.99993496e-01 -2.36034855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.440281693 meters 0.01588706304098836 Centerline is valid? [True, True] Translation: X:64.51, Y:0.23, Z:-0.03 [[ 9.99809091e-01 -1.95260636e-02 7.17542264e-04 6.45127748e+01] [ 1.95260594e-02 9.99809348e-01 1.28331433e-05 2.32881264e-01] [-7.17656044e-04 1.18007954e-06 9.99999742e-01 -3.05792753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.500281693 meters 0.01595243721667511 Centerline is valid? [True, True] Translation: X:64.57, Y:0.24, Z:-0.03 [[ 9.99792883e-01 -2.03510752e-02 -1.57237261e-04 6.45731579e+01] [ 2.03510750e-02 9.99792895e-01 -2.80926076e-06 2.35067028e-01] [ 1.57261868e-04 -3.91268366e-07 9.99999988e-01 -3.10188748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56028169300001 meters 0.017591793905602796 Centerline is valid? [True, True] Translation: X:64.63, Y:0.23, Z:-0.03 [[ 9.99713323e-01 -2.39214293e-02 -1.01881963e-03 6.46336899e+01] [ 2.39214231e-02 9.99713842e-01 -1.81867674e-05 2.25555541e-01] [ 1.01896314e-03 -6.19006191e-06 9.99999481e-01 -3.36813710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.620281693 meters 0.01866893336013248 Centerline is valid? [True, True] Translation: X:64.69, Y:0.22, Z:-0.03 [[ 9.99646272e-01 -2.65904111e-02 -5.29379962e-04 6.46946386e+01] [ 2.65904098e-02 9.99646412e-01 -9.45195288e-06 2.19867089e-01] [ 5.29444111e-04 -4.62782067e-06 9.99999860e-01 -3.30294367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.680281693 meters 0.020415137694352957 Centerline is valid? [True, True] Translation: X:64.76, Y:0.21, Z:-0.04 [[ 9.99574636e-01 -2.90303903e-02 -2.78998711e-03 6.47552289e+01] [ 2.90303643e-02 9.99578529e-01 -4.98145541e-05 2.09677866e-01] [ 2.79025735e-03 -3.12009776e-05 9.99996107e-01 -3.59264889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.740281693 meters 0.018239905251527615 Centerline is valid? [True, True] Translation: X:64.81, Y:0.21, Z:-0.04 [[ 9.99669206e-01 -2.54533987e-02 -3.68835162e-03 6.48134505e+01] [ 2.54533266e-02 9.99676009e-01 -6.64961028e-05 2.10242853e-01] [ 3.68884918e-03 -2.74067119e-05 9.99993196e-01 -3.74694550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.800281693 meters 0.015740376867772722 Centerline is valid? [True, True] Translation: X:64.87, Y:0.22, Z:-0.03 [[ 9.99814873e-01 -1.91481092e-02 -1.88913031e-03 6.48723637e+01] [ 1.91480784e-02 9.99816658e-01 -3.43817725e-05 2.17528087e-01] [ 1.88944230e-03 -1.79780762e-06 9.99998215e-01 -3.49513150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.860281693 meters 0.016525270048043404 Centerline is valid? [True, True] Translation: X:64.93, Y:0.22, Z:-0.04 [[ 9.99898610e-01 -1.39879957e-02 -2.66581771e-03 6.49315911e+01] [ 1.39879160e-02 9.99902163e-01 -4.85124534e-05 2.24960988e-01] [ 2.66623549e-03 1.12183004e-05 9.99996446e-01 -3.62410951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.920281693 meters 0.017414867256637368 Centerline is valid? [True, True] Translation: X:64.99, Y:0.23, Z:-0.04 [[ 9.99929922e-01 -1.14927251e-02 -2.84055504e-03 6.49909256e+01] [ 1.14926244e-02 9.99933956e-01 -5.17601426e-05 2.25958050e-01] [ 2.84096231e-03 1.91110831e-05 9.99995964e-01 -3.69128970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98028169300001 meters 0.017473354579039844 Centerline is valid? [True, True] Translation: X:65.05, Y:0.22, Z:-0.03 [[ 9.99937156e-01 -1.12016356e-02 -4.55744903e-04 6.50494271e+01] [ 1.12016330e-02 9.99937260e-01 -8.33194328e-06 2.21177750e-01] [ 4.55809641e-04 3.22633254e-06 9.99999896e-01 -3.38027094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.040281693 meters 0.017797752453971596 Centerline is valid? [True, True] Translation: X:65.11, Y:0.22, Z:-0.03 [[ 9.99943730e-01 -1.05670789e-02 -9.34928134e-04 6.51098433e+01] [ 1.05670675e-02 9.99944167e-01 -1.70669438e-05 2.19066795e-01] [ 9.35056281e-04 7.18653476e-06 9.99999563e-01 -3.31117790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.100281693 meters 0.020390659106222304 Centerline is valid? [True, True] Translation: X:65.17, Y:0.22, Z:-0.04 [[ 9.99971475e-01 -6.92083220e-03 -3.02498777e-03 6.51690757e+01] [ 6.92069670e-03 9.99976050e-01 -5.52600032e-05 2.21296314e-01] [ 3.02529777e-03 3.43234040e-05 9.99995423e-01 -3.64505233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.160281693 meters 0.021176747249373722 Centerline is valid? [True, True] Translation: X:65.23, Y:0.22, Z:-0.03 [[ 9.99983205e-01 -5.78451865e-03 -3.58149164e-04 6.52288827e+01] [ 5.78451667e-03 9.99983270e-01 -6.55857443e-06 2.20182806e-01] [ 3.58181111e-04 4.48674447e-06 9.99999936e-01 -3.18062378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.220281693 meters 0.023108257218156302 Centerline is valid? [True, True] Translation: X:65.29, Y:0.22, Z:-0.03 [[ 9.99994539e-01 -3.30467198e-03 -3.10859294e-05 6.52890190e+01] [ 3.30467196e-03 9.99994540e-01 -5.68557713e-07 2.24166452e-01] [ 3.10876386e-05 4.65825809e-07 1.00000000e+00 -3.07216942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.280281693 meters 0.026107368735239302 Centerline is valid? [True, True] Translation: X:65.35, Y:0.23, Z:-0.03 [[ 9.99999949e-01 1.00004429e-04 3.03678612e-04 6.53498981e+01] [-1.00006120e-04 9.99999995e-01 5.55549384e-06 2.32200648e-01] [-3.03678055e-04 -5.58586328e-06 9.99999954e-01 -3.14265181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34028169300001 meters 0.031021826457579504 Centerline is valid? [True, True] Translation: X:65.41, Y:0.24, Z:-0.04 [[ 9.99991268e-01 3.84743712e-03 -1.63141649e-03 6.54100669e+01] [-3.84749080e-03 9.99992598e-01 -2.97666069e-05 2.44532383e-01] [ 1.63128989e-03 3.60432069e-05 9.99998669e-01 -3.57594026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.400281693 meters 0.030365203464442034 Centerline is valid? [True, True] Translation: X:65.47, Y:0.25, Z:-0.03 [[ 9.99996357e-01 2.66286206e-03 -4.42086495e-04 6.54686436e+01] [-2.66286590e-03 9.99996455e-01 -8.09381459e-06 2.45165093e-01] [ 4.42063375e-04 9.27100215e-06 9.99999902e-01 -3.28575897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.460281693 meters 0.02513540536662975 Centerline is valid? [True, True] Translation: X:65.53, Y:0.24, Z:-0.04 [[ 9.99997648e-01 -9.88706113e-04 -1.93022036e-03 6.55290334e+01] [ 9.88639840e-04 9.99999511e-01 -3.52881817e-05 2.39215826e-01] [ 1.93025431e-03 3.33798060e-05 9.99998137e-01 -3.56424028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.520281693 meters 0.022377646468785654 Centerline is valid? [True, True] Translation: X:65.59, Y:0.24, Z:-0.04 [[ 9.99993222e-01 -3.18232210e-03 -1.85168926e-03 6.55892929e+01] [ 3.18226482e-03 9.99994936e-01 -3.38792002e-05 2.36049586e-01] [ 1.85178770e-03 2.79864049e-05 9.99998285e-01 -3.63664704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.580281693 meters 0.020816090025804132 Centerline is valid? [True, True] Translation: X:65.65, Y:0.23, Z:-0.04 [[ 9.99980340e-01 -5.79280703e-03 -2.40054256e-03 6.56488729e+01] [ 5.79271822e-03 9.99983221e-01 -4.39489257e-05 2.33223710e-01] [ 2.40075687e-03 3.00423951e-05 9.99997118e-01 -3.69634329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.640281693 meters 0.017815160285980073 Centerline is valid? [True, True] Translation: X:65.71, Y:0.23, Z:-0.04 [[ 9.99945322e-01 -1.02302821e-02 -2.16679192e-03 6.57088334e+01] [ 1.02302201e-02 9.99947669e-01 -3.97250791e-05 2.25286672e-01] [ 2.16708493e-03 1.75561489e-05 9.99997652e-01 -3.75717416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70028169300001 meters 0.015644343749929613 Centerline is valid? [True, True] Translation: X:65.77, Y:0.22, Z:-0.03 [[ 9.99893360e-01 -1.46016332e-02 2.45882063e-04 6.57684327e+01] [ 1.46016325e-02 9.99893390e-01 4.50463203e-06 2.17832769e-01] [-2.45921625e-04 -9.13872127e-07 9.99999970e-01 -3.26643108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.760281693 meters 0.015647863185060826 Centerline is valid? [True, True] Translation: X:65.83, Y:0.22, Z:-0.04 [[ 9.99875067e-01 -1.54521437e-02 -3.32877706e-03 6.58288061e+01] [ 1.54520260e-02 9.99880608e-01 -6.10942004e-05 2.17021971e-01] [ 3.32932367e-03 9.65021829e-06 9.99994458e-01 -3.97251696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.820281693 meters 0.015396456998711365 Centerline is valid? [True, True] Translation: X:65.89, Y:0.22, Z:-0.04 [[ 9.99866329e-01 -1.61588828e-02 -2.49280862e-03 6.58876672e+01] [ 1.61588178e-02 9.99869437e-01 -4.62205789e-05 2.19028625e-01] [ 2.49323002e-03 5.93356034e-06 9.99996892e-01 -3.97538164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.880281693 meters 0.01509558238629259 Centerline is valid? [True, True] Translation: X:65.95, Y:0.21, Z:-0.04 [[ 9.99813330e-01 -1.91687031e-02 -2.42207357e-03 6.59472864e+01] [ 1.91686505e-02 9.99816264e-01 -4.49183679e-05 2.14661202e-01] [ 2.42248957e-03 -1.51789871e-06 9.99997066e-01 -3.87852637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.940281693 meters 0.01569616546636703 Centerline is valid? [True, True] Translation: X:66.01, Y:0.21, Z:-0.04 [[ 9.99742417e-01 -2.25929466e-02 -2.15838357e-03 6.60066224e+01] [ 2.25929119e-02 9.99744747e-01 -4.04297324e-05 2.09132706e-01] [ 2.15874606e-03 -8.34485156e-06 9.99997670e-01 -3.87846836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.000281693 meters 0.01872115489432259 Centerline is valid? [True, True] Translation: X:66.07, Y:0.20, Z:-0.03 [[ 9.99595320e-01 -2.84253940e-02 1.09251174e-03 6.60650215e+01] [ 2.84253886e-02 9.99595917e-01 2.04787818e-05 1.96839426e-01] [-1.09265240e-03 1.05845765e-05 9.99999403e-01 -3.22852716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06028169300001 meters 0.019521417747646118 Centerline is valid? [True, True] Translation: X:66.12, Y:0.19, Z:-0.03 [[ 9.99571199e-01 -2.92804798e-02 2.69292963e-04 6.61244386e+01] [ 2.92804795e-02 9.99571235e-01 5.05098595e-06 1.93528226e-01] [-2.69325395e-04 2.83620701e-06 9.99999964e-01 -3.33025418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.120281693 meters 0.01734220807058104 Centerline is valid? [True, True] Translation: X:66.18, Y:0.20, Z:-0.04 [[ 9.99662393e-01 -2.59428062e-02 -1.43870151e-03 6.61829076e+01] [ 2.59427941e-02 9.99663429e-01 -2.70866238e-05 1.97193119e-01] [ 1.43891999e-03 -1.02464579e-05 9.99998965e-01 -3.60136115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.180281693 meters 0.014931781698816015 Centerline is valid? [True, True] Translation: X:66.24, Y:0.21, Z:-0.03 [[ 9.99778390e-01 -2.10483531e-02 -3.70063325e-04 6.62413984e+01] [ 2.10483519e-02 9.99778459e-01 -7.07572744e-06 2.07471032e-01] [ 3.70130273e-04 -7.15063718e-07 9.99999932e-01 -3.29801359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.240281693 meters 0.028143617945447993 Centerline is valid? [True, True] Translation: X:66.30, Y:0.22, Z:-0.03 [[ 9.99905736e-01 -1.35106317e-02 -2.44589141e-03 6.63006354e+01] [ 1.35105584e-02 9.99908727e-01 -4.64765413e-05 2.19977945e-01] [ 2.44629609e-03 1.34268015e-05 9.99997008e-01 -2.92924309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.300281693 meters 0.019431287936334113 Centerline is valid? [True, True] Translation: X:66.36, Y:0.23, Z:-0.04 [[ 9.99955868e-01 -9.31957753e-03 -1.18648275e-03 6.63593852e+01] [ 9.31955728e-03 9.99956572e-01 -2.25952783e-05 2.31800919e-01] [ 1.18664180e-03 1.15367872e-05 9.99999296e-01 -3.57835239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.360281693 meters 0.02282364494062304 Centerline is valid? [True, True] Translation: X:66.42, Y:0.25, Z:-0.03 [[ 9.99990903e-01 -4.17034511e-03 8.96041636e-04 6.64189922e+01] [ 4.17033150e-03 9.99991304e-01 1.70597612e-05 2.45399859e-01] [-8.96104989e-04 -1.33228154e-05 9.99999598e-01 -3.16281574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.420281693 meters 0.024778265465621757 Centerline is valid? [True, True] Translation: X:66.48, Y:0.25, Z:-0.04 [[ 9.99994464e-01 -2.81072158e-03 -1.78116342e-03 6.64788228e+01] [ 2.81066567e-03 9.99996049e-01 -3.38930969e-05 2.54463331e-01] [ 1.78125164e-03 2.88866544e-05 9.99998413e-01 -3.76709625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48028169300001 meters 0.02592898066192344 Centerline is valid? [True, True] Translation: X:66.54, Y:0.26, Z:-0.03 [[ 9.99998217e-01 -1.82836651e-03 -4.72994499e-04 6.65383513e+01] [ 1.82836245e-03 9.99998329e-01 -9.01998340e-06 2.60505014e-01] [ 4.73010200e-04 8.15516194e-06 9.99999888e-01 -3.40563621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.540281693 meters 0.028153423700198407 Centerline is valid? [True, True] Translation: X:66.60, Y:0.27, Z:-0.03 [[ 9.99999639e-01 1.43575734e-04 -8.37426952e-04 6.65983554e+01] [-1.43589147e-04 9.99999990e-01 -1.59558760e-05 2.68971669e-01] [ 8.37424652e-04 1.60761157e-05 9.99999649e-01 -3.47375935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.600281693 meters 0.028223920333023456 Centerline is valid? [True, True] Translation: X:66.66, Y:0.27, Z:-0.04 [[ 9.99991162e-01 -1.55880786e-04 -4.20131317e-03 6.66588871e+01] [ 1.55545845e-04 9.99999985e-01 -8.00495279e-05 2.72169697e-01] [ 4.20132559e-03 7.93953236e-05 9.99991171e-01 -4.09681871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.660281693 meters 0.027204997130743903 Centerline is valid? [True, True] Translation: X:66.72, Y:0.27, Z:-0.04 [[ 9.99992047e-01 -1.57097250e-03 -3.66568457e-03 6.67178777e+01] [ 1.57072637e-03 9.99998764e-01 -7.00223775e-05 2.73206108e-01] [ 3.66579004e-03 6.42640332e-05 9.99993279e-01 -3.98566727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.720281693 meters 0.024449895981176993 Centerline is valid? [True, True] Translation: X:66.78, Y:0.27, Z:-0.04 [[ 9.99988008e-01 -4.46823057e-03 -2.00490263e-03 6.67764933e+01] [ 4.46816262e-03 9.99990017e-01 -3.83675653e-05 2.73075803e-01] [ 2.00505405e-03 2.94088742e-05 9.99997989e-01 -3.74744306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.780281693 meters 0.02100021411155663 Centerline is valid? [True, True] Translation: X:66.84, Y:0.27, Z:-0.04 [[ 9.99977495e-01 -6.47231478e-03 -1.76605369e-03 6.68363082e+01] [ 6.47226512e-03 9.99979054e-01 -3.38360924e-05 2.70626680e-01] [ 1.76623569e-03 2.24049632e-05 9.99998440e-01 -3.57411981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84028169300001 meters 0.021086205772746468 Centerline is valid? [True, True] Translation: X:66.90, Y:0.27, Z:-0.03 [[ 9.99967146e-01 -8.03510486e-03 1.06961969e-03 6.68957857e+01] [ 8.03508754e-03 9.99967718e-01 2.04965000e-05 2.73730607e-01] [-1.06974985e-03 -1.19013388e-05 9.99999428e-01 -3.01983094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.900281693 meters 0.02092053454881701 Centerline is valid? [True, True] Translation: X:66.96, Y:0.28, Z:-0.04 [[ 9.99963724e-01 -8.47666582e-03 -8.34433495e-04 6.69556931e+01] [ 8.47665544e-03 9.99964072e-01 -1.59803661e-05 2.75079089e-01] [ 8.34538976e-04 8.90658117e-06 9.99999652e-01 -3.50043339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.960281693 meters 0.01819688093457127 Centerline is valid? [True, True] Translation: X:67.02, Y:0.27, Z:-0.03 [[ 9.99932835e-01 -1.15869385e-02 2.61699955e-04 6.70160121e+01] [ 1.15869375e-02 9.99932869e-01 5.01300645e-06 2.67986692e-01] [-2.61740473e-04 -1.98036871e-06 9.99999966e-01 -3.32219897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.020281693 meters 0.015486633677883766 Centerline is valid? [True, True] Translation: X:67.08, Y:0.26, Z:-0.03 [[ 9.99887764e-01 -1.49632287e-02 -7.48607398e-04 6.70763950e+01] [ 1.49632221e-02 9.99888045e-01 -1.43399861e-05 2.59170439e-01] [ 7.48738160e-04 3.13679781e-06 9.99999720e-01 -3.48836081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.080281693 meters 0.016632049572413432 Centerline is valid? [True, True] Translation: X:67.14, Y:0.26, Z:-0.04 [[ 9.99914142e-01 -1.26545813e-02 -3.40147177e-03 6.71367767e+01] [ 1.26544328e-02 9.99919927e-01 -6.51570607e-05 2.63941361e-01] [ 3.40202394e-03 2.21077705e-05 9.99994213e-01 -3.84449665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.140281693 meters 0.031106480570530958 Centerline is valid? [True, True] Translation: X:67.20, Y:0.28, Z:-0.03 [[ 9.99957502e-01 -7.86260756e-03 -4.81387637e-03 6.71963719e+01] [ 7.86225414e-03 9.99969088e-01 -9.23374238e-05 2.75186577e-01] [ 4.81445357e-03 5.44855802e-05 9.99988409e-01 -3.31210936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20028169300001 meters 0.026758581523301992 Centerline is valid? [True, True] Translation: X:67.25, Y:0.30, Z:-0.04 [[ 9.99990073e-01 -1.90413417e-03 -4.02846348e-03 6.72548445e+01] [ 1.90383742e-03 9.99998185e-01 -7.74978942e-05 2.95749218e-01] [ 4.02860373e-03 6.98275854e-05 9.99991883e-01 -4.05541438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.260281693 meters 0.02923608504855832 Centerline is valid? [True, True] Translation: X:67.31, Y:0.31, Z:-0.04 [[ 9.99991089e-01 2.14108460e-03 -3.63837264e-03 6.73137961e+01] [-2.14135388e-03 9.99997705e-01 -7.01171004e-05 3.11394810e-01] [ 3.63821416e-03 7.79075190e-05 9.99993379e-01 -4.01562504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.320281693 meters 0.02227023180728924 Centerline is valid? [True, True] Translation: X:67.37, Y:0.32, Z:-0.04 [[ 9.99982466e-01 -5.58864329e-03 -1.95841076e-03 6.73726488e+01] [ 5.58858000e-03 9.99984383e-01 -3.77866262e-05 3.16418012e-01] [ 1.95859136e-03 2.68412284e-05 9.99998082e-01 -3.86419961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.380281693 meters 0.014697417022199153 Centerline is valid? [True, True] Translation: X:67.43, Y:0.30, Z:-0.04 [[ 9.99811274e-01 -1.94009990e-02 -1.00894152e-03 6.74328435e+01] [ 1.94009892e-02 9.99811783e-01 -1.94630760e-05 2.99778789e-01] [ 1.00912923e-03 -1.15060814e-07 9.99999491e-01 -3.61910701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.440281693 meters 0.01854509597248107 Centerline is valid? [True, True] Translation: X:67.49, Y:0.29, Z:-0.04 [[ 9.99596024e-01 -2.83802297e-02 -1.53345877e-03 6.74933599e+01] [ 2.83802177e-02 9.99597200e-01 -2.95813226e-05 2.87558490e-01] [ 1.53368062e-03 -1.39505214e-05 9.99998824e-01 -3.65267158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.500281693 meters 0.019575893232195288 Centerline is valid? [True, True] Translation: X:67.55, Y:0.28, Z:-0.04 [[ 9.99544439e-01 -3.01069818e-02 -2.11745362e-03 6.75532648e+01] [ 3.01069627e-02 9.99546682e-01 -4.09028772e-05 2.83595631e-01] [ 2.11772521e-03 -2.28658538e-05 9.99997757e-01 -3.78100794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56028169300001 meters 0.020813356436606534 Centerline is valid? [True, True] Translation: X:67.61, Y:0.28, Z:-0.03 [[ 9.99495263e-01 -3.17501966e-02 -1.06955271e-03 6.76125656e+01] [ 3.17501926e-02 9.99495835e-01 -2.07046391e-05 2.76862863e-01] [ 1.06967086e-03 -1.32643159e-05 9.99999428e-01 -3.46234890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.620281693 meters 0.02081549832421453 Centerline is valid? [True, True] Translation: X:67.67, Y:0.27, Z:-0.03 [[ 9.99496570e-01 -3.17264339e-02 2.01432908e-04 6.76719429e+01] [ 3.17264337e-02 9.99496590e-01 3.89394070e-06 2.70142599e-01] [-2.01455046e-04 2.49876745e-06 9.99999980e-01 -3.15643719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.680281693 meters 0.017489655919770045 Centerline is valid? [True, True] Translation: X:67.73, Y:0.28, Z:-0.03 [[ 9.99633257e-01 -2.70802989e-02 -9.36788893e-05 6.77319144e+01] [ 2.70802988e-02 9.99633261e-01 -1.81453279e-06 2.77378926e-01] [ 9.36936718e-05 -7.22984994e-07 9.99999996e-01 -3.22271919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.740281693 meters 0.014470893316888401 Centerline is valid? [True, True] Translation: X:67.79, Y:0.29, Z:-0.03 [[ 9.99794129e-01 -2.02902921e-02 5.27847209e-05 6.77919694e+01] [ 2.02902920e-02 9.99794131e-01 1.01896500e-06 2.86975850e-01] [-5.27945292e-05 5.22621735e-08 9.99999999e-01 -3.19806175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.800281693 meters 0.016245421464349225 Centerline is valid? [True, True] Translation: X:67.85, Y:0.30, Z:-0.03 [[ 9.99911503e-01 -1.32600360e-02 -1.07557173e-03 6.78522467e+01] [ 1.32600213e-02 9.99912082e-01 -2.08462255e-05 3.02263442e-01] [ 1.07575359e-03 6.58227669e-06 9.99999421e-01 -3.45695499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.860281693 meters 0.018851790612708988 Centerline is valid? [True, True] Translation: X:67.91, Y:0.31, Z:-0.04 [[ 9.99947157e-01 -9.74746803e-03 -3.26660239e-03 6.79118164e+01] [ 9.74731307e-03 9.99952492e-01 -6.33538639e-05 3.12196460e-01] [ 3.26706474e-03 3.15099199e-05 9.99994663e-01 -3.92223907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.920281693 meters 0.021083445804488208 Centerline is valid? [True, True] Translation: X:67.97, Y:0.32, Z:-0.04 [[ 9.99956432e-01 -8.52778375e-03 -3.79606338e-03 6.79701890e+01] [ 8.52756518e-03 9.99963637e-01 -7.37596831e-05 3.21482647e-01] [ 3.79655435e-03 4.13852917e-05 9.99992792e-01 -4.01542174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98028169300001 meters 0.022540545467384633 Centerline is valid? [True, True] Translation: X:68.03, Y:0.33, Z:-0.04 [[ 9.99976235e-01 -5.50403841e-03 -4.15145340e-03 6.80292703e+01] [ 5.50375036e-03 9.99984851e-01 -8.08072980e-05 3.30426768e-01] [ 4.15183528e-03 5.79568145e-05 9.99991379e-01 -4.05611130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.040281693 meters 0.020620548821705796 Centerline is valid? [True, True] Translation: X:68.09, Y:0.33, Z:-0.04 [[ 9.99964488e-01 -7.13841278e-03 -4.47945307e-03 6.80884094e+01] [ 7.13809026e-03 9.99974520e-01 -8.79826985e-05 3.34375896e-01] [ 4.47996699e-03 5.60048337e-05 9.99989963e-01 -4.09074850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.100281693 meters 0.0192034193345619 Centerline is valid? [True, True] Translation: X:68.15, Y:0.33, Z:-0.04 [[ 9.99923105e-01 -1.14758040e-02 -4.70008447e-03 6.81468790e+01] [ 1.14754960e-02 9.99934150e-01 -9.24934445e-05 3.29331584e-01] [ 4.70083640e-03 3.85505318e-05 9.99988950e-01 -4.33672121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.160281693 meters 0.016017743405138004 Centerline is valid? [True, True] Translation: X:68.21, Y:0.32, Z:-0.04 [[ 9.99887028e-01 -1.49244949e-02 -1.78610251e-03 6.82054606e+01] [ 1.49244554e-02 9.99888623e-01 -3.54655036e-05 3.23093654e-01] [ 1.78643288e-03 8.80488988e-06 9.99998404e-01 -3.62392210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.220281693 meters 0.016735222162599234 Centerline is valid? [True, True] Translation: X:68.27, Y:0.32, Z:-0.03 [[ 9.99917618e-01 -1.27939305e-02 1.03596400e-03 6.82656271e+01] [ 1.27939161e-02 9.99918154e-01 2.05401372e-05 3.24612950e-01] [-1.03614200e-03 -7.28440866e-06 9.99999463e-01 -3.07189573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.280281693 meters 0.01896676840667797 Centerline is valid? [True, True] Translation: X:68.33, Y:0.33, Z:-0.03 [[ 9.99949815e-01 -1.00005971e-02 5.95813194e-04 6.83257696e+01] [ 1.00005919e-02 9.99949993e-01 1.18132337e-05 3.30406272e-01] [-5.95901538e-04 -5.85415626e-06 9.99999822e-01 -3.18099469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34028169300001 meters 0.01993918481932882 Centerline is valid? [True, True] Translation: X:68.39, Y:0.33, Z:-0.03 [[ 9.99951324e-01 -9.85741224e-03 4.25424995e-04 6.83856612e+01] [ 9.85740955e-03 9.99951415e-01 8.43403040e-06 3.30182068e-01] [-4.25487464e-04 -4.24003146e-06 9.99999909e-01 -3.24614043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.400281693 meters 0.017614702443856683 Centerline is valid? [True, True] Translation: X:68.45, Y:0.33, Z:-0.03 [[ 9.99932656e-01 -1.16050682e-02 7.16453942e-05 6.84472514e+01] [ 1.16050681e-02 9.99932659e-01 1.42603226e-06 3.25453350e-01] [-7.16571187e-05 -5.94486548e-07 9.99999997e-01 -3.27893556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.460281693 meters 0.01932719551806159 Centerline is valid? [True, True] Translation: X:68.51, Y:0.33, Z:-0.04 [[ 9.99952684e-01 -9.60966720e-03 -1.51099289e-03 6.85071201e+01] [ 9.60963314e-03 9.99953826e-01 -2.98005825e-05 3.26262237e-01] [ 1.51120949e-03 1.52790852e-05 9.99998858e-01 -3.60541054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.520281693 meters 0.02235690193749362 Centerline is valid? [True, True] Translation: X:68.57, Y:0.33, Z:-0.04 [[ 9.99974796e-01 -6.66621172e-03 -2.44329225e-03 6.85678547e+01] [ 6.66611380e-03 9.99977780e-01 -4.82197751e-05 3.29535064e-01] [ 2.44355941e-03 3.19312956e-05 9.99997014e-01 -3.72933650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.580281693 meters 0.02544487875321147 Centerline is valid? [True, True] Translation: X:68.63, Y:0.33, Z:-0.04 [[ 9.99990975e-01 -3.68371339e-03 -2.11650675e-03 6.86268328e+01] [ 3.68363311e-03 9.99993215e-01 -4.18253751e-05 3.33464018e-01] [ 2.11664646e-03 3.40285633e-05 9.99997759e-01 -3.58995342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.640281693 meters 0.025103251323830816 Centerline is valid? [True, True] Translation: X:68.69, Y:0.33, Z:-0.04 [[ 9.99985432e-01 -3.95535556e-03 -3.67305591e-03 6.86865988e+01] [ 3.95511534e-03 9.99992176e-01 -7.26619441e-05 3.32862756e-01] [ 3.67331457e-03 5.81335258e-05 9.99993252e-01 -4.00345066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70028169300001 meters 0.024094486629800294 Centerline is valid? [True, True] Translation: X:68.75, Y:0.33, Z:-0.04 [[ 9.99983694e-01 -5.25667944e-03 -2.23127161e-03 6.87450530e+01] [ 5.25659386e-03 9.99986183e-01 -4.42212177e-05 3.30764023e-01] [ 2.23147324e-03 3.24916080e-05 9.99997510e-01 -3.77461933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.760281693 meters 0.021191317381755323 Centerline is valid? [True, True] Translation: X:68.80, Y:0.32, Z:-0.04 [[ 9.99960304e-01 -8.87102355e-03 -8.33741859e-04 6.88043680e+01] [ 8.87101285e-03 9.99960652e-01 -1.65324550e-05 3.24485389e-01] [ 8.33855712e-04 9.13566398e-06 9.99999652e-01 -3.55238625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.820281693 meters 0.017385423433910103 Centerline is valid? [True, True] Translation: X:68.87, Y:0.31, Z:-0.04 [[ 9.99922341e-01 -1.21407817e-02 -2.81313522e-03 6.88651412e+01] [ 1.21406728e-02 9.99926298e-01 -5.57694771e-05 3.13948417e-01] [ 2.81360497e-03 2.16117918e-05 9.99996042e-01 -3.94083986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.880281693 meters 0.016064879836134763 Centerline is valid? [True, True] Translation: X:68.92, Y:0.30, Z:-0.04 [[ 9.99870955e-01 -1.59480822e-02 -1.93206460e-03 6.89238069e+01] [ 1.59480378e-02 9.99872821e-01 -3.83837267e-05 3.04319374e-01] [ 1.93243103e-03 7.56613418e-06 9.99998133e-01 -3.77923671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.940281693 meters 0.016938103169580145 Centerline is valid? [True, True] Translation: X:68.98, Y:0.31, Z:-0.04 [[ 9.99910563e-01 -1.32710006e-02 -1.65734677e-03 6.89833676e+01] [ 1.32709642e-02 9.99911936e-01 -3.29621606e-05 3.08185820e-01] [ 1.65763826e-03 1.09646229e-05 9.99998626e-01 -3.65575498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.000281693 meters 0.021141106211698533 Centerline is valid? [True, True] Translation: X:69.04, Y:0.32, Z:-0.04 [[ 9.99966490e-01 -7.72500945e-03 -2.70996707e-03 6.90423006e+01] [ 7.72489160e-03 9.99970161e-01 -5.39546112e-05 3.18914312e-01] [ 2.71030301e-03 3.30186013e-05 9.99996327e-01 -3.85185628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06028169300001 meters 0.021364337591874942 Centerline is valid? [True, True] Translation: X:69.10, Y:0.32, Z:-0.04 [[ 9.99984664e-01 -5.45386460e-03 -9.62786105e-04 6.91013674e+01] [ 5.45384863e-03 9.99985127e-01 -1.92148830e-05 3.22630265e-01] [ 9.62876581e-04 1.39636986e-05 9.99999536e-01 -3.55800646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.120281693 meters 0.029078336321935926 Centerline is valid? [True, True] Translation: X:69.16, Y:0.34, Z:-0.04 [[ 9.99997925e-01 -1.05979055e-04 -2.03433508e-03 6.91598744e+01] [ 1.05896733e-04 9.99999994e-01 -4.05737065e-05 3.42659551e-01] [ 2.03433937e-03 4.03581929e-05 9.99997930e-01 -3.76632369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.180281693 meters 0.034985932630027215 Centerline is valid? [True, True] Translation: X:69.22, Y:0.36, Z:-0.04 [[ 9.99983643e-01 5.03985118e-03 -2.70446988e-03 6.92193828e+01] [-5.04001560e-03 9.99987298e-01 -5.39857779e-05 3.64592611e-01] [ 2.70416345e-03 6.76154653e-05 9.99996341e-01 -3.85062348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.240281693 meters 0.037150282903328745 Centerline is valid? [True, True] Translation: X:69.28, Y:0.38, Z:-0.04 [[ 9.99970387e-01 6.69223247e-03 -3.79992485e-03 6.92790743e+01] [-6.69256932e-03 9.99977602e-01 -7.59381181e-05 3.75003414e-01] [ 3.79933154e-03 1.01367130e-04 9.99992777e-01 -4.15741167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.300281693 meters 0.03596381503759694 Centerline is valid? [True, True] Translation: X:69.34, Y:0.39, Z:-0.04 [[ 9.99974092e-01 6.46396592e-03 -3.16747254e-03 6.93381485e+01] [-6.46419919e-03 9.99979105e-01 -6.34127319e-05 3.87325832e-01] [ 3.16699645e-03 8.38862624e-05 9.99994982e-01 -3.93997498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.360281693 meters 0.03370829175259897 Centerline is valid? [True, True] Translation: X:69.40, Y:0.40, Z:-0.03 [[ 9.99978258e-01 6.59100468e-03 2.06654689e-04 6.93967448e+01] [-6.59100567e-03 9.99978279e-01 4.12983981e-06 3.97944586e-01] [-2.06622980e-04 -5.49181224e-06 9.99999979e-01 -3.32288176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.420281693 meters 0.03824587676569045 Centerline is valid? [True, True] Translation: X:69.46, Y:0.41, Z:-0.03 [[ 9.99969161e-01 7.85295611e-03 9.12983757e-05 6.94561432e+01] [-7.85295631e-03 9.99969165e-01 1.82881393e-06 4.12762178e-01] [-9.12811989e-05 -2.54571969e-06 9.99999996e-01 -3.39405942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48028169300001 meters 0.03385151864786229 Centerline is valid? [True, True] Translation: X:69.52, Y:0.42, Z:-0.04 [[ 9.99983012e-01 5.76976667e-03 -8.27910583e-04 6.95154659e+01] [-5.76978243e-03 9.99983355e-01 -1.66484386e-05 4.18025776e-01] [ 8.27800745e-04 2.14250198e-05 9.99999657e-01 -3.54885139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.540281693 meters 0.029215415762981506 Centerline is valid? [True, True] Translation: X:69.58, Y:0.42, Z:-0.03 [[ 9.99999288e-01 8.70903873e-04 8.16132019e-04 6.95757207e+01] [-8.70917555e-04 9.99999621e-01 1.64090483e-05 4.17516617e-01] [-8.16117418e-04 -1.71198203e-05 9.99999667e-01 -3.29441906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.600281693 meters 0.02071112261037219 Centerline is valid? [True, True] Translation: X:69.64, Y:0.41, Z:-0.03 [[ 9.99964892e-01 -8.28159632e-03 1.27659722e-03 6.96367725e+01] [ 8.28157032e-03 9.99965707e-01 2.56550620e-05 4.06510485e-01] [-1.27676591e-03 -1.50819316e-05 9.99999185e-01 -3.23621383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.660281693 meters 0.017939001470640138 Centerline is valid? [True, True] Translation: X:69.70, Y:0.40, Z:-0.03 [[ 9.99924491e-01 -1.22738380e-02 6.03921542e-04 6.96979181e+01] [ 1.22738329e-02 9.99924674e-01 1.21275994e-05 4.04743424e-01] [-6.04024903e-04 -4.71425151e-06 9.99999818e-01 -3.31577541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.720281693 meters 0.01854641090787986 Centerline is valid? [True, True] Translation: X:69.76, Y:0.41, Z:-0.04 [[ 9.99928804e-01 -1.17191517e-02 -2.24677119e-03 6.97589233e+01] [ 1.17190801e-02 9.99931328e-01 -4.50308621e-05 4.10285026e-01] [ 2.24714463e-03 1.86975645e-05 9.99997475e-01 -3.88510251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.780281693 meters 0.017027438476172864 Centerline is valid? [True, True] Translation: X:69.82, Y:0.41, Z:-0.04 [[ 9.99891443e-01 -1.45082211e-02 -2.57184738e-03 6.98189971e+01] [ 1.45081364e-02 9.99894750e-01 -5.15550959e-05 4.05974931e-01] [ 2.57232466e-03 1.42367865e-05 9.99996691e-01 -3.95419768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84028169300001 meters 0.015425935528618142 Centerline is valid? [True, True] Translation: X:69.88, Y:0.39, Z:-0.04 [[ 9.99783788e-01 -2.07723214e-02 -9.42747871e-04 6.98785819e+01] [ 2.07723128e-02 9.99784232e-01 -1.89124961e-05 3.94102070e-01] [ 9.42937313e-04 -6.74646667e-07 9.99999555e-01 -3.63381559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.900281693 meters 0.01588976907395164 Centerline is valid? [True, True] Translation: X:69.94, Y:0.39, Z:-0.04 [[ 9.99737255e-01 -2.28670277e-02 -1.58768627e-03 6.99389509e+01] [ 2.28670060e-02 9.99738515e-01 -3.18442002e-05 3.91364852e-01] [ 1.58799930e-03 -4.46979811e-06 9.99998739e-01 -3.79409124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.960281693 meters 0.01616368494046671 Centerline is valid? [True, True] Translation: X:70.00, Y:0.39, Z:-0.04 [[ 9.99728790e-01 -2.31652362e-02 -2.39115143e-03 6.99997745e+01] [ 2.31651877e-02 9.99731650e-01 -4.79592893e-05 3.91085578e-01] [ 2.39162076e-03 -7.44518955e-06 9.99997140e-01 -3.88811607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.020281693 meters 0.01543043586618375 Centerline is valid? [True, True] Translation: X:70.06, Y:0.40, Z:-0.03 [[ 9.99809281e-01 -1.95240731e-02 -4.61094511e-04 7.00600703e+01] [ 1.95240709e-02 9.99809387e-01 -9.24816586e-06 3.97217025e-01] [ 4.61187182e-04 2.43960121e-07 9.99999894e-01 -3.49269193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.080281693 meters 0.016268123427210533 Centerline is valid? [True, True] Translation: X:70.12, Y:0.41, Z:-0.04 [[ 9.99859778e-01 -1.65935378e-02 -2.25344523e-03 7.01215106e+01] [ 1.65934782e-02 9.99862318e-01 -4.51421029e-05 4.05330774e-01] [ 2.25388404e-03 7.74327878e-06 9.99997460e-01 -3.92288882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.140281693 meters 0.017530752485094978 Centerline is valid? [True, True] Translation: X:70.18, Y:0.41, Z:-0.04 [[ 9.99890906e-01 -1.44879236e-02 -2.87689485e-03 7.01809039e+01] [ 1.44878177e-02 9.99895044e-01 -5.76473771e-05 4.14190831e-01] [ 2.87742809e-03 1.59611600e-05 9.99995860e-01 -4.01249564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20028169300001 meters 0.01800706873450751 Centerline is valid? [True, True] Translation: X:70.24, Y:0.42, Z:-0.04 [[ 9.99905462e-01 -1.36639023e-02 -1.53762437e-03 7.02413002e+01] [ 1.36638711e-02 9.99906644e-01 -3.08106201e-05 4.21329709e-01] [ 1.53790182e-03 9.79780612e-06 9.99998817e-01 -3.75972040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.260281693 meters 0.01753305697565718 Centerline is valid? [True, True] Translation: X:70.30, Y:0.42, Z:-0.03 [[ 9.99901146e-01 -1.40459316e-02 6.39629293e-04 7.03023079e+01] [ 1.40459263e-02 9.99901351e-01 1.28106602e-05 4.24660107e-01] [-6.39746132e-04 -3.82520794e-06 9.99999795e-01 -3.29888625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.320281693 meters 0.016746064518174755 Centerline is valid? [True, True] Translation: X:70.36, Y:0.43, Z:-0.04 [[ 9.99890353e-01 -1.47433028e-02 -1.38450160e-03 7.03639734e+01] [ 1.47432786e-02 9.99891312e-01 -2.76736449e-05 4.27632367e-01] [ 1.38475913e-03 7.25851767e-06 9.99999041e-01 -3.69286551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.380281693 meters 0.01788252609232595 Centerline is valid? [True, True] Translation: X:70.42, Y:0.44, Z:-0.04 [[ 9.99921799e-01 -1.22856547e-02 -2.33635664e-03 7.04240894e+01] [ 1.22855791e-02 9.99924528e-01 -4.67129531e-05 4.41268182e-01] [ 2.33675421e-03 1.80058058e-05 9.99997270e-01 -3.73625066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.440281693 meters 0.01865273582076522 Centerline is valid? [True, True] Translation: X:70.48, Y:0.45, Z:-0.04 [[ 9.99935513e-01 -1.12393385e-02 -1.62714902e-03 7.04844799e+01] [ 1.12393004e-02 9.99936837e-01 -3.25100664e-05 4.53982969e-01] [ 1.62741163e-03 1.42199533e-05 9.99998676e-01 -3.60136753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.500281693 meters 0.01703955460856375 Centerline is valid? [True, True] Translation: X:70.55, Y:0.46, Z:-0.04 [[ 9.99904319e-01 -1.38276289e-02 -3.86236128e-04 7.05455668e+01] [ 1.38276269e-02 9.99904394e-01 -7.70086570e-06 4.58046308e-01] [ 3.86305686e-04 2.35939979e-06 9.99999925e-01 -3.52216957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56028169300001 meters 0.015573712091717741 Centerline is valid? [True, True] Translation: X:70.61, Y:0.45, Z:-0.04 [[ 9.99799400e-01 -2.00278210e-02 -2.15133533e-04 7.06070575e+01] [ 2.00278206e-02 9.99799423e-01 -4.27448937e-06 4.53780792e-01] [ 2.15175991e-04 -3.50238991e-08 9.99999977e-01 -3.53169289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.620281693 meters 0.017949366371205547 Centerline is valid? [True, True] Translation: X:70.67, Y:0.44, Z:-0.04 [[ 9.99625150e-01 -2.73642630e-02 -8.70180464e-04 7.06695973e+01] [ 2.73642583e-02 9.99625528e-01 -1.72822919e-05 4.43753843e-01] [ 8.70327523e-04 -6.53602937e-06 9.99999621e-01 -3.62064105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.680281693 meters 0.018424276617780268 Centerline is valid? [True, True] Translation: X:70.73, Y:0.44, Z:-0.03 [[ 9.99588538e-01 -2.86742998e-02 7.34257696e-04 7.07306773e+01] [ 2.86742969e-02 9.99588808e-01 1.45871412e-05 4.42617276e-01] [-7.34374051e-04 6.47318398e-06 9.99999730e-01 -3.22013768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.740281693 meters 0.01942737398664189 Centerline is valid? [True, True] Translation: X:70.79, Y:0.44, Z:-0.03 [[ 9.99548670e-01 -3.00328854e-02 6.94953436e-04 7.07930201e+01] [ 3.00328831e-02 9.99548911e-01 1.37827331e-05 4.41779085e-01] [-6.95053885e-04 7.09494282e-06 9.99999758e-01 -3.17977969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.800281693 meters 0.02151587523050417 Centerline is valid? [True, True] Translation: X:70.85, Y:0.44, Z:-0.03 [[ 9.99461837e-01 -3.27783154e-02 1.27189930e-03 7.08543466e+01] [ 3.27783099e-02 9.99462647e-01 2.51750702e-05 4.35675577e-01] [-1.27204103e-03 1.65291874e-05 9.99999191e-01 -3.16101268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.860281693 meters 0.022124739442452784 Centerline is valid? [True, True] Translation: X:70.92, Y:0.43, Z:-0.03 [[ 9.99474543e-01 -3.23808880e-02 1.45455155e-03 7.09159573e+01] [ 3.23808805e-02 9.99475601e-01 2.87440802e-05 4.33719390e-01] [-1.45471955e-03 1.83706835e-05 9.99998942e-01 -2.96943279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.920281693 meters 0.019267754684328967 Centerline is valid? [True, True] Translation: X:70.98, Y:0.44, Z:-0.03 [[ 9.99555335e-01 -2.97968879e-02 -1.13072274e-03 7.09774406e+01] [ 2.97968817e-02 9.99555974e-01 -2.23016032e-05 4.39901022e-01] [ 1.13088519e-03 -1.14003253e-05 9.99999360e-01 -3.44097724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98028169300001 meters 0.017271125048249788 Centerline is valid? [True, True] Translation: X:71.04, Y:0.45, Z:-0.04 [[ 9.99670972e-01 -2.53736820e-02 -3.75809917e-03 7.10374271e+01] [ 2.53735828e-02 9.99678036e-01 -7.41016810e-05 4.48143524e-01] [ 3.75876943e-03 -2.12791409e-05 9.99992936e-01 -3.84190542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.040281693 meters 0.015899258281622045 Centerline is valid? [True, True] Translation: X:71.10, Y:0.46, Z:-0.03 [[ 9.99867609e-01 -1.62280353e-02 1.18982735e-03 7.10977905e+01] [ 1.62280189e-02 9.99868317e-01 2.34621049e-05 4.64661940e-01] [-1.19005141e-03 -4.15045806e-06 9.99999292e-01 -3.13380957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.100281693 meters 0.015717810466190123 Centerline is valid? [True, True] Translation: X:71.16, Y:0.47, Z:-0.03 [[ 9.99845429e-01 -1.75080475e-02 1.60799541e-03 7.11587261e+01] [ 1.75080193e-02 9.99846722e-01 3.16647577e-05 4.65027290e-01] [-1.60830333e-03 -3.50704870e-06 9.99998707e-01 -3.04196127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.160281693 meters 0.016006827240172092 Centerline is valid? [True, True] Translation: X:71.22, Y:0.46, Z:-0.04 [[ 9.99759032e-01 -2.18949197e-02 -1.57815358e-03 7.12210911e+01] [ 2.18948981e-02 9.99760278e-01 -3.09765851e-05 4.55949205e-01] [ 1.57845349e-03 -3.58439102e-06 9.99998754e-01 -3.71527877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.220281693 meters 0.017346806602182834 Centerline is valid? [True, True] Translation: X:71.28, Y:0.45, Z:-0.03 [[ 9.99674534e-01 -2.54481256e-02 1.79434742e-03 7.12814781e+01] [ 2.54481034e-02 9.99676144e-01 3.52217730e-05 4.45140815e-01] [-1.79466264e-03 1.04524293e-05 9.99998390e-01 -3.01896995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.280281693 meters 0.015996431837613817 Centerline is valid? [True, True] Translation: X:71.34, Y:0.44, Z:-0.04 [[ 9.99744889e-01 -2.25561988e-02 -1.17280419e-03 7.13434321e+01] [ 2.25561874e-02 9.99745577e-01 -2.29481605e-05 4.42747656e-01] [ 1.17302342e-03 -3.51168485e-06 9.99999312e-01 -3.58381082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34028169300001 meters 0.01725013681522962 Centerline is valid? [True, True] Translation: X:71.40, Y:0.45, Z:-0.04 [[ 9.99903828e-01 -1.37785302e-02 -1.57720429e-03 7.14037714e+01] [ 1.37784987e-02 9.99905072e-01 -3.08188453e-05 4.52288581e-01] [ 1.57747921e-03 9.08437403e-06 9.99998756e-01 -3.62769902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.400281693 meters 0.02083858394225059 Centerline is valid? [True, True] Translation: X:71.46, Y:0.46, Z:-0.04 [[ 9.99963007e-01 -8.54725042e-03 -9.63647673e-04 7.14639666e+01] [ 8.54723623e-03 9.99963472e-01 -1.88368438e-05 4.55819174e-01] [ 9.63773476e-04 1.05996226e-05 9.99999536e-01 -3.55456140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.460281693 meters 0.022609329177465966 Centerline is valid? [True, True] Translation: X:71.52, Y:0.46, Z:-0.03 [[ 9.99977256e-01 -6.72622855e-03 4.95201730e-04 7.15240822e+01] [ 6.72622459e-03 9.99977379e-01 9.67495249e-06 4.57494136e-01] [-4.95255603e-04 -6.34389439e-06 9.99999877e-01 -3.28106273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.520281693 meters 0.022474956963218332 Centerline is valid? [True, True] Translation: X:71.59, Y:0.46, Z:-0.04 [[ 9.99975552e-01 -6.87397913e-03 -1.28228989e-03 7.15852352e+01] [ 6.87395274e-03 9.99976374e-01 -2.49868504e-05 4.56211199e-01] [ 1.28243135e-03 1.61718394e-05 9.99999178e-01 -3.67112037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.580281693 meters 0.021031715875557692 Centerline is valid? [True, True] Translation: X:71.65, Y:0.45, Z:-0.04 [[ 9.99959634e-01 -8.82955373e-03 -1.66397773e-03 7.16456951e+01] [ 8.82951198e-03 9.99961019e-01 -3.24343924e-05 4.52480198e-01] [ 1.66419924e-03 1.77409718e-05 9.99998615e-01 -3.77263749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.640281693 meters 0.017925695669086333 Centerline is valid? [True, True] Translation: X:71.71, Y:0.44, Z:-0.04 [[ 9.99917063e-01 -1.28527584e-02 -8.20421179e-04 7.17063255e+01] [ 1.28527496e-02 9.99917400e-01 -1.59790612e-05 4.44039594e-01] [ 8.20558787e-04 5.43306795e-06 9.99999663e-01 -3.60587331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70028169300001 meters 0.016705678236608894 Centerline is valid? [True, True] Translation: X:71.77, Y:0.44, Z:-0.04 [[ 9.99879244e-01 -1.54769278e-02 -1.40081627e-03 7.17679079e+01] [ 1.54769048e-02 9.99880225e-01 -2.72520324e-05 4.37456788e-01] [ 1.40107026e-03 5.56844155e-06 9.99999018e-01 -3.73458409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.760281693 meters 0.016356597535617134 Centerline is valid? [True, True] Translation: X:71.83, Y:0.44, Z:-0.04 [[ 9.99865928e-01 -1.63052543e-02 -1.50471832e-03 7.18280086e+01] [ 1.63052288e-02 9.99867060e-01 -2.92616244e-05 4.35413032e-01] [ 1.50499540e-03 4.72292486e-06 9.99998867e-01 -3.71082830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.820281693 meters 0.016139190992810852 Centerline is valid? [True, True] Translation: X:71.89, Y:0.44, Z:-0.03 [[ 9.99863056e-01 -1.65490034e-02 1.77267066e-05 7.18890982e+01] [ 1.65490034e-02 9.99863056e-01 3.52125588e-07 4.36143603e-01] [-1.77301063e-05 -5.87180388e-08 1.00000000e+00 -3.43132052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.880281693 meters 0.01626754607071536 Centerline is valid? [True, True] Translation: X:71.95, Y:0.44, Z:-0.04 [[ 9.99862061e-01 -1.65475716e-02 -1.42744522e-03 7.19507896e+01] [ 1.65475490e-02 9.99863080e-01 -2.76906017e-05 4.38038752e-01] [ 1.42770799e-03 4.06606235e-06 9.99998981e-01 -3.76927426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.940281693 meters 0.016002499288965834 Centerline is valid? [True, True] Translation: X:72.01, Y:0.44, Z:-0.04 [[ 9.99848450e-01 -1.73429236e-02 -1.51636703e-03 7.20116533e+01] [ 1.73428990e-02 9.99849600e-01 -2.93819390e-05 4.38367083e-01] [ 1.51664854e-03 3.07928585e-06 9.99998850e-01 -3.72359616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.000281693 meters 0.01566995451434331 Centerline is valid? [True, True] Translation: X:72.07, Y:0.44, Z:-0.04 [[ 9.99815917e-01 -1.91794397e-02 -5.29501592e-04 7.20726027e+01] [ 1.91794370e-02 9.99816058e-01 -1.02429629e-05 4.35147312e-01] [ 5.29600649e-04 8.55349820e-08 9.99999860e-01 -3.53194672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06028169300001 meters 0.015822745186596397 Centerline is valid? [True, True] Translation: X:72.13, Y:0.43, Z:-0.03 [[ 9.99768175e-01 -2.15304047e-02 -1.93478065e-04 7.21335848e+01] [ 2.15304043e-02 9.99768194e-01 -3.73339511e-06 4.32228787e-01] [ 1.93513597e-04 -4.33131360e-07 9.99999981e-01 -3.40910066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.120281693 meters 0.015624134277367299 Centerline is valid? [True, True] Translation: X:72.19, Y:0.43, Z:-0.04 [[ 9.99824409e-01 -1.86609194e-02 -1.70936672e-03 7.21946957e+01] [ 1.86608902e-02 9.99825870e-01 -3.30070194e-05 4.34018578e-01] [ 1.70968501e-03 1.10291886e-06 9.99998538e-01 -3.66237331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.180281693 meters 0.01883434958894274 Centerline is valid? [True, True] Translation: X:72.25, Y:0.45, Z:-0.04 [[ 9.99943153e-01 -1.06091979e-02 -1.06566526e-03 7.22549034e+01] [ 1.06091820e-02 9.99943721e-01 -2.05823171e-05 4.45955841e-01] [ 1.06582365e-03 9.27531036e-06 9.99999432e-01 -3.55165787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.240281693 meters 0.02369206306170035 Centerline is valid? [True, True] Translation: X:72.32, Y:0.45, Z:-0.04 [[ 9.99992158e-01 -3.76675958e-03 -1.22288909e-03 7.23150736e+01] [ 3.76673351e-03 9.99992906e-01 -2.36189468e-05 4.54340787e-01] [ 1.22296938e-03 1.90124642e-05 9.99999252e-01 -3.58359934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.300281693 meters 0.028548156284740202 Centerline is valid? [True, True] Translation: X:72.37, Y:0.46, Z:-0.03 [[ 9.99999943e-01 -2.49584601e-04 -2.28760682e-04 7.23746210e+01] [ 2.49583595e-04 9.99999969e-01 -4.42498130e-06 4.62266782e-01] [ 2.28761779e-04 4.36788614e-06 9.99999974e-01 -3.42809460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.360281693 meters 0.035202917604339495 Centerline is valid? [True, True] Translation: X:72.43, Y:0.47, Z:-0.04 [[ 9.99989591e-01 4.41050682e-03 -1.16852647e-03 7.24344577e+01] [-4.41053615e-03 9.99990273e-01 -2.25241554e-05 4.74922540e-01] [ 1.16841576e-03 2.76777492e-05 9.99999317e-01 -3.59769542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.420281693 meters 0.03433611310596774 Centerline is valid? [True, True] Translation: X:72.49, Y:0.48, Z:-0.03 [[ 9.99968985e-01 7.87551806e-03 -7.54108060e-05 7.24934890e+01] [-7.87551819e-03 9.99968988e-01 -1.46955339e-06 4.80623887e-01] [ 7.53968939e-05 2.06340699e-06 9.99999997e-01 -3.42022917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48028169300001 meters 0.03587636979065222 Centerline is valid? [True, True] Translation: X:72.55, Y:0.49, Z:-0.04 [[ 9.99964279e-01 8.10148183e-03 -2.40975341e-03 7.25522760e+01] [-8.10161779e-03 9.99967180e-01 -4.66613624e-05 4.89875232e-01] [ 2.40929629e-03 6.61825967e-05 9.99997095e-01 -3.86811877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.540281693 meters 0.03691738137438479 Centerline is valid? [True, True] Translation: X:72.61, Y:0.49, Z:-0.04 [[ 9.99955867e-01 8.12434526e-03 -4.71788647e-03 7.26096286e+01] [-8.12486792e-03 9.99966989e-01 -9.16267116e-05 4.94706261e-01] [ 4.71698632e-03 1.29954872e-04 9.99988867e-01 -4.36178461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.600281693 meters 0.0384255770742676 Centerline is valid? [True, True] Translation: X:72.67, Y:0.50, Z:-0.04 [[ 9.99969418e-01 7.56135231e-03 -1.99747827e-03 7.26676917e+01] [-7.56144513e-03 9.99971411e-01 -3.89189548e-05 5.04055204e-01] [ 1.99712689e-03 5.40215869e-05 9.99998004e-01 -3.76415241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.660281693 meters 0.034927037558186436 Centerline is valid? [True, True] Translation: X:72.73, Y:0.50, Z:-0.04 [[ 9.99974821e-01 7.07678773e-03 -5.25326270e-04 7.27264839e+01] [-7.07679410e-03 9.99974959e-01 -1.02710571e-05 5.04504291e-01] [ 5.25240429e-04 1.39884244e-05 9.99999862e-01 -3.59701982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.720281693 meters 0.034078679367836644 Centerline is valid? [True, True] Translation: X:72.79, Y:0.51, Z:-0.04 [[ 9.99971817e-01 6.92281157e-03 -2.90503023e-03 7.27858864e+01] [-6.92300573e-03 9.99976034e-01 -5.67866937e-05 5.09148207e-01] [ 2.90456748e-03 7.68966343e-05 9.99995779e-01 -3.96594117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.780281693 meters 0.03564572925126698 Centerline is valid? [True, True] Translation: X:72.84, Y:0.52, Z:-0.03 [[ 9.99981990e-01 5.93846209e-03 -8.68150205e-04 7.28440376e+01] [-5.93847908e-03 9.99982367e-01 -1.69922356e-05 5.22249190e-01] [ 8.68033989e-04 2.21474214e-05 9.99999623e-01 -3.49824551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84028169300001 meters 0.03281697761834481 Centerline is valid? [True, True] Translation: X:72.90, Y:0.52, Z:-0.03 [[ 9.99987670e-01 4.94786434e-03 -4.22790740e-04 7.29032486e+01] [-4.94786828e-03 9.99987759e-01 -8.28974004e-06 5.23331219e-01] [ 4.22744548e-04 1.03815507e-05 9.99999911e-01 -3.42380780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.900281693 meters 0.031210555629649847 Centerline is valid? [True, True] Translation: X:72.96, Y:0.53, Z:-0.03 [[ 9.99999355e-01 1.08482893e-03 -3.34908800e-04 7.29624621e+01] [-1.08483118e-03 9.99999412e-01 -6.53262234e-06 5.31321323e-01] [ 3.34901516e-04 6.89593764e-06 9.99999944e-01 -3.47084441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.960281693 meters 0.022611022826708467 Centerline is valid? [True, True] Translation: X:73.02, Y:0.53, Z:-0.04 [[ 9.99984083e-01 -5.48442908e-03 -1.32492698e-03 7.30236037e+01] [ 5.48439961e-03 9.99984960e-01 -2.58794221e-05 5.25361481e-01] [ 1.32504899e-03 1.86125811e-05 9.99999122e-01 -3.58640627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.020281693 meters 0.016527522801051638 Centerline is valid? [True, True] Translation: X:73.08, Y:0.51, Z:-0.04 [[ 9.99847641e-01 -1.70360469e-02 -3.80363894e-03 7.30839159e+01] [ 1.70358875e-02 9.99854876e-01 -7.43070851e-05 5.13571818e-01] [ 3.80435284e-03 9.49739888e-06 9.99992763e-01 -4.05154018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.080281693 meters 0.020367932645574266 Centerline is valid? [True, True] Translation: X:73.14, Y:0.49, Z:-0.04 [[ 9.99539558e-01 -3.02921571e-02 -1.74841802e-03 7.31444793e+01] [ 3.02921437e-02 9.99541087e-01 -3.41547031e-05 4.92611044e-01] [ 1.74865027e-03 -1.88243532e-05 9.99998471e-01 -3.67792353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.140281693 meters 0.0313820223231609 Centerline is valid? [True, True] Translation: X:73.20, Y:0.47, Z:-0.04 [[ 9.99138410e-01 -4.14852474e-02 -1.18792709e-03 7.32041344e+01] [ 4.14852491e-02 9.99139116e-01 -2.31505764e-05 4.66195105e-01] [ 1.18786484e-03 -2.61508214e-05 9.99999294e-01 -3.53104048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20028169300001 meters 0.03734316426363029 Centerline is valid? [True, True] Translation: X:73.26, Y:0.45, Z:-0.04 [[ 9.98831607e-01 -4.82162859e-02 -3.25743316e-03 7.32646782e+01] [ 4.82163349e-02 9.98836914e-01 -6.35133508e-05 4.46330254e-01] [ 3.25670687e-03 -9.36223461e-05 9.99994693e-01 -3.81426392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.260281693 meters 0.03575806862729952 Centerline is valid? [True, True] Translation: X:73.32, Y:0.44, Z:-0.03 [[ 9.98886291e-01 -4.71701441e-02 -1.07493259e-03 7.33240863e+01] [ 4.71701488e-02 9.98886869e-01 -2.09908374e-05 4.42552646e-01] [ 1.07472619e-03 -2.97372704e-05 9.99999422e-01 -3.37979142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.320281693 meters 0.030844469535011156 Centerline is valid? [True, True] Translation: X:73.38, Y:0.44, Z:-0.04 [[ 9.99132825e-01 -4.14949913e-02 -3.42985490e-03 7.33835218e+01] [ 4.14950057e-02 9.99138709e-01 -6.69938202e-05 4.42855379e-01] [ 3.42968070e-03 -7.53861238e-05 9.99994116e-01 -3.74922857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.380281693 meters 0.02675236987884026 Centerline is valid? [True, True] Translation: X:73.44, Y:0.45, Z:-0.03 [[ 9.99285626e-01 -3.77448285e-02 -1.88840666e-03 7.34432030e+01] [ 3.77448261e-02 9.99287409e-01 -3.69332003e-05 4.45891431e-01] [ 1.88845504e-03 -3.43707647e-05 9.99998216e-01 -3.42923264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.440281693 meters 0.02758291335431539 Centerline is valid? [True, True] Translation: X:73.50, Y:0.44, Z:-0.03 [[ 9.99282543e-01 -3.78694716e-02 5.49321532e-04 7.35031154e+01] [ 3.78694714e-02 9.99282694e-01 1.07435618e-05 4.39812196e-01] [-5.49334354e-04 1.00666623e-05 9.99999849e-01 -2.93267524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.500281693 meters 0.024830532615325494 Centerline is valid? [True, True] Translation: X:73.56, Y:0.44, Z:-0.03 [[ 9.99405760e-01 -3.44663130e-02 -4.48272510e-04 7.35629021e+01] [ 3.44663125e-02 9.99405860e-01 -8.77036974e-06 4.42375718e-01] [ 4.48308455e-04 -6.68514238e-06 9.99999899e-01 -3.15525848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56028169300001 meters 0.020628476546450388 Centerline is valid? [True, True] Translation: X:73.62, Y:0.45, Z:-0.03 [[ 9.99541348e-01 -3.02824077e-02 2.64854688e-04 7.36232117e+01] [ 3.02824074e-02 9.99541383e-01 5.18183357e-06 4.49937061e-01] [-2.64890139e-04 2.84098064e-06 9.99999965e-01 -2.96708195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.620281693 meters 0.021011477065250753 Centerline is valid? [True, True] Translation: X:73.68, Y:0.45, Z:-0.03 [[ 9.99529580e-01 -3.06565614e-02 8.91447954e-04 7.36847938e+01] [ 3.06565581e-02 9.99529977e-01 1.74292386e-05 4.49218486e-01] [-8.91563274e-04 9.90768646e-06 9.99999603e-01 -2.83428035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.680281693 meters 0.025728636022439504 Centerline is valid? [True, True] Translation: X:73.75, Y:0.43, Z:-0.03 [[ 9.99368499e-01 -3.54927217e-02 1.69422718e-03 7.37460591e+01] [ 3.54927166e-02 9.99369934e-01 3.30962446e-05 4.33226294e-01] [-1.69433438e-03 2.70573808e-05 9.99998564e-01 -2.78284967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.740281693 meters 0.0310889379996598 Centerline is valid? [True, True] Translation: X:73.81, Y:0.41, Z:-0.03 [[ 9.99057687e-01 -4.33240242e-02 2.60120286e-03 7.38075477e+01] [ 4.33240388e-02 9.99061072e-01 5.07948614e-05 4.11725660e-01] [-2.60096115e-03 6.19476167e-05 9.99996616e-01 -2.73358646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.800281693 meters 0.033163339021781146 Centerline is valid? [True, True] Translation: X:73.87, Y:0.40, Z:-0.03 [[ 9.98963610e-01 -4.54933381e-02 1.43567584e-03 7.38680506e+01] [ 4.54933448e-02 9.98964641e-01 2.80339731e-05 3.97796843e-01] [-1.43546476e-03 3.73087771e-05 9.99998969e-01 -2.85075171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.860281693 meters 0.0276140102773416 Centerline is valid? [True, True] Translation: X:73.93, Y:0.39, Z:-0.03 [[ 9.99261471e-01 -3.83568221e-02 -2.29491969e-03 7.39277608e+01] [ 3.83568203e-02 9.99264105e-01 -4.48491547e-05 3.94625683e-01] [ 2.29495115e-03 -4.32097899e-05 9.99997366e-01 -3.43230879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.920281693 meters 0.019770241780010248 Centerline is valid? [True, True] Translation: X:73.99, Y:0.40, Z:-0.03 [[ 9.99531722e-01 -3.05892287e-02 -7.97970567e-04 7.39876766e+01] [ 3.05892259e-02 9.99532040e-01 -1.56062512e-05 4.00297054e-01] [ 7.98074532e-04 -8.81035883e-06 9.99999681e-01 -3.13774945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98028169300001 meters 0.018565340087161267 Centerline is valid? [True, True] Translation: X:74.05, Y:0.40, Z:-0.03 [[ 9.99606712e-01 -2.80430609e-02 9.50777288e-05 7.40461477e+01] [ 2.80430609e-02 9.99606716e-01 1.85027903e-06 3.97305122e-01] [-9.50922238e-05 8.16719201e-07 9.99999995e-01 -3.06652161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.040281693 meters 0.018787677686016926 Centerline is valid? [True, True] Translation: X:74.11, Y:0.39, Z:-0.03 [[ 9.99598656e-01 -2.83266600e-02 3.57204432e-04 7.41058574e+01] [ 2.83266593e-02 9.99598720e-01 6.99689178e-06 3.85584925e-01] [-3.57259292e-04 3.12432465e-06 9.99999936e-01 -3.05555404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.100281693 meters 0.017625017152213207 Centerline is valid? [True, True] Translation: X:74.17, Y:0.38, Z:-0.03 [[ 9.99640711e-01 -2.68023314e-02 2.90298474e-04 7.41654045e+01] [ 2.68023309e-02 9.99640753e-01 5.69137243e-06 3.83397159e-01] [-2.90346727e-04 2.09134817e-06 9.99999958e-01 -3.11873915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.160281693 meters 0.01537828785812183 Centerline is valid? [True, True] Translation: X:74.22, Y:0.39, Z:-0.03 [[ 9.99793971e-01 -2.02912874e-02 5.28333881e-04 7.42249558e+01] [ 2.02912847e-02 9.99794111e-01 1.03711287e-05 3.88125493e-01] [-5.28435546e-04 3.51581263e-07 9.99999860e-01 -3.00357338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.220281693 meters 0.016007204229580716 Centerline is valid? [True, True] Translation: X:74.29, Y:0.39, Z:-0.03 [[ 9.99879261e-01 -1.53358997e-02 2.50465509e-03 7.42851173e+01] [ 1.53358246e-02 9.99882398e-01 4.91538511e-05 3.90428625e-01] [-2.50511436e-03 -1.07369651e-05 9.99996862e-01 -2.71546409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.280281693 meters 0.017149589159113007 Centerline is valid? [True, True] Translation: X:74.35, Y:0.39, Z:-0.03 [[ 9.99915241e-01 -1.28674593e-02 1.98490064e-03 7.43454071e+01] [ 1.28674073e-02 9.99917211e-01 3.89536711e-05 3.87055270e-01] [-1.98523755e-03 -1.34098444e-05 9.99998029e-01 -2.78096545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34028169300001 meters 0.01843240231696089 Centerline is valid? [True, True] Translation: X:74.41, Y:0.39, Z:-0.03 [[ 9.99940399e-01 -1.09170670e-02 -1.22941398e-04 7.44056660e+01] [ 1.09170668e-02 9.99940407e-01 -2.40718359e-06 3.86743186e-01] [ 1.22960351e-04 1.06488066e-06 9.99999992e-01 -3.16254724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.400281693 meters 0.02293102082286984 Centerline is valid? [True, True] Translation: X:74.47, Y:0.40, Z:-0.03 [[ 9.99987719e-01 -4.84203578e-03 1.05707449e-03 7.44662982e+01] [ 4.84201657e-03 9.99988277e-01 2.07325794e-05 3.96273556e-01] [-1.05716248e-03 -1.56139526e-05 9.99999441e-01 -2.91764076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.460281693 meters 0.028203903628385145 Centerline is valid? [True, True] Translation: X:74.53, Y:0.41, Z:-0.03 [[ 9.99996883e-01 8.59305190e-04 2.34415135e-03 7.45260487e+01] [-8.59415380e-04 9.99999630e-01 4.59996070e-05 4.09167372e-01] [-2.34411095e-03 -4.80140634e-05 9.99997251e-01 -2.56759881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.520281693 meters 0.03437925044485772 Centerline is valid? [True, True] Translation: X:74.59, Y:0.43, Z:-0.03 [[ 9.99974094e-01 7.05110380e-03 1.44665363e-03 7.45866730e+01] [-7.05115223e-03 9.99975140e-01 2.83793060e-05 4.26063968e-01] [-1.44641756e-03 -3.85791458e-05 9.99998953e-01 -2.83141885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.580281693 meters 0.035912045449705804 Centerline is valid? [True, True] Translation: X:74.65, Y:0.44, Z:-0.03 [[ 9.99974206e-01 7.12930372e-03 8.71987554e-04 7.46467771e+01] [-7.12932132e-03 9.99974586e-01 1.70755622e-05 4.39475254e-01] [-8.71843656e-04 -2.32918012e-05 9.99999620e-01 -2.92425112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.640281693 meters 0.03263072389888231 Centerline is valid? [True, True] Translation: X:74.71, Y:0.45, Z:-0.02 [[ 9.99984369e-01 4.23526400e-03 3.65036328e-03 7.47077457e+01] [-4.23555272e-03 9.99991027e-01 7.13674715e-05 4.48412212e-01] [-3.65002827e-03 -8.68276621e-05 9.99993335e-01 -2.36709920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70028169300001 meters 0.022277525778750674 Centerline is valid? [True, True] Translation: X:74.77, Y:0.44, Z:-0.03 [[ 9.99985969e-01 -4.20524642e-03 3.22144595e-03 7.47690769e+01] [ 4.20506545e-03 9.99991157e-01 6.29476344e-05 4.41541722e-01] [-3.22168217e-03 -4.94003601e-05 9.99994809e-01 -2.55280585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.760281693 meters 0.020407755962157565 Centerline is valid? [True, True] Translation: X:74.83, Y:0.44, Z:-0.03 [[ 9.99960050e-01 -8.75877256e-03 1.78395642e-03 7.48300244e+01] [ 8.75872437e-03 9.99961641e-01 3.48216869e-05 4.41448262e-01] [-1.78419299e-03 -1.91951131e-05 9.99998408e-01 -2.74700656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.820281693 meters 0.01716762292898707 Centerline is valid? [True, True] Translation: X:74.89, Y:0.42, Z:-0.03 [[ 9.99667708e-01 -2.57743135e-02 3.97204590e-04 7.48920942e+01] [ 2.57743124e-02 9.99667787e-01 7.75013666e-06 4.15246851e-01] [-3.97272388e-04 2.49011383e-06 9.99999921e-01 -3.01199628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.880281693 meters 0.026339081433283514 Centerline is valid? [True, True] Translation: X:74.95, Y:0.39, Z:-0.03 [[ 9.99330224e-01 -3.65693614e-02 1.33616276e-03 7.49514410e+01] [ 3.65693592e-02 9.99331117e-01 2.60664636e-05 3.93623407e-01] [-1.33622226e-03 2.28136113e-05 9.99999107e-01 -2.89013512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.940281693 meters 0.0433272228997768 Centerline is valid? [True, True] Translation: X:75.01, Y:0.35, Z:-0.03 [[ 9.98635532e-01 -5.22143772e-02 8.56626639e-04 7.50124605e+01] [ 5.22143820e-02 9.98635899e-01 1.67178410e-05 3.52249020e-01] [-8.56331025e-04 2.80332005e-05 9.99999633e-01 -2.97723990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.000281693 meters 0.04339143942036347 Centerline is valid? [True, True] Translation: X:75.07, Y:0.34, Z:-0.03 [[ 9.98499979e-01 -5.47468336e-02 7.58841232e-04 7.50719586e+01] [ 5.47468382e-02 9.98500267e-01 1.48244497e-05 3.40915979e-01] [-7.58514765e-04 2.67419454e-05 9.99999712e-01 -3.01213548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06028169300001 meters 0.04155961097514622 Centerline is valid? [True, True] Translation: X:75.13, Y:0.32, Z:-0.03 [[ 9.98791148e-01 -4.91536312e-02 4.03787416e-04 7.51319188e+01] [ 4.91536320e-02 9.98791230e-01 7.89528105e-06 3.23369699e-01] [-4.03687412e-04 1.19618813e-05 9.99999918e-01 -2.94107497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.120281693 meters 0.025104139151890106 Centerline is valid? [True, True] Translation: X:75.19, Y:0.33, Z:-0.03 [[ 9.99276729e-01 -3.80235246e-02 4.80486070e-04 7.51916039e+01] [ 3.80235244e-02 9.99276844e-01 9.40310416e-06 3.34378030e-01] [-4.80496143e-04 8.87347065e-06 9.99999885e-01 -2.91201559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.180281693 meters 0.017619972923960885 Centerline is valid? [True, True] Translation: X:75.25, Y:0.34, Z:-0.03 [[ 9.99621512e-01 -2.74981149e-02 -8.29088845e-04 7.52506668e+01] [ 2.74981109e-02 9.99621855e-01 -1.62508750e-05 3.36871853e-01] [ 8.29222198e-04 -6.55365278e-06 9.99999656e-01 -3.19676557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.240281693 meters 0.015117468879606437 Centerline is valid? [True, True] Translation: X:75.31, Y:0.34, Z:-0.03 [[ 9.99817461e-01 -1.90710547e-02 -1.15698491e-03 7.53093312e+01] [ 1.90710410e-02 9.99818131e-01 -2.29209294e-05 3.43935167e-01] [ 1.15721161e-03 8.51838931e-07 9.99999330e-01 -3.23370631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.300281693 meters 0.018227203553534292 Centerline is valid? [True, True] Translation: X:75.37, Y:0.35, Z:-0.04 [[ 9.99932925e-01 -1.12913145e-02 -2.57923354e-03 7.53677024e+01] [ 1.12912193e-02 9.99936251e-01 -5.14496278e-05 3.53007701e-01] [ 2.57965005e-03 2.23234853e-05 9.99996672e-01 -3.55542800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.360281693 meters 0.025789840701250285 Centerline is valid? [True, True] Translation: X:75.43, Y:0.37, Z:-0.03 [[ 9.99997284e-01 -2.33030021e-03 -4.45864241e-05 7.54269699e+01] [ 2.33030017e-03 9.99997285e-01 -8.92931746e-07 3.65103547e-01] [ 4.45883839e-05 7.89029569e-07 9.99999999e-01 -3.09468071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.420281693 meters 0.0334442463530397 Centerline is valid? [True, True] Translation: X:75.49, Y:0.38, Z:-0.03 [[ 9.99987286e-01 4.71706005e-03 -1.78269751e-03 7.54860122e+01] [-4.71713092e-03 9.99988874e-01 -3.55558918e-05 3.75334627e-01] [ 1.78250996e-03 4.39646573e-05 9.99998410e-01 -3.44449423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48028169300001 meters 0.03539788045155666 Centerline is valid? [True, True] Translation: X:75.55, Y:0.38, Z:-0.04 [[ 9.99966456e-01 7.83735423e-03 -2.37946047e-03 7.55454838e+01] [-7.83748947e-03 9.99969285e-01 -4.75184768e-05 3.79048169e-01] [ 2.37901496e-03 6.61658793e-05 9.99997168e-01 -3.51917558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.540281693 meters 0.037332442823343845 Centerline is valid? [True, True] Translation: X:75.60, Y:0.38, Z:-0.03 [[ 9.99965939e-01 8.13017204e-03 -1.42160162e-03 7.56045788e+01] [-8.13022069e-03 9.99966949e-01 -2.84456666e-05 3.81091795e-01] [ 1.42132337e-03 4.00026326e-05 9.99998989e-01 -3.33704385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.600281693 meters 0.032088445957612635 Centerline is valid? [True, True] Translation: X:75.67, Y:0.37, Z:-0.03 [[ 9.99985340e-01 5.40897650e-03 2.49831150e-04 7.56655348e+01] [-5.40897792e-03 9.99985371e-01 4.99693449e-06 3.69298659e-01] [-2.49800467e-04 -6.34819240e-06 9.99999969e-01 -3.18256164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.660281693 meters 0.03113557508794989 Centerline is valid? [True, True] Translation: X:75.73, Y:0.37, Z:-0.04 [[ 9.99986706e-01 4.86449789e-03 -1.71021800e-03 7.57260356e+01] [-4.86456350e-03 9.99988167e-01 -3.42064923e-05 3.65845778e-01] [ 1.71003137e-03 4.25255016e-05 9.99998537e-01 -3.52729738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.720281693 meters 0.030252122682363845 Centerline is valid? [True, True] Translation: X:75.79, Y:0.36, Z:-0.04 [[ 9.99990660e-01 3.65342220e-03 -2.30931784e-03 7.57859409e+01] [-3.65353875e-03 9.99993325e-01 -4.62518482e-05 3.62509157e-01] [ 2.30913344e-03 5.46885984e-05 9.99997332e-01 -3.63294148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.780281693 meters 0.030385189528148924 Centerline is valid? [True, True] Translation: X:75.85, Y:0.36, Z:-0.03 [[ 9.99998526e-01 1.43864057e-03 -9.37229978e-04 7.58453910e+01] [-1.43865881e-03 9.99998965e-01 -1.87828675e-05 3.61667160e-01] [ 9.37201986e-04 2.01311939e-05 9.99999561e-01 -3.35409470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84028169300001 meters 0.02476911102862184 Centerline is valid? [True, True] Translation: X:75.91, Y:0.35, Z:-0.03 [[ 9.99994108e-01 -3.29811216e-03 9.51565021e-04 7.59054919e+01] [ 3.29809550e-03 9.99994561e-01 1.90729695e-05 3.53165593e-01] [-9.51622750e-04 -1.59345048e-05 9.99999547e-01 -2.95787088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.900281693 meters 0.024187870172637686 Centerline is valid? [True, True] Translation: X:75.97, Y:0.35, Z:-0.03 [[ 9.99994454e-01 -3.29369069e-03 -4.93617589e-04 7.59664355e+01] [ 3.29368620e-03 9.99994576e-01 -9.89601198e-06 3.54052437e-01] [ 4.93647506e-04 8.27013566e-06 9.99999878e-01 -3.04369750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.960281693 meters 0.03447467804644523 Centerline is valid? [True, True] Translation: X:76.03, Y:0.37, Z:-0.03 [[ 9.99980246e-01 6.19884048e-03 -1.04043121e-03 7.60256621e+01] [-6.19886554e-03 9.99980787e-01 -2.08620120e-05 3.74713372e-01] [ 1.04028189e-03 2.73110930e-05 9.99999459e-01 -3.07193343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.020281693 meters 0.044808333767214714 Centerline is valid? [True, True] Translation: X:76.09, Y:0.40, Z:-0.03 [[ 9.99851896e-01 1.72049692e-02 4.17325182e-04 7.60853419e+01] [-1.72049742e-02 9.99851983e-01 8.36777783e-06 3.99146402e-01] [-4.17119444e-04 -1.55466075e-05 9.99999913e-01 -2.83395953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.080281693 meters 0.05688431929557791 Centerline is valid? [True, True] Translation: X:76.14, Y:0.43, Z:-0.03 [[ 9.99664348e-01 2.59017914e-02 5.36615246e-04 7.61438986e+01] [-2.59018009e-02 9.99664492e-01 1.07631506e-05 4.26831415e-01] [-5.36156422e-04 -2.46588392e-05 9.99999856e-01 -2.82550730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.140281693 meters 0.059818972319840666 Centerline is valid? [True, True] Translation: X:76.20, Y:0.44, Z:-0.03 [[ 9.99599030e-01 2.83064453e-02 -7.24092473e-04 7.62042546e+01] [-2.83064632e-02 9.99599292e-01 -1.45287944e-05 4.38700809e-01] [ 7.23391065e-04 3.50194657e-05 9.99999738e-01 -3.09624583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20028169300001 meters 0.060320654146668755 Centerline is valid? [True, True] Translation: X:76.26, Y:0.45, Z:-0.03 [[ 9.99578375e-01 2.90066203e-02 -1.29935036e-03 7.62630918e+01] [-2.90066787e-02 9.99579217e-01 -2.61263441e-05 4.54170240e-01] [ 1.29804578e-03 6.38051671e-05 9.99999156e-01 -3.22424088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.260281693 meters 0.05293024990697291 Centerline is valid? [True, True] Translation: X:76.32, Y:0.46, Z:-0.03 [[ 9.99677370e-01 2.53827135e-02 -9.34767338e-04 7.63232464e+01] [-2.53827421e-02 9.99677806e-01 -1.87899697e-05 4.59651271e-01] [ 9.33989222e-04 4.25108658e-05 9.99999563e-01 -3.22527065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.320281693 meters 0.0530831987421402 Centerline is valid? [True, True] Translation: X:76.38, Y:0.47, Z:-0.03 [[ 9.99780602e-01 2.08198240e-02 -2.29826958e-03 7.63826211e+01] [-2.08199852e-02 9.99783240e-01 -4.62316885e-05 4.72992213e-01] [ 2.29680887e-03 9.40714840e-05 9.99997358e-01 -3.49059089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.380281693 meters 0.04296128695889977 Centerline is valid? [True, True] Translation: X:76.44, Y:0.47, Z:-0.03 [[ 9.99866374e-01 1.63224100e-02 -9.01796408e-04 7.64427981e+01] [-1.63224330e-02 9.99866780e-01 -1.81413188e-05 4.73888162e-01] [ 9.01380161e-04 3.28584060e-05 9.99999593e-01 -3.10340980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.440281693 meters 0.03881082092963849 Centerline is valid? [True, True] Translation: X:76.50, Y:0.48, Z:-0.03 [[ 9.99934545e-01 1.12678633e-02 -1.98510375e-03 7.65034772e+01] [-1.12679648e-02 9.99936514e-01 -3.99378472e-05 4.82921442e-01] [ 1.98452771e-03 6.23033121e-05 9.99998029e-01 -3.27179947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.500281693 meters 0.031909738362011476 Centerline is valid? [True, True] Translation: X:76.56, Y:0.49, Z:-0.03 [[ 9.99990400e-01 3.91533438e-03 -1.96720299e-03 7.65624417e+01] [-3.91541986e-03 9.99992334e-01 -3.96074215e-05 4.86372987e-01] [ 1.96703283e-03 4.73094670e-05 9.99998064e-01 -3.43382331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56028169300001 meters 0.024766433864235677 Centerline is valid? [True, True] Translation: X:76.62, Y:0.48, Z:-0.03 [[ 9.99993173e-01 -2.97185135e-03 -2.19589336e-03 7.66229616e+01] [ 2.97176138e-03 9.99995583e-01 -4.42311933e-05 4.80811608e-01] [ 2.19601511e-03 3.77052202e-05 9.99997588e-01 -3.40656147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.620281693 meters 0.01901107179451784 Centerline is valid? [True, True] Translation: X:76.68, Y:0.47, Z:-0.03 [[ 9.99948485e-01 -1.01415444e-02 -4.20495691e-04 7.66823929e+01] [ 1.01415417e-02 9.99948573e-01 -8.47821290e-06 4.73839771e-01] [ 4.20560049e-04 4.21330154e-06 9.99999912e-01 -3.07887202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.680281693 meters 0.01483212593778083 Centerline is valid? [True, True] Translation: X:76.74, Y:0.47, Z:-0.03 [[ 9.99848021e-01 -1.74296747e-02 3.76351992e-04 7.67435994e+01] [ 1.74296731e-02 9.99848092e-01 7.58421169e-06 4.67615673e-01] [-3.76427012e-04 -1.02336685e-06 9.99999929e-01 -2.87386306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.740281693 meters 0.01475927763516768 Centerline is valid? [True, True] Translation: X:76.80, Y:0.47, Z:-0.03 [[ 9.99811494e-01 -1.93308729e-02 -1.81461338e-03 7.68036678e+01] [ 1.93308385e-02 9.99813141e-01 -3.65248709e-05 4.66573509e-01] [ 1.81498036e-03 1.43998770e-06 9.99998353e-01 -3.33717962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.800281693 meters 0.014769744184034702 Centerline is valid? [True, True] Translation: X:76.86, Y:0.47, Z:-0.03 [[ 9.99811852e-01 -1.92403416e-02 -2.46389677e-03 7.68639237e+01] [ 1.92402778e-02 9.99814887e-01 -4.95990177e-05 4.68710463e-01] [ 2.46439497e-03 2.18362743e-06 9.99996963e-01 -3.47257028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.860281693 meters 0.015040878631574838 Centerline is valid? [True, True] Translation: X:76.92, Y:0.47, Z:-0.03 [[ 9.99848679e-01 -1.72596301e-02 -2.17337945e-03 7.69238838e+01] [ 1.72595756e-02 9.99851041e-01 -4.38074455e-05 4.73500551e-01] [ 2.17381181e-03 6.28920948e-06 9.99997637e-01 -3.32838980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.920281693 meters 0.015877454650446862 Centerline is valid? [True, True] Translation: X:76.98, Y:0.48, Z:-0.03 [[ 9.99889293e-01 -1.48602135e-02 7.58873881e-04 7.69828034e+01] [ 1.48602062e-02 9.99889581e-01 1.52980515e-05 4.82887609e-01] [-7.59017419e-04 -4.01933559e-06 9.99999712e-01 -2.80220232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98028169300001 meters 0.01551339781245821 Centerline is valid? [True, True] Translation: X:77.04, Y:0.48, Z:-0.03 [[ 9.99888598e-01 -1.49228044e-02 -3.19414967e-04 7.70437476e+01] [ 1.49228031e-02 9.99888649e-01 -6.42463723e-06 4.81846250e-01] [ 3.19475274e-04 1.65735485e-06 9.99999949e-01 -3.07129260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.040281693 meters 0.019390588238856213 Centerline is valid? [True, True] Translation: X:77.10, Y:0.50, Z:-0.03 [[ 9.99943621e-01 -1.06065119e-02 -5.07627956e-04 7.71032602e+01] [ 1.06065081e-02 9.99943749e-01 -1.02235510e-05 4.95153908e-01] [ 5.07707838e-04 4.83881463e-06 9.99999871e-01 -2.97761219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.100281693 meters 0.026266302807324268 Centerline is valid? [True, True] Translation: X:77.16, Y:0.51, Z:-0.03 [[ 9.99997534e-01 -1.11601650e-03 -1.92005528e-03 7.71626731e+01] [ 1.11594423e-03 9.99999377e-01 -3.87085775e-05 5.14437307e-01] [ 1.92009728e-03 3.65658074e-05 9.99998156e-01 -3.24924804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.160281693 meters 0.03211775734515232 Centerline is valid? [True, True] Translation: X:77.22, Y:0.53, Z:-0.03 [[ 9.99987602e-01 4.91925592e-03 -7.72141065e-04 7.72225358e+01] [-4.91926941e-03 9.99987900e-01 -1.55827445e-05 5.32888680e-01] [ 7.72055067e-04 1.93809212e-05 9.99999702e-01 -3.12299492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.220281693 meters 0.03133062712291643 Centerline is valid? [True, True] Translation: X:77.28, Y:0.54, Z:-0.03 [[ 9.99988025e-01 3.98344504e-03 2.84288557e-03 7.72819941e+01] [-3.98362434e-03 9.99992064e-01 5.74103674e-05 5.38231535e-01] [-2.84263432e-03 -6.87346680e-05 9.99995957e-01 -2.52040220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.280281693 meters 0.0315712812467494 Centerline is valid? [True, True] Translation: X:77.34, Y:0.55, Z:-0.03 [[ 9.99999242e-01 -1.08306469e-03 5.86174999e-04 7.73414234e+01] [ 1.08305794e-03 9.99999413e-01 1.18419389e-05 5.48599562e-01] [-5.86187481e-04 -1.12070684e-05 9.99999828e-01 -2.86016922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34028169300001 meters 0.020927989987443472 Centerline is valid? [True, True] Translation: X:77.40, Y:0.54, Z:-0.04 [[ 9.99962593e-01 -7.81544044e-03 -3.70567016e-03 7.74021258e+01] [ 7.81521658e-03 9.99969458e-01 -7.48876570e-05 5.37330691e-01] [ 3.70614226e-03 4.59242407e-05 9.99993131e-01 -3.64663789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.400281693 meters 0.015503102800208078 Centerline is valid? [True, True] Translation: X:77.46, Y:0.53, Z:-0.03 [[ 9.99885338e-01 -1.51304467e-02 6.16255230e-04 7.74618140e+01] [ 1.51304419e-02 9.99885528e-01 1.24601133e-05 5.30053950e-01] [-6.16373213e-04 -3.13447071e-06 9.99999810e-01 -2.75835057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.460281693 meters 0.014520794624581545 Centerline is valid? [True, True] Translation: X:77.52, Y:0.53, Z:-0.03 [[ 9.99821896e-01 -1.88703160e-02 2.97398391e-04 7.75225447e+01] [ 1.88703150e-02 9.99821940e-01 6.01898209e-06 5.27785729e-01] [-2.97459016e-04 -4.05908758e-07 9.99999956e-01 -2.90859844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.520281693 meters 0.01429044101503508 Centerline is valid? [True, True] Translation: X:77.58, Y:0.53, Z:-0.03 [[ 9.99797737e-01 -2.01100156e-02 2.70733720e-04 7.75837584e+01] [ 2.01100149e-02 9.99797773e-01 5.46780691e-06 5.26659282e-01] [-2.70788928e-04 -2.22418292e-08 9.99999963e-01 -2.93575811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.580281693 meters 0.014276956193962237 Centerline is valid? [True, True] Translation: X:77.65, Y:0.53, Z:-0.03 [[ 9.99794890e-01 -2.02470551e-02 4.84457379e-04 7.76454873e+01] [ 2.02470528e-02 9.99795007e-01 9.76716071e-06 5.26662299e-01] [-4.84555825e-04 4.36767635e-08 9.99999883e-01 -2.77543376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.640281693 meters 0.01427520344931406 Centerline is valid? [True, True] Translation: X:77.71, Y:0.52, Z:-0.03 [[ 9.99751902e-01 -2.22000142e-02 1.81493329e-03 7.77071512e+01] [ 2.21999845e-02 9.99753549e-01 3.65251620e-05 5.22077808e-01] [-1.81529686e-03 3.77539077e-06 9.99998352e-01 -2.60817980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70028169300001 meters 0.014907015278850664 Centerline is valid? [True, True] Translation: X:77.77, Y:0.51, Z:-0.03 [[ 9.99713727e-01 -2.39227379e-02 4.07701320e-04 7.77685925e+01] [ 2.39227366e-02 9.99713810e-01 8.20087054e-06 5.14467852e-01] [-4.07780827e-04 1.55480843e-06 9.99999917e-01 -2.96609204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.760281693 meters 0.014749857625833508 Centerline is valid? [True, True] Translation: X:77.83, Y:0.51, Z:-0.03 [[ 9.99739759e-01 -2.26801327e-02 -2.45470291e-03 7.78293065e+01] [ 2.26800801e-02 9.99742773e-01 -4.92705106e-05 5.09134235e-01] [ 2.45518895e-03 -6.41517004e-06 9.99996986e-01 -3.24569543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.820281693 meters 0.014440413473146658 Centerline is valid? [True, True] Translation: X:77.89, Y:0.51, Z:-0.03 [[ 9.99822263e-01 -1.88120497e-02 -1.24434943e-03 7.78892641e+01] [ 1.88120331e-02 9.99823038e-01 -2.50150537e-05 5.13787227e-01] [ 1.24459981e-03 1.60186492e-06 9.99999225e-01 -2.98193907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.880281693 meters 0.018788007319507305 Centerline is valid? [True, True] Translation: X:77.95, Y:0.53, Z:-0.03 [[ 9.99949062e-01 -1.00847136e-02 -4.13741117e-04 7.79488966e+01] [ 1.00847110e-02 9.99949148e-01 -8.32343352e-06 5.26304863e-01] [ 4.13804017e-04 4.15054995e-06 9.99999914e-01 -2.90099593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.940281693 meters 0.019732259345199038 Centerline is valid? [True, True] Translation: X:78.01, Y:0.53, Z:-0.03 [[ 9.99957441e-01 -9.13606107e-03 1.28409076e-03 7.80097811e+01] [ 9.13603548e-03 9.99958265e-01 2.57991850e-05 5.29340232e-01] [-1.28427288e-03 -1.40665883e-05 9.99999175e-01 -2.83121987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.000281693 meters 0.015088576725498494 Centerline is valid? [True, True] Translation: X:78.07, Y:0.52, Z:-0.03 [[ 9.99859004e-01 -1.67813621e-02 -5.99023054e-04 7.80708146e+01] [ 1.67813579e-02 9.99859183e-01 -1.20102088e-05 5.17610973e-01] [ 5.99140249e-04 1.95609515e-06 9.99999821e-01 -3.18766886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06028169300001 meters 0.01500988855890206 Centerline is valid? [True, True] Translation: X:78.13, Y:0.51, Z:-0.03 [[ 9.99742477e-01 -2.26697432e-02 -1.03119828e-03 7.81315308e+01] [ 2.26697339e-02 9.99743008e-01 -2.06886221e-05 5.07313087e-01] [ 1.03140227e-03 -2.69369629e-06 9.99999468e-01 -3.29828050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.120281693 meters 0.018680641445172775 Centerline is valid? [True, True] Translation: X:78.19, Y:0.49, Z:-0.03 [[ 9.99581473e-01 -2.88752236e-02 -1.76069800e-03 7.81914467e+01] [ 2.88752062e-02 9.99583024e-01 -3.53475237e-05 4.94233196e-01] [ 1.76098450e-03 -1.55077879e-05 9.99998449e-01 -3.47283176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.180281693 meters 0.02113918234012458 Centerline is valid? [True, True] Translation: X:78.25, Y:0.48, Z:-0.03 [[ 9.99499669e-01 -3.16258880e-02 4.63113744e-04 7.82516407e+01] [ 3.16258871e-02 9.99499776e-01 9.29894241e-06 4.84587259e-01] [-4.63176171e-04 5.35209312e-06 9.99999893e-01 -2.88047717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.240281693 meters 0.02065874364582789 Centerline is valid? [True, True] Translation: X:78.31, Y:0.48, Z:-0.03 [[ 9.99469303e-01 -3.25337291e-02 1.63360900e-03 7.83112880e+01] [ 3.25337188e-02 9.99470638e-01 3.28572352e-05 4.81417058e-01] [-1.63381319e-03 2.03075777e-05 9.99998665e-01 -2.68584770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.300281693 meters 0.024307407783618 Centerline is valid? [True, True] Translation: X:78.37, Y:0.47, Z:-0.03 [[ 9.99406718e-01 -3.44308278e-02 -8.54315896e-04 7.83708339e+01] [ 3.44308257e-02 9.99407083e-01 -1.72007483e-05 4.66598066e-01] [ 8.54401593e-04 -1.22242583e-05 9.99999635e-01 -3.20640314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.360281693 meters 0.02477981991938064 Centerline is valid? [True, True] Translation: X:78.43, Y:0.46, Z:-0.03 [[ 9.99393831e-01 -3.48074496e-02 6.42023614e-04 7.84294396e+01] [ 3.48074484e-02 9.99394037e-01 1.29674984e-05 4.55579094e-01] [-6.42085937e-04 9.38756594e-06 9.99999794e-01 -2.92323296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.420281693 meters 0.01990057638740503 Centerline is valid? [True, True] Translation: X:78.49, Y:0.46, Z:-0.03 [[ 9.99516246e-01 -3.10939864e-02 6.61669271e-04 7.84890802e+01] [ 3.10939843e-02 9.99516465e-01 1.34241264e-05 4.57755551e-01] [-6.61766741e-04 7.15630151e-06 9.99999781e-01 -2.98173239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.480281693 meters 0.015427959962234545 Centerline is valid? [True, True] Translation: X:78.55, Y:0.46, Z:-0.03 [[ 9.99716468e-01 -2.36880402e-02 -2.42062456e-03 7.85488223e+01] [ 2.36879905e-02 9.99719399e-01 -4.92016414e-05 4.61253496e-01] [ 2.42111082e-03 -8.15204054e-06 9.99997069e-01 -3.44668592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.540281693 meters 0.014917201452208468 Centerline is valid? [True, True] Translation: X:78.61, Y:0.46, Z:-0.03 [[ 9.99788890e-01 -2.05252729e-02 -9.42599140e-04 7.86071531e+01] [ 2.05252637e-02 9.99789334e-01 -1.93609981e-05 4.59916628e-01] [ 9.42797956e-04 9.81484759e-09 9.99999556e-01 -3.20617117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.600281693 meters 0.014920528491770101 Centerline is valid? [True, True] Translation: X:78.67, Y:0.46, Z:-0.03 [[ 9.99834110e-01 -1.82139319e-02 6.64580413e-05 7.86671615e+01] [ 1.82139319e-02 9.99834113e-01 1.35477198e-06 4.55823520e-01] [-6.64716925e-05 -1.44085004e-07 9.99999998e-01 -2.93451954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.660281693 meters 0.016800602952637658 Centerline is valid? [True, True] Translation: X:78.73, Y:0.45, Z:-0.03 [[ 9.99901089e-01 -1.40350953e-02 -9.10476866e-04 7.87269087e+01] [ 1.40350841e-02 9.99901503e-01 -1.86978801e-05 4.51176910e-01] [ 9.10649613e-04 5.91741126e-06 9.99999585e-01 -3.13263564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.720281693 meters 0.019454836061478357 Centerline is valid? [True, True] Translation: X:78.79, Y:0.45, Z:-0.03 [[ 9.99944882e-01 -1.04613506e-02 -8.90414055e-04 7.87860638e+01] [ 1.04613384e-02 9.99945279e-01 -1.83062274e-05 4.46362279e-01] [ 8.90556838e-04 8.99029564e-06 9.99999603e-01 -3.16530969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.780281693 meters 0.025572222675502906 Centerline is valid? [True, True] Translation: X:78.85, Y:0.45, Z:-0.04 [[ 9.99985781e-01 -4.09369563e-03 -3.41756287e-03 7.88459245e+01] [ 4.09347921e-03 9.99991619e-01 -7.03167815e-05 4.46191468e-01] [ 3.41782208e-03 5.63260591e-05 9.99994158e-01 -3.54987016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84028169300001 meters 0.02960396371800004 Centerline is valid? [True, True] Translation: X:78.91, Y:0.45, Z:-0.03 [[ 9.99997265e-01 1.04888200e-03 -2.09048493e-03 7.89054536e+01] [-1.04897431e-03 9.99999449e-01 -4.30632454e-05 4.47370966e-01] [ 2.09043861e-03 4.52559926e-05 9.99997814e-01 -3.20106308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.900281693 meters 0.03418440514034377 Centerline is valid? [True, True] Translation: X:78.97, Y:0.45, Z:-0.03 [[ 9.99979674e-01 6.35608896e-03 -5.01855804e-04 7.89657009e+01] [-6.35609496e-03 9.99979800e-01 -1.03460179e-05 4.48888664e-01] [ 5.01779906e-04 1.35356508e-05 9.99999874e-01 -2.97968972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.960281693 meters 0.04253950778390332 Centerline is valid? [True, True] Translation: X:79.03, Y:0.46, Z:-0.03 [[ 9.99946513e-01 1.01903181e-02 -1.76860059e-03 7.90256098e+01] [-1.01903983e-02 9.99948076e-01 -3.63680014e-05 4.57186049e-01] [ 1.76813816e-03 5.43888007e-05 9.99998435e-01 -3.27016886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.020281693 meters 0.039570679624656414 Centerline is valid? [True, True] Translation: X:79.09, Y:0.45, Z:-0.03 [[ 9.99915673e-01 1.29803169e-02 -3.98282713e-04 7.90859185e+01] [-1.29803212e-02 9.99915752e-01 -8.20159391e-06 4.51140605e-01] [ 3.98142700e-04 1.33707398e-05 9.99999921e-01 -3.09899190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.080281693 meters 0.043794333931358564 Centerline is valid? [True, True] Translation: X:79.15, Y:0.46, Z:-0.04 [[ 9.99899700e-01 1.38991118e-02 -2.72113784e-03 7.91455307e+01] [-1.38993158e-02 9.99903398e-01 -5.60425686e-05 4.57822479e-01] [ 2.72009603e-03 9.38589016e-05 9.99996296e-01 -3.55729297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.140281693 meters 0.046692325419916976 Centerline is valid? [True, True] Translation: X:79.20, Y:0.46, Z:-0.04 [[ 9.99876837e-01 1.52344546e-02 -3.77133717e-03 7.92045576e+01] [-1.52348562e-02 9.99883940e-01 -7.77575595e-05 4.64909377e-01] [ 3.76971487e-03 1.35203762e-04 9.99992885e-01 -3.64834542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20028169300001 meters 0.04607561926995069 Centerline is valid? [True, True] Translation: X:79.26, Y:0.47, Z:-0.03 [[ 9.99856964e-01 1.68987279e-02 -6.96186304e-04 7.92642157e+01] [-1.68987420e-02 9.99857206e-01 -1.43763586e-05 4.71676335e-01] [ 6.95843951e-04 2.61389750e-05 9.99999758e-01 -3.12115019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.260281693 meters 0.04684252051309459 Centerline is valid? [True, True] Translation: X:79.32, Y:0.48, Z:-0.03 [[ 9.99830000e-01 1.82845097e-02 -2.37634934e-03 7.93245260e+01] [-1.82846778e-02 9.99832820e-01 -4.90450737e-05 4.81641758e-01] [ 2.37505530e-03 9.24875181e-05 9.99997175e-01 -3.43755798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.320281693 meters 0.04631165455633457 Centerline is valid? [True, True] Translation: X:79.38, Y:0.49, Z:-0.04 [[ 9.99886861e-01 1.47707516e-02 -2.84435929e-03 7.93837029e+01] [-1.47709784e-02 9.99890901e-01 -5.87404131e-05 4.89913030e-01] [ 2.84318134e-03 1.00747737e-04 9.99995953e-01 -3.51962309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.380281693 meters 0.03961009566057908 Centerline is valid? [True, True] Translation: X:79.44, Y:0.49, Z:-0.03 [[ 9.99940880e-01 1.08212964e-02 -1.06618182e-03 7.94436412e+01] [-1.08213260e-02 9.99941447e-01 -2.20423085e-05 4.86518158e-01] [ 1.06588087e-03 3.35785065e-05 9.99999431e-01 -3.03605273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.440281693 meters 0.031760842208419106 Centerline is valid? [True, True] Translation: X:79.50, Y:0.48, Z:-0.03 [[ 9.99996506e-01 2.61573798e-03 3.82302613e-04 7.95030857e+01] [-2.61574120e-03 9.99996579e-01 7.90195826e-06 4.78407407e-01] [-3.82280636e-04 -8.90193534e-06 9.99999927e-01 -2.91765828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.500281693 meters 0.025362243164263446 Centerline is valid? [True, True] Translation: X:79.56, Y:0.47, Z:-0.03 [[ 9.99991238e-01 -4.17705969e-03 -2.77558170e-04 7.95627732e+01] [ 4.17705825e-03 9.99991276e-01 -5.74695747e-06 4.66606223e-01] [ 2.77579754e-04 4.58753047e-06 9.99999961e-01 -3.08779170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56028169300001 meters 0.021115953585475557 Centerline is valid? [True, True] Translation: X:79.62, Y:0.46, Z:-0.03 [[ 9.99960374e-01 -8.90226946e-03 -1.04398395e-06 7.96230247e+01] [ 8.90226946e-03 9.99960374e-01 -2.54554583e-08 4.57062773e-01] [ 1.04416920e-06 1.61606237e-08 1.00000000e+00 -3.03163770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.620281693 meters 0.016449347957668052 Centerline is valid? [True, True] Translation: X:79.68, Y:0.44, Z:-0.03 [[ 9.99880845e-01 -1.53365684e-02 -1.75650756e-03 7.96839189e+01] [ 1.53365282e-02 9.99882388e-01 -3.63643056e-05 4.39445317e-01] [ 1.75685868e-03 9.42124498e-06 9.99998457e-01 -3.40976383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.680281693 meters 0.015207390106430867 Centerline is valid? [True, True] Translation: X:79.74, Y:0.43, Z:-0.03 [[ 9.99825548e-01 -1.86653603e-02 -6.91274471e-04 7.97433519e+01] [ 1.86653547e-02 9.99825787e-01 -1.44758801e-05 4.26065097e-01] [ 6.91424239e-04 1.57047158e-06 9.99999761e-01 -3.18520682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.740281693 meters 0.015143293562380986 Centerline is valid? [True, True] Translation: X:79.80, Y:0.41, Z:-0.03 [[ 9.99779692e-01 -2.09764715e-02 -7.45188560e-04 7.98011513e+01] [ 2.09764657e-02 9.99779970e-01 -1.56070749e-05 4.14952404e-01] [ 7.45351977e-04 -2.77856700e-08 9.99999722e-01 -3.12993077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.800281693 meters 0.01612234652180075 Centerline is valid? [True, True] Translation: X:79.86, Y:0.40, Z:-0.03 [[ 9.99689130e-01 -2.49131627e-02 -9.88636015e-04 7.98597292e+01] [ 2.49131543e-02 9.99689619e-01 -2.07530628e-05 3.95817727e-01] [ 9.88846186e-04 -3.88343030e-06 9.99999511e-01 -3.27318822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.860281693 meters 0.016543324949681797 Centerline is valid? [True, True] Translation: X:79.92, Y:0.39, Z:-0.03 [[ 9.99650057e-01 -2.63737383e-02 -2.04690245e-03 7.99189639e+01] [ 2.63737049e-02 9.99652152e-01 -4.33259900e-05 3.87956204e-01] [ 2.04733311e-03 -1.06735726e-05 9.99997904e-01 -3.48209383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.920281693 meters 0.015314866827640505 Centerline is valid? [True, True] Translation: X:79.98, Y:0.38, Z:-0.03 [[ 9.99739646e-01 -2.27469959e-02 -1.79303991e-03 7.99764826e+01] [ 2.27469643e-02 9.99741254e-01 -3.80275561e-05 3.84463242e-01] [ 1.79344098e-03 -2.76855934e-06 9.99998392e-01 -3.38979386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.980281693 meters 0.01863402502466984 Centerline is valid? [True, True] Translation: X:80.04, Y:0.40, Z:-0.04 [[ 9.99922232e-01 -1.21290314e-02 -2.90115158e-03 8.00350607e+01] [ 1.21289025e-02 9.99926440e-01 -6.20272981e-05 3.97013913e-01] [ 2.90169050e-03 2.68346896e-05 9.99995790e-01 -3.51666774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.040281693 meters 0.02641510564258928 Centerline is valid? [True, True] Translation: X:80.10, Y:0.41, Z:-0.03 [[ 9.99995434e-01 -2.66659701e-03 -1.42171493e-03 8.00953562e+01] [ 2.66655653e-03 9.99996444e-01 -3.03689012e-05 4.11591745e-01] [ 1.42179085e-03 2.65776793e-05 9.99998989e-01 -3.26764051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.100281693 meters 0.035489394184674145 Centerline is valid? [True, True] Translation: X:80.15, Y:0.43, Z:-0.03 [[ 9.99972546e-01 7.40545629e-03 2.57851937e-04 8.01549864e+01] [-7.40545796e-03 9.99972579e-01 5.50694237e-06 4.31395730e-01] [-2.57804085e-04 -7.41630286e-06 9.99999967e-01 -3.00666008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.160281693 meters 0.04205098687668312 Centerline is valid? [True, True] Translation: X:80.22, Y:0.45, Z:-0.04 [[ 9.99896007e-01 1.37011694e-02 -4.50042297e-03 8.02154724e+01] [-1.37017409e-02 9.99906122e-01 -9.61737875e-05 4.49204840e-01] [ 4.49868279e-03 1.57827416e-04 9.99989868e-01 -3.81159774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.220281693 meters 0.04410282466624756 Centerline is valid? [True, True] Translation: X:80.27, Y:0.46, Z:-0.03 [[ 9.99906527e-01 1.35844827e-02 -1.54874583e-03 8.02738875e+01] [-1.35845503e-02 9.99907725e-01 -3.31622068e-05 4.62631364e-01] [ 1.54815243e-03 5.41981228e-05 9.99998800e-01 -3.32696930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.280281693 meters 0.0418338607690737 Centerline is valid? [True, True] Translation: X:80.33, Y:0.46, Z:-0.03 [[ 9.99921725e-01 1.24994517e-02 -5.54769348e-04 8.03344068e+01] [-1.24994602e-02 9.99921879e-01 -1.18746150e-05 4.64812562e-01] [ 5.54577583e-04 1.88080029e-05 9.99999846e-01 -3.21531119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34028169300001 meters 0.036700947015388063 Centerline is valid? [True, True] Translation: X:80.39, Y:0.47, Z:-0.03 [[ 9.99927997e-01 1.19875449e-02 -5.47831481e-04 8.03946464e+01] [-1.19875531e-02 9.99928147e-01 -1.17261127e-05 4.66001505e-01] [ 5.47651550e-04 1.82924273e-05 9.99999850e-01 -3.13925016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.400281693 meters 0.05584914176309595 Centerline is valid? [True, True] Translation: X:80.45, Y:0.50, Z:-0.03 [[ 9.99850509e-01 1.72090543e-02 1.67552708e-03 8.04538734e+01] [-1.72091385e-02 9.99851911e-01 3.58792988e-05 5.01314900e-01] [-1.67466150e-03 -6.47083127e-05 9.99998596e-01 -2.68117164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.460281693 meters 0.04634989242055 Centerline is valid? [True, True] Translation: X:80.51, Y:0.49, Z:-0.03 [[ 9.99810604e-01 1.94437586e-02 8.34228032e-04 8.05149398e+01] [-1.94437803e-02 9.99810952e-01 1.78601456e-05 4.93557851e-01] [-8.33723055e-04 -3.40773096e-05 9.99999652e-01 -2.83839701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.520281693 meters 0.04967556659377996 Centerline is valid? [True, True] Translation: X:80.57, Y:0.51, Z:-0.03 [[ 9.99700274e-01 2.44808517e-02 -2.24451697e-04 8.05746672e+01] [-2.44808534e-02 9.99700299e-01 -4.81000577e-06 5.12253693e-01] [ 2.24266675e-04 1.03033332e-05 9.99999975e-01 -3.10007747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.580281693 meters 0.056797011767774686 Centerline is valid? [True, True] Translation: X:80.63, Y:0.54, Z:-0.03 [[ 9.99763204e-01 2.17604672e-02 1.34032710e-04 8.06339393e+01] [-2.17604677e-02 9.99763213e-01 2.87023410e-06 5.35506449e-01] [-1.33938516e-04 -5.78616891e-06 9.99999991e-01 -3.11108879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.640281693 meters 0.0444264607399207 Centerline is valid? [True, True] Translation: X:80.69, Y:0.53, Z:-0.04 [[ 9.99923064e-01 1.21797985e-02 -2.34933872e-03 8.06949161e+01] [-1.21799503e-02 9.99925820e-01 -5.02985340e-05 5.33032856e-01] [ 2.34855182e-03 7.89094931e-05 9.99997239e-01 -3.54577618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70028169300001 meters 0.03758400624245096 Centerline is valid? [True, True] Translation: X:80.75, Y:0.53, Z:-0.04 [[ 9.99984562e-01 4.37163454e-03 -3.42987150e-03 8.07544203e+01] [-4.37191226e-03 9.99990440e-01 -7.34794316e-05 5.29529815e-01] [ 3.42951749e-03 8.84733946e-05 9.99994115e-01 -3.76479573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.760281693 meters 0.022200539343502915 Centerline is valid? [True, True] Translation: X:80.82, Y:0.51, Z:-0.03 [[ 9.99972778e-01 -7.27741155e-03 -1.21723125e-03 8.08150462e+01] [ 7.27738520e-03 9.99973519e-01 -2.60726931e-05 5.11336590e-01] [ 1.21738876e-03 1.72137226e-05 9.99999259e-01 -3.26150035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.820281693 meters 0.019128494912661203 Centerline is valid? [True, True] Translation: X:80.87, Y:0.51, Z:-0.03 [[ 9.99931269e-01 -1.16620526e-02 -1.20560032e-03 8.08748053e+01] [ 1.16620300e-02 9.99931996e-01 -2.58424612e-05 5.07018872e-01] [ 1.20581971e-03 1.17809380e-05 9.99999273e-01 -3.17254435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.880281693 meters 0.019880170808109113 Centerline is valid? [True, True] Translation: X:80.93, Y:0.51, Z:-0.03 [[ 9.99943883e-01 -1.05851469e-02 4.29844807e-04 8.09346723e+01] [ 1.05851439e-02 9.99943976e-01 9.21438986e-06 5.11286760e-01] [-4.29918260e-04 -4.66390363e-06 9.99999908e-01 -2.82418660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.940281693 meters 0.02206454384081716 Centerline is valid? [True, True] Translation: X:80.99, Y:0.52, Z:-0.03 [[ 9.99967744e-01 -7.91161015e-03 1.38458164e-03 8.09947012e+01] [ 7.91157660e-03 9.99968703e-01 2.97065557e-05 5.18085829e-01] [-1.38477334e-03 -1.87513738e-05 9.99999041e-01 -2.65162458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.000281693 meters 0.02499629078052899 Centerline is valid? [True, True] Translation: X:81.06, Y:0.53, Z:-0.03 [[ 9.99990972e-01 -4.02482254e-03 1.36273627e-03 8.10552517e+01] [ 4.02478643e-03 9.99991900e-01 2.92378575e-05 5.27457233e-01] [-1.36284290e-03 -2.37528711e-05 9.99999071e-01 -2.66609590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06028169300001 meters 0.028582208532895028 Centerline is valid? [True, True] Translation: X:81.12, Y:0.53, Z:-0.03 [[ 9.99987789e-01 -4.93752735e-03 -2.05198825e-04 8.11154786e+01] [ 4.93752656e-03 9.99987810e-01 -4.39617410e-06 5.31493859e-01] [ 2.05218030e-04 3.38294577e-06 9.99999979e-01 -2.95407777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.120281693 meters 0.02295496024912336 Centerline is valid? [True, True] Translation: X:81.18, Y:0.52, Z:-0.03 [[ 9.99968690e-01 -7.75048081e-03 1.59642866e-03 8.11756877e+01] [ 7.75043601e-03 9.99969964e-01 3.42472298e-05 5.24470925e-01] [-1.59664614e-03 -2.18731394e-05 9.99998725e-01 -2.68671257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.180281693 meters 0.02257181143095727 Centerline is valid? [True, True] Translation: X:81.24, Y:0.53, Z:-0.03 [[ 9.99974880e-01 -7.07573388e-03 4.15258764e-04 8.12365839e+01] [ 7.07573079e-03 9.99974967e-01 8.90766834e-06 5.27138710e-01] [-4.15311397e-04 -5.96918536e-06 9.99999914e-01 -2.87013854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.240281693 meters 0.022678519934655948 Centerline is valid? [True, True] Translation: X:81.30, Y:0.53, Z:-0.03 [[ 9.99978031e-01 -6.58622790e-03 -7.48330400e-04 8.12969579e+01] [ 6.58621774e-03 9.99978311e-01 -1.60377367e-05 5.29397572e-01] [ 7.48419797e-04 1.11087174e-05 9.99999720e-01 -3.13981695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.300281693 meters 0.019558091890688446 Centerline is valid? [True, True] Translation: X:81.36, Y:0.52, Z:-0.03 [[ 9.99933838e-01 -1.13852360e-02 -1.64190194e-03 8.13568934e+01] [ 1.13851936e-02 9.99935186e-01 -3.52116461e-05 5.21124986e-01] [ 1.64219641e-03 1.65159451e-05 9.99998651e-01 -3.39073572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.360281693 meters 0.01606128680657991 Centerline is valid? [True, True] Translation: X:81.42, Y:0.51, Z:-0.03 [[ 9.99844916e-01 -1.75089856e-02 -1.89195764e-03 8.14169927e+01] [ 1.75089401e-02 9.99846706e-01 -4.06214377e-05 5.09751436e-01] [ 1.89237886e-03 7.48896481e-06 9.99998209e-01 -3.33655570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.420281693 meters 0.0164173118224551 Centerline is valid? [True, True] Translation: X:81.48, Y:0.51, Z:-0.03 [[ 9.99861659e-01 -1.66158487e-02 -7.59548669e-04 8.14760955e+01] [ 1.66158410e-02 9.99861947e-01 -1.63529853e-05 5.12495313e-01] [ 7.59715530e-04 3.73018303e-06 9.99999711e-01 -3.08846319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.480281693 meters 0.02244320181391405 Centerline is valid? [True, True] Translation: X:81.54, Y:0.53, Z:-0.04 [[ 9.99961336e-01 -8.26911201e-03 -2.99134158e-03 8.15350355e+01] [ 8.26895603e-03 9.99965810e-01 -6.45081214e-05 5.29899683e-01] [ 2.99177273e-03 3.97703552e-05 9.99995524e-01 -3.54040140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.540281693 meters 0.026853841431207937 Centerline is valid? [True, True] Translation: X:81.59, Y:0.54, Z:-0.04 [[ 9.99987399e-01 -3.71351923e-03 -3.37803004e-03 8.15939082e+01] [ 3.71329396e-03 9.99993103e-01 -7.29553470e-05 5.40864647e-01] [ 3.37827766e-03 6.04108092e-05 9.99994292e-01 -3.58623711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.600281693 meters 0.027236996867494593 Centerline is valid? [True, True] Translation: X:81.65, Y:0.54, Z:-0.03 [[ 9.99990437e-01 -4.34484694e-03 -4.98701354e-04 8.16521873e+01] [ 4.34484210e-03 9.99990561e-01 -1.07972328e-05 5.42040191e-01] [ 4.98743559e-04 8.63035089e-06 9.99999876e-01 -3.07829361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.660281693 meters 0.028112225150590097 Centerline is valid? [True, True] Translation: X:81.71, Y:0.54, Z:-0.03 [[ 9.99993509e-01 -3.59321549e-03 -2.65408465e-04 8.17121623e+01] [ 3.59321409e-03 9.99993544e-01 -5.74671596e-06 5.44101454e-01] [ 2.65427401e-04 4.79300922e-06 9.99999965e-01 -2.92540080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.720281693 meters 0.031078837509033626 Centerline is valid? [True, True] Translation: X:81.77, Y:0.55, Z:-0.03 [[ 9.99999317e-01 1.12504116e-03 -3.17406383e-04 8.17727198e+01] [-1.12504339e-03 9.99999367e-01 -6.86809634e-06 5.51712259e-01] [ 3.17398455e-04 7.22518760e-06 9.99999950e-01 -2.91182033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.780281693 meters 0.039596005272007365 Centerline is valid? [True, True] Translation: X:81.83, Y:0.57, Z:-0.03 [[ 9.99985370e-01 5.39365461e-03 -4.09525328e-04 8.18322200e+01] [-5.39365868e-03 9.99985454e-01 -8.83326572e-06 5.66896088e-01] [ 4.09471727e-04 1.10419763e-05 9.99999916e-01 -3.11677180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84028169300001 meters 0.03440670189081703 Centerline is valid? [True, True] Translation: X:81.89, Y:0.56, Z:-0.03 [[ 9.99991976e-01 3.40008361e-03 -2.11834950e-03 8.18926976e+01] [-3.40018817e-03 9.99994218e-01 -4.57583336e-05 5.61050218e-01] [ 2.11818167e-03 5.29607533e-05 9.99997755e-01 -3.41713283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.900281693 meters 0.027699928286222017 Centerline is valid? [True, True] Translation: X:81.95, Y:0.56, Z:-0.04 [[ 9.99989982e-01 -1.40510817e-03 -4.24999242e-03 8.19525121e+01] [ 1.40473023e-03 9.99999009e-01 -9.19119751e-05 5.55433170e-01] [ 4.25011735e-03 8.59409615e-05 9.99990965e-01 -3.70805012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.960281693 meters 0.024002899826846974 Centerline is valid? [True, True] Translation: X:82.01, Y:0.55, Z:-0.03 [[ 9.99981103e-01 -5.30786716e-03 -3.10158917e-03 8.20122507e+01] [ 5.30768441e-03 9.99985912e-01 -6.71519926e-05 5.52401097e-01] [ 3.10190191e-03 5.06884672e-05 9.99995188e-01 -3.49209241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.020281693 meters 0.020035645095464974 Centerline is valid? [True, True] Translation: X:82.07, Y:0.55, Z:-0.03 [[ 9.99946001e-01 -1.03230120e-02 -1.19611535e-03 8.20709431e+01] [ 1.03229884e-02 9.99946716e-01 -2.59479028e-05 5.47991221e-01] [ 1.19631948e-03 1.35990168e-05 9.99999284e-01 -3.18935420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.080281693 meters 0.01610583200734705 Centerline is valid? [True, True] Translation: X:82.13, Y:0.54, Z:-0.03 [[ 9.99872664e-01 -1.59259787e-02 -1.00910165e-03 8.21307213e+01] [ 1.59259647e-02 9.99873174e-01 -2.19122705e-05 5.38975769e-01] [ 1.00932264e-03 5.83856309e-06 9.99999491e-01 -3.10407132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.140281693 meters 0.015037135782131917 Centerline is valid? [True, True] Translation: X:82.19, Y:0.53, Z:-0.03 [[ 9.99813426e-01 -1.92568552e-02 -1.51236917e-03 8.21905956e+01] [ 1.92568276e-02 9.99814570e-01 -3.28499890e-05 5.31858433e-01] [ 1.51272132e-03 3.72042761e-06 9.99998856e-01 -3.12840375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20028169300001 meters 0.015181891151157288 Centerline is valid? [True, True] Translation: X:82.25, Y:0.53, Z:-0.03 [[ 9.99830922e-01 -1.83721922e-02 -7.68178027e-04 8.22491279e+01] [ 1.83721848e-02 9.99831217e-01 -1.67317948e-05 5.30719977e-01] [ 7.68355771e-04 2.61585713e-06 9.99999705e-01 -2.91070729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.260281693 meters 0.016900286131637885 Centerline is valid? [True, True] Translation: X:82.31, Y:0.53, Z:-0.03 [[ 9.99889105e-01 -1.48613199e-02 9.58500566e-04 8.23089079e+01] [ 1.48613068e-02 9.99889564e-01 2.08724302e-05 5.31559816e-01] [-9.58704905e-04 -6.62554461e-06 9.99999540e-01 -2.58229090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.320281693 meters 0.020013018215016987 Centerline is valid? [True, True] Translation: X:82.37, Y:0.54, Z:-0.02 [[ 9.99943624e-01 -1.05253677e-02 1.40220933e-03 8.23688364e+01] [ 1.05253352e-02 9.99944607e-01 3.05581975e-05 5.37007346e-01] [-1.40245330e-03 -1.57977514e-05 9.99999016e-01 -2.37941595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.380281693 meters 0.02606075561157795 Centerline is valid? [True, True] Translation: X:82.43, Y:0.55, Z:-0.02 [[ 9.99989859e-01 -4.25309539e-03 1.48104428e-03 8.24291020e+01] [ 4.25305224e-03 9.99990955e-01 3.22804006e-05 5.49486182e-01] [-1.48116818e-03 -2.59811145e-05 9.99998903e-01 -2.29309376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.440281693 meters 0.03740630839957367 Centerline is valid? [True, True] Translation: X:82.49, Y:0.57, Z:-0.03 [[ 9.99981281e-01 6.11805810e-03 8.12976920e-05 8.24888524e+01] [-6.11805826e-03 9.99981285e-01 1.77032046e-06 5.74594940e-01] [-8.12853396e-05 -2.26767134e-06 9.99999997e-01 -2.61524777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.500281693 meters 0.041001184467633026 Centerline is valid? [True, True] Translation: X:82.55, Y:0.59, Z:-0.03 [[ 9.99937214e-01 1.09705316e-02 -2.28383775e-03 8.25490716e+01] [-1.09706739e-02 9.99939819e-01 -4.97917905e-05 5.90540613e-01] [ 2.28315406e-03 7.48439034e-05 9.99997391e-01 -3.02810222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56028169300001 meters 0.04306653891514476 Centerline is valid? [True, True] Translation: X:82.61, Y:0.60, Z:-0.03 [[ 9.99955451e-01 9.31983270e-03 -1.49579179e-03 8.26072327e+01] [-9.31989199e-03 9.99956568e-01 -3.26736832e-05 6.04570840e-01] [ 1.49542231e-03 4.66128456e-05 9.99998881e-01 -2.86611738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.620281693 meters 0.037830116631340435 Centerline is valid? [True, True] Translation: X:82.67, Y:0.61, Z:-0.03 [[ 9.99992183e-01 3.93974956e-03 -3.35279397e-04 8.26666630e+01] [-3.93975224e-03 9.99992239e-01 -7.32814661e-06 6.06428159e-01] [ 3.35247924e-04 8.64900708e-06 9.99999944e-01 -2.63029817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.680281693 meters 0.026226949799708625 Centerline is valid? [True, True] Translation: X:82.73, Y:0.60, Z:-0.02 [[ 9.99982633e-01 -5.81092875e-03 9.83296092e-04 8.27273434e+01] [ 5.81091044e-03 9.99983116e-01 2.14778762e-05 6.01637771e-01] [-9.83404297e-04 -1.57636576e-05 9.99999516e-01 -2.49098335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.740281693 meters 0.01525673327560052 Centerline is valid? [True, True] Translation: X:82.79, Y:0.58, Z:-0.03 [[ 9.99832967e-01 -1.81616059e-02 -2.04794718e-03 8.27884670e+01] [ 1.81615524e-02 9.99835064e-01 -4.46883602e-05 5.83402423e-01] [ 2.04842102e-03 7.48699564e-06 9.99997902e-01 -3.07947448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.800281693 meters 0.020886040167023372 Centerline is valid? [True, True] Translation: X:82.85, Y:0.56, Z:-0.03 [[ 9.99432049e-01 -3.36308783e-02 -2.13165528e-03 8.28479745e+01] [ 3.36308555e-02 9.99434322e-01 -4.65766593e-05 5.58756329e-01] [ 2.13201586e-03 -2.51391847e-05 9.99997727e-01 -3.04104473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.860281693 meters 0.02666733843040877 Centerline is valid? [True, True] Translation: X:82.91, Y:0.55, Z:-0.03 [[ 9.99114179e-01 -4.20812308e-02 1.65104807e-04 8.29086929e+01] [ 4.20812308e-02 9.99114193e-01 3.60693876e-06 5.47722207e-01] [-1.65110340e-04 3.34406982e-06 9.99999986e-01 -2.65388781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.920281693 meters 0.039764009729551165 Centerline is valid? [True, True] Translation: X:82.97, Y:0.52, Z:-0.03 [[ 9.98729122e-01 -5.03751869e-02 -1.57525821e-03 8.29691305e+01] [ 5.03751952e-02 9.98730363e-01 -3.44141587e-05 5.23034839e-01] [ 1.57499182e-03 -4.49835170e-05 9.99998759e-01 -3.03998041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.980281693 meters 0.044348504638579096 Centerline is valid? [True, True] Translation: X:83.03, Y:0.51, Z:-0.03 [[ 9.98521460e-01 -5.41981098e-02 -4.17834830e-03 8.30294124e+01] [ 5.41982017e-02 9.98530193e-01 -9.13314659e-05 5.09297034e-01] [ 4.17715693e-03 -1.35262535e-04 9.99991266e-01 -3.48085334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.040281693 meters 0.04054491302712183 Centerline is valid? [True, True] Translation: X:83.09, Y:0.51, Z:-0.02 [[ 9.98551663e-01 -5.37986106e-02 5.34524671e-04 8.30878127e+01] [ 5.37986121e-02 9.98551806e-01 1.17129763e-05 5.11389800e-01] [-5.34380717e-04 1.70606734e-05 9.99999857e-01 -2.36972118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.100281693 meters 0.035670054252555164 Centerline is valid? [True, True] Translation: X:83.15, Y:0.51, Z:-0.02 [[ 9.98767553e-01 -4.95827680e-02 2.21920412e-03 8.31473770e+01] [ 4.95827816e-02 9.98770016e-01 4.88961429e-05 5.13395345e-01] [-2.21889894e-03 6.11984323e-05 9.99997536e-01 -2.17487031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.160281693 meters 0.037218312464418514 Centerline is valid? [True, True] Translation: X:83.21, Y:0.51, Z:-0.03 [[ 9.98706731e-01 -5.08318571e-02 -9.93779865e-04 8.32066717e+01] [ 5.08318602e-02 9.98707225e-01 -2.21104399e-05 5.07779437e-01] [ 9.93619046e-04 -2.84338341e-05 9.99999506e-01 -2.83249201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.220281693 meters 0.03637345545202867 Centerline is valid? [True, True] Translation: X:83.27, Y:0.50, Z:-0.03 [[ 9.98643679e-01 -5.20651080e-02 -1.64398031e-04 8.32659514e+01] [ 5.20651080e-02 9.98643692e-01 -3.73184841e-06 5.04602364e-01] [ 1.64369356e-04 -4.83261441e-06 9.99999986e-01 -2.60423774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.280281693 meters 0.034466750861290876 Centerline is valid? [True, True] Translation: X:83.32, Y:0.51, Z:-0.03 [[ 9.98696049e-01 -5.10372290e-02 -1.18432228e-03 8.33248879e+01] [ 5.10372331e-02 9.98696751e-01 -2.67293565e-05 5.05213953e-01] [ 1.18414300e-03 -3.37500294e-05 9.99999298e-01 -2.78223769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34028169300001 meters 0.03744039242137541 Centerline is valid? [True, True] Translation: X:83.38, Y:0.50, Z:-0.03 [[ 9.98808734e-01 -4.87811173e-02 -1.23071650e-03 8.33835123e+01] [ 4.87811201e-02 9.98809492e-01 -2.77905056e-05 4.98672727e-01] [ 1.23060697e-03 -3.22783297e-05 9.99999242e-01 -2.91571411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.400281693 meters 0.030038962174357656 Centerline is valid? [True, True] Translation: X:83.44, Y:0.51, Z:-0.03 [[ 9.99076387e-01 -4.29614796e-02 -8.27547799e-04 8.34433077e+01] [ 4.29614789e-02 9.99076729e-01 -1.86883573e-05 5.05269835e-01] [ 8.27586628e-04 -1.68815808e-05 9.99999657e-01 -2.82296821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.460281693 meters 0.022203714646234888 Centerline is valid? [True, True] Translation: X:83.50, Y:0.51, Z:-0.03 [[ 9.99374528e-01 -3.52830394e-02 -2.37905304e-03 8.35026432e+01] [ 3.52830114e-02 9.99377359e-01 -5.37739649e-05 5.13445124e-01] [ 2.37946905e-03 -3.01998245e-05 9.99997169e-01 -3.06996640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.520281693 meters 0.015879295771620408 Centerline is valid? [True, True] Translation: X:83.56, Y:0.52, Z:-0.03 [[ 9.99585000e-01 -2.86881430e-02 -2.61105732e-03 8.35617973e+01] [ 2.86880856e-02 9.99588410e-01 -5.94633283e-05 5.24902838e-01] [ 2.61168853e-03 -1.54675847e-05 9.99996589e-01 -3.12884244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.580281693 meters 0.014320292375374638 Centerline is valid? [True, True] Translation: X:83.62, Y:0.53, Z:-0.03 [[ 9.99698722e-01 -2.45176130e-02 -1.16236880e-03 8.36207410e+01] [ 2.45175986e-02 9.99699398e-01 -2.66966530e-05 5.32642788e-01] [ 1.16267393e-03 -1.80988163e-06 9.99999324e-01 -2.84409767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.640281693 meters 0.016115544137551594 Centerline is valid? [True, True] Translation: X:83.68, Y:0.55, Z:-0.03 [[ 9.99868036e-01 -1.62356402e-02 -5.61740148e-04 8.36791995e+01] [ 1.62356354e-02 9.99868193e-01 -1.30275481e-05 5.49671615e-01] [ 5.61877618e-04 3.90562074e-06 9.99999842e-01 -2.67489980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70028169300001 meters 0.022913836434106064 Centerline is valid? [True, True] Translation: X:83.74, Y:0.57, Z:-0.03 [[ 9.99965813e-01 -8.17320874e-03 -1.25329925e-03 8.37373754e+01] [ 8.17317882e-03 9.99966599e-01 -2.89925407e-05 5.73781628e-01] [ 1.25349435e-03 1.87481106e-05 9.99999214e-01 -2.82511445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.760281693 meters 0.02525926194644738 Centerline is valid? [True, True] Translation: X:83.80, Y:0.58, Z:-0.03 [[ 9.99980884e-01 -6.13460558e-03 -7.73895541e-04 8.37963721e+01] [ 6.13459356e-03 9.99981183e-01 -1.79076638e-05 5.84748937e-01] [ 7.73990835e-04 1.31597869e-05 9.99999700e-01 -2.82967009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.820281693 meters 0.02263882464183117 Centerline is valid? [True, True] Translation: X:83.86, Y:0.58, Z:-0.03 [[ 9.99969747e-01 -7.62690982e-03 -1.52841126e-03 8.38565176e+01] [ 7.62686468e-03 9.99970914e-01 -3.53591038e-05 5.84372628e-01] [ 1.52863648e-03 2.37010482e-05 9.99998831e-01 -3.00113878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.880281693 meters 0.020668913493062123 Centerline is valid? [True, True] Translation: X:83.92, Y:0.58, Z:-0.03 [[ 9.99939932e-01 -1.09234321e-02 -9.00340793e-04 8.39159606e+01] [ 1.09234177e-02 9.99940337e-01 -2.08435517e-05 5.84672147e-01] [ 9.00514759e-04 1.10075011e-05 9.99999594e-01 -2.90104221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.940281693 meters 0.021080124151636292 Centerline is valid? [True, True] Translation: X:83.98, Y:0.59, Z:-0.03 [[ 9.99950510e-01 -9.88372417e-03 -1.13537647e-03 8.39759067e+01] [ 9.88370070e-03 9.99951155e-01 -2.62797046e-05 5.89835897e-01] [ 1.13558076e-03 1.50566828e-05 9.99999355e-01 -2.84838389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.000281693 meters 0.027408412607909338 Centerline is valid? [True, True] Translation: X:84.03, Y:0.61, Z:-0.02 [[ 9.99991996e-01 -3.72861562e-03 1.45067549e-03 8.40344839e+01] [ 3.72857080e-03 9.99993048e-01 3.36030560e-05 6.05214255e-01] [-1.45079070e-03 -2.81938408e-05 9.99998947e-01 -2.32952269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06028169300001 meters 0.033326924499827146 Centerline is valid? [True, True] Translation: X:84.09, Y:0.62, Z:-0.02 [[ 9.99994413e-01 1.69322298e-03 2.88208882e-03 8.40947417e+01] [-1.69342246e-03 9.99998564e-01 6.67756763e-05 6.24138354e-01] [-2.88197161e-03 -7.16558972e-05 9.99995845e-01 -2.01983565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.120281693 meters 0.0349052281830302 Centerline is valid? [True, True] Translation: X:84.16, Y:0.63, Z:-0.02 [[ 9.99983848e-01 5.64627205e-03 6.50155800e-04 8.41551523e+01] [-5.64628303e-03 9.99984060e-01 1.50599730e-05 6.33946218e-01] [-6.50060403e-04 -1.87306934e-05 9.99999789e-01 -2.47232947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.180281693 meters 0.04189736149461161 Centerline is valid? [True, True] Translation: X:84.21, Y:0.66, Z:-0.03 [[ 9.99935231e-01 1.13367734e-02 -1.00589156e-03 8.42145339e+01] [-1.13368026e-02 9.99935736e-01 -2.32922374e-05 6.56585228e-01] [ 1.00556286e-03 3.46943228e-05 9.99999494e-01 -2.64361856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.240281693 meters 0.045321604482940786 Centerline is valid? [True, True] Translation: X:84.27, Y:0.67, Z:-0.02 [[ 9.99899387e-01 1.41843074e-02 1.42990186e-04 8.42744440e+01] [-1.41843080e-02 9.99899398e-01 3.30876934e-06 6.71446032e-01] [-1.42928868e-04 -5.33665327e-06 9.99999990e-01 -2.45095726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.300281693 meters 0.04485283811476719 Centerline is valid? [True, True] Translation: X:84.33, Y:0.68, Z:-0.03 [[ 9.99915957e-01 1.29575192e-02 -4.25910884e-04 8.43333813e+01] [-1.29575246e-02 9.99916048e-01 -9.88507602e-06 6.81276086e-01] [ 4.25747041e-04 1.54029960e-05 9.99999909e-01 -2.68377286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.360281693 meters 0.03762003427646644 Centerline is valid? [True, True] Translation: X:84.39, Y:0.68, Z:-0.02 [[ 9.99962555e-01 8.47289575e-03 1.76005880e-03 8.43937967e+01] [-8.47298073e-03 9.99964103e-01 4.08277117e-05 6.80487407e-01] [-1.75964969e-03 -5.57391272e-05 9.99998450e-01 -2.13453666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.420281693 meters 0.03656108772366731 Centerline is valid? [True, True] Translation: X:84.45, Y:0.68, Z:-0.02 [[ 9.99971393e-01 6.59233538e-03 3.70856704e-03 8.44538020e+01] [-6.59269959e-03 9.99978264e-01 8.59927662e-05 6.84913636e-01] [-3.70791954e-03 -1.10439775e-04 9.99993120e-01 -1.77339951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.480281693 meters 0.0338901845807542 Centerline is valid? [True, True] Translation: X:84.52, Y:0.69, Z:-0.02 [[ 9.99991456e-01 4.02663407e-03 9.35237387e-04 8.45151144e+01] [-4.02665609e-03 9.99991893e-01 2.16708556e-05 6.89959747e-01] [-9.35142544e-04 -2.54365497e-05 9.99999562e-01 -2.32848583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.540281693 meters 0.028988833891845867 Centerline is valid? [True, True] Translation: X:84.58, Y:0.69, Z:-0.02 [[ 9.99998190e-01 -1.06154635e-03 1.57891446e-03 8.45757604e+01] [ 1.06148996e-03 9.99999436e-01 3.65573991e-05 6.89513451e-01] [-1.57895238e-03 -3.48813311e-05 9.99998753e-01 -2.18988425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.600281693 meters 0.020540389060302304 Centerline is valid? [True, True] Translation: X:84.64, Y:0.68, Z:-0.02 [[ 9.99946793e-01 -1.00758370e-02 2.21108135e-03 8.46365808e+01] [ 1.00757485e-02 9.99949237e-01 5.11672962e-05 6.80913671e-01] [-2.21148466e-03 -2.88862742e-05 9.99997554e-01 -2.20947239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.660281693 meters 0.016135594823040274 Centerline is valid? [True, True] Translation: X:84.70, Y:0.68, Z:-0.03 [[ 9.99862896e-01 -1.65578137e-02 -1.64444943e-04 8.46969164e+01] [ 1.65578133e-02 9.99862910e-01 -3.79926165e-06 6.75150523e-01] [ 1.64485306e-04 1.07589211e-06 9.99999986e-01 -2.67891126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.720281693 meters 0.015152521318784841 Centerline is valid? [True, True] Translation: X:84.76, Y:0.67, Z:-0.03 [[ 9.99830169e-01 -1.84007209e-02 -1.02306568e-03 8.47582118e+01] [ 1.84007063e-02 9.99830692e-01 -2.36299652e-05 6.74951970e-01] [ 1.02332727e-03 4.80082096e-06 9.99999476e-01 -2.82337079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.780281693 meters 0.015468180521993271 Centerline is valid? [True, True] Translation: X:84.82, Y:0.68, Z:-0.03 [[ 9.99837431e-01 -1.79700637e-02 -1.47904043e-03 8.48177414e+01] [ 1.79700328e-02 9.99838525e-01 -3.41694146e-05 6.81204503e-01] [ 1.47941563e-03 7.58545460e-06 9.99998906e-01 -2.93917116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84028169300001 meters 0.01915422214485175 Centerline is valid? [True, True] Translation: X:84.88, Y:0.70, Z:-0.03 [[ 9.99915194e-01 -1.28077112e-02 -2.35935251e-03 8.48773230e+01] [ 1.28076181e-02 9.99917978e-01 -5.45382926e-05 6.99012438e-01] [ 2.35985750e-03 2.43159814e-05 9.99997215e-01 -3.08652405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.900281693 meters 0.0285366694682581 Centerline is valid? [True, True] Translation: X:84.94, Y:0.73, Z:-0.03 [[ 9.99989648e-01 -3.89918118e-03 -2.34518329e-03 8.49356160e+01] [ 3.89906463e-03 9.99992397e-01 -5.42671124e-05 7.30033083e-01] [ 2.34537705e-03 4.51225295e-05 9.99997249e-01 -3.09027723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.960281693 meters 0.033097119955059526 Centerline is valid? [True, True] Translation: X:85.00, Y:0.75, Z:-0.03 [[ 9.99995939e-01 1.47338312e-03 -2.43968377e-03 8.49957092e+01] [-1.47352521e-03 9.99998913e-01 -5.64457949e-05 7.53417914e-01] [ 2.43959795e-03 6.00405012e-05 9.99997022e-01 -3.19149492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.020281693 meters 0.031083468980896208 Centerline is valid? [True, True] Translation: X:85.05, Y:0.76, Z:-0.03 [[ 9.99996080e-01 -2.23095177e-03 -1.69214256e-03 8.50539832e+01] [ 2.23088859e-03 9.99997511e-01 -3.92197989e-05 7.61113018e-01] [ 1.69222585e-03 3.54446636e-05 9.99998568e-01 -3.14892257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.080281693 meters 0.015776347750071938 Centerline is valid? [True, True] Translation: X:85.11, Y:0.74, Z:-0.03 [[ 9.99857497e-01 -1.68677899e-02 6.80101062e-04 8.51149788e+01] [ 1.68677830e-02 9.99857729e-01 1.57582847e-05 7.42215416e-01] [-6.80270110e-04 -4.28424199e-06 9.99999769e-01 -2.71793339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.140281693 meters 0.01551394166213213 Centerline is valid? [True, True] Translation: X:85.18, Y:0.73, Z:-0.02 [[ 9.99610163e-01 -2.78639720e-02 1.76680836e-03 8.51761951e+01] [ 2.78639434e-02 9.99611724e-01 4.08068322e-05 7.28189245e-01] [-1.76725940e-03 8.43932410e-06 9.99998438e-01 -2.43279977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20028169300001 meters 0.015456368314098336 Centerline is valid? [True, True] Translation: X:85.24, Y:0.73, Z:-0.03 [[ 9.99589407e-01 -2.86463522e-02 -6.35202799e-04 8.52387061e+01] [ 2.86463487e-02 9.99589609e-01 -1.46129540e-05 7.33672035e-01] [ 6.35360725e-04 -3.58928688e-06 9.99999798e-01 -2.83617684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.260281693 meters 0.015353465644098925 Centerline is valid? [True, True] Translation: X:85.30, Y:0.74, Z:-0.03 [[ 9.99593576e-01 -2.84990944e-02 -6.95349774e-04 8.53002968e+01] [ 2.84990901e-02 9.99593818e-01 -1.59899926e-05 7.39034118e-01] [ 6.95523036e-04 -3.83334206e-06 9.99999758e-01 -2.81689960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.320281693 meters 0.018099949479111293 Centerline is valid? [True, True] Translation: X:85.36, Y:0.73, Z:-0.03 [[ 9.99443873e-01 -3.33368511e-02 7.74406811e-04 8.53617492e+01] [ 3.33368473e-02 9.99444173e-01 1.78069569e-05 7.32437289e-01] [-7.74570002e-04 8.01922764e-06 9.99999700e-01 -2.74650937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.380281693 meters 0.025603162413140403 Centerline is valid? [True, True] Translation: X:85.42, Y:0.72, Z:-0.03 [[ 9.99210971e-01 -3.97163084e-02 2.22117092e-04 8.54218088e+01] [ 3.97163082e-02 9.99210996e-01 5.11081244e-06 7.21642579e-01] [-2.22144823e-04 3.71489101e-06 9.99999975e-01 -2.81390707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.440281693 meters 0.026256212518416297 Centerline is valid? [True, True] Translation: X:85.48, Y:0.72, Z:-0.03 [[ 9.99114948e-01 -4.20458837e-02 -1.21018112e-03 8.54829525e+01] [ 4.20458809e-02 9.99115681e-01 -2.77233271e-05 7.18173275e-01] [ 1.21027659e-03 -2.31843409e-05 9.99999267e-01 -2.99305584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.500281693 meters 0.02701376372992507 Centerline is valid? [True, True] Translation: X:85.54, Y:0.71, Z:-0.03 [[ 9.99071618e-01 -4.30482014e-02 -1.65995204e-03 8.55439703e+01] [ 4.30481976e-02 9.99072996e-01 -3.80375934e-05 7.10145302e-01] [ 1.66005071e-03 -3.34556636e-05 9.99998622e-01 -3.18407553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56028169300001 meters 0.024218650843737945 Centerline is valid? [True, True] Translation: X:85.60, Y:0.71, Z:-0.03 [[ 9.99211516e-01 -3.96619043e-02 -1.81070478e-03 8.56039992e+01] [ 3.96618942e-02 9.99213157e-01 -4.14920736e-05 7.07670612e-01] [ 1.81092570e-03 -3.03566239e-05 9.99998360e-01 -3.08795808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.620281693 meters 0.015907132892811638 Centerline is valid? [True, True] Translation: X:85.66, Y:0.72, Z:-0.03 [[ 9.99576720e-01 -2.90091162e-02 -2.20294850e-03 8.56637229e+01] [ 2.90090754e-02 9.99579147e-01 -5.04802892e-05 7.21480084e-01] [ 2.20348577e-03 -1.34465771e-05 9.99997572e-01 -3.12194182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.680281693 meters 0.014074503222463413 Centerline is valid? [True, True] Translation: X:85.72, Y:0.73, Z:-0.03 [[ 9.99765055e-01 -2.16249195e-02 -1.48261002e-03 8.57231458e+01] [ 2.16248929e-02 9.99766154e-01 -3.39940067e-05 7.28193200e-01] [ 1.48299843e-03 1.92473718e-06 9.99998900e-01 -3.07097805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.740281693 meters 0.013932433083094945 Centerline is valid? [True, True] Translation: X:85.78, Y:0.72, Z:-0.03 [[ 9.99705134e-01 -2.42677771e-02 8.48018705e-04 8.57836200e+01] [ 2.42677694e-02 9.99705494e-01 1.94416057e-05 7.21600828e-01] [-8.48240763e-04 1.14364936e-06 9.99999640e-01 -2.59001998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.800281693 meters 0.015541733235762195 Centerline is valid? [True, True] Translation: X:85.84, Y:0.71, Z:-0.03 [[ 9.99585311e-01 -2.87810978e-02 9.24409244e-04 8.58442709e+01] [ 2.87810906e-02 9.99585738e-01 2.11737062e-05 7.09874760e-01] [-9.24635699e-04 5.44058042e-06 9.99999573e-01 -2.63739060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.860281693 meters 0.016533727807804707 Centerline is valid? [True, True] Translation: X:85.91, Y:0.71, Z:-0.03 [[ 9.99546658e-01 -3.00914954e-02 9.90109220e-04 8.59061568e+01] [ 3.00914878e-02 9.99547148e-01 2.26521629e-05 7.05007752e-01] [-9.90342485e-04 7.15196572e-06 9.99999510e-01 -2.59615286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.920281693 meters 0.01618017095083644 Centerline is valid? [True, True] Translation: X:85.97, Y:0.70, Z:-0.02 [[ 9.99566656e-01 -2.93808339e-02 1.80745322e-03 8.59665160e+01] [ 2.93808072e-02 9.99568290e-01 4.13220084e-05 6.99491024e-01] [-1.80788700e-03 1.18003329e-05 9.99998366e-01 -2.38895908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.980281693 meters 0.01585149892279193 Centerline is valid? [True, True] Translation: X:86.03, Y:0.69, Z:-0.03 [[ 9.99559060e-01 -2.96679310e-02 1.22415449e-03 8.60277388e+01] [ 2.96679190e-02 9.99559810e-01 2.79639558e-05 6.93410424e-01] [-1.22444526e-03 8.36649093e-06 9.99999250e-01 -2.51861782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.040281693 meters 0.01927250123204666 Centerline is valid? [True, True] Translation: X:86.09, Y:0.68, Z:-0.03 [[ 9.99458894e-01 -3.28910086e-02 -3.17838879e-04 8.60885277e+01] [ 3.28910080e-02 9.99458944e-01 -7.25095057e-06 6.75773619e-01] [ 3.17905402e-04 -3.20701407e-06 9.99999949e-01 -2.84257378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.100281693 meters 0.018827929656768192 Centerline is valid? [True, True] Translation: X:86.15, Y:0.67, Z:-0.03 [[ 9.99446376e-01 -3.32703393e-02 1.62332648e-04 8.61487013e+01] [ 3.32703391e-02 9.99446389e-01 3.70329478e-06 6.69135530e-01] [-1.62365988e-04 1.69961769e-06 9.99999987e-01 -2.71078196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.160281693 meters 0.020089085269064465 Centerline is valid? [True, True] Translation: X:86.21, Y:0.66, Z:-0.03 [[ 9.99442281e-01 -3.33934061e-02 -8.44407454e-05 8.62086601e+01] [ 3.33934060e-02 9.99442285e-01 -1.93314062e-06 6.64847288e-01] [ 8.44582056e-05 -8.87701626e-07 9.99999996e-01 -2.76940530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.220281693 meters 0.020887194021079834 Centerline is valid? [True, True] Translation: X:86.27, Y:0.65, Z:-0.03 [[ 9.99374368e-01 -3.53629830e-02 -5.76863211e-04 8.62680944e+01] [ 3.53629813e-02 9.99374534e-01 -1.32108746e-05 6.53565556e-01] [ 5.76969578e-04 -7.19699345e-06 9.99999834e-01 -2.93893578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.280281693 meters 0.023342628257195745 Centerline is valid? [True, True] Translation: X:86.33, Y:0.64, Z:-0.03 [[ 9.99296455e-01 -3.75024968e-02 -3.97701147e-04 8.63273890e+01] [ 3.75024962e-02 9.99296534e-01 -9.13229975e-06 6.43019105e-01] [ 3.97763862e-04 -5.78891100e-06 9.99999921e-01 -2.82632187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34028169300001 meters 0.02340074781433884 Centerline is valid? [True, True] Translation: X:86.39, Y:0.64, Z:-0.03 [[ 9.99305365e-01 -3.72413230e-02 -1.36809513e-03 8.63855249e+01] [ 3.72413149e-02 9.99306301e-01 -3.14565874e-05 6.36834788e-01] [ 1.36831756e-03 -1.95149248e-05 9.99999064e-01 -2.98406141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.400281693 meters 0.02128036805474287 Centerline is valid? [True, True] Translation: X:86.44, Y:0.64, Z:-0.03 [[ 9.99373692e-01 -3.53867133e-02 6.51112662e-05 8.64441655e+01] [ 3.53867132e-02 9.99373694e-01 1.45355915e-06 6.36285731e-01] [-6.51219233e-05 8.51424933e-07 9.99999998e-01 -2.81865143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.460281693 meters 0.018583888826506408 Centerline is valid? [True, True] Translation: X:86.50, Y:0.63, Z:-0.03 [[ 9.99482054e-01 -3.21144318e-02 -2.07040594e-03 8.65025305e+01] [ 3.21144013e-02 9.99484198e-01 -4.79824329e-05 6.32181195e-01] [ 2.07087895e-03 -1.85322667e-05 9.99997856e-01 -3.21433912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.520281693 meters 0.015683476303564765 Centerline is valid? [True, True] Translation: X:86.56, Y:0.63, Z:-0.03 [[ 9.99608304e-01 -2.79309309e-02 -1.76119586e-03 8.65605859e+01] [ 2.79309021e-02 9.99609855e-01 -4.09173566e-05 6.32924105e-01] [ 1.76165160e-03 -8.29045971e-06 9.99998448e-01 -3.10183533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.580281693 meters 0.013917329874562422 Centerline is valid? [True, True] Translation: X:86.62, Y:0.63, Z:-0.02 [[ 9.99709728e-01 -2.40243660e-02 1.81397055e-03 8.66196584e+01] [ 2.40243287e-02 9.99711373e-01 4.23415184e-05 6.32202565e-01] [-1.81446422e-03 1.25019699e-06 9.99998354e-01 -2.40527204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.640281693 meters 0.01409455616024014 Centerline is valid? [True, True] Translation: X:86.68, Y:0.63, Z:-0.03 [[ 9.99726592e-01 -2.33267260e-02 1.61402973e-03 8.66795607e+01] [ 2.33266954e-02 9.99727895e-01 3.77504509e-05 6.29081798e-01] [-1.61447114e-03 -9.01496614e-08 9.99998697e-01 -2.59514485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70028169300001 meters 0.014230346618884527 Centerline is valid? [True, True] Translation: X:86.74, Y:0.63, Z:-0.03 [[ 9.99720900e-01 -2.36214221e-02 -3.87917711e-04 8.67399948e+01] [ 2.36214203e-02 9.99720975e-01 -9.07498274e-06 6.26148415e-01] [ 3.88023836e-04 -9.07173978e-08 9.99999925e-01 -2.91070856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.760281693 meters 0.014707228812644274 Centerline is valid? [True, True] Translation: X:86.80, Y:0.63, Z:-0.03 [[ 9.99788745e-01 -2.05339758e-02 9.06621281e-04 8.67983894e+01] [ 2.05339650e-02 9.99789156e-01 2.12295339e-05 6.30259641e-01] [-9.06866052e-04 -2.60851938e-06 9.99999589e-01 -2.58335173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.820281693 meters 0.01869230813544289 Centerline is valid? [True, True] Translation: X:86.86, Y:0.64, Z:-0.03 [[ 9.99878380e-01 -1.55314963e-02 -1.41316922e-03 8.68581572e+01] [ 1.55314649e-02 9.99879379e-01 -3.31468404e-05 6.43598341e-01] [ 1.41351358e-03 1.11942209e-05 9.99999001e-01 -3.15668412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.880281693 meters 0.019898779978120458 Centerline is valid? [True, True] Translation: X:86.92, Y:0.65, Z:-0.03 [[ 9.99926882e-01 -1.20915870e-02 -1.54017408e-04 8.69180458e+01] [ 1.20915866e-02 9.99926894e-01 -3.61752546e-06 6.51600102e-01] [ 1.54049890e-04 1.75494612e-06 9.99999988e-01 -2.75837683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.940281693 meters 0.02195426290863628 Centerline is valid? [True, True] Translation: X:86.98, Y:0.66, Z:-0.02 [[ 9.99947167e-01 -9.84342721e-03 2.96150805e-03 8.69784826e+01] [ 9.84326459e-03 9.99951551e-01 6.94830124e-05 6.63446010e-01] [-2.96204852e-03 -4.03284341e-05 9.99995612e-01 -2.27858040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.000281693 meters 0.02512805738480561 Centerline is valid? [True, True] Translation: X:87.04, Y:0.68, Z:-0.03 [[ 9.99947282e-01 -1.02649613e-02 -2.53068951e-04 8.70381052e+01] [ 1.02649601e-02 9.99947314e-01 -5.93078043e-06 6.77674492e-01] [ 2.53116497e-04 3.33272508e-06 9.99999968e-01 -2.96293211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06028169300001 meters 0.017808515582411585 Centerline is valid? [True, True] Translation: X:87.10, Y:0.67, Z:-0.03 [[ 9.99894008e-01 -1.45527403e-02 -4.37218073e-04 8.70991039e+01] [ 1.45527372e-02 9.99894103e-01 -1.02531082e-05 6.68288099e-01] [ 4.37320984e-04 3.88930177e-06 9.99999904e-01 -3.04691826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.120281693 meters 0.014196676439228485 Centerline is valid? [True, True] Translation: X:87.16, Y:0.66, Z:-0.03 [[ 9.99725999e-01 -2.34036604e-02 -4.41899694e-04 8.71584848e+01] [ 2.34036581e-02 9.99726097e-01 -1.03719453e-05 6.57516453e-01] [ 4.42021398e-04 2.70340612e-08 9.99999902e-01 -3.01842604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.180281693 meters 0.0190847408396921 Centerline is valid? [True, True] Translation: X:87.22, Y:0.64, Z:-0.03 [[ 9.99432526e-01 -3.36142646e-02 2.16954223e-03 8.72180034e+01] [ 3.36142331e-02 9.99434881e-01 5.09639432e-05 6.42429125e-01] [-2.17002930e-03 2.19924758e-05 9.99997645e-01 -2.61061162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.240281693 meters 0.021267259029347473 Centerline is valid? [True, True] Translation: X:87.28, Y:0.64, Z:-0.03 [[ 9.99274655e-01 -3.80693908e-02 9.40773738e-04 8.72776822e+01] [ 3.80693868e-02 9.99275098e-01 2.21188001e-05 6.36970556e-01] [-9.40933818e-04 1.37119231e-05 9.99999557e-01 -2.80614098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.300281693 meters 0.021209504803237342 Centerline is valid? [True, True] Translation: X:87.34, Y:0.64, Z:-0.03 [[ 9.99323904e-01 -3.67464362e-02 1.19756137e-03 8.73356209e+01] [ 3.67464288e-02 9.99324622e-01 2.82176342e-05 6.37469445e-01] [-1.19778946e-03 1.58075473e-05 9.99999283e-01 -2.62152113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.360281693 meters 0.02031910940127394 Centerline is valid? [True, True] Translation: X:87.39, Y:0.64, Z:-0.03 [[ 9.99342141e-01 -3.62650422e-02 -3.63303022e-04 8.73940316e+01] [ 3.62650414e-02 9.99342207e-01 -8.68246685e-06 6.40197977e-01] [ 3.63378914e-04 -4.49844413e-06 9.99999934e-01 -2.93455785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.420281693 meters 0.020175144233124942 Centerline is valid? [True, True] Translation: X:87.45, Y:0.64, Z:-0.03 [[ 9.99367958e-01 -3.55440760e-02 -5.50475884e-04 8.74516503e+01] [ 3.55440741e-02 9.99368110e-01 -1.31217160e-05 6.38260783e-01] [ 5.50594443e-04 -6.45273314e-06 9.99999848e-01 -3.01989083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.480281693 meters 0.01851984978522679 Centerline is valid? [True, True] Translation: X:87.51, Y:0.64, Z:-0.03 [[ 9.99420277e-01 -3.40450496e-02 -2.09585109e-04 8.75100868e+01] [ 3.40450492e-02 9.99420299e-01 -5.07951772e-06 6.40508092e-01] [ 2.09636545e-04 -2.05876235e-06 9.99999978e-01 -2.89428538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.540281693 meters 0.01506109076714454 Centerline is valid? [True, True] Translation: X:87.57, Y:0.65, Z:-0.03 [[ 9.99624056e-01 -2.73986422e-02 -1.02999010e-03 8.75686375e+01] [ 2.73986311e-02 9.99624587e-01 -2.49123930e-05 6.51850339e-01] [ 1.03028599e-03 -3.31729147e-06 9.99999469e-01 -3.05997863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.600281693 meters 0.01502043679883138 Centerline is valid? [True, True] Translation: X:87.63, Y:0.66, Z:-0.03 [[ 9.99743171e-01 -2.25151706e-02 -2.58069912e-03 8.76268453e+01] [ 2.25150836e-02 9.99746501e-01 -6.27594399e-05 6.60413120e-01] [ 2.58145795e-03 4.63866505e-06 9.99996668e-01 -3.46015967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.660281693 meters 0.01648809050465128 Centerline is valid? [True, True] Translation: X:87.69, Y:0.67, Z:-0.03 [[ 9.99845717e-01 -1.75064887e-02 -1.43718970e-03 8.76857137e+01] [ 1.75064562e-02 9.99846750e-01 -3.52242035e-05 6.65548446e-01] [ 1.43758611e-03 1.00586704e-05 9.99998967e-01 -3.32148125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.720281693 meters 0.017880490618082126 Centerline is valid? [True, True] Translation: X:87.74, Y:0.67, Z:-0.03 [[ 9.99859343e-01 -1.66652205e-02 -1.88776608e-03 8.77447199e+01] [ 1.66651630e-02 9.99861125e-01 -4.62167485e-05 6.70610275e-01] [ 1.88827413e-03 1.47503185e-05 9.99998217e-01 -3.41241165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.780281693 meters 0.015561163893472292 Centerline is valid? [True, True] Translation: X:87.80, Y:0.66, Z:-0.03 [[ 9.99817376e-01 -1.90782320e-02 1.11130430e-03 8.78044627e+01] [ 1.90782135e-02 9.99817994e-01 2.72229802e-05 6.60967037e-01] [-1.11162140e-03 -6.01630798e-06 9.99999382e-01 -2.74201558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84028169300001 meters 0.015109673892528453 Centerline is valid? [True, True] Translation: X:87.86, Y:0.66, Z:-0.02 [[ 9.99778029e-01 -2.07491586e-02 3.65581731e-03 8.78641327e+01] [ 2.07489696e-02 9.99784713e-01 8.96204994e-05 6.55926424e-01] [-3.65688981e-03 -1.37461642e-05 9.99993313e-01 -2.27608332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.900281693 meters 0.015405199620014635 Centerline is valid? [True, True] Translation: X:87.92, Y:0.66, Z:-0.03 [[ 9.99804816e-01 -1.96262713e-02 2.26686696e-03 8.79244132e+01] [ 1.96261958e-02 9.99807386e-01 5.55736136e-05 6.55495130e-01] [-2.26752103e-03 -1.10727918e-05 9.99997429e-01 -2.58459064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.960281693 meters 0.01819973852040183 Centerline is valid? [True, True] Translation: X:87.98, Y:0.66, Z:-0.03 [[ 9.99884353e-01 -1.51224388e-02 -1.61021485e-03 8.79845292e+01] [ 1.51223949e-02 9.99885649e-01 -3.94753903e-05 6.63706717e-01] [ 1.61062769e-03 1.51205203e-05 9.99998703e-01 -3.25737973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.020281693 meters 0.0255160302662232 Centerline is valid? [True, True] Translation: X:88.04, Y:0.68, Z:-0.03 [[ 9.99972492e-01 -7.36743699e-03 -8.57917683e-04 8.80429644e+01] [ 7.36742162e-03 9.99972860e-01 -2.10745576e-05 6.77243205e-01] [ 8.58049665e-04 1.47533366e-05 9.99999632e-01 -2.98013731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.080281693 meters 0.028139103312498893 Centerline is valid? [True, True] Translation: X:88.10, Y:0.68, Z:-0.03 [[ 9.99988798e-01 -4.73183810e-03 1.12862952e-04 8.81032932e+01] [ 4.73183782e-03 9.99988805e-01 2.77086030e-06 6.84294118e-01] [-1.12874799e-04 -2.23678008e-06 9.99999994e-01 -2.75187265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.140281693 meters 0.03405181947735526 Centerline is valid? [True, True] Translation: X:88.16, Y:0.70, Z:-0.03 [[ 9.99998098e-01 1.95001984e-03 3.08045066e-05 8.81634791e+01] [-1.95001986e-03 9.99998099e-01 7.56393397e-07 6.99864273e-01] [-3.08029730e-05 -8.16461357e-07 1.00000000e+00 -2.94973462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20028169300001 meters 0.03955541115713532 Centerline is valid? [True, True] Translation: X:88.22, Y:0.71, Z:-0.03 [[ 9.99980723e-01 6.20477096e-03 -2.31911045e-04 8.82230471e+01] [-6.20477245e-03 9.99980750e-01 -5.69347973e-06 7.10602011e-01] [ 2.31871254e-04 7.13232524e-06 9.99999973e-01 -2.88577661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.260281693 meters 0.04664930927103607 Centerline is valid? [True, True] Translation: X:88.28, Y:0.73, Z:-0.03 [[ 9.99929942e-01 1.18247601e-02 -5.35082376e-04 8.82826974e+01] [-1.18247688e-02 9.99930085e-01 -1.31367431e-05 7.29357830e-01] [ 5.34889627e-04 1.94630482e-05 9.99999857e-01 -2.81480976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.320281693 meters 0.0555509448957011 Centerline is valid? [True, True] Translation: X:88.34, Y:0.75, Z:-0.03 [[ 9.99827757e-01 1.85330862e-02 9.90921295e-04 8.83412548e+01] [-1.85331194e-02 9.99828247e-01 2.43275304e-05 7.53869633e-01] [-9.90300237e-04 -4.26882028e-05 9.99999509e-01 -2.61657565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.380281693 meters 0.05800278465789722 Centerline is valid? [True, True] Translation: X:88.40, Y:0.77, Z:-0.03 [[ 9.99812801e-01 1.93016857e-02 1.34454990e-03 8.84003637e+01] [-1.93017475e-02 9.99813703e-01 3.30200111e-05 7.66226411e-01] [-1.34366208e-03 -5.89659925e-05 9.99999096e-01 -2.59767278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.440281693 meters 0.05559565246531745 Centerline is valid? [True, True] Translation: X:88.46, Y:0.78, Z:-0.03 [[ 9.99857112e-01 1.68937789e-02 -5.95712513e-04 8.84604796e+01] [-1.68937906e-02 9.99857290e-01 -1.46472431e-05 7.75797269e-01] [ 5.95380051e-04 2.47089926e-05 9.99999822e-01 -2.96991712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.500281693 meters 0.05074945078864941 Centerline is valid? [True, True] Translation: X:88.52, Y:0.78, Z:-0.03 [[ 9.99927910e-01 1.20058294e-02 -1.89088709e-04 8.85194225e+01] [-1.20058305e-02 9.99927927e-01 -4.65417037e-06 7.83082562e-01] [ 1.89019204e-04 6.92400184e-06 9.99999982e-01 -2.91866740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56028169300001 meters 0.038804876915605135 Centerline is valid? [True, True] Translation: X:88.58, Y:0.78, Z:-0.03 [[ 9.99976320e-01 6.87983771e-03 1.65414955e-04 8.85797557e+01] [-6.87983847e-03 9.99976334e-01 4.06744843e-06 7.78860105e-01] [-1.65383057e-04 -5.20538029e-06 9.99999986e-01 -2.81742566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.620281693 meters 0.04308663603233444 Centerline is valid? [True, True] Translation: X:88.64, Y:0.79, Z:-0.03 [[ 9.99989270e-01 4.62159294e-03 -3.17965051e-04 8.86384677e+01] [-4.62159567e-03 9.99989320e-01 -7.83475539e-06 7.94599356e-01] [ 3.17925446e-04 9.30417723e-06 9.99999949e-01 -2.86711895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.680281693 meters 0.03833816965325871 Centerline is valid? [True, True] Translation: X:88.70, Y:0.80, Z:-0.03 [[ 9.99998839e-01 8.74316934e-04 -1.24818177e-03 8.86986937e+01] [-8.74355965e-04 9.99999617e-01 -3.07240656e-05 8.03150600e-01] [ 1.24815443e-03 3.18153851e-05 9.99999221e-01 -3.10492055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.740281693 meters 0.031343761959536226 Centerline is valid? [True, True] Translation: X:88.76, Y:0.81, Z:-0.03 [[ 9.99986912e-01 -5.07050963e-03 -6.81751283e-04 8.87585552e+01] [ 5.07049937e-03 9.99987145e-01 -1.67850661e-05 8.06337189e-01] [ 6.81827628e-04 1.33280270e-05 9.99999767e-01 -3.02799777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.800281693 meters 0.02127616562672843 Centerline is valid? [True, True] Translation: X:88.82, Y:0.80, Z:-0.03 [[ 9.99930185e-01 -1.18152523e-02 1.59470842e-04 8.88198149e+01] [ 1.18152518e-02 9.99930197e-01 3.92895822e-06 8.01901193e-01] [-1.59506132e-04 -2.04449577e-06 9.99999987e-01 -2.89773941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.860281693 meters 0.018208775770553253 Centerline is valid? [True, True] Translation: X:88.88, Y:0.80, Z:-0.03 [[ 9.99877290e-01 -1.56647076e-02 1.50720102e-04 8.88811835e+01] [ 1.56647072e-02 9.99877301e-01 3.71255925e-06 8.03927958e-01] [-1.50759765e-04 -1.35111743e-06 9.99999989e-01 -2.96866026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.920281693 meters 0.016945514732588846 Centerline is valid? [True, True] Translation: X:88.94, Y:0.81, Z:-0.03 [[ 9.99816238e-01 -1.91241661e-02 -1.32549123e-03 8.89413974e+01] [ 1.91241397e-02 9.99817116e-01 -3.25613188e-05 8.09337890e-01] [ 1.32587153e-03 7.20645572e-06 9.99999121e-01 -3.31838931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.980281693 meters 0.015307320691079594 Centerline is valid? [True, True] Translation: X:89.00, Y:0.81, Z:-0.03 [[ 9.99763053e-01 -2.17677910e-02 -4.23693960e-05 8.90028969e+01] [ 2.17677910e-02 9.99763054e-01 -1.03240095e-06 8.11215431e-01] [ 4.23818298e-05 1.09868172e-07 9.99999999e-01 -3.00718400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.040281693 meters 0.015474651877136635 Centerline is valid? [True, True] Translation: X:89.06, Y:0.80, Z:-0.03 [[ 9.99622849e-01 -2.74599530e-02 3.32186188e-04 8.90645863e+01] [ 2.74599518e-02 9.99622904e-01 8.15425328e-06 8.04491829e-01] [-3.32284838e-04 9.70638821e-07 9.99999945e-01 -2.86721772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.100281693 meters 0.017639472171593625 Centerline is valid? [True, True] Translation: X:89.12, Y:0.80, Z:-0.03 [[ 9.99505901e-01 -3.14287497e-02 -4.32118249e-04 8.91245441e+01] [ 3.14287480e-02 9.99505995e-01 -1.05974385e-05 7.98274191e-01] [ 4.32237844e-04 -2.98873324e-06 9.99999907e-01 -2.99745437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.160281693 meters 0.01652103998794767 Centerline is valid? [True, True] Translation: X:89.19, Y:0.80, Z:-0.03 [[ 9.99522254e-01 -3.09002051e-02 6.63737468e-04 8.91863012e+01] [ 3.09002012e-02 9.99522475e-01 1.62702905e-05 7.98558563e-01] [-6.63923271e-04 4.24710384e-06 9.99999780e-01 -2.70611274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.220281693 meters 0.016467563954567416 Centerline is valid? [True, True] Translation: X:89.25, Y:0.80, Z:-0.03 [[ 9.99553791e-01 -2.98377685e-02 1.38788962e-03 8.92465473e+01] [ 2.98377501e-02 9.99554755e-01 3.39924754e-05 7.97240236e-01] [-1.38828593e-03 7.43419590e-06 9.99999036e-01 -2.59198348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.280281693 meters 0.015284781872532027 Centerline is valid? [True, True] Translation: X:89.31, Y:0.80, Z:-0.03 [[ 9.99656740e-01 -2.61625282e-02 1.38699030e-03 8.93077632e+01] [ 2.61625063e-02 9.99657702e-01 3.39437731e-05 7.98612536e-01] [-1.38740359e-03 2.35502078e-06 9.99999038e-01 -2.63740350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34028169300001 meters 0.015256715426700023 Centerline is valid? [True, True] Translation: X:89.37, Y:0.80, Z:-0.03 [[ 9.99739352e-01 -2.28287574e-02 -2.73951435e-04 8.93689616e+01] [ 2.28287564e-02 9.99739390e-01 -6.68954250e-06 8.01442612e-01] [ 2.74032755e-04 4.33828312e-07 9.99999962e-01 -2.82572524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.400281693 meters 0.016678609619919762 Centerline is valid? [True, True] Translation: X:89.43, Y:0.80, Z:-0.03 [[ 9.99827037e-01 -1.85894354e-02 5.74419258e-04 8.94303513e+01] [ 1.85894304e-02 9.99827202e-01 1.40369894e-05 8.03796987e-01] [-5.74580938e-04 -3.35643467e-06 9.99999835e-01 -2.76211318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.460281693 meters 0.020036210313441324 Centerline is valid? [True, True] Translation: X:89.49, Y:0.81, Z:-0.03 [[ 9.99909663e-01 -1.34083463e-02 9.38944462e-04 8.94915177e+01] [ 1.34083307e-02 9.99910104e-01 2.29183383e-05 8.09486818e-01] [-9.39167352e-04 -1.03265901e-05 9.99999559e-01 -2.64576702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.520281693 meters 0.02584568240204124 Centerline is valid? [True, True] Translation: X:89.55, Y:0.82, Z:-0.03 [[ 9.99983942e-01 -5.50924815e-03 -1.32821547e-03 8.95518925e+01] [ 5.50920996e-03 9.99984824e-01 -3.24087230e-05 8.20070316e-01] [ 1.32837386e-03 2.50907847e-05 9.99999117e-01 -3.00509524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.580281693 meters 0.032494533696792574 Centerline is valid? [True, True] Translation: X:89.61, Y:0.83, Z:-0.03 [[ 9.99999359e-01 3.47730757e-05 -1.13157220e-03 8.96113283e+01] [-3.48043615e-05 9.99999999e-01 -2.76281458e-05 8.31291084e-01] [ 1.13157124e-03 2.76675118e-05 9.99999359e-01 -3.04016461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.640281693 meters 0.03341512974832892 Centerline is valid? [True, True] Translation: X:89.67, Y:0.84, Z:-0.03 [[ 9.99997069e-01 2.42095467e-03 -4.10046221e-05 8.96708789e+01] [-2.42095472e-03 9.99997069e-01 -1.01033906e-06 8.37625070e-01] [ 4.10020560e-05 1.10960644e-06 9.99999999e-01 -2.66700021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70028169300001 meters 0.04660604981796851 Centerline is valid? [True, True] Translation: X:89.73, Y:0.87, Z:-0.03 [[ 9.99964480e-01 8.38963326e-03 -8.07411712e-04 8.97293967e+01] [-8.38965194e-03 9.99964806e-01 -1.97473877e-05 8.67080202e-01] [ 8.07217622e-04 2.65205896e-05 9.99999674e-01 -2.91477352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.760281693 meters 0.04696547017910758 Centerline is valid? [True, True] Translation: X:89.79, Y:0.88, Z:-0.03 [[ 9.99934874e-01 1.13968800e-02 5.99282353e-04 8.97888285e+01] [-1.13968909e-02 9.99935053e-01 1.46587975e-05 8.81653590e-01] [-5.99076367e-04 -2.14877984e-05 9.99999820e-01 -2.60095925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.820281693 meters 0.04132139510471768 Centerline is valid? [True, True] Translation: X:89.85, Y:0.88, Z:-0.03 [[ 9.99962448e-01 8.66170858e-03 -2.78395418e-04 8.98491622e+01] [-8.66171082e-03 9.99962487e-01 -6.82059797e-06 8.81030511e-01] [ 2.78325897e-04 9.23172245e-06 9.99999961e-01 -2.80414816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.880281693 meters 0.03059376306574871 Centerline is valid? [True, True] Translation: X:89.91, Y:0.87, Z:-0.03 [[ 9.99997838e-01 -1.96779302e-03 6.71773975e-04 8.99098344e+01] [ 1.96778242e-03 9.99998064e-01 1.64490808e-05 8.74719933e-01] [-6.71805043e-04 -1.51271402e-05 9.99999774e-01 -2.71876854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.940281693 meters 0.02725460022616953 Centerline is valid? [True, True] Translation: X:89.97, Y:0.87, Z:-0.03 [[ 9.99982425e-01 -5.73881528e-03 1.48856044e-03 8.99702980e+01] [ 5.73876740e-03 9.99983532e-01 3.64370754e-05 8.72183967e-01] [-1.48874503e-03 -2.78939329e-05 9.99998891e-01 -2.58205741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.000281693 meters 0.018331038674354445 Centerline is valid? [True, True] Translation: X:90.03, Y:0.86, Z:-0.03 [[ 9.99883853e-01 -1.50753607e-02 2.23900949e-03 9.00310833e+01] [ 1.50752758e-02 9.99886360e-01 5.48005385e-05 8.57630710e-01] [-2.23958118e-03 -2.10404880e-05 9.99997492e-01 -2.51035216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06028169300001 meters 0.016029106587942342 Centerline is valid? [True, True] Translation: X:90.09, Y:0.85, Z:-0.03 [[ 9.99774380e-01 -2.12298155e-02 6.96021441e-04 9.00923574e+01] [ 2.12298088e-02 9.99774622e-01 1.70227746e-05 8.48857579e-01] [-6.96225964e-04 -2.24253176e-06 9.99999758e-01 -2.83096286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.120281693 meters 0.01894720276549349 Centerline is valid? [True, True] Translation: X:90.16, Y:0.82, Z:-0.03 [[ 9.99422915e-01 -3.39678952e-02 1.37876141e-04 9.01555624e+01] [ 3.39678951e-02 9.99422925e-01 3.40373923e-06 8.22609591e-01] [-1.37912194e-04 1.28158730e-06 9.99999990e-01 -2.97757450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.180281693 meters 0.0226181771771538 Centerline is valid? [True, True] Translation: X:90.22, Y:0.81, Z:-0.03 [[ 9.99254855e-01 -3.85895160e-02 7.64211292e-04 9.02161252e+01] [ 3.85895131e-02 9.99255147e-01 1.85463993e-05 8.11553938e-01] [-7.64357763e-04 1.09579621e-05 9.99999708e-01 -2.81575241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.240281693 meters 0.02992680502059268 Centerline is valid? [True, True] Translation: X:90.28, Y:0.79, Z:-0.03 [[ 9.98977990e-01 -4.51940809e-02 6.85616695e-04 9.02767181e+01] [ 4.51940801e-02 9.98978225e-01 1.66347714e-05 7.91122437e-01] [-6.85667943e-04 1.43680453e-05 9.99999765e-01 -2.81455416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.300281693 meters 0.031432643848218984 Centerline is valid? [True, True] Translation: X:90.34, Y:0.78, Z:-0.03 [[ 9.98774359e-01 -4.94819403e-02 1.14769738e-03 9.03376707e+01] [ 4.94819409e-02 9.98775018e-01 2.78448704e-05 7.80370818e-01] [-1.14766929e-03 2.89795513e-05 9.99999341e-01 -2.72198935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.360281693 meters 0.03435580595045373 Centerline is valid? [True, True] Translation: X:90.40, Y:0.77, Z:-0.03 [[ 9.98679965e-01 -5.13562193e-02 9.30450935e-04 9.03971067e+01] [ 5.13562205e-02 9.98680398e-01 2.25875578e-05 7.69007246e-01] [-9.30383122e-04 2.52267020e-05 9.99999567e-01 -2.71592627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.420281693 meters 0.038107719370191556 Centerline is valid? [True, True] Translation: X:90.46, Y:0.75, Z:-0.03 [[ 9.98584180e-01 -5.31930505e-02 3.66489335e-04 9.04562108e+01] [ 5.31930508e-02 9.98584247e-01 8.90070016e-06 7.49565534e-01] [-3.66443932e-04 1.06065874e-05 9.99999933e-01 -2.70991002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.480281693 meters 0.0350516179624818 Centerline is valid? [True, True] Translation: X:90.52, Y:0.74, Z:-0.02 [[ 9.98649003e-01 -5.19417702e-02 1.49036220e-03 9.05153163e+01] [ 5.19417736e-02 9.98650114e-01 3.64258759e-05 7.41289374e-01] [-1.49024241e-03 4.10353913e-05 9.99998889e-01 -2.46487701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.540281693 meters 0.02975782000875345 Centerline is valid? [True, True] Translation: X:90.57, Y:0.74, Z:-0.03 [[ 9.98965764e-01 -4.54540006e-02 1.15627234e-03 9.05743070e+01] [ 4.54539983e-02 9.98966432e-01 2.82774325e-05 7.38309386e-01] [-1.15636258e-03 2.43090141e-05 9.99999331e-01 -2.56872763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.600281693 meters 0.02099581155665754 Centerline is valid? [True, True] Translation: X:90.63, Y:0.75, Z:-0.03 [[ 9.99371146e-01 -3.54423634e-02 -1.07287513e-03 9.06333105e+01] [ 3.54423556e-02 9.99371722e-01 -2.62472134e-05 7.46735449e-01] [ 1.07313133e-03 -1.17945143e-05 9.99999424e-01 -2.96701708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.660281693 meters 0.016224646009200917 Centerline is valid? [True, True] Translation: X:90.69, Y:0.76, Z:-0.03 [[ 9.99622821e-01 -2.74625559e-02 1.55271846e-04 9.06911008e+01] [ 2.74625556e-02 9.99622833e-01 3.78747788e-06 7.56081912e-01] [-1.55317297e-04 4.78112393e-07 9.99999988e-01 -2.74048645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.720281693 meters 0.016049995150795044 Centerline is valid? [True, True] Translation: X:90.75, Y:0.76, Z:-0.03 [[ 9.99738065e-01 -2.28723577e-02 8.09857176e-04 9.07510770e+01] [ 2.28723491e-02 9.99738393e-01 1.98791503e-05 7.64358245e-01] [-8.10099995e-04 -1.35060721e-06 9.99999672e-01 -2.65907994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.780281693 meters 0.02080946258164532 Centerline is valid? [True, True] Translation: X:90.81, Y:0.78, Z:-0.03 [[ 9.99906728e-01 -1.36455588e-02 -5.78764999e-04 9.08099090e+01] [ 1.36455528e-02 9.99906895e-01 -1.42308710e-05 7.80654293e-01] [ 5.78905301e-04 6.33197526e-06 9.99999832e-01 -2.76623474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84028169300001 meters 0.03171415089209947 Centerline is valid? [True, True] Translation: X:90.87, Y:0.81, Z:-0.03 [[ 9.99997539e-01 -1.10001421e-03 -1.92651915e-03 9.08697695e+01] [ 1.09992501e-03 9.99999394e-01 -4.73563836e-05 8.06619962e-01] [ 1.92657008e-03 4.52372404e-05 9.99998143e-01 -3.10017134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.900281693 meters 0.04568620810918325 Centerline is valid? [True, True] Translation: X:90.93, Y:0.84, Z:-0.03 [[ 9.99939713e-01 1.09024310e-02 -1.30636803e-03 9.09288429e+01] [-1.09024823e-02 9.99940566e-01 -3.21108666e-05 8.37840985e-01] [ 1.30594030e-03 4.63515850e-05 9.99999146e-01 -2.88643988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.960281693 meters 0.05186649044443287 Centerline is valid? [True, True] Translation: X:90.99, Y:0.86, Z:-0.03 [[ 9.99875943e-01 1.57495043e-02 -2.27761499e-04 9.09888427e+01] [-1.57495059e-02 9.99875969e-01 -5.59913399e-06 8.60708281e-01] [ 2.27645066e-04 9.18557046e-06 9.99999974e-01 -2.81061472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.020281693 meters 0.05645761788940786 Centerline is valid? [True, True] Translation: X:91.05, Y:0.88, Z:-0.03 [[ 9.99899612e-01 1.41599645e-02 -5.11836443e-04 9.10469366e+01] [-1.41599728e-02 9.99899742e-01 -1.26103479e-05 8.75729333e-01] [ 5.11606566e-04 1.98566721e-05 9.99999869e-01 -2.90771906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.080281693 meters 0.04304805426221158 Centerline is valid? [True, True] Translation: X:91.11, Y:0.87, Z:-0.03 [[ 9.99964951e-01 8.36867229e-03 -2.47354115e-04 9.11079939e+01] [-8.36867405e-03 9.99964982e-01 -6.08292121e-06 8.67927087e-01] [ 2.47294547e-04 8.15273397e-06 9.99999969e-01 -3.01600727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.140281693 meters 0.037989467943785264 Centerline is valid? [True, True] Translation: X:91.17, Y:0.87, Z:-0.03 [[ 9.99995678e-01 2.69845160e-03 -1.16714877e-03 9.11673102e+01] [-2.69848697e-03 9.99996359e-01 -2.87334186e-05 8.69918087e-01] [ 1.16706699e-03 3.18828301e-05 9.99999318e-01 -3.14045791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20028169300001 meters 0.037523250256098796 Centerline is valid? [True, True] Translation: X:91.23, Y:0.88, Z:-0.03 [[ 9.99997742e-01 2.08492158e-03 4.10799144e-04 9.12266473e+01] [-2.08492591e-03 9.99997826e-01 1.01134818e-05 8.77503669e-01] [-4.10777165e-04 -1.09699447e-05 9.99999916e-01 -2.72970316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.260281693 meters 0.03548799550518069 Centerline is valid? [True, True] Translation: X:91.29, Y:0.88, Z:-0.03 [[ 9.99999480e-01 8.92262027e-04 -4.94809215e-04 9.12870803e+01] [-8.92268168e-04 9.99999602e-01 -1.21910511e-05 8.83486043e-01] [ 4.94798141e-04 1.26325473e-05 9.99999878e-01 -2.98658300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.320281693 meters 0.03318719571978594 Centerline is valid? [True, True] Translation: X:91.35, Y:0.88, Z:-0.03 [[ 9.99996696e-01 -2.47156126e-03 7.07242548e-04 9.13469544e+01] [ 2.47154956e-03 9.99996946e-01 1.74249585e-05 8.82465716e-01] [-7.07283454e-04 -1.56769159e-05 9.99999750e-01 -2.83408942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.380281693 meters 0.025514623271814113 Centerline is valid? [True, True] Translation: X:91.41, Y:0.87, Z:-0.03 [[ 9.99954200e-01 -9.57041125e-03 7.68426098e-05 9.14085266e+01] [ 9.57041113e-03 9.99954203e-01 1.89851019e-06 8.72024059e-01] [-7.68572602e-05 -1.16300787e-06 9.99999997e-01 -2.95948313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.440281693 meters 0.02108673101734048 Centerline is valid? [True, True] Translation: X:91.47, Y:0.86, Z:-0.03 [[ 9.99891341e-01 -1.45029032e-02 -2.64053767e-03 9.14702466e+01] [ 1.45027823e-02 9.99894827e-01 -6.49408708e-05 8.61943489e-01] [ 2.64120179e-03 2.66386714e-05 9.99996512e-01 -3.46121965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.500281693 meters 0.023033532029994162 Centerline is valid? [True, True] Translation: X:91.53, Y:0.87, Z:-0.03 [[ 9.99931099e-01 -1.16724500e-02 -1.24514147e-03 9.15301584e+01] [ 1.16724209e-02 9.99931875e-01 -3.06438476e-05 8.67176109e-01] [ 1.24541433e-03 1.61079209e-05 9.99999224e-01 -2.96911761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56028169300001 meters 0.026005563511951234 Centerline is valid? [True, True] Translation: X:91.59, Y:0.87, Z:-0.03 [[ 9.99972443e-01 -7.37204618e-03 8.74977894e-04 9.15902254e+01] [ 7.37203016e-03 9.99972826e-01 2.15372681e-05 8.73478933e-01] [-8.75112891e-04 -1.50863112e-05 9.99999617e-01 -2.63245142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.620281693 meters 0.030512689805715604 Centerline is valid? [True, True] Translation: X:91.65, Y:0.88, Z:-0.02 [[ 9.99984630e-01 -4.88938306e-03 2.61420419e-03 9.16505557e+01] [ 4.88923158e-03 9.99988046e-01 6.43335688e-05 8.82457986e-01] [-2.61448749e-03 -5.15511303e-05 9.99996581e-01 -2.27510444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.680281693 meters 0.03490194324516432 Centerline is valid? [True, True] Translation: X:91.71, Y:0.89, Z:-0.03 [[ 9.99998119e-01 -1.93635494e-03 -1.13029059e-04 9.17102836e+01] [ 1.93635464e-03 9.99998125e-01 -2.75863423e-06 8.94356310e-01] [ 1.13034189e-04 2.53976470e-06 9.99999994e-01 -2.84712425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.740281693 meters 0.03656367227070332 Centerline is valid? [True, True] Translation: X:91.77, Y:0.91, Z:-0.03 [[ 9.99999131e-01 -1.00334250e-03 -8.54837239e-04 9.17703662e+01] [ 1.00332493e-03 9.99999496e-01 -2.09803592e-05 9.05746382e-01] [ 8.54857859e-04 2.01226615e-05 9.99999634e-01 -2.85845367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.800281693 meters 0.03838241869068717 Centerline is valid? [True, True] Translation: X:91.83, Y:0.92, Z:-0.03 [[ 9.99993696e-01 2.40270450e-03 -2.61421442e-03 9.18307466e+01] [-2.40288047e-03 9.99997111e-01 -6.41722099e-05 9.19697858e-01] [ 2.61405268e-03 7.04534502e-05 9.99996581e-01 -3.15601367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.860281693 meters 0.0427824565406674 Centerline is valid? [True, True] Translation: X:91.89, Y:0.93, Z:-0.03 [[ 9.99995570e-01 2.97649317e-03 -9.97565260e-06 9.18890935e+01] [-2.97649317e-03 9.99995570e-01 -2.56652862e-07 9.34218142e-01] [ 9.97484449e-06 2.86344188e-07 1.00000000e+00 -2.71039939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.920281693 meters 0.034944553454462 Centerline is valid? [True, True] Translation: X:91.95, Y:0.93, Z:-0.02 [[ 9.99996766e-01 9.24001008e-04 2.36931188e-03 9.19495158e+01] [-9.24141587e-04 9.99999571e-01 5.82389966e-05 9.29876343e-01] [-2.36925705e-03 -6.04283880e-05 9.99997191e-01 -2.25603088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.980281693 meters 0.028465023735530847 Centerline is valid? [True, True] Translation: X:92.01, Y:0.93, Z:-0.03 [[ 9.99987500e-01 -4.99747908e-03 1.61107623e-04 9.20107058e+01] [ 4.99747851e-03 9.99987513e-01 3.96223167e-06 9.26528435e-01] [-1.61125412e-04 -3.15705026e-06 9.99999987e-01 -2.73920908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.040281693 meters 0.021907496984451845 Centerline is valid? [True, True] Translation: X:92.07, Y:0.92, Z:-0.03 [[ 9.99923466e-01 -1.23683396e-02 2.94852589e-04 9.20714405e+01] [ 1.23683380e-02 9.99923509e-01 7.24425264e-06 9.19187354e-01] [-2.94919635e-04 -3.59686174e-06 9.99999957e-01 -2.74073322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.100281693 meters 0.017433337844907464 Centerline is valid? [True, True] Translation: X:92.13, Y:0.91, Z:-0.03 [[ 9.99813224e-01 -1.92762524e-02 1.39387655e-03 9.21331064e+01] [ 1.92762234e-02 9.99814196e-01 3.42221428e-05 9.09320358e-01] [-1.39427723e-03 -7.34707518e-06 9.99999028e-01 -2.60843121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.160281693 meters 0.016959765287642165 Centerline is valid? [True, True] Translation: X:92.19, Y:0.89, Z:-0.03 [[ 9.99594165e-01 -2.84782310e-02 -7.03448011e-04 9.21949153e+01] [ 2.84782259e-02 9.99594413e-01 -1.72312070e-05 8.93192421e-01] [ 7.03653416e-04 -2.80873740e-06 9.99999752e-01 -3.00128650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.220281693 meters 0.01756031267201639 Centerline is valid? [True, True] Translation: X:92.26, Y:0.89, Z:-0.03 [[ 9.99546511e-01 -3.01014878e-02 8.19709553e-04 9.22564763e+01] [ 3.01014814e-02 9.99546848e-01 2.00821857e-05 8.86969572e-01] [-8.19942604e-04 4.60139325e-06 9.99999664e-01 -2.75484261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.280281693 meters 0.01617748101695893 Centerline is valid? [True, True] Translation: X:92.32, Y:0.89, Z:-0.03 [[ 9.99702038e-01 -2.43800791e-02 1.20308397e-03 9.23178334e+01] [ 2.43800613e-02 9.99702762e-01 2.94440487e-05 8.93661012e-01] [-1.20344422e-03 -1.04014382e-07 9.99999276e-01 -2.56274104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34028169300001 meters 0.01780794982582016 Centerline is valid? [True, True] Translation: X:92.38, Y:0.90, Z:-0.03 [[ 9.99824318e-01 -1.87419853e-02 2.65081789e-04 9.23785601e+01] [ 1.87419843e-02 9.99824354e-01 6.48855323e-06 9.04628461e-01] [-2.65156837e-04 -1.51925459e-06 9.99999965e-01 -2.70489733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.400281693 meters 0.02383571841164204 Centerline is valid? [True, True] Translation: X:92.44, Y:0.93, Z:-0.03 [[ 9.99938729e-01 -1.10690527e-02 1.15913578e-04 9.24393625e+01] [ 1.10690524e-02 9.99938736e-01 2.83716984e-06 9.25181820e-01] [-1.15937882e-04 -1.55394252e-06 9.99999993e-01 -2.67548958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.460281693 meters 0.03139907132040492 Centerline is valid? [True, True] Translation: X:92.50, Y:0.95, Z:-0.03 [[ 9.99990071e-01 -3.89455627e-03 -2.16582552e-03 9.24993321e+01] [ 3.89445088e-03 9.99992415e-01 -5.28727444e-05 9.47455937e-01] [ 2.16601501e-03 4.44375183e-05 9.99997653e-01 -3.12010219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.520281693 meters 0.02996875026691958 Centerline is valid? [True, True] Translation: X:92.56, Y:0.96, Z:-0.03 [[ 9.99995399e-01 -2.95866849e-03 6.69590479e-04 9.25597156e+01] [ 2.95865821e-03 9.99995623e-01 1.63462319e-05 9.59025910e-01] [-6.69635911e-04 -1.43650673e-05 9.99999776e-01 -2.68134790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.580281693 meters 0.02461517423765956 Centerline is valid? [True, True] Translation: X:92.62, Y:0.96, Z:-0.02 [[ 9.99945885e-01 -1.02147544e-02 1.97126772e-03 9.26191668e+01] [ 1.02146793e-02 9.99947828e-01 4.81417248e-05 9.61740254e-01] [-1.97165663e-03 -2.80032520e-05 9.99998056e-01 -2.43393939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.640281693 meters 0.020420044012313482 Centerline is valid? [True, True] Translation: X:92.68, Y:0.96, Z:-0.03 [[ 9.99884070e-01 -1.52238750e-02 -2.82721335e-04 9.26808910e+01] [ 1.52238737e-02 9.99884110e-01 -6.88490939e-06 9.59569734e-01] [ 2.82793386e-04 2.57999734e-06 9.99999960e-01 -2.95383774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70028169300001 meters 0.01714536875912476 Centerline is valid? [True, True] Translation: X:92.74, Y:0.96, Z:-0.03 [[ 9.99797658e-01 -2.01129538e-02 -3.33752547e-04 9.27425878e+01] [ 2.01129522e-02 9.99797714e-01 -8.12639207e-06 9.58053653e-01] [ 3.33848480e-04 1.41199872e-06 9.99999944e-01 -2.86216093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.760281693 meters 0.016179027045244668 Centerline is valid? [True, True] Translation: X:92.81, Y:0.96, Z:-0.03 [[ 9.99724501e-01 -2.34358287e-02 1.29743188e-03 9.28052263e+01] [ 2.34358074e-02 9.99725343e-01 3.15770915e-05 9.59253165e-01] [-1.29781557e-03 -1.16202836e-06 9.99999158e-01 -2.57823978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.820281693 meters 0.017476117294687628 Centerline is valid? [True, True] Translation: X:92.87, Y:0.95, Z:-0.03 [[ 9.99561421e-01 -2.95948643e-02 1.05348738e-03 9.28672594e+01] [ 2.95948538e-02 9.99561976e-01 2.55967098e-05 9.50754162e-01] [-1.05378346e-03 5.59232130e-06 9.99999445e-01 -2.67431258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.880281693 meters 0.02527201250202481 Centerline is valid? [True, True] Translation: X:92.93, Y:0.93, Z:-0.02 [[ 9.99214595e-01 -3.95259272e-02 2.80956673e-03 9.29286530e+01] [ 3.95258917e-02 9.99218544e-01 6.81686506e-05 9.30967991e-01] [-2.81006561e-03 4.29355198e-05 9.99996051e-01 -2.40520563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.940281693 meters 0.028358056026157263 Centerline is valid? [True, True] Translation: X:92.99, Y:0.92, Z:-0.03 [[ 9.99110100e-01 -4.21697923e-02 8.46364044e-04 9.29896053e+01] [ 4.21697901e-02 9.99110459e-01 2.04955310e-05 9.22503239e-01] [-8.46475460e-04 1.52137021e-05 9.99999642e-01 -2.73184341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.000281693 meters 0.021925987255956618 Centerline is valid? [True, True] Translation: X:93.05, Y:0.93, Z:-0.03 [[ 9.99332147e-01 -3.65079026e-02 -1.55951860e-03 9.30512770e+01] [ 3.65078883e-02 9.99333364e-01 -3.76498323e-05 9.29572000e-01] [ 1.55985349e-03 -1.93100433e-05 9.99998783e-01 -2.99559187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06028169300001 meters 0.017154646891491213 Centerline is valid? [True, True] Translation: X:93.11, Y:0.94, Z:-0.03 [[ 9.99580506e-01 -2.89621491e-02 7.61558964e-05 9.31117724e+01] [ 2.89621490e-02 9.99580509e-01 1.83915274e-06 9.37507485e-01] [-7.61772155e-05 3.67257194e-07 9.99999997e-01 -2.75292261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.120281693 meters 0.01705246434731938 Centerline is valid? [True, True] Translation: X:93.17, Y:0.93, Z:-0.02 [[ 9.99581661e-01 -2.88080058e-02 2.56956288e-03 9.31735719e+01] [ 2.88079416e-02 9.99584963e-01 6.20035659e-05 9.30808393e-01] [-2.57028262e-03 1.20461901e-05 9.99996697e-01 -2.43647286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.180281693 meters 0.019317204758354724 Centerline is valid? [True, True] Translation: X:93.24, Y:0.92, Z:-0.03 [[ 9.99479736e-01 -3.22529014e-02 -8.88200683e-05 9.32352032e+01] [ 3.22529013e-02 9.99479740e-01 -2.12808740e-06 9.16230557e-01] [ 8.88424958e-05 -7.37724668e-07 9.99999996e-01 -2.92212180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.240281693 meters 0.021750115845545516 Centerline is valid? [True, True] Translation: X:93.30, Y:0.91, Z:-0.03 [[ 9.99377612e-01 -3.52249886e-02 -1.89427625e-03 9.32971387e+01] [ 3.52249655e-02 9.99379407e-01 -4.55896531e-05 9.06977311e-01] [ 1.89470657e-03 -2.11645368e-05 9.99998205e-01 -3.26523627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.300281693 meters 0.021357731172206247 Centerline is valid? [True, True] Translation: X:93.36, Y:0.90, Z:-0.03 [[ 9.99368648e-01 -3.55226694e-02 6.67609057e-04 9.33580441e+01] [ 3.55226666e-02 9.99368871e-01 1.60700236e-05 8.95873802e-01] [-6.67758560e-04 7.65537621e-06 9.99999777e-01 -2.67393525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.360281693 meters 0.020997713791291967 Centerline is valid? [True, True] Translation: X:93.42, Y:0.89, Z:-0.03 [[ 9.99396344e-01 -3.47349462e-02 6.56180865e-04 9.34190124e+01] [ 3.47349433e-02 9.99396560e-01 1.57880688e-05 8.94478088e-01] [-6.56333297e-04 7.01386692e-06 9.99999785e-01 -2.67182099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.420281693 meters 0.017814213471271472 Centerline is valid? [True, True] Translation: X:93.48, Y:0.90, Z:-0.03 [[ 9.99557323e-01 -2.97504527e-02 -2.61940314e-04 9.34799193e+01] [ 2.97504521e-02 9.99557357e-01 -6.28565867e-06 9.01743628e-01] [ 2.62011369e-04 -1.50996660e-06 9.99999966e-01 -2.81433953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.480281693 meters 0.0165079717802087 Centerline is valid? [True, True] Translation: X:93.54, Y:0.92, Z:-0.02 [[ 9.99760391e-01 -2.18389705e-02 1.49009174e-03 9.35396152e+01] [ 2.18389415e-02 9.99761501e-01 3.57885793e-05 9.21107532e-01] [-1.49051794e-03 -3.23797775e-06 9.99998889e-01 -2.47634712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.540281693 meters 0.018350902757674807 Centerline is valid? [True, True] Translation: X:93.60, Y:0.94, Z:-0.03 [[ 9.99846208e-01 -1.75323998e-02 -4.19350577e-04 9.36002478e+01] [ 1.75323972e-02 9.99846296e-01 -1.00451268e-05 9.36529248e-01] [ 4.19462236e-04 2.69136111e-06 9.99999912e-01 -2.90277426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.600281693 meters 0.018132928688730985 Centerline is valid? [True, True] Translation: X:93.66, Y:0.94, Z:-0.03 [[ 9.99841745e-01 -1.77899758e-02 -5.00333573e-05 9.36612355e+01] [ 1.77899757e-02 9.99841746e-01 -1.19109027e-06 9.42105675e-01] [ 5.00466288e-05 3.00809558e-07 9.99999999e-01 -2.89035067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.660281693 meters 0.01714361271600135 Centerline is valid? [True, True] Translation: X:93.72, Y:0.95, Z:-0.02 [[ 9.99802843e-01 -1.97137336e-02 2.37552167e-03 9.37226606e+01] [ 1.97136542e-02 9.99805665e-01 5.68488054e-05 9.45387344e-01] [-2.37618072e-03 -1.00073846e-05 9.99997177e-01 -2.43358549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.720281693 meters 0.016886462842494388 Centerline is valid? [True, True] Translation: X:93.79, Y:0.95, Z:-0.03 [[ 9.99786241e-01 -2.06264432e-02 1.42215822e-03 9.37852184e+01] [ 2.06264158e-02 9.99787252e-01 3.39681490e-05 9.50608563e-01] [-1.42255630e-03 -4.62686124e-06 9.99998988e-01 -2.64643449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.780281693 meters 0.016849451214861706 Centerline is valid? [True, True] Translation: X:93.85, Y:0.95, Z:-0.03 [[ 9.99775812e-01 -2.11470054e-02 1.06339921e-03 9.38461292e+01] [ 2.11469904e-02 9.99776377e-01 2.53356081e-05 9.52069625e-01] [-1.06369718e-03 -2.84223543e-06 9.99999434e-01 -2.69607025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84028169300001 meters 0.01643216796053051 Centerline is valid? [True, True] Translation: X:93.91, Y:0.95, Z:-0.03 [[ 9.99742557e-01 -2.26616597e-02 1.12619023e-03 9.39079463e+01] [ 2.26616439e-02 9.99743192e-01 2.67703708e-05 9.52851079e-01] [-1.12650768e-03 -1.24215694e-06 9.99999365e-01 -2.71544547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.900281693 meters 0.01665606498571976 Centerline is valid? [True, True] Translation: X:93.97, Y:0.96, Z:-0.03 [[ 9.99757719e-01 -2.20107462e-02 1.74993859e-04 9.39693585e+01] [ 2.20107458e-02 9.99757734e-01 4.16117369e-06 9.57272719e-01] [-1.75043054e-04 -3.08420169e-07 9.99999985e-01 -2.90776942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.960281693 meters 0.016526378927939327 Centerline is valid? [True, True] Translation: X:94.03, Y:0.96, Z:-0.03 [[ 9.99760863e-01 -2.18596205e-02 6.11761757e-04 9.40304163e+01] [ 2.18596157e-02 9.99761050e-01 1.45132170e-05 9.61860229e-01] [-6.11932829e-04 -1.13686943e-06 9.99999813e-01 -2.85054533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.020281693 meters 0.01642652114509974 Centerline is valid? [True, True] Translation: X:94.09, Y:0.96, Z:-0.03 [[ 9.99715798e-01 -2.37910970e-02 1.51893021e-03 9.40918441e+01] [ 2.37910698e-02 9.99716952e-01 3.59750774e-05 9.60022641e-01] [-1.51935617e-03 1.72121474e-07 9.99998846e-01 -2.68787088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.080281693 meters 0.017675828074821747 Centerline is valid? [True, True] Translation: X:94.15, Y:0.95, Z:-0.03 [[ 9.99593349e-01 -2.84906816e-02 -1.19049386e-03 9.41536654e+01] [ 2.84906683e-02 9.99594058e-01 -2.81355853e-05 9.49022010e-01] [ 1.19081220e-03 -5.79382183e-06 9.99999291e-01 -3.22682227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.140281693 meters 0.02035701444541179 Centerline is valid? [True, True] Translation: X:94.22, Y:0.94, Z:-0.03 [[ 9.99447748e-01 -3.31871247e-02 -1.67744364e-03 9.42151067e+01] [ 3.31871050e-02 9.99449156e-01 -3.96154622e-05 9.36753399e-01] [ 1.67783435e-03 -1.60759136e-05 9.99998592e-01 -3.38139049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20028169300001 meters 0.01901552280186097 Centerline is valid? [True, True] Translation: X:94.28, Y:0.94, Z:-0.03 [[ 9.99491314e-01 -3.18458288e-02 -1.71949734e-03 9.42762707e+01] [ 3.18458061e-02 9.99492793e-01 -4.05688708e-05 9.37695570e-01] [ 1.71991715e-03 -1.42105450e-05 9.99998521e-01 -3.20605513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.260281693 meters 0.016951332907711596 Centerline is valid? [True, True] Translation: X:94.34, Y:0.94, Z:-0.03 [[ 9.99635587e-01 -2.69734382e-02 -1.06112964e-03 9.43368265e+01] [ 2.69734269e-02 9.99636151e-01 -2.50406198e-05 9.44254868e-01] [ 1.06141898e-03 -3.59080805e-06 9.99999437e-01 -3.11016184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.320281693 meters 0.016571281349076764 Centerline is valid? [True, True] Translation: X:94.40, Y:0.95, Z:-0.03 [[ 9.99728566e-01 -2.32846707e-02 -7.86711351e-04 9.43966690e+01] [ 2.32846633e-02 9.99728875e-01 -1.85518257e-05 9.50061163e-01] [ 7.86930028e-04 2.28481196e-07 9.99999690e-01 -3.08473561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.380281693 meters 0.01735878099306076 Centerline is valid? [True, True] Translation: X:94.46, Y:0.96, Z:-0.03 [[ 9.99811506e-01 -1.94077857e-02 5.38616434e-04 9.44566677e+01] [ 1.94077817e-02 9.99811651e-01 1.26972123e-05 9.58695810e-01] [-5.38761411e-04 -2.24146881e-06 9.99999855e-01 -2.75778117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.440281693 meters 0.017178242963473287 Centerline is valid? [True, True] Translation: X:94.52, Y:0.96, Z:-0.03 [[ 9.99821053e-01 -1.88487903e-02 1.60784638e-03 9.45187929e+01] [ 1.88487538e-02 9.99822346e-01 3.78076863e-05 9.59109039e-01] [-1.60827336e-03 -7.49502020e-06 9.99998707e-01 -2.66384482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.500281693 meters 0.016680719840605634 Centerline is valid? [True, True] Translation: X:94.58, Y:0.96, Z:-0.03 [[ 9.99771361e-01 -2.13081022e-02 1.78640878e-03 9.45804217e+01] [ 2.13080613e-02 9.99772957e-01 4.19389462e-05 9.55555768e-01] [-1.78689683e-03 -3.86444942e-06 9.99998403e-01 -2.63420297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56028169300001 meters 0.01684885039184322 Centerline is valid? [True, True] Translation: X:94.64, Y:0.96, Z:-0.03 [[ 9.99797083e-01 -2.01439051e-02 1.24079835e-04 9.46413575e+01] [ 2.01439049e-02 9.99797091e-01 2.91712040e-06 9.56481364e-01] [-1.24113421e-04 -4.17076062e-07 9.99999992e-01 -2.91689393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.620281693 meters 0.018782860858337923 Centerline is valid? [True, True] Translation: X:94.70, Y:0.97, Z:-0.03 [[ 9.99854085e-01 -1.70813453e-02 -1.89301490e-04 9.47012941e+01] [ 1.70813448e-02 9.99854103e-01 -4.43272866e-06 9.66489917e-01] [ 1.89349589e-04 1.19855783e-06 9.99999982e-01 -2.98297332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.680281693 meters 0.021835638555746873 Centerline is valid? [True, True] Translation: X:94.76, Y:0.98, Z:-0.03 [[ 9.99923217e-01 -1.23879266e-02 3.15090292e-04 9.47627263e+01] [ 1.23879249e-02 9.99923267e-01 7.38526250e-06 9.77301921e-01] [-3.15157602e-04 -3.48138055e-06 9.99999950e-01 -2.80063318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.740281693 meters 0.022445324992359524 Centerline is valid? [True, True] Translation: X:94.82, Y:0.98, Z:-0.03 [[ 9.99937986e-01 -1.11365722e-02 -3.10261701e-05 9.48244077e+01] [ 1.11365722e-02 9.99937986e-01 -7.18083567e-07 9.82283536e-01] [ 3.10322431e-05 3.72513852e-07 1.00000000e+00 -3.06248115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.800281693 meters 0.0214047414082548 Centerline is valid? [True, True] Translation: X:94.89, Y:0.99, Z:-0.03 [[ 9.99929385e-01 -1.18156521e-02 -1.27062666e-03 9.48854262e+01] [ 1.18156239e-02 9.99930193e-01 -2.96863380e-05 9.85198488e-01] [ 1.27088872e-03 1.46709950e-05 9.99999192e-01 -3.24952353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.860281693 meters 0.023639405260504086 Centerline is valid? [True, True] Translation: X:94.95, Y:1.00, Z:-0.03 [[ 9.99956965e-01 -9.25402474e-03 -6.56398287e-04 9.49459008e+01] [ 9.25401667e-03 9.99957181e-01 -1.53398559e-05 9.95735557e-01] [ 6.56512136e-04 9.26487502e-06 9.99999784e-01 -3.02784762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.920281693 meters 0.027084671165452972 Centerline is valid? [True, True] Translation: X:95.01, Y:1.01, Z:-0.03 [[ 9.99970968e-01 -7.43699056e-03 -1.65987122e-03 9.50055890e+01] [ 7.43693660e-03 9.99972345e-01 -3.86777861e-05 1.00581207e+00] [ 1.66011296e-03 2.63323062e-05 9.99998622e-01 -3.32959229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.980281693 meters 0.021382380733463647 Centerline is valid? [True, True] Translation: X:95.07, Y:1.00, Z:-0.03 [[ 9.99931882e-01 -1.16480806e-02 -7.43945320e-04 9.50658542e+01] [ 1.16480709e-02 9.99932159e-01 -1.73438965e-05 1.00201244e+00] [ 7.44096873e-04 8.67718725e-06 9.99999723e-01 -3.13496904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.040281693 meters 0.01723399929801341 Centerline is valid? [True, True] Translation: X:95.13, Y:0.99, Z:-0.03 [[ 9.99823876e-01 -1.87179222e-02 1.36276839e-03 9.51274703e+01] [ 1.87178963e-02 9.99824804e-01 3.17474379e-05 9.92971848e-01] [-1.36312388e-03 -6.23368905e-06 9.99999071e-01 -2.68830898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.100281693 meters 0.0163760186927266 Centerline is valid? [True, True] Translation: X:95.19, Y:0.99, Z:-0.03 [[ 9.99747669e-01 -2.24584858e-02 4.63715463e-04 9.51897295e+01] [ 2.24584832e-02 9.99747776e-01 1.07947485e-05 9.91190552e-01] [-4.63840937e-04 -3.77678688e-07 9.99999892e-01 -2.77909322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.160281693 meters 0.01637277367568026 Centerline is valid? [True, True] Translation: X:95.25, Y:1.00, Z:-0.02 [[ 9.99758669e-01 -2.18743394e-02 2.02888260e-03 9.52510656e+01] [ 2.18742889e-02 9.99760728e-01 4.71041213e-05 9.96331795e-01] [-2.02942752e-03 -2.71238952e-06 9.99997941e-01 -2.44182219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.220281693 meters 0.017493003770677192 Centerline is valid? [True, True] Translation: X:95.31, Y:1.01, Z:-0.02 [[ 9.99827723e-01 -1.80889996e-02 4.16086522e-03 9.53131477e+01] [ 1.80887551e-02 9.99836380e-01 9.64103786e-05 1.00933251e+00] [-4.16192839e-03 -2.11288974e-05 9.99991339e-01 -1.99020218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.280281693 meters 0.017929456153057986 Centerline is valid? [True, True] Translation: X:95.38, Y:1.02, Z:-0.03 [[ 9.99851129e-01 -1.72381599e-02 7.52476344e-04 9.53755754e+01] [ 1.72381517e-02 9.99851412e-01 1.74148745e-05 1.01768687e+00] [-7.52664735e-04 -4.44098061e-06 9.99999717e-01 -2.75987130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.340281693 meters 0.017106751496473657 Centerline is valid? [True, True] Translation: X:95.44, Y:1.02, Z:-0.03 [[ 9.99827151e-01 -1.85918983e-02 9.69789279e-05 9.54381541e+01] [ 1.85918981e-02 9.99827156e-01 2.25421831e-06 1.01866726e+00] [-9.70040759e-05 -4.50806318e-07 9.99999995e-01 -2.95439502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.400281693 meters 0.016535029162721898 Centerline is valid? [True, True] Translation: X:95.50, Y:1.02, Z:-0.03 [[ 9.99750536e-01 -2.23228686e-02 -7.44527042e-04 9.54993391e+01] [ 2.23228620e-02 9.99750814e-01 -1.71423879e-05 1.01749999e+00] [ 7.44724184e-04 5.18137033e-07 9.99999723e-01 -3.09007638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.460281693 meters 0.01628334066985554 Centerline is valid? [True, True] Translation: X:95.56, Y:1.02, Z:-0.03 [[ 9.99719840e-01 -2.36163621e-02 1.58420077e-03 9.55611882e+01] [ 2.36163340e-02 9.99721095e-01 3.64419196e-05 1.01976084e+00] [-1.58461956e-03 9.81304566e-07 9.99998744e-01 -2.55138812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.520281693 meters 0.016344070436796594 Centerline is valid? [True, True] Translation: X:95.62, Y:1.03, Z:-0.03 [[ 9.99748054e-01 -2.24001008e-02 1.43698691e-03 9.56225923e+01] [ 2.24000765e-02 9.99749086e-01 3.30015798e-05 1.02734945e+00] [-1.43736558e-03 -8.04648591e-07 9.99998967e-01 -2.62093025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.580281693 meters 0.01631579613197434 Centerline is valid? [True, True] Translation: X:95.68, Y:1.03, Z:-0.03 [[ 9.99712469e-01 -2.39610171e-02 9.21356684e-04 9.56834660e+01] [ 2.39610078e-02 9.99712894e-01 2.11320305e-05 1.02854951e+00] [-9.21598501e-04 9.50680237e-07 9.99999575e-01 -2.67363422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.640281693 meters 0.016858094487189224 Centerline is valid? [True, True] Translation: X:95.75, Y:1.03, Z:-0.03 [[ 9.99637913e-01 -2.68481926e-02 1.79352340e-03 9.57453636e+01] [ 2.68481621e-02 9.99639522e-01 4.10466476e-05 1.02713044e+00] [-1.79397890e-03 7.12102171e-06 9.99998391e-01 -2.53613048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70028169300001 meters 0.017096694101927292 Centerline is valid? [True, True] Translation: X:95.81, Y:1.03, Z:-0.03 [[ 9.99618454e-01 -2.75767333e-02 1.57159452e-03 9.58079345e+01] [ 2.75767109e-02 9.99619690e-01 3.58965760e-05 1.02914678e+00] [-1.57198674e-03 7.45652805e-06 9.99998764e-01 -2.60163727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.760281693 meters 0.01806294818431985 Centerline is valid? [True, True] Translation: X:95.87, Y:1.03, Z:-0.03 [[ 9.99562587e-01 -2.95701403e-02 -4.90427522e-04 9.58689026e+01] [ 2.95701384e-02 9.99562708e-01 -1.11678517e-05 1.03171783e+00] [ 4.90543297e-04 -3.33904298e-06 9.99999880e-01 -2.99439789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.820281693 meters 0.01949509362765491 Centerline is valid? [True, True] Translation: X:95.93, Y:1.03, Z:-0.03 [[ 9.99497423e-01 -3.16755538e-02 1.24914866e-03 9.59299213e+01] [ 3.16755430e-02 9.99498204e-01 2.84447310e-05 1.03113442e+00] [-1.24942284e-03 1.11370266e-05 9.99999219e-01 -2.66288744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.880281693 meters 0.023956209062193184 Centerline is valid? [True, True] Translation: X:95.99, Y:1.02, Z:-0.03 [[ 9.99300098e-01 -3.73519963e-02 2.03553549e-03 9.59916970e+01] [ 3.73519795e-02 9.99302170e-01 4.62781634e-05 1.02127415e+00] [-2.03584361e-03 2.97855066e-05 9.99997927e-01 -2.58723013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.940281693 meters 0.02572650001607037 Centerline is valid? [True, True] Translation: X:96.05, Y:1.02, Z:-0.03 [[ 9.99188478e-01 -4.02698599e-02 8.50437398e-04 9.60534853e+01] [ 4.02698581e-02 9.99188840e-01 1.93129666e-05 1.01564519e+00] [-8.50525287e-04 1.49496996e-05 9.99999638e-01 -2.78797835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.000281693 meters 0.025836660097689205 Centerline is valid? [True, True] Translation: X:96.11, Y:1.01, Z:-0.03 [[ 9.99208317e-01 -3.97836443e-02 -3.04204210e-05 9.61144074e+01] [ 3.97836443e-02 9.99208317e-01 -6.77763064e-07 1.01327403e+00] [ 3.04233015e-05 -5.33008718e-07 1.00000000e+00 -2.93469837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06028169300001 meters 0.02305969415405304 Centerline is valid? [True, True] Translation: X:96.18, Y:1.02, Z:-0.03 [[ 9.99352859e-01 -3.59678016e-02 -4.25199476e-04 9.61751275e+01] [ 3.59678007e-02 9.99352949e-01 -9.61875575e-06 1.01503275e+00] [ 4.25270316e-04 -5.68095897e-06 9.99999910e-01 -2.96354464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.120281693 meters 0.01688279706244566 Centerline is valid? [True, True] Translation: X:96.24, Y:1.03, Z:-0.03 [[ 9.99654143e-01 -2.62844952e-02 8.48158130e-04 9.62366379e+01] [ 2.62844883e-02 9.99654503e-01 1.91856718e-05 1.03061061e+00] [-8.48369380e-04 3.11436617e-06 9.99999640e-01 -2.66774327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.180281693 meters 0.01691272030434342 Centerline is valid? [True, True] Translation: X:96.30, Y:1.05, Z:-0.03 [[ 9.99819861e-01 -1.89322719e-02 1.34729085e-03 9.62982614e+01] [ 1.89322481e-02 9.99820768e-01 3.04136887e-05 1.04626245e+00] [-1.34762517e-03 -4.90096541e-06 9.99999092e-01 -2.58094887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.240281693 meters 0.01695685411346909 Centerline is valid? [True, True] Translation: X:96.36, Y:1.05, Z:-0.03 [[ 9.99819306e-01 -1.90011534e-02 -5.58055260e-04 9.63599748e+01] [ 1.90011493e-02 9.99819462e-01 -1.25497095e-05 1.04679860e+00] [ 5.58192969e-04 1.94375055e-06 9.99999844e-01 -3.09818830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.300281693 meters 0.01659011828284152 Centerline is valid? [True, True] Translation: X:96.42, Y:1.05, Z:-0.03 [[ 9.99797473e-01 -2.01216434e-02 -3.62946986e-04 9.64206907e+01] [ 2.01216418e-02 9.99797539e-01 -8.14824936e-06 1.05096208e+00] [ 3.63037459e-04 8.43509897e-07 9.99999934e-01 -2.95582239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.360281693 meters 0.016408293442623453 Centerline is valid? [True, True] Translation: X:96.48, Y:1.05, Z:-0.03 [[ 9.99798498e-01 -2.00510340e-02 9.58915276e-04 9.64833015e+01] [ 2.00510226e-02 9.99798958e-01 2.15309694e-05 1.05460885e+00] [-9.59154212e-04 -2.29939894e-06 9.99999540e-01 -2.67008415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.420281693 meters 0.016652870316078684 Centerline is valid? [True, True] Translation: X:96.54, Y:1.06, Z:-0.02 [[ 9.99810775e-01 -1.93762348e-02 1.72524933e-03 9.65447997e+01] [ 1.93761970e-02 9.99812263e-01 3.86627968e-05 1.06078254e+00] [-1.72567458e-03 -5.22670998e-06 9.99998511e-01 -2.46341561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.480281693 meters 0.01644089287452938 Centerline is valid? [True, True] Translation: X:96.61, Y:1.06, Z:-0.03 [[ 9.99790707e-01 -2.04123151e-02 1.37114073e-03 9.66071083e+01] [ 2.04122922e-02 9.99791647e-01 3.06737288e-05 1.06253967e+00] [-1.37148117e-03 -2.67918378e-06 9.99999060e-01 -2.62062697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.540281693 meters 0.016214188181877684 Centerline is valid? [True, True] Translation: X:96.67, Y:1.06, Z:-0.03 [[ 9.99750037e-01 -2.23561467e-02 2.56782652e-04 9.66692197e+01] [ 2.23561459e-02 9.99750070e-01 5.74557195e-06 1.06033014e+00] [-2.56846924e-04 -3.46532442e-09 9.99999967e-01 -2.81943627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.600281693 meters 0.01766119993753032 Centerline is valid? [True, True] Translation: X:96.73, Y:1.05, Z:-0.03 [[ 9.99622730e-01 -2.73916065e-02 -2.02433964e-03 9.67317839e+01] [ 2.73915714e-02 9.99624779e-01 -4.50730953e-05 1.04932692e+00] [ 2.02481469e-03 -1.03937533e-05 9.99997950e-01 -3.35372765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.660281693 meters 0.020168462588559387 Centerline is valid? [True, True] Translation: X:96.79, Y:1.04, Z:-0.03 [[ 9.99504717e-01 -3.14651405e-02 -5.15160554e-04 9.67923026e+01] [ 3.14651387e-02 9.99504850e-01 -1.14471094e-05 1.03726505e+00] [ 5.15265657e-04 -4.76815850e-06 9.99999867e-01 -3.02332041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.720281693 meters 0.02015319925852781 Centerline is valid? [True, True] Translation: X:96.85, Y:1.03, Z:-0.03 [[ 9.99491713e-01 -3.18637717e-02 -1.00734033e-03 9.68547688e+01] [ 3.18637653e-02 9.99492221e-01 -2.23455622e-05 1.03117922e+00] [ 1.00754084e-03 -9.76345171e-06 9.99999492e-01 -3.07731257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.780281693 meters 0.018088313812423398 Centerline is valid? [True, True] Translation: X:96.92, Y:1.03, Z:-0.03 [[ 9.99583783e-01 -2.88483049e-02 -1.91039750e-04 9.69161071e+01] [ 2.88483046e-02 9.99583801e-01 -4.22884191e-06 1.03340345e+00] [ 1.91082234e-04 -1.28409110e-06 9.99999982e-01 -2.97010202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.840281693 meters 0.01608566036215757 Centerline is valid? [True, True] Translation: X:96.98, Y:1.04, Z:-0.03 [[ 9.99745618e-01 -2.25304213e-02 1.03872337e-03 9.69764824e+01] [ 2.25304095e-02 9.99746158e-01 2.30268867e-05 1.04070421e+00] [-1.03897850e-03 3.81833876e-07 9.99999460e-01 -2.61991226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.900281693 meters 0.018638030769035294 Centerline is valid? [True, True] Translation: X:97.04, Y:1.06, Z:-0.03 [[ 9.99906928e-01 -1.36430194e-02 5.75322201e-05 9.70371593e+01] [ 1.36430193e-02 9.99906930e-01 1.28194993e-06 1.05524585e+00] [-5.75443553e-05 -4.96917421e-07 9.99999998e-01 -2.75229135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.960281693 meters 0.02235975767690905 Centerline is valid? [True, True] Translation: X:97.10, Y:1.07, Z:-0.03 [[ 9.99964239e-01 -8.34017055e-03 1.40100883e-03 9.70981077e+01] [ 8.34013531e-03 9.99965220e-01 3.09955792e-05 1.06584481e+00] [-1.40121861e-03 -1.93098675e-05 9.99999018e-01 -2.56576578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.020281693 meters 0.022276115891682532 Centerline is valid? [True, True] Translation: X:97.16, Y:1.07, Z:-0.03 [[ 9.99965681e-01 -8.20527049e-03 1.14454413e-03 9.71604528e+01] [ 8.20524693e-03 9.99966336e-01 2.52770780e-05 1.06832227e+00] [-1.14471301e-03 -1.58849433e-05 9.99999345e-01 -2.68090486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.080281693 meters 0.02294934442299891 Centerline is valid? [True, True] Translation: X:97.22, Y:1.07, Z:-0.03 [[ 9.99970928e-01 -7.61869875e-03 -3.12833498e-04 9.72218129e+01] [ 7.61869698e-03 9.99970977e-01 -6.85591157e-06 1.07352389e+00] [ 3.12876652e-04 4.47232863e-06 9.99999951e-01 -2.93044302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.140281693 meters 0.026509492879246026 Centerline is valid? [True, True] Translation: X:97.28, Y:1.09, Z:-0.03 [[ 9.99989452e-01 -3.55473202e-03 -2.90866698e-03 9.72825709e+01] [ 3.55456120e-03 9.99993680e-01 -6.38958065e-05 1.08551674e+00] [ 2.90887573e-03 5.35560977e-05 9.99995768e-01 -3.38950370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20028169300001 meters 0.029491980959548744 Centerline is valid? [True, True] Translation: X:97.34, Y:1.10, Z:-0.03 [[ 9.99995735e-01 -1.46906410e-03 -2.52422403e-03 9.73417542e+01] [ 1.46892870e-03 9.99998920e-01 -5.54918505e-05 1.09506233e+00] [ 2.52430283e-03 5.17837087e-05 9.99996813e-01 -3.33999153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.260281693 meters 0.029488917562859148 Centerline is valid? [True, True] Translation: X:97.40, Y:1.10, Z:-0.03 [[ 9.99998372e-01 -7.18008762e-04 -1.65553875e-03 9.74010545e+01] [ 7.17949419e-04 9.99999742e-01 -3.64389538e-05 1.10170517e+00] [ 1.65556448e-03 3.52503014e-05 9.99998629e-01 -3.17334313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.320281693 meters 0.026592831064963754 Centerline is valid? [True, True] Translation: X:97.46, Y:1.10, Z:-0.03 [[ 9.99994866e-01 -2.96598725e-03 1.21265436e-03 9.74611560e+01] [ 2.96595704e-03 9.99995601e-01 2.67099359e-05 1.10346602e+00] [-1.21272825e-03 -2.31131181e-05 9.99999264e-01 -2.65708567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.380281693 meters 0.029409643993117504 Centerline is valid? [True, True] Translation: X:97.52, Y:1.11, Z:-0.03 [[ 9.99989960e-01 -4.25649818e-03 1.40062808e-03 9.75218041e+01] [ 4.25645918e-03 9.99990941e-01 3.08247240e-05 1.11471959e+00] [-1.40074660e-03 -2.48626982e-05 9.99999019e-01 -2.52787397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.440281693 meters 0.02460877917154173 Centerline is valid? [True, True] Translation: X:97.58, Y:1.11, Z:-0.03 [[ 9.99982913e-01 -5.79680999e-03 -7.55637145e-04 9.75842010e+01] [ 5.79679912e-03 9.99983198e-01 -1.65723825e-05 1.11273814e+00] [ 7.55720516e-04 1.21918226e-05 9.99999714e-01 -2.96649619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.500281693 meters 0.020636098597605863 Centerline is valid? [True, True] Translation: X:97.65, Y:1.11, Z:-0.03 [[ 9.99915421e-01 -1.29978479e-02 -4.55239210e-04 9.76452789e+01] [ 1.29978447e-02 9.99915524e-01 -9.97540091e-06 1.10962722e+00] [ 4.55330413e-04 4.05742865e-06 9.99999896e-01 -2.95449428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56028169300001 meters 0.016212833587087385 Centerline is valid? [True, True] Translation: X:97.71, Y:1.10, Z:-0.03 [[ 9.99771455e-01 -2.13748770e-02 -3.90096303e-04 9.77073473e+01] [ 2.13748754e-02 9.99771531e-01 -8.44821246e-06 1.10012697e+00] [ 3.90187758e-04 1.08021798e-07 9.99999924e-01 -2.77729660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.620281693 meters 0.016416146552587062 Centerline is valid? [True, True] Translation: X:97.77, Y:1.10, Z:-0.03 [[ 9.99715794e-01 -2.38287486e-02 -7.22737887e-04 9.77692993e+01] [ 2.38287435e-02 9.99716055e-01 -1.56984667e-05 1.09846774e+00] [ 7.22906744e-04 -1.52793065e-06 9.99999739e-01 -2.91674461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.680281693 meters 0.019457738886523024 Centerline is valid? [True, True] Translation: X:97.83, Y:1.09, Z:-0.03 [[ 9.99505359e-01 -3.14461636e-02 -4.19056253e-04 9.78318750e+01] [ 3.14461625e-02 9.99505447e-01 -9.07541124e-06 1.08993324e+00] [ 4.19134394e-04 -4.10678887e-06 9.99999912e-01 -2.92648962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.740281693 meters 0.029100532219666617 Centerline is valid? [True, True] Translation: X:97.89, Y:1.07, Z:-0.03 [[ 9.99281162e-01 -3.78293949e-02 -2.46921921e-03 9.78926018e+01] [ 3.78293781e-02 9.99284211e-01 -5.35378029e-05 1.07351191e+00] [ 2.46947707e-03 -3.99097092e-05 9.99996950e-01 -3.40077678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.800281693 meters 0.028296271911779754 Centerline is valid? [True, True] Translation: X:97.95, Y:1.08, Z:-0.03 [[ 9.99110947e-01 -4.20653538e-02 -2.79666453e-03 9.79540256e+01] [ 4.20653490e-02 9.99114860e-01 -6.05707828e-05 1.07517017e+00] [ 2.79673702e-03 -5.71257372e-05 9.99996087e-01 -3.41407925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.860281693 meters 0.03356510004101353 Centerline is valid? [True, True] Translation: X:98.02, Y:1.06, Z:-0.02 [[ 9.98797997e-01 -4.90052149e-02 1.02470061e-03 9.80152236e+01] [ 4.90052179e-02 9.98798522e-01 2.21937671e-05 1.06447136e+00] [-1.02455707e-03 2.80485865e-05 9.99999475e-01 -2.18899013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.920281693 meters 0.03833843245664125 Centerline is valid? [True, True] Translation: X:98.08, Y:1.05, Z:-0.03 [[ 9.98660624e-01 -5.17150262e-02 1.58535045e-03 9.80757457e+01] [ 5.17150368e-02 9.98661882e-01 3.43204684e-05 1.04587535e+00] [-1.58500394e-03 4.77119563e-05 9.99998743e-01 -2.51626005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.980281693 meters 0.03249093754525163 Centerline is valid? [True, True] Translation: X:98.14, Y:1.05, Z:-0.03 [[ 9.98973704e-01 -4.52643393e-02 -1.63669003e-03 9.81363281e+01] [ 4.52643420e-02 9.98975044e-01 -3.54247836e-05 1.04853718e+00] [ 1.63661597e-03 -3.86952700e-05 9.99998660e-01 -2.98770699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.040281693 meters 0.023346705657595758 Centerline is valid? [True, True] Translation: X:98.20, Y:1.06, Z:-0.03 [[ 9.99378074e-01 -3.52122551e-02 -1.88731466e-03 9.81961049e+01] [ 3.52122407e-02 9.99379856e-01 -4.08445110e-05 1.06032847e+00] [ 1.88758248e-03 -2.56374695e-05 9.99998218e-01 -2.94662026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.100281693 meters 0.02005658347265224 Centerline is valid? [True, True] Translation: X:98.26, Y:1.06, Z:-0.03 [[ 9.99519704e-01 -3.09273946e-02 -1.96427973e-03 9.82569881e+01] [ 3.09273708e-02 9.99521634e-01 -4.24862153e-05 1.06418394e+00] [ 1.96465407e-03 -1.82841982e-05 9.99998070e-01 -3.08426872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.160281693 meters 0.020874097373274753 Centerline is valid? [True, True] Translation: X:98.32, Y:1.06, Z:-0.03 [[ 9.99437677e-01 -3.33863848e-02 -3.11118762e-03 9.83179907e+01] [ 3.33863372e-02 9.99442519e-01 -6.72591288e-05 1.06110337e+00] [ 3.11169873e-03 -3.66498515e-05 9.99995158e-01 -3.19216797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.220281693 meters 0.022610257667964248 Centerline is valid? [True, True] Translation: X:98.38, Y:1.06, Z:-0.03 [[ 9.99429018e-01 -3.37600135e-02 -1.37803749e-03 9.83784827e+01] [ 3.37600046e-02 9.99429968e-01 -2.97272223e-05 1.05842646e+00] [ 1.37825555e-03 -1.68123033e-05 9.99999050e-01 -2.85520109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.280281693 meters 0.01822217199690074 Centerline is valid? [True, True] Translation: X:98.44, Y:1.07, Z:-0.03 [[ 9.99579134e-01 -2.90090670e-02 -1.72892783e-04 9.84392747e+01] [ 2.90090668e-02 9.99579148e-01 -3.71951200e-06 1.06846858e+00] [ 1.72927921e-04 -1.29751171e-06 9.99999985e-01 -2.57657226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.340281693 meters 0.01622824795529079 Centerline is valid? [True, True] Translation: X:98.50, Y:1.08, Z:-0.03 [[ 9.99736731e-01 -2.28705050e-02 -1.84628455e-03 9.85005827e+01] [ 2.28704706e-02 9.99738436e-01 -3.97524768e-05 1.07929161e+00] [ 1.84671079e-03 -2.48338525e-06 9.99998295e-01 -2.79409995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.400281693 meters 0.017202682328198025 Centerline is valid? [True, True] Translation: X:98.56, Y:1.10, Z:-0.03 [[ 9.99865904e-01 -1.63434602e-02 -1.03203153e-03 9.85607213e+01] [ 1.63434461e-02 9.99866437e-01 -2.21756674e-05 1.09529137e+00] [ 1.03225612e-03 5.30574203e-06 9.99999467e-01 -2.55349894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.460281693 meters 0.02106636706004529 Centerline is valid? [True, True] Translation: X:98.62, Y:1.11, Z:-0.03 [[ 9.99931021e-01 -1.12930248e-02 -3.22824265e-03 9.86207264e+01] [ 1.12928597e-02 9.99936231e-01 -6.93653120e-05 1.11238251e+00] [ 3.22882014e-03 3.29044360e-05 9.99994787e-01 -3.06653102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.520281693 meters 0.020767932784092436 Centerline is valid? [True, True] Translation: X:98.68, Y:1.12, Z:-0.03 [[ 9.99929764e-01 -1.10570289e-02 -4.26722424e-03 9.86813979e+01] [ 1.10567383e-02 9.99938868e-01 -9.16950550e-05 1.11935291e+00] [ 4.26797725e-03 4.45070330e-05 9.99990891e-01 -3.16385157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.580281693 meters 0.0194420385031751 Centerline is valid? [True, True] Translation: X:98.74, Y:1.13, Z:-0.03 [[ 9.99914962e-01 -1.27682761e-02 -2.65343529e-03 9.87419844e+01] [ 1.27681698e-02 9.99918482e-01 -5.70176025e-05 1.12776775e+00] [ 2.65394701e-03 2.31332414e-05 9.99996478e-01 -2.83317603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.640281693 meters 0.01893587035723192 Centerline is valid? [True, True] Translation: X:98.80, Y:1.14, Z:-0.02 [[ 9.99911411e-01 -1.32546375e-02 1.21848185e-03 9.88035623e+01] [ 1.32546155e-02 9.99912153e-01 2.61634192e-05 1.13744113e+00] [-1.21872160e-03 -1.00105930e-05 9.99999257e-01 -2.09525312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70028169300001 meters 0.01765111606347789 Centerline is valid? [True, True] Translation: X:98.87, Y:1.14, Z:-0.03 [[ 9.99880455e-01 -1.54378166e-02 -8.66282348e-04 9.88655150e+01] [ 1.54378063e-02 9.99880830e-01 -1.85391225e-05 1.14171190e+00] [ 8.66465316e-04 5.16340713e-06 9.99999625e-01 -2.57510294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.760281693 meters 0.016910326238593922 Centerline is valid? [True, True] Translation: X:98.93, Y:1.14, Z:-0.03 [[ 9.99821415e-01 -1.87170023e-02 -2.60985160e-03 9.89263086e+01] [ 1.87169204e-02 9.99824822e-01 -5.57993850e-05 1.14011752e+00] [ 2.61043881e-03 6.94103531e-06 9.99996593e-01 -3.00931279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.820281693 meters 0.016899265852572922 Centerline is valid? [True, True] Translation: X:98.99, Y:1.13, Z:-0.03 [[ 9.99693800e-01 -2.45775724e-02 -2.87217481e-03 9.89887629e+01] [ 2.45774978e-02 9.99697926e-01 -6.12814210e-05 1.13326399e+00] [ 2.87281335e-03 -9.32821342e-06 9.99995873e-01 -2.93026441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.880281693 meters 0.017960879327895706 Centerline is valid? [True, True] Translation: X:99.05, Y:1.13, Z:-0.03 [[ 9.99635084e-01 -2.68985439e-02 -2.48323188e-03 9.90503314e+01] [ 2.68984954e-02 9.99638169e-01 -5.29349927e-05 1.13195364e+00] [ 2.48375724e-03 -1.38795252e-05 9.99996915e-01 -2.90118862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.940281693 meters 0.01678399887998896 Centerline is valid? [True, True] Translation: X:99.11, Y:1.14, Z:-0.03 [[ 9.99698398e-01 -2.44061887e-02 -2.72967201e-03 9.91126436e+01] [ 2.44061211e-02 9.99702125e-01 -5.80582756e-05 1.13922809e+00] [ 2.73027588e-03 -8.57994052e-06 9.99996273e-01 -2.81868862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.000281693 meters 0.016637369353656114 Centerline is valid? [True, True] Translation: X:99.17, Y:1.14, Z:-0.03 [[ 9.99759138e-01 -2.13377671e-02 -5.13481928e-03 9.91743228e+01] [ 2.13374888e-02 9.99772324e-01 -1.08985172e-04 1.14449240e+00] [ 5.13597570e-03 -6.05227261e-07 9.99986811e-01 -3.16451682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06028169300001 meters 0.016571690562918615 Centerline is valid? [True, True] Translation: X:99.23, Y:1.15, Z:-0.03 [[ 9.99805261e-01 -1.94556087e-02 -3.30444933e-03 9.92344652e+01] [ 1.94554833e-02 9.99810722e-01 -7.01039020e-05 1.15201797e+00] [ 3.30518778e-03 5.80059145e-06 9.99994538e-01 -2.94873434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.120281693 meters 0.016166670199128656 Centerline is valid? [True, True] Translation: X:99.30, Y:1.15, Z:-0.02 [[ 9.99799947e-01 -1.99944972e-02 -5.34328482e-04 9.92963091e+01] [ 1.99944940e-02 9.99800090e-01 -1.13064636e-05 1.15209640e+00] [ 5.34447732e-04 6.20574079e-07 9.99999857e-01 -2.40392816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.180281693 meters 0.016197184282475765 Centerline is valid? [True, True] Translation: X:99.36, Y:1.15, Z:-0.02 [[ 9.99768225e-01 -2.14885248e-02 -1.31862177e-03 9.93589726e+01] [ 2.14885067e-02 9.99769095e-01 -2.78549905e-05 1.15299156e+00] [ 1.31891586e-03 -4.86678371e-07 9.99999130e-01 -2.44564000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.240281693 meters 0.018414446454535292 Centerline is valid? [True, True] Translation: X:99.42, Y:1.14, Z:-0.02 [[ 9.99552040e-01 -2.99284255e-02 -9.48832775e-05 9.94216670e+01] [ 2.99284255e-02 9.99552044e-01 -1.98452803e-06 1.14036012e+00] [ 9.49001678e-05 -8.56068056e-07 9.99999995e-01 -2.26721703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.300281693 meters 0.025534757715161345 Centerline is valid? [True, True] Translation: X:99.48, Y:1.12, Z:-0.02 [[ 9.99170909e-01 -4.07100571e-02 4.31204814e-04 9.94826156e+01] [ 4.07100570e-02 9.99171002e-01 9.09276203e-06 1.12300911e+00] [-4.31217513e-04 8.46914924e-06 9.99999907e-01 -2.23903481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.360281693 meters 0.040695865607186466 Centerline is valid? [True, True] Translation: X:99.54, Y:1.08, Z:-0.03 [[ 9.98357356e-01 -5.72684794e-02 -1.70610194e-03 9.95427174e+01] [ 5.72685015e-02 9.98358812e-01 -3.59314780e-05 1.08325253e+00] [ 1.70535965e-03 -6.18334463e-05 9.99998544e-01 -2.51225177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.420281693 meters 0.042749061068957206 Centerline is valid? [True, True] Translation: X:99.60, Y:1.07, Z:-0.03 [[ 9.98244821e-01 -5.91684520e-02 -2.52432425e-03 9.96045451e+01] [ 5.91685066e-02 9.98248008e-01 -5.31051928e-05 1.07318496e+00] [ 2.52304381e-03 -9.63485123e-05 9.99996812e-01 -2.52992327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.480281693 meters 0.04425288358576388 Centerline is valid? [True, True] Translation: X:99.66, Y:1.07, Z:-0.03 [[ 9.98267128e-01 -5.87766670e-02 -2.83623542e-03 9.96646911e+01] [ 5.87767345e-02 9.98271152e-01 -5.96394648e-05 1.06710788e+00] [ 2.83483741e-03 -1.07168539e-04 9.99995976e-01 -2.54335300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.540281693 meters 0.04110346466229789 Centerline is valid? [True, True] Translation: X:99.73, Y:1.06, Z:-0.02 [[ 9.98493445e-01 -5.48661586e-02 -7.37824095e-04 9.97250588e+01] [ 5.48661621e-02 9.98493718e-01 -1.55197504e-05 1.05538432e+00] [ 7.37564233e-04 -2.49852074e-05 9.99999728e-01 -2.33394076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.600281693 meters 0.03480646223921867 Centerline is valid? [True, True] Translation: X:99.79, Y:1.05, Z:-0.02 [[ 9.98789684e-01 -4.91746897e-02 -1.00832972e-03 9.97855223e+01] [ 4.91746933e-02 9.98790193e-01 -2.12057753e-05 1.05131688e+00] [ 1.00815262e-03 -2.84041951e-05 9.99999491e-01 -2.35248214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.660281693 meters 0.03094027000126033 Centerline is valid? [True, True] Translation: X:99.85, Y:1.05, Z:-0.03 [[ 9.99013749e-01 -4.42001550e-02 -4.22794907e-03 9.98451296e+01] [ 4.42001741e-02 9.99022691e-01 -8.89702505e-05 1.04854230e+00] [ 4.22774955e-03 -9.79935813e-05 9.99991058e-01 -2.87893716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.720281693 meters 0.024590477636620325 Centerline is valid? [True, True] Translation: X:99.90, Y:1.05, Z:-0.03 [[ 9.99227849e-01 -3.90752730e-02 -4.10232217e-03 9.99049704e+01] [ 3.90752476e-02 9.99236267e-01 -8.63761098e-05 1.05086241e+00] [ 4.10256426e-03 -7.39898402e-05 9.99991582e-01 -2.86716066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.780281693 meters 0.023509733692521354 Centerline is valid? [True, True] Translation: X:99.96, Y:1.05, Z:-0.03 [[ 9.99357125e-01 -3.56454981e-02 -3.83867997e-03 9.99646754e+01] [ 3.56454503e-02 9.99364496e-01 -8.08709200e-05 1.04710526e+00] [ 3.83912316e-03 -5.60125462e-05 9.99992629e-01 -2.83369272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.840281693 meters 0.01758590017841766 Centerline is valid? [True, True] Translation: X:100.02, Y:1.05, Z:-0.03 [[ 9.99613171e-01 -2.75262214e-02 -3.97694113e-03 1.00024073e+02] [ 2.75261055e-02 9.99621081e-01 -8.38784877e-05 1.04884176e+00] [ 3.97774305e-03 -2.56236600e-05 9.99992088e-01 -2.81032731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.900281693 meters 0.01593184925697532 Centerline is valid? [True, True] Translation: X:100.08, Y:1.05, Z:-0.03 [[ 9.99755095e-01 -2.17613927e-02 -4.02381612e-03 1.00084681e+02] [ 2.17612274e-02 9.99763193e-01 -8.48591305e-05 1.05377001e+00] [ 4.02470990e-03 -2.72482930e-06 9.99991901e-01 -2.79145661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.960281693 meters 0.019041271336015922 Centerline is valid? [True, True] Translation: X:100.14, Y:1.06, Z:-0.03 [[ 9.99919333e-01 -1.22181943e-02 -3.47030650e-03 1.00144431e+02] [ 1.22180138e-02 9.99925355e-01 -7.32301827e-05 1.06359355e+00] [ 3.47094220e-03 3.08240228e-05 9.99993976e-01 -2.67084330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.020281693 meters 0.023051400503379255 Centerline is valid? [True, True] Translation: X:100.20, Y:1.07, Z:-0.03 [[ 9.99958500e-01 -8.56041632e-03 -3.11715175e-03 1.00203280e+02] [ 8.56025262e-03 9.99963358e-01 -6.58539555e-05 1.07231800e+00] [ 3.11760127e-03 3.91676162e-05 9.99995140e-01 -2.65244944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.080281693 meters 0.0170102693409947 Centerline is valid? [True, True] Translation: X:100.26, Y:1.06, Z:-0.02 [[ 9.99886173e-01 -1.50845141e-02 3.14061163e-04 1.00263312e+02] [ 1.50845127e-02 9.99886222e-01 6.63342073e-06 1.06100076e+00] [-3.14125491e-04 -1.89520606e-06 9.99999951e-01 -2.07550670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.140281693 meters 0.01564386327400392 Centerline is valid? [True, True] Translation: X:100.32, Y:1.05, Z:-0.02 [[ 9.99736083e-01 -2.29729516e-02 -8.98338147e-05 1.00324493e+02] [ 2.29729515e-02 9.99736087e-01 -1.88936988e-06 1.05078783e+00] [ 8.98535108e-05 -1.74876632e-07 9.99999996e-01 -2.09495327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20028169300001 meters 0.019709518993113913 Centerline is valid? [True, True] Translation: X:100.38, Y:1.04, Z:-0.02 [[ 9.99500287e-01 -3.15784525e-02 -1.40600822e-03 1.00384920e+02] [ 3.15784420e-02 9.99501276e-01 -2.96792121e-05 1.03768170e+00] [ 1.40624423e-03 -1.47351681e-05 9.99999011e-01 -2.39236186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.260281693 meters 0.020284087600068126 Centerline is valid? [True, True] Translation: X:100.45, Y:1.04, Z:-0.02 [[ 9.99453097e-01 -3.29983409e-02 -2.14835839e-03 1.00445757e+02] [ 3.29983196e-02 9.99455406e-01 -4.53555491e-05 1.03538767e+00] [ 2.14868507e-03 -2.55614729e-05 9.99997691e-01 -2.39488932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.320281693 meters 0.01932212844854415 Centerline is valid? [True, True] Translation: X:100.51, Y:1.04, Z:-0.03 [[ 9.99502077e-01 -3.13270174e-02 -3.77031734e-03 1.00506563e+02] [ 3.13269400e-02 9.99509188e-01 -7.95978985e-05 1.03954852e+00] [ 3.77096039e-03 -3.85542403e-05 9.99992889e-01 -2.64331124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.380281693 meters 0.019435233431589604 Centerline is valid? [True, True] Translation: X:100.57, Y:1.04, Z:-0.02 [[ 9.99501185e-01 -3.15755330e-02 -6.05578106e-04 1.00566187e+02] [ 3.15755311e-02 9.99501369e-01 -1.28069612e-05 1.04069672e+00] [ 6.05680532e-04 -6.32087735e-06 9.99999817e-01 -2.16716338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.440281693 meters 0.020884230704959417 Centerline is valid? [True, True] Translation: X:100.63, Y:1.04, Z:-0.02 [[ 9.99432724e-01 -3.36255275e-02 -1.88506541e-03 1.00626918e+02] [ 3.36255122e-02 9.99434502e-01 -3.98409121e-05 1.03815494e+00] [ 1.88533909e-03 -2.35679787e-05 9.99998222e-01 -2.41978796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.500281693 meters 0.023816648896001002 Centerline is valid? [True, True] Translation: X:100.69, Y:1.03, Z:-0.03 [[ 9.99330276e-01 -3.63698011e-02 -4.02957507e-03 1.00686965e+02] [ 3.63697533e-02 9.99338398e-01 -8.51651857e-05 1.03171187e+00] [ 4.03000653e-03 -6.14465028e-05 9.99991878e-01 -2.85651831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56028169300001 meters 0.021793084983620474 Centerline is valid? [True, True] Translation: X:100.75, Y:1.03, Z:-0.02 [[ 9.99413078e-01 -3.41864770e-02 -2.18751072e-03 1.00746333e+02] [ 3.41864575e-02 9.99415471e-01 -4.62904679e-05 1.03281106e+00] [ 2.18781456e-03 -2.85199432e-05 9.99997606e-01 -2.43249675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.620281693 meters 0.020299957991705954 Centerline is valid? [True, True] Translation: X:100.81, Y:1.04, Z:-0.02 [[ 9.99471824e-01 -3.24266759e-02 -2.14078116e-03 1.00806826e+02] [ 3.24266532e-02 9.99474117e-01 -4.52939557e-05 1.03502231e+00] [ 2.14112409e-03 -2.41483357e-05 9.99997707e-01 -2.40990853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.680281693 meters 0.021769748453445592 Centerline is valid? [True, True] Translation: X:100.87, Y:1.03, Z:-0.03 [[ 9.99472508e-01 -3.22933653e-02 -3.44154593e-03 1.00866001e+02] [ 3.22933060e-02 9.99478433e-01 -7.28105202e-05 1.02812490e+00] [ 3.44210223e-03 -3.83667825e-05 9.99994075e-01 -2.79337287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.740281693 meters 0.020294361557979743 Centerline is valid? [True, True] Translation: X:100.92, Y:1.03, Z:-0.03 [[ 9.99473265e-01 -3.22621598e-02 -3.51358501e-03 1.00924546e+02] [ 3.22620956e-02 9.99479440e-01 -7.49529805e-05 1.02515681e+00] [ 3.51417413e-03 -3.84421155e-05 9.99993825e-01 -2.63317157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.800281693 meters 0.018439058490509693 Centerline is valid? [True, True] Translation: X:100.98, Y:1.02, Z:-0.02 [[ 9.99538909e-01 -3.03415447e-02 -1.16616377e-03 1.00983087e+02] [ 3.03415361e-02 9.99539589e-01 -2.51024697e-05 1.02436125e+00] [ 1.16638850e-03 -1.02923047e-05 9.99999320e-01 -2.03989454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.860281693 meters 0.0166221919425046 Centerline is valid? [True, True] Translation: X:101.04, Y:1.03, Z:-0.02 [[ 9.99631564e-01 -2.71426186e-02 1.21822496e-04 1.01042661e+02] [ 2.71426185e-02 9.99631571e-01 2.61395112e-06 1.02575300e+00] [-1.21848563e-04 6.93593491e-07 9.99999993e-01 -1.81412599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.920281693 meters 0.015279243151938769 Centerline is valid? [True, True] Translation: X:101.10, Y:1.03, Z:-0.02 [[ 9.99749956e-01 -2.23606421e-02 -1.67126872e-04 1.01103090e+02] [ 2.23606419e-02 9.99749970e-01 -3.59143287e-06 1.03052517e+00] [ 1.67165392e-04 -1.46529283e-07 9.99999986e-01 -1.82956609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.980281693 meters 0.016134979680409466 Centerline is valid? [True, True] Translation: X:101.16, Y:1.04, Z:-0.02 [[ 9.99849025e-01 -1.72958082e-02 -1.66778478e-03 1.01163756e+02] [ 1.72957725e-02 9.99850416e-01 -3.58394613e-05 1.03886562e+00] [ 1.66815518e-03 6.98842437e-06 9.99998609e-01 -2.27156437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.040281693 meters 0.018121041365353908 Centerline is valid? [True, True] Translation: X:101.22, Y:1.05, Z:-0.02 [[ 9.99905428e-01 -1.35602230e-02 -2.29267542e-03 1.01223091e+02] [ 1.35601455e-02 9.99908056e-01 -4.93298394e-05 1.04500343e+00] [ 2.29313355e-03 1.82361618e-05 9.99997371e-01 -2.36502897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.100281693 meters 0.020425917477813547 Centerline is valid? [True, True] Translation: X:101.28, Y:1.05, Z:-0.02 [[ 9.99957954e-01 -9.08767402e-03 -1.22631123e-03 1.01283711e+02] [ 9.08764850e-03 9.99958706e-01 -2.63813139e-05 1.05490362e+00] [ 1.22650034e-03 1.52359193e-05 9.99999248e-01 -2.05476442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.160281693 meters 0.024825616013447734 Centerline is valid? [True, True] Translation: X:101.34, Y:1.07, Z:-0.02 [[ 9.99982614e-01 -5.66751543e-03 -1.62810708e-03 1.01344209e+02] [ 5.66746601e-03 9.99983939e-01 -3.49647668e-05 1.06597280e+00] [ 1.62827910e-03 2.57369173e-05 9.99998674e-01 -2.28227043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.220281693 meters 0.028184680875586565 Centerline is valid? [True, True] Translation: X:101.40, Y:1.08, Z:-0.03 [[ 9.99988927e-01 -2.65648655e-03 -3.88439194e-03 1.01404427e+02] [ 2.65618245e-03 9.99996469e-01 -8.34452730e-05 1.08020505e+00] [ 3.88459989e-03 7.31266953e-05 9.99992452e-01 -2.70528287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.280281693 meters 0.026897519335939542 Centerline is valid? [True, True] Translation: X:101.46, Y:1.08, Z:-0.02 [[ 9.99994376e-01 -2.52308795e-03 -2.20964955e-03 1.01463493e+02] [ 2.52298828e-03 9.99996816e-01 -4.78933120e-05 1.08354855e+00] [ 2.20976336e-03 4.23181227e-05 9.99997558e-01 -2.33964471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.340281693 meters 0.024164359348316365 Centerline is valid? [True, True] Translation: X:101.52, Y:1.09, Z:-0.02 [[ 9.99990835e-01 -4.27391510e-03 -2.51300029e-04 1.01523293e+02] [ 4.27391387e-03 9.99990867e-01 -5.45484143e-06 1.08605719e+00] [ 2.51321048e-04 4.38075676e-06 9.99999968e-01 -2.06420072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.400281693 meters 0.023152959584152043 Centerline is valid? [True, True] Translation: X:101.58, Y:1.09, Z:-0.02 [[ 9.99977269e-01 -6.61676109e-03 -1.29623768e-03 1.01583184e+02] [ 6.61673023e-03 9.99978109e-01 -2.80933352e-05 1.08781979e+00] [ 1.29639520e-03 1.95158415e-05 9.99999159e-01 -2.29629581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.460281693 meters 0.02077993167541586 Centerline is valid? [True, True] Translation: X:101.64, Y:1.09, Z:-0.02 [[ 9.99950996e-01 -9.66507416e-03 -2.14269852e-03 1.01643428e+02] [ 9.66499683e-03 9.99953292e-01 -4.64386651e-05 1.08689271e+00] [ 2.14304727e-03 2.57272150e-05 9.99997703e-01 -2.46443721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.520281693 meters 0.01824591147860209 Centerline is valid? [True, True] Translation: X:101.70, Y:1.09, Z:-0.02 [[ 9.99909820e-01 -1.33085868e-02 -1.79809123e-03 1.01703764e+02] [ 1.33085383e-02 9.99911437e-01 -3.89699977e-05 1.08657797e+00] [ 1.79845062e-03 1.50365174e-05 9.99998383e-01 -2.32887183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.580281693 meters 0.016458361765882605 Centerline is valid? [True, True] Translation: X:101.76, Y:1.09, Z:-0.02 [[ 9.99859408e-01 -1.66882082e-02 -1.63333480e-03 1.01764647e+02] [ 1.66881727e-02 9.99860742e-01 -3.53992346e-05 1.08575196e+00] [ 1.63369809e-03 8.13688464e-06 9.99998665e-01 -2.47308849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.640281693 meters 0.015332360014049706 Centerline is valid? [True, True] Translation: X:101.83, Y:1.08, Z:-0.02 [[ 9.99766082e-01 -2.15783828e-02 -1.46788664e-03 1.01825621e+02] [ 2.15783594e-02 9.99767160e-01 -3.18134797e-05 1.08244816e+00] [ 1.46823134e-03 1.31452550e-07 9.99998922e-01 -2.44962728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70028169300001 meters 0.016000800510097647 Centerline is valid? [True, True] Translation: X:101.89, Y:1.08, Z:-0.02 [[ 9.99660552e-01 -2.60361808e-02 -9.47956613e-04 1.01887005e+02] [ 2.60361731e-02 9.99661001e-01 -2.05147105e-05 1.07658602e+00] [ 9.48169381e-04 -4.17341562e-06 9.99999550e-01 -2.33992914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.760281693 meters 0.018186685578390916 Centerline is valid? [True, True] Translation: X:101.95, Y:1.07, Z:-0.02 [[ 9.99544839e-01 -3.01318464e-02 1.47880550e-03 1.01947010e+02] [ 3.01318321e-02 9.99545933e-01 3.20154397e-05 1.06932432e+00] [-1.47909870e-03 1.25582514e-05 9.99998906e-01 -1.88725737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.820281693 meters 0.01700809087519817 Centerline is valid? [True, True] Translation: X:102.01, Y:1.07, Z:-0.02 [[ 9.99606334e-01 -2.80565801e-02 7.09415160e-05 1.02007949e+02] [ 2.80565801e-02 9.99606337e-01 1.54203684e-06 1.07159003e+00] [-7.09568532e-05 4.48946530e-07 9.99999997e-01 -2.09236797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.880281693 meters 0.015222794723389988 Centerline is valid? [True, True] Translation: X:102.07, Y:1.08, Z:-0.02 [[ 9.99758317e-01 -2.19690010e-02 -8.19253020e-04 1.02067908e+02] [ 2.19689938e-02 9.99758652e-01 -1.77049753e-05 1.08115558e+00] [ 8.19444256e-04 -2.97468288e-07 9.99999664e-01 -2.25109307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.940281693 meters 0.018636527822560305 Centerline is valid? [True, True] Translation: X:102.13, Y:1.10, Z:-0.02 [[ 9.99908827e-01 -1.33828608e-02 -1.79916488e-03 1.02126751e+02] [ 1.33828124e-02 9.99910445e-01 -3.89141135e-05 1.09858835e+00] [ 1.79952454e-03 1.48326794e-05 9.99998381e-01 -2.41988668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.000281693 meters 0.02259771326166377 Centerline is valid? [True, True] Translation: X:102.19, Y:1.11, Z:-0.02 [[ 9.99962134e-01 -8.69803962e-03 -2.72280475e-04 1.02186955e+02] [ 8.69803834e-03 9.99962171e-01 -5.88857363e-06 1.11005238e+00] [ 2.72321394e-04 3.52004464e-06 9.99999963e-01 -2.10274036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06028169300001 meters 0.021509087342041495 Centerline is valid? [True, True] Translation: X:102.25, Y:1.11, Z:-0.02 [[ 9.99947900e-01 -1.01981983e-02 4.40592445e-04 1.02247744e+02] [ 1.01981951e-02 9.99947997e-01 9.52759764e-06 1.10729922e+00] [-4.40666697e-04 -5.03385355e-06 9.99999903e-01 -2.05247605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.120281693 meters 0.021182425713894726 Centerline is valid? [True, True] Translation: X:102.31, Y:1.11, Z:-0.02 [[ 9.99942545e-01 -1.06823880e-02 -8.90258537e-04 1.02309129e+02] [ 1.06823751e-02 9.99942942e-01 -1.92170070e-05 1.10506455e+00] [ 8.90413024e-04 9.70582732e-06 9.99999604e-01 -2.34482158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.180281693 meters 0.023580678933188968 Centerline is valid? [True, True] Translation: X:102.37, Y:1.11, Z:-0.02 [[ 9.99978433e-01 -6.44440429e-03 -1.26627825e-03 1.02369578e+02] [ 6.44437483e-03 9.99979234e-01 -2.73443761e-05 1.11330481e+00] [ 1.26642818e-03 1.91834147e-05 9.99999198e-01 -2.30642287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.240281693 meters 0.029829908947620512 Centerline is valid? [True, True] Translation: X:102.43, Y:1.13, Z:-0.02 [[ 9.99999276e-01 4.17882840e-04 -1.12826702e-03 1.02429695e+02] [-4.17910596e-04 9.99999912e-01 -2.43641220e-05 1.12973518e+00] [ 1.12825674e-03 2.48356191e-05 9.99999363e-01 -2.22201003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.300281693 meters 0.03215218781639216 Centerline is valid? [True, True] Translation: X:102.49, Y:1.14, Z:-0.02 [[ 9.99997166e-01 2.26698845e-03 -7.27602382e-04 1.02489401e+02] [-2.26700049e-03 9.99997430e-01 -1.57174423e-05 1.14276589e+00] [ 7.27564881e-04 1.73668728e-05 9.99999735e-01 -2.23549479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.360281693 meters 0.030927905154192453 Centerline is valid? [True, True] Translation: X:102.55, Y:1.15, Z:-0.02 [[ 9.99999865e-01 4.87977950e-04 1.77232901e-04 1.02548482e+02] [-4.87978635e-04 9.99999881e-01 3.82421702e-06 1.14793568e+00] [-1.77231014e-04 -3.91070237e-06 9.99999984e-01 -2.14457113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.420281693 meters 0.027598346577956036 Centerline is valid? [True, True] Translation: X:102.61, Y:1.15, Z:-0.02 [[ 9.99994018e-01 -3.33619709e-03 9.12701364e-04 1.02608420e+02] [ 3.33618047e-03 9.99994435e-01 1.97348314e-05 1.15245982e+00] [-9.12762123e-04 -1.66897769e-05 9.99999583e-01 -1.96070867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.480281693 meters 0.023226255300524967 Centerline is valid? [True, True] Translation: X:102.67, Y:1.15, Z:-0.03 [[ 9.99965415e-01 -8.04458565e-03 -2.11010804e-03 1.02669793e+02] [ 8.04450739e-03 9.99967641e-01 -4.55710725e-05 1.15210272e+00] [ 2.11040636e-03 2.85947168e-05 9.99997773e-01 -2.65623023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.540281693 meters 0.017873540743211305 Centerline is valid? [True, True] Translation: X:102.73, Y:1.15, Z:-0.02 [[ 9.99916942e-01 -1.28541374e-02 -9.38444136e-04 1.02730189e+02] [ 1.28541240e-02 9.99917382e-01 -2.02705809e-05 1.14740425e+00] [ 9.38627165e-04 8.20601997e-06 9.99999559e-01 -2.31114540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.600281693 meters 0.015931558338406017 Centerline is valid? [True, True] Translation: X:102.79, Y:1.15, Z:-0.02 [[ 9.99850089e-01 -1.73146365e-02 4.97687323e-05 1.02791030e+02] [ 1.73146365e-02 9.99850090e-01 1.08200698e-06 1.14727194e+00] [-4.97800060e-05 -2.20117270e-07 9.99999999e-01 -2.07905000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.660281693 meters 0.01560965949738311 Centerline is valid? [True, True] Translation: X:102.85, Y:1.15, Z:-0.02 [[ 9.99818611e-01 -1.90436951e-02 2.87750281e-04 1.02852806e+02] [ 1.90436941e-02 9.99818652e-01 6.20997926e-06 1.14943206e+00] [-2.87816359e-04 -7.29024496e-07 9.99999959e-01 -2.16457405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.720281693 meters 0.015336080415749178 Centerline is valid? [True, True] Translation: X:102.91, Y:1.15, Z:-0.02 [[ 9.99769265e-01 -2.14607689e-02 -9.23412363e-04 1.02914778e+02] [ 2.14607597e-02 9.99769691e-01 -1.98450931e-05 1.15166712e+00] [ 9.23625584e-04 2.33832768e-08 9.99999573e-01 -2.31899352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.780281693 meters 0.016657112277879058 Centerline is valid? [True, True] Translation: X:102.98, Y:1.15, Z:-0.02 [[ 9.99625897e-01 -2.72589405e-02 -2.23976102e-03 1.02976212e+02] [ 2.72589011e-02 9.99628406e-01 -4.81114625e-05 1.14544201e+00] [ 2.24024020e-03 -1.29599602e-05 9.99997491e-01 -2.48006967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.840281693 meters 0.018785833373994303 Centerline is valid? [True, True] Translation: X:103.04, Y:1.14, Z:-0.02 [[ 9.99521717e-01 -3.09117964e-02 8.93877366e-04 1.03036562e+02] [ 3.09117916e-02 9.99522116e-01 1.91978943e-05 1.14008237e+00] [-8.94043638e-04 8.44263857e-06 9.99999600e-01 -2.00665468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.900281693 meters 0.0193188734733015 Centerline is valid? [True, True] Translation: X:103.10, Y:1.14, Z:-0.02 [[ 9.99519148e-01 -3.10031818e-02 5.25374517e-04 1.03098218e+02] [ 3.10031802e-02 9.99519286e-01 1.12675955e-05 1.13686452e+00] [-5.25471294e-04 5.02610334e-06 9.99999862e-01 -2.09495330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.960281693 meters 0.018439371214588884 Centerline is valid? [True, True] Translation: X:103.16, Y:1.14, Z:-0.02 [[ 9.99537879e-01 -3.03919459e-02 5.98314970e-04 1.03159950e+02] [ 3.03919436e-02 9.99538058e-01 1.27965548e-05 1.13780865e+00] [-5.98427496e-04 5.39331358e-06 9.99999821e-01 -2.05347604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.020281693 meters 0.018774715537986722 Centerline is valid? [True, True] Translation: X:103.22, Y:1.13, Z:-0.03 [[ 9.99530636e-01 -3.05478189e-02 -2.31049263e-03 1.03221610e+02] [ 3.05477865e-02 9.99533306e-01 -4.93247792e-05 1.13291475e+00] [ 2.31092110e-03 -2.12788076e-05 9.99997330e-01 -2.63953122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.080281693 meters 0.020535072871881298 Centerline is valid? [True, True] Translation: X:103.28, Y:1.12, Z:-0.03 [[ 9.99461888e-01 -3.27121690e-02 -2.41844315e-03 1.03282535e+02] [ 3.27121399e-02 9.99464813e-01 -5.16061664e-05 1.12118586e+00] [ 2.41883698e-03 -2.75340541e-05 9.99997074e-01 -2.73990008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.140281693 meters 0.0193248855423179 Centerline is valid? [True, True] Translation: X:103.34, Y:1.12, Z:-0.02 [[ 9.99468562e-01 -3.25896881e-02 -7.11852982e-04 1.03343170e+02] [ 3.25896856e-02 9.99468815e-01 -1.51910954e-05 1.11905565e+00] [ 7.11969929e-04 -8.01604256e-06 9.99999747e-01 -2.42111457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20028169300001 meters 0.017243025034564943 Centerline is valid? [True, True] Translation: X:103.40, Y:1.12, Z:-0.03 [[ 9.99604564e-01 -2.80720252e-02 -1.63604127e-03 1.03403241e+02] [ 2.80720058e-02 9.99605903e-01 -3.48225901e-05 1.11777813e+00] [ 1.63637405e-03 -1.11181401e-05 9.99998661e-01 -2.58388914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.260281693 meters 0.015831520825058412 Centerline is valid? [True, True] Translation: X:103.46, Y:1.12, Z:-0.02 [[ 9.99697227e-01 -2.46057764e-02 -9.88944091e-05 1.03462524e+02] [ 2.46057763e-02 9.99697232e-01 -2.11100177e-06 1.11642336e+00] [ 9.89164099e-05 -3.23011091e-07 9.99999995e-01 -2.24713641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.320281693 meters 0.015616461745780416 Centerline is valid? [True, True] Translation: X:103.52, Y:1.12, Z:-0.02 [[ 9.99715391e-01 -2.38432208e-02 7.98949212e-04 1.03523152e+02] [ 2.38432148e-02 9.99715710e-01 1.70171620e-05 1.11663380e+00] [-7.99127823e-04 2.03719899e-06 9.99999681e-01 -2.05590629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.380281693 meters 0.015669711496538452 Centerline is valid? [True, True] Translation: X:103.58, Y:1.11, Z:-0.03 [[ 9.99732797e-01 -2.29771975e-02 -2.52627870e-03 1.03584451e+02] [ 2.29771351e-02 9.99735989e-01 -5.37282235e-05 1.11494593e+00] [ 2.52684626e-03 -4.33277972e-06 9.99996808e-01 -2.79943278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.440281693 meters 0.015830966975396245 Centerline is valid? [True, True] Translation: X:103.65, Y:1.11, Z:-0.03 [[ 9.99734972e-01 -2.27662694e-02 -3.41796911e-03 1.03645362e+02] [ 2.27661538e-02 9.99740815e-01 -7.27034786e-05 1.11250526e+00] [ 3.41873841e-03 -5.12980032e-06 9.99994156e-01 -2.99506690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.500281693 meters 0.01544860325603403 Centerline is valid? [True, True] Translation: X:103.71, Y:1.11, Z:-0.03 [[ 9.99751271e-01 -2.22849371e-02 -8.82441819e-04 1.03705785e+02] [ 2.22849292e-02 9.99751660e-01 -1.87703832e-05 1.10887283e+00] [ 8.82640970e-04 -8.99438999e-07 9.99999610e-01 -2.54050071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56028169300001 meters 0.016108278802978642 Centerline is valid? [True, True] Translation: X:103.77, Y:1.10, Z:-0.03 [[ 9.99677207e-01 -2.52236063e-02 -3.04177758e-03 1.03767132e+02] [ 2.52235264e-02 9.99681834e-01 -6.46207624e-05 1.09915360e+00] [ 3.04243976e-03 -1.21244541e-05 9.99995372e-01 -2.94679142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.620281693 meters 0.018419427316107746 Centerline is valid? [True, True] Translation: X:103.83, Y:1.08, Z:-0.03 [[ 9.99567735e-01 -2.92638056e-02 -2.82371998e-03 1.03826683e+02] [ 2.92637529e-02 9.99571723e-01 -6.00049737e-05 1.08339635e+00] [ 2.82426662e-03 -2.26536080e-05 9.99996011e-01 -3.01382018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.680281693 meters 0.018801634068404217 Centerline is valid? [True, True] Translation: X:103.89, Y:1.08, Z:-0.03 [[ 9.99534077e-01 -3.04939186e-02 -1.32274334e-03 1.03886914e+02] [ 3.04939080e-02 9.99534952e-01 -2.81463097e-05 1.07656095e+00] [ 1.32298649e-03 -1.22024181e-05 9.99999125e-01 -2.61290957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.740281693 meters 0.021876545716150542 Centerline is valid? [True, True] Translation: X:103.95, Y:1.06, Z:-0.03 [[ 9.99432245e-01 -3.36180466e-02 -2.23938820e-03 1.03946107e+02] [ 3.36180239e-02 9.99434753e-01 -4.77605698e-05 1.06127084e+00] [ 2.23972801e-03 -2.75503525e-05 9.99997491e-01 -2.92447239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.800281693 meters 0.024260095790702773 Centerline is valid? [True, True] Translation: X:104.01, Y:1.05, Z:-0.03 [[ 9.99299636e-01 -3.74017444e-02 -1.16077023e-03 1.04005243e+02] [ 3.74017406e-02 9.99300310e-01 -2.49878162e-05 1.04925402e+00] [ 1.16089263e-03 -1.84445112e-05 9.99999326e-01 -2.71310603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.860281693 meters 0.02758958309646471 Centerline is valid? [True, True] Translation: X:104.06, Y:1.03, Z:-0.03 [[ 9.99161023e-01 -4.08904311e-02 -2.28552938e-03 1.04064740e+02] [ 4.08904254e-02 9.99163636e-01 -4.92163636e-05 1.03217465e+00] [ 2.28563032e-03 -4.42811964e-05 9.99997387e-01 -2.83981768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.920281693 meters 0.02622873889045191 Centerline is valid? [True, True] Translation: X:104.12, Y:1.02, Z:-0.03 [[ 9.99226549e-01 -3.92892941e-02 -1.62973505e-03 1.04123420e+02] [ 3.92892886e-02 9.99227877e-01 -3.53945789e-05 1.02454136e+00] [ 1.62986732e-03 -2.86639276e-05 9.99998671e-01 -2.55074873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.980281693 meters 0.02266502119358802 Centerline is valid? [True, True] Translation: X:104.18, Y:1.02, Z:-0.02 [[ 9.99382218e-01 -3.51442107e-02 -2.58491214e-04 1.04181152e+02] [ 3.51442104e-02 9.99382251e-01 -5.63897446e-06 1.02022981e+00] [ 2.58529709e-04 -3.44897881e-06 9.99999967e-01 -2.36518545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.040281693 meters 0.02038145025035677 Centerline is valid? [True, True] Translation: X:104.24, Y:1.02, Z:-0.02 [[ 9.99475853e-01 -3.23631482e-02 -8.04296506e-04 1.04240253e+02] [ 3.23631445e-02 9.99476176e-01 -1.76651118e-05 1.01778068e+00] [ 8.04446895e-04 -8.37371141e-06 9.99999676e-01 -2.45536489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.100281693 meters 0.018121726874918847 Centerline is valid? [True, True] Translation: X:104.30, Y:1.01, Z:-0.02 [[ 9.99567588e-01 -2.94046219e-02 -6.76179997e-05 1.04298375e+02] [ 2.94046219e-02 9.99567591e-01 -1.50342048e-06 1.01238858e+00] [ 6.76329686e-05 -4.85511330e-07 9.99999998e-01 -2.20368401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.160281693 meters 0.016531684103528607 Centerline is valid? [True, True] Translation: X:104.36, Y:1.01, Z:-0.02 [[ 9.99638361e-01 -2.68732649e-02 9.87540924e-04 1.04357114e+02] [ 2.68732565e-02 9.99638849e-01 2.17762960e-05 1.00943108e+00] [-9.87769472e-04 4.77001972e-06 9.99999512e-01 -1.98447534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.220281693 meters 0.015447007770670365 Centerline is valid? [True, True] Translation: X:104.42, Y:1.01, Z:-0.02 [[ 9.99703987e-01 -2.42697157e-02 1.70835802e-03 1.04416414e+02] [ 2.42696863e-02 9.99705447e-01 3.79721900e-05 1.01119952e+00] [-1.70877639e-03 3.50036341e-06 9.99998540e-01 -1.86956518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.280281693 meters 0.016110092178430103 Centerline is valid? [True, True] Translation: X:104.48, Y:1.02, Z:-0.02 [[ 9.99838458e-01 -1.79711228e-02 3.12030509e-04 1.04475691e+02] [ 1.79711215e-02 9.99838506e-01 6.94450854e-06 1.01727290e+00] [-3.12104918e-04 -1.33584851e-06 9.99999951e-01 -2.12827077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.340281693 meters 0.020356641281714355 Centerline is valid? [True, True] Translation: X:104.53, Y:1.03, Z:-0.02 [[ 9.99932815e-01 -1.15916176e-02 1.04565757e-05 1.04534192e+02] [ 1.15916176e-02 9.99932815e-01 2.21005966e-07 1.03128886e+00] [-1.04584349e-05 -9.97824909e-08 1.00000000e+00 -2.09300100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.400281693 meters 0.02467246112230355 Centerline is valid? [True, True] Translation: X:104.59, Y:1.05, Z:-0.02 [[ 9.99983756e-01 -5.69975949e-03 2.96703884e-05 1.04594044e+02] [ 5.69975947e-03 9.99983756e-01 6.58503917e-07 1.04504598e+00] [-2.96736597e-05 -4.89379143e-07 1.00000000e+00 -2.11951887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.460281693 meters 0.026838885011601237 Centerline is valid? [True, True] Translation: X:104.65, Y:1.06, Z:-0.02 [[ 9.99994576e-01 -3.21275316e-03 -7.24917280e-04 1.04654236e+02] [ 3.21274227e-03 9.99994839e-01 -1.61873269e-05 1.05519061e+00] [ 7.24965545e-04 1.38582667e-05 9.99999737e-01 -2.36277989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.520281693 meters 0.027082631216264454 Centerline is valid? [True, True] Translation: X:104.71, Y:1.06, Z:-0.03 [[ 9.99993161e-01 -3.18955742e-03 -1.87219672e-03 1.04714658e+02] [ 3.18948474e-03 9.99994913e-01 -4.18059564e-05 1.06091922e+00] [ 1.87232053e-03 3.58343276e-05 9.99998247e-01 -2.54065140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.580281693 meters 0.02746844979143578 Centerline is valid? [True, True] Translation: X:104.77, Y:1.07, Z:-0.02 [[ 9.99991749e-01 -3.95724905e-03 -9.18026027e-04 1.04773485e+02] [ 3.95723188e-03 9.99992170e-01 -2.05140231e-05 1.07205982e+00] [ 9.18100017e-04 1.68810120e-05 9.99999578e-01 -2.27802820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.640281693 meters 0.02675680071880669 Centerline is valid? [True, True] Translation: X:104.83, Y:1.08, Z:-0.02 [[ 9.99992785e-01 -3.72932711e-03 -7.22451777e-04 1.04833387e+02] [ 3.72931642e-03 9.99993046e-01 -1.61406198e-05 1.08084632e+00] [ 7.22506947e-04 1.34462521e-05 9.99999739e-01 -2.32111421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70028169300001 meters 0.025042526257430114 Centerline is valid? [True, True] Translation: X:104.89, Y:1.09, Z:-0.02 [[ 9.99978045e-01 -6.25916205e-03 2.17541072e-03 1.04892479e+02] [ 6.25907108e-03 9.99980411e-01 4.86227931e-05 1.08758794e+00] [-2.17567244e-03 -3.50056753e-05 9.99997633e-01 -1.73314387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.760281693 meters 0.02180800339191302 Centerline is valid? [True, True] Translation: X:104.95, Y:1.09, Z:-0.01 [[ 9.99945537e-01 -9.14063387e-03 5.03714365e-03 1.04953765e+02] [ 9.14018318e-03 9.99958221e-01 1.12486593e-04 1.08515142e+00] [-5.03796140e-03 -6.64400514e-05 9.99987307e-01 -1.23168722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.820281693 meters 0.016746505343682275 Centerline is valid? [True, True] Translation: X:105.01, Y:1.08, Z:-0.02 [[ 9.99859227e-01 -1.66236810e-02 2.27604225e-03 1.05014451e+02] [ 1.66236085e-02 9.99861817e-01 5.07793684e-05 1.08051592e+00] [-2.27657187e-03 -1.29361848e-05 9.99997409e-01 -1.86254932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.880281693 meters 0.01575682864808306 Centerline is valid? [True, True] Translation: X:105.07, Y:1.07, Z:-0.03 [[ 9.99687603e-01 -2.49413011e-02 -1.62089178e-03 1.05074558e+02] [ 2.49412753e-02 9.99688917e-01 -3.61348930e-05 1.07336333e+00] [ 1.62128880e-03 -4.30350346e-06 9.99998686e-01 -2.60352181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.940281693 meters 0.018529121609038485 Centerline is valid? [True, True] Translation: X:105.13, Y:1.07, Z:-0.02 [[ 9.99505813e-01 -3.14005419e-02 -1.46130987e-03 1.05134225e+02] [ 3.14005278e-02 9.99506881e-01 -3.26232357e-05 1.06869678e+00] [ 1.46161366e-03 -1.32787875e-05 9.99998932e-01 -2.40512572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.000281693 meters 0.021475966924192843 Centerline is valid? [True, True] Translation: X:105.19, Y:1.07, Z:-0.02 [[ 9.99395556e-01 -3.47635917e-02 1.26149412e-04 1.05192634e+02] [ 3.47635916e-02 9.99395564e-01 2.80490012e-06 1.06639063e+00] [-1.26170671e-04 1.58220194e-06 9.99999992e-01 -2.10878848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06028169300001 meters 0.02604324989143385 Centerline is valid? [True, True] Translation: X:105.25, Y:1.06, Z:-0.02 [[ 9.99178017e-01 -4.05340691e-02 5.29090167e-04 1.05251877e+02] [ 4.05340685e-02 9.99178157e-01 1.18408289e-05 1.06315524e+00] [-5.29135295e-04 9.61508116e-06 9.99999860e-01 -2.11317370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.120281693 meters 0.0316286274632228 Centerline is valid? [True, True] Translation: X:105.31, Y:1.05, Z:-0.02 [[ 9.99058187e-01 -4.33846892e-02 -7.12004113e-04 1.05310446e+02] [ 4.33846888e-02 9.99058441e-01 -1.59864435e-05 1.05495111e+00] [ 7.12027286e-04 -1.49186896e-05 9.99999746e-01 -2.34012604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.180281693 meters 0.030076833582394814 Centerline is valid? [True, True] Translation: X:105.37, Y:1.06, Z:-0.02 [[ 9.98965441e-01 -4.54737858e-02 -4.26866802e-04 1.05369370e+02] [ 4.54737858e-02 9.98965532e-01 -9.70346338e-06 1.05788331e+00] [ 4.26866475e-04 -9.71782491e-06 9.99999909e-01 -2.10794701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.240281693 meters 0.03275029634696342 Centerline is valid? [True, True] Translation: X:105.43, Y:1.05, Z:-0.02 [[ 9.98877336e-01 -4.73096133e-02 2.42251834e-03 1.05427093e+02] [ 4.73096192e-02 9.98880272e-01 5.48676390e-05 1.05103755e+00] [-2.42240154e-03 5.98023791e-05 9.99997064e-01 -1.66174646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.300281693 meters 0.03811259828086559 Centerline is valid? [True, True] Translation: X:105.49, Y:1.04, Z:-0.02 [[ 9.98772687e-01 -4.94370174e-02 3.01686373e-03 1.05486237e+02] [ 4.94370359e-02 9.98777240e-01 6.84752451e-05 1.03709295e+00] [-3.01656005e-03 8.07535963e-05 9.99995447e-01 -1.57485292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.360281693 meters 0.03521105746085892 Centerline is valid? [True, True] Translation: X:105.54, Y:1.03, Z:-0.02 [[ 9.98835909e-01 -4.82371802e-02 -3.19538382e-05 1.05544848e+02] [ 4.82371802e-02 9.98835910e-01 -7.83595194e-07 1.03050620e+00] [ 3.19544395e-05 -7.58680033e-07 9.99999999e-01 -2.19371146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.420281693 meters 0.03319138222521724 Centerline is valid? [True, True] Translation: X:105.60, Y:1.02, Z:-0.02 [[ 9.98915308e-01 -4.65606309e-02 -5.60733629e-04 1.05604340e+02] [ 4.65606310e-02 9.98915466e-01 -1.29468992e-05 1.02345373e+00] [ 5.60728310e-04 -1.31752558e-05 9.99999843e-01 -2.23316949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.480281693 meters 0.02693764843457741 Centerline is valid? [True, True] Translation: X:105.66, Y:1.03, Z:-0.02 [[ 9.99091768e-01 -4.25700174e-02 -1.85302949e-03 1.05663809e+02] [ 4.25700115e-02 9.99093485e-01 -4.26723309e-05 1.02605721e+00] [ 1.85316626e-03 -3.62499122e-05 9.99998282e-01 -2.48882274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.540281693 meters 0.017097861582817092 Centerline is valid? [True, True] Translation: X:105.72, Y:1.04, Z:-0.02 [[ 9.99556686e-01 -2.97727282e-02 1.23096280e-04 1.05724107e+02] [ 2.97727281e-02 9.99556694e-01 2.83366936e-06 1.03703497e+00] [-1.23126077e-04 8.32498913e-07 9.99999992e-01 -2.10015677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.600281693 meters 0.01656141522477205 Centerline is valid? [True, True] Translation: X:105.78, Y:1.05, Z:-0.02 [[ 9.99833565e-01 -1.82432381e-02 1.60468322e-04 1.05782653e+02] [ 1.82432377e-02 9.99833578e-01 3.68844869e-06 1.05312789e+00] [-1.60508906e-04 -7.60373069e-07 9.99999987e-01 -2.08283116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.660281693 meters 0.03294824118350701 Centerline is valid? [True, True] Translation: X:105.84, Y:1.08, Z:-0.02 [[ 9.99998603e-01 -1.25405364e-03 -1.10513817e-03 1.05842078e+02] [ 1.25402622e-03 9.99999213e-01 -2.55011197e-05 1.08235318e+00] [ 1.10516928e-03 2.41152118e-05 9.99999389e-01 -2.36519420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.720281693 meters 0.03893126280173482 Centerline is valid? [True, True] Translation: X:105.90, Y:1.10, Z:-0.02 [[ 9.99961324e-01 8.75007478e-03 -8.86837599e-04 1.05901673e+02] [-8.75009637e-03 9.99961717e-01 -2.04742855e-05 1.09553532e+00] [ 8.86624496e-04 2.82334081e-05 9.99999607e-01 -2.33062905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.780281693 meters 0.061444443772864094 Centerline is valid? [True, True] Translation: X:105.96, Y:1.14, Z:-0.03 [[ 9.99796983e-01 2.01162777e-02 -1.15270491e-03 1.05959604e+02] [-2.01163217e-02 9.99797646e-01 -2.66400787e-05 1.13661286e+00] [ 1.15193576e-03 4.98228532e-05 9.99999335e-01 -2.52609952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.840281693 meters 0.06981683473643407 Centerline is valid? [True, True] Translation: X:106.02, Y:1.16, Z:-0.02 [[ 9.99671014e-01 2.56392449e-02 -7.01476339e-04 1.06018924e+02] [-2.56392625e-02 9.99671260e-01 -1.62161098e-05 1.15904538e+00] [ 7.00829967e-04 3.41961110e-05 9.99999754e-01 -2.36415205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.900281693 meters 0.0701176158966292 Centerline is valid? [True, True] Translation: X:106.08, Y:1.17, Z:-0.03 [[ 9.99667114e-01 2.57802142e-02 -1.02086505e-03 1.06077810e+02] [-2.57802518e-02 9.99667634e-01 -2.36375282e-05 1.17088128e+00] [ 1.01991636e-03 4.99478175e-05 9.99999479e-01 -2.65054280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.960281693 meters 0.05946412044452004 Centerline is valid? [True, True] Translation: X:106.14, Y:1.17, Z:-0.02 [[ 9.99689226e-01 2.49288691e-02 -6.10296675e-05 1.06137900e+02] [-2.49288692e-02 9.99689227e-01 -1.42158456e-06 1.16563527e+00] [ 6.09752626e-05 2.94254336e-06 9.99999998e-01 -2.38543939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.020281693 meters 0.056535872575019144 Centerline is valid? [True, True] Translation: X:106.20, Y:1.17, Z:-0.02 [[ 9.99779015e-01 2.09957011e-02 -1.04925963e-03 1.06197375e+02] [-2.09957382e-02 9.99779565e-01 -2.43257926e-05 1.17125073e+00] [ 1.04851760e-03 4.63503975e-05 9.99999449e-01 -2.45161062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.080281693 meters 0.04822138456147234 Centerline is valid? [True, True] Translation: X:106.26, Y:1.17, Z:-0.03 [[ 9.99894190e-01 1.45343763e-02 -6.01387745e-04 1.06257702e+02] [-1.45343873e-02 9.99894370e-01 -1.39416907e-05 1.16772876e+00] [ 6.01121587e-04 2.26810180e-05 9.99999819e-01 -2.53649683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.140281693 meters 0.04452836097770076 Centerline is valid? [True, True] Translation: X:106.32, Y:1.17, Z:-0.02 [[ 9.99956192e-01 9.26338652e-03 1.34314206e-03 1.06316897e+02] [-9.26343670e-03 9.99957093e-01 3.11478122e-05 1.17158984e+00] [-1.34279590e-03 -4.35885592e-05 9.99999097e-01 -2.16573252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20028169300001 meters 0.03720160392017199 Centerline is valid? [True, True] Translation: X:106.38, Y:1.17, Z:-0.02 [[ 9.99977080e-01 6.63930836e-03 1.32659611e-03 1.06378127e+02] [-6.63935500e-03 9.99977959e-01 3.07566855e-05 1.16927515e+00] [-1.32636267e-03 -3.95637230e-05 9.99999120e-01 -2.22026435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.260281693 meters 0.03422537312181949 Centerline is valid? [True, True] Translation: X:106.44, Y:1.17, Z:-0.03 [[ 9.99992379e-01 2.93655137e-03 -2.57248455e-03 1.06438463e+02] [-2.93671449e-03 9.99995686e-01 -5.96343497e-05 1.17280561e+00] [ 2.57229834e-03 6.71885479e-05 9.99996689e-01 -2.86402957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.320281693 meters 0.03490173148410316 Centerline is valid? [True, True] Translation: X:106.50, Y:1.18, Z:-0.03 [[ 9.99999114e-01 -2.90106937e-04 -1.29944600e-03 1.06497630e+02] [ 2.90067988e-04 9.99999957e-01 -3.01613119e-05 1.18066669e+00] [ 1.29945469e-03 2.97843575e-05 9.99999155e-01 -2.67630742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.380281693 meters 0.025199038810159904 Centerline is valid? [True, True] Translation: X:106.56, Y:1.17, Z:-0.02 [[ 9.99979288e-01 -6.36059672e-03 9.83155315e-04 1.06557803e+02] [ 6.36057736e-03 9.99979771e-01 2.28176104e-05 1.17346631e+00] [-9.83280560e-04 -1.65637023e-05 9.99999516e-01 -2.26392876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.440281693 meters 0.022335524349500955 Centerline is valid? [True, True] Translation: X:106.62, Y:1.17, Z:-0.03 [[ 9.99928893e-01 -1.19109108e-02 -5.82315653e-04 1.06618320e+02] [ 1.19109049e-02 9.99929063e-01 -1.35050623e-05 1.17370664e+00] [ 5.82435203e-04 6.56819565e-06 9.99999830e-01 -2.57708457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.500281693 meters 0.01780044382655301 Centerline is valid? [True, True] Translation: X:106.68, Y:1.17, Z:-0.03 [[ 9.99871228e-01 -1.60433233e-02 -3.73601603e-04 1.06679391e+02] [ 1.60433212e-02 9.99871298e-01 -8.65871923e-06 1.16643153e+00] [ 3.73692434e-04 2.66379372e-06 9.99999930e-01 -2.51300969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56028169300001 meters 0.016529463903718622 Centerline is valid? [True, True] Translation: X:106.74, Y:1.17, Z:-0.02 [[ 9.99832755e-01 -1.82879042e-02 1.23236932e-04 1.06740923e+02] [ 1.82879040e-02 9.99832762e-01 2.86277236e-06 1.16693793e+00] [-1.23268677e-04 -6.08548391e-07 9.99999992e-01 -2.38049882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.620281693 meters 0.015763395437368096 Centerline is valid? [True, True] Translation: X:106.80, Y:1.16, Z:-0.03 [[ 9.99757208e-01 -2.20019079e-02 -1.20046782e-03 1.06801157e+02] [ 2.20018904e-02 9.99757929e-01 -2.77890677e-05 1.16474719e+00] [ 1.20078863e-03 1.36975935e-06 9.99999279e-01 -2.65157787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.680281693 meters 0.016046511966753118 Centerline is valid? [True, True] Translation: X:106.86, Y:1.16, Z:-0.03 [[ 9.99650200e-01 -2.64468188e-02 -2.08069328e-04 1.06861424e+02] [ 2.64468184e-02 9.99650222e-01 -4.81719753e-06 1.16013794e+00] [ 2.08123949e-04 -6.87259256e-07 9.99999978e-01 -2.51361248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.740281693 meters 0.018624600662453618 Centerline is valid? [True, True] Translation: X:106.92, Y:1.15, Z:-0.02 [[ 9.99472851e-01 -3.24419866e-02 1.24025134e-03 1.06922397e+02] [ 3.24419760e-02 9.99473620e-01 2.87141586e-05 1.15033841e+00] [-1.24053004e-03 1.15371821e-05 9.99999230e-01 -2.27819061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.800281693 meters 0.019214708290135087 Centerline is valid? [True, True] Translation: X:106.98, Y:1.15, Z:-0.03 [[ 9.99454640e-01 -3.30142075e-02 -6.96205735e-04 1.06983116e+02] [ 3.30142043e-02 9.99454882e-01 -1.61062732e-05 1.14614970e+00] [ 6.96357957e-04 -6.88718882e-06 9.99999758e-01 -2.56956968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.860281693 meters 0.017289620568783224 Centerline is valid? [True, True] Translation: X:107.04, Y:1.15, Z:-0.03 [[ 9.99543402e-01 -3.02119156e-02 -4.77502528e-04 1.07042562e+02] [ 3.02119138e-02 9.99543516e-01 -1.10693416e-05 1.14589065e+00] [ 4.77618981e-04 -3.36197780e-06 9.99999886e-01 -2.51678748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.920281693 meters 0.016505887984392297 Centerline is valid? [True, True] Translation: X:107.10, Y:1.15, Z:-0.02 [[ 9.99608446e-01 -2.79788259e-02 3.73470423e-04 1.07101677e+02] [ 2.79788246e-02 9.99608516e-01 8.65151441e-06 1.14505203e+00] [-3.73566274e-04 1.80113659e-06 9.99999930e-01 -2.39914261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.980281693 meters 0.015519684156713483 Centerline is valid? [True, True] Translation: X:107.16, Y:1.15, Z:-0.02 [[ 9.99704955e-01 -2.42777416e-02 7.70529326e-04 1.07161695e+02] [ 2.42777351e-02 9.99705252e-01 1.78579885e-05 1.14735431e+00] [-7.70735766e-04 8.53987254e-07 9.99999703e-01 -2.38645196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.040281693 meters 0.015554502088121046 Centerline is valid? [True, True] Translation: X:107.22, Y:1.15, Z:-0.02 [[ 9.99752031e-01 -2.22570880e-02 7.05909284e-04 1.07222222e+02] [ 2.22570820e-02 9.99752280e-01 1.63603376e-05 1.14915513e+00] [-7.06098550e-04 -6.44799866e-07 9.99999751e-01 -2.40375601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.100281693 meters 0.015986263740826293 Centerline is valid? [True, True] Translation: X:107.28, Y:1.15, Z:-0.02 [[ 9.99797329e-01 -2.01135870e-02 8.62571599e-04 1.07282687e+02] [ 2.01135773e-02 9.99797701e-01 1.99851776e-05 1.15332221e+00] [-8.62799075e-04 -2.63172670e-06 9.99999628e-01 -2.34880540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.160281693 meters 0.016438674120004392 Centerline is valid? [True, True] Translation: X:107.34, Y:1.16, Z:-0.02 [[ 9.99829795e-01 -1.83579183e-02 1.83510780e-03 1.07343120e+02] [ 1.83578712e-02 9.99831479e-01 4.25096224e-05 1.15548322e+00] [-1.83557894e-03 -8.81371429e-06 9.99998315e-01 -2.23956489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.220281693 meters 0.016627523984235667 Centerline is valid? [True, True] Translation: X:107.40, Y:1.16, Z:-0.02 [[ 9.99836634e-01 -1.80659428e-02 5.72545298e-04 1.07404473e+02] [ 1.80659382e-02 9.99836798e-01 1.32575055e-05 1.15547528e+00] [-5.72691367e-04 -2.91177165e-06 9.99999836e-01 -2.46318999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.280281693 meters 0.015924455380577435 Centerline is valid? [True, True] Translation: X:107.47, Y:1.15, Z:-0.03 [[ 9.99780873e-01 -2.09332555e-02 7.13653198e-05 1.07466212e+02] [ 2.09332554e-02 9.99780875e-01 1.65785880e-06 1.14943886e+00] [-7.13843863e-05 -1.63587051e-07 9.99999997e-01 -2.64291047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.340281693 meters 0.015894428041939662 Centerline is valid? [True, True] Translation: X:107.53, Y:1.14, Z:-0.03 [[ 9.99683136e-01 -2.51592429e-02 -8.00563310e-04 1.07526991e+02] [ 2.51592361e-02 9.99683456e-01 -1.85074551e-05 1.14148241e+00] [ 8.00775531e-04 -1.63997059e-06 9.99999679e-01 -2.72833287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.400281693 meters 0.016532927415204346 Centerline is valid? [True, True] Translation: X:107.59, Y:1.14, Z:-0.03 [[ 9.99625375e-01 -2.73660434e-02 -4.56740431e-04 1.07587699e+02] [ 2.73660414e-02 9.99625480e-01 -1.05589438e-05 1.13639366e+00] [ 4.56858329e-04 -1.94418934e-06 9.99999896e-01 -2.72669906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.460281693 meters 0.017191610620411413 Centerline is valid? [True, True] Translation: X:107.65, Y:1.13, Z:-0.03 [[ 9.99579613e-01 -2.89903810e-02 3.93190266e-04 1.07646357e+02] [ 2.89903797e-02 9.99579691e-01 9.09140723e-06 1.13165254e+00] [-3.93288568e-04 2.31114978e-06 9.99999923e-01 -2.50275958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.520281693 meters 0.016321709244777962 Centerline is valid? [True, True] Translation: X:107.71, Y:1.13, Z:-0.03 [[ 9.99629435e-01 -2.72198479e-02 2.68744054e-04 1.07705665e+02] [ 2.72198472e-02 9.99629471e-01 6.22013629e-06 1.13499908e+00] [-2.68813788e-04 1.09734076e-06 9.99999964e-01 -2.51389309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.580281693 meters 0.015594471796536417 Centerline is valid? [True, True] Translation: X:107.77, Y:1.14, Z:-0.02 [[ 9.99731206e-01 -2.31587989e-02 1.08863396e-03 1.07765472e+02] [ 2.31587851e-02 9.99731799e-01 2.52470157e-05 1.14157276e+00] [-1.08892668e-03 -2.87895518e-08 9.99999407e-01 -2.37871325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.640281693 meters 0.015590530458872015 Centerline is valid? [True, True] Translation: X:107.83, Y:1.14, Z:-0.02 [[ 9.99754831e-01 -2.21400852e-02 3.08983214e-04 1.07826287e+02] [ 2.21400841e-02 9.99754878e-01 7.16806783e-06 1.14417539e+00] [-3.09066177e-04 -3.25396102e-07 9.99999952e-01 -2.42879788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70028169300001 meters 0.015593586613950905 Centerline is valid? [True, True] Translation: X:107.89, Y:1.14, Z:-0.03 [[ 9.99716459e-01 -2.38106987e-02 2.27765123e-04 1.07885481e+02] [ 2.38106981e-02 9.99716485e-01 5.28253308e-06 1.13959063e+00] [-2.27826329e-04 1.42211310e-07 9.99999974e-01 -2.50732441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.760281693 meters 0.015490221012719045 Centerline is valid? [True, True] Translation: X:107.95, Y:1.14, Z:-0.02 [[ 9.99738012e-01 -2.28374122e-02 1.53598738e-03 1.07945034e+02] [ 2.28373843e-02 9.99739192e-01 3.56793971e-05 1.14249855e+00] [-1.53640160e-03 -5.92115545e-07 9.99998820e-01 -2.24422731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.820281693 meters 0.016603010936594102 Centerline is valid? [True, True] Translation: X:108.01, Y:1.15, Z:-0.02 [[ 9.99842234e-01 -1.77487465e-02 6.98820668e-04 1.08005149e+02] [ 1.77487395e-02 9.99842479e-01 1.62366260e-05 1.14958159e+00] [-6.98998768e-04 -3.83087844e-06 9.99999756e-01 -2.32838532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.880281693 meters 0.019450756340753356 Centerline is valid? [True, True] Translation: X:108.06, Y:1.16, Z:-0.02 [[ 9.99902128e-01 -1.38917708e-02 1.65913282e-03 1.08064374e+02] [ 1.38917259e-02 9.99903505e-01 3.85644505e-05 1.15592403e+00] [-1.65950845e-03 -1.55124577e-05 9.99998623e-01 -2.11671020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.940281693 meters 0.02400480357349836 Centerline is valid? [True, True] Translation: X:108.12, Y:1.16, Z:-0.02 [[ 9.99945333e-01 -1.04263929e-02 7.87865796e-04 1.08124814e+02] [ 1.04263817e-02 9.99945644e-01 1.83099726e-05 1.16322405e+00] [-7.88013878e-04 -1.00943821e-05 9.99999689e-01 -2.36276369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.000281693 meters 0.024898270923416996 Centerline is valid? [True, True] Translation: X:108.18, Y:1.17, Z:-0.03 [[ 9.99980792e-01 -6.14587342e-03 -8.02047419e-04 1.08184916e+02] [ 6.14586043e-03 9.99981114e-01 -1.86492998e-05 1.16696694e+00] [ 8.02146888e-04 1.37196701e-05 9.99999678e-01 -2.50603931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06028169300001 meters 0.03155929006773521 Centerline is valid? [True, True] Translation: X:108.24, Y:1.18, Z:-0.03 [[ 9.99999516e-01 -1.04523942e-04 -9.78522349e-04 1.08244188e+02] [ 1.04501709e-04 9.99999994e-01 -2.27709592e-05 1.18076004e+00] [ 9.78524723e-04 2.26686909e-05 9.99999521e-01 -2.65625968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.120281693 meters 0.032597954802071054 Centerline is valid? [True, True] Translation: X:108.30, Y:1.18, Z:-0.03 [[ 9.99998569e-01 1.42667680e-03 -9.08855747e-04 1.08304877e+02] [-1.42669660e-03 9.99998982e-01 -2.11441276e-05 1.18337589e+00] [ 9.08824656e-04 2.24407588e-05 9.99999587e-01 -2.68062332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.180281693 meters 0.0318677089529212 Centerline is valid? [True, True] Translation: X:108.36, Y:1.19, Z:-0.03 [[ 9.99999059e-01 6.32465897e-04 -1.21712042e-03 1.08364058e+02] [-6.32500874e-04 9.99999800e-01 -2.83521678e-05 1.18603756e+00] [ 1.21710225e-03 2.91219709e-05 9.99999259e-01 -2.59279338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.240281693 meters 0.03193027301978386 Centerline is valid? [True, True] Translation: X:108.42, Y:1.19, Z:-0.02 [[ 9.99999133e-01 -1.31670277e-03 -1.93876611e-05 1.08423609e+02] [ 1.31670276e-03 9.99999133e-01 -4.55707392e-07 1.18815757e+00] [ 1.93882443e-05 4.30179211e-07 1.00000000e+00 -2.38840735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.300281693 meters 0.02800209867120774 Centerline is valid? [True, True] Translation: X:108.48, Y:1.18, Z:-0.02 [[ 9.99995804e-01 -2.89607686e-03 6.81815111e-05 1.08483970e+02] [ 2.89607676e-03 9.99995806e-01 1.58858791e-06 1.18402042e+00] [-6.81858258e-05 -1.39112236e-06 9.99999998e-01 -2.44788732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.360281693 meters 0.026184679743411442 Centerline is valid? [True, True] Translation: X:108.54, Y:1.18, Z:-0.03 [[ 9.99980270e-01 -5.65713551e-03 -2.73068843e-03 1.08544134e+02] [ 5.65698296e-03 9.99983997e-01 -6.35875724e-05 1.17879556e+00] [ 2.73100445e-03 4.81388599e-05 9.99996270e-01 -2.94859172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.420281693 meters 0.023605505876975703 Centerline is valid? [True, True] Translation: X:108.60, Y:1.17, Z:-0.02 [[ 9.99968123e-01 -7.96089432e-03 6.14910979e-04 1.08603673e+02] [ 7.96088699e-03 9.99968312e-01 1.43610931e-05 1.17277668e+00] [-6.15005821e-04 -9.46539852e-06 9.99999811e-01 -2.28031354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.480281693 meters 0.023131234139056156 Centerline is valid? [True, True] Translation: X:108.66, Y:1.17, Z:-0.02 [[ 9.99960602e-01 -8.58872863e-03 2.24257747e-03 1.08664549e+02] [ 8.58863233e-03 9.99963116e-01 5.25674266e-05 1.16793803e+00] [-2.24294624e-03 -3.33046822e-05 9.99997484e-01 -2.07404578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.540281693 meters 0.022599255400548985 Centerline is valid? [True, True] Translation: X:108.73, Y:1.16, Z:-0.03 [[ 9.99961646e-01 -8.75637260e-03 -1.81203318e-04 1.08725592e+02] [ 8.75637198e-03 9.99961662e-01 -4.23488077e-06 1.16206443e+00] [ 1.81233453e-04 2.64803469e-06 9.99999984e-01 -2.51763336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.600281693 meters 0.022803788750817826 Centerline is valid? [True, True] Translation: X:108.79, Y:1.16, Z:-0.02 [[ 9.99959544e-01 -8.96465829e-03 7.38317783e-04 1.08785411e+02] [ 8.96464797e-03 9.99959817e-01 1.72935769e-05 1.15936867e+00] [-7.38443146e-04 -1.06741182e-05 9.99999727e-01 -2.32661675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.660281693 meters 0.022980271797083344 Centerline is valid? [True, True] Translation: X:108.85, Y:1.16, Z:-0.02 [[ 9.99955481e-01 -9.36918895e-03 1.12026739e-03 1.08845965e+02] [ 9.36916546e-03 9.99956108e-01 2.62142327e-05 1.15666009e+00] [-1.12046383e-03 -1.57170951e-05 9.99999372e-01 -2.26396894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.720281693 meters 0.022735086556108623 Centerline is valid? [True, True] Translation: X:108.91, Y:1.15, Z:-0.03 [[ 9.99960809e-01 -8.84991289e-03 -2.44969918e-04 1.08907039e+02] [ 8.84991176e-03 9.99960839e-01 -5.71523775e-06 1.15243399e+00] [ 2.45010904e-04 3.54705161e-06 9.99999970e-01 -2.58971121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.780281693 meters 0.024191439001369934 Centerline is valid? [True, True] Translation: X:108.97, Y:1.15, Z:-0.03 [[ 9.99972427e-01 -7.41322215e-03 -4.35678367e-04 1.08967432e+02] [ 7.41321842e-03 9.99972522e-01 -1.01790393e-05 1.15272766e+00] [ 4.35741855e-04 6.94897974e-06 9.99999905e-01 -2.56035002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.840281693 meters 0.02404953469912904 Centerline is valid? [True, True] Translation: X:109.03, Y:1.15, Z:-0.03 [[ 9.99972620e-01 -7.39794945e-03 -1.74864886e-04 1.09027686e+02] [ 7.39794885e-03 9.99972635e-01 -4.08548297e-06 1.15241327e+00] [ 1.74890325e-04 2.79172963e-06 9.99999985e-01 -2.56309504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.900281693 meters 0.023215777992557318 Centerline is valid? [True, True] Translation: X:109.09, Y:1.15, Z:-0.03 [[ 9.99964471e-01 -8.42061511e-03 -3.86548123e-04 1.09088306e+02] [ 8.42061225e-03 9.99964546e-01 -9.03117719e-06 1.15305591e+00] [ 3.86610466e-04 5.77588447e-06 9.99999925e-01 -2.60298842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.960281693 meters 0.021112572963342992 Centerline is valid? [True, True] Translation: X:109.15, Y:1.15, Z:-0.03 [[ 9.99937193e-01 -1.09799019e-02 -2.24746531e-03 1.09148607e+02] [ 1.09798116e-02 9.99939719e-01 -5.25090054e-05 1.15085697e+00] [ 2.24790637e-03 2.78289618e-05 9.99997473e-01 -2.95837031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.020281693 meters 0.018769096203204286 Centerline is valid? [True, True] Translation: X:109.21, Y:1.15, Z:-0.03 [[ 9.99898174e-01 -1.42483298e-02 -7.91280052e-04 1.09208312e+02] [ 1.42483196e-02 9.99898487e-01 -1.85139908e-05 1.14793317e+00] [ 7.91463521e-04 7.23769450e-06 9.99999687e-01 -2.56235816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.080281693 meters 0.01681103861186658 Centerline is valid? [True, True] Translation: X:109.27, Y:1.14, Z:-0.02 [[ 9.99838858e-01 -1.79421917e-02 5.79866493e-04 1.09267952e+02] [ 1.79421868e-02 9.99839026e-01 1.35642095e-05 1.14415010e+00] [-5.80016521e-04 -3.15795076e-06 9.99999832e-01 -2.29896018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.140281693 meters 0.015578560547956598 Centerline is valid? [True, True] Translation: X:109.33, Y:1.13, Z:-0.03 [[ 9.99760450e-01 -2.18860517e-02 -2.09420858e-04 1.09328533e+02] [ 2.18860512e-02 9.99760472e-01 -4.90022014e-06 1.13468133e+00] [ 2.09477942e-04 3.15650680e-07 9.99999978e-01 -2.60021689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.200281693 meters 0.015521522878339713 Centerline is valid? [True, True] Translation: X:109.39, Y:1.13, Z:-0.02 [[ 9.99745769e-01 -2.25383448e-02 -6.48391428e-04 1.09387105e+02] [ 2.25383397e-02 9.99745979e-01 -1.52063080e-05 1.13031602e+00] [ 6.48569449e-04 5.88775809e-07 9.99999790e-01 -2.46568269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.260281693 meters 0.015695778843248326 Centerline is valid? [True, True] Translation: X:109.45, Y:1.13, Z:-0.02 [[ 9.99788297e-01 -2.05714213e-02 -4.21838852e-04 1.09446454e+02] [ 2.05714190e-02 9.99788386e-01 -9.90325845e-06 1.13116029e+00] [ 4.21953310e-04 1.22333812e-06 9.99999911e-01 -2.39974382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.320281693 meters 0.018013944669449715 Centerline is valid? [True, True] Translation: X:109.51, Y:1.14, Z:-0.02 [[ 9.99867994e-01 -1.62370251e-02 5.94354268e-04 1.09505384e+02] [ 1.62370197e-02 9.99868171e-01 1.39505504e-05 1.13792456e+00] [-5.94502430e-04 -4.29816693e-06 9.99999823e-01 -2.29196284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.380281693 meters 0.01992818714133384 Centerline is valid? [True, True] Translation: X:109.57, Y:1.14, Z:-0.02 [[ 9.99911699e-01 -1.32837088e-02 -3.69943614e-04 1.09566212e+02] [ 1.32837065e-02 9.99911768e-01 -8.69070886e-06 1.14277269e+00] [ 3.70026418e-04 3.77571909e-06 9.99999932e-01 -2.46560155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.440281693 meters 0.021022927254324062 Centerline is valid? [True, True] Translation: X:109.63, Y:1.15, Z:-0.03 [[ 9.99943621e-01 -1.03715673e-02 -2.27720928e-03 1.09626114e+02] [ 1.03714722e-02 9.99946213e-01 -5.35602163e-05 1.14633076e+00] [ 2.27764230e-03 2.99391837e-05 9.99997406e-01 -2.80998525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.500281693 meters 0.022988206084902305 Centerline is valid? [True, True] Translation: X:109.69, Y:1.15, Z:-0.02 [[ 9.99967742e-01 -7.98359557e-03 -8.81949681e-04 1.09685051e+02] [ 7.98358034e-03 9.99968131e-01 -2.07847716e-05 1.15331428e+00] [ 8.82087511e-04 1.37429850e-05 9.99999611e-01 -2.42652669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56028169300001 meters 0.026435528057469928 Centerline is valid? [True, True] Translation: X:109.74, Y:1.16, Z:-0.02 [[ 9.99988269e-01 -4.84347171e-03 -5.27678691e-05 1.09743983e+02] [ 4.84347165e-03 9.99988270e-01 -1.24756080e-06 1.16481121e+00] [ 5.27732926e-05 9.91966486e-07 9.99999999e-01 -2.39738547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.620281693 meters 0.028408661173231514 Centerline is valid? [True, True] Translation: X:109.80, Y:1.17, Z:-0.03 [[ 9.99994169e-01 -3.18191832e-03 -1.24025874e-03 1.09803156e+02] [ 3.18188449e-03 9.99994937e-01 -2.92444979e-05 1.17221101e+00] [ 1.24034552e-03 2.52979673e-05 9.99999230e-01 -2.54317009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.680281693 meters 0.03157198521017881 Centerline is valid? [True, True] Translation: X:109.86, Y:1.19, Z:-0.03 [[ 9.99994671e-01 4.58151830e-04 -3.23225791e-03 1.09862315e+02] [-4.58400806e-04 9.99999892e-01 -7.62878382e-05 1.18577890e+00] [ 3.23222261e-03 7.77691013e-05 9.99994773e-01 -2.76942819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.740281693 meters 0.03684590049557956 Centerline is valid? [True, True] Translation: X:109.92, Y:1.21, Z:-0.02 [[ 9.99982822e-01 5.69128212e-03 -1.40149929e-03 1.09922343e+02] [-5.69133406e-03 9.99983804e-01 -3.30747194e-05 1.20511210e+00] [ 1.40128835e-03 4.10505519e-05 9.99999017e-01 -2.37534304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.800281693 meters 0.037662622249120016 Centerline is valid? [True, True] Translation: X:109.98, Y:1.22, Z:-0.02 [[ 9.99980883e-01 6.16950295e-03 4.12838111e-04 1.09982132e+02] [-6.16950750e-03 9.99980968e-01 9.74434877e-06 1.21893422e+00] [-4.12770137e-04 -1.22911703e-05 9.99999915e-01 -2.17327234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.860281693 meters 0.032075646566332834 Centerline is valid? [True, True] Translation: X:110.04, Y:1.22, Z:-0.02 [[ 9.99999311e-01 1.12187131e-03 3.45030356e-04 1.10042597e+02] [-1.12187419e-03 9.99999371e-01 8.15056143e-06 1.21690918e+00] [-3.45020995e-04 -8.53763646e-06 9.99999940e-01 -2.17696154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.920281693 meters 0.022852132689786954 Centerline is valid? [True, True] Translation: X:110.10, Y:1.21, Z:-0.02 [[ 9.99959266e-01 -9.00605807e-03 5.97955711e-04 1.10103327e+02] [ 9.00605124e-03 9.99959445e-01 1.41252467e-05 1.21095389e+00] [-5.98058674e-04 -8.73945154e-06 9.99999821e-01 -2.08711617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.980281693 meters 0.023759171151849275 Centerline is valid? [True, True] Translation: X:110.16, Y:1.22, Z:-0.02 [[ 9.99934339e-01 -1.12470284e-02 2.19597477e-03 1.10163795e+02] [ 1.12469416e-02 9.99936750e-01 5.18526246e-05 1.21866872e+00] [-2.19641906e-03 -2.71512199e-05 9.99997588e-01 -1.72788638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.040281693 meters 0.020725882009983765 Centerline is valid? [True, True] Translation: X:110.22, Y:1.22, Z:-0.02 [[ 9.99928784e-01 -1.19340360e-02 -7.64310099e-05 1.10224921e+02] [ 1.19340359e-02 9.99928787e-01 -1.79488170e-06 1.22289740e+00] [ 7.64469872e-05 8.82623460e-07 9.99999997e-01 -2.18501978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.100281693 meters 0.01666161800712278 Centerline is valid? [True, True] Translation: X:110.29, Y:1.22, Z:-0.02 [[ 9.99829026e-01 -1.84735011e-02 -8.04973110e-04 1.10285455e+02] [ 1.84734918e-02 9.99829350e-01 -1.89743703e-05 1.21592184e+00] [ 8.05186265e-04 4.10046201e-06 9.99999676e-01 -2.37569709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.160281693 meters 0.015521057037369185 Centerline is valid? [True, True] Translation: X:110.35, Y:1.21, Z:-0.02 [[ 9.99689486e-01 -2.49045109e-02 8.35234825e-04 1.10346079e+02] [ 2.49045032e-02 9.99689835e-01 1.96917704e-05 1.20695857e+00] [-8.35466178e-04 1.11545252e-06 9.99999651e-01 -2.11184462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.220281693 meters 0.017751479252411995 Centerline is valid? [True, True] Translation: X:110.41, Y:1.19, Z:-0.02 [[ 9.99530140e-01 -3.06185454e-02 1.41562775e-03 1.10407136e+02] [ 3.06185289e-02 9.99531142e-01 3.33624242e-05 1.19466816e+00] [-1.41598553e-03 9.99769067e-06 9.99998997e-01 -1.91764044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.280281693 meters 0.01703292180471731 Centerline is valid? [True, True] Translation: X:110.47, Y:1.19, Z:-0.02 [[ 9.99573969e-01 -2.91829155e-02 -4.87353643e-04 1.10466811e+02] [ 2.91829133e-02 9.99574088e-01 -1.15026435e-05 1.19486176e+00] [ 4.87481754e-04 -2.72465614e-06 9.99999881e-01 -2.22128177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.340281693 meters 0.015642483668856927 Centerline is valid? [True, True] Translation: X:110.53, Y:1.20, Z:-0.03 [[ 9.99726357e-01 -2.31194082e-02 -3.56433217e-03 1.10526210e+02] [ 2.31192551e-02 9.99732711e-01 -8.41640837e-05 1.20063128e+00] [ 3.56532529e-03 1.73634809e-06 9.99993644e-01 -2.70930827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.400281693 meters 0.0167424414939433 Centerline is valid? [True, True] Translation: X:110.58, Y:1.21, Z:-0.03 [[ 9.99811603e-01 -1.91818854e-02 -2.96883511e-03 1.10584487e+02] [ 1.91817614e-02 9.99816011e-01 -7.02144787e-05 1.20947549e+00] [ 2.96963573e-03 1.32537636e-05 9.99995591e-01 -2.68943748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.460281693 meters 0.01831359890473883 Centerline is valid? [True, True] Translation: X:110.64, Y:1.22, Z:-0.02 [[ 9.99893405e-01 -1.44652311e-02 1.98389620e-03 1.10644210e+02] [ 1.44651664e-02 9.99895373e-01 4.69509113e-05 1.21843934e+00] [-1.98436779e-03 -1.82485179e-05 9.99998031e-01 -1.72502498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.520281693 meters 0.019623835146705224 Centerline is valid? [True, True] Translation: X:110.70, Y:1.22, Z:-0.02 [[ 9.99913387e-01 -1.31338748e-02 8.48608886e-04 1.10704119e+02] [ 1.31338625e-02 9.99913747e-01 2.00807949e-05 1.22412308e+00] [-8.48799430e-04 -8.93354320e-06 9.99999640e-01 -1.90663431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.580281693 meters 0.01967351004445065 Centerline is valid? [True, True] Translation: X:110.77, Y:1.23, Z:-0.02 [[ 9.99915699e-01 -1.29432496e-02 1.03341192e-03 1.10765842e+02] [ 1.29432313e-02 9.99916233e-01 2.44328316e-05 1.22644484e+00] [-1.03364160e-03 -1.10550824e-05 9.99999466e-01 -1.93501769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.640281693 meters 0.019033011960824638 Centerline is valid? [True, True] Translation: X:110.83, Y:1.23, Z:-0.02 [[ 9.99912510e-01 -1.30303130e-02 2.27654831e-03 1.10827368e+02] [ 1.30302244e-02 9.99915102e-01 5.37596400e-05 1.22638212e+00] [-2.27705554e-03 -2.40910013e-05 9.99997407e-01 -1.83632625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.700281693 meters 0.01962336888934315 Centerline is valid? [True, True] Translation: X:110.89, Y:1.23, Z:-0.02 [[ 9.99908977e-01 -1.34804701e-02 5.60765368e-04 1.10887999e+02] [ 1.34804648e-02 9.99909134e-01 1.32375743e-05 1.22504216e+00] [-5.60892862e-04 -5.67699164e-06 9.99999843e-01 -2.05642096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.760281693 meters 0.02196052380595469 Centerline is valid? [True, True] Translation: X:110.95, Y:1.23, Z:-0.02 [[ 9.99949388e-01 -1.00103849e-02 1.00670723e-03 1.10948024e+02] [ 1.00103660e-02 9.99949895e-01 2.37648844e-05 1.22815049e+00] [-1.00689468e-03 -1.36861738e-05 9.99999493e-01 -2.12709438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.820281693 meters 0.02555156473142777 Centerline is valid? [True, True] Translation: X:111.01, Y:1.23, Z:-0.02 [[ 9.99979202e-01 -6.39013985e-03 8.72846627e-04 1.11007396e+02] [ 6.39012429e-03 9.99979583e-01 2.06144733e-05 1.23285713e+00] [-8.72960535e-04 -1.50364461e-05 9.99999619e-01 -2.17534915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.880281693 meters 0.02573581040292393 Centerline is valid? [True, True] Translation: X:111.07, Y:1.23, Z:-0.02 [[ 9.99982846e-01 -5.77954204e-03 9.51539457e-04 1.11069037e+02] [ 5.77952328e-03 9.99983298e-01 2.24632474e-05 1.22930533e+00] [-9.51653392e-04 -1.69634176e-05 9.99999547e-01 -2.22556524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.940281693 meters 0.025740464371298493 Centerline is valid? [True, True] Translation: X:111.13, Y:1.23, Z:-0.02 [[ 9.99979466e-01 -6.40656398e-03 1.55546781e-04 1.11129453e+02] [ 6.40656349e-03 9.99979478e-01 3.67291405e-06 1.22936470e+00] [-1.55567120e-04 -2.67631830e-06 9.99999988e-01 -2.38689658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.000281693 meters 0.02463321310812349 Centerline is valid? [True, True] Translation: X:111.19, Y:1.23, Z:-0.02 [[ 9.99976099e-01 -6.91366346e-03 5.25982887e-05 1.11190369e+02] [ 6.91366340e-03 9.99976100e-01 1.24065054e-06 1.22604170e+00] [-5.26056090e-05 -8.76974026e-07 9.99999999e-01 -2.49376427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06028169300001 meters 0.03050314421649584 Centerline is valid? [True, True] Translation: X:111.25, Y:1.24, Z:-0.02 [[ 9.99994977e-01 -6.66600354e-04 3.09864270e-03 1.11250245e+02] [ 6.66376976e-04 9.99999775e-01 7.31206590e-05 1.23837868e+00] [-3.09869074e-03 -7.10554275e-05 9.99995197e-01 -1.79588660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.120281693 meters 0.03771752419625451 Centerline is valid? [True, True] Translation: X:111.31, Y:1.25, Z:-0.02 [[ 9.99977001e-01 6.46436312e-03 2.05178360e-03 1.11310570e+02] [-6.46447606e-03 9.99979104e-01 4.84155608e-05 1.25489804e+00] [-2.05142775e-03 -6.16781532e-05 9.99997894e-01 -2.12543436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.180281693 meters 0.0463971236589275 Centerline is valid? [True, True] Translation: X:111.37, Y:1.28, Z:-0.03 [[ 9.99901551e-01 1.38785758e-02 -2.06731569e-03 1.11370631e+02] [-1.38787063e-02 9.99903685e-01 -4.87779323e-05 1.27694344e+00] [ 2.06643961e-03 7.74647974e-05 9.99997862e-01 -2.95753649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.240281693 meters 0.046350518954516196 Centerline is valid? [True, True] Translation: X:111.43, Y:1.29, Z:-0.02 [[ 9.99888658e-01 1.48132857e-02 1.79970008e-03 1.11430095e+02] [-1.48133861e-02 9.99890275e-01 4.24977810e-05 1.29199296e+00] [-1.79887307e-03 -6.91527013e-05 9.99998380e-01 -2.17288153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.300281693 meters 0.04707699100858521 Centerline is valid? [True, True] Translation: X:111.49, Y:1.31, Z:-0.02 [[ 9.99902569e-01 1.38661503e-02 1.60713689e-03 1.11489080e+02] [-1.38662292e-02 9.99903859e-01 3.79722941e-05 1.30766794e+00] [-1.60645585e-03 -6.02535229e-05 9.99998708e-01 -2.26818165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.360281693 meters 0.044145999794780184 Centerline is valid? [True, True] Translation: X:111.55, Y:1.32, Z:-0.02 [[ 9.99917720e-01 1.26784342e-02 1.95216244e-03 1.11548535e+02] [-1.26785485e-02 9.99919623e-01 4.61663961e-05 1.31598087e+00] [-1.95142021e-03 -7.09131836e-05 9.99998093e-01 -2.19747973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.420281693 meters 0.0425709382660279 Centerline is valid? [True, True] Translation: X:111.61, Y:1.33, Z:-0.02 [[ 9.99948389e-01 9.49214920e-03 3.62195267e-03 1.11607816e+02] [-9.49252184e-03 9.99954941e-01 8.57075139e-05 1.32775696e+00] [-3.62097592e-03 -1.20084555e-04 9.99993437e-01 -1.89986288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.480281693 meters 0.03776964776696714 Centerline is valid? [True, True] Translation: X:111.67, Y:1.34, Z:-0.02 [[ 9.99984588e-01 4.69066835e-03 2.97023413e-03 1.11668385e+02] [-4.69089772e-03 9.99988995e-01 7.02597429e-05 1.33650307e+00] [-2.96987188e-03 -8.41917246e-05 9.99995586e-01 -2.05780652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.540281693 meters 0.03296367445667821 Centerline is valid? [True, True] Translation: X:111.73, Y:1.34, Z:-0.02 [[ 9.99993531e-01 2.22525293e-03 2.82613570e-03 1.11729464e+02] [-2.22545057e-03 9.99997521e-01 6.67887927e-05 1.33854375e+00] [-2.82598007e-03 -7.30777859e-05 9.99996004e-01 -2.16388565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.600281693 meters 0.02967482515844415 Centerline is valid? [True, True] Translation: X:111.79, Y:1.35, Z:-0.03 [[ 9.99999564e-01 -6.15228450e-04 7.02107626e-04 1.11791242e+02] [ 6.15216962e-04 9.99999811e-01 1.65777657e-05 1.34744087e+00] [-7.02117692e-04 -1.61458099e-05 9.99999753e-01 -2.54847556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.660281693 meters 0.026388372413786883 Centerline is valid? [True, True] Translation: X:111.85, Y:1.35, Z:-0.02 [[ 9.99990332e-01 -4.21871457e-03 1.24011906e-03 1.11851827e+02] [ 4.21868153e-03 9.99991101e-01 2.92590964e-05 1.35380692e+00] [-1.24023146e-03 -2.40271462e-05 9.99999231e-01 -2.49102947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.720281693 meters 0.021661909768073258 Centerline is valid? [True, True] Translation: X:111.91, Y:1.36, Z:-0.02 [[ 9.99934819e-01 -1.11850676e-02 2.29161918e-03 1.11911866e+02] [ 1.11849731e-02 9.99937445e-01 5.40679591e-05 1.35654684e+00] [-2.29208058e-03 -2.84327360e-05 9.99997373e-01 -2.31547491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.780281693 meters 0.01696368627113528 Centerline is valid? [True, True] Translation: X:111.97, Y:1.35, Z:-0.02 [[ 9.99865759e-01 -1.62347961e-02 2.21260606e-03 1.11973092e+02] [ 1.62347204e-02 9.99868207e-01 5.21611085e-05 1.35066838e+00] [-2.21316127e-03 -1.62330658e-05 9.99997551e-01 -2.45697052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.840281693 meters 0.014444290568414096 Centerline is valid? [True, True] Translation: X:112.04, Y:1.34, Z:-0.03 [[ 9.99693949e-01 -2.47205922e-02 9.48753676e-04 1.12035525e+02] [ 2.47205821e-02 9.99694399e-01 2.23353950e-05 1.34302488e+00] [-9.49015880e-04 1.12518392e-06 9.99999550e-01 -2.63702152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.900281693 meters 0.01918868066046165 Centerline is valid? [True, True] Translation: X:112.10, Y:1.33, Z:-0.03 [[ 9.99411470e-01 -3.42583732e-02 1.75439763e-03 1.12097439e+02] [ 3.42583536e-02 9.99413009e-01 4.12406904e-05 1.32868625e+00] [-1.75478065e-03 1.88863554e-05 9.99998460e-01 -2.57129281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.960281693 meters 0.025729833158082156 Centerline is valid? [True, True] Translation: X:112.16, Y:1.32, Z:-0.03 [[ 9.99161024e-01 -4.09162110e-02 1.76383229e-03 1.12157432e+02] [ 4.09162016e-02 9.99162581e-01 4.14546369e-05 1.31591564e+00] [-1.76405139e-03 3.07494600e-05 9.99998444e-01 -2.57506695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.020281693 meters 0.03295762666141834 Centerline is valid? [True, True] Translation: X:112.22, Y:1.30, Z:-0.03 [[ 9.98789865e-01 -4.91286408e-02 2.27648976e-03 1.12218846e+02] [ 4.91286463e-02 9.98792458e-01 5.34991957e-05 1.29899130e+00] [-2.27636915e-03 5.84064060e-05 9.99997407e-01 -2.50273005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.080281693 meters 0.038981188354816364 Centerline is valid? [True, True] Translation: X:112.28, Y:1.28, Z:-0.03 [[ 9.98647637e-01 -5.19758068e-02 1.18859855e-03 1.12278740e+02] [ 5.19758103e-02 9.98648344e-01 2.79419251e-05 1.28017983e+00] [-1.18844427e-03 3.38742351e-05 9.99999293e-01 -2.57644698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.140281693 meters 0.03386027791418116 Centerline is valid? [True, True] Translation: X:112.34, Y:1.28, Z:-0.03 [[ 9.98670609e-01 -5.15366144e-02 9.95705457e-04 1.12339100e+02] [ 5.15366167e-02 9.98671105e-01 2.34105542e-05 1.27937891e+00] [-9.95588770e-04 2.79358580e-05 9.99999504e-01 -2.60777914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.200281693 meters 0.03241084383821077 Centerline is valid? [True, True] Translation: X:112.40, Y:1.27, Z:-0.03 [[ 9.98957013e-01 -4.56449030e-02 1.19527662e-03 1.12398785e+02] [ 4.56449020e-02 9.98957728e-01 2.81193921e-05 1.26987075e+00] [-1.19531432e-03 2.64682201e-05 9.99999285e-01 -2.57834441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.260281693 meters 0.018997882190821293 Centerline is valid? [True, True] Translation: X:112.46, Y:1.28, Z:-0.02 [[ 9.99411162e-01 -3.42317153e-02 2.34929930e-03 1.12458645e+02] [ 3.42316799e-02 9.99413923e-01 5.52853829e-05 1.28385396e+00] [-2.34981494e-03 2.51676329e-05 9.99997239e-01 -2.21942477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.320281693 meters 0.01429898154895659 Centerline is valid? [True, True] Translation: X:112.52, Y:1.29, Z:-0.02 [[ 9.99681999e-01 -2.50379860e-02 2.99999150e-03 1.12519028e+02] [ 2.50378869e-02 9.99686500e-01 7.05987803e-05 1.29361792e+00] [-3.00081866e-03 4.53711811e-06 9.99995498e-01 -2.18124794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.380281693 meters 0.014467857795485775 Centerline is valid? [True, True] Translation: X:112.58, Y:1.30, Z:-0.02 [[ 9.99776237e-01 -2.08860605e-02 3.35388432e-03 1.12579148e+02] [ 2.08859133e-02 9.99781862e-01 7.88911697e-05 1.29795448e+00] [-3.35480044e-03 -8.82457955e-06 9.99994373e-01 -2.15854971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.440281693 meters 0.016152468492723452 Centerline is valid? [True, True] Translation: X:112.64, Y:1.31, Z:-0.02 [[ 9.99855912e-01 -1.66562564e-02 3.27493929e-03 1.12639093e+02] [ 1.66560938e-02 9.99861275e-01 7.69264677e-05 1.30555506e+00] [-3.27576628e-03 -2.23676874e-05 9.99994634e-01 -2.10666307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.500281693 meters 0.01964829601706987 Centerline is valid? [True, True] Translation: X:112.70, Y:1.32, Z:-0.02 [[ 9.99929544e-01 -1.17750076e-02 1.50196741e-03 1.12700447e+02] [ 1.17749679e-02 9.99930672e-01 3.52476746e-05 1.31906246e+00] [-1.50227832e-03 -1.75595731e-05 9.99998871e-01 -2.39513596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56028169300001 meters 0.018688310939746308 Centerline is valid? [True, True] Translation: X:112.76, Y:1.32, Z:-0.02 [[ 9.99914674e-01 -1.25027504e-02 3.78498416e-03 1.12761812e+02] [ 1.25025041e-02 9.99921837e-01 8.87225294e-05 1.32452435e+00] [-3.78579759e-03 -4.13931792e-05 9.99992833e-01 -2.06935212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.620281693 meters 0.01496388372277279 Centerline is valid? [True, True] Translation: X:112.82, Y:1.32, Z:-0.02 [[ 9.99822857e-01 -1.86342434e-02 2.64946848e-03 1.12823767e+02] [ 1.86341445e-02 9.99826367e-01 6.20179474e-05 1.31725942e+00] [-2.65016411e-03 -1.26363828e-05 9.99996488e-01 -2.24816236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.680281693 meters 0.01638678494155111 Centerline is valid? [True, True] Translation: X:112.89, Y:1.30, Z:-0.02 [[ 9.99517001e-01 -3.09424785e-02 2.88575584e-03 1.12886757e+02] [ 3.09424137e-02 9.99521167e-01 6.71129564e-05 1.29668186e+00] [-2.88645069e-03 2.22117101e-05 9.99995834e-01 -2.34198715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.740281693 meters 0.02258849397210415 Centerline is valid? [True, True] Translation: X:112.95, Y:1.28, Z:-0.02 [[ 9.99271604e-01 -3.79681601e-02 3.83144994e-03 1.12947092e+02] [ 3.79680978e-02 9.99278948e-01 8.90303190e-05 1.28097413e+00] [-3.83206759e-03 5.65073965e-05 9.99992656e-01 -2.06532677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.800281693 meters 0.022985695777419386 Centerline is valid? [True, True] Translation: X:113.01, Y:1.28, Z:-0.02 [[ 9.99222515e-01 -3.93254428e-02 2.80616877e-03 1.13008274e+02] [ 3.93254149e-02 9.99226455e-01 6.51495463e-05 1.27892270e+00] [-2.80656010e-03 4.52548575e-05 9.99996061e-01 -2.29151036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.860281693 meters 0.025178424358502864 Centerline is valid? [True, True] Translation: X:113.07, Y:1.27, Z:-0.03 [[ 9.99148652e-01 -4.12478188e-02 7.67329279e-04 1.13068672e+02] [ 4.12478173e-02 9.99148946e-01 1.78125628e-05 1.26867947e+00] [-7.67410970e-04 1.38532598e-05 9.99999705e-01 -2.69120992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.920281693 meters 0.027448666486056955 Centerline is valid? [True, True] Translation: X:113.13, Y:1.26, Z:-0.03 [[ 9.99104601e-01 -4.23074404e-02 2.75945520e-04 1.13127961e+02] [ 4.23074402e-02 9.99104639e-01 6.40414693e-06 1.25914182e+00] [-2.75969392e-04 5.27613594e-06 9.99999962e-01 -2.83869549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.980281693 meters 0.02736825651940102 Centerline is valid? [True, True] Translation: X:113.19, Y:1.26, Z:-0.03 [[ 9.99160137e-01 -4.09717959e-02 -5.76669156e-04 1.13186454e+02] [ 4.09717950e-02 9.99160303e-01 -1.34302636e-05 1.25700523e+00] [ 5.76735191e-04 -1.02081864e-05 9.99999834e-01 -2.85582240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.040281693 meters 0.018836890743702144 Centerline is valid? [True, True] Translation: X:113.25, Y:1.27, Z:-0.03 [[ 9.99446384e-01 -3.32403498e-02 1.41558425e-03 1.13246332e+02] [ 3.32403364e-02 9.99447387e-01 3.29517709e-05 1.27398424e+00] [-1.41589730e-03 1.41209683e-05 9.99998998e-01 -2.53314413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.100281693 meters 0.014470322060528411 Centerline is valid? [True, True] Translation: X:113.31, Y:1.29, Z:-0.03 [[ 9.99669810e-01 -2.56793351e-02 9.17630412e-04 1.13306290e+02] [ 2.56793263e-02 9.99670232e-01 2.13629427e-05 1.29177316e+00] [-9.17876392e-04 2.20824184e-06 9.99999579e-01 -2.66099267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.160281693 meters 0.017828567703175972 Centerline is valid? [True, True] Translation: X:113.37, Y:1.32, Z:-0.03 [[ 9.99886764e-01 -1.50315752e-02 7.14122353e-04 1.13365505e+02] [ 1.50315672e-02 9.99887019e-01 1.66292767e-05 1.32002637e+00] [-7.14291635e-04 -5.89301552e-06 9.99999745e-01 -2.66103181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.220281693 meters 0.020213582912759407 Centerline is valid? [True, True] Translation: X:113.43, Y:1.33, Z:-0.03 [[ 9.99922397e-01 -1.24321039e-02 8.01452146e-04 1.13425968e+02] [ 1.24320929e-02 9.99922718e-01 1.86671910e-05 1.33241311e+00] [-8.01622281e-04 -8.70201489e-06 9.99999679e-01 -2.70209756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.280281693 meters 0.016245057361732443 Centerline is valid? [True, True] Translation: X:113.49, Y:1.33, Z:-0.02 [[ 9.99849342e-01 -1.70333576e-02 3.34026260e-03 1.13487236e+02] [ 1.70331930e-02 9.99854922e-01 7.77349193e-05 1.33433043e+00] [-3.34110209e-03 -2.08278704e-05 9.99994418e-01 -2.22175667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.340281693 meters 0.014152204036370868 Centerline is valid? [True, True] Translation: X:113.55, Y:1.33, Z:-0.02 [[ 9.99727996e-01 -2.28676545e-02 4.58312325e-03 1.13549192e+02] [ 2.28674067e-02 9.99738501e-01 1.06453438e-04 1.33277119e+00] [-4.58435911e-03 -1.62033842e-06 9.99989492e-01 -2.08471913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.400281693 meters 0.014372095691135997 Centerline is valid? [True, True] Translation: X:113.61, Y:1.34, Z:-0.03 [[ 9.99683672e-01 -2.51488918e-02 -2.99357249e-04 1.13611200e+02] [ 2.51488909e-02 9.99683717e-01 -6.92232128e-06 1.33625548e+00] [ 2.99436656e-04 -6.08371244e-07 9.99999955e-01 -3.10744892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.460281693 meters 0.01519842951714831 Centerline is valid? [True, True] Translation: X:113.67, Y:1.34, Z:-0.03 [[ 9.99603436e-01 -2.81580602e-02 -3.06504000e-04 1.13671725e+02] [ 2.81580594e-02 9.99603483e-01 -7.10397815e-06 1.33572296e+00] [ 3.06582500e-04 -1.52939686e-06 9.99999953e-01 -3.12318368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.520281693 meters 0.01780454415372304 Centerline is valid? [True, True] Translation: X:113.73, Y:1.33, Z:-0.03 [[ 9.99522791e-01 -3.08778631e-02 8.65139452e-04 1.13731853e+02] [ 3.08778573e-02 9.99523165e-01 2.00456799e-05 1.33124650e+00] [-8.65345891e-04 6.67753863e-06 9.99999626e-01 -2.92075292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.580281693 meters 0.01740387962581909 Centerline is valid? [True, True] Translation: X:113.79, Y:1.34, Z:-0.03 [[ 9.99472963e-01 -3.24549439e-02 6.88179965e-04 1.13793336e+02] [ 3.24549406e-02 9.99473200e-01 1.59342062e-05 1.33538848e+00] [-6.88334575e-04 6.40903158e-06 9.99999763e-01 -2.92292021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.640281693 meters 0.019767579250157413 Centerline is valid? [True, True] Translation: X:113.85, Y:1.33, Z:-0.03 [[ 9.99341783e-01 -3.62309956e-02 1.82109829e-03 1.13854519e+02] [ 3.62309790e-02 9.99343442e-01 4.21092966e-05 1.33110895e+00] [-1.82142830e-03 2.38985946e-05 9.99998341e-01 -2.76747189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.700281693 meters 0.02554733590932798 Centerline is valid? [True, True] Translation: X:113.91, Y:1.32, Z:-0.03 [[ 9.99126009e-01 -4.17993056e-02 -1.89833789e-04 1.13914441e+02] [ 4.17993055e-02 9.99126027e-01 -4.36403310e-06 1.32078268e+00] [ 1.89850293e-04 -3.57470156e-06 9.99999982e-01 -3.15195550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.760281693 meters 0.029564386525164767 Centerline is valid? [True, True] Translation: X:113.97, Y:1.31, Z:-0.03 [[ 9.98940850e-01 -4.60127138e-02 -8.69341298e-05 1.13974633e+02] [ 4.60127138e-02 9.98940854e-01 -2.01150029e-06 1.31341267e+00] [ 8.69346085e-05 -1.99070542e-06 9.99999996e-01 -3.09756092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.820281693 meters 0.03167419682669019 Centerline is valid? [True, True] Translation: X:114.03, Y:1.31, Z:-0.03 [[ 9.98847661e-01 -4.79908075e-02 4.82560130e-04 1.14034737e+02] [ 4.79908078e-02 9.98847777e-01 1.11411565e-05 1.30729560e+00] [-4.82538786e-04 1.20301323e-05 9.99999884e-01 -3.05883537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.880281693 meters 0.030682644125773834 Centerline is valid? [True, True] Translation: X:114.09, Y:1.30, Z:-0.03 [[ 9.98866572e-01 -4.75520606e-02 2.09126134e-03 1.14094722e+02] [ 4.75520635e-02 9.98868760e-01 4.83325529e-05 1.30195403e+00] [-2.09119393e-03 5.11660205e-05 9.99997812e-01 -2.74332244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.940281693 meters 0.03370739418300105 Centerline is valid? [True, True] Translation: X:114.16, Y:1.29, Z:-0.03 [[ 9.98717709e-01 -5.05165606e-02 3.31878817e-03 1.14155096e+02] [ 5.05165843e-02 9.98723219e-01 7.67495978e-05 1.28709874e+00] [-3.31842793e-03 9.10026600e-05 9.99994490e-01 -2.63670999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.000281693 meters 0.02952179171056711 Centerline is valid? [True, True] Translation: X:114.21, Y:1.28, Z:-0.03 [[ 9.98828258e-01 -4.83493020e-02 2.11084633e-03 1.14214698e+02] [ 4.83493066e-02 9.98830487e-01 4.88597796e-05 1.28211567e+00] [-2.11074000e-03 5.32554277e-05 9.99997771e-01 -2.77068370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06028169300001 meters 0.024605814540046105 Centerline is valid? [True, True] Translation: X:114.27, Y:1.29, Z:-0.03 [[ 9.99196716e-01 -4.00459411e-02 1.49851630e-03 1.14274260e+02] [ 4.00459340e-02 9.99197839e-01 3.47084948e-05 1.28757538e+00] [-1.49870419e-03 2.53288711e-05 9.99998877e-01 -2.73027294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.120281693 meters 0.014343842834197165 Centerline is valid? [True, True] Translation: X:114.33, Y:1.31, Z:-0.03 [[ 9.99709132e-01 -2.40708172e-02 1.49913214e-03 1.14332311e+02] [ 2.40707922e-02 9.99710256e-01 3.47656971e-05 1.31337444e+00] [-1.49953462e-03 1.32971344e-06 9.99998876e-01 -2.73029915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.180281693 meters 0.01675256039805616 Centerline is valid? [True, True] Translation: X:114.39, Y:1.33, Z:-0.03 [[ 9.99879805e-01 -1.52763132e-02 2.64768612e-03 1.14392197e+02] [ 1.52762042e-02 9.99883310e-01 6.14213917e-05 1.33301327e+00] [-2.64831545e-03 -2.09674155e-05 9.99996493e-01 -2.68110766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.240281693 meters 0.016777854773072455 Centerline is valid? [True, True] Translation: X:114.45, Y:1.34, Z:-0.03 [[ 9.99871631e-01 -1.60097161e-02 6.40365454e-04 1.14452881e+02] [ 1.60097098e-02 9.99871836e-01 1.48312471e-05 1.34275012e+00] [-6.40520826e-04 -4.57727810e-06 9.99999795e-01 -2.99882887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.300281693 meters 0.014957357044659328 Centerline is valid? [True, True] Translation: X:114.51, Y:1.34, Z:-0.03 [[ 9.99817513e-01 -1.90993326e-02 3.95958493e-04 1.14514427e+02] [ 1.90993305e-02 9.99817591e-01 9.15208625e-06 1.34414463e+00] [-3.96061065e-04 -1.58787399e-06 9.99999922e-01 -3.12268594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.360281693 meters 0.014120826757256937 Centerline is valid? [True, True] Translation: X:114.57, Y:1.35, Z:-0.03 [[ 9.99723318e-01 -2.35066611e-02 8.51349592e-04 1.14574516e+02] [ 2.35066529e-02 9.99723680e-01 1.96554641e-05 1.34654201e+00] [-8.51576382e-04 3.62353570e-07 9.99999637e-01 -3.07900985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.420281693 meters 0.015368408903237778 Centerline is valid? [True, True] Translation: X:114.64, Y:1.34, Z:-0.04 [[ 9.99604934e-01 -2.80884416e-02 -1.00738231e-03 1.14635625e+02] [ 2.80884324e-02 9.99605442e-01 -2.32209983e-05 1.34444835e+00] [ 1.00763708e-03 -5.08396541e-06 9.99999492e-01 -3.57299315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.480281693 meters 0.019795213899855522 Centerline is valid? [True, True] Translation: X:114.70, Y:1.33, Z:-0.04 [[ 9.99384508e-01 -3.50591709e-02 -1.20799456e-03 1.14695894e+02] [ 3.50591628e-02 9.99385238e-01 -2.78551639e-05 1.33454455e+00] [ 1.20822851e-03 -1.45132588e-05 9.99999270e-01 -3.56738369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.540281693 meters 0.024634366129459344 Centerline is valid? [True, True] Translation: X:114.75, Y:1.32, Z:-0.03 [[ 9.99210525e-01 -3.97251650e-02 -4.87153437e-04 1.14754842e+02] [ 3.97251642e-02 9.99210644e-01 -1.12754957e-05 1.32495955e+00] [ 4.87216820e-04 -8.08565634e-06 9.99999881e-01 -3.49730053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.600281693 meters 0.025422396246923138 Centerline is valid? [True, True] Translation: X:114.81, Y:1.32, Z:-0.03 [[ 9.99132521e-01 -4.16321905e-02 9.83071506e-04 1.14814324e+02] [ 4.16321883e-02 9.99133004e-01 2.27332184e-05 1.32103635e+00] [-9.83165621e-04 1.82139202e-05 9.99999517e-01 -3.28557751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.660281693 meters 0.025661411260338583 Centerline is valid? [True, True] Translation: X:114.87, Y:1.32, Z:-0.03 [[ 9.99175155e-01 -4.05976754e-02 9.15651590e-04 1.14874085e+02] [ 4.05976730e-02 9.99175574e-01 2.11781983e-05 1.32130112e+00] [-9.15756489e-04 1.60125944e-05 9.99999581e-01 -3.33451036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.720281693 meters 0.022254743044915835 Centerline is valid? [True, True] Translation: X:114.93, Y:1.33, Z:-0.03 [[ 9.99254570e-01 -3.86042262e-02 1.34797576e-04 1.14934633e+02] [ 3.86042261e-02 9.99254579e-01 3.11744554e-06 1.33032503e+00] [-1.34817441e-04 2.08863439e-06 9.99999991e-01 -3.37623193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.780281693 meters 0.02223242825532739 Centerline is valid? [True, True] Translation: X:114.99, Y:1.33, Z:-0.04 [[ 9.99302911e-01 -3.73314541e-02 -2.33110135e-04 1.14993806e+02] [ 3.73314539e-02 9.99302938e-01 -5.39781764e-06 1.33360143e+00] [ 2.33149152e-04 -3.30828538e-06 9.99999973e-01 -3.50350025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.840281693 meters 0.02085662587201399 Centerline is valid? [True, True] Translation: X:115.05, Y:1.34, Z:-0.04 [[ 9.99338855e-01 -3.62812815e-02 -2.34960732e-03 1.15054029e+02] [ 3.62812539e-02 9.99341617e-01 -5.43663089e-05 1.34132319e+00] [ 2.35003285e-03 -3.09163347e-05 9.99997238e-01 -3.96170457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.900281693 meters 0.021938793921693255 Centerline is valid? [True, True] Translation: X:115.11, Y:1.34, Z:-0.04 [[ 9.99270961e-01 -3.81659663e-02 -9.51184856e-04 1.15113641e+02] [ 3.81659626e-02 9.99271414e-01 -2.20393513e-05 1.34361591e+00] [ 9.51332989e-04 -1.42796019e-05 9.99999547e-01 -3.71106440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.960281693 meters 0.026307719955845184 Centerline is valid? [True, True] Translation: X:115.17, Y:1.34, Z:-0.04 [[ 9.99139328e-01 -4.14753153e-02 -6.33242247e-04 1.15172975e+02] [ 4.14753143e-02 9.99139529e-01 -1.46784326e-05 1.34072869e+00] [ 6.33306153e-04 -1.15981220e-05 9.99999799e-01 -3.75962904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.020281693 meters 0.03183215055869944 Centerline is valid? [True, True] Translation: X:115.23, Y:1.33, Z:-0.04 [[ 9.98912878e-01 -4.65667182e-02 -2.14556474e-03 1.15233217e+02] [ 4.65667187e-02 9.98915181e-01 -4.97532521e-05 1.33367419e+00] [ 2.14555403e-03 -5.02127453e-05 9.99997697e-01 -3.95937175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.080281693 meters 0.032183521092909416 Centerline is valid? [True, True] Translation: X:115.29, Y:1.33, Z:-0.04 [[ 9.98797791e-01 -4.89758181e-02 -2.08365946e-03 1.15292622e+02] [ 4.89758237e-02 9.98799963e-01 -4.83693254e-05 1.33285306e+00] [ 2.08352792e-03 -5.37377632e-05 9.99997828e-01 -3.90271572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.140281693 meters 0.034625097839746946 Centerline is valid? [True, True] Translation: X:115.35, Y:1.33, Z:-0.04 [[ 9.98730635e-01 -5.03559814e-02 -1.18067473e-03 1.15350670e+02] [ 5.03559840e-02 9.98731332e-01 -2.75401352e-05 1.32936255e+00] [ 1.18056366e-03 -3.19488611e-05 9.99999303e-01 -3.72173088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.200281693 meters 0.03830659720025842 Centerline is valid? [True, True] Translation: X:115.41, Y:1.32, Z:-0.04 [[ 9.98647877e-01 -5.19771827e-02 -8.88451485e-04 1.15408946e+02] [ 5.19771847e-02 9.98648272e-01 -2.07690191e-05 1.32430932e+00] [ 8.88330056e-04 -2.54382702e-05 9.99999605e-01 -3.66905144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.260281693 meters 0.039751070047040926 Centerline is valid? [True, True] Translation: X:115.47, Y:1.32, Z:-0.04 [[ 9.98495115e-01 -5.48350066e-02 -7.91528616e-04 1.15468401e+02] [ 5.48350092e-02 9.98495429e-01 -1.85243284e-05 1.31839776e+00] [ 7.91353487e-04 -2.49070275e-05 9.99999687e-01 -3.65366876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.320281693 meters 0.04027250580151006 Centerline is valid? [True, True] Translation: X:115.53, Y:1.31, Z:-0.03 [[ 9.98530485e-01 -5.41916163e-02 3.72289288e-04 1.15526620e+02] [ 5.41916168e-02 9.98530555e-01 8.70880846e-06 1.31318770e+00] [-3.72214174e-04 1.14789477e-05 9.99999931e-01 -3.36087887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.380281693 meters 0.034753186289003445 Centerline is valid? [True, True] Translation: X:115.59, Y:1.32, Z:-0.03 [[ 9.98781039e-01 -4.93602500e-02 3.79357878e-05 1.15586429e+02] [ 4.93602500e-02 9.98781040e-01 8.86045429e-07 1.31896610e+00] [-3.79332810e-05 9.87554596e-07 9.99999999e-01 -3.47189991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.440281693 meters 0.03221766132117802 Centerline is valid? [True, True] Translation: X:115.65, Y:1.32, Z:-0.04 [[ 9.98974734e-01 -4.52616932e-02 -9.26896422e-04 1.15645003e+02] [ 4.52616925e-02 9.98975164e-01 -2.17815892e-05 1.32060839e+00] [ 9.26932377e-04 -2.01936435e-05 9.99999570e-01 -3.65402991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.500281693 meters 0.024323132427467545 Centerline is valid? [True, True] Translation: X:115.70, Y:1.33, Z:-0.04 [[ 9.99263075e-01 -3.83619763e-02 -1.29093377e-03 1.15704686e+02] [ 3.83619691e-02 9.99263908e-01 -3.03380931e-05 1.33415091e+00] [ 1.29114736e-03 -1.92070253e-05 9.99999166e-01 -3.72084617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56028169300001 meters 0.020445386977643327 Centerline is valid? [True, True] Translation: X:115.76, Y:1.34, Z:-0.04 [[ 9.99394852e-01 -3.47789069e-02 -5.98622097e-04 1.15764176e+02] [ 3.47789047e-02 9.99395031e-01 -1.40868363e-05 1.34430918e+00] [ 5.98749874e-04 -6.74110918e-06 9.99999821e-01 -3.58661553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.620281693 meters 0.020491868347187837 Centerline is valid? [True, True] Translation: X:115.82, Y:1.35, Z:-0.04 [[ 9.99373489e-01 -3.53211351e-02 -2.24664939e-03 1.15823876e+02] [ 3.53211054e-02 9.99376014e-01 -5.28982409e-05 1.34731551e+00] [ 2.24711594e-03 -2.64890404e-05 9.99997475e-01 -3.91577144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.680281693 meters 0.024497638471017682 Centerline is valid? [True, True] Translation: X:115.88, Y:1.34, Z:-0.04 [[ 9.99260102e-01 -3.83507480e-02 -2.91003565e-03 1.15882076e+02] [ 3.83507105e-02 9.99264339e-01 -6.86884427e-05 1.34237893e+00] [ 2.91052910e-03 -4.29643145e-05 9.99995763e-01 -4.12581771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.740281693 meters 0.0273300509767221 Centerline is valid? [True, True] Translation: X:115.94, Y:1.34, Z:-0.04 [[ 9.99173237e-01 -4.05785743e-02 -2.49451124e-03 1.15940271e+02] [ 4.05785534e-02 9.99176350e-01 -5.90138799e-05 1.33998352e+00] [ 2.49485134e-03 -4.22585684e-05 9.99996887e-01 -4.12352808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.800281693 meters 0.0249598170073641 Centerline is valid? [True, True] Translation: X:116.00, Y:1.34, Z:-0.04 [[ 9.99115688e-01 -4.18861576e-02 -3.65952396e-03 1.15999218e+02] [ 4.18861191e-02 9.99122388e-01 -8.72040223e-05 1.34332314e+00] [ 3.65996495e-03 -6.61563494e-05 9.99993300e-01 -4.16355296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.860281693 meters 0.02642423585940137 Centerline is valid? [True, True] Translation: X:116.06, Y:1.34, Z:-0.04 [[ 9.99212829e-01 -3.95198285e-02 -3.45039502e-03 1.16057286e+02] [ 3.95197792e-02 9.99218785e-01 -8.24920419e-05 1.34128928e+00] [ 3.45095959e-03 -5.39317428e-05 9.99994044e-01 -4.24143464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.920281693 meters 0.027205053545955364 Centerline is valid? [True, True] Translation: X:116.12, Y:1.34, Z:-0.04 [[ 9.99187601e-01 -4.02682338e-02 -1.61480465e-03 1.16115098e+02] [ 4.02682235e-02 9.99188905e-01 -3.89178985e-05 1.34099503e+00] [ 1.61506204e-03 -2.61390328e-05 9.99998695e-01 -3.91367252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.980281693 meters 0.026559304614296612 Centerline is valid? [True, True] Translation: X:116.17, Y:1.34, Z:-0.04 [[ 9.99074354e-01 -4.29654019e-02 -2.09991823e-03 1.16173389e+02] [ 4.29653901e-02 9.99076560e-01 -5.07467112e-05 1.34175830e+00] [ 2.10015944e-03 -3.95240684e-05 9.99997794e-01 -3.96318139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.040281693 meters 0.028958917397846774 Centerline is valid? [True, True] Translation: X:116.23, Y:1.33, Z:-0.04 [[ 9.98987795e-01 -4.49500792e-02 -1.69566758e-03 1.16231457e+02] [ 4.49500742e-02 9.98989234e-01 -4.10675268e-05 1.33409055e+00] [ 1.69579964e-03 -3.51944254e-05 9.99998562e-01 -3.95986732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.100281693 meters 0.02667965748627764 Centerline is valid? [True, True] Translation: X:116.29, Y:1.33, Z:-0.04 [[ 9.99085005e-01 -4.27477472e-02 -1.33535558e-03 1.16290449e+02] [ 4.27477418e-02 9.99085897e-01 -3.25821482e-05 1.33480713e+00] [ 1.33552774e-03 -2.45310998e-05 9.99999108e-01 -3.80733759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.160281693 meters 0.021855385689866162 Centerline is valid? [True, True] Translation: X:116.35, Y:1.34, Z:-0.04 [[ 9.99255337e-01 -3.84922946e-02 -2.66737604e-03 1.16349326e+02] [ 3.84922579e-02 9.99258896e-01 -6.51148822e-05 1.34167600e+00] [ 2.66790566e-03 -3.76069331e-05 9.99996440e-01 -3.94707319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.220281693 meters 0.01838783158410681 Centerline is valid? [True, True] Translation: X:116.41, Y:1.35, Z:-0.04 [[ 9.99418865e-01 -3.40688079e-02 -1.11704101e-03 1.16408205e+02] [ 3.40687986e-02 9.99419490e-01 -2.73279709e-05 1.34823199e+00] [ 1.11732359e-03 -1.07441555e-05 9.99999376e-01 -3.81262749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.280281693 meters 0.017474987104974096 Centerline is valid? [True, True] Translation: X:116.47, Y:1.35, Z:-0.04 [[ 9.99464266e-01 -3.25936535e-02 -2.97229022e-03 1.16467467e+02] [ 3.25935812e-02 9.99468685e-01 -7.27496409e-05 1.35247849e+00] [ 2.97308217e-03 -2.41669162e-05 9.99995580e-01 -4.10497539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.340281693 meters 0.01763537847094622 Centerline is valid? [True, True] Translation: X:116.53, Y:1.36, Z:-0.04 [[ 9.99435263e-01 -3.35011463e-02 -2.61311826e-03 1.16525978e+02] [ 3.35010923e-02 9.99438679e-01 -6.44340824e-05 1.35794383e+00] [ 2.61381007e-03 -2.31446219e-05 9.99996584e-01 -4.09562892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.400281693 meters 0.020972373570984075 Centerline is valid? [True, True] Translation: X:116.59, Y:1.35, Z:-0.04 [[ 9.99276219e-01 -3.80253270e-02 -1.05472941e-03 1.16585376e+02] [ 3.80253207e-02 9.99276776e-01 -2.60542652e-05 1.35443004e+00] [ 1.05495733e-03 -1.40710166e-05 9.99999443e-01 -3.73925570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.460281693 meters 0.0241913161311752 Centerline is valid? [True, True] Translation: X:116.64, Y:1.35, Z:-0.04 [[ 9.99138682e-01 -4.14069882e-02 -2.71207196e-03 1.16644574e+02] [ 4.14069577e-02 9.99142362e-01 -6.74412443e-05 1.35115262e+00] [ 2.71253853e-03 -4.49154931e-05 9.99996320e-01 -4.07920309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.520281693 meters 0.031838146959831705 Centerline is valid? [True, True] Translation: X:116.70, Y:1.34, Z:-0.04 [[ 9.98893084e-01 -4.70278494e-02 -9.94072498e-04 1.16704516e+02] [ 4.70278481e-02 9.98893578e-01 -2.47144695e-05 1.33903281e+00] [ 9.94134904e-04 -2.20619777e-05 9.99999506e-01 -3.73938011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.580281693 meters 0.04263520652866081 Centerline is valid? [True, True] Translation: X:116.76, Y:1.32, Z:-0.03 [[ 9.98571686e-01 -5.34231042e-02 7.48073210e-04 1.16764629e+02] [ 5.34231052e-02 9.98571966e-01 1.86009615e-05 1.32060203e+00] [-7.47998657e-04 2.13900003e-05 9.99999720e-01 -3.39319343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.640281693 meters 0.04249735466697412 Centerline is valid? [True, True] Translation: X:116.82, Y:1.32, Z:-0.04 [[ 9.98453659e-01 -5.55903185e-02 -8.28703761e-05 1.16824055e+02] [ 5.55903186e-02 9.98453663e-01 -2.07475852e-06 1.31924920e+00] [ 8.28575670e-05 -2.53524037e-06 9.99999997e-01 -3.58177109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.700281693 meters 0.04847348133378998 Centerline is valid? [True, True] Translation: X:116.88, Y:1.30, Z:-0.04 [[ 9.98238018e-01 -5.93116069e-02 -1.73005966e-03 1.16883169e+02] [ 5.93116212e-02 9.98239515e-01 -4.31041776e-05 1.30364521e+00] [ 1.72957049e-03 -5.95844143e-05 9.99998503e-01 -3.92817443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.760281693 meters 0.036952030417814904 Centerline is valid? [True, True] Translation: X:116.94, Y:1.31, Z:-0.04 [[ 9.98373864e-01 -5.69931990e-02 -1.18477218e-03 1.16942678e+02] [ 5.69932040e-02 9.98374566e-01 -2.95522433e-05 1.31491176e+00] [ 1.18453068e-03 -3.80197750e-05 9.99999298e-01 -3.66773852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.820281693 meters 0.036482027974093584 Centerline is valid? [True, True] Translation: X:117.00, Y:1.31, Z:-0.04 [[ 9.98806885e-01 -4.88071338e-02 -1.63397457e-03 1.17001492e+02] [ 4.88071323e-02 9.98808221e-01 -4.08023832e-05 1.31164402e+00] [ 1.63401868e-03 -3.89959117e-05 9.99998664e-01 -3.78964383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.880281693 meters 0.026799119592984016 Centerline is valid? [True, True] Translation: X:117.06, Y:1.32, Z:-0.03 [[ 9.99120879e-01 -4.19213894e-02 2.57202957e-04 1.17061706e+02] [ 4.19213891e-02 9.99120912e-01 6.42042269e-06 1.32157956e+00] [-2.57246006e-04 4.36752687e-06 9.99999967e-01 -3.33479813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.940281693 meters 0.026525763722625308 Centerline is valid? [True, True] Translation: X:117.12, Y:1.32, Z:-0.04 [[ 9.99136043e-01 -4.15578151e-02 -3.39729594e-04 1.17121027e+02] [ 4.15578146e-02 9.99136101e-01 -8.58544883e-06 1.31845026e+00] [ 3.39792895e-04 -5.54038810e-06 9.99999942e-01 -3.55930348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.000281693 meters 0.028478551796370665 Centerline is valid? [True, True] Translation: X:117.18, Y:1.31, Z:-0.04 [[ 9.99069429e-01 -4.30679602e-02 -2.32939600e-03 1.17180125e+02] [ 4.30679398e-02 9.99072144e-01 -5.89114205e-05 1.31294054e+00] [ 2.32977185e-03 -4.14656876e-05 9.99997285e-01 -4.04214052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06028169300001 meters 0.025955610181747007 Centerline is valid? [True, True] Translation: X:117.24, Y:1.31, Z:-0.04 [[ 9.99047391e-01 -4.35904711e-02 -2.04466642e-03 1.17239418e+02] [ 4.35904559e-02 9.99049483e-01 -5.20495059e-05 1.30998027e+00] [ 2.04499179e-03 -3.71280182e-05 9.99997908e-01 -3.86749943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.120281693 meters 0.022813214835215628 Centerline is valid? [True, True] Translation: X:117.30, Y:1.31, Z:-0.04 [[ 9.99288848e-01 -3.77050554e-02 -3.57071003e-04 1.17298569e+02] [ 3.77050546e-02 9.99288912e-01 -9.09593293e-06 1.31090597e+00] [ 3.57160057e-04 -4.37391735e-06 9.99999936e-01 -3.51385546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.180281693 meters 0.015054731645106923 Centerline is valid? [True, True] Translation: X:117.36, Y:1.33, Z:-0.04 [[ 9.99574166e-01 -2.91565754e-02 -1.17536369e-03 1.17357040e+02] [ 2.91565603e-02 9.99574857e-01 -2.99833028e-05 1.32535771e+00] [ 1.17573820e-03 -4.29902745e-06 9.99999309e-01 -3.68841739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.240281693 meters 0.014335125596947391 Centerline is valid? [True, True] Translation: X:117.41, Y:1.33, Z:-0.03 [[ 9.99667337e-01 -2.57878265e-02 -4.51358553e-04 1.17414643e+02] [ 2.57878239e-02 9.99667439e-01 -1.15524025e-05 1.33019474e+00] [ 4.51506359e-04 -9.09954290e-08 9.99999898e-01 -3.49281816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.300281693 meters 0.014297963003330935 Centerline is valid? [True, True] Translation: X:117.47, Y:1.33, Z:-0.03 [[ 9.99697270e-01 -2.45846616e-02 9.80848564e-04 1.17472852e+02] [ 2.45846488e-02 9.99697752e-01 2.50978921e-05 1.33181377e+00] [-9.81169127e-04 -9.76476760e-07 9.99999519e-01 -3.29725753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.360281693 meters 0.014610576820552479 Centerline is valid? [True, True] Translation: X:117.53, Y:1.33, Z:-0.04 [[ 9.99639754e-01 -2.67907663e-02 -1.61794687e-03 1.17532354e+02] [ 2.67907343e-02 9.99641063e-01 -4.14528002e-05 1.32694348e+00] [ 1.61847669e-03 -1.90811789e-06 9.99998690e-01 -3.84320074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.420281693 meters 0.01480284788180364 Centerline is valid? [True, True] Translation: X:117.59, Y:1.33, Z:-0.04 [[ 9.99624636e-01 -2.71897883e-02 -3.36185670e-03 1.17590851e+02] [ 2.71896505e-02 9.99630289e-01 -8.66885068e-05 1.32993031e+00] [ 3.36297083e-03 -4.75174165e-06 9.99994345e-01 -4.07311526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.480281693 meters 0.014916016128767801 Centerline is valid? [True, True] Translation: X:117.65, Y:1.34, Z:-0.04 [[ 9.99724018e-01 -2.34762561e-02 -8.68052520e-04 1.17648255e+02] [ 2.34762453e-02 9.99724395e-01 -2.25784430e-05 1.33985506e+00] [ 8.68343337e-04 2.19359785e-06 9.99999623e-01 -3.59051695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.540281693 meters 0.014901227726675513 Centerline is valid? [True, True] Translation: X:117.71, Y:1.35, Z:-0.03 [[ 9.99753526e-01 -2.21975382e-02 3.95327748e-04 1.17707631e+02] [ 2.21975359e-02 9.99753604e-01 1.02568233e-05 1.34679589e+00] [-3.95458017e-04 -1.47899341e-06 9.99999922e-01 -3.33239549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.600281693 meters 0.014652999769861166 Centerline is valid? [True, True] Translation: X:117.77, Y:1.34, Z:-0.04 [[ 9.99712800e-01 -2.39391064e-02 -1.11208672e-03 1.17766923e+02] [ 2.39390891e-02 9.99713419e-01 -2.88936873e-05 1.34412516e+00] [ 1.11245970e-03 2.26304607e-06 9.99999381e-01 -3.66863410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.660281693 meters 0.014398901377472342 Centerline is valid? [True, True] Translation: X:117.83, Y:1.34, Z:-0.04 [[ 9.99641667e-01 -2.67570435e-02 -7.73908564e-04 1.17825965e+02] [ 2.67570358e-02 9.99641966e-01 -2.02894790e-05 1.34004821e+00] [ 7.74174365e-04 -4.25290572e-07 9.99999700e-01 -3.54067143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.720281693 meters 0.014372357691636063 Centerline is valid? [True, True] Translation: X:117.88, Y:1.34, Z:-0.04 [[ 9.99645651e-01 -2.65875444e-02 -1.29415367e-03 1.17884612e+02] [ 2.65875228e-02 9.99646489e-01 -3.38905827e-05 1.33704045e+00] [ 1.29459724e-03 -5.29766602e-07 9.99999162e-01 -3.64673985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.780281693 meters 0.014878563927151946 Centerline is valid? [True, True] Translation: X:117.94, Y:1.34, Z:-0.03 [[ 9.99731127e-01 -2.31765498e-02 -7.22255516e-04 1.17942317e+02] [ 2.31765422e-02 9.99731388e-01 -1.89686149e-05 1.33840217e+00] [ 7.22501137e-04 2.22412933e-06 9.99999739e-01 -3.47949090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.840281693 meters 0.015819482948931218 Centerline is valid? [True, True] Translation: X:118.00, Y:1.34, Z:-0.04 [[ 9.99788460e-01 -2.05256426e-02 -1.31640269e-03 1.18001842e+02] [ 2.05256149e-02 9.99789327e-01 -3.45755246e-05 1.33824019e+00] [ 1.31683505e-03 7.54823574e-06 9.99999133e-01 -3.71061633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.900281693 meters 0.017028485805033317 Centerline is valid? [True, True] Translation: X:118.06, Y:1.34, Z:-0.04 [[ 9.99812154e-01 -1.91493362e-02 -2.99316230e-03 1.18060957e+02] [ 1.91491864e-02 9.99816634e-01 -7.87132403e-05 1.33845828e+00] [ 2.99412076e-03 2.13818316e-05 9.99995517e-01 -4.08900855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.960281693 meters 0.01871298213841559 Centerline is valid? [True, True] Translation: X:118.12, Y:1.35, Z:-0.04 [[ 9.99859270e-01 -1.67312663e-02 -1.22655599e-03 1.18119914e+02] [ 1.67312390e-02 9.99860022e-01 -3.25010329e-05 1.34501039e+00] [ 1.22692809e-03 1.19746575e-05 9.99999247e-01 -3.68398577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.020281693 meters 0.022803637989667884 Centerline is valid? [True, True] Translation: X:118.18, Y:1.36, Z:-0.03 [[ 9.99924971e-01 -1.22461667e-02 -2.88285898e-04 1.18179040e+02] [ 1.22461650e-02 9.99925013e-01 -7.64029608e-06 1.35645298e+00] [ 2.88357845e-04 4.10932616e-06 9.99999958e-01 -3.42832391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.080281693 meters 0.02503862935628539 Centerline is valid? [True, True] Translation: X:118.24, Y:1.37, Z:-0.03 [[ 9.99965127e-01 -8.33096031e-03 5.83077038e-04 1.18238833e+02] [ 8.33095273e-03 9.99965297e-01 1.54400550e-05 1.36629189e+00] [-5.83185434e-04 -1.05819293e-05 9.99999830e-01 -3.27878481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.140281693 meters 0.029827088600020858 Centerline is valid? [True, True] Translation: X:118.30, Y:1.38, Z:-0.04 [[ 9.99976126e-01 -6.79762174e-03 -1.24093761e-03 1.18298673e+02] [ 6.79758620e-03 9.99976896e-01 -3.28505916e-05 1.37939989e+00] [ 1.24113225e-03 2.44144270e-05 9.99999229e-01 -3.68343779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.200281693 meters 0.027114210958982518 Centerline is valid? [True, True] Translation: X:118.36, Y:1.38, Z:-0.04 [[ 9.99972576e-01 -6.86086477e-03 -2.78834597e-03 1.18358531e+02] [ 6.86068538e-03 9.99976462e-01 -7.38960766e-05 1.38291593e+00] [ 2.78878733e-03 5.47640857e-05 9.99996110e-01 -3.83745154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.260281693 meters 0.024781642497638146 Centerline is valid? [True, True] Translation: X:118.42, Y:1.38, Z:-0.04 [[ 9.99953085e-01 -9.66990991e-03 -5.66949339e-04 1.18417013e+02] [ 9.66990292e-03 9.99953245e-01 -1.50550063e-05 1.38427540e+00] [ 5.67068412e-04 9.57195490e-06 9.99999839e-01 -3.51844517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.320281693 meters 0.021495904976901535 Centerline is valid? [True, True] Translation: X:118.48, Y:1.38, Z:-0.03 [[ 9.99911515e-01 -1.32558024e-02 1.11609930e-03 1.18477797e+02] [ 1.32557776e-02 9.99912138e-01 2.96138971e-05 1.38153634e+00] [-1.11639379e-03 -1.48165126e-05 9.99999377e-01 -3.22490264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.380281693 meters 0.017481741222663823 Centerline is valid? [True, True] Translation: X:118.54, Y:1.38, Z:-0.03 [[ 9.99833769e-01 -1.81195027e-02 2.02905026e-03 1.18538369e+02] [ 1.81194308e-02 9.99835828e-01 5.38185501e-05 1.37621426e+00] [-2.02969231e-03 -1.70443680e-05 9.99997940e-01 -3.05043104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.440281693 meters 0.01717121756138582 Centerline is valid? [True, True] Translation: X:118.60, Y:1.38, Z:-0.03 [[ 9.99821675e-01 -1.88836915e-02 -1.55588703e-04 1.18599061e+02] [ 1.88836911e-02 9.99821687e-01 -4.12653702e-06 1.37776924e+00] [ 1.55638884e-04 1.18771215e-06 9.99999988e-01 -3.45759559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.500281693 meters 0.017250202948403997 Centerline is valid? [True, True] Translation: X:118.66, Y:1.38, Z:-0.04 [[ 9.99817540e-01 -1.90693326e-02 -1.11677196e-03 1.18659696e+02] [ 1.90693114e-02 9.99818164e-01 -2.96191223e-05 1.37994818e+00] [ 1.11713370e-03 8.31764578e-06 9.99999376e-01 -3.62614446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56028169300001 meters 0.01715253761455161 Centerline is valid? [True, True] Translation: X:118.72, Y:1.38, Z:-0.03 [[ 9.99816890e-01 -1.91359932e-02 -3.67237579e-06 1.18719452e+02] [ 1.91359932e-02 9.99816890e-01 -1.05132768e-07 1.38405324e+00] [ 3.67371517e-06 3.48389595e-08 1.00000000e+00 -3.39614416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.620281693 meters 0.017869895011248235 Centerline is valid? [True, True] Translation: X:118.78, Y:1.39, Z:-0.04 [[ 9.99828832e-01 -1.84708401e-02 -1.06523521e-03 1.18778697e+02] [ 1.84708204e-02 9.99829399e-01 -2.82913484e-05 1.39158387e+00] [ 1.06557605e-03 8.61073751e-06 9.99999432e-01 -3.59667528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.680281693 meters 0.018712329751017456 Centerline is valid? [True, True] Translation: X:118.84, Y:1.40, Z:-0.04 [[ 9.99838419e-01 -1.78123857e-02 -2.41984323e-03 1.18838345e+02] [ 1.78122822e-02 9.99841347e-01 -6.43197293e-05 1.39945747e+00] [ 2.42060500e-03 2.12064059e-05 9.99997070e-01 -3.88510910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.740281693 meters 0.019632677528035807 Centerline is valid? [True, True] Translation: X:118.90, Y:1.41, Z:-0.03 [[ 9.99860134e-01 -1.67022433e-02 -8.65147778e-04 1.18896991e+02] [ 1.67022297e-02 9.99860508e-01 -2.30322350e-05 1.41194757e+00] [ 8.65411786e-04 8.57911671e-06 9.99999625e-01 -3.45543213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.800281693 meters 0.020115303491169124 Centerline is valid? [True, True] Translation: X:118.96, Y:1.42, Z:-0.03 [[ 9.99883466e-01 -1.52630271e-02 3.07729493e-04 1.18957510e+02] [ 1.52630253e-02 9.99883513e-01 8.18849342e-06 1.42014325e+00] [-3.07818628e-04 -3.49065614e-06 9.99999953e-01 -3.30380459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.860281693 meters 0.020692039554729397 Centerline is valid? [True, True] Translation: X:119.02, Y:1.43, Z:-0.03 [[ 9.99890195e-01 -1.48060187e-02 -6.16607946e-04 1.19017510e+02] [ 1.48060114e-02 9.99890385e-01 -1.64075600e-05 1.43082471e+00] [ 6.16783287e-04 7.27625403e-06 9.99999810e-01 -3.48637385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.920281693 meters 0.02130636347030068 Centerline is valid? [True, True] Translation: X:119.08, Y:1.44, Z:-0.04 [[ 9.99877408e-01 -1.56116281e-02 -1.20259218e-03 1.19077754e+02] [ 1.56116009e-02 9.99878131e-01 -3.19829595e-05 1.44152259e+00] [ 1.20294493e-03 1.32046495e-05 9.99999276e-01 -3.58734731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.980281693 meters 0.019599389745447893 Centerline is valid? [True, True] Translation: X:119.14, Y:1.45, Z:-0.03 [[ 9.99866322e-01 -1.63381809e-02 6.33285717e-04 1.19138165e+02] [ 1.63381735e-02 9.99866523e-01 1.68442750e-05 1.44754494e+00] [-6.33476393e-04 -6.49529141e-06 9.99999799e-01 -3.24433843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.040281693 meters 0.01820745144132476 Centerline is valid? [True, True] Translation: X:119.20, Y:1.45, Z:-0.03 [[ 9.99857402e-01 -1.68827321e-02 -3.86537228e-04 1.19199420e+02] [ 1.68827294e-02 9.99857477e-01 -1.02641396e-05 1.45104271e+00] [ 3.86655424e-04 3.73687251e-06 9.99999925e-01 -3.42007844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.100281693 meters 0.017870828349437973 Centerline is valid? [True, True] Translation: X:119.26, Y:1.46, Z:-0.04 [[ 9.99845498e-01 -1.75254570e-02 -1.35579575e-03 1.19260457e+02] [ 1.75254243e-02 9.99846417e-01 -3.59908411e-05 1.45864722e+00] [ 1.35621828e-03 1.22243848e-05 9.99999080e-01 -3.68006146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.160281693 meters 0.0167308182571645 Centerline is valid? [True, True] Translation: X:119.32, Y:1.47, Z:-0.04 [[ 9.99809540e-01 -1.94576145e-02 -1.51147724e-03 1.19320392e+02] [ 1.94575761e-02 9.99810683e-01 -4.01111716e-05 1.46507077e+00] [ 1.51197156e-03 1.06938487e-05 9.99998857e-01 -3.63000688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.220281693 meters 0.01493541700499262 Centerline is valid? [True, True] Translation: X:119.38, Y:1.46, Z:-0.04 [[ 9.99738239e-01 -2.28296214e-02 -1.50375801e-03 1.19381163e+02] [ 2.28295871e-02 9.99739370e-01 -3.99102578e-05 1.46435171e+00] [ 1.50427722e-03 5.56963637e-06 9.99998869e-01 -3.69365348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.280281693 meters 0.015288941518054025 Centerline is valid? [True, True] Translation: X:119.44, Y:1.46, Z:-0.04 [[ 9.99517981e-01 -3.09783921e-02 -2.03604654e-03 1.19441010e+02] [ 3.09783462e-02 9.99520054e-01 -5.40639262e-05 1.45612486e+00] [ 2.03674416e-03 -9.03548844e-06 9.99997926e-01 -3.78810871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.340281693 meters 0.020661826122022428 Centerline is valid? [True, True] Translation: X:119.50, Y:1.45, Z:-0.04 [[ 9.99216463e-01 -3.95658018e-02 -1.00351293e-03 1.19500852e+02] [ 3.95657950e-02 9.99216967e-01 -2.66760891e-05 1.44588114e+00] [ 1.00378260e-03 -1.30495994e-05 9.99999496e-01 -3.60640626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.400281693 meters 0.025944947619008785 Centerline is valid? [True, True] Translation: X:119.56, Y:1.44, Z:-0.04 [[ 9.99020959e-01 -4.42234554e-02 -1.18758722e-03 1.19560051e+02] [ 4.42234491e-02 9.99021664e-01 -3.16127514e-05 1.43876417e+00] [ 1.18782338e-03 -2.09374015e-05 9.99999294e-01 -3.71818654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.460281693 meters 0.02732733462589809 Centerline is valid? [True, True] Translation: X:119.62, Y:1.44, Z:-0.04 [[ 9.98928809e-01 -4.62281190e-02 -2.04810286e-03 1.19618678e+02] [ 4.62281036e-02 9.98930908e-01 -5.48775732e-05 1.43652537e+00] [ 2.04845013e-03 -3.98611223e-05 9.99997901e-01 -3.77254319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.520281693 meters 0.029338675955403886 Centerline is valid? [True, True] Translation: X:119.68, Y:1.44, Z:-0.04 [[ 9.98941630e-01 -4.59647296e-02 -1.69244466e-03 1.19676243e+02] [ 4.59647186e-02 9.98943063e-01 -4.54167458e-05 1.43525789e+00] [ 1.69274342e-03 -3.24240644e-05 9.99998567e-01 -3.72821014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.580281693 meters 0.030359136819108175 Centerline is valid? [True, True] Translation: X:119.73, Y:1.43, Z:-0.03 [[ 9.98913589e-01 -4.65976195e-02 5.50855138e-04 1.19734999e+02] [ 4.65976184e-02 9.98913741e-01 1.48060963e-05 1.43370385e+00] [-5.50946696e-04 1.08785267e-05 9.99999848e-01 -3.29834799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.640281693 meters 0.02927366584244951 Centerline is valid? [True, True] Translation: X:119.79, Y:1.44, Z:-0.04 [[ 9.98868406e-01 -4.75495772e-02 -9.72497819e-04 1.19794005e+02] [ 4.75495740e-02 9.98868879e-01 -2.64316197e-05 1.43528211e+00] [ 9.72654619e-04 -1.98401472e-05 9.99999527e-01 -3.60640151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.700281693 meters 0.02370386165158792 Centerline is valid? [True, True] Translation: X:119.85, Y:1.45, Z:-0.04 [[ 9.99016670e-01 -4.42291797e-02 -3.07791017e-03 1.19852992e+02] [ 4.42291307e-02 9.99021410e-01 -8.40080095e-05 1.44698770e+00] [ 3.07861376e-03 -5.22078893e-05 9.99995260e-01 -3.80533312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.760281693 meters 0.02246416081049654 Centerline is valid? [True, True] Translation: X:119.91, Y:1.45, Z:-0.04 [[ 9.99156532e-01 -4.09812486e-02 -2.60019566e-03 1.19910433e+02] [ 4.09812023e-02 9.99159915e-01 -7.10962300e-05 1.45236002e+00] [ 2.60092489e-03 -3.55228818e-05 9.99996617e-01 -3.81190164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.820281693 meters 0.01799198089949944 Centerline is valid? [True, True] Translation: X:119.97, Y:1.46, Z:-0.04 [[ 9.99322654e-01 -3.67017973e-02 -2.68552252e-03 1.19970045e+02] [ 3.67017324e-02 9.99326262e-01 -7.34792391e-05 1.46499890e+00] [ 2.68641000e-03 -2.51338604e-05 9.99996391e-01 -3.82526825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.880281693 meters 0.01690203921070602 Centerline is valid? [True, True] Translation: X:120.03, Y:1.47, Z:-0.04 [[ 9.99381833e-01 -3.50577528e-02 -2.62787522e-03 1.20029234e+02] [ 3.50576838e-02 9.99385288e-01 -7.23429861e-05 1.47079866e+00] [ 2.62879602e-03 -1.98289524e-05 9.99996545e-01 -3.87235992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.940281693 meters 0.016018476643315956 Centerline is valid? [True, True] Translation: X:120.09, Y:1.48, Z:-0.04 [[ 9.99434121e-01 -3.36037084e-02 -1.49297731e-03 1.20088374e+02] [ 3.36036841e-02 9.99435236e-01 -4.13467330e-05 1.47637015e+00] [ 1.49352354e-03 -8.84620228e-06 9.99998885e-01 -3.70062191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.000281693 meters 0.01662605793596072 Centerline is valid? [True, True] Translation: X:120.15, Y:1.48, Z:-0.04 [[ 9.99392902e-01 -3.48286752e-02 -8.88876447e-04 1.20148393e+02] [ 3.48286671e-02 9.99393298e-01 -2.45999969e-05 1.47628384e+00] [ 8.89193949e-04 -6.37331959e-06 9.99999605e-01 -3.61658339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06028169300001 meters 0.019311335324198802 Centerline is valid? [True, True] Translation: X:120.21, Y:1.47, Z:-0.04 [[ 9.99236850e-01 -3.90577271e-02 -4.60835681e-04 1.20208590e+02] [ 3.90577253e-02 9.99236956e-01 -1.27611421e-05 1.47018671e+00] [ 4.60982465e-04 -5.24779008e-06 9.99999894e-01 -3.58475132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.120281693 meters 0.025215124711950608 Centerline is valid? [True, True] Translation: X:120.27, Y:1.46, Z:-0.04 [[ 9.98942022e-01 -4.59873361e-02 -5.03554006e-05 1.20269026e+02] [ 4.59873361e-02 9.98942023e-01 -1.39951090e-06 1.45916251e+00] [ 5.03664856e-05 -9.17680489e-07 9.99999999e-01 -3.55728641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.180281693 meters 0.0278264020192418 Centerline is valid? [True, True] Translation: X:120.33, Y:1.45, Z:-0.04 [[ 9.98825762e-01 -4.84414237e-02 -7.24899635e-04 1.20327867e+02] [ 4.84414218e-02 9.98826025e-01 -2.01142733e-05 1.45399052e+00] [ 7.25022985e-04 -1.50245146e-05 9.99999737e-01 -3.50652480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.240281693 meters 0.026898125904448743 Centerline is valid? [True, True] Translation: X:120.39, Y:1.46, Z:-0.04 [[ 9.98882564e-01 -4.72202216e-02 -1.96803473e-03 1.20386720e+02] [ 4.72202049e-02 9.98884502e-01 -5.49446697e-05 1.45885587e+00] [ 1.96843389e-03 -3.80477307e-05 9.99998062e-01 -3.80294140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.300281693 meters 0.024412798432252594 Centerline is valid? [True, True] Translation: X:120.45, Y:1.47, Z:-0.04 [[ 9.98962250e-01 -4.55457108e-02 -1.01826331e-04 1.20445093e+02] [ 4.55457107e-02 9.98962256e-01 -2.91261317e-06 1.46727828e+00] [ 1.01853319e-04 -1.72816202e-06 9.99999995e-01 -3.51146770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.360281693 meters 0.031580545544790874 Centerline is valid? [True, True] Translation: X:120.50, Y:1.46, Z:-0.04 [[ 9.98920140e-01 -4.64488896e-02 -1.02675956e-03 1.20504109e+02] [ 4.64488845e-02 9.98920668e-01 -2.88509372e-05 1.46068730e+00] [ 1.02699144e-03 -1.88720540e-05 9.99999472e-01 -3.73999681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.420281693 meters 0.039530197107822275 Centerline is valid? [True, True] Translation: X:120.56, Y:1.46, Z:-0.03 [[ 9.98651409e-01 -5.17983417e-02 -3.50655746e-03 1.20563748e+02] [ 5.17983149e-02 9.98657561e-01 -9.85346769e-05 1.46455420e+00] [ 3.50695405e-03 -8.32319734e-05 9.99993847e-01 -3.36141831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.480281693 meters 0.036768141266808455 Centerline is valid? [True, True] Translation: X:120.62, Y:1.46, Z:-0.04 [[ 9.98316335e-01 -5.79593872e-02 -2.28124894e-03 1.20624223e+02] [ 5.79593919e-02 9.98318939e-01 -6.41165782e-05 1.45562434e+00] [ 2.28113018e-03 -6.82111738e-05 9.99997396e-01 -3.95825522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.540281693 meters 0.0480267854108386 Centerline is valid? [True, True] Translation: X:120.68, Y:1.44, Z:-0.04 [[ 9.97945711e-01 -6.40612951e-02 -7.13040686e-04 1.20684653e+02] [ 6.40612971e-02 9.97945965e-01 -2.00401931e-05 1.43724499e+00] [ 7.12859877e-04 -2.56792865e-05 9.99999746e-01 -3.72156638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.600281693 meters 0.059035438875058924 Centerline is valid? [True, True] Translation: X:120.75, Y:1.41, Z:-0.04 [[ 9.97367370e-01 -7.25044963e-02 -1.19462566e-03 1.20745788e+02] [ 7.25045079e-02 9.97368084e-01 -3.35765356e-05 1.41119162e+00] [ 1.19391595e-03 -5.31276045e-05 9.99999286e-01 -3.83212673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.660281693 meters 0.05745907966275591 Centerline is valid? [True, True] Translation: X:120.81, Y:1.40, Z:-0.04 [[ 9.97229745e-01 -7.43150696e-02 -3.17908506e-03 1.20805677e+02] [ 7.43151614e-02 9.97234801e-01 -8.94293132e-05 1.40010126e+00] [ 3.17694020e-03 -1.47072648e-04 9.99994943e-01 -3.95187825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.720281693 meters 0.047200788370535665 Centerline is valid? [True, True] Translation: X:120.87, Y:1.41, Z:-0.04 [[ 9.97613160e-01 -6.90326084e-02 -1.57557526e-03 1.20865375e+02] [ 6.90326243e-02 9.97614402e-01 -4.43516199e-05 1.40518610e+00] [ 1.57487827e-03 -6.45203350e-05 9.99998758e-01 -3.56695611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.780281693 meters 0.03881754212370405 Centerline is valid? [True, True] Translation: X:120.92, Y:1.41, Z:-0.03 [[ 9.98345405e-01 -5.74580047e-02 2.24293255e-03 1.20924465e+02] [ 5.74580077e-02 9.98347922e-01 6.31365666e-05 1.40503020e+00] [-2.24285475e-03 6.58423347e-05 9.99997483e-01 -2.89444017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.840281693 meters 0.02802364673221165 Centerline is valid? [True, True] Translation: X:120.98, Y:1.41, Z:-0.03 [[ 9.98855309e-01 -4.78326465e-02 3.31355686e-04 1.20984142e+02] [ 4.78326460e-02 9.98855364e-01 9.32733143e-06 1.40960939e+00] [-3.31422555e-04 6.53296471e-06 9.99999945e-01 -3.33410076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.900281693 meters 0.021083806133030437 Centerline is valid? [True, True] Translation: X:121.04, Y:1.42, Z:-0.04 [[ 9.99142179e-01 -4.13838480e-02 -1.51096151e-03 1.21043531e+02] [ 4.13838309e-02 9.99143321e-01 -4.26028179e-05 1.41879939e+00] [ 1.51143017e-03 -1.99631032e-05 9.99998858e-01 -3.58816570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.960281693 meters 0.014599090548207766 Centerline is valid? [True, True] Translation: X:121.10, Y:1.44, Z:-0.04 [[ 9.99534454e-01 -3.04702389e-02 -1.56169336e-03 1.21103201e+02] [ 3.04702073e-02 9.99535674e-01 -4.40469252e-05 1.43774864e+00] [ 1.56231035e-03 -3.55870107e-06 9.99998780e-01 -3.67825862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.020281693 meters 0.014852429784288825 Centerline is valid? [True, True] Translation: X:121.16, Y:1.45, Z:-0.04 [[ 9.99663700e-01 -2.58736336e-02 -1.74417880e-03 1.21160501e+02] [ 2.58735869e-02 9.99665221e-01 -4.93089040e-05 1.44747473e+00] [ 1.74487069e-03 4.16415957e-06 9.99998478e-01 -3.82530507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.080281693 meters 0.01459282997758432 Centerline is valid? [True, True] Translation: X:121.22, Y:1.45, Z:-0.04 [[ 9.99649629e-01 -2.64360220e-02 -1.32534135e-03 1.21219181e+02] [ 2.64359953e-02 9.99650507e-01 -3.77193236e-05 1.44756813e+00] [ 1.32587531e-03 2.66939004e-06 9.99999121e-01 -3.75125345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.140281693 meters 0.01536384779667285 Centerline is valid? [True, True] Translation: X:121.28, Y:1.45, Z:-0.04 [[ 9.99689526e-01 -2.47611150e-02 -2.78188349e-03 1.21277367e+02] [ 2.47609895e-02 9.99693397e-01 -7.95511042e-05 1.45499306e+00] [ 2.78300033e-03 1.06442176e-05 9.99996127e-01 -3.96702586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.200281693 meters 0.016801993353589863 Centerline is valid? [True, True] Translation: X:121.34, Y:1.46, Z:-0.04 [[ 9.99749979e-01 -2.22243875e-02 -2.46074965e-03 1.21335685e+02] [ 2.22242806e-02 9.99753008e-01 -7.07615203e-05 1.46266514e+00] [ 2.46171449e-03 1.60554377e-05 9.99996970e-01 -3.90658271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.260281693 meters 0.01624218807477749 Centerline is valid? [True, True] Translation: X:121.39, Y:1.46, Z:-0.04 [[ 9.99749202e-01 -2.23084091e-02 -1.96688229e-03 1.21394583e+02] [ 2.23083403e-02 9.99751136e-01 -5.69062917e-05 1.46398516e+00] [ 1.96766229e-03 1.30141403e-05 9.99998064e-01 -3.80752379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.320281693 meters 0.014979397922338968 Centerline is valid? [True, True] Translation: X:121.45, Y:1.46, Z:-0.04 [[ 9.99655971e-01 -2.60813578e-02 -2.77529483e-03 1.21453605e+02] [ 2.60812341e-02 9.99659823e-01 -8.07496644e-05 1.46046965e+00] [ 2.77645681e-03 8.33876974e-06 9.99996146e-01 -4.04495930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.380281693 meters 0.014659577537673229 Centerline is valid? [True, True] Translation: X:121.51, Y:1.46, Z:-0.04 [[ 9.99617676e-01 -2.76376194e-02 -8.14411005e-04 1.21511884e+02] [ 2.76376091e-02 9.99618008e-01 -2.38754731e-05 1.46228497e+00] [ 8.14759768e-04 1.35797195e-06 9.99999668e-01 -3.65626321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.440281693 meters 0.01474701528790398 Centerline is valid? [True, True] Translation: X:121.57, Y:1.47, Z:-0.04 [[ 9.99647106e-01 -2.65335711e-02 -1.27821671e-03 1.21571850e+02] [ 2.65335450e-02 9.99647923e-01 -3.74184748e-05 1.46660177e+00] [ 1.27875953e-03 3.48964940e-06 9.99999182e-01 -3.67445491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.500281693 meters 0.016603827876068206 Centerline is valid? [True, True] Translation: X:121.63, Y:1.48, Z:-0.04 [[ 9.99740830e-01 -2.27476181e-02 -9.04889921e-04 1.21630036e+02] [ 2.27476034e-02 9.99741239e-01 -2.65274668e-05 1.47836270e+00] [ 9.05259208e-04 5.93651467e-06 9.99999590e-01 -3.78299673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56028169300001 meters 0.019229671928757693 Centerline is valid? [True, True] Translation: X:121.69, Y:1.49, Z:-0.04 [[ 9.99813204e-01 -1.93131525e-02 -7.47220890e-04 1.21688757e+02] [ 1.93131415e-02 9.99813484e-01 -2.19326918e-05 1.48787868e+00] [ 7.47505111e-04 7.49741212e-06 9.99999721e-01 -3.65988299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.620281693 meters 0.01852689378141393 Centerline is valid? [True, True] Translation: X:121.75, Y:1.49, Z:-0.04 [[ 9.99810932e-01 -1.93590682e-02 -1.82400780e-03 1.21749200e+02] [ 1.93590028e-02 9.99812596e-01 -5.35101285e-05 1.48923737e+00] [ 1.82470187e-03 1.81890394e-05 9.99998335e-01 -3.94196171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.680281693 meters 0.01808872921577873 Centerline is valid? [True, True] Translation: X:121.81, Y:1.49, Z:-0.04 [[ 9.99782162e-01 -2.08671187e-02 -4.39031243e-04 1.21808645e+02] [ 2.08671151e-02 9.99782258e-01 -1.28888553e-05 1.48920943e+00] [ 4.39204600e-04 3.72473211e-06 9.99999904e-01 -3.65377048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.740281693 meters 0.01862571183306498 Centerline is valid? [True, True] Translation: X:121.87, Y:1.50, Z:-0.04 [[ 9.99807043e-01 -1.96437343e-02 -2.91582812e-05 1.21869103e+02] [ 1.96437342e-02 9.99807043e-01 -8.55745342e-07 1.49592315e+00] [ 2.91694649e-05 2.82802695e-07 1.00000000e+00 -3.52651793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.800281693 meters 0.01852962878247601 Centerline is valid? [True, True] Translation: X:121.93, Y:1.50, Z:-0.04 [[ 9.99817906e-01 -1.90152934e-02 -1.60412449e-03 1.21929499e+02] [ 1.90152424e-02 9.99819193e-01 -4.70782916e-05 1.50034849e+00] [ 1.60472966e-03 1.65669029e-05 9.99998712e-01 -3.76826253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.860281693 meters 0.017474385487565962 Centerline is valid? [True, True] Translation: X:121.99, Y:1.50, Z:-0.04 [[ 9.99787445e-01 -2.05799704e-02 -1.23707003e-03 1.21989356e+02] [ 2.05799412e-02 9.99788210e-01 -3.63437680e-05 1.50398048e+00] [ 1.23755598e-03 1.08772145e-05 9.99999234e-01 -3.68721402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.920281693 meters 0.015564679723609118 Centerline is valid? [True, True] Translation: X:122.05, Y:1.51, Z:-0.03 [[ 9.99694234e-01 -2.47272793e-02 -5.67650788e-07 1.22048564e+02] [ 2.47272793e-02 9.99694234e-01 -2.07484828e-08 1.50663219e+00] [ 5.67990276e-07 6.70567965e-09 1.00000000e+00 -3.49589733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.980281693 meters 0.014277249517916063 Centerline is valid? [True, True] Translation: X:122.11, Y:1.51, Z:-0.03 [[ 9.99552190e-01 -2.98367296e-02 2.27778938e-03 1.22109179e+02] [ 2.98366545e-02 9.99554786e-01 6.69305737e-05 1.50604074e+00] [-2.27877227e-03 1.06101335e-06 9.99997404e-01 -3.16089483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.040281693 meters 0.015077444592749465 Centerline is valid? [True, True] Translation: X:122.17, Y:1.51, Z:-0.03 [[ 9.99441966e-01 -3.34024848e-02 1.73036233e-04 1.22169301e+02] [ 3.34024844e-02 9.99441981e-01 5.08449746e-06 1.50534058e+00] [-1.73109510e-04 6.98179929e-07 9.99999985e-01 -3.49643098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.100281693 meters 0.017017185860168572 Centerline is valid? [True, True] Translation: X:122.23, Y:1.50, Z:-0.04 [[ 9.99306306e-01 -3.72320057e-02 -8.27314745e-04 1.22229510e+02] [ 3.72319983e-02 9.99306648e-01 -2.43372739e-05 1.50124726e+00] [ 8.27647251e-04 -6.48218986e-06 9.99999657e-01 -3.72747136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.160281693 meters 0.022091844364717155 Centerline is valid? [True, True] Translation: X:122.29, Y:1.49, Z:-0.03 [[ 9.99061457e-01 -4.32860727e-02 1.58754555e-03 1.22288418e+02] [ 4.32860531e-02 9.99062718e-01 4.67286964e-05 1.49076443e+00] [-1.58808027e-03 2.20337413e-05 9.99998739e-01 -3.35349618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.220281693 meters 0.023351543806769858 Centerline is valid? [True, True] Translation: X:122.35, Y:1.48, Z:-0.03 [[ 9.98956475e-01 -4.56554322e-02 1.24195910e-03 1.22347708e+02] [ 4.56554218e-02 9.98957247e-01 3.67113383e-05 1.48453660e+00] [-1.24234012e-03 2.00291377e-05 9.99999228e-01 -3.43337525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.280281693 meters 0.023462862000107797 Centerline is valid? [True, True] Translation: X:122.41, Y:1.48, Z:-0.03 [[ 9.99002700e-01 -4.46388577e-02 9.88946694e-04 1.22405584e+02] [ 4.46388506e-02 9.99003189e-01 2.93341648e-05 1.48301647e+00] [-9.89270344e-04 1.48405339e-05 9.99999511e-01 -3.44082217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.340281693 meters 0.01796685651201493 Centerline is valid? [True, True] Translation: X:122.46, Y:1.49, Z:-0.04 [[ 9.99257537e-01 -3.84676335e-02 -2.14834405e-03 1.22464213e+02] [ 3.84675851e-02 9.99259846e-01 -6.39032225e-05 1.49322838e+00] [ 2.14921215e-03 -1.87858307e-05 9.99997690e-01 -3.96184369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.400281693 meters 0.016613811153911334 Centerline is valid? [True, True] Translation: X:122.52, Y:1.50, Z:-0.04 [[ 9.99334764e-01 -3.63387794e-02 -3.08578628e-03 1.22523348e+02] [ 3.63386677e-02 9.99339528e-01 -9.22723581e-05 1.49926205e+00] [ 3.08710127e-03 -1.99223870e-05 9.99995235e-01 -4.04451586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.460281693 meters 0.014847251041740315 Centerline is valid? [True, True] Translation: X:122.58, Y:1.51, Z:-0.04 [[ 9.99467158e-01 -3.26183984e-02 -1.20014243e-03 1.22581567e+02] [ 3.26183786e-02 9.99467878e-01 -3.61128256e-05 1.50686231e+00] [ 1.20068175e-03 -3.05311707e-06 9.99999279e-01 -3.79614898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.520281693 meters 0.01416044662935381 Centerline is valid? [True, True] Translation: X:122.64, Y:1.52, Z:-0.03 [[ 9.99549712e-01 -2.99661284e-02 1.55088460e-03 1.22639970e+02] [ 2.99660921e-02 9.99550915e-01 4.66364927e-05 1.51500006e+00] [-1.55158564e-03 -1.41542000e-07 9.99998796e-01 -3.21239782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.580281693 meters 0.016235204208006386 Centerline is valid? [True, True] Translation: X:122.70, Y:1.53, Z:-0.03 [[ 9.99721540e-01 -2.35928850e-02 4.68215854e-04 1.22700133e+02] [ 2.35928809e-02 9.99721649e-01 1.40831814e-05 1.53001830e+00] [-4.68417789e-04 -3.03269892e-06 9.99999890e-01 -3.44513123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.640281693 meters 0.02061449970050618 Centerline is valid? [True, True] Translation: X:122.76, Y:1.55, Z:-0.04 [[ 9.99817064e-01 -1.91111867e-02 -7.75354994e-04 1.22759467e+02] [ 1.91111743e-02 9.99817365e-01 -2.33214338e-05 1.54574839e+00] [ 7.75659087e-04 8.49922301e-06 9.99999699e-01 -3.72249187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.700281693 meters 0.026461884399290373 Centerline is valid? [True, True] Translation: X:122.82, Y:1.56, Z:-0.03 [[ 9.99911804e-01 -1.32084586e-02 1.38607869e-03 1.22819709e+02] [ 1.32084135e-02 9.99912764e-01 4.16910225e-05 1.56331843e+00] [-1.38650845e-03 -2.33794450e-05 9.99999039e-01 -3.30116586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.760281693 meters 0.027618322762060384 Centerline is valid? [True, True] Translation: X:122.88, Y:1.57, Z:-0.03 [[ 9.99916878e-01 -1.27049602e-02 2.19584821e-03 1.22880133e+02] [ 1.27048458e-02 9.99919288e-01 6.60276343e-05 1.57396272e+00] [-2.19650986e-03 -3.81242329e-05 9.99997587e-01 -3.26235173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.820281693 meters 0.025358239841842507 Centerline is valid? [True, True] Translation: X:122.94, Y:1.58, Z:-0.04 [[ 9.99889248e-01 -1.48789632e-02 3.27996378e-04 1.22941589e+02] [ 1.48789608e-02 9.99889302e-01 9.86243909e-06 1.58164604e+00] [-3.28106813e-04 -4.98110156e-06 9.99999946e-01 -3.56206031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.880281693 meters 0.025424460554567523 Centerline is valid? [True, True] Translation: X:123.00, Y:1.59, Z:-0.04 [[ 9.99886072e-01 -1.50154357e-02 -1.54263205e-03 1.23001439e+02] [ 1.50153820e-02 9.99887262e-01 -4.63502472e-05 1.59173506e+00] [ 1.54315410e-03 2.31817571e-05 9.99998809e-01 -3.92159778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.940281693 meters 0.02187542779242993 Centerline is valid? [True, True] Translation: X:123.06, Y:1.60, Z:-0.04 [[ 9.99883804e-01 -1.52401780e-02 -3.40661949e-04 1.23061922e+02] [ 1.52401754e-02 9.99883862e-01 -1.02356006e-05 1.60067957e+00] [ 3.40778378e-04 5.04266343e-06 9.99999942e-01 -3.71885656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.000281693 meters 0.022449217767938272 Centerline is valid? [True, True] Translation: X:123.12, Y:1.62, Z:-0.04 [[ 9.99839761e-01 -1.79011292e-02 -3.08245240e-05 1.23121569e+02] [ 1.79011292e-02 9.99839762e-01 -9.07881867e-07 1.61513490e+00] [ 3.08358369e-05 3.55942603e-07 1.00000000e+00 -3.63068405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.060281693 meters 0.015115788010807003 Centerline is valid? [True, True] Translation: X:123.18, Y:1.61, Z:-0.04 [[ 9.99667603e-01 -2.57730613e-02 6.58166991e-04 1.23183639e+02] [ 2.57730538e-02 9.99667819e-01 1.97328742e-05 1.60888031e+00] [-6.58456938e-04 -2.76334177e-06 9.99999783e-01 -3.62871980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.120281693 meters 0.014341262785287065 Centerline is valid? [True, True] Translation: X:123.25, Y:1.60, Z:-0.04 [[ 9.99510309e-01 -3.12875984e-02 -4.77201794e-04 1.23245548e+02] [ 3.12875952e-02 9.99510423e-01 -1.42804301e-05 1.60269927e+00] [ 4.77414967e-04 -6.57059384e-07 9.99999886e-01 -3.83001470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.180281693 meters 0.015120808458656269 Centerline is valid? [True, True] Translation: X:123.31, Y:1.60, Z:-0.03 [[ 9.99406778e-01 -3.44332023e-02 6.68704409e-04 1.23306174e+02] [ 3.44331966e-02 9.99407001e-01 2.00220168e-05 1.60007395e+00] [-6.68997290e-04 3.01549109e-06 9.99999776e-01 -3.43500376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24028169300001 meters 0.014178488966346641 Centerline is valid? [True, True] Translation: X:123.37, Y:1.61, Z:-0.03 [[ 9.99513072e-01 -3.11780851e-02 1.24300721e-03 1.23367154e+02] [ 3.11780629e-02 9.99513845e-01 3.71972392e-05 1.60791037e+00] [-1.24356266e-03 1.57543026e-06 9.99999227e-01 -3.43124178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.300281693 meters 0.014339848792754925 Centerline is valid? [True, True] Translation: X:123.43, Y:1.61, Z:-0.03 [[ 9.99478698e-01 -3.21849694e-02 2.54178632e-03 1.23427285e+02] [ 3.21848802e-02 9.99481930e-01 7.60229915e-05 1.60788850e+00] [-2.54291630e-03 5.82372777e-06 9.99996767e-01 -3.27418885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.360281693 meters 0.016894626529100173 Centerline is valid? [True, True] Translation: X:123.49, Y:1.60, Z:-0.03 [[ 9.99295451e-01 -3.73340395e-02 3.84323141e-03 1.23488896e+02] [ 3.73338738e-02 9.99302841e-01 1.14865063e-04 1.59763077e+00] [-3.84484045e-03 2.86985813e-05 9.99992608e-01 -3.02992790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.420281693 meters 0.02477398380869389 Centerline is valid? [True, True] Translation: X:123.55, Y:1.58, Z:-0.04 [[ 9.98936087e-01 -4.60990469e-02 1.25344230e-03 1.23549917e+02] [ 4.60990362e-02 9.98936874e-01 3.74499639e-05 1.57756471e+00] [-1.25383614e-03 2.03723616e-05 9.99999214e-01 -3.62490961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.480281693 meters 0.0282395463652015 Centerline is valid? [True, True] Translation: X:123.61, Y:1.57, Z:-0.04 [[ 9.98816278e-01 -4.86412328e-02 -2.69255319e-04 1.23609289e+02] [ 4.86412324e-02 9.98816315e-01 -8.05720413e-06 1.56665605e+00] [ 2.69328517e-04 -5.04924389e-06 9.99999964e-01 -3.86964953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.540281693 meters 0.026161039176487304 Centerline is valid? [True, True] Translation: X:123.67, Y:1.57, Z:-0.04 [[ 9.98898417e-01 -4.69221284e-02 5.16007893e-04 1.23668650e+02] [ 4.69221267e-02 9.98898550e-01 1.54507104e-05 1.56554720e+00] [-5.16164517e-04 8.77849755e-06 9.99999867e-01 -3.73059460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.600281693 meters 0.020902490804240607 Centerline is valid? [True, True] Translation: X:123.73, Y:1.57, Z:-0.04 [[ 9.99124461e-01 -4.18196571e-02 -1.19513627e-03 1.23727959e+02] [ 4.18196438e-02 9.99125175e-01 -3.61145638e-05 1.56757148e+00] [ 1.19560103e-03 -1.38972289e-05 9.99999285e-01 -4.12248701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.660281693 meters 0.01741034621676649 Centerline is valid? [True, True] Translation: X:123.79, Y:1.57, Z:-0.04 [[ 9.99292796e-01 -3.75639322e-02 -1.69105887e-03 1.23787003e+02] [ 3.75638991e-02 9.99294226e-01 -5.13378591e-05 1.56934910e+00] [ 1.69179381e-03 -1.22212119e-05 9.99998569e-01 -4.17669559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.720281693 meters 0.014631693234590085 Centerline is valid? [True, True] Translation: X:123.85, Y:1.58, Z:-0.04 [[ 9.99488334e-01 -3.19454021e-02 -1.60050958e-03 1.23845669e+02] [ 3.19453649e-02 9.99489615e-01 -4.88359569e-05 1.57832485e+00] [ 1.60125279e-03 -2.31789338e-06 9.99998718e-01 -4.06392325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.780281693 meters 0.01530075600937178 Centerline is valid? [True, True] Translation: X:123.91, Y:1.59, Z:-0.04 [[ 9.99646808e-01 -2.65709871e-02 -4.91868466e-04 1.23905038e+02] [ 2.65709830e-02 9.99646929e-01 -1.50102166e-05 1.59156341e+00] [ 4.92093638e-04 1.93548649e-06 9.99999879e-01 -3.74543134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.840281693 meters 0.02121924790256299 Centerline is valid? [True, True] Translation: X:123.96, Y:1.61, Z:-0.03 [[ 9.99818662e-01 -1.88764990e-02 2.51397157e-03 1.23964178e+02] [ 1.88763658e-02 9.99821823e-01 7.67032970e-05 1.61462463e+00] [-2.51497153e-03 -2.92347409e-05 9.99996837e-01 -3.16726875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.900281693 meters 0.02398936088449784 Centerline is valid? [True, True] Translation: X:124.02, Y:1.63, Z:-0.03 [[ 9.99870399e-01 -1.58410356e-02 2.87160651e-03 1.24024549e+02] [ 1.58408495e-02 9.99874522e-01 8.75452000e-05 1.63080159e+00] [-2.87263299e-03 -4.20451676e-05 9.99995873e-01 -3.14600596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.960281693 meters 0.02010808303021981 Centerline is valid? [True, True] Translation: X:124.09, Y:1.63, Z:-0.03 [[ 9.99852755e-01 -1.68438925e-02 3.27898388e-03 1.24086383e+02] [ 1.68436557e-02 9.99858131e-01 9.98091922e-05 1.63333546e+00] [-3.28019987e-03 -4.45644202e-05 9.99994619e-01 -3.15647620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.020281693 meters 0.020994148972132188 Centerline is valid? [True, True] Translation: X:124.15, Y:1.65, Z:-0.03 [[ 9.99808226e-01 -1.95236369e-02 1.52907167e-03 1.24146843e+02] [ 1.95235886e-02 9.99809395e-01 4.65069843e-05 1.64757036e+00] [-1.52968820e-03 -1.66450992e-05 9.99998830e-01 -3.42809269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.080281693 meters 0.01623181549164133 Centerline is valid? [True, True] Translation: X:124.21, Y:1.65, Z:-0.04 [[ 9.99719163e-01 -2.36952542e-02 -3.59273101e-04 1.24208622e+02] [ 2.36952518e-02 9.99719228e-01 -1.09012432e-05 1.64757664e+00] [ 3.59430535e-04 2.38511517e-06 9.99999935e-01 -3.93180098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.140281693 meters 0.014087052447320938 Centerline is valid? [True, True] Translation: X:124.27, Y:1.64, Z:-0.04 [[ 9.99525637e-01 -3.07977444e-02 1.16721075e-05 1.24268895e+02] [ 3.07977444e-02 9.99525637e-01 3.58295180e-07 1.64435566e+00] [-1.16776054e-05 1.34936564e-09 1.00000000e+00 -3.90616708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.200281693 meters 0.015207577226355217 Centerline is valid? [True, True] Translation: X:124.33, Y:1.64, Z:-0.04 [[ 9.99414828e-01 -3.42021873e-02 -4.59342991e-04 1.24329098e+02] [ 3.42021845e-02 9.99414934e-01 -1.39387170e-05 1.64060590e+00] [ 4.59550980e-04 -1.77997320e-06 9.99999894e-01 -4.02058895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.260281693 meters 0.01645057288060706 Centerline is valid? [True, True] Translation: X:124.39, Y:1.64, Z:-0.04 [[ 9.99322678e-01 -3.67721022e-02 -1.41318477e-03 1.24390868e+02] [ 3.67720784e-02 9.99323678e-01 -4.28562303e-05 1.63930972e+00] [ 1.41380492e-03 -9.13853825e-06 9.99999001e-01 -4.23208456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.320281693 meters 0.01949268882718824 Centerline is valid? [True, True] Translation: X:124.45, Y:1.63, Z:-0.04 [[ 9.99176256e-01 -4.05061966e-02 -2.46104326e-03 1.24450389e+02] [ 4.05061355e-02 9.99179287e-01 -7.46770817e-05 1.63344657e+00] [ 2.46204833e-03 -2.50717848e-05 9.99996969e-01 -4.42896194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.380281693 meters 0.020330950034257847 Centerline is valid? [True, True] Translation: X:124.51, Y:1.63, Z:-0.04 [[ 9.99086921e-01 -4.27110556e-02 -1.04369222e-03 1.24510950e+02] [ 4.27110458e-02 9.99087466e-01 -3.16678666e-05 1.63226660e+00] [ 1.04409238e-03 -1.29382347e-05 9.99999455e-01 -4.06744338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.440281693 meters 0.023779180687871895 Centerline is valid? [True, True] Translation: X:124.57, Y:1.63, Z:-0.04 [[ 9.99001869e-01 -4.46683980e-02 1.56697692e-05 1.24570781e+02] [ 4.46683980e-02 9.99001869e-01 4.71756819e-07 1.62607557e+00] [-1.56752013e-05 2.28657543e-07 1.00000000e+00 -3.99808247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.500281693 meters 0.02593653149163795 Centerline is valid? [True, True] Translation: X:124.63, Y:1.62, Z:-0.04 [[ 9.98825142e-01 -4.84589752e-02 2.50433904e-04 1.24631443e+02] [ 4.84589748e-02 9.98825174e-01 7.60151207e-06 1.62295194e+00] [-2.50508049e-04 4.54318884e-06 9.99999969e-01 -3.97713294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.560281693 meters 0.029466091805203213 Centerline is valid? [True, True] Translation: X:124.69, Y:1.62, Z:-0.04 [[ 9.98601201e-01 -5.28710659e-02 -5.39876000e-04 1.24691623e+02] [ 5.28710647e-02 9.98601347e-01 -1.63971179e-05 1.61715021e+00] [ 5.39987834e-04 -1.21696373e-05 9.99999854e-01 -4.11064180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.620281693 meters 0.031659243936614005 Centerline is valid? [True, True] Translation: X:124.75, Y:1.61, Z:-0.04 [[ 9.98507972e-01 -5.46038469e-02 4.99853538e-04 1.24751788e+02] [ 5.46038461e-02 9.98508097e-01 1.51796626e-05 1.61451048e+00] [-4.99936673e-04 1.21369116e-05 9.99999875e-01 -3.86687464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.680281693 meters 0.03555293967636566 Centerline is valid? [True, True] Translation: X:124.81, Y:1.61, Z:-0.04 [[ 9.98287106e-01 -5.84834789e-02 1.59273716e-03 1.24812661e+02] [ 5.84834761e-02 9.98288376e-01 4.83810038e-05 1.60577220e+00] [-1.59284048e-03 4.48506733e-05 9.99998730e-01 -3.79006226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74028169300001 meters 0.04316084412779246 Centerline is valid? [True, True] Translation: X:124.87, Y:1.59, Z:-0.04 [[ 9.97943851e-01 -6.40925051e-02 4.71132017e-04 1.24873038e+02] [ 6.40925054e-02 9.97943962e-01 1.43109484e-05 1.58719710e+00] [-4.71080576e-04 1.59145084e-05 9.99999889e-01 -3.99867301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.800281693 meters 0.04748364672084295 Centerline is valid? [True, True] Translation: X:124.93, Y:1.57, Z:-0.04 [[ 9.97708420e-01 -6.76530051e-02 -9.90078538e-04 1.24933241e+02] [ 6.76530085e-02 9.97708910e-01 -3.00880273e-05 1.57469078e+00] [ 9.89845725e-04 -3.69627136e-05 9.99999509e-01 -4.24265889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.860281693 meters 0.05003141442804696 Centerline is valid? [True, True] Translation: X:124.99, Y:1.56, Z:-0.04 [[ 9.97618452e-01 -6.89483708e-02 -1.88338591e-03 1.24991794e+02] [ 6.89483852e-02 9.97620227e-01 -5.73492930e-05 1.56010268e+00] [ 1.88285802e-03 -7.26437044e-05 9.99998225e-01 -4.29235834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.920281693 meters 0.04729214118755252 Centerline is valid? [True, True] Translation: X:125.05, Y:1.55, Z:-0.04 [[ 9.97775785e-01 -6.66551552e-02 7.56817057e-04 1.25051767e+02] [ 6.66551568e-02 9.97776072e-01 2.30465188e-05 1.55115828e+00] [-7.56670120e-04 2.74505012e-05 9.99999713e-01 -3.89475391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.980281693 meters 0.03963294461086284 Centerline is valid? [True, True] Translation: X:125.11, Y:1.55, Z:-0.04 [[ 9.98065543e-01 -6.21702404e-02 -1.82940346e-04 1.25112526e+02] [ 6.21702404e-02 9.98065560e-01 -5.57653941e-06 1.55075339e+00] [ 1.82933153e-04 -5.80769343e-06 9.99999983e-01 -3.97227246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.040281693 meters 0.032181735750416905 Centerline is valid? [True, True] Translation: X:125.17, Y:1.56, Z:-0.04 [[ 9.98453147e-01 -5.55995802e-02 -2.16212089e-05 1.25173121e+02] [ 5.55995802e-02 9.98453147e-01 -6.59498880e-07 1.55718187e+00] [ 2.16244319e-05 -5.43651405e-07 1.00000000e+00 -3.80109230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.100281693 meters 0.029670724024078634 Centerline is valid? [True, True] Translation: X:125.23, Y:1.56, Z:-0.04 [[ 9.98660103e-01 -5.17292204e-02 1.44449774e-03 1.25232370e+02] [ 5.17292108e-02 9.98661147e-01 4.40405041e-05 1.55979974e+00] [-1.44484195e-03 3.07412336e-05 9.99998956e-01 -3.58626912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.160281693 meters 0.026945628920228018 Centerline is valid? [True, True] Translation: X:125.29, Y:1.56, Z:-0.04 [[ 9.98815822e-01 -4.86457574e-02 7.37157265e-04 1.25290872e+02] [ 4.86457540e-02 9.98816094e-01 2.24961991e-05 1.56124719e+00] [-7.37378885e-04 1.33900113e-05 9.99999728e-01 -3.75025254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.220281693 meters 0.02603863324634774 Centerline is valid? [True, True] Translation: X:125.35, Y:1.56, Z:-0.04 [[ 9.98823221e-01 -4.84990641e-02 1.15943198e-04 1.25349347e+02] [ 4.84990640e-02 9.98823228e-01 3.49907502e-06 1.55986446e+00] [-1.15976461e-04 2.12817921e-06 9.99999993e-01 -3.71371354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.280281693 meters 0.027517161857523575 Centerline is valid? [True, True] Translation: X:125.41, Y:1.56, Z:-0.04 [[ 9.98821634e-01 -4.85056884e-02 1.59412155e-03 1.25406185e+02] [ 4.85056718e-02 9.98822906e-01 4.90686858e-05 1.55701044e+00] [-1.59462523e-03 2.83130719e-05 9.99998728e-01 -3.50466865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.340281693 meters 0.024119886902221728 Centerline is valid? [True, True] Translation: X:125.46, Y:1.56, Z:-0.04 [[ 9.98816535e-01 -4.86322529e-02 6.57801442e-04 1.25463759e+02] [ 4.86322500e-02 9.98816752e-01 2.03185243e-05 1.56306861e+00] [-6.58011235e-04 1.16958861e-05 9.99999783e-01 -3.64512542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.400281693 meters 0.02620680787666526 Centerline is valid? [True, True] Translation: X:125.52, Y:1.56, Z:-0.04 [[ 9.98856532e-01 -4.77388962e-02 -2.57399349e-03 1.25521834e+02] [ 4.77388487e-02 9.98859848e-01 -7.99363486e-05 1.56246922e+00] [ 2.57487482e-03 -4.30345417e-05 9.99996684e-01 -4.26012849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.460281693 meters 0.02333378356083258 Centerline is valid? [True, True] Translation: X:125.58, Y:1.57, Z:-0.04 [[ 9.99020006e-01 -4.41950624e-02 -2.41317206e-03 1.25579160e+02] [ 4.41950099e-02 9.99022920e-01 -7.50721868e-05 1.57080469e+00] [ 2.41413202e-03 -3.16515466e-05 9.99997085e-01 -4.19442342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.520281693 meters 0.020743565269974795 Centerline is valid? [True, True] Translation: X:125.64, Y:1.58, Z:-0.04 [[ 9.99109940e-01 -4.21295808e-02 -2.10405841e-03 1.25637403e+02] [ 4.21295356e-02 9.99112155e-01 -6.58110726e-05 1.57957134e+00] [ 2.10496293e-03 -2.28905070e-05 9.99997784e-01 -4.15015217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.580281693 meters 0.0173628068136285 Centerline is valid? [True, True] Translation: X:125.70, Y:1.60, Z:-0.04 [[ 9.99233897e-01 -3.90683248e-02 -2.29876366e-03 1.25695786e+02] [ 3.90682619e-02 9.99236541e-01 -7.22749656e-05 1.59556247e+00] [ 2.29983231e-03 -1.75891049e-05 9.99997355e-01 -4.11502720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.640281693 meters 0.01872558930209605 Centerline is valid? [True, True] Translation: X:125.75, Y:1.60, Z:-0.04 [[ 9.99199428e-01 -4.00046890e-02 -3.57727076e-04 1.25753819e+02] [ 4.00046875e-02 9.99199492e-01 -1.12790428e-05 1.59599772e+00] [ 3.57891927e-04 -3.04074672e-06 9.99999936e-01 -3.83628799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.700281693 meters 0.02233781160885301 Centerline is valid? [True, True] Translation: X:125.81, Y:1.59, Z:-0.04 [[ 9.98961207e-01 -4.55686851e-02 -2.95805182e-05 1.25813485e+02] [ 4.55686851e-02 9.98961208e-01 -9.39614961e-07 1.59357268e+00] [ 2.95926072e-05 -4.09306423e-07 1.00000000e+00 -3.79744405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.760281693 meters 0.026788599863225335 Centerline is valid? [True, True] Translation: X:125.87, Y:1.59, Z:-0.04 [[ 9.98672199e-01 -5.14997696e-02 -1.26959747e-03 1.25872751e+02] [ 5.14997603e-02 9.98673006e-01 -4.00453968e-05 1.58530197e+00] [ 1.26997505e-03 -2.53917408e-05 9.99999193e-01 -3.94409921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.820281693 meters 0.03380643266273813 Centerline is valid? [True, True] Translation: X:125.93, Y:1.57, Z:-0.04 [[ 9.98377573e-01 -5.69388053e-02 -4.40490306e-04 1.25932834e+02] [ 5.69388047e-02 9.98377670e-01 -1.39001739e-05 1.57310475e+00] [ 4.40567145e-04 -1.12033696e-05 9.99999903e-01 -3.73554559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.880281693 meters 0.04724584485606593 Centerline is valid? [True, True] Translation: X:125.99, Y:1.55, Z:-0.04 [[ 9.98068745e-01 -6.21189494e-02 1.29938265e-04 1.25992577e+02] [ 6.21189494e-02 9.98068753e-01 4.09416661e-06 1.54794939e+00] [-1.29941647e-04 3.98536878e-06 9.99999992e-01 -3.55316123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.940281693 meters 0.03607424637997112 Centerline is valid? [True, True] Translation: X:126.05, Y:1.56, Z:-0.03 [[ 9.98045812e-01 -6.24384866e-02 2.44790169e-03 1.26051674e+02] [ 6.24384838e-02 9.98048811e-01 7.76250874e-05 1.55521818e+00] [-2.44797217e-03 7.53698767e-05 9.99997001e-01 -3.13908576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.000281693 meters 0.03890025752174935 Centerline is valid? [True, True] Translation: X:126.11, Y:1.54, Z:-0.04 [[ 9.98068387e-01 -6.21239756e-02 -3.27616736e-04 1.26110461e+02] [ 6.21239755e-02 9.98068440e-01 -1.05074226e-05 1.54249666e+00] [ 3.27636687e-04 -9.86572777e-06 9.99999946e-01 -3.54578412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.060281693 meters 0.03793739695111615 Centerline is valid? [True, True] Translation: X:126.17, Y:1.54, Z:-0.04 [[ 9.98152270e-01 -6.07591483e-02 -6.09880171e-04 1.26168464e+02] [ 6.07591477e-02 9.98152456e-01 -1.95081067e-05 1.54039123e+00] [ 6.09938687e-04 -1.75837384e-05 9.99999814e-01 -3.56125459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.120281693 meters 0.03328347589033696 Centerline is valid? [True, True] Translation: X:126.23, Y:1.54, Z:-0.03 [[ 9.98306659e-01 -5.81705448e-02 -5.31647165e-05 1.26227886e+02] [ 5.81705448e-02 9.98306660e-01 -1.75869362e-06 1.54161288e+00] [ 5.31769947e-05 -1.33690497e-06 9.99999999e-01 -3.44037695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.180281693 meters 0.035020779702722986 Centerline is valid? [True, True] Translation: X:126.29, Y:1.54, Z:-0.04 [[ 9.98368702e-01 -5.70903891e-02 -7.88854377e-04 1.26285416e+02] [ 5.70903868e-02 9.98369013e-01 -2.53910827e-05 1.53951536e+00] [ 7.89017353e-04 -1.96863392e-05 9.99999689e-01 -3.59656357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24028169300001 meters 0.03195159749216599 Centerline is valid? [True, True] Translation: X:126.34, Y:1.54, Z:-0.04 [[ 9.98526885e-01 -5.42466298e-02 -1.16737105e-03 1.26344856e+02] [ 5.42466227e-02 9.98527567e-01 -3.77604120e-05 1.54179248e+00] [ 1.16770055e-03 -2.56211502e-05 9.99999318e-01 -3.59716416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.300281693 meters 0.02801003976667275 Centerline is valid? [True, True] Translation: X:126.40, Y:1.55, Z:-0.04 [[ 9.98728950e-01 -5.03844798e-02 -1.37425488e-03 1.26404017e+02] [ 5.03844663e-02 9.98729895e-01 -4.44318051e-05 1.54734908e+00] [ 1.37474810e-03 -2.48657685e-05 9.99999055e-01 -3.64536681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.360281693 meters 0.02272963300550693 Centerline is valid? [True, True] Translation: X:126.46, Y:1.56, Z:-0.04 [[ 9.98885390e-01 -4.71861636e-02 -1.20124662e-03 1.26462614e+02] [ 4.71861509e-02 9.98886112e-01 -3.89032403e-05 1.55738653e+00] [ 1.20174426e-03 -1.78223259e-05 9.99999278e-01 -3.62373582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.420281693 meters 0.020732482640583774 Centerline is valid? [True, True] Translation: X:126.52, Y:1.56, Z:-0.04 [[ 9.99035879e-01 -4.38857835e-02 -1.16239743e-03 1.26520309e+02] [ 4.38857693e-02 9.99036555e-01 -3.77576903e-05 1.56327055e+00] [ 1.16293455e-03 -1.32914183e-05 9.99999324e-01 -3.57193503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.480281693 meters 0.020975687612313186 Centerline is valid? [True, True] Translation: X:126.58, Y:1.56, Z:-0.04 [[ 9.99011237e-01 -4.43626880e-02 -2.91539796e-03 1.26579186e+02] [ 4.43625992e-02 9.99015491e-01 -9.51406491e-05 1.56149396e+00] [ 2.91674842e-03 -3.42880536e-05 9.99995746e-01 -3.91055245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.540281693 meters 0.020795221486834034 Centerline is valid? [True, True] Translation: X:126.64, Y:1.56, Z:-0.04 [[ 9.98994692e-01 -4.48162329e-02 -1.05430839e-03 1.26637349e+02] [ 4.48162213e-02 9.98995248e-01 -3.46402399e-05 1.56190156e+00] [ 1.05480152e-03 -1.26447025e-05 9.99999444e-01 -3.54279224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.600281693 meters 0.01996657686333122 Centerline is valid? [True, True] Translation: X:126.70, Y:1.56, Z:-0.03 [[ 9.98982506e-01 -4.50903370e-02 9.02875156e-04 1.26695371e+02] [ 4.50903286e-02 9.98982913e-01 2.97165118e-05 1.56329098e+00] [-9.03296782e-04 1.10246621e-05 9.99999592e-01 -3.10854888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.660281693 meters 0.019346534721245697 Centerline is valid? [True, True] Translation: X:126.75, Y:1.56, Z:-0.04 [[ 9.99088930e-01 -4.26352913e-02 -1.88215621e-03 1.26752797e+02] [ 4.26352496e-02 9.99090702e-01 -6.22731674e-05 1.56388947e+00] [ 1.88309980e-03 -1.80297675e-05 9.99998227e-01 -3.64002080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.720281693 meters 0.01607731069281108 Centerline is valid? [True, True] Translation: X:126.81, Y:1.57, Z:-0.04 [[ 9.99272854e-01 -3.79392087e-02 -3.79213504e-03 1.26811490e+02] [ 3.79390034e-02 9.99280049e-01 -1.26082790e-04 1.57267496e+00] [ 3.79418837e-03 -1.78787150e-05 9.99992802e-01 -3.89756154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.780281693 meters 0.01484250239822834 Centerline is valid? [True, True] Translation: X:126.87, Y:1.58, Z:-0.03 [[ 9.99374345e-01 -3.53683139e-02 3.19987104e-05 1.26869048e+02] [ 3.53683139e-02 9.99374345e-01 1.04536408e-06 1.57891255e+00] [-3.20156630e-05 8.70303909e-08 9.99999999e-01 -3.07844046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.840281693 meters 0.014850965542163771 Centerline is valid? [True, True] Translation: X:126.93, Y:1.58, Z:-0.03 [[ 9.99362083e-01 -3.56702418e-02 1.74942578e-03 1.26927454e+02] [ 3.56701941e-02 9.99363614e-01 5.84991871e-05 1.58143322e+00] [-1.75039915e-03 3.94048765e-06 9.99998468e-01 -2.85324852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.900281693 meters 0.015297660059903424 Centerline is valid? [True, True] Translation: X:126.99, Y:1.58, Z:-0.03 [[ 9.99311217e-01 -3.71086040e-02 2.09250435e-04 1.26986289e+02] [ 3.71086033e-02 9.99311239e-01 6.98307830e-06 1.58096803e+00] [-2.09365444e-04 7.86722930e-07 9.99999978e-01 -3.15186216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.960281693 meters 0.018715248514392515 Centerline is valid? [True, True] Translation: X:127.05, Y:1.57, Z:-0.04 [[ 9.99072179e-01 -4.29765449e-02 -2.79252280e-03 1.27045232e+02] [ 4.29764488e-02 9.99076081e-01 -9.44302112e-05 1.57313834e+00] [ 2.79400102e-03 -2.56701161e-05 9.99996096e-01 -3.75484020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.020281693 meters 0.024492427665462804 Centerline is valid? [True, True] Translation: X:127.10, Y:1.56, Z:-0.04 [[ 9.98778528e-01 -4.93150407e-02 -3.07864061e-03 1.27103835e+02] [ 4.93149537e-02 9.98783272e-01 -1.04200177e-04 1.56137469e+00] [ 3.08003337e-03 -4.77501199e-05 9.99995256e-01 -3.84903626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.080281693 meters 0.023710857750764123 Centerline is valid? [True, True] Translation: X:127.16, Y:1.56, Z:-0.03 [[ 9.98788541e-01 -4.91663140e-02 -2.03050806e-03 1.27162905e+02] [ 4.91662751e-02 9.98790605e-01 -6.90952969e-05 1.56240741e+00] [ 2.03144953e-03 -3.08209271e-05 9.99997936e-01 -3.45936503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.140281693 meters 0.018757633914095847 Centerline is valid? [True, True] Translation: X:127.22, Y:1.57, Z:-0.04 [[ 9.99034720e-01 -4.38084592e-02 -3.23230473e-03 1.27221058e+02] [ 4.38083323e-02 9.99039948e-01 -1.10070608e-04 1.57425224e+00] [ 3.23402357e-03 -3.16375208e-05 9.99994770e-01 -3.58426413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.200281693 meters 0.015154444227981031 Centerline is valid? [True, True] Translation: X:127.28, Y:1.60, Z:-0.04 [[ 9.99463951e-01 -3.26245803e-02 -2.72885552e-03 1.27277955e+02] [ 3.26244477e-02 9.99467677e-01 -9.30921189e-05 1.59648802e+00] [ 2.73043998e-03 4.01481284e-06 9.99996272e-01 -3.63910650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.260281693 meters 0.019535302044620992 Centerline is valid? [True, True] Translation: X:127.34, Y:1.62, Z:-0.04 [[ 9.99688815e-01 -2.46470952e-02 -3.84628196e-03 1.27336127e+02] [ 2.46467704e-02 9.99696214e-01 -1.31845545e-04 1.61789775e+00] [ 3.84836312e-03 3.70060887e-05 9.99992594e-01 -3.83877204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.320281693 meters 0.021135894858405203 Centerline is valid? [True, True] Translation: X:127.39, Y:1.63, Z:-0.04 [[ 9.99755236e-01 -2.19074717e-02 -3.08711948e-03 1.27394522e+02] [ 2.19072478e-02 9.99760002e-01 -1.06336590e-04 1.62814568e+00] [ 3.08870814e-03 3.86802709e-05 9.99995229e-01 -3.57260140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.380281693 meters 0.02317884987037954 Centerline is valid? [True, True] Translation: X:127.45, Y:1.64, Z:-0.04 [[ 9.99764871e-01 -2.14726189e-02 -3.02162291e-03 1.27452237e+02] [ 2.14724020e-02 9.99769436e-01 -1.04218281e-04 1.63684200e+00] [ 3.02316407e-03 3.93122743e-05 9.99995429e-01 -3.66403060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.440281693 meters 0.0261440811019197 Centerline is valid? [True, True] Translation: X:127.51, Y:1.65, Z:-0.03 [[ 9.99856064e-01 -1.67312346e-02 -2.81381776e-03 1.27511516e+02] [ 1.67310276e-02 9.99860022e-01 -9.71048978e-05 1.64991577e+00] [ 2.81504858e-03 5.00128582e-05 9.99996036e-01 -3.49462028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.500281693 meters 0.03147406807879247 Centerline is valid? [True, True] Translation: X:127.57, Y:1.66, Z:-0.04 [[ 9.99929704e-01 -1.14147166e-02 -3.20809108e-03 1.27571696e+02] [ 1.14144202e-02 9.99934847e-01 -1.10702255e-04 1.66423270e+00] [ 3.20914570e-03 7.40759738e-05 9.99994848e-01 -3.52688497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.560281693 meters 0.04204945483156343 Centerline is valid? [True, True] Translation: X:127.63, Y:1.69, Z:-0.04 [[ 9.99971138e-01 -6.85390876e-03 -3.27838012e-03 1.27630499e+02] [ 6.85357455e-03 9.99976508e-01 -1.13168883e-04 1.68954791e+00] [ 3.27907876e-03 9.06969940e-05 9.99994620e-01 -3.63252727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.620281693 meters 0.036447318857336285 Centerline is valid? [True, True] Translation: X:127.69, Y:1.69, Z:-0.03 [[ 9.99971843e-01 -7.15268810e-03 -2.26967044e-03 1.27690465e+02] [ 7.15252855e-03 9.99974417e-01 -7.84050193e-05 1.69261799e+00] [ 2.27017318e-03 6.21689291e-05 9.99997421e-01 -3.32008988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.680281693 meters 0.039061605692524676 Centerline is valid? [True, True] Translation: X:127.75, Y:1.71, Z:-0.03 [[ 9.99980005e-01 -6.31891491e-03 -2.46571131e-04 1.27749585e+02] [ 6.31891300e-03 9.99980035e-01 -8.52350302e-06 1.70795479e+00] [ 2.46620067e-04 6.96527107e-06 9.99999970e-01 -2.83195988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74028169300001 meters 0.039934498410222716 Centerline is valid? [True, True] Translation: X:127.81, Y:1.72, Z:-0.03 [[ 9.99982842e-01 -5.84789427e-03 -3.44136019e-04 1.27809694e+02] [ 5.84789053e-03 9.99982901e-01 -1.18907366e-05 1.71687166e+00] [ 3.44199670e-04 9.87806281e-06 9.99999941e-01 -2.77095799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.800281693 meters 0.03309734271942699 Centerline is valid? [True, True] Translation: X:127.87, Y:1.71, Z:-0.03 [[ 9.99953945e-01 -9.36279600e-03 -2.10855380e-03 1.27870961e+02] [ 9.36266324e-03 9.99956167e-01 -7.28273740e-05 1.71487440e+00] [ 2.10914325e-03 5.30823407e-05 9.99997774e-01 -3.21242382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.860281693 meters 0.031077877000813225 Centerline is valid? [True, True] Translation: X:127.93, Y:1.72, Z:-0.03 [[ 9.99926529e-01 -1.19935188e-02 -1.75854388e-03 1.27930259e+02] [ 1.19934305e-02 9.99928074e-01 -6.07658162e-05 1.71748129e+00] [ 1.75914619e-03 3.96703778e-05 9.99998452e-01 -3.07936473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.920281693 meters 0.034934629483396866 Centerline is valid? [True, True] Translation: X:127.99, Y:1.73, Z:-0.03 [[ 9.99929659e-01 -1.14180357e-02 -3.21025854e-03 1.27989477e+02] [ 1.14177382e-02 9.99934809e-01 -1.10962341e-04 1.73185880e+00] [ 3.21131623e-03 7.43006443e-05 9.99994841e-01 -3.38151328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.980281693 meters 0.03530459612403885 Centerline is valid? [True, True] Translation: X:128.05, Y:1.74, Z:-0.04 [[ 9.99949896e-01 -8.97475580e-03 -4.43379811e-03 1.28048856e+02] [ 8.97416398e-03 9.99959720e-01 -1.53356517e-04 1.74010624e+00] [ 4.43499585e-03 1.13559202e-04 9.99990159e-01 -3.52646178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.040281693 meters 0.0387844526372424 Centerline is valid? [True, True] Translation: X:128.11, Y:1.75, Z:-0.04 [[ 9.99971032e-01 -6.41889235e-03 -4.09057214e-03 1.28108053e+02] [ 6.41836687e-03 9.99979392e-01 -1.41577010e-04 1.75302349e+00] [ 4.09139661e-03 1.15318116e-04 9.99991624e-01 -3.52032941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.100281693 meters 0.03650931899999567 Centerline is valid? [True, True] Translation: X:128.17, Y:1.76, Z:-0.04 [[ 9.99969203e-01 -5.96494396e-03 -5.10017895e-03 1.28166237e+02] [ 5.96411665e-03 9.99982199e-01 -1.77406167e-04 1.76296988e+00] [ 5.10114638e-03 1.46982641e-04 9.99986978e-01 -3.56334940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.160281693 meters 0.03721090045853179 Centerline is valid? [True, True] Translation: X:128.22, Y:1.77, Z:-0.04 [[ 9.99958700e-01 -8.04665471e-03 -4.22479003e-03 1.28224482e+02] [ 8.04610511e-03 9.99967619e-01 -1.47068084e-04 1.77262014e+00] [ 4.22583663e-03 1.13068906e-04 9.99991065e-01 -3.51489653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.220281693 meters 0.031830402517519125 Centerline is valid? [True, True] Translation: X:128.28, Y:1.78, Z:-0.03 [[ 9.99933901e-01 -1.13632132e-02 -1.75255749e-03 1.28284387e+02] [ 1.13631237e-02 9.99935436e-01 -6.10270277e-05 1.77521667e+00] [ 1.75313780e-03 4.11084663e-05 9.99998462e-01 -2.96420219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.280281693 meters 0.03194473647527871 Centerline is valid? [True, True] Translation: X:128.34, Y:1.79, Z:-0.03 [[ 9.99925750e-01 -1.19547667e-02 -2.36158749e-03 1.28344290e+02] [ 1.19546061e-02 9.99928538e-01 -8.21193505e-05 1.78622475e+00] [ 2.36240045e-03 5.38814050e-05 9.99997208e-01 -3.05110150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.340281693 meters 0.02819774561103656 Centerline is valid? [True, True] Translation: X:128.40, Y:1.79, Z:-0.03 [[ 9.99878671e-01 -1.53730486e-02 -2.51255579e-03 1.28404169e+02] [ 1.53728773e-02 9.99881827e-01 -8.74860233e-05 1.79319291e+00] [ 2.51360380e-03 4.88501968e-05 9.99996840e-01 -3.03224157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.400281693 meters 0.025904950943171343 Centerline is valid? [True, True] Translation: X:128.46, Y:1.80, Z:-0.03 [[ 9.99823667e-01 -1.84489602e-02 -3.50305685e-03 1.28463942e+02] [ 1.84486461e-02 9.99829802e-01 -1.21957599e-04 1.79710708e+00] [ 3.50471062e-03 5.73094379e-05 9.99993857e-01 -3.26559536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.460281693 meters 0.020516759677173594 Centerline is valid? [True, True] Translation: X:128.52, Y:1.80, Z:-0.03 [[ 9.99703995e-01 -2.40279195e-02 -3.81852188e-03 1.28524213e+02] [ 2.40275868e-02 9.99711287e-01 -1.32987007e-04 1.79762431e+00] [ 3.82061483e-03 4.11977756e-05 9.99992701e-01 -3.37481242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.520281693 meters 0.015331371294911387 Centerline is valid? [True, True] Translation: X:128.58, Y:1.79, Z:-0.03 [[ 9.99506657e-01 -3.13071103e-02 -2.51133739e-03 1.28584717e+02] [ 3.13069894e-02 9.99509812e-01 -8.74593741e-05 1.79375983e+00] [ 2.51284446e-03 8.79381374e-06 9.99996843e-01 -3.13537357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.580281693 meters 0.014676694058641141 Centerline is valid? [True, True] Translation: X:128.65, Y:1.79, Z:-0.03 [[ 9.99390780e-01 -3.47901703e-02 -2.77729694e-03 1.28645303e+02] [ 3.47900359e-02 9.99394639e-01 -9.67216326e-05 1.79324637e+00] [ 2.77898063e-03 4.04477039e-08 9.99996139e-01 -3.09472270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.640281693 meters 0.015838091869625318 Centerline is valid? [True, True] Translation: X:128.71, Y:1.79, Z:-0.03 [[ 9.99195483e-01 -3.99788222e-02 -3.17504155e-03 1.28706170e+02] [ 3.99786727e-02 9.99200527e-01 -1.10573413e-04 1.78621676e+00] [ 3.17692379e-03 -1.64494920e-05 9.99994953e-01 -3.07093432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.700281693 meters 0.01932111714601209 Centerline is valid? [True, True] Translation: X:128.77, Y:1.78, Z:-0.03 [[ 9.99026297e-01 -4.40311128e-02 -2.77840880e-03 1.28766172e+02] [ 4.40310138e-02 9.99030160e-01 -9.67964522e-05 1.77672109e+00] [ 2.77997624e-03 -2.56339552e-05 9.99996136e-01 -3.12633536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.760281693 meters 0.02236366039109678 Centerline is valid? [True, True] Translation: X:128.83, Y:1.77, Z:-0.03 [[ 9.98798755e-01 -4.89761773e-02 -1.54311866e-03 1.28825986e+02] [ 4.89761526e-02 9.98799947e-01 -5.38005584e-05 1.76639915e+00] [ 1.54390178e-03 -2.18400843e-05 9.99998808e-01 -2.89938773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.820281693 meters 0.025045958530484396 Centerline is valid? [True, True] Translation: X:128.89, Y:1.76, Z:-0.03 [[ 9.98673569e-01 -5.12393020e-02 -5.06321258e-03 1.28886195e+02] [ 5.12390649e-02 9.98686401e-01 -1.76622508e-04 1.75692205e+00] [ 5.06561156e-03 -8.30460480e-05 9.99987166e-01 -3.49747206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.880281693 meters 0.023059681078411994 Centerline is valid? [True, True] Translation: X:128.95, Y:1.75, Z:-0.03 [[ 9.98718974e-01 -5.05146998e-02 -2.94541626e-03 1.28945473e+02] [ 5.05146148e-02 9.98723317e-01 -1.03273699e-04 1.75493082e+00] [ 2.94687274e-03 -4.56451658e-05 9.99995657e-01 -3.03275492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.940281693 meters 0.020931320805770405 Centerline is valid? [True, True] Translation: X:129.00, Y:1.76, Z:-0.03 [[ 9.98830684e-01 -4.83067504e-02 -1.92936596e-03 1.29004430e+02] [ 4.83067092e-02 9.98832547e-01 -6.79812936e-05 1.75578815e+00] [ 1.93039748e-03 -2.52995185e-05 9.99998136e-01 -2.83782180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.000281693 meters 0.019536954506640506 Centerline is valid? [True, True] Translation: X:129.06, Y:1.76, Z:-0.03 [[ 9.98919947e-01 -4.64023351e-02 -2.40052591e-03 1.29064407e+02] [ 4.64022658e-02 9.98922831e-01 -8.45764503e-05 1.75873196e+00] [ 2.40186469e-03 -2.69047384e-05 9.99997115e-01 -2.87462739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.060281693 meters 0.017705226112835877 Centerline is valid? [True, True] Translation: X:129.12, Y:1.76, Z:-0.03 [[ 9.99051238e-01 -4.35311282e-02 -1.29052202e-03 1.29123546e+02] [ 4.35311057e-02 9.99052071e-01 -4.55016136e-05 1.76150238e+00] [ 1.29127943e-03 -1.07194070e-05 9.99999166e-01 -2.67121475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.120281693 meters 0.018309670451675784 Centerline is valid? [True, True] Translation: X:129.18, Y:1.76, Z:-0.03 [[ 9.99018384e-01 -4.41808448e-02 -3.21275555e-03 1.29183167e+02] [ 4.41807087e-02 9.99023549e-01 -1.13337191e-04 1.75819387e+00] [ 3.21462578e-03 -2.87158800e-05 9.99994833e-01 -3.08071432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.180281693 meters 0.01739089515094766 Centerline is valid? [True, True] Translation: X:129.24, Y:1.76, Z:-0.03 [[ 9.99075931e-01 -4.26068874e-02 -5.65126787e-03 1.29241660e+02] [ 4.26064359e-02 9.99091913e-01 -2.00306763e-04 1.75784594e+00] [ 5.65467048e-03 -4.06587164e-05 9.99984011e-01 -3.46538141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24028169300001 meters 0.016415391849599514 Centerline is valid? [True, True] Translation: X:129.30, Y:1.76, Z:-0.03 [[ 9.99153901e-01 -4.09358382e-02 -3.96737498e-03 1.29299887e+02] [ 4.09355999e-02 9.99161777e-01 -1.41268585e-04 1.76080893e+00] [ 3.96983238e-03 -2.12578177e-05 9.99992120e-01 -3.16172441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.300281693 meters 0.014772874294790397 Centerline is valid? [True, True] Translation: X:129.36, Y:1.77, Z:-0.03 [[ 9.99320068e-01 -3.67460795e-02 -3.02128093e-03 1.29358657e+02] [ 3.67459207e-02 9.99324635e-01 -1.08073158e-04 1.76759176e+00] [ 3.02321173e-03 -3.02007419e-06 9.99995430e-01 -2.82543772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.360281693 meters 0.01538212319383854 Centerline is valid? [True, True] Translation: X:129.42, Y:1.77, Z:-0.03 [[ 9.99404175e-01 -3.41837798e-02 -4.77125072e-03 1.29416975e+02] [ 3.41833541e-02 9.99415564e-01 -1.70756201e-04 1.77448576e+00] [ 4.77429933e-03 7.55710727e-06 9.99988603e-01 -3.27769636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.420281693 meters 0.01541419061007696 Centerline is valid? [True, True] Translation: X:129.47, Y:1.78, Z:-0.03 [[ 9.99403872e-01 -3.42239852e-02 -4.54081457e-03 1.29474747e+02] [ 3.42235989e-02 9.99414188e-01 -1.62768807e-04 1.77659566e+00] [ 4.54372510e-03 7.26875978e-06 9.99989677e-01 -3.23336140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.480281693 meters 0.014505979610897094 Centerline is valid? [True, True] Translation: X:129.53, Y:1.78, Z:-0.02 [[ 9.99388848e-01 -3.49488046e-02 -7.15851737e-04 1.29534016e+02] [ 3.49487951e-02 9.99389104e-01 -2.58157893e-05 1.77885581e+00] [ 7.16316656e-04 7.81856222e-07 9.99999743e-01 -2.38388340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.540281693 meters 0.014675962924359654 Centerline is valid? [True, True] Translation: X:129.59, Y:1.78, Z:-0.02 [[ 9.99404040e-01 -3.45176745e-02 -3.08124778e-04 1.29593643e+02] [ 3.45176727e-02 9.99404088e-01 -1.10892716e-05 1.78310047e+00] [ 3.08323938e-04 4.46912632e-07 9.99999952e-01 -2.33719110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.600281693 meters 0.01489728898023928 Centerline is valid? [True, True] Translation: X:129.65, Y:1.79, Z:-0.03 [[ 9.99426731e-01 -3.37928094e-02 -2.06293086e-03 1.29654061e+02] [ 3.37927282e-02 9.99428860e-01 -7.42454855e-05 1.78762665e+00] [ 2.06426161e-03 4.49086091e-06 9.99997869e-01 -2.54390072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.660281693 meters 0.015087822698982591 Centerline is valid? [True, True] Translation: X:129.71, Y:1.79, Z:-0.03 [[ 9.99448404e-01 -3.31526122e-02 -1.94733949e-03 1.29713436e+02] [ 3.31525385e-02 9.99450301e-01 -7.01379327e-05 1.79016397e+00] [ 1.94859429e-03 5.53999752e-06 9.99998101e-01 -2.53516856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.720281693 meters 0.015768763106766042 Centerline is valid? [True, True] Translation: X:129.77, Y:1.80, Z:-0.03 [[ 9.99480246e-01 -3.21998532e-02 -1.55135978e-03 1.29772786e+02] [ 3.21998053e-02 9.99481450e-01 -5.58910784e-05 1.79760551e+00] [ 1.55235500e-03 5.90854606e-06 9.99998795e-01 -2.59917786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.780281693 meters 0.01620635340480592 Centerline is valid? [True, True] Translation: X:129.83, Y:1.81, Z:-0.03 [[ 9.99513472e-01 -3.08667706e-02 -4.47905516e-03 1.29833412e+02] [ 3.08663575e-02 9.99523507e-01 -1.61356268e-04 1.80516766e+00] [ 4.48190147e-03 2.30256457e-05 9.99989956e-01 -2.96198574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.840281693 meters 0.01768980641559997 Centerline is valid? [True, True] Translation: X:129.89, Y:1.82, Z:-0.03 [[ 9.99583551e-01 -2.87143649e-02 -2.86512552e-03 1.29891619e+02] [ 2.87141866e-02 9.99587657e-01 -1.03328473e-04 1.81792880e+00] [ 2.86691112e-03 2.10156926e-05 9.99995890e-01 -2.71569236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.900281693 meters 0.0177881111190556 Centerline is valid? [True, True] Translation: X:129.95, Y:1.83, Z:-0.02 [[ 9.99624236e-01 -2.73815283e-02 -1.28001251e-03 1.29951125e+02] [ 2.73814915e-02 9.99625056e-01 -4.61958021e-05 1.82566857e+00] [ 1.28079748e-03 1.11297918e-05 9.99999180e-01 -2.48538546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.960281693 meters 0.017162735887253092 Centerline is valid? [True, True] Translation: X:130.01, Y:1.83, Z:-0.02 [[ 9.99580413e-01 -2.89475793e-02 -1.01727417e-03 1.30010892e+02] [ 2.89475570e-02 9.99580931e-01 -3.67070244e-05 1.83352947e+00] [ 1.01791045e-03 7.24402055e-06 9.99999482e-01 -2.36901071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.020281693 meters 0.016627585938440673 Centerline is valid? [True, True] Translation: X:130.07, Y:1.84, Z:-0.02 [[ 9.99558697e-01 -2.96912408e-02 -9.17385344e-04 1.30071149e+02] [ 2.96912229e-02 9.99559118e-01 -3.31026650e-05 1.83649976e+00] [ 9.17963744e-04 5.84976398e-06 9.99999579e-01 -2.33335622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.080281693 meters 0.016300149501913164 Centerline is valid? [True, True] Translation: X:130.13, Y:1.84, Z:-0.02 [[ 9.99528580e-01 -3.06954104e-02 -6.39821916e-04 1.30131316e+02] [ 3.06954020e-02 9.99528785e-01 -2.30488672e-05 1.84424961e+00] [ 6.40227917e-04 3.39841063e-06 9.99999795e-01 -2.27832568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.140281693 meters 0.014965087021720374 Centerline is valid? [True, True] Translation: X:130.19, Y:1.85, Z:-0.02 [[ 9.99445974e-01 -3.32794709e-02 -4.71905940e-04 1.30192182e+02] [ 3.32794666e-02 9.99446085e-01 -1.69906592e-05 1.84800012e+00] [ 4.72209984e-04 1.27646794e-06 9.99999889e-01 -2.35703519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.200281693 meters 0.014779095421701813 Centerline is valid? [True, True] Translation: X:130.25, Y:1.85, Z:-0.02 [[ 9.99305765e-01 -3.72329619e-02 -1.30158782e-03 1.30253944e+02] [ 3.72329325e-02 9.99306613e-01 -4.68456134e-05 1.84960217e+00] [ 1.30242951e-03 -1.64883984e-06 9.99999152e-01 -2.48737009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.260281693 meters 0.019526829930426627 Centerline is valid? [True, True] Translation: X:130.31, Y:1.84, Z:-0.03 [[ 9.98895233e-01 -4.69448872e-02 -2.11912720e-03 1.30314343e+02] [ 4.69448310e-02 9.98897481e-01 -7.62832515e-05 1.83902737e+00] [ 2.12037193e-03 -2.32830921e-05 9.99997752e-01 -2.72207531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.320281693 meters 0.025723671236197065 Centerline is valid? [True, True] Translation: X:130.38, Y:1.83, Z:-0.02 [[ 9.98350822e-01 -5.73942624e-02 1.23853339e-03 1.30375306e+02] [ 5.73942512e-02 9.98351590e-01 4.45942376e-05 1.82712051e+00] [-1.23905123e-03 2.65640027e-05 9.99999232e-01 -2.21120767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.380281693 meters 0.03438264230867601 Centerline is valid? [True, True] Translation: X:130.43, Y:1.81, Z:-0.02 [[ 9.98078139e-01 -6.19496286e-02 1.50734548e-03 1.30434761e+02] [ 6.19496172e-02 9.98079276e-01 5.43058378e-05 1.81338218e+00] [-1.50781451e-03 3.91780058e-05 9.99998862e-01 -2.11695517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.440281693 meters 0.03578886380675091 Centerline is valid? [True, True] Translation: X:130.49, Y:1.81, Z:-0.03 [[ 9.97891498e-01 -6.48781251e-02 -1.84047849e-03 1.30494716e+02] [ 6.48781129e-02 9.97893194e-01 -6.63679314e-05 1.80753007e+00] [ 1.84090679e-03 -5.31787769e-05 9.99998304e-01 -2.75709836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.500281693 meters 0.03409137923535426 Centerline is valid? [True, True] Translation: X:130.55, Y:1.81, Z:-0.03 [[ 9.97869127e-01 -6.52050354e-02 -2.34693863e-03 1.30553143e+02] [ 6.52050155e-02 9.97871885e-01 -8.50660443e-05 1.80600507e+00] [ 2.34749081e-03 -6.81473907e-05 9.99997242e-01 -2.76974841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.560281693 meters 0.03815234840553167 Centerline is valid? [True, True] Translation: X:130.61, Y:1.80, Z:-0.02 [[ 9.97788043e-01 -6.64751132e-02 2.85043520e-04 1.30611744e+02] [ 6.64751129e-02 9.97788083e-01 1.03211022e-05 1.79688911e+00] [-2.85099124e-04 8.65002782e-06 9.99999959e-01 -2.25395064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.620281693 meters 0.03899461790434911 Centerline is valid? [True, True] Translation: X:130.67, Y:1.79, Z:-0.02 [[ 9.97583874e-01 -6.94723672e-02 -6.00913542e-05 1.30671254e+02] [ 6.94723672e-02 9.97583876e-01 -2.19421999e-06 1.78639034e+00] [ 6.00986037e-05 -1.98577015e-06 9.99999998e-01 -2.43562329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.680281693 meters 0.041693802819924845 Centerline is valid? [True, True] Translation: X:130.73, Y:1.77, Z:-0.02 [[ 9.97555224e-01 -6.98815054e-02 -3.87564225e-04 1.30729129e+02] [ 6.98815052e-02 9.97555299e-01 -1.41163000e-05 1.77353111e+00] [ 3.87603214e-04 -1.30017825e-05 9.99999925e-01 -2.39962352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74028169300001 meters 0.038036605708672455 Centerline is valid? [True, True] Translation: X:130.79, Y:1.77, Z:-0.02 [[ 9.97755605e-01 -6.68943212e-02 2.98359599e-03 1.30789160e+02] [ 6.68942953e-02 9.97760062e-01 1.08579060e-04 1.76706745e+00] [-2.98417624e-03 9.12501855e-05 9.99995543e-01 -1.74870441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.800281693 meters 0.0369656003809491 Centerline is valid? [True, True] Translation: X:130.85, Y:1.76, Z:-0.02 [[ 9.97902571e-01 -6.47241879e-02 1.11317913e-03 1.30847044e+02] [ 6.47241829e-02 9.97903191e-01 4.05568971e-05 1.76204098e+00] [-1.11347002e-03 3.15777779e-05 9.99999380e-01 -2.14972753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.860281693 meters 0.03003040210694991 Centerline is valid? [True, True] Translation: X:130.91, Y:1.76, Z:-0.02 [[ 9.98333182e-01 -5.76956668e-02 1.43777469e-03 1.30907646e+02] [ 5.76956511e-02 9.98334217e-01 5.24103496e-05 1.76235166e+00] [-1.43840352e-03 3.06303557e-05 9.99998965e-01 -1.92428063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.920281693 meters 0.01956616459166561 Centerline is valid? [True, True] Translation: X:130.97, Y:1.78, Z:-0.02 [[ 9.98923113e-01 -4.63942282e-02 4.36196414e-04 1.30967606e+02] [ 4.63942257e-02 9.98923208e-01 1.59008288e-05 1.77675127e+00] [-4.36464428e-04 4.35328954e-06 9.99999905e-01 -2.20866100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.980281693 meters 0.0156894723228708 Centerline is valid? [True, True] Translation: X:131.02, Y:1.80, Z:-0.02 [[ 9.99418820e-01 -3.40736976e-02 -1.00309519e-03 1.31024654e+02] [ 3.40736780e-02 9.99419323e-01 -3.66434752e-05 1.79529050e+00] [ 1.00376129e-03 2.44303617e-06 9.99999496e-01 -2.42446841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.040281693 meters 0.019699489186568265 Centerline is valid? [True, True] Translation: X:131.08, Y:1.81, Z:-0.02 [[ 9.99629232e-01 -2.72251738e-02 -4.33347719e-04 1.31083791e+02] [ 2.72251695e-02 9.99629326e-01 -1.58390023e-05 1.80827078e+00] [ 4.33618308e-04 4.03516460e-06 9.99999906e-01 -2.41525627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.100281693 meters 0.024456523526669785 Centerline is valid? [True, True] Translation: X:131.14, Y:1.82, Z:-0.03 [[ 9.99751228e-01 -2.22096091e-02 -2.05320273e-03 1.31143042e+02] [ 2.22095018e-02 9.99753336e-01 -7.50625203e-05 1.81756847e+00] [ 2.05436339e-03 2.94432370e-05 9.99997889e-01 -2.72721022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.160281693 meters 0.02337883993788777 Centerline is valid? [True, True] Translation: X:131.20, Y:1.82, Z:-0.03 [[ 9.99734865e-01 -2.28804461e-02 -2.58550739e-03 1.31202855e+02] [ 2.28802780e-02 9.99738208e-01 -9.45792648e-05 1.81808860e+00] [ 2.58699454e-03 3.53970608e-05 9.99996653e-01 -2.86132179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.220281693 meters 0.021936181357604913 Centerline is valid? [True, True] Translation: X:131.26, Y:1.82, Z:-0.03 [[ 9.99727972e-01 -2.32682828e-02 -1.60311688e-03 1.31262390e+02] [ 2.32682186e-02 9.99729257e-01 -5.86838550e-05 1.81645402e+00] [ 1.60404832e-03 2.13662173e-05 9.99998713e-01 -2.64566024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.280281693 meters 0.02279382677063103 Centerline is valid? [True, True] Translation: X:131.32, Y:1.82, Z:-0.02 [[ 9.99747711e-01 -2.24534005e-02 -6.00091659e-04 1.31322345e+02] [ 2.24533914e-02 9.99747891e-01 -2.19860094e-05 1.82055484e+00] [ 6.00434030e-04 8.50636972e-06 9.99999820e-01 -2.46621524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.340281693 meters 0.025998493753061774 Centerline is valid? [True, True] Translation: X:131.38, Y:1.83, Z:-0.02 [[ 9.99822124e-01 -1.87856457e-02 1.67928295e-03 1.31381758e+02] [ 1.87855688e-02 9.99823534e-01 6.15337873e-05 1.83039702e+00] [-1.68014257e-03 -2.99765565e-05 9.99998588e-01 -2.05201851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.400281693 meters 0.0287393967272295 Centerline is valid? [True, True] Translation: X:131.44, Y:1.84, Z:-0.02 [[ 9.99856000e-01 -1.68587042e-02 1.93971870e-03 1.31441387e+02] [ 1.68585982e-02 9.99857881e-01 7.09942781e-05 1.84014511e+00] [-1.94063990e-03 -3.82831168e-05 9.99998116e-01 -2.02368687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.460281693 meters 0.027313265584173407 Centerline is valid? [True, True] Translation: X:131.50, Y:1.85, Z:-0.02 [[ 9.99825798e-01 -1.86621229e-02 3.15628280e-04 1.31502244e+02] [ 1.86621202e-02 9.99825847e-01 1.15491817e-05 1.84514108e+00] [-3.15788845e-04 -5.65687689e-06 9.99999950e-01 -2.43224882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.520281693 meters 0.024283694282551452 Centerline is valid? [True, True] Translation: X:131.56, Y:1.85, Z:-0.03 [[ 9.99768306e-01 -2.15209889e-02 -4.24956568e-04 1.31562463e+02] [ 2.15209842e-02 9.99768397e-01 -1.55444002e-05 1.84815565e+00] [ 4.25192678e-04 6.39531507e-06 9.99999910e-01 -2.50353056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.580281693 meters 0.025538882072632905 Centerline is valid? [True, True] Translation: X:131.62, Y:1.86, Z:-0.03 [[ 9.99818124e-01 -1.90272094e-02 -1.29750753e-03 1.31622610e+02] [ 1.90271638e-02 9.99818966e-01 -4.74612652e-05 1.85972755e+00] [ 1.29817570e-03 2.27647448e-05 9.99999157e-01 -2.54253782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.640281693 meters 0.032356690990086284 Centerline is valid? [True, True] Translation: X:131.68, Y:1.89, Z:-0.03 [[ 9.99904620e-01 -1.37598644e-02 -1.19059322e-03 1.31681010e+02] [ 1.37598223e-02 9.99905328e-01 -4.35684398e-05 1.88669711e+00] [ 1.19108000e-03 2.71819332e-05 9.99999290e-01 -2.58412488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.700281693 meters 0.031802400363079464 Centerline is valid? [True, True] Translation: X:131.74, Y:1.90, Z:-0.03 [[ 9.99907653e-01 -1.34370814e-02 -2.03242270e-03 1.31741281e+02] [ 1.34369580e-02 9.99909717e-01 -7.43398753e-05 1.90366132e+00] [ 2.03323812e-03 4.70234317e-05 9.99997932e-01 -2.79621428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.760281693 meters 0.029329174031680408 Centerline is valid? [True, True] Translation: X:131.80, Y:1.92, Z:-0.03 [[ 9.99863858e-01 -1.64006065e-02 -1.81270728e-03 1.31800775e+02] [ 1.64005133e-02 9.99865500e-01 -6.62821908e-05 1.91913778e+00] [ 1.81355054e-03 3.65438371e-05 9.99998355e-01 -2.71346579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.820281693 meters 0.025456888110943637 Centerline is valid? [True, True] Translation: X:131.86, Y:1.93, Z:-0.02 [[ 9.99797778e-01 -2.01091506e-02 1.57500279e-04 1.31861122e+02] [ 2.01091500e-02 9.99797791e-01 5.75938904e-06 1.92581944e+00] [-1.57584247e-04 -2.59102764e-06 9.99999988e-01 -2.32492998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.880281693 meters 0.021954918677289246 Centerline is valid? [True, True] Translation: X:131.92, Y:1.93, Z:-0.02 [[ 9.99705263e-01 -2.42523484e-02 1.10064792e-03 1.31921598e+02] [ 2.42523188e-02 9.99705868e-01 4.02394150e-05 1.93028470e+00] [-1.10130008e-03 -1.35342907e-05 9.99999393e-01 -2.20118222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.940281693 meters 0.018377200174348646 Centerline is valid? [True, True] Translation: X:131.98, Y:1.93, Z:-0.02 [[ 9.99592357e-01 -2.84948187e-02 1.77921898e-03 1.31983280e+02] [ 2.84947482e-02 9.99593940e-01 6.49934122e-05 1.93218820e+00] [-1.78034849e-03 -1.42685212e-05 9.99998415e-01 -2.13007649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.000281693 meters 0.01556230151624478 Centerline is valid? [True, True] Translation: X:132.05, Y:1.93, Z:-0.02 [[ 9.99327885e-01 -3.66542833e-02 4.90784588e-04 1.32045334e+02] [ 3.66542789e-02 9.99328006e-01 1.79205420e-05 1.92693234e+00] [-4.91111648e-04 8.08578402e-08 9.99999879e-01 -2.47060462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.060281693 meters 0.01865999894181139 Centerline is valid? [True, True] Translation: X:132.11, Y:1.92, Z:-0.02 [[ 9.98976203e-01 -4.52180405e-02 1.36929155e-03 1.32105539e+02] [ 4.52180145e-02 9.98977141e-01 4.99704522e-05 1.91947264e+00] [-1.37015052e-03 1.19973525e-05 9.99999061e-01 -2.26436542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.120281693 meters 0.023187609260242905 Centerline is valid? [True, True] Translation: X:132.17, Y:1.91, Z:-0.02 [[ 9.98692344e-01 -5.10800735e-02 2.10452113e-03 1.32167483e+02] [ 5.10800251e-02 9.98694560e-01 7.67618316e-05 1.91170639e+00] [-2.10569480e-03 3.08375384e-05 9.99997783e-01 -2.20571765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.180281693 meters 0.024458422418904644 Centerline is valid? [True, True] Translation: X:132.23, Y:1.91, Z:-0.03 [[ 9.98594416e-01 -5.29987907e-02 5.66831877e-04 1.32228217e+02] [ 5.29987875e-02 9.98594576e-01 2.06729317e-05 1.91072256e+00] [-5.67130878e-04 9.39752806e-06 9.99999839e-01 -2.51964013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24028169300001 meters 0.025775379832961826 Centerline is valid? [True, True] Translation: X:132.29, Y:1.91, Z:-0.03 [[ 9.98526995e-01 -5.42071808e-02 -2.32842769e-03 1.32289155e+02] [ 5.42071301e-02 9.98529709e-01 -8.49201121e-05 1.90856842e+00] [ 2.32960750e-03 -4.14223584e-05 9.99997286e-01 -2.95899184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.300281693 meters 0.024243895048288906 Centerline is valid? [True, True] Translation: X:132.35, Y:1.91, Z:-0.03 [[ 9.98583230e-01 -5.32108651e-02 -3.68573334e-04 1.32349257e+02] [ 5.32108637e-02 9.98583298e-01 -1.34588106e-05 1.90940406e+00] [ 3.68767330e-04 -6.17236291e-06 9.99999932e-01 -2.62413361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.360281693 meters 0.022517432272115993 Centerline is valid? [True, True] Translation: X:132.41, Y:1.91, Z:-0.02 [[ 9.98668256e-01 -5.15534629e-02 1.98859180e-03 1.32408707e+02] [ 5.15534205e-02 9.98670236e-01 7.26105896e-05 1.91109600e+00] [-1.98969077e-03 3.00048183e-05 9.99998020e-01 -2.18006923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.420281693 meters 0.019434268442943062 Centerline is valid? [True, True] Translation: X:132.47, Y:1.92, Z:-0.02 [[ 9.98891555e-01 -4.70544942e-02 1.23894772e-03 1.32469153e+02] [ 4.70544743e-02 9.98892324e-01 4.52434440e-05 1.91526532e+00] [-1.23970427e-03 1.31047393e-05 9.99999231e-01 -2.39259982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.480281693 meters 0.016677520924252794 Centerline is valid? [True, True] Translation: X:132.53, Y:1.92, Z:-0.03 [[ 9.99131820e-01 -4.16530774e-02 -7.92092088e-04 1.32529055e+02] [ 4.16530675e-02 9.99132134e-01 -2.89253320e-05 1.92188197e+00] [ 7.92609487e-04 -4.09284561e-06 9.99999686e-01 -2.69866959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.540281693 meters 0.016661561735589515 Centerline is valid? [True, True] Translation: X:132.59, Y:1.94, Z:-0.03 [[ 9.99505548e-01 -3.14393689e-02 -4.74457577e-04 1.32588717e+02] [ 3.14393643e-02 9.99505661e-01 -1.73260700e-05 1.93784570e+00] [ 4.74767755e-04 2.40085849e-06 9.99999887e-01 -2.62744919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.600281693 meters 0.022052554254597966 Centerline is valid? [True, True] Translation: X:132.65, Y:1.95, Z:-0.03 [[ 9.99727881e-01 -2.32662365e-02 -1.68714714e-03 1.32648406e+02] [ 2.32661656e-02 9.99729304e-01 -6.16342625e-05 1.95170084e+00] [ 1.68812443e-03 2.23640459e-05 9.99998575e-01 -2.93014665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.660281693 meters 0.026336422207717102 Centerline is valid? [True, True] Translation: X:132.71, Y:1.96, Z:-0.03 [[ 9.99819088e-01 -1.89995601e-02 -8.98345537e-04 1.32708271e+02] [ 1.89995383e-02 9.99819492e-01 -3.28014475e-05 1.96367580e+00] [ 8.98806591e-04 1.57273629e-05 9.99999596e-01 -2.76470386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.720281693 meters 0.024692469588959112 Centerline is valid? [True, True] Translation: X:132.77, Y:1.97, Z:-0.03 [[ 9.99807615e-01 -1.95853415e-02 -1.07151173e-03 1.32769593e+02] [ 1.95853109e-02 9.99808189e-01 -3.90954855e-05 1.96574503e+00] [ 1.07207190e-03 1.81020738e-05 9.99999425e-01 -2.92262972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.780281693 meters 0.024631649274943473 Centerline is valid? [True, True] Translation: X:132.83, Y:1.97, Z:-0.03 [[ 9.99799041e-01 -1.99217178e-02 -2.23664717e-03 1.32831001e+02] [ 1.99215852e-02 9.99801542e-01 -8.15632037e-05 1.97032841e+00] [ 2.23782817e-03 3.69892556e-05 9.99997495e-01 -3.09676341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.840281693 meters 0.02707111367388924 Centerline is valid? [True, True] Translation: X:132.89, Y:1.98, Z:-0.02 [[ 9.99825450e-01 -1.86476239e-02 1.15591515e-03 1.32891275e+02] [ 1.86475877e-02 9.99826118e-01 4.21275932e-05 1.97962192e+00] [-1.15649973e-03 -2.05652107e-05 9.99999331e-01 -2.46719701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.900281693 meters 0.02774548888232839 Centerline is valid? [True, True] Translation: X:132.95, Y:1.98, Z:-0.03 [[ 9.99854082e-01 -1.70762474e-02 4.65325827e-04 1.32952250e+02] [ 1.70762413e-02 9.99854190e-01 1.69511483e-05 1.98456211e+00] [-4.65547440e-04 -9.00265873e-06 9.99999892e-01 -2.72437256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.960281693 meters 0.03119008675011593 Centerline is valid? [True, True] Translation: X:133.01, Y:1.99, Z:-0.03 [[ 9.99888668e-01 -1.47885485e-02 -1.98736173e-03 1.33011863e+02] [ 1.47884342e-02 9.99890643e-01 -7.22291599e-05 1.99484346e+00] [ 1.98821256e-03 4.28311505e-05 9.99998023e-01 -3.08978546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.020281693 meters 0.03568173737249573 Centerline is valid? [True, True] Translation: X:133.07, Y:2.01, Z:-0.03 [[ 9.99940074e-01 -1.08528288e-02 -1.43658855e-03 1.33072350e+02] [ 1.08527650e-02 9.99941106e-01 -5.22058864e-05 2.00922011e+00] [ 1.43707052e-03 3.66118000e-05 9.99998967e-01 -2.99916706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.080281693 meters 0.03562159990205105 Centerline is valid? [True, True] Translation: X:133.13, Y:2.02, Z:-0.03 [[ 9.99943697e-01 -1.05884884e-02 6.97855215e-04 1.33133740e+02] [ 1.05884733e-02 9.99943940e-01 2.53540931e-05 2.01585038e+00] [-6.98084555e-04 -1.79634443e-05 9.99999756e-01 -2.57275590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.140281693 meters 0.0321613142873526 Centerline is valid? [True, True] Translation: X:133.19, Y:2.02, Z:-0.03 [[ 9.99891356e-01 -1.46947708e-02 1.15776902e-03 1.33194630e+02] [ 1.46947319e-02 9.99892026e-01 4.20321945e-05 2.01912514e+00] [-1.15826166e-03 -2.50145226e-05 9.99999329e-01 -2.53436724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.200281693 meters 0.028901697848672987 Centerline is valid? [True, True] Translation: X:133.26, Y:2.02, Z:-0.02 [[ 9.99848844e-01 -1.71136415e-02 3.06793301e-03 1.33255726e+02] [ 1.71133806e-02 9.99853549e-01 1.11298971e-04 2.02241226e+00] [-3.06938844e-03 -5.87794419e-05 9.99995288e-01 -2.11892922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.260281693 meters 0.0277282570757753 Centerline is valid? [True, True] Translation: X:133.32, Y:2.03, Z:-0.02 [[ 9.99851479e-01 -1.71482688e-02 1.71979869e-03 1.33317926e+02] [ 1.71481869e-02 9.99852957e-01 6.23239952e-05 2.03042013e+00] [-1.72061456e-03 -3.28233092e-05 9.99998519e-01 -2.46386280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.320281693 meters 0.027769659655509617 Centerline is valid? [True, True] Translation: X:133.38, Y:2.03, Z:-0.03 [[ 9.99820373e-01 -1.89358258e-02 -8.10115757e-04 1.33378587e+02] [ 1.89358082e-02 9.99820701e-01 -2.93112429e-05 2.03474260e+00] [ 8.10525537e-04 1.39657811e-05 9.99999671e-01 -3.02335371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.380281693 meters 0.020923252104000523 Centerline is valid? [True, True] Translation: X:133.44, Y:2.02, Z:-0.04 [[ 9.99661391e-01 -2.58194875e-02 -3.23388159e-03 1.33440635e+02] [ 2.58192442e-02 9.99666621e-01 -1.16946779e-04 2.02452120e+00] [ 3.23582299e-03 3.34108011e-05 9.99994764e-01 -3.60698659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.440281693 meters 0.0159285186531396 Centerline is valid? [True, True] Translation: X:133.50, Y:2.01, Z:-0.03 [[ 9.99429329e-01 -3.37713322e-02 7.16851396e-04 1.33501624e+02] [ 3.37713223e-02 9.99429586e-01 2.59076260e-05 2.01275864e+00] [-7.17317429e-04 -1.68382178e-06 9.99999743e-01 -2.72129639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.500281693 meters 0.015752161967996003 Centerline is valid? [True, True] Translation: X:133.56, Y:2.01, Z:-0.03 [[ 9.99391257e-01 -3.48400630e-02 1.81250721e-03 1.33564141e+02] [ 3.48400016e-02 9.99392901e-01 6.54003297e-05 2.00995405e+00] [-1.81368539e-03 -2.21276369e-06 9.99998355e-01 -2.53124675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.560281693 meters 0.016024814891028177 Centerline is valid? [True, True] Translation: X:133.63, Y:2.01, Z:-0.03 [[ 9.99425870e-01 -3.38628506e-02 1.11236868e-03 1.33626273e+02] [ 3.38628270e-02 9.99426489e-01 4.00944385e-05 2.00964606e+00] [-1.11308844e-03 -2.40347085e-06 9.99999381e-01 -2.77338329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.620281693 meters 0.01606817234897846 Centerline is valid? [True, True] Translation: X:133.69, Y:2.01, Z:-0.03 [[ 9.99440794e-01 -3.34111812e-02 1.33848423e-03 1.33689031e+02] [ 3.34111466e-02 9.99441691e-01 4.81827004e-05 2.00656895e+00] [-1.33934678e-03 -3.43546344e-06 9.99999103e-01 -2.69981998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.680281693 meters 0.015979074400788676 Centerline is valid? [True, True] Translation: X:133.75, Y:2.00, Z:-0.03 [[ 9.99355984e-01 -3.58780324e-02 6.20429321e-04 1.33751507e+02] [ 3.58780254e-02 9.99356176e-01 2.23141858e-05 1.99622163e+00] [-6.20830463e-04 -4.00361120e-08 9.99999807e-01 -2.93849275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.740281693 meters 0.01596602143547626 Centerline is valid? [True, True] Translation: X:133.81, Y:1.99, Z:-0.03 [[ 9.99299252e-01 -3.74234764e-02 6.99389021e-04 1.33813725e+02] [ 3.74234680e-02 9.99299496e-01 2.51273995e-05 1.98557662e+00] [-6.99839451e-04 1.06377113e-06 9.99999755e-01 -3.01208139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.800281693 meters 0.0158266136288369 Centerline is valid? [True, True] Translation: X:133.88, Y:1.99, Z:-0.03 [[ 9.99338981e-01 -3.63256437e-02 1.43098861e-03 1.33875204e+02] [ 3.63256074e-02 9.99340006e-01 5.13702678e-05 1.98677963e+00] [-1.43191022e-03 6.45219335e-07 9.99998975e-01 -2.81528092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.860281693 meters 0.01641877289138491 Centerline is valid? [True, True] Translation: X:133.94, Y:1.99, Z:-0.03 [[ 9.99451951e-01 -3.30383816e-02 2.06447798e-03 1.33935825e+02] [ 3.30382991e-02 9.99454084e-01 7.40800549e-05 1.98957011e+00] [-2.06579844e-03 -5.83261434e-06 9.99997866e-01 -2.69725360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.920281693 meters 0.017899091047647423 Centerline is valid? [True, True] Translation: X:134.00, Y:1.99, Z:-0.03 [[ 9.99583533e-01 -2.88523334e-02 -5.50250378e-04 1.33996858e+02] [ 2.88523269e-02 9.99583685e-01 -1.97224125e-05 1.98979804e+00] [ 5.50590338e-04 3.83819503e-06 9.99999848e-01 -3.25959862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.980281693 meters 0.020169122726748884 Centerline is valid? [True, True] Translation: X:134.06, Y:1.99, Z:-0.03 [[ 9.99676493e-01 -2.54267581e-02 6.23989139e-04 1.34056593e+02] [ 2.54267491e-02 9.99676688e-01 2.23582969e-05 1.99388746e+00] [-6.24355894e-04 -6.48504856e-06 9.99999805e-01 -2.99805059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.040281693 meters 0.020852688910402418 Centerline is valid? [True, True] Translation: X:134.12, Y:2.00, Z:-0.03 [[ 9.99712964e-01 -2.38757601e-02 1.98424519e-03 1.34118157e+02] [ 2.38756662e-02 9.99714933e-01 7.09945365e-05 1.99596677e+00] [-1.98537460e-03 -2.35989826e-05 9.99998029e-01 -2.76770758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.100281693 meters 0.02245496860734235 Centerline is valid? [True, True] Translation: X:134.18, Y:2.00, Z:-0.03 [[ 9.99749179e-01 -2.23778251e-02 9.00799068e-04 1.34178646e+02] [ 2.23778052e-02 9.99749585e-01 3.22129496e-05 2.00212168e+00] [-9.01294350e-04 -1.20469639e-05 9.99999594e-01 -2.95728060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.160281693 meters 0.021448368262123402 Centerline is valid? [True, True] Translation: X:134.24, Y:2.00, Z:-0.03 [[ 9.99741893e-01 -2.26692086e-02 1.50158931e-03 1.34239982e+02] [ 2.26691536e-02 9.99743020e-01 5.36559764e-05 2.00304525e+00] [-1.50241978e-03 -1.96023686e-05 9.99998871e-01 -2.92220529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.220281693 meters 0.021228880924334732 Centerline is valid? [True, True] Translation: X:134.30, Y:2.01, Z:-0.03 [[ 9.99714069e-01 -2.37427702e-02 2.83909023e-03 1.34300005e+02] [ 2.37425779e-02 9.99718100e-01 1.01403208e-04 2.00687831e+00] [-2.84069748e-03 -3.39668930e-05 9.99995965e-01 -2.66093490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.280281693 meters 0.01993390242082796 Centerline is valid? [True, True] Translation: X:134.36, Y:2.01, Z:-0.03 [[ 9.99667710e-01 -2.57224871e-02 1.68054423e-03 1.34361125e+02] [ 2.57224227e-02 9.99669122e-01 5.99142275e-05 2.00790127e+00] [-1.68152932e-03 -1.66666496e-05 9.99998586e-01 -2.84159238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.340281693 meters 0.019099055774182676 Centerline is valid? [True, True] Translation: X:134.42, Y:2.01, Z:-0.03 [[ 9.99631115e-01 -2.70112783e-02 2.83295777e-03 1.34422724e+02] [ 2.70111008e-02 9.99635129e-01 1.00896695e-04 2.00929927e+00] [-2.83464945e-03 -2.43381675e-05 9.99995982e-01 -2.71836030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.400281693 meters 0.01878189353079736 Centerline is valid? [True, True] Translation: X:134.48, Y:2.01, Z:-0.02 [[ 9.99600463e-01 -2.79703864e-02 4.07082612e-03 1.34484393e+02] [ 2.79700284e-02 9.99608752e-01 1.44847209e-04 2.00962329e+00] [-4.07328485e-03 -3.09282149e-05 9.99991704e-01 -2.43186957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.460281693 meters 0.017997574102909725 Centerline is valid? [True, True] Translation: X:134.55, Y:2.01, Z:-0.03 [[ 9.99580401e-01 -2.88589404e-02 2.48683564e-03 1.34546578e+02] [ 2.88588098e-02 9.99583494e-01 8.83813849e-05 2.00957127e+00] [-2.48835045e-03 -1.65771834e-05 9.99996904e-01 -2.84607071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.520281693 meters 0.01782262763691459 Centerline is valid? [True, True] Translation: X:134.61, Y:2.01, Z:-0.03 [[ 9.99573966e-01 -2.91463483e-02 1.54140560e-03 1.34607877e+02] [ 2.91462985e-02 9.99575155e-01 5.47440166e-05 2.01077923e+00] [-1.54234633e-03 -9.79442602e-06 9.99998811e-01 -3.04855770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.580281693 meters 0.017157035429913925 Centerline is valid? [True, True] Translation: X:134.67, Y:2.01, Z:-0.03 [[ 9.99511241e-01 -3.12252979e-02 1.50308687e-03 1.34668684e+02] [ 3.12252529e-02 9.99512371e-01 5.33623167e-05 2.00674817e+00] [-1.50402017e-03 -6.40196779e-06 9.99998869e-01 -3.09619336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.640281693 meters 0.016414479776350174 Centerline is valid? [True, True] Translation: X:134.73, Y:2.00, Z:-0.04 [[ 9.99363235e-01 -3.56804256e-02 -1.76871349e-04 1.34730023e+02] [ 3.56804250e-02 9.99363251e-01 -6.26722599e-06 1.99564973e+00] [ 1.76982344e-04 -4.76096798e-08 9.99999984e-01 -3.51840909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.700281693 meters 0.016719024976269956 Centerline is valid? [True, True] Translation: X:134.79, Y:1.99, Z:-0.03 [[ 9.99269128e-01 -3.82218770e-02 5.45695198e-04 1.34790948e+02] [ 3.82218722e-02 9.99269277e-01 1.93574712e-05 1.98744730e+00] [-5.46036325e-04 1.51416872e-06 9.99999851e-01 -3.33182967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.760281693 meters 0.017074813693088175 Centerline is valid? [True, True] Translation: X:134.85, Y:1.98, Z:-0.03 [[ 9.99231937e-01 -3.91713109e-02 1.06953260e-03 1.34851508e+02] [ 3.91712927e-02 9.99232510e-01 3.79321752e-05 1.98251790e+00] [-1.07019759e-03 3.99193342e-06 9.99999427e-01 -3.20321984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.820281693 meters 0.01784643097306477 Centerline is valid? [True, True] Translation: X:134.91, Y:1.97, Z:-0.03 [[ 9.99160387e-01 -4.09681839e-02 3.57767733e-04 1.34911869e+02] [ 4.09681819e-02 9.99160452e-01 1.26886346e-05 1.97447734e+00] [-3.57987200e-04 1.97911247e-06 9.99999936e-01 -3.29302182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.880281693 meters 0.019625266482855393 Centerline is valid? [True, True] Translation: X:134.97, Y:1.97, Z:-0.03 [[ 9.99044303e-01 -4.36379379e-02 2.49202017e-03 1.34971899e+02] [ 4.36378531e-02 9.99047411e-01 8.84052226e-05 1.96556679e+00] [-2.49350412e-03 2.04256760e-05 9.99996891e-01 -2.77606123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.940281693 meters 0.018550152330227502 Centerline is valid? [True, True] Translation: X:135.03, Y:1.97, Z:-0.03 [[ 9.99085466e-01 -4.26555768e-02 2.95508560e-03 1.35032140e+02] [ 4.26554532e-02 9.99089836e-01 1.04836992e-04 1.96649286e+00] [-2.95686788e-03 2.13094008e-05 9.99995628e-01 -2.78140902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.000281693 meters 0.016902023570074188 Centerline is valid? [True, True] Translation: X:135.09, Y:1.97, Z:-0.03 [[ 9.99237213e-01 -3.90111133e-02 1.76783879e-03 1.35092270e+02] [ 3.90110634e-02 9.99238777e-01 6.27172699e-05 1.97410631e+00] [-1.76893974e-03 6.29584133e-06 9.99998435e-01 -2.97016201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.060281693 meters 0.01684718604861879 Centerline is valid? [True, True] Translation: X:135.15, Y:1.99, Z:-0.03 [[ 9.99483112e-01 -3.21405369e-02 7.04056001e-04 1.35151167e+02] [ 3.21405272e-02 9.99483359e-01 2.49766280e-05 1.98984908e+00] [-7.04495020e-04 -2.33498682e-06 9.99999752e-01 -3.14203091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.120281693 meters 0.018600150773128543 Centerline is valid? [True, True] Translation: X:135.21, Y:2.00, Z:-0.03 [[ 9.99603331e-01 -2.81470437e-02 9.61104950e-04 1.35211165e+02] [ 2.81470239e-02 9.99603793e-01 3.40941763e-05 2.00315572e+00] [-9.61683804e-04 -7.02840821e-06 9.99999538e-01 -3.15402048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.180281693 meters 0.02105446202833857 Centerline is valid? [True, True] Translation: X:135.27, Y:2.02, Z:-0.03 [[ 9.99683263e-01 -2.50731349e-02 2.17068447e-03 1.35271348e+02] [ 2.50730268e-02 9.99685619e-01 7.69823265e-05 2.01687176e+00] [-2.17193223e-03 -2.25323135e-05 9.99997641e-01 -2.94196340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.240281693 meters 0.02267910964156494 Centerline is valid? [True, True] Translation: X:135.33, Y:2.03, Z:-0.03 [[ 9.99747774e-01 -2.24246809e-02 1.23391374e-03 1.35332600e+02] [ 2.24246440e-02 9.99748535e-01 4.37272040e-05 2.02995669e+00] [-1.23458403e-03 -1.60460984e-05 9.99999238e-01 -3.29331243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.300281693 meters 0.02340891753749677 Centerline is valid? [True, True] Translation: X:135.39, Y:2.04, Z:-0.03 [[ 9.99760928e-01 -2.18651620e-02 -4.94113975e-05 1.35392418e+02] [ 2.18651619e-02 9.99760929e-01 -1.73603812e-06 2.03717272e+00] [ 4.94375434e-05 6.55234878e-07 9.99999999e-01 -3.46749668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.360281693 meters 0.023250170425867144 Centerline is valid? [True, True] Translation: X:135.45, Y:2.04, Z:-0.04 [[ 9.99771020e-01 -2.13684519e-02 -1.13877102e-03 1.35453448e+02] [ 2.13684199e-02 9.99771668e-01 -4.02677639e-05 2.04403261e+00] [ 1.13937147e-03 1.59248060e-05 9.99999351e-01 -3.60787082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.420281693 meters 0.024160609739849574 Centerline is valid? [True, True] Translation: X:135.51, Y:2.05, Z:-0.03 [[ 9.99803005e-01 -1.98474760e-02 1.68549131e-04 1.35514033e+02] [ 1.98474753e-02 9.99803019e-01 5.96331943e-06 2.05367084e+00] [-1.68634286e-04 -2.61686999e-06 9.99999986e-01 -3.40957216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.480281693 meters 0.024694517689045795 Centerline is valid? [True, True] Translation: X:135.58, Y:2.07, Z:-0.03 [[ 9.99799753e-01 -1.99930466e-02 8.55121781e-04 1.35575145e+02] [ 1.99930281e-02 9.99800119e-01 3.01946800e-05 2.06501392e+00] [-8.55554542e-04 -1.30921599e-05 9.99999634e-01 -3.33854347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.540281693 meters 0.02245869254496697 Centerline is valid? [True, True] Translation: X:135.64, Y:2.07, Z:-0.03 [[ 9.99739816e-01 -2.27835696e-02 1.09980412e-03 1.35635185e+02] [ 2.27835407e-02 9.99740421e-01 3.87919391e-05 2.06942419e+00] [-1.10040245e-03 -1.37244142e-05 9.99999394e-01 -3.24437101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.600281693 meters 0.01952128072093924 Centerline is valid? [True, True] Translation: X:135.70, Y:2.07, Z:-0.03 [[ 9.99655292e-01 -2.62453486e-02 6.91285158e-04 1.35696711e+02] [ 2.62453380e-02 9.99655531e-01 2.43723066e-05 2.06741013e+00] [-6.91686692e-04 -6.22089270e-06 9.99999761e-01 -3.36768418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.660281693 meters 0.016978800357002808 Centerline is valid? [True, True] Translation: X:135.76, Y:2.06, Z:-0.03 [[ 9.99500951e-01 -3.15870103e-02 3.32131516e-04 1.35757114e+02] [ 3.15870082e-02 9.99501006e-01 1.17061131e-05 2.06410657e+00] [-3.32335545e-04 -1.20923024e-06 9.99999945e-01 -3.43740028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.720281693 meters 0.016937612443144425 Centerline is valid? [True, True] Translation: X:135.82, Y:2.06, Z:-0.03 [[ 9.99259529e-01 -3.84522577e-02 1.34803166e-03 1.35818839e+02] [ 3.84522286e-02 9.99260438e-01 4.74732467e-05 2.05527356e+00] [-1.34886016e-03 4.39672746e-06 9.99999090e-01 -3.31422518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.780281693 meters 0.018670828699856895 Centerline is valid? [True, True] Translation: X:135.88, Y:2.05, Z:-0.04 [[ 9.99080124e-01 -4.28824724e-02 -1.62046268e-05 1.35880269e+02] [ 4.28824724e-02 9.99080124e-01 -5.62095114e-07 2.05003502e+00] [ 1.62138246e-05 -1.33316407e-07 1.00000000e+00 -3.59658270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.840281693 meters 0.030997097626177517 Centerline is valid? [True, True] Translation: X:135.94, Y:2.04, Z:-0.03 [[ 9.98791743e-01 -4.91424596e-02 -2.69514736e-04 1.35942079e+02] [ 4.91424588e-02 9.98791779e-01 -9.46851118e-06 2.04178896e+00] [ 2.69654408e-04 -3.78754602e-06 9.99999964e-01 -2.76397908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.900281693 meters 0.026828382895341604 Centerline is valid? [True, True] Translation: X:136.00, Y:2.03, Z:-0.03 [[ 9.98536690e-01 -5.40697656e-02 9.68736023e-04 1.36002178e+02] [ 5.40697580e-02 9.98537160e-01 3.40711990e-05 2.03032075e+00] [-9.69161139e-04 1.83579801e-05 9.99999530e-01 -3.39226078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.960281693 meters 0.02533194785691696 Centerline is valid? [True, True] Translation: X:136.06, Y:2.03, Z:-0.04 [[ 9.98635240e-01 -5.22269708e-02 1.94841920e-05 1.36062346e+02] [ 5.22269708e-02 9.98635240e-01 6.81572495e-07 2.03024804e+00] [-1.94931972e-05 3.36958012e-07 1.00000000e+00 -3.56733048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.020281693 meters 0.022951103674572572 Centerline is valid? [True, True] Translation: X:136.12, Y:2.04, Z:-0.04 [[ 9.98793116e-01 -4.90689281e-02 -2.13342218e-03 1.36121813e+02] [ 4.90688795e-02 9.98795394e-01 -7.51257513e-05 2.03591571e+00] [ 2.13453859e-03 -2.96495528e-05 9.99997721e-01 -3.90856612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.080281693 meters 0.023705378051601587 Centerline is valid? [True, True] Translation: X:136.18, Y:2.03, Z:-0.04 [[ 9.98729160e-01 -5.02899294e-02 -3.31478469e-03 1.36181601e+02] [ 5.02898186e-02 9.98734660e-01 -1.16799580e-04 2.03061692e+00] [ 3.31646420e-03 -5.00487740e-05 9.99994499e-01 -4.21810420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.140281693 meters 0.026967914482548174 Centerline is valid? [True, True] Translation: X:136.24, Y:2.02, Z:-0.04 [[ 9.98472300e-01 -5.52463164e-02 -9.54014037e-04 1.36241413e+02] [ 5.52463094e-02 9.98472756e-01 -3.36598127e-05 2.01812262e+00] [ 9.54416605e-04 -1.90973640e-05 9.99999544e-01 -3.77561939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.200281693 meters 0.02705114241142344 Centerline is valid? [True, True] Translation: X:136.30, Y:2.01, Z:-0.03 [[ 9.98490706e-01 -5.49137982e-02 8.86159679e-04 1.36300053e+02] [ 5.49137920e-02 9.98491099e-01 3.12734001e-05 2.01320027e+00] [-8.86539893e-04 1.74361890e-05 9.99999607e-01 -3.36238615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.260281693 meters 0.019835122422021522 Centerline is valid? [True, True] Translation: X:136.36, Y:2.03, Z:-0.04 [[ 9.99023593e-01 -4.41692086e-02 -9.70118000e-04 1.36358601e+02] [ 4.41691962e-02 9.99024064e-01 -3.42736468e-05 2.02844615e+00] [ 9.70685067e-04 -8.60915042e-06 9.99999529e-01 -3.63409885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.320281693 meters 0.0166847627235519 Centerline is valid? [True, True] Translation: X:136.42, Y:2.04, Z:-0.04 [[ 9.99345129e-01 -3.61794097e-02 -6.03285649e-04 1.36417783e+02] [ 3.61794034e-02 9.99345311e-01 -2.13319832e-05 2.04335821e+00] [ 6.03662463e-04 -5.08501435e-07 9.99999818e-01 -3.52676974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.380281693 meters 0.01716936956868964 Centerline is valid? [True, True] Translation: X:136.48, Y:2.05, Z:-0.03 [[ 9.99505656e-01 -3.14344052e-02 5.67197480e-04 1.36477143e+02] [ 3.14343989e-02 9.99505817e-01 2.00508956e-05 2.05057356e+00] [-5.67547468e-04 -2.21147174e-06 9.99999839e-01 -3.38355432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.440281693 meters 0.01692840051820035 Centerline is valid? [True, True] Translation: X:136.54, Y:2.05, Z:-0.04 [[ 9.99417032e-01 -3.40862387e-02 -1.93010702e-03 1.36539008e+02] [ 3.40861705e-02 9.99418895e-01 -6.81890772e-05 2.04745439e+00] [ 1.93130973e-03 2.35936821e-06 9.99998135e-01 -3.90281522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.500281693 meters 0.01820431337237308 Centerline is valid? [True, True] Translation: X:136.60, Y:2.06, Z:-0.04 [[ 9.99557610e-01 -2.96076624e-02 -2.82317839e-03 1.36597757e+02] [ 2.96074986e-02 9.99561597e-01 -9.98289872e-05 2.05556062e+00] [ 2.82489641e-03 1.61975736e-05 9.99996010e-01 -3.86238867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.560281693 meters 0.02243034304031017 Centerline is valid? [True, True] Translation: X:136.66, Y:2.07, Z:-0.04 [[ 9.99722524e-01 -2.33578610e-02 -3.04702785e-03 1.36656844e+02] [ 2.33576411e-02 9.99727167e-01 -1.07762444e-04 2.06777108e+00] [ 3.04871362e-03 3.65611597e-05 9.99995352e-01 -3.90442078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.620281693 meters 0.029154281138560154 Centerline is valid? [True, True] Translation: X:136.72, Y:2.08, Z:-0.03 [[ 9.99864200e-01 -1.64658843e-02 -6.75037059e-04 1.36715399e+02] [ 1.64658719e-02 9.99864428e-01 -2.38806280e-05 2.08271396e+00] [ 6.75338759e-04 1.27623112e-05 9.99999772e-01 -3.45785271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.680281693 meters 0.0314969268549562 Centerline is valid? [True, True] Translation: X:136.78, Y:2.09, Z:-0.04 [[ 9.99899756e-01 -1.41022184e-02 -1.26666114e-03 1.36775810e+02] [ 1.41021730e-02 9.99900558e-01 -4.48055502e-05 2.09292771e+00] [ 1.26716704e-03 2.69383842e-05 9.99999197e-01 -3.52663854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.740281693 meters 0.03157838335632283 Centerline is valid? [True, True] Translation: X:136.84, Y:2.10, Z:-0.03 [[ 9.99918690e-01 -1.27520116e-02 1.96501528e-05 1.36835613e+02] [ 1.27520116e-02 9.99918690e-01 6.91294140e-07 2.09922178e+00] [-1.96573704e-05 -4.40658954e-07 1.00000000e+00 -3.34818667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.800281693 meters 0.02933358881585241 Centerline is valid? [True, True] Translation: X:136.90, Y:2.10, Z:-0.03 [[ 9.99904661e-01 -1.37825927e-02 -8.41947719e-04 1.36896681e+02] [ 1.37825725e-02 9.99905015e-01 -2.97634831e-05 2.10172886e+00] [ 8.42277964e-04 1.81564400e-05 9.99999645e-01 -3.49952786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.860281693 meters 0.027052277104298937 Centerline is valid? [True, True] Translation: X:136.96, Y:2.10, Z:-0.04 [[ 9.99820125e-01 -1.87379096e-02 -2.93408165e-03 1.36957149e+02] [ 1.87376859e-02 9.99824429e-01 -1.03711614e-04 2.10446070e+00] [ 2.93550985e-03 4.87150582e-05 9.99995690e-01 -4.01551135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.920281693 meters 0.020088504166555065 Centerline is valid? [True, True] Translation: X:137.02, Y:2.10, Z:-0.04 [[ 9.99657229e-01 -2.61483445e-02 -1.29979532e-03 1.37017864e+02] [ 2.61483069e-02 9.99658074e-01 -4.59459750e-05 2.09764783e+00] [ 1.30055229e-03 1.19427792e-05 9.99999154e-01 -3.64615990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.980281693 meters 0.018865217602257234 Centerline is valid? [True, True] Translation: X:137.08, Y:2.10, Z:-0.04 [[ 9.99608835e-01 -2.79322274e-02 -1.40252884e-03 1.37077919e+02] [ 2.79321853e-02 9.99609819e-01 -4.95774637e-05 2.09908504e+00] [ 1.40336641e-03 1.03823752e-05 9.99999015e-01 -3.71206435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.040281693 meters 0.017568431305464177 Centerline is valid? [True, True] Translation: X:137.14, Y:2.10, Z:-0.03 [[ 9.99550735e-01 -2.99715496e-02 -1.86489405e-04 1.37138369e+02] [ 2.99715488e-02 9.99550752e-01 -6.59214373e-06 2.09984380e+00] [ 1.86603202e-04 9.99805792e-07 9.99999983e-01 -3.48701823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.100281693 meters 0.0165098026269971 Centerline is valid? [True, True] Translation: X:137.20, Y:2.10, Z:-0.03 [[ 9.99464169e-01 -3.27019867e-02 1.39812958e-03 1.37199518e+02] [ 3.27019496e-02 9.99465147e-01 4.94100684e-05 2.09587469e+00] [-1.39899759e-03 -3.66203007e-06 9.99999021e-01 -3.16263427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.160281693 meters 0.016568008785520703 Centerline is valid? [True, True] Translation: X:137.26, Y:2.09, Z:-0.03 [[ 9.99467671e-01 -3.26247484e-02 7.01353868e-06 1.37261228e+02] [ 3.26247484e-02 9.99467671e-01 2.55402475e-07 2.09328474e+00] [-7.01813761e-06 -2.64515816e-08 1.00000000e+00 -3.30414610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.220281693 meters 0.0169332026645165 Centerline is valid? [True, True] Translation: X:137.32, Y:2.09, Z:-0.03 [[ 9.99506056e-01 -3.14252905e-02 -3.08968510e-04 1.37322755e+02] [ 3.14252886e-02 9.99506104e-01 -1.08960753e-05 2.09368157e+00] [ 3.09158324e-04 1.18126868e-06 9.99999952e-01 -3.38301200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.280281693 meters 0.020026962998874603 Centerline is valid? [True, True] Translation: X:137.38, Y:2.10, Z:-0.04 [[ 9.99663136e-01 -2.58628784e-02 -2.17372753e-03 1.37382505e+02] [ 2.58627727e-02 9.99665500e-01 -7.67148346e-05 2.10021606e+00] [ 2.17498448e-03 2.04703711e-05 9.99997635e-01 -3.66255190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.340281693 meters 0.026587592259602118 Centerline is valid? [True, True] Translation: X:137.44, Y:2.11, Z:-0.03 [[ 9.99829807e-01 -1.84450536e-02 -3.71404569e-04 1.37441592e+02] [ 1.84450500e-02 9.99829876e-01 -1.31156433e-05 2.11288596e+00] [ 3.71583303e-04 6.26283526e-06 9.99999931e-01 -3.27266308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.400281693 meters 0.030753282085640578 Centerline is valid? [True, True] Translation: X:137.50, Y:2.12, Z:-0.03 [[ 9.99892248e-01 -1.46595844e-02 7.67614108e-04 1.37502709e+02] [ 1.46595679e-02 9.99892542e-01 2.70897494e-05 2.12102009e+00] [-7.67928747e-04 -1.58339393e-05 9.99999705e-01 -3.11401323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.460281693 meters 0.030856730023887065 Centerline is valid? [True, True] Translation: X:137.56, Y:2.12, Z:-0.03 [[ 9.99891700e-01 -1.47064326e-02 -5.56370000e-04 1.37564378e+02] [ 1.47064240e-02 9.99891855e-01 -1.96090873e-05 2.12496185e+00] [ 5.56598211e-04 1.14247506e-05 9.99999845e-01 -3.43692286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.520281693 meters 0.023538793128048675 Centerline is valid? [True, True] Translation: X:137.63, Y:2.11, Z:-0.03 [[ 9.99806092e-01 -1.96660613e-02 1.01215178e-03 1.37625920e+02] [ 1.96660353e-02 9.99806604e-01 3.56708149e-05 2.11442774e+00] [-1.01265754e-03 -1.57588854e-05 9.99999487e-01 -3.21642013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.580281693 meters 0.01957357891561438 Centerline is valid? [True, True] Translation: X:137.69, Y:2.10, Z:-0.03 [[ 9.99665809e-01 -2.58507683e-02 -9.04151901e-05 1.37686877e+02] [ 2.58507682e-02 9.99665813e-01 -3.18047124e-06 2.10497891e+00] [ 9.04671922e-05 8.42106238e-07 9.99999996e-01 -3.47580270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.640281693 meters 0.016741790504927082 Centerline is valid? [True, True] Translation: X:137.75, Y:2.09, Z:-0.04 [[ 9.99471028e-01 -3.24636807e-02 -1.94244820e-03 1.37748331e+02] [ 3.24636092e-02 9.99472916e-01 -6.83615923e-05 2.09216836e+00] [ 1.94364364e-03 5.26655165e-06 9.99998111e-01 -3.81298583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.700281693 meters 0.017027767216651588 Centerline is valid? [True, True] Translation: X:137.81, Y:2.08, Z:-0.04 [[ 9.99242492e-01 -3.88897549e-02 -1.42470233e-03 1.37808479e+02] [ 3.88897229e-02 9.99243507e-01 -5.01678615e-05 2.07879538e+00] [ 1.42557557e-03 -5.27641988e-06 9.99998984e-01 -3.76501087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.760281693 meters 0.016953274251414047 Centerline is valid? [True, True] Translation: X:137.87, Y:2.08, Z:-0.04 [[ 9.99276162e-01 -3.80224810e-02 -1.20110623e-03 1.37867724e+02] [ 3.80224576e-02 9.99276884e-01 -4.23268666e-05 2.07732750e+00] [ 1.20184707e-03 -3.37278206e-06 9.99999278e-01 -3.69135261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.820281693 meters 0.016647520392434043 Centerline is valid? [True, True] Translation: X:137.93, Y:2.08, Z:-0.04 [[ 9.99454825e-01 -3.29914139e-02 -1.27262248e-03 1.37928264e+02] [ 3.29913836e-02 9.99455635e-01 -4.48385787e-05 2.08298649e+00] [ 1.27340900e-03 2.82855749e-06 9.99999189e-01 -3.53835908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.880281693 meters 0.01796219025015668 Centerline is valid? [True, True] Translation: X:137.99, Y:2.09, Z:-0.04 [[ 9.99545072e-01 -3.00281449e-02 -2.82137546e-03 1.37987602e+02] [ 3.00279839e-02 9.99549053e-01 -9.94429427e-05 2.08921854e+00] [ 2.82308926e-03 1.46774865e-05 9.99996015e-01 -3.94133616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.940281693 meters 0.01694069159382106 Centerline is valid? [True, True] Translation: X:138.05, Y:2.09, Z:-0.04 [[ 9.99506917e-01 -3.13775658e-02 -1.17109500e-03 1.38047117e+02] [ 3.13775390e-02 9.99507603e-01 -4.13109126e-05 2.08852048e+00] [ 1.17181459e-03 4.54446395e-06 9.99999313e-01 -3.57311406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.000281693 meters 0.016560524098049464 Centerline is valid? [True, True] Translation: X:138.11, Y:2.09, Z:-0.03 [[ 9.99466841e-01 -3.26497253e-02 1.73513875e-04 1.38106947e+02] [ 3.26497247e-02 9.99466856e-01 6.11756590e-06 2.08791006e+00] [-1.73621104e-04 -4.49124009e-07 9.99999985e-01 -3.29837413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.060281693 meters 0.01671570898285957 Centerline is valid? [True, True] Translation: X:138.17, Y:2.08, Z:-0.04 [[ 9.99380380e-01 -3.50118886e-02 -3.60895401e-03 1.38167996e+02] [ 3.50116571e-02 9.99386896e-01 -1.27324483e-04 2.08176294e+00] [ 3.61119921e-03 8.90129840e-07 9.99993480e-01 -4.04279706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.120281693 meters 0.01699779166328893 Centerline is valid? [True, True] Translation: X:138.23, Y:2.09, Z:-0.04 [[ 9.99438803e-01 -3.32764942e-02 -3.84105913e-03 1.38226497e+02] [ 3.32762186e-02 9.99446184e-01 -1.35656261e-04 2.08553263e+00] [ 3.84344605e-03 7.76420835e-06 9.99992614e-01 -4.06158635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.180281693 meters 0.017399985330337008 Centerline is valid? [True, True] Translation: X:138.28, Y:2.09, Z:-0.03 [[ 9.99549161e-01 -2.99867190e-02 1.50707638e-03 1.38284960e+02] [ 2.99866726e-02 9.99550297e-01 5.34073466e-05 2.09119138e+00] [-1.50800016e-03 -8.19106236e-06 9.99998863e-01 -2.98096592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.240281693 meters 0.01782348689718154 Centerline is valid? [True, True] Translation: X:138.35, Y:2.09, Z:-0.03 [[ 9.99560748e-01 -2.95658301e-02 2.04263474e-03 1.38345010e+02] [ 2.95657438e-02 9.99562835e-01 7.24420763e-05 2.09278423e+00] [-2.04388358e-03 -1.20182407e-05 9.99997911e-01 -2.94787726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.300281693 meters 0.017347538969593318 Centerline is valid? [True, True] Translation: X:138.41, Y:2.09, Z:-0.03 [[ 9.99538240e-01 -3.03776090e-02 7.12164256e-04 1.38406209e+02] [ 3.03775987e-02 9.99538494e-01 2.52595029e-05 2.08816620e+00] [-7.12602911e-04 -3.61399913e-06 9.99999746e-01 -3.37871568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.360281693 meters 0.016799338642275743 Centerline is valid? [True, True] Translation: X:138.47, Y:2.08, Z:-0.04 [[ 9.99470129e-01 -3.25460851e-02 -4.61769868e-04 1.38466404e+02] [ 3.25460810e-02 9.99470236e-01 -1.63903387e-05 2.08222786e+00] [ 4.62058680e-04 1.35285438e-06 9.99999893e-01 -3.59249777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.420281693 meters 0.016455777437301602 Centerline is valid? [True, True] Translation: X:138.53, Y:2.07, Z:-0.03 [[ 9.99382444e-01 -3.51387270e-02 -6.61227370e-06 1.38527026e+02] [ 3.51387270e-02 9.99382444e-01 -2.42612507e-07 2.06928152e+00] [ 6.61671535e-06 1.01158009e-08 1.00000000e+00 -3.48889183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.480281693 meters 0.016492604586020188 Centerline is valid? [True, True] Translation: X:138.59, Y:2.06, Z:-0.04 [[ 9.99388737e-01 -3.49560858e-02 -4.72688101e-04 1.38586756e+02] [ 3.49560817e-02 9.99388849e-01 -1.68028370e-05 2.06486169e+00] [ 4.72986578e-04 2.69242190e-07 9.99999888e-01 -3.65046610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.540281693 meters 0.016662613994446934 Centerline is valid? [True, True] Translation: X:138.65, Y:2.06, Z:-0.04 [[ 9.99412821e-01 -3.42291158e-02 -1.54311704e-03 1.38645253e+02] [ 3.42290718e-02 9.99414012e-01 -5.49342083e-05 2.05738575e+00] [ 1.54409315e-03 2.08248804e-06 9.99998808e-01 -3.88342025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.600281693 meters 0.01703555985511981 Centerline is valid? [True, True] Translation: X:138.70, Y:2.05, Z:-0.04 [[ 9.99432290e-01 -3.35832339e-02 -2.69510505e-03 1.38703206e+02] [ 3.35830960e-02 9.99435924e-01 -9.64503165e-05 2.05079139e+00] [ 2.69682392e-03 5.88558929e-06 9.99996364e-01 -4.09461675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.660281693 meters 0.01736894113186264 Centerline is valid? [True, True] Translation: X:138.76, Y:2.05, Z:-0.04 [[ 9.99478548e-01 -3.22125657e-02 -2.23229660e-03 1.38760916e+02] [ 3.22124667e-02 9.99481041e-01 -8.02900782e-05 2.04943358e+00] [ 2.23372448e-03 8.34043077e-06 9.99997505e-01 -3.96776584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.720281693 meters 0.02048175569882817 Centerline is valid? [True, True] Translation: X:138.82, Y:2.06, Z:-0.04 [[ 9.99626573e-01 -2.72493442e-02 -2.04619058e-03 1.38818462e+02] [ 2.72492504e-02 9.99628668e-01 -7.36707231e-05 2.05542687e+00] [ 2.04743824e-03 1.78860529e-05 9.99997904e-01 -4.07685220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.780281693 meters 0.024039598837114838 Centerline is valid? [True, True] Translation: X:138.88, Y:2.06, Z:-0.04 [[ 9.99740199e-01 -2.27721620e-02 -9.81808069e-04 1.38877440e+02] [ 2.27721380e-02 9.99740681e-01 -3.55448441e-05 2.05672100e+00] [ 9.82362900e-04 1.31777406e-05 9.99999517e-01 -3.75504708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.840281693 meters 0.02554400561561514 Centerline is valid? [True, True] Translation: X:138.94, Y:2.06, Z:-0.04 [[ 9.99761256e-01 -2.17469900e-02 -2.12108319e-03 1.38935731e+02] [ 2.17468760e-02 9.99763506e-01 -7.67848970e-05 2.05795346e+00] [ 2.12225140e-03 3.06396320e-05 9.99997748e-01 -4.05600017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.900281693 meters 0.024375182647769045 Centerline is valid? [True, True] Translation: X:138.99, Y:2.06, Z:-0.04 [[ 9.99731460e-01 -2.30658276e-02 -2.23067095e-03 1.38994924e+02] [ 2.30657040e-02 9.99733948e-01 -8.11270784e-05 2.05646329e+00] [ 2.23194874e-03 2.96532966e-05 9.99997509e-01 -4.04424351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.960281693 meters 0.02346473894591923 Centerline is valid? [True, True] Translation: X:139.05, Y:2.06, Z:-0.04 [[ 9.99714922e-01 -2.38461424e-02 -1.19856946e-03 1.39053342e+02] [ 2.38461070e-02 9.99715640e-01 -4.37984915e-05 2.05765301e+00] [ 1.19927306e-03 1.52047899e-05 9.99999281e-01 -3.79985081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.020281693 meters 0.02268442518718976 Centerline is valid? [True, True] Translation: X:139.11, Y:2.06, Z:-0.04 [[ 9.99746346e-01 -2.25182479e-02 4.15544704e-04 1.39112873e+02] [ 2.25182435e-02 9.99746432e-01 1.51683346e-05 2.06009465e+00] [-4.15780899e-04 -5.80715027e-06 9.99999914e-01 -3.59511540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.080281693 meters 0.025829293592303095 Centerline is valid? [True, True] Translation: X:139.17, Y:2.07, Z:-0.04 [[ 9.99760648e-01 -2.18767478e-02 2.33280772e-04 1.39172484e+02] [ 2.18767464e-02 9.99760675e-01 8.51857922e-06 2.07117722e+00] [-2.33411301e-04 -3.41311599e-06 9.99999973e-01 -3.64714217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.140281693 meters 0.02261089264926672 Centerline is valid? [True, True] Translation: X:139.23, Y:2.07, Z:-0.04 [[ 9.99732209e-01 -2.31042062e-02 -1.30635263e-03 1.39232873e+02] [ 2.31041636e-02 9.99733062e-01 -4.77260587e-05 2.07026806e+00] [ 1.30710659e-03 1.75310933e-05 9.99999146e-01 -3.94715146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.200281693 meters 0.0204854334097341 Centerline is valid? [True, True] Translation: X:139.29, Y:2.07, Z:-0.04 [[ 9.99663198e-01 -2.59389716e-02 -8.13091677e-04 1.39292167e+02] [ 2.59389558e-02 9.99663528e-01 -2.98851627e-05 2.06987791e+00] [ 8.13593285e-04 8.78434823e-06 9.99999669e-01 -3.82307229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.260281693 meters 0.017749716620783996 Centerline is valid? [True, True] Translation: X:139.35, Y:2.07, Z:-0.04 [[ 9.99511852e-01 -3.12417535e-02 1.00109180e-04 1.39351497e+02] [ 3.12417533e-02 9.99511857e-01 3.66710439e-06 2.06736917e+00] [-1.00174880e-04 -5.37727986e-07 9.99999995e-01 -3.66736095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.320281693 meters 0.016756828103044286 Centerline is valid? [True, True] Translation: X:139.41, Y:2.07, Z:-0.03 [[ 9.99406951e-01 -3.44000647e-02 1.54337553e-03 1.39411201e+02] [ 3.44000181e-02 9.99408143e-01 5.66896549e-05 2.06641124e+00] [-1.54441220e-03 -3.56388897e-06 9.99998807e-01 -3.42822991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.380281693 meters 0.016717084468220154 Centerline is valid? [True, True] Translation: X:139.47, Y:2.06, Z:-0.04 [[ 9.99274752e-01 -3.80782971e-02 1.18979813e-04 1.39471454e+02] [ 3.80782969e-02 9.99274759e-01 4.36552750e-06 2.06206350e+00] [-1.19059755e-04 1.68187216e-07 9.99999993e-01 -3.68923401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.440281693 meters 0.017789213546788175 Centerline is valid? [True, True] Translation: X:139.53, Y:2.06, Z:-0.04 [[ 9.99119767e-01 -4.19453313e-02 -5.29995412e-04 1.39529114e+02] [ 4.19453268e-02 9.99119907e-01 -1.95709024e-05 2.05504122e+00] [ 5.30349874e-04 -2.67715527e-06 9.99999859e-01 -3.83217510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.500281693 meters 0.01808888114452391 Centerline is valid? [True, True] Translation: X:139.59, Y:2.06, Z:-0.04 [[ 9.99061366e-01 -4.33125667e-02 6.39424531e-04 1.39588147e+02] [ 4.33125604e-02 9.99061570e-01 2.36178913e-05 2.05540043e+00] [-6.39847428e-04 4.09939094e-06 9.99999795e-01 -3.64125970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.560281693 meters 0.01868824841010372 Centerline is valid? [True, True] Translation: X:139.65, Y:2.05, Z:-0.04 [[ 9.99003680e-01 -4.45998152e-02 1.58221695e-03 1.39647529e+02] [ 4.45997780e-02 9.99004933e-01 5.87828749e-05 2.05315162e+00] [-1.58326424e-03 1.18422163e-05 9.99998747e-01 -3.50814182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.620281693 meters 0.017715377496059448 Centerline is valid? [True, True] Translation: X:139.71, Y:2.06, Z:-0.04 [[ 9.99070905e-01 -4.30886419e-02 8.33639354e-04 1.39705847e+02] [ 4.30886309e-02 9.99071253e-01 3.10833225e-05 2.05622903e+00] [-8.34204452e-04 4.86593532e-06 9.99999652e-01 -3.58283569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.680281693 meters 0.01711145425926773 Centerline is valid? [True, True] Translation: X:139.76, Y:2.06, Z:-0.03 [[ 9.99165342e-01 -4.08263388e-02 1.35236134e-03 1.39763364e+02] [ 4.08263078e-02 9.99166257e-01 5.05786889e-05 2.05848915e+00] [-1.35329876e-03 4.67544717e-06 9.99999084e-01 -3.47262255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.740281693 meters 0.016591301689682557 Centerline is valid? [True, True] Translation: X:139.82, Y:2.06, Z:-0.04 [[ 9.99268596e-01 -3.82376168e-02 3.97745605e-04 1.39821504e+02] [ 3.82376139e-02 9.99268675e-01 1.48915387e-05 2.06202977e+00] [-3.98024141e-04 3.28195900e-07 9.99999921e-01 -3.73477204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.800281693 meters 0.016638138092717303 Centerline is valid? [True, True] Translation: X:139.88, Y:2.06, Z:-0.04 [[ 9.99304843e-01 -3.72761291e-02 -5.66384209e-04 1.39879682e+02] [ 3.72761230e-02 9.99305004e-01 -2.14665249e-05 2.06296452e+00] [ 5.66790763e-04 3.38994934e-07 9.99999839e-01 -3.91370788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.860281693 meters 0.017320395006924637 Centerline is valid? [True, True] Translation: X:139.94, Y:2.07, Z:-0.04 [[ 9.99414721e-01 -3.42058530e-02 -4.17723162e-04 1.39936845e+02] [ 3.42058493e-02 9.99414809e-01 -1.58606508e-05 2.06879611e+00] [ 4.18021241e-04 1.56279234e-06 9.99999913e-01 -3.88757163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.920281693 meters 0.016822403419889175 Centerline is valid? [True, True] Translation: X:140.00, Y:2.07, Z:-0.04 [[ 9.99398671e-01 -3.46616995e-02 9.28916504e-04 1.39995267e+02] [ 3.46616816e-02 9.99399103e-01 3.52943347e-05 2.06913828e+00] [-9.29581682e-04 -3.07530307e-06 9.99999568e-01 -3.71000464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.980281693 meters 0.016676397625807856 Centerline is valid? [True, True] Translation: X:140.05, Y:2.06, Z:-0.04 [[ 9.99184517e-01 -4.03629385e-02 1.06467074e-03 1.40053205e+02] [ 4.03629182e-02 9.99185085e-01 4.05643993e-05 2.06278529e+00] [-1.06544043e-03 2.44189837e-06 9.99999432e-01 -3.67745035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.040281693 meters 0.018747664341505273 Centerline is valid? [True, True] Translation: X:140.11, Y:2.05, Z:-0.04 [[ 9.98942580e-01 -4.59583159e-02 -1.24739184e-03 1.40112013e+02] [ 4.59582922e-02 9.98943358e-01 -4.76963738e-05 2.05269862e+00] [ 1.24826584e-03 -9.68205998e-06 9.99999221e-01 -4.11252987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.100281693 meters 0.022690310670742637 Centerline is valid? [True, True] Translation: X:140.17, Y:2.04, Z:-0.04 [[ 9.98733154e-01 -5.02667698e-02 -2.31065120e-03 1.40170464e+02] [ 5.02666997e-02 9.98735826e-01 -8.84511121e-05 2.04382774e+00] [ 2.31217629e-03 -2.78097519e-05 9.99997327e-01 -4.27897690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.160281693 meters 0.026939213518595424 Centerline is valid? [True, True] Translation: X:140.23, Y:2.03, Z:-0.04 [[ 9.98466280e-01 -5.53533774e-02 -1.04477540e-03 1.40230319e+02] [ 5.53533658e-02 9.98466826e-01 -4.00312792e-05 2.03244694e+00] [ 1.04538944e-03 -1.78619524e-05 9.99999453e-01 -4.15103660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.220281693 meters 0.027521422277724267 Centerline is valid? [True, True] Translation: X:140.29, Y:2.03, Z:-0.04 [[ 9.98371298e-01 -5.70411956e-02 -1.02664146e-03 1.40289167e+02] [ 5.70411851e-02 9.98371825e-01 -3.95464956e-05 2.02717807e+00] [ 1.02722568e-03 -1.90787592e-05 9.99999472e-01 -4.12227373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.280281693 meters 0.024748900982359646 Centerline is valid? [True, True] Translation: X:140.35, Y:2.02, Z:-0.04 [[ 9.98487442e-01 -5.49741259e-02 8.20490848e-04 1.40347867e+02] [ 5.49741184e-02 9.98487779e-01 3.16395828e-05 2.02491806e+00] [-8.20989443e-04 1.35140349e-05 9.99999663e-01 -3.70770738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.340281693 meters 0.021118988455492135 Centerline is valid? [True, True] Translation: X:140.41, Y:2.03, Z:-0.03 [[ 9.98706472e-01 -5.07333655e-02 3.39234540e-03 1.40406401e+02] [ 5.07332125e-02 9.98712233e-01 1.31195408e-04 2.02540124e+00] [-3.39463284e-03 4.10788775e-05 9.99994237e-01 -3.35633678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.400281693 meters 0.01862514876068768 Centerline is valid? [True, True] Translation: X:140.46, Y:2.02, Z:-0.04 [[ 9.98941503e-01 -4.59963552e-02 -4.58095809e-04 1.40464577e+02] [ 4.59963519e-02 9.98941608e-01 -1.77656798e-05 2.02422299e+00] [ 4.58428121e-04 -3.32386120e-06 9.99999895e-01 -3.98510089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.460281693 meters 0.018608454809171407 Centerline is valid? [True, True] Translation: X:140.52, Y:2.02, Z:-0.04 [[ 9.98941786e-01 -4.59892048e-02 -5.48798392e-04 1.40521448e+02] [ 4.59892000e-02 9.98941937e-01 -2.13719937e-05 2.02058346e+00] [ 5.49200610e-04 -3.88942153e-06 9.99999849e-01 -4.01015158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.520281693 meters 0.01812157777214426 Centerline is valid? [True, True] Translation: X:140.58, Y:2.02, Z:-0.04 [[ 9.98933632e-01 -4.61439633e-02 1.52788550e-03 1.40579456e+02] [ 4.61439261e-02 9.98934800e-01 5.96045111e-05 2.01958362e+00] [-1.52900838e-03 1.09616848e-05 9.99998831e-01 -3.68809456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.580281693 meters 0.016222824862116927 Centerline is valid? [True, True] Translation: X:140.64, Y:2.03, Z:-0.04 [[ 9.99231501e-01 -3.91963400e-02 -2.34707293e-04 1.40636986e+02] [ 3.91963389e-02 9.99231528e-01 -9.20055435e-06 2.02924361e+00] [ 2.34887555e-04 -6.18286878e-09 9.99999972e-01 -3.95627592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.640281693 meters 0.017674327190970455 Centerline is valid? [True, True] Translation: X:140.69, Y:2.04, Z:-0.04 [[ 9.99444008e-01 -3.32899036e-02 1.85936734e-03 1.40694215e+02] [ 3.32898258e-02 9.99445737e-01 7.28131137e-05 2.04304458e+00] [-1.86076070e-03 -1.08746155e-05 9.99998269e-01 -3.60348985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.700281693 meters 0.01900985130859881 Centerline is valid? [True, True] Translation: X:140.75, Y:2.05, Z:-0.04 [[ 9.99514489e-01 -3.11478991e-02 7.71269024e-04 1.40752354e+02] [ 3.11478850e-02 9.99514786e-01 3.02788845e-05 2.05122398e+00] [-7.71837917e-04 -6.24078487e-06 9.99999702e-01 -3.84035647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.760281693 meters 0.018042750094766344 Centerline is valid? [True, True] Translation: X:140.81, Y:2.05, Z:-0.04 [[ 9.99489184e-01 -3.19387334e-02 1.13507466e-03 1.40810556e+02] [ 3.19387031e-02 9.99489828e-01 4.47968095e-05 2.05353249e+00] [-1.13592633e-03 -8.52111402e-06 9.99999355e-01 -3.82678293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.820281693 meters 0.016676403391222276 Centerline is valid? [True, True] Translation: X:140.87, Y:2.05, Z:-0.04 [[ 9.99355092e-01 -3.58881887e-02 1.19955252e-03 1.40868745e+02] [ 3.58881576e-02 9.99355811e-01 4.74646154e-05 2.05441656e+00] [-1.20048320e-03 -4.38427527e-06 9.99999279e-01 -3.82369426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.880281693 meters 0.01619434742824811 Centerline is valid? [True, True] Translation: X:140.93, Y:2.06, Z:-0.03 [[ 9.99279952e-01 -3.78511605e-02 2.62053071e-03 1.40927127e+02] [ 3.78510174e-02 9.99283388e-01 1.04174572e-04 2.05758442e+00] [-2.62259594e-03 -4.90980750e-06 9.99996561e-01 -3.49396411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.940281693 meters 0.0167343530843223 Centerline is valid? [True, True] Translation: X:140.98, Y:2.07, Z:-0.03 [[ 9.99335280e-01 -3.62983421e-02 3.38049049e-03 1.40984206e+02] [ 3.62980943e-02 9.99340998e-01 1.34651975e-04 2.06625072e+00] [-3.38315039e-03 -1.18571070e-05 9.99994277e-01 -3.44323466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.000281693 meters 0.016825051003807497 Centerline is valid? [True, True] Translation: X:141.04, Y:2.07, Z:-0.04 [[ 9.99341686e-01 -3.62289629e-02 1.91241665e-03 1.41041933e+02] [ 3.62288833e-02 9.99343516e-01 7.62790789e-05 2.07140493e+00] [-1.91392469e-03 -6.94414356e-06 9.99998168e-01 -3.67363770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.060281693 meters 0.01623807390075824 Centerline is valid? [True, True] Translation: X:141.10, Y:2.07, Z:-0.04 [[ 9.99211968e-01 -3.96694586e-02 1.33307068e-03 1.41100481e+02] [ 3.96694227e-02 9.99212857e-01 5.33738986e-05 2.07060895e+00] [-1.33413868e-03 -4.49693830e-07 9.99999110e-01 -3.84750089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.120281693 meters 0.01653313481522606 Centerline is valid? [True, True] Translation: X:141.16, Y:2.07, Z:-0.03 [[ 9.99084174e-01 -4.26415377e-02 3.53727220e-03 1.41158375e+02] [ 4.26413019e-02 9.99090436e-01 1.42098712e-04 2.07045651e+00] [-3.54011413e-03 8.86531685e-06 9.99993734e-01 -3.41646316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.180281693 meters 0.017129016486084798 Centerline is valid? [True, True] Translation: X:141.22, Y:2.07, Z:-0.04 [[ 9.99000423e-01 -4.46780121e-02 1.42478490e-03 1.41216427e+02] [ 4.46779756e-02 9.99001439e-01 5.74568729e-05 2.07228036e+00] [-1.42592922e-03 6.25706454e-06 9.99998983e-01 -3.85644098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.240281693 meters 0.017094140684491655 Centerline is valid? [True, True] Translation: X:141.27, Y:2.08, Z:-0.04 [[ 9.99013835e-01 -4.43802341e-02 1.32375802e-03 1.41273020e+02] [ 4.43802021e-02 9.99014712e-01 5.35734014e-05 2.07794081e+00] [-1.32483134e-03 5.22807915e-06 9.99999122e-01 -3.85504385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.300281693 meters 0.01687971637998845 Centerline is valid? [True, True] Translation: X:141.33, Y:2.08, Z:-0.04 [[ 9.99039078e-01 -4.38108136e-02 1.23815792e-03 1.41329699e+02] [ 4.38107850e-02 9.99039845e-01 5.02245263e-05 2.08333491e+00] [-1.23916948e-03 4.06840610e-06 9.99999232e-01 -3.80048434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.360281693 meters 0.016621639004128268 Centerline is valid? [True, True] Translation: X:141.39, Y:2.09, Z:-0.04 [[ 9.99064704e-01 -4.32322698e-02 8.29175445e-04 1.41387183e+02] [ 4.32322567e-02 9.99065048e-01 3.37436172e-05 2.08736392e+00] [-8.29859019e-04 2.13506865e-06 9.99999656e-01 -3.85171825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.420281693 meters 0.016731672986409478 Centerline is valid? [True, True] Translation: X:141.44, Y:2.09, Z:-0.04 [[ 9.99034304e-01 -4.39199203e-02 1.22492779e-03 1.41444851e+02] [ 4.39198918e-02 9.99035055e-01 5.01130426e-05 2.08935938e+00] [-1.22594677e-03 3.73404759e-06 9.99999249e-01 -3.80823252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.480281693 meters 0.017742782907605413 Centerline is valid? [True, True] Translation: X:141.50, Y:2.08, Z:-0.04 [[ 9.98902125e-01 -4.67232033e-02 3.38934707e-03 1.41503137e+02] [ 4.67230002e-02 9.98907875e-01 1.39128350e-04 2.08499829e+00] [-3.39214600e-03 1.93848588e-05 9.99994246e-01 -3.50059822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.540281693 meters 0.017725573924464107 Centerline is valid? [True, True] Translation: X:141.56, Y:2.08, Z:-0.04 [[ 9.98890618e-01 -4.70212069e-02 2.55735209e-03 1.41561550e+02] [ 4.70210911e-02 9.98893891e-01 1.05417825e-04 2.08287815e+00] [-2.55948025e-03 1.49486093e-05 9.99996724e-01 -3.74790607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.600281693 meters 0.016596435345172064 Centerline is valid? [True, True] Translation: X:141.62, Y:2.09, Z:-0.04 [[ 9.99061100e-01 -4.32216261e-02 2.96817697e-03 1.41619104e+02] [ 4.32214525e-02 9.99065509e-01 1.22657885e-04 2.08679018e+00] [-2.97070471e-03 5.74619828e-06 9.99995587e-01 -3.56715579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.660281693 meters 0.016957185214983992 Centerline is valid? [True, True] Translation: X:141.68, Y:2.09, Z:-0.04 [[ 9.99267841e-01 -3.81377140e-02 3.04891584e-03 1.41677059e+02] [ 3.81375055e-02 9.99272493e-01 1.26521072e-04 2.09404064e+00] [-3.05152295e-03 -1.01503942e-05 9.99995344e-01 -3.63842893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.720281693 meters 0.018648904375547132 Centerline is valid? [True, True] Translation: X:141.74, Y:2.10, Z:-0.04 [[ 9.99399023e-01 -3.45903004e-02 2.25937614e-03 1.41735869e+02] [ 3.45901760e-02 9.99401576e-01 9.41103601e-05 2.10135979e+00] [-2.26127938e-03 -1.59015836e-05 9.99997443e-01 -3.91190162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.780281693 meters 0.021841269261215275 Centerline is valid? [True, True] Translation: X:141.79, Y:2.11, Z:-0.04 [[ 9.99539721e-01 -3.02725276e-02 1.98001604e-03 1.41794610e+02] [ 3.02724230e-02 9.99541682e-01 8.27825016e-05 2.11073987e+00] [-1.98161460e-03 -2.28045155e-05 9.99998036e-01 -3.90864031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.840281693 meters 0.023127755437629488 Centerline is valid? [True, True] Translation: X:141.85, Y:2.12, Z:-0.04 [[ 9.99571734e-01 -2.92519755e-02 8.18628714e-04 1.41852662e+02] [ 2.92519572e-02 9.99572069e-01 3.42753282e-05 2.11771029e+00] [-8.19281019e-04 -1.03141571e-05 9.99999664e-01 -4.19186634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.900281693 meters 0.020623058280485624 Centerline is valid? [True, True] Translation: X:141.91, Y:2.12, Z:-0.04 [[ 9.99468522e-01 -3.25706355e-02 1.35144804e-03 1.41911800e+02] [ 3.25705885e-02 9.99469436e-01 5.67715134e-05 2.11657123e+00] [-1.35258009e-03 -1.27238827e-05 9.99999085e-01 -4.14641377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.960281693 meters 0.01776920497511701 Centerline is valid? [True, True] Translation: X:141.97, Y:2.11, Z:-0.04 [[ 9.99312273e-01 -3.69895310e-02 2.59910048e-03 1.41971353e+02] [ 3.69893710e-02 9.99315653e-01 1.09631610e-04 2.11332460e+00] [-2.60137701e-03 -1.34171217e-05 9.99996616e-01 -4.10416521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.020281693 meters 0.016687373581639645 Centerline is valid? [True, True] Translation: X:142.03, Y:2.11, Z:-0.04 [[ 9.99122189e-01 -4.18782249e-02 1.03280494e-03 1.42029702e+02] [ 4.18782021e-02 9.99122722e-01 4.36255661e-05 2.10890902e+00] [-1.03372584e-03 -3.35257248e-07 9.99999466e-01 -4.27141352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.080281693 meters 0.017537351725379964 Centerline is valid? [True, True] Translation: X:142.09, Y:2.10, Z:-0.04 [[ 9.98926784e-01 -4.62951607e-02 1.42770597e-03 1.42087943e+02] [ 4.62951216e-02 9.98927804e-01 6.03923001e-05 2.10264525e+00] [-1.42897106e-03 5.76833527e-06 9.99998979e-01 -4.19306627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.140281693 meters 0.019696327983854765 Centerline is valid? [True, True] Translation: X:142.15, Y:2.09, Z:-0.04 [[ 9.98684291e-01 -5.12361514e-02 2.13162517e-03 1.42147104e+02] [ 5.12360750e-02 9.98686566e-01 9.04854795e-05 2.09446263e+00] [-2.13346154e-03 1.88496800e-05 9.99997724e-01 -4.11267714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.200281693 meters 0.019722127163929227 Centerline is valid? [True, True] Translation: X:142.20, Y:2.09, Z:-0.04 [[ 9.98652193e-01 -5.18284347e-02 2.75886475e-03 1.42204830e+02] [ 5.18283075e-02 9.98656003e-01 1.17640031e-04 2.09233337e+00] [-2.76125394e-03 2.55058157e-05 9.99996187e-01 -4.11258040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.260281693 meters 0.018290059826284653 Centerline is valid? [True, True] Translation: X:142.26, Y:2.09, Z:-0.04 [[ 9.98813333e-01 -4.86521515e-02 2.21220484e-03 1.42262329e+02] [ 4.86520616e-02 9.98815783e-01 9.44912000e-05 2.09285082e+00] [-2.21418231e-03 1.32492558e-05 9.99997549e-01 -4.18780650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.320281693 meters 0.017009460784145995 Centerline is valid? [True, True] Translation: X:142.32, Y:2.11, Z:-0.04 [[ 9.99167481e-01 -4.07845334e-02 9.83397429e-04 1.42319299e+02] [ 4.07845118e-02 9.99167965e-01 4.20671729e-05 2.10596602e+00] [-9.84294898e-04 -1.92476718e-06 9.99999516e-01 -4.44390487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.380281693 meters 0.02052653647771442 Centerline is valid? [True, True] Translation: X:142.38, Y:2.12, Z:-0.05 [[ 9.99427541e-01 -3.38274608e-02 5.40924495e-04 1.42376940e+02] [ 3.38274532e-02 9.99427688e-01 2.31719031e-05 2.12090087e+00] [-5.41398764e-04 -4.86054006e-06 9.99999853e-01 -4.54736267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.440281693 meters 0.02730313462194074 Centerline is valid? [True, True] Translation: X:142.44, Y:2.14, Z:-0.04 [[ 9.99729476e-01 -2.31717311e-02 2.01116952e-03 1.42436017e+02] [ 2.31716044e-02 9.99731499e-01 8.62820947e-05 2.14193414e+00] [-2.01262883e-03 -3.96567287e-05 9.99997974e-01 -4.29240206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.500281693 meters 0.03130406469814453 Centerline is valid? [True, True] Translation: X:142.49, Y:2.16, Z:-0.04 [[ 9.99791166e-01 -1.98754212e-02 4.75305773e-03 1.42494356e+02] [ 1.98746755e-02 9.99802458e-01 2.04077985e-04 2.15691905e+00] [-4.75617494e-03 -1.09569887e-04 9.99988683e-01 -3.77394566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.560281693 meters 0.03271331412577669 Centerline is valid? [True, True] Translation: X:142.55, Y:2.17, Z:-0.04 [[ 9.99744024e-01 -2.18412610e-02 5.90309499e-03 1.42554628e+02] [ 2.18401453e-02 9.99761443e-01 2.53407177e-04 2.16622591e+00] [-5.90722150e-03 -1.24417858e-04 9.99982544e-01 -3.61750834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.620281693 meters 0.025849545355487346 Centerline is valid? [True, True] Translation: X:142.62, Y:2.17, Z:-0.04 [[ 9.99637191e-01 -2.62551457e-02 6.01280311e-03 1.42615159e+02] [ 2.62540680e-02 9.99655269e-01 2.58112658e-04 2.16552600e+00] [-6.01750710e-03 -1.00158471e-04 9.99981890e-01 -3.71185756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.680281693 meters 0.023386028577126464 Centerline is valid? [True, True] Translation: X:142.68, Y:2.17, Z:-0.04 [[ 9.99539946e-01 -3.01786942e-02 3.02363676e-03 1.42675229e+02] [ 3.01784397e-02 9.99544519e-01 1.29765331e-04 2.17024176e+00] [-3.02617570e-03 -3.84569918e-05 9.99995420e-01 -4.26510353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.740281693 meters 0.018947000065333598 Centerline is valid? [True, True] Translation: X:142.73, Y:2.17, Z:-0.04 [[ 9.99331348e-01 -3.64444745e-02 2.94222786e-03 1.42734830e+02] [ 3.64442596e-02 9.99335679e-01 1.26652013e-04 2.16830030e+00] [-2.94488905e-03 -1.93400105e-05 9.99995664e-01 -4.33210881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.800281693 meters 0.017395002579074566 Centerline is valid? [True, True] Translation: X:142.79, Y:2.17, Z:-0.05 [[ 9.99174057e-01 -4.06296753e-02 6.58943887e-04 1.42793928e+02] [ 4.06296653e-02 9.99174274e-01 2.84291216e-05 2.16624828e+00] [-6.59554845e-04 -1.63297113e-06 9.99999782e-01 -4.75733883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.860281693 meters 0.017276502586221043 Centerline is valid? [True, True] Translation: X:142.85, Y:2.17, Z:-0.05 [[ 9.99123506e-01 -4.18573735e-02 -4.24042905e-04 1.42850942e+02] [ 4.18573694e-02 9.99123596e-01 -1.83958903e-05 2.16818481e+00] [ 4.24441276e-04 6.30445860e-07 9.99999910e-01 -4.88390587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.920281693 meters 0.01752533798366884 Centerline is valid? [True, True] Translation: X:142.91, Y:2.17, Z:-0.05 [[ 9.99116007e-01 -4.20014463e-02 -1.75582244e-03 1.42907965e+02] [ 4.20013772e-02 9.99117550e-01 -7.62231869e-05 2.17350721e+00] [ 1.75747449e-03 2.40884562e-06 9.99998456e-01 -5.25745276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.980281693 meters 0.017413364890161865 Centerline is valid? [True, True] Translation: X:142.97, Y:2.17, Z:-0.05 [[ 9.99109392e-01 -4.21760840e-02 -1.26538817e-03 1.42966047e+02] [ 4.21760479e-02 9.99110193e-01 -5.52172593e-05 2.17393665e+00] [ 1.26659106e-03 1.79901032e-06 9.99999198e-01 -5.11481489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.040281693 meters 0.017390101469937913 Centerline is valid? [True, True] Translation: X:143.02, Y:2.18, Z:-0.05 [[ 9.99134475e-01 -4.15968560e-02 -4.53833136e-05 1.43023785e+02] [ 4.15968560e-02 9.99134476e-01 -2.05125881e-06 2.17685758e+00] [ 4.54293592e-05 1.61680239e-07 9.99999999e-01 -4.95822757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.100281693 meters 0.017769204491547477 Centerline is valid? [True, True] Translation: X:143.08, Y:2.18, Z:-0.05 [[ 9.99201134e-01 -3.99343342e-02 1.53030466e-03 1.43082259e+02] [ 3.99342781e-02 9.99202306e-01 6.71827776e-05 2.17968347e+00] [-1.53176685e-03 -6.01749543e-06 9.99998827e-01 -4.76236777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.160281693 meters 0.017773937786598255 Centerline is valid? [True, True] Translation: X:143.14, Y:2.18, Z:-0.05 [[ 9.99180874e-01 -4.04440351e-02 1.36418434e-03 1.43139724e+02] [ 4.04439908e-02 9.99181805e-01 6.00248505e-05 2.17886413e+00] [-1.36549582e-03 -4.80262353e-06 9.99999068e-01 -4.82528634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.220281693 meters 0.017296813981020138 Centerline is valid? [True, True] Translation: X:143.20, Y:2.17, Z:-0.05 [[ 9.99054473e-01 -4.34744793e-02 3.59718916e-04 1.43197649e+02] [ 4.34744764e-02 9.99054538e-01 1.58380644e-05 2.17188514e+00] [-3.60067367e-04 -1.84497533e-07 9.99999935e-01 -5.06440405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.280281693 meters 0.019269510943287285 Centerline is valid? [True, True] Translation: X:143.26, Y:2.16, Z:-0.05 [[ 9.98670428e-01 -5.15487777e-02 3.17314636e-04 1.43256651e+02] [ 5.15487759e-02 9.98670478e-01 1.40271898e-05 2.15535571e+00] [-3.17615843e-04 2.34864141e-06 9.99999950e-01 -5.18565671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.340281693 meters 0.021900608529781405 Centerline is valid? [True, True] Translation: X:143.32, Y:2.15, Z:-0.05 [[ 9.98396672e-01 -5.66040327e-02 2.62514621e-04 1.43316050e+02] [ 5.66040316e-02 9.98396706e-01 1.16075086e-05 2.14629097e+00] [-2.62750765e-04 3.27048800e-06 9.99999965e-01 -5.14155783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.400281693 meters 0.02376851361494373 Centerline is valid? [True, True] Translation: X:143.37, Y:2.14, Z:-0.05 [[ 9.98348733e-01 -5.73983863e-02 2.28760129e-03 1.43373574e+02] [ 5.73983037e-02 9.98351353e-01 1.01797417e-04 2.14284425e+00] [-2.28967285e-03 2.96751118e-05 9.99997378e-01 -4.59536231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.460281693 meters 0.018314147558437528 Centerline is valid? [True, True] Translation: X:143.43, Y:2.16, Z:-0.04 [[ 9.98744019e-01 -4.99180531e-02 4.30947258e-03 1.43431985e+02] [ 4.99176893e-02 9.98753317e-01 1.91998971e-04 2.15721990e+00] [-4.31368425e-03 2.33610896e-05 9.99990696e-01 -4.19802144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.520281693 meters 0.017290607777272243 Centerline is valid? [True, True] Translation: X:143.49, Y:2.17, Z:-0.04 [[ 9.99062664e-01 -4.31659682e-02 3.23932778e-03 1.43489920e+02] [ 4.31657256e-02 9.99067915e-01 1.44804709e-04 2.17252399e+00] [-3.24255909e-03 -4.84104445e-06 9.99994743e-01 -4.43310069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.580281693 meters 0.017288061173496627 Centerline is valid? [True, True] Translation: X:143.55, Y:2.17, Z:-0.05 [[ 9.99014375e-01 -4.43495476e-02 1.84296178e-03 1.43547661e+02] [ 4.43494705e-02 9.99016075e-01 8.27009556e-05 2.17076608e+00] [-1.84481619e-03 -8.85064420e-07 9.99998298e-01 -4.74494798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.640281693 meters 0.01761783662491551 Centerline is valid? [True, True] Translation: X:143.61, Y:2.17, Z:-0.05 [[ 9.98870406e-01 -4.75173435e-02 -1.14794809e-04 1.43605520e+02] [ 4.75173432e-02 9.98870413e-01 -5.18245855e-06 2.16809752e+00] [ 1.14911395e-04 -2.78139863e-07 9.99999993e-01 -5.14382258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.700281693 meters 0.017879150841635483 Centerline is valid? [True, True] Translation: X:143.66, Y:2.17, Z:-0.05 [[ 9.98801340e-01 -4.89469458e-02 -2.81457514e-04 1.43663442e+02] [ 4.89469441e-02 9.98801380e-01 -1.27758608e-05 2.16783830e+00] [ 2.81745492e-04 -1.01593831e-06 9.99999960e-01 -5.23231450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.760281693 meters 0.017429353496479755 Centerline is valid? [True, True] Translation: X:143.72, Y:2.17, Z:-0.05 [[ 9.98911259e-01 -4.66446827e-02 7.55689449e-04 1.43721388e+02] [ 4.66446701e-02 9.98911544e-01 3.42040733e-05 2.17143836e+00] [-7.56462352e-04 1.08205115e-06 9.99999714e-01 -5.10184567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.820281693 meters 0.017473801774182642 Centerline is valid? [True, True] Translation: X:143.78, Y:2.17, Z:-0.05 [[ 9.99002543e-01 -4.46425681e-02 -9.80045318e-04 1.43779443e+02] [ 4.46425457e-02 9.99003024e-01 -4.46960045e-05 2.17313811e+00] [ 9.81063581e-04 8.99704266e-07 9.99999519e-01 -5.40796479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.880281693 meters 0.01759466076256583 Centerline is valid? [True, True] Translation: X:143.84, Y:2.17, Z:-0.05 [[ 9.99023564e-01 -4.41737218e-02 -7.75607240e-04 1.43836433e+02] [ 4.41737076e-02 9.99023865e-01 -3.54661234e-05 2.17360448e+00] [ 7.76416813e-04 1.17004555e-06 9.99999699e-01 -5.42515952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.940281693 meters 0.017647209801175765 Centerline is valid? [True, True] Translation: X:143.89, Y:2.17, Z:-0.05 [[ 9.99050293e-01 -4.35664235e-02 -6.91279755e-04 1.43893766e+02] [ 4.35664121e-02 9.99050533e-01 -3.16536604e-05 2.17376810e+00] [ 6.92002444e-04 1.50702005e-06 9.99999761e-01 -5.44313467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.000281693 meters 0.01794626149366889 Centerline is valid? [True, True] Translation: X:143.95, Y:2.17, Z:-0.05 [[ 9.99129244e-01 -4.16144464e-02 2.99859104e-03 1.43952825e+02] [ 4.16142207e-02 9.99133744e-01 1.37618300e-04 2.17216882e+00] [-3.00172040e-03 -1.27144383e-05 9.99995495e-01 -4.76868283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.060281693 meters 0.018472248518722544 Centerline is valid? [True, True] Translation: X:144.01, Y:2.17, Z:-0.04 [[ 9.99163233e-01 -4.05379809e-02 5.43202154e-03 1.44011036e+02] [ 4.05372224e-02 9.99177998e-01 2.49693678e-04 2.17055636e+00] [-5.43767849e-03 -2.92856764e-05 9.99985215e-01 -4.36080248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.120281693 meters 0.018105005525254653 Centerline is valid? [True, True] Translation: X:144.07, Y:2.17, Z:-0.05 [[ 9.99107102e-01 -4.21171594e-02 3.33832858e-03 1.44068799e+02] [ 4.21168811e-02 9.99112679e-01 1.53631755e-04 2.16596417e+00] [-3.34183694e-03 -1.28945898e-05 9.99994416e-01 -4.80403387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.180281693 meters 0.01746642200841928 Centerline is valid? [True, True] Translation: X:144.13, Y:2.15, Z:-0.05 [[ 9.98922228e-01 -4.64043073e-02 1.01164937e-03 1.44127911e+02] [ 4.64042839e-02 9.98922740e-01 4.66706132e-05 2.15130843e+00] [-1.01272528e-03 3.24551596e-07 9.99999487e-01 -5.28974083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.240281693 meters 0.017659621688585696 Centerline is valid? [True, True] Translation: X:144.19, Y:2.15, Z:-0.05 [[ 9.99044845e-01 -4.36370782e-02 2.28117485e-03 1.44186716e+02] [ 4.36369507e-02 9.99047449e-01 1.05679766e-04 2.14998800e+00] [-2.28361347e-03 -6.03531135e-06 9.99997393e-01 -5.00967709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.300281693 meters 0.019699599263019608 Centerline is valid? [True, True] Translation: X:144.25, Y:2.16, Z:-0.05 [[ 9.99249147e-01 -3.87092410e-02 1.65405652e-03 1.44245381e+02] [ 3.87091667e-02 9.99250516e-01 7.68801096e-05 2.15929974e+00] [-1.65579281e-03 -1.27952342e-05 9.99998629e-01 -5.13434581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.360281693 meters 0.02778139331690677 Centerline is valid? [True, True] Translation: X:144.30, Y:2.18, Z:-0.05 [[ 9.99602910e-01 -2.81124517e-02 1.92651637e-03 1.44304847e+02] [ 2.81123311e-02 9.99604766e-01 8.96272253e-05 2.17838284e+00] [-1.92827459e-03 -3.54327691e-05 9.99998140e-01 -5.12713365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.420281693 meters 0.036033583707254194 Centerline is valid? [True, True] Translation: X:144.36, Y:2.20, Z:-0.05 [[ 9.99791579e-01 -2.03465061e-02 1.67880673e-03 1.44363626e+02] [ 2.03464036e-02 9.99792987e-01 7.81043635e-05 2.19511726e+00] [-1.68004835e-03 -4.39304055e-05 9.99998588e-01 -5.09092589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.480281693 meters 0.03379570269090959 Centerline is valid? [True, True] Translation: X:144.42, Y:2.20, Z:-0.05 [[ 9.99793639e-01 -2.02300428e-02 1.85037029e-03 1.44422421e+02] [ 2.02299176e-02 9.99795351e-01 8.63322621e-05 2.19529366e+00] [-1.85173812e-03 -4.88816079e-05 9.99998284e-01 -5.16099662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.540281693 meters 0.03439706467332851 Centerline is valid? [True, True] Translation: X:144.48, Y:2.20, Z:-0.05 [[ 9.99756092e-01 -2.20318373e-02 1.53425715e-03 1.44480835e+02] [ 2.20317533e-02 9.99757269e-01 7.16718035e-05 2.20256195e+00] [-1.53546379e-03 -3.78519473e-05 9.99998820e-01 -5.15927483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.600281693 meters 0.03168710800901493 Centerline is valid? [True, True] Translation: X:144.54, Y:2.20, Z:-0.05 [[ 9.99712256e-01 -2.39117126e-02 1.90662690e-03 1.44539333e+02] [ 2.39115857e-02 9.99714073e-01 8.93324909e-05 2.20429441e+00] [-1.90821783e-03 -4.37163135e-05 9.99998178e-01 -5.16480171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.660281693 meters 0.03537575611609372 Centerline is valid? [True, True] Translation: X:144.60, Y:2.22, Z:-0.05 [[ 9.99769105e-01 -2.14860971e-02 2.91613557e-04 1.44597630e+02] [ 2.14860941e-02 9.99769147e-01 1.36698196e-05 2.21830622e+00] [-2.91839948e-04 -7.40102701e-06 9.99999957e-01 -5.38207539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.720281693 meters 0.043053894545689454 Centerline is valid? [True, True] Translation: X:144.66, Y:2.24, Z:-0.05 [[ 9.99848192e-01 -1.73640542e-02 1.44341286e-03 1.44655627e+02] [ 1.73639745e-02 9.99849233e-01 6.77295857e-05 2.24267730e+00] [-1.44437130e-03 -4.26559197e-05 9.99998956e-01 -5.22313194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.780281693 meters 0.04357444157753237 Centerline is valid? [True, True] Translation: X:144.71, Y:2.25, Z:-0.05 [[ 9.99844939e-01 -1.70665972e-02 4.33917023e-03 1.44714638e+02] [ 1.70658738e-02 9.99854347e-01 2.03700970e-04 2.25439524e+00] [-4.34201470e-03 -1.29617653e-04 9.99990565e-01 -4.66588891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.840281693 meters 0.03808128706019411 Centerline is valid? [True, True] Translation: X:144.78, Y:2.26, Z:-0.06 [[ 9.99809865e-01 -1.94982008e-02 2.33201254e-04 1.44775592e+02] [ 1.94981988e-02 9.99809892e-01 1.09491957e-05 2.25830357e+00] [-2.33370411e-04 -6.40010942e-06 9.99999973e-01 -5.52088669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.900281693 meters 0.0304807356286288 Centerline is valid? [True, True] Translation: X:144.84, Y:2.25, Z:-0.05 [[ 9.99643324e-01 -2.66927202e-02 8.50823002e-04 1.44835855e+02] [ 2.66926959e-02 9.99643686e-01 3.99346697e-05 2.25474894e+00] [-8.51585806e-04 -1.72096663e-05 9.99999637e-01 -5.47198267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.960281693 meters 0.026755129340817297 Centerline is valid? [True, True] Translation: X:144.90, Y:2.25, Z:-0.05 [[ 9.99519352e-01 -3.09812632e-02 1.10752416e-03 1.44895694e+02] [ 3.09812246e-02 9.99519965e-01 5.20012984e-05 2.25360685e+00] [-1.10860357e-03 -1.76638494e-05 9.99999385e-01 -5.36142858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.020281693 meters 0.02511954271483793 Centerline is valid? [True, True] Translation: X:144.95, Y:2.26, Z:-0.06 [[ 9.99446033e-01 -3.31738125e-02 -2.66927824e-03 1.44954209e+02] [ 3.31735948e-02 9.99449597e-01 -1.25824696e-04 2.26101326e+00] [ 2.67198315e-03 3.72054384e-05 9.99996430e-01 -6.05109025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.080281693 meters 0.023976212018583236 Centerline is valid? [True, True] Translation: X:145.01, Y:2.27, Z:-0.06 [[ 9.99369803e-01 -3.53742067e-02 -2.94308782e-03 1.45011708e+02] [ 3.53739511e-02 9.99374136e-01 -1.38855624e-04 2.26690728e+00] [ 2.94615775e-03 3.46594734e-05 9.99995659e-01 -6.24146060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.140281693 meters 0.018561952534126906 Centerline is valid? [True, True] Translation: X:145.07, Y:2.26, Z:-0.06 [[ 9.98994563e-01 -4.48075589e-02 -1.46475225e-03 1.45071764e+02] [ 4.48075056e-02 9.98995637e-01 -6.92391060e-05 2.25551253e+00] [ 1.46638354e-03 3.53759577e-06 9.99998925e-01 -5.86314722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.200281693 meters 0.018332596749743774 Centerline is valid? [True, True] Translation: X:145.13, Y:2.25, Z:-0.06 [[ 9.98779109e-01 -4.93890808e-02 -1.00505385e-03 1.45130175e+02] [ 4.93890577e-02 9.98779615e-01 -4.77602435e-05 2.25139027e+00] [ 1.00618613e-03 -1.93672901e-06 9.99999494e-01 -5.78865918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.260281693 meters 0.024064235292422628 Centerline is valid? [True, True] Translation: X:145.19, Y:2.23, Z:-0.05 [[ 9.98136772e-01 -6.10150979e-02 3.77528457e-04 1.45189512e+02] [ 6.10150954e-02 9.98136843e-01 1.79160344e-05 2.23191395e+00] [-3.77918211e-04 5.15228210e-06 9.99999929e-01 -5.48035368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.320281693 meters 0.02529024387120159 Centerline is valid? [True, True] Translation: X:145.25, Y:2.23, Z:-0.05 [[ 9.98050442e-01 -6.23963260e-02 1.41896817e-03 1.45247582e+02] [ 6.23962931e-02 9.98051451e-01 6.75051339e-05 2.22762576e+00] [-1.42041532e-03 2.11648253e-05 9.99998991e-01 -5.25412107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.380281693 meters 0.02330059496692556 Centerline is valid? [True, True] Translation: X:145.31, Y:2.23, Z:-0.06 [[ 9.98194863e-01 -6.00569264e-02 -4.24507648e-04 1.45306145e+02] [ 6.00569232e-02 9.98194954e-01 -2.03300216e-05 2.23000690e+00] [ 4.24962350e-04 -5.20130003e-06 9.99999910e-01 -5.56361763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.440281693 meters 0.019902365832153112 Centerline is valid? [True, True] Translation: X:145.37, Y:2.24, Z:-0.06 [[ 9.98512751e-01 -5.44569893e-02 -2.59292372e-03 1.45365297e+02] [ 5.44568501e-02 9.98516117e-01 -1.24286762e-04 2.23552124e+00] [ 2.59584440e-03 -1.71005414e-05 9.99996631e-01 -5.86510579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.500281693 meters 0.018269266327175068 Centerline is valid? [True, True] Translation: X:145.42, Y:2.24, Z:-0.06 [[ 9.98788794e-01 -4.91950875e-02 -8.87878578e-04 1.45424016e+02] [ 4.91950689e-02 9.98789189e-01 -4.27493510e-05 2.24385994e+00] [ 8.88906583e-04 -9.81675130e-07 9.99999605e-01 -5.68580048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.560281693 meters 0.018676463312199475 Centerline is valid? [True, True] Translation: X:145.48, Y:2.25, Z:-0.05 [[ 9.99006623e-01 -4.45615561e-02 1.86115320e-04 1.45481101e+02] [ 4.45615552e-02 9.99006640e-01 8.93442901e-06 2.25204214e+00] [-1.86328572e-04 -6.31965658e-07 9.99999983e-01 -5.47565837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.620281693 meters 0.019648543774777975 Centerline is valid? [True, True] Translation: X:145.54, Y:2.26, Z:-0.06 [[ 9.99108024e-01 -4.22198933e-02 -7.97935673e-04 1.45538307e+02] [ 4.22198760e-02 9.99108343e-01 -3.85048733e-05 2.25749633e+00] [ 7.98849860e-04 4.78178265e-06 9.99999681e-01 -5.69813442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.680281693 meters 0.02023930544722782 Centerline is valid? [True, True] Translation: X:145.60, Y:2.26, Z:-0.06 [[ 9.99144503e-01 -4.12962250e-02 -2.20997257e-03 1.45596012e+02] [ 4.12960899e-02 9.99146947e-01 -1.06732876e-04 2.25886647e+00] [ 2.21249501e-03 1.53783405e-05 9.99997552e-01 -5.93240364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.740281693 meters 0.021419100987270456 Centerline is valid? [True, True] Translation: X:145.65, Y:2.26, Z:-0.06 [[ 9.99201533e-01 -3.98663487e-02 -2.64006709e-03 1.45654214e+02] [ 3.98661497e-02 9.99205021e-01 -1.27952506e-04 2.26406410e+00] [ 2.64306929e-03 2.26010305e-05 9.99996507e-01 -6.13399715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.800281693 meters 0.022435316826585876 Centerline is valid? [True, True] Translation: X:145.71, Y:2.27, Z:-0.05 [[ 9.99326635e-01 -3.66904347e-02 2.98095733e-04 1.45712317e+02] [ 3.66904320e-02 9.99326679e-01 1.44333770e-05 2.27305837e+00] [-2.98424585e-04 -3.48639682e-06 9.99999955e-01 -5.43913018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.860281693 meters 0.02541171672866612 Centerline is valid? [True, True] Translation: X:145.77, Y:2.28, Z:-0.06 [[ 9.99426321e-01 -3.38667246e-02 -2.70279095e-04 1.45770039e+02] [ 3.38667223e-02 9.99426358e-01 -1.31750818e-05 2.28497759e+00] [ 2.70570249e-04 4.01405643e-06 9.99999963e-01 -5.58961256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.920281693 meters 0.028212385130899728 Centerline is valid? [True, True] Translation: X:145.83, Y:2.30, Z:-0.06 [[ 9.99503665e-01 -3.14165809e-02 -2.32869167e-03 1.45827611e+02] [ 3.14164017e-02 9.99506377e-01 -1.13491887e-04 2.29748535e+00] [ 2.33110770e-03 4.02764443e-05 9.99997282e-01 -6.00728003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.980281693 meters 0.027495094375465396 Centerline is valid? [True, True] Translation: X:145.89, Y:2.31, Z:-0.06 [[ 9.99509407e-01 -3.12242199e-02 -2.44796082e-03 1.45885658e+02] [ 3.12240203e-02 9.99512404e-01 -1.19738238e-04 2.30516495e+00] [ 2.45050594e-03 4.32443167e-05 9.99996997e-01 -6.08366018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.040281693 meters 0.02733130455998591 Centerline is valid? [True, True] Translation: X:145.94, Y:2.31, Z:-0.07 [[ 9.99452632e-01 -3.26972032e-02 -5.03282322e-03 1.45943349e+02] [ 3.26963770e-02 9.99465300e-01 -2.46366882e-04 2.31301407e+00] [ 5.03818768e-03 8.16769432e-05 9.99987305e-01 -6.66505480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.100281693 meters 0.025572645992139077 Centerline is valid? [True, True] Translation: X:146.00, Y:2.32, Z:-0.07 [[ 9.99388049e-01 -3.46150162e-02 -5.03273034e-03 1.46001769e+02] [ 3.46142101e-02 9.99400718e-01 -2.47208215e-04 2.31553008e+00] [ 5.03827143e-03 7.28529506e-05 9.99987305e-01 -6.64453315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.160281693 meters 0.024978282611643192 Centerline is valid? [True, True] Translation: X:146.06, Y:2.32, Z:-0.06 [[ 9.99363228e-01 -3.56157019e-02 -2.15870792e-03 1.46059644e+02] [ 3.56155557e-02 9.99365559e-01 -1.06154447e-04 2.32282119e+00] [ 2.16111911e-03 2.92032691e-05 9.99997664e-01 -5.94656023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.220281693 meters 0.025689401124305504 Centerline is valid? [True, True] Translation: X:146.12, Y:2.34, Z:-0.06 [[ 9.99382312e-01 -3.51121976e-02 -1.45871833e-03 1.46116708e+02] [ 3.51121301e-02 9.99383376e-01 -7.18201779e-05 2.33759719e+00] [ 1.46034061e-03 2.05571077e-05 9.99998933e-01 -5.86615364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.280281693 meters 0.026844919782861888 Centerline is valid? [True, True] Translation: X:146.18, Y:2.35, Z:-0.06 [[ 9.99423203e-01 -3.39299934e-02 -1.42037142e-03 1.46175296e+02] [ 3.39299279e-02 9.99424212e-01 -7.01873260e-05 2.35092670e+00] [ 1.42193504e-03 2.19537423e-05 9.99998989e-01 -5.85127629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.340281693 meters 0.025809422879048666 Centerline is valid? [True, True] Translation: X:146.23, Y:2.36, Z:-0.06 [[ 9.99370039e-01 -3.54487677e-02 -1.70558868e-03 1.46233533e+02] [ 3.54486750e-02 9.99371495e-01 -8.45333311e-05 2.35940796e+00] [ 1.70751331e-03 2.40192195e-05 9.99998542e-01 -5.91385966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.400281693 meters 0.01913667450766842 Centerline is valid? [True, True] Translation: X:146.29, Y:2.35, Z:-0.06 [[ 9.98997874e-01 -4.47494275e-02 -8.58679141e-04 1.46293747e+02] [ 4.47494074e-02 9.98998243e-01 -4.25599754e-05 2.34942677e+00] [ 8.59723488e-04 4.09194216e-06 9.99999630e-01 -5.75048429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.460281693 meters 0.018632133985101763 Centerline is valid? [True, True] Translation: X:146.35, Y:2.34, Z:-0.06 [[ 9.98677674e-01 -5.13718718e-02 -1.95800757e-03 1.46353222e+02] [ 5.13717795e-02 9.98679594e-01 -9.74271207e-05 2.34349141e+00] [ 1.96042722e-03 -3.28804313e-06 9.99998078e-01 -5.93072117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.520281693 meters 0.01872934291682753 Centerline is valid? [True, True] Translation: X:146.41, Y:2.35, Z:-0.06 [[ 9.98680231e-01 -5.12905311e-02 -2.66046054e-03 1.46410624e+02] [ 5.12903600e-02 9.98683774e-01 -1.32555977e-04 2.34649590e+00] [ 2.66375764e-03 -4.07494513e-06 9.99996452e-01 -6.05318263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.580281693 meters 0.01882683031848825 Centerline is valid? [True, True] Translation: X:146.47, Y:2.35, Z:-0.06 [[ 9.98748847e-01 -4.98321510e-02 -4.18302244e-03 1.46468827e+02] [ 4.98317116e-02 9.98757607e-01 -2.09246976e-04 2.35048039e+00] [ 4.18825271e-03 5.38008117e-07 9.99991229e-01 -6.42403024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.640281693 meters 0.01840600418532933 Centerline is valid? [True, True] Translation: X:146.53, Y:2.35, Z:-0.06 [[ 9.98767454e-01 -4.95780584e-02 -2.36425948e-03 1.46526548e+02] [ 4.95779162e-02 9.98770252e-01 -1.18749287e-04 2.34738000e+00] [ 2.36723940e-03 1.38786423e-06 9.99997198e-01 -5.92515822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.700281693 meters 0.01820880433506482 Centerline is valid? [True, True] Translation: X:146.58, Y:2.35, Z:-0.06 [[ 9.98734702e-01 -5.02721948e-02 -1.30465021e-03 1.46584325e+02] [ 5.02721517e-02 9.98735554e-01 -6.58053399e-05 2.34598071e+00] [ 1.30630873e-03 1.34503271e-07 9.99999147e-01 -5.76556864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.760281693 meters 0.018448692197063174 Centerline is valid? [True, True] Translation: X:146.64, Y:2.35, Z:-0.06 [[ 9.98799856e-01 -4.89173711e-02 -2.43688929e-03 1.46642095e+02] [ 4.89172167e-02 9.98802829e-01 -1.22955031e-04 2.34747047e+00] [ 2.43998656e-03 3.60162573e-06 9.99997023e-01 -6.03074560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.820281693 meters 0.019100589646395005 Centerline is valid? [True, True] Translation: X:146.70, Y:2.35, Z:-0.06 [[ 9.98911955e-01 -4.65585053e-02 -2.68551113e-03 1.46699863e+02] [ 4.65583088e-02 9.98915565e-01 -1.35649044e-04 2.35290845e+00] [ 2.68891448e-03 1.04685954e-05 9.99996385e-01 -6.13344155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.880281693 meters 0.019977516716296335 Centerline is valid? [True, True] Translation: X:146.76, Y:2.36, Z:-0.06 [[ 9.99016670e-01 -4.41100174e-02 -4.47200791e-03 1.46758286e+02] [ 4.41094447e-02 9.99026679e-01 -2.26654507e-04 2.36131370e+00] [ 4.47765294e-03 2.91738453e-05 9.99989975e-01 -6.36171685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.940281693 meters 0.02210457839744021 Centerline is valid? [True, True] Translation: X:146.82, Y:2.37, Z:-0.06 [[ 9.99147635e-01 -4.10587955e-02 -4.26364787e-03 1.46815453e+02] [ 4.10582462e-02 9.99156731e-01 -2.16309913e-04 2.37176094e+00] [ 4.26893390e-03 4.10676339e-05 9.99990887e-01 -6.42063707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.000281693 meters 0.02072117211344829 Centerline is valid? [True, True] Translation: X:146.87, Y:2.37, Z:-0.06 [[ 9.99088527e-01 -4.25290770e-02 -3.65958689e-03 1.46874307e+02] [ 4.25286798e-02 9.99095229e-01 -1.86306322e-04 2.37271884e+00] [ 3.66419923e-03 3.04991102e-05 9.99993286e-01 -6.20177672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.060281693 meters 0.02059080072250624 Centerline is valid? [True, True] Translation: X:146.93, Y:2.38, Z:-0.06 [[ 9.99024327e-01 -4.38238241e-02 -5.46496848e-03 1.46931459e+02] [ 4.38229557e-02 9.99039274e-01 -2.78606629e-04 2.37716763e+00] [ 5.47192775e-03 3.88437286e-05 9.99985028e-01 -6.49563578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.120281693 meters 0.020559334860536366 Centerline is valid? [True, True] Translation: X:146.99, Y:2.38, Z:-0.06 [[ 9.99058835e-01 -4.30664535e-02 -5.16966283e-03 1.46989649e+02] [ 4.30656647e-02 9.99072209e-01 -2.63848682e-04 2.38167370e+00] [ 5.17622950e-03 4.09653901e-05 9.99986602e-01 -6.35246852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.180281693 meters 0.024123995779220492 Centerline is valid? [True, True] Translation: X:147.05, Y:2.40, Z:-0.07 [[ 9.99262049e-01 -3.79133973e-02 -6.15888730e-03 1.47048124e+02] [ 3.79121781e-02 9.99281025e-01 -3.14626244e-04 2.39806730e+00] [ 6.16638777e-03 8.08972332e-05 9.99980984e-01 -6.71907966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.240281693 meters 0.029257553901107413 Centerline is valid? [True, True] Translation: X:147.11, Y:2.42, Z:-0.07 [[ 9.99448301e-01 -3.25836910e-02 -6.43405323e-03 1.47105823e+02] [ 3.25822480e-02 9.99469003e-01 -3.29008835e-04 2.41658077e+00] [ 6.44135709e-03 1.19191403e-04 9.99979247e-01 -6.75032800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.300281693 meters 0.027774353378228398 Centerline is valid? [True, True] Translation: X:147.16, Y:2.42, Z:-0.06 [[ 9.99480566e-01 -3.19381148e-02 -4.30753096e-03 1.47163593e+02] [ 3.19374582e-02 9.99489845e-01 -2.21155418e-04 2.42280685e+00] [ 4.31239674e-03 8.34689520e-05 9.99990698e-01 -6.29882715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.360281693 meters 0.029518508275929205 Centerline is valid? [True, True] Translation: X:147.22, Y:2.44, Z:-0.06 [[ 9.99531110e-01 -3.04543292e-02 -3.17705087e-03 1.47220128e+02] [ 3.04539639e-02 9.99536157e-01 -1.63316441e-04 2.43868211e+00] [ 3.18055091e-03 6.64860705e-05 9.99994940e-01 -6.09518703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.420281693 meters 0.03239425488652402 Centerline is valid? [True, True] Translation: X:147.28, Y:2.46, Z:-0.06 [[ 9.99604773e-01 -2.78918386e-02 -3.51334300e-03 1.47278007e+02] [ 2.78913756e-02 9.99610944e-01 -1.80712287e-04 2.45661164e+00] [ 3.51701651e-03 8.26488954e-05 9.99993812e-01 -6.30218051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.480281693 meters 0.033360249498534035 Centerline is valid? [True, True] Translation: X:147.34, Y:2.47, Z:-0.06 [[ 9.99552543e-01 -2.98968740e-02 -9.43564229e-04 1.47335855e+02] [ 2.98968415e-02 9.99552988e-01 -4.85728521e-05 2.47132963e+00] [ 9.44594621e-04 2.03415277e-05 9.99999554e-01 -5.83912996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.540281693 meters 0.026086017196184825 Centerline is valid? [True, True] Translation: X:147.40, Y:2.47, Z:-0.06 [[ 9.99382223e-01 -3.51086978e-02 -1.59733535e-03 1.47396177e+02] [ 3.51086112e-02 9.99383499e-01 -8.22308331e-05 2.46819620e+00] [ 1.59923761e-03 2.60998069e-05 9.99998721e-01 -5.96303912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.600281693 meters 0.020769862667440266 Centerline is valid? [True, True] Translation: X:147.46, Y:2.47, Z:-0.06 [[ 9.99117926e-01 -4.19672681e-02 -1.45554233e-03 1.47456590e+02] [ 4.19672034e-02 9.99118986e-01 -7.49490840e-05 2.46610982e+00] [ 1.45740539e-03 1.37979322e-05 9.99998938e-01 -5.92723008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.660281693 meters 0.019056796607346365 Centerline is valid? [True, True] Translation: X:147.51, Y:2.47, Z:-0.06 [[ 9.98951982e-01 -4.57689400e-02 3.77859593e-04 1.47514266e+02] [ 4.57689359e-02 9.98952053e-01 1.94576939e-05 2.47207496e+00] [-3.78354174e-04 -2.14307040e-06 9.99999928e-01 -5.51500828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.720281693 meters 0.017861114784269126 Centerline is valid? [True, True] Translation: X:147.57, Y:2.47, Z:-0.06 [[ 9.98698376e-01 -5.09786575e-02 -1.65243318e-03 1.47573332e+02] [ 5.09785858e-02 9.98699743e-01 -8.54986619e-05 2.47004243e+00] [ 1.65464320e-03 1.14866814e-06 9.99998631e-01 -6.03012673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.780281693 meters 0.019504216736642984 Centerline is valid? [True, True] Translation: X:147.63, Y:2.46, Z:-0.06 [[ 9.98338391e-01 -5.75309098e-02 -3.26354099e-03 1.47632818e+02] [ 5.75306636e-02 9.98343725e-01 -1.69318697e-04 2.46351874e+00] [ 3.26787673e-03 -1.87163228e-05 9.99994660e-01 -6.34302794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.840281693 meters 0.021708373766055503 Centerline is valid? [True, True] Translation: X:147.69, Y:2.46, Z:-0.06 [[ 9.98091689e-01 -6.16492010e-02 -3.51515030e-03 1.47691841e+02] [ 6.16489391e-02 9.98097878e-01 -1.82926098e-04 2.46070136e+00] [ 3.51974130e-03 -3.41282680e-05 9.99993805e-01 -6.33047691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.900281693 meters 0.022491677898990835 Centerline is valid? [True, True] Translation: X:147.75, Y:2.46, Z:-0.06 [[ 9.97989156e-01 -6.33622687e-02 -1.69332566e-03 1.47750790e+02] [ 6.33622099e-02 9.97990592e-01 -8.84184486e-05 2.45927203e+00] [ 1.69552547e-03 -1.90522027e-05 9.99998562e-01 -6.09522459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.960281693 meters 0.021705975601281124 Centerline is valid? [True, True] Translation: X:147.81, Y:2.46, Z:-0.06 [[ 9.98034463e-01 -6.26668424e-02 -2.78832099e-04 1.47809611e+02] [ 6.26668408e-02 9.98034502e-01 -1.46502443e-05 2.45799267e+00] [ 2.79202139e-04 -2.85207802e-06 9.99999961e-01 -5.80590070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.020281693 meters 0.020503373824003714 Centerline is valid? [True, True] Translation: X:147.87, Y:2.46, Z:-0.06 [[ 9.98154923e-01 -6.07186063e-02 3.49890372e-05 1.47867489e+02] [ 6.07186063e-02 9.98154923e-01 1.81387410e-06 2.45725061e+00] [-3.50346156e-05 3.13958209e-07 9.99999999e-01 -5.74059883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.080281693 meters 0.01942323259900586 Centerline is valid? [True, True] Translation: X:147.93, Y:2.46, Z:-0.05 [[ 9.98237460e-01 -5.93346775e-02 1.16984406e-03 1.47925857e+02] [ 5.93346463e-02 9.98238146e-01 6.14296615e-05 2.45873424e+00] [-1.17142788e-03 8.09089450e-06 9.99999314e-01 -5.46165788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.140281693 meters 0.017788621926756204 Centerline is valid? [True, True] Translation: X:147.98, Y:2.46, Z:-0.06 [[ 9.98516368e-01 -5.44519163e-02 2.28876369e-04 1.47983991e+02] [ 5.44519150e-02 9.98516394e-01 1.20110748e-05 2.46302599e+00] [-2.29190833e-04 4.69501805e-07 9.99999974e-01 -5.61752197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.200281693 meters 0.018548507391831566 Centerline is valid? [True, True] Translation: X:148.04, Y:2.47, Z:-0.05 [[ 9.98837011e-01 -4.81974378e-02 1.27739374e-03 1.48041576e+02] [ 4.81973910e-02 9.98837828e-01 6.73861644e-05 2.47127868e+00] [-1.27915703e-03 -5.74074948e-06 9.99999182e-01 -5.42310619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.260281693 meters 0.021408701619467018 Centerline is valid? [True, True] Translation: X:148.10, Y:2.48, Z:-0.06 [[ 9.99039940e-01 -4.38080724e-02 -2.26859923e-04 1.48098753e+02] [ 4.38080708e-02 9.99039966e-01 -1.20247184e-05 2.47549089e+00] [ 2.27168910e-04 2.07487832e-06 9.99999974e-01 -5.86408382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.320281693 meters 0.020803029167406544 Centerline is valid? [True, True] Translation: X:148.16, Y:2.47, Z:-0.06 [[ 9.99024773e-01 -4.41126154e-02 -1.89236591e-03 1.48157067e+02] [ 4.41125042e-02 9.99026565e-01 -1.00442199e-04 2.47253022e+00] [ 1.89495458e-03 1.68672460e-05 9.99998204e-01 -6.16974710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.380281693 meters 0.02025982393337321 Centerline is valid? [True, True] Translation: X:148.22, Y:2.47, Z:-0.06 [[ 9.98997599e-01 -4.47532718e-02 9.70799389e-04 1.48215535e+02] [ 4.47532427e-02 9.98998070e-01 5.16093114e-05 2.47064993e+00] [-9.72136402e-04 -8.11115747e-06 9.99999527e-01 -5.63362660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.440281693 meters 0.021789632367892442 Centerline is valid? [True, True] Translation: X:148.27, Y:2.48, Z:-0.05 [[ 9.99085017e-01 -4.27184038e-02 2.06582391e-03 1.48274340e+02] [ 4.27182672e-02 9.99087152e-01 1.10228524e-04 2.47533065e+00] [-2.06864691e-03 -2.18792491e-05 9.99997860e-01 -5.38147400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.500281693 meters 0.023531173453601457 Centerline is valid? [True, True] Translation: X:148.33, Y:2.48, Z:-0.06 [[ 9.99163199e-01 -4.08996237e-02 -3.50046155e-04 1.48333062e+02] [ 4.08996197e-02 9.99163260e-01 -1.87962769e-05 2.48182118e+00] [ 3.50522018e-04 4.46379360e-06 9.99999939e-01 -5.85406223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.560281693 meters 0.024998788818957163 Centerline is valid? [True, True] Translation: X:148.39, Y:2.49, Z:-0.06 [[ 9.99252378e-01 -3.86572420e-02 5.50756128e-04 1.48391078e+02] [ 3.86572316e-02 9.99252529e-01 2.95059059e-05 2.48977637e+00] [-5.51485071e-04 -8.19313943e-06 9.99999848e-01 -5.69337251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.620281693 meters 0.02630865359040355 Centerline is valid? [True, True] Translation: X:148.45, Y:2.50, Z:-0.06 [[ 9.99286473e-01 -3.77563084e-02 1.00260941e-03 1.48448343e+02] [ 3.77562734e-02 9.99286976e-01 5.38229324e-05 2.49944726e+00] [-1.00392668e-03 -1.59297331e-05 9.99999496e-01 -5.65216409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.680281693 meters 0.02268857835776424 Centerline is valid? [True, True] Translation: X:148.51, Y:2.50, Z:-0.06 [[ 9.99106267e-01 -4.22686834e-02 1.58538625e-04 1.48506868e+02] [ 4.22686826e-02 9.99106280e-01 8.50718991e-06 2.49933278e+00] [-1.58756523e-04 -1.79836793e-06 9.99999987e-01 -5.81991993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.740281693 meters 0.018013565499057086 Centerline is valid? [True, True] Translation: X:148.57, Y:2.49, Z:-0.06 [[ 9.98784971e-01 -4.92561166e-02 1.55461435e-03 1.48566634e+02] [ 4.92560459e-02 9.98786181e-01 8.37578646e-05 2.48969816e+00] [-1.55685291e-03 -7.08194089e-06 9.99998788e-01 -5.56107070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.800281693 meters 0.017231158234114346 Centerline is valid? [True, True] Translation: X:148.63, Y:2.48, Z:-0.05 [[ 9.98435150e-01 -5.58611631e-02 2.60408994e-03 1.48625132e+02] [ 5.58609858e-02 9.98438546e-01 1.40819175e-04 2.48326036e+00] [-2.60789010e-03 4.86821747e-06 9.99996599e-01 -5.29251109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.860281693 meters 0.017056466708626615 Centerline is valid? [True, True] Translation: X:148.68, Y:2.49, Z:-0.05 [[ 9.98475417e-01 -5.50546257e-02 3.97877946e-03 1.48683008e+02] [ 5.50542023e-02 9.98483344e-01 2.15949605e-04 2.49280044e+00] [-3.98463404e-03 3.42815695e-06 9.99992061e-01 -5.05886004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.920281693 meters 0.017223612983840376 Centerline is valid? [True, True] Translation: X:148.74, Y:2.50, Z:-0.06 [[ 9.98476876e-01 -5.51488829e-02 1.59042892e-03 1.48740650e+02] [ 5.51488151e-02 9.98478142e-01 8.64536817e-05 2.49852977e+00] [-1.59277634e-03 1.38826864e-06 9.99998732e-01 -5.58795764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.980281693 meters 0.017753624782932634 Centerline is valid? [True, True] Translation: X:148.80, Y:2.50, Z:-0.06 [[ 9.98371883e-01 -5.70345783e-02 -8.00066605e-04 1.48798073e+02] [ 5.70345617e-02 9.98372204e-01 -4.35721439e-05 2.49896338e+00] [ 8.01249378e-04 -2.13024481e-06 9.99999679e-01 -6.04518491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.040281693 meters 0.018146948270071253 Centerline is valid? [True, True] Translation: X:148.86, Y:2.50, Z:-0.06 [[ 9.98292589e-01 -5.83982733e-02 -1.24405725e-03 1.48855954e+02] [ 5.83982341e-02 9.98293365e-01 -6.78589293e-05 2.49958833e+00] [ 1.24589694e-03 -4.90768034e-06 9.99999224e-01 -6.09197583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.100281693 meters 0.019973983112544738 Centerline is valid? [True, True] Translation: X:148.91, Y:2.50, Z:-0.06 [[ 9.98046325e-01 -6.24652148e-02 -1.27706182e-03 1.48914863e+02] [ 6.24651765e-02 9.98047142e-01 -6.98844139e-05 2.49816586e+00] [ 1.27893324e-03 -1.00240093e-05 9.99999182e-01 -6.07103210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.160281693 meters 0.018886985377340827 Centerline is valid? [True, True] Translation: X:148.97, Y:2.51, Z:-0.06 [[ 9.98133692e-01 -6.10562462e-02 -1.12593627e-03 1.48973044e+02] [ 6.10562153e-02 9.98134327e-01 -6.18083171e-05 2.50937681e+00] [ 1.12760942e-03 -7.05244357e-06 9.99999364e-01 -6.08779269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.220281693 meters 0.01766990184571294 Centerline is valid? [True, True] Translation: X:149.03, Y:2.52, Z:-0.06 [[ 9.98320179e-01 -5.79193836e-02 -1.47150525e-03 1.49031183e+02] [ 5.79193271e-02 9.98321263e-01 -8.10050513e-05 2.51803940e+00] [ 1.47372675e-03 -4.35961685e-06 9.99998914e-01 -6.18186237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.280281693 meters 0.017343516217830302 Centerline is valid? [True, True] Translation: X:149.09, Y:2.53, Z:-0.06 [[ 9.98424345e-01 -5.61024602e-02 -1.15781305e-03 1.49088869e+02] [ 5.61024237e-02 9.98425017e-01 -6.39753755e-05 2.52642292e+00] [ 1.15957869e-03 -1.08154580e-06 9.99999328e-01 -6.11806202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.340281693 meters 0.0178697311446866 Centerline is valid? [True, True] Translation: X:149.15, Y:2.54, Z:-0.06 [[ 9.98683276e-01 -5.12986025e-02 4.08829631e-04 1.49146412e+02] [ 5.12985976e-02 9.98683360e-01 2.25707481e-05 2.54131378e+00] [-4.09449198e-04 -1.56864193e-06 9.99999916e-01 -5.86473800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.400281693 meters 0.018984051484669424 Centerline is valid? [True, True] Translation: X:149.20, Y:2.55, Z:-0.06 [[ 9.98841506e-01 -4.81199677e-02 3.38457096e-04 1.49204952e+02] [ 4.81199641e-02 9.98841563e-01 1.87011638e-05 2.55297063e+00] [-3.38964914e-04 -2.39295530e-06 9.99999943e-01 -5.92809275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.460281693 meters 0.018298187679272146 Centerline is valid? [True, True] Translation: X:149.26, Y:2.55, Z:-0.06 [[ 9.98757527e-01 -4.98260073e-02 8.78558671e-04 1.49262852e+02] [ 4.98259838e-02 9.98757913e-01 4.87255749e-05 2.55499403e+00] [-8.79895226e-04 -4.88998456e-06 9.99999613e-01 -5.90777354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.520281693 meters 0.01707650521121475 Centerline is valid? [True, True] Translation: X:149.32, Y:2.55, Z:-0.06 [[ 9.98417009e-01 -5.62290165e-02 1.33199062e-03 1.49321254e+02] [ 5.62289679e-02 9.98417897e-01 7.39620048e-05 2.54876180e+00] [-1.33404209e-03 1.05153423e-06 9.99999110e-01 -5.80185033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.580281693 meters 0.020720934540221975 Centerline is valid? [True, True] Translation: X:149.38, Y:2.53, Z:-0.06 [[ 9.97821583e-01 -6.59636067e-02 9.44436518e-04 1.49380999e+02] [ 6.59635865e-02 9.97822029e-01 5.25546953e-05 2.53205606e+00] [-9.45846260e-04 9.85821071e-06 9.99999553e-01 -5.79040384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.640281693 meters 0.026390995984094317 Centerline is valid? [True, True] Translation: X:149.44, Y:2.51, Z:-0.06 [[ 9.97398714e-01 -7.20478107e-02 -2.21765517e-03 1.49440239e+02] [ 7.20477138e-02 9.97401179e-01 -1.23656202e-04 2.51490404e+00] [ 2.22080104e-03 -3.64424478e-05 9.99997533e-01 -6.47327768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.700281693 meters 0.028248483826426776 Centerline is valid? [True, True] Translation: X:149.50, Y:2.51, Z:-0.07 [[ 9.97266027e-01 -7.38414824e-02 -2.81187124e-03 1.49499084e+02] [ 7.38413333e-02 9.97269990e-01 -1.56946632e-04 2.50760950e+00] [ 2.81578397e-03 -5.11147767e-05 9.99996034e-01 -6.50502883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.760281693 meters 0.02670257358020726 Centerline is valid? [True, True] Translation: X:149.56, Y:2.50, Z:-0.06 [[ 9.97396063e-01 -7.20467352e-02 -3.21899859e-03 1.49557960e+02] [ 7.20465287e-02 9.97401256e-01 -1.80205947e-04 2.50499602e+00] [ 3.22361648e-03 -5.21809726e-05 9.99994803e-01 -6.49459398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.820281693 meters 0.020183130879665487 Centerline is valid? [True, True] Translation: X:149.62, Y:2.52, Z:-0.07 [[ 9.97904244e-01 -6.45855371e-02 -3.97836926e-03 1.49617441e+02] [ 6.45851622e-02 9.97912174e-01 -2.22790164e-04 2.51767767e+00] [ 3.98445214e-03 -3.46203742e-05 9.99992061e-01 -6.64204992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.880281693 meters 0.017677531970252333 Centerline is valid? [True, True] Translation: X:149.68, Y:2.53, Z:-0.06 [[ 9.98217673e-01 -5.96228272e-02 -2.56816275e-03 1.49675562e+02] [ 5.96226533e-02 9.98220977e-01 -1.44291842e-04 2.52678834e+00] [ 2.57219701e-03 -9.08600993e-06 9.99996692e-01 -6.43199445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.940281693 meters 0.017122964297815884 Centerline is valid? [True, True] Translation: X:149.73, Y:2.53, Z:-0.06 [[ 9.98446407e-01 -5.57145383e-02 -8.14418917e-04 1.49733088e+02] [ 5.57145195e-02 9.98446739e-01 -4.58074824e-05 2.53304097e+00] [ 8.15706054e-04 3.61357572e-07 9.99999667e-01 -6.22830443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.000281693 meters 0.017551613013419676 Centerline is valid? [True, True] Translation: X:149.79, Y:2.54, Z:-0.06 [[ 9.98607087e-01 -5.27599299e-02 -5.24537859e-04 1.49790537e+02] [ 5.27599216e-02 9.98607225e-01 -2.95651542e-05 2.54058441e+00] [ 5.25367151e-04 1.84939625e-06 9.99999862e-01 -6.15476991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.060281693 meters 0.018685912111539717 Centerline is valid? [True, True] Translation: X:149.85, Y:2.55, Z:-0.06 [[ 9.98742723e-01 -5.00941820e-02 -1.88294620e-03 1.49849442e+02] [ 5.00940705e-02 9.98744498e-01 -1.06384443e-04 2.54834946e+00] [ 1.88591140e-03 1.19262490e-05 9.99998222e-01 -6.35592440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.120281693 meters 0.020622109729073895 Centerline is valid? [True, True] Translation: X:149.91, Y:2.55, Z:-0.06 [[ 9.98874983e-01 -4.73861801e-02 -1.82184836e-03 1.49906800e+02] [ 4.73860711e-02 9.98876644e-01 -1.03002467e-04 2.55469687e+00] [ 1.82468267e-03 1.65563519e-05 9.99998335e-01 -6.35958688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.180281693 meters 0.020537799493884203 Centerline is valid? [True, True] Translation: X:149.97, Y:2.56, Z:-0.06 [[ 9.98922321e-01 -4.64114062e-02 -4.21457530e-04 1.49965287e+02] [ 4.64114002e-02 9.98922410e-01 -2.39522071e-05 2.55799598e+00] [ 4.22115028e-04 4.36596019e-06 9.99999911e-01 -6.03944936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.240281693 meters 0.022972953782578895 Centerline is valid? [True, True] Translation: X:150.02, Y:2.56, Z:-0.06 [[ 9.99070885e-01 -4.30725111e-02 -1.45784499e-03 1.50023246e+02] [ 4.30724362e-02 9.99071949e-01 -8.27583564e-05 2.56488681e+00] [ 1.46005665e-03 1.98885290e-05 9.99998934e-01 -6.17998660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.300281693 meters 0.028086156319335316 Centerline is valid? [True, True] Translation: X:150.08, Y:2.58, Z:-0.06 [[ 9.99304317e-01 -3.72128705e-02 -2.46676408e-03 1.50082484e+02] [ 3.72126380e-02 9.99307360e-01 -1.40063927e-04 2.57863196e+00] [ 2.47026768e-03 4.81716881e-05 9.99996948e-01 -6.25665116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.360281693 meters 0.03094532306714394 Centerline is valid? [True, True] Translation: X:150.14, Y:2.59, Z:-0.07 [[ 9.99372444e-01 -3.51518771e-02 -4.36618697e-03 1.50139545e+02] [ 3.51511282e-02 9.99381977e-01 -2.48174305e-04 2.58828711e+00] [ 4.37221236e-03 9.45421634e-05 9.99990437e-01 -6.57591461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.420281693 meters 0.02623740665931444 Centerline is valid? [True, True] Translation: X:150.20, Y:2.59, Z:-0.06 [[ 9.99191478e-01 -4.01057837e-02 -2.81350056e-03 1.50199295e+02] [ 4.01054922e-02 9.99195438e-01 -1.59979404e-04 2.58579541e+00] [ 2.81765302e-03 4.70132328e-05 9.99996029e-01 -6.43752395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.480281693 meters 0.0209838143673489 Centerline is valid? [True, True] Translation: X:150.26, Y:2.58, Z:-0.06 [[ 9.98918566e-01 -4.64877155e-02 7.68580517e-04 1.50259560e+02] [ 4.64876956e-02 9.98918862e-01 4.37136209e-05 2.58172326e+00] [-7.69781721e-04 -7.93681036e-06 9.99999704e-01 -5.74558205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.540281693 meters 0.019905382943488394 Centerline is valid? [True, True] Translation: X:150.32, Y:2.58, Z:-0.06 [[ 9.98829372e-01 -4.83579124e-02 -1.18213577e-03 1.50318830e+02] [ 4.83578664e-02 9.98830072e-01 -6.74776372e-05 2.58443290e+00] [ 1.18401583e-03 1.02330826e-05 9.99999299e-01 -6.08496419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.600281693 meters 0.02019500235293256 Centerline is valid? [True, True] Translation: X:150.38, Y:2.59, Z:-0.07 [[ 9.98797511e-01 -4.87909811e-02 -4.79284612e-03 1.50376431e+02] [ 4.87902296e-02 9.98809010e-01 -2.73663178e-04 2.59070705e+00] [ 4.80049018e-03 3.94900388e-05 9.99988477e-01 -6.87827613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.660281693 meters 0.019259713130310507 Centerline is valid? [True, True] Translation: X:150.43, Y:2.59, Z:-0.07 [[ 9.98738041e-01 -5.01147307e-02 -3.29221193e-03 1.50434504e+02] [ 5.01143827e-02 9.98743467e-01 -1.88169017e-04 2.59313639e+00] [ 3.29750520e-03 2.29443869e-05 9.99994563e-01 -6.53590719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.720281693 meters 0.01790469480350452 Centerline is valid? [True, True] Translation: X:150.49, Y:2.59, Z:-0.06 [[ 9.98614229e-01 -5.26082745e-02 -1.41099239e-03 1.50493962e+02] [ 5.26082127e-02 9.98615226e-01 -8.08950063e-05 2.59278946e+00] [ 1.41329423e-03 6.55311638e-06 9.99999001e-01 -6.23289541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.780281693 meters 0.017052274309798963 Centerline is valid? [True, True] Translation: X:150.55, Y:2.59, Z:-0.06 [[ 9.98456482e-01 -5.55193154e-02 -1.50299626e-03 1.50551809e+02] [ 5.55192485e-02 9.98457613e-01 -8.62192561e-05 2.59078739e+00] [ 1.50546489e-03 2.64095244e-06 9.99998867e-01 -6.18691706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.840281693 meters 0.016974317560694445 Centerline is valid? [True, True] Translation: X:150.61, Y:2.59, Z:-0.06 [[ 9.98433238e-01 -5.59517985e-02 -6.81623480e-04 1.50609341e+02] [ 5.59517847e-02 9.98433471e-01 -3.92797541e-05 2.59322169e+00] [ 6.82753470e-04 1.08016186e-06 9.99999767e-01 -6.09429649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.900281693 meters 0.017655596596553306 Centerline is valid? [True, True] Translation: X:150.67, Y:2.60, Z:-0.06 [[ 9.98586226e-01 -5.31371451e-02 1.41149399e-03 1.50666917e+02] [ 5.31370833e-02 9.98587224e-01 8.12695836e-05 2.60151974e+00] [-1.41381830e-03 -6.15201324e-06 9.99999001e-01 -5.60143581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.960281693 meters 0.018761376912398996 Centerline is valid? [True, True] Translation: X:150.73, Y:2.61, Z:-0.06 [[ 9.98718105e-01 -5.06022343e-02 1.24910878e-03 1.50725417e+02] [ 5.06021837e-02 9.98718886e-01 7.20823755e-05 2.60925360e+00] [-1.25115606e-03 -8.78234168e-06 9.99999217e-01 -5.57900151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.020281693 meters 0.026223073636665428 Centerline is valid? [True, True] Translation: X:150.78, Y:2.63, Z:-0.06 [[ 9.99139823e-01 -4.14682303e-02 -2.10739309e-05 1.50783502e+02] [ 4.14682303e-02 9.99139823e-01 -1.22535033e-06 2.63139711e+00] [ 2.11066167e-05 3.50397693e-07 1.00000000e+00 -5.86059295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.080281693 meters 0.03443847570587871 Centerline is valid? [True, True] Translation: X:150.84, Y:2.65, Z:-0.06 [[ 9.99381497e-01 -3.51345166e-02 -1.47976364e-03 1.50841061e+02] [ 3.51344285e-02 9.99382592e-01 -8.55326585e-05 2.65487102e+00] [ 1.48185517e-03 3.34891067e-05 9.99998901e-01 -6.15254203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.140281693 meters 0.03533494792187012 Centerline is valid? [True, True] Translation: X:150.90, Y:2.67, Z:-0.06 [[ 9.99444703e-01 -3.32948937e-02 -1.31783510e-03 1.50899353e+02] [ 3.32948219e-02 9.99445571e-01 -7.64256414e-05 2.66518363e+00] [ 1.31964903e-03 3.25061176e-05 9.99999129e-01 -6.10402550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.200281693 meters 0.03125752322811585 Centerline is valid? [True, True] Translation: X:150.96, Y:2.67, Z:-0.06 [[ 9.99386293e-01 -3.50003512e-02 -1.41867967e-03 1.50958540e+02] [ 3.50002693e-02 9.99387299e-01 -8.24848814e-05 2.66946587e+00] [ 1.42069745e-03 3.27800891e-05 9.99998990e-01 -6.13350958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.260281693 meters 0.02913121032879802 Centerline is valid? [True, True] Translation: X:151.02, Y:2.68, Z:-0.06 [[ 9.99252043e-01 -3.86500705e-02 -1.23525788e-03 1.51016624e+02] [ 3.86500112e-02 9.99252807e-01 -7.18295438e-05 2.67819877e+00] [ 1.23711112e-03 2.40330874e-05 9.99999234e-01 -6.21296733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.320281693 meters 0.025734194561335865 Centerline is valid? [True, True] Translation: X:151.08, Y:2.68, Z:-0.06 [[ 9.99113365e-01 -4.20608269e-02 -1.83620032e-03 1.51075853e+02] [ 4.20607011e-02 9.99115051e-01 -1.07080092e-04 2.68158719e+00] [ 1.83907925e-03 2.97532781e-05 9.99998308e-01 -6.35449617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.380281693 meters 0.021671118452412944 Centerline is valid? [True, True] Translation: X:151.13, Y:2.68, Z:-0.06 [[ 9.98882024e-01 -4.72340279e-02 -1.91013587e-03 1.51134589e+02] [ 4.72339011e-02 9.98883850e-01 -1.11440555e-04 2.68049296e+00] [ 1.91326766e-03 2.10927978e-05 9.99998169e-01 -6.39514411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.440281693 meters 0.019621536916583863 Centerline is valid? [True, True] Translation: X:151.19, Y:2.69, Z:-0.07 [[ 9.98743199e-01 -5.00376921e-02 -2.87261977e-03 1.51193305e+02] [ 5.00374156e-02 9.98747330e-01 -1.68093307e-04 2.68584357e+00] [ 2.87743233e-03 2.41435774e-05 9.99995860e-01 -6.59941088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.500281693 meters 0.018925928684450106 Centerline is valid? [True, True] Translation: X:151.25, Y:2.69, Z:-0.07 [[ 9.98615272e-01 -5.24709655e-02 -3.78640968e-03 1.51250795e+02] [ 5.24705020e-02 9.98622450e-01 -2.21728805e-04 2.68796807e+00] [ 3.79282804e-03 2.27469542e-05 9.99992807e-01 -6.94573889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.560281693 meters 0.016695271053762003 Centerline is valid? [True, True] Translation: X:151.31, Y:2.68, Z:-0.06 [[ 9.98260349e-01 -5.89486705e-02 -1.15286048e-03 1.51310290e+02] [ 5.89486316e-02 9.98261015e-01 -6.77487219e-05 2.68139987e+00] [ 1.15484937e-03 -3.28684863e-07 9.99999333e-01 -6.28666649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.620281693 meters 0.017587819574485557 Centerline is valid? [True, True] Translation: X:151.37, Y:2.68, Z:-0.06 [[ 9.98001627e-01 -6.31668657e-02 -1.64308447e-03 1.51369764e+02] [ 6.31667919e-02 9.98002979e-01 -9.67988022e-05 2.67594224e+00] [ 1.64591768e-03 -7.18301284e-06 9.99998645e-01 -6.49143527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.680281693 meters 0.019607821539945905 Centerline is valid? [True, True] Translation: X:151.43, Y:2.67, Z:-0.07 [[ 9.97750956e-01 -6.70112236e-02 -1.58941859e-03 1.51427871e+02] [ 6.70111594e-02 9.97752222e-01 -9.36936924e-05 2.66820284e+00] [ 1.59212446e-03 -1.30258111e-05 9.99998732e-01 -6.50609082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.740281693 meters 0.01836672009974727 Centerline is valid? [True, True] Translation: X:151.49, Y:2.67, Z:-0.06 [[ 9.97879242e-01 -6.50846181e-02 1.00578944e-03 1.51485770e+02] [ 6.50845913e-02 9.97879748e-01 5.93143603e-05 2.67138359e+00] [-1.00751737e-03 6.27282605e-06 9.99999492e-01 -5.88221827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.800281693 meters 0.017071242395496258 Centerline is valid? [True, True] Translation: X:151.54, Y:2.68, Z:-0.06 [[ 9.98065753e-01 -6.21524614e-02 1.35050801e-03 1.51544018e+02] [ 6.21524103e-02 9.98066667e-01 7.98266274e-05 2.67746561e+00] [-1.35285845e-03 4.26510464e-06 9.99999085e-01 -5.89585355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.860281693 meters 0.016967665830556294 Centerline is valid? [True, True] Translation: X:151.60, Y:2.69, Z:-0.06 [[ 9.98358481e-01 -5.72693527e-02 -7.52043696e-04 1.51601608e+02] [ 5.72693353e-02 9.98358764e-01 -4.46797884e-05 2.68858900e+00] [ 7.53368197e-04 1.53740301e-06 9.99999716e-01 -6.39752030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.920281693 meters 0.01905749933836837 Centerline is valid? [True, True] Translation: X:151.66, Y:2.70, Z:-0.06 [[ 9.98634082e-01 -5.22433526e-02 -7.75530372e-04 1.51659251e+02] [ 5.22433326e-02 9.98634384e-01 -4.60735752e-05 2.70176988e+00] [ 7.76878333e-04 5.49435130e-06 9.99999698e-01 -6.18218237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.980281693 meters 0.02468740993679549 Centerline is valid? [True, True] Translation: X:151.72, Y:2.72, Z:-0.06 [[ 9.98972557e-01 -4.53149812e-02 -6.18701727e-04 1.51717604e+02] [ 4.53149671e-02 9.98972749e-01 -3.67625740e-05 2.72308229e+00] [ 6.19732060e-04 8.68835415e-06 9.99999808e-01 -6.17453129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.040281693 meters 0.02386684595273774 Centerline is valid? [True, True] Translation: X:151.78, Y:2.73, Z:-0.06 [[ 9.98909014e-01 -4.66975343e-02 3.49474342e-04 1.51775379e+02] [ 4.66975299e-02 9.98909075e-01 2.07617550e-05 2.73290250e+00] [-3.50062614e-04 -4.41951566e-06 9.99999939e-01 -6.10191389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.100281693 meters 0.02175994148000213 Centerline is valid? [True, True] Translation: X:151.83, Y:2.74, Z:-0.06 [[ 9.98782482e-01 -4.93302415e-02 2.83247109e-04 1.51834483e+02] [ 4.93302387e-02 9.98782523e-01 1.68614244e-05 2.73831309e+00] [-2.83734040e-04 -2.86824781e-06 9.99999960e-01 -6.05936898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.160281693 meters 0.0192549532868378 Centerline is valid? [True, True] Translation: X:151.89, Y:2.74, Z:-0.06 [[ 9.98592478e-01 -5.30377341e-02 -2.46324017e-04 1.51892224e+02] [ 5.30377321e-02 9.98592509e-01 -1.47507604e-05 2.74162089e+00] [ 2.46759665e-04 1.66553120e-06 9.99999970e-01 -6.32972628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.220281693 meters 0.0175999704089581 Centerline is valid? [True, True] Translation: X:151.95, Y:2.75, Z:-0.07 [[ 9.98371193e-01 -5.69473083e-02 -3.45904184e-03 1.51949826e+02] [ 5.69469330e-02 9.98377185e-01 -2.06972483e-04 2.74792567e+00] [ 3.46521499e-03 9.65354083e-06 9.99993996e-01 -7.00674193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.280281693 meters 0.017299022397555135 Centerline is valid? [True, True] Translation: X:152.01, Y:2.75, Z:-0.07 [[ 9.98037716e-01 -6.25660473e-02 -2.49157789e-03 1.52008134e+02] [ 6.25658688e-02 9.98040826e-01 -1.49580362e-04 2.74595407e+00] [ 2.49605511e-03 -6.60089274e-06 9.99996885e-01 -6.69502321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.340281693 meters 0.02324515925740293 Centerline is valid? [True, True] Translation: X:152.07, Y:2.73, Z:-0.07 [[ 9.97259593e-01 -7.39125842e-02 -3.19895270e-03 1.52067941e+02] [ 7.39123480e-02 9.97264723e-01 -1.92152025e-04 2.73427901e+00] [ 3.20440514e-03 -4.48166551e-05 9.99994865e-01 -6.82369844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.400281693 meters 0.03298903495308703 Centerline is valid? [True, True] Translation: X:152.13, Y:2.72, Z:-0.07 [[ 9.96560441e-01 -8.26588879e-02 -5.89884488e-03 1.52128525e+02] [ 8.26582382e-02 9.96577890e-01 -3.54285772e-04 2.72078173e+00] [ 5.90794325e-03 -1.34520940e-04 9.99982539e-01 -7.47836603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.460281693 meters 0.04182883333791033 Centerline is valid? [True, True] Translation: X:152.19, Y:2.70, Z:-0.07 [[ 9.95954347e-01 -8.97350728e-02 -4.74921974e-03 1.52189168e+02] [ 8.97347320e-02 9.95965660e-01 -2.85233440e-04 2.70466729e+00] [ 4.75565522e-03 -1.42090476e-04 9.99988682e-01 -7.12645979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.520281693 meters 0.03980519487668305 Centerline is valid? [True, True] Translation: X:152.25, Y:2.71, Z:-0.07 [[ 9.96034525e-01 -8.88609612e-02 -4.35378135e-03 1.52247705e+02] [ 8.88606632e-02 9.96044032e-01 -2.62210714e-04 2.70741260e+00] [ 4.35985823e-03 -1.25708975e-04 9.99990488e-01 -6.89064511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.580281693 meters 0.030825921136865535 Centerline is valid? [True, True] Translation: X:152.31, Y:2.72, Z:-0.07 [[ 9.96509841e-01 -8.34238835e-02 -2.93144525e-03 1.52306910e+02] [ 8.34237248e-02 9.96514150e-01 -1.76589453e-04 2.71581059e+00] [ 2.93595845e-03 -6.85789549e-05 9.99995688e-01 -6.50160521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.640281693 meters 0.027472233292630578 Centerline is valid? [True, True] Translation: X:152.37, Y:2.72, Z:-0.06 [[ 9.96934765e-01 -7.82368700e-02 2.55984950e-04 1.52365532e+02] [ 7.82368686e-02 9.96934798e-01 1.54166497e-05 2.71667529e+00] [-2.56406454e-04 4.65806685e-06 9.99999967e-01 -5.92003155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.700281693 meters 0.02470506193550624 Centerline is valid? [True, True] Translation: X:152.42, Y:2.71, Z:-0.06 [[ 9.97177190e-01 -7.50840588e-02 1.87231330e-04 1.52424495e+02] [ 7.50840580e-02 9.97177208e-01 1.12778052e-05 2.71396934e+00] [-1.87549598e-04 2.81211789e-06 9.99999982e-01 -5.89468514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.760281693 meters 0.021703538376221604 Centerline is valid? [True, True] Translation: X:152.48, Y:2.72, Z:-0.06 [[ 9.97348850e-01 -7.27625657e-02 9.38297167e-04 1.52483547e+02] [ 7.27625446e-02 9.97349291e-01 5.66910720e-05 2.71594331e+00] [-9.39935003e-04 1.17321139e-05 9.99999558e-01 -5.74327719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.820281693 meters 0.020506310963828902 Centerline is valid? [True, True] Translation: X:152.54, Y:2.72, Z:-0.06 [[ 9.97463132e-01 -7.11784736e-02 -9.62210642e-04 1.52542755e+02] [ 7.11784504e-02 9.97463596e-01 -5.84079720e-05 2.71625719e+00] [ 9.63927477e-04 -1.02288638e-05 9.99999535e-01 -6.16090855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.880281693 meters 0.020321225795906665 Centerline is valid? [True, True] Translation: X:152.60, Y:2.71, Z:-0.06 [[ 9.97550723e-01 -6.99199821e-02 -1.93670600e-03 1.52600812e+02] [ 6.99198856e-02 9.97552603e-01 -1.17580559e-04 2.71471671e+00] [ 1.94018734e-03 -1.81216898e-05 9.99998118e-01 -6.38624634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.940281693 meters 0.018665008997559972 Centerline is valid? [True, True] Translation: X:152.66, Y:2.72, Z:-0.06 [[ 9.97671734e-01 -6.81863901e-02 -1.31455307e-03 1.52659406e+02] [ 6.81863438e-02 9.97672600e-01 -8.00707930e-05 2.71682198e+00] [ 1.31695331e-03 -9.75020044e-06 9.99999133e-01 -6.29439519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.000281693 meters 0.018367525416660625 Centerline is valid? [True, True] Translation: X:152.72, Y:2.72, Z:-0.07 [[ 9.97723045e-01 -6.73863957e-02 -2.79261710e-03 1.52716595e+02] [ 6.73861832e-02 9.97726953e-01 -1.70237058e-04 2.71845096e+00] [ 2.79774102e-03 -1.83343718e-05 9.99996086e-01 -6.55163329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.060281693 meters 0.018220335427002157 Centerline is valid? [True, True] Translation: X:152.77, Y:2.72, Z:-0.07 [[ 9.97760194e-01 -6.68164287e-02 -3.18755261e-03 1.52773711e+02] [ 6.68161476e-02 9.97765285e-01 -1.94731175e-04 2.71939461e+00] [ 3.19344058e-03 -1.86849709e-05 9.99994901e-01 -6.70198437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.120281693 meters 0.01837088731134334 Centerline is valid? [True, True] Translation: X:152.83, Y:2.72, Z:-0.07 [[ 9.97697661e-01 -6.77137531e-02 -3.77167015e-03 1.52832627e+02] [ 6.77133634e-02 9.97704790e-01 -2.31047599e-04 2.71975103e+00] [ 3.77865847e-03 -2.48768226e-05 9.99992861e-01 -6.81857231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.180281693 meters 0.017937696210648193 Centerline is valid? [True, True] Translation: X:152.89, Y:2.73, Z:-0.07 [[ 9.97792184e-01 -6.63174112e-02 -3.57176751e-03 1.52890474e+02] [ 6.63170522e-02 9.97798577e-01 -2.18978281e-04 2.72519722e+00] [ 3.57842661e-03 -1.83742754e-05 9.99993597e-01 -6.69660288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.240281693 meters 0.01733655428335849 Centerline is valid? [True, True] Translation: X:152.95, Y:2.73, Z:-0.07 [[ 9.97898669e-01 -6.46370895e-02 -4.50474341e-03 1.52947601e+02] [ 6.46364973e-02 9.97908837e-01 -2.77066819e-04 2.73438421e+00] [ 4.51323205e-03 -1.46862258e-05 9.99989815e-01 -6.87125288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.300281693 meters 0.018002640431756995 Centerline is valid? [True, True] Translation: X:153.00, Y:2.74, Z:-0.07 [[ 9.97809083e-01 -6.60168583e-02 -4.33678572e-03 1.53004868e+02] [ 6.60163210e-02 9.97818508e-01 -2.67089327e-04 2.74073148e+00] [ 4.34495745e-03 -1.97944815e-05 9.99990560e-01 -6.98215802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.360281693 meters 0.019104267581111493 Centerline is valid? [True, True] Translation: X:153.06, Y:2.74, Z:-0.07 [[ 9.97612814e-01 -6.89874637e-02 -3.06644899e-03 1.53063281e+02] [ 6.89872085e-02 9.97617527e-01 -1.89027425e-04 2.74124057e+00] [ 3.07218378e-03 -2.29695751e-05 9.99995281e-01 -6.64166715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.420281693 meters 0.022496300146126285 Centerline is valid? [True, True] Translation: X:153.12, Y:2.74, Z:-0.07 [[ 9.97275459e-01 -7.36976769e-02 -3.21099779e-03 1.53121670e+02] [ 7.36974210e-02 9.97280628e-01 -1.98119349e-04 2.73983595e+00] [ 3.21686683e-03 -3.90626917e-05 9.99994825e-01 -6.69278953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.480281693 meters 0.022117098558551603 Centerline is valid? [True, True] Translation: X:153.18, Y:2.74, Z:-0.07 [[ 9.97242101e-01 -7.40873640e-02 -4.38791884e-03 1.53180762e+02] [ 7.40868865e-02 9.97251753e-01 -2.71485224e-04 2.74415600e+00] [ 4.39597339e-03 -5.43507504e-05 9.99990336e-01 -6.80674141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.540281693 meters 0.017103996235320808 Centerline is valid? [True, True] Translation: X:153.24, Y:2.76, Z:-0.06 [[ 9.97821916e-01 -6.59489581e-02 -1.46923290e-03 1.53239059e+02] [ 6.59488953e-02 9.97822998e-01 -9.11688418e-05 2.75953489e+00] [ 1.47204687e-03 -5.92401838e-06 9.99998917e-01 -6.10358767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.600281693 meters 0.0168594375750677 Centerline is valid? [True, True] Translation: X:153.30, Y:2.77, Z:-0.06 [[ 9.98265096e-01 -5.88697240e-02 -1.07429085e-03 1.53295914e+02] [ 5.88696863e-02 9.98265674e-01 -6.67071196e-05 2.77291860e+00] [ 1.07635471e-03 3.34822372e-06 9.99999421e-01 -6.04738849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.660281693 meters 0.020133051864190225 Centerline is valid? [True, True] Translation: X:153.35, Y:2.78, Z:-0.06 [[ 9.98570663e-01 -5.34305921e-02 -1.34276579e-03 1.53353209e+02] [ 5.34305282e-02 9.98571566e-01 -8.34466160e-05 2.78296433e+00] [ 1.34530634e-03 1.15826570e-05 9.99999095e-01 -6.32793662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.720281693 meters 0.020962441780682673 Centerline is valid? [True, True] Translation: X:153.41, Y:2.78, Z:-0.06 [[ 9.98658754e-01 -5.17239662e-02 -2.30746942e-03 1.53412534e+02] [ 5.17237720e-02 9.98661419e-01 -1.43793839e-04 2.78396090e+00] [ 2.31181827e-03 2.42499534e-05 9.99997327e-01 -6.46347134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.780281693 meters 0.026687046467486434 Centerline is valid? [True, True] Translation: X:153.47, Y:2.80, Z:-0.07 [[ 9.98918981e-01 -4.61666724e-02 -5.43206598e-03 1.53469978e+02] [ 4.61655131e-02 9.98933747e-01 -3.38676931e-04 2.79576681e+00] [ 5.44190961e-03 8.75367017e-05 9.99985189e-01 -7.20191070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.840281693 meters 0.032356725196129345 Centerline is valid? [True, True] Translation: X:153.53, Y:2.81, Z:-0.07 [[ 9.99157625e-01 -4.07664667e-02 -4.70484600e-03 1.53529130e+02] [ 4.07655368e-02 9.99168697e-01 -2.93432607e-04 2.80590080e+00] [ 4.71289705e-03 1.01389854e-04 9.99988889e-01 -6.88180529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.900281693 meters 0.04166327085093889 Centerline is valid? [True, True] Translation: X:153.59, Y:2.83, Z:-0.07 [[ 9.99491055e-01 -3.16979156e-02 -3.58789111e-03 1.53588459e+02] [ 3.16973164e-02 9.99497489e-01 -2.23761430e-04 2.82566838e+00] [ 3.59318092e-03 1.09921028e-04 9.99993538e-01 -6.77645222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.960281693 meters 0.044025069362723344 Centerline is valid? [True, True] Translation: X:153.65, Y:2.84, Z:-0.07 [[ 9.99582163e-01 -2.87859859e-02 -2.62053483e-03 1.53647396e+02] [ 2.87856560e-02 9.99585594e-01 -1.63532073e-04 2.83584209e+00] [ 2.62415630e-03 8.80299291e-05 9.99996553e-01 -6.68708324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.020281693 meters 0.04123085180252822 Centerline is valid? [True, True] Translation: X:153.71, Y:2.84, Z:-0.07 [[ 9.99476642e-01 -3.22678088e-02 -2.28685686e-03 1.53706494e+02] [ 3.22675665e-02 9.99479256e-01 -1.42757711e-04 2.84058447e+00] [ 2.29027247e-03 6.88916918e-05 9.99997375e-01 -6.58729282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.080281693 meters 0.03826080192249353 Centerline is valid? [True, True] Translation: X:153.77, Y:2.84, Z:-0.06 [[ 9.99420211e-01 -3.39898215e-02 -1.98322677e-03 1.53765336e+02] [ 3.39896420e-02 9.99422177e-01 -1.24163612e-04 2.84215754e+00] [ 1.98630112e-03 5.66824558e-05 9.99998026e-01 -6.42245569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.140281693 meters 0.033310920598066056 Centerline is valid? [True, True] Translation: X:153.82, Y:2.85, Z:-0.06 [[ 9.99301815e-01 -3.73382473e-02 -1.31861939e-03 1.53824757e+02] [ 3.73381708e-02 9.99302684e-01 -8.25572142e-05 2.84592433e+00] [ 1.32078244e-03 3.32647379e-05 9.99999127e-01 -6.30576948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.200281693 meters 0.03472224963053621 Centerline is valid? [True, True] Translation: X:153.88, Y:2.86, Z:-0.07 [[ 9.99214527e-01 -3.95324920e-02 -2.74074876e-03 1.53882319e+02] [ 3.95321697e-02 9.99218284e-01 -1.71685020e-04 2.85963814e+00] [ 2.74539340e-03 6.32024214e-05 9.99996229e-01 -6.56171202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.260281693 meters 0.03185004065167141 Centerline is valid? [True, True] Translation: X:153.94, Y:2.86, Z:-0.07 [[ 9.99101375e-01 -4.21752006e-02 -4.20660142e-03 1.53941499e+02] [ 4.21744634e-02 9.99110227e-01 -2.63845680e-04 2.86127041e+00] [ 4.21398624e-03 8.61974241e-05 9.99991117e-01 -6.84528408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.320281693 meters 0.025075851793454892 Centerline is valid? [True, True] Translation: X:154.00, Y:2.85, Z:-0.06 [[ 9.98799511e-01 -4.89419326e-02 -2.05518125e-03 1.54001354e+02] [ 4.89417708e-02 9.98801625e-01 -1.28943378e-04 2.85477792e+00] [ 2.05902911e-03 2.82043732e-05 9.99997880e-01 -6.46489400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.380281693 meters 0.01765963156168502 Centerline is valid? [True, True] Translation: X:154.06, Y:2.84, Z:-0.07 [[ 9.98310820e-01 -5.80485867e-02 -2.42237920e-03 1.54062129e+02] [ 5.80483886e-02 9.98313759e-01 -1.52035827e-04 2.83916439e+00] [ 2.42711995e-03 1.11638018e-05 9.99997054e-01 -6.58639291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.440281693 meters 0.01685464203776849 Centerline is valid? [True, True] Translation: X:154.12, Y:2.84, Z:-0.07 [[ 9.98107468e-01 -6.14228443e-02 -2.95229168e-03 1.54120948e+02] [ 6.14225633e-02 9.98111835e-01 -1.85838841e-04 2.83677110e+00] [ 2.95813201e-03 4.14981268e-06 9.99995625e-01 -6.57094340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.500281693 meters 0.01702537454515287 Centerline is valid? [True, True] Translation: X:154.18, Y:2.84, Z:-0.07 [[ 9.98054648e-01 -6.22202514e-02 -3.94448127e-03 1.54178623e+02] [ 6.22197531e-02 9.98062443e-01 -2.49037198e-04 2.83691279e+00] [ 3.95233377e-03 3.12808212e-06 9.99992189e-01 -6.77500039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.560281693 meters 0.017820637475682705 Centerline is valid? [True, True] Translation: X:154.24, Y:2.85, Z:-0.07 [[ 9.98299349e-01 -5.81358353e-02 -4.31673009e-03 1.54237014e+02] [ 5.81351971e-02 9.98308682e-01 -2.73265215e-04 2.84551317e+00] [ 4.32531563e-03 2.18465310e-05 9.99990646e-01 -6.76853827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.620281693 meters 0.020564063674459215 Centerline is valid? [True, True] Translation: X:154.29, Y:2.86, Z:-0.07 [[ 9.98574393e-01 -5.32327953e-02 -3.93089188e-03 1.54294321e+02] [ 5.32322273e-02 9.98582129e-01 -2.49045373e-04 2.85904495e+00] [ 3.93857576e-03 3.94402025e-05 9.99992243e-01 -6.69578387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.680281693 meters 0.023639871186548655 Centerline is valid? [True, True] Translation: X:154.35, Y:2.87, Z:-0.07 [[ 9.98787848e-01 -4.91000390e-02 -3.46723248e-03 1.54352482e+02] [ 4.90995701e-02 9.98793864e-01 -2.20281314e-04 2.87255324e+00] [ 3.47386635e-03 4.97746753e-05 9.99993965e-01 -6.51652262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.740281693 meters 0.02818105644623831 Centerline is valid? [True, True] Translation: X:154.41, Y:2.89, Z:-0.07 [[ 9.98982251e-01 -4.49422787e-02 -3.82808207e-03 1.54410558e+02] [ 4.49416762e-02 9.98989583e-01 -2.43289981e-04 2.88881709e+00] [ 3.83514812e-03 7.10019472e-05 9.99992643e-01 -6.61184447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.800281693 meters 0.029735746458361256 Centerline is valid? [True, True] Translation: X:154.47, Y:2.90, Z:-0.06 [[ 9.99094656e-01 -4.24012422e-02 -3.46445444e-03 1.54468629e+02] [ 4.24007313e-02 9.99100660e-01 -2.20796310e-04 2.89969737e+00] [ 3.47070075e-03 7.37010117e-05 9.99993974e-01 -6.48315788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.860281693 meters 0.030044517845084703 Centerline is valid? [True, True] Translation: X:154.53, Y:2.91, Z:-0.06 [[ 9.99036839e-01 -4.38478492e-02 -1.66122702e-03 1.54525778e+02] [ 4.38477336e-02 9.99038220e-01 -1.05962701e-04 2.91270063e+00] [ 1.66427552e-03 3.30196021e-05 9.99998615e-01 -6.37028619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.920281693 meters 0.02344489643724984 Centerline is valid? [True, True] Translation: X:154.59, Y:2.91, Z:-0.06 [[ 9.98735455e-01 -5.02268326e-02 -2.18105725e-03 1.54585613e+02] [ 5.02266484e-02 9.98737836e-01 -1.39152005e-04 2.90841134e+00] [ 2.18529356e-03 2.94288458e-05 9.99997612e-01 -6.44217911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.980281693 meters 0.020008480582581076 Centerline is valid? [True, True] Translation: X:154.64, Y:2.91, Z:-0.06 [[ 9.98490444e-01 -5.48696543e-02 -2.48062725e-03 1.54644578e+02] [ 5.48694301e-02 9.98493526e-01 -1.58384928e-04 2.90592247e+00] [ 2.48558078e-03 2.20352332e-05 9.99996911e-01 -6.47537158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.040281693 meters 0.018034586585160474 Centerline is valid? [True, True] Translation: X:154.70, Y:2.91, Z:-0.06 [[ 9.98300719e-01 -5.82687837e-02 -6.50535695e-04 1.54702239e+02] [ 5.82687690e-02 9.98300931e-01 -4.16140867e-05 2.90713002e+00] [ 6.51855192e-04 3.63745857e-06 9.99999788e-01 -6.08880922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.100281693 meters 0.01801807780659716 Centerline is valid? [True, True] Translation: X:154.76, Y:2.91, Z:-0.06 [[ 9.98312123e-01 -5.80290421e-02 -2.35270173e-03 1.54760690e+02] [ 5.80288478e-02 9.98314895e-01 -1.50841302e-04 2.91445276e+00] [ 2.35749036e-03 1.40621295e-05 9.99997221e-01 -6.24891429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.160281693 meters 0.019692872586467774 Centerline is valid? [True, True] Translation: X:154.82, Y:2.92, Z:-0.07 [[ 9.98371315e-01 -5.68793183e-02 -4.41151927e-03 1.54818012e+02] [ 5.68786230e-02 9.98381061e-01 -2.83010603e-04 2.92320964e+00] [ 4.42047474e-03 3.16285266e-05 9.99990229e-01 -6.89131997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.220281693 meters 0.018217473791282524 Centerline is valid? [True, True] Translation: X:154.88, Y:2.92, Z:-0.07 [[ 9.98263568e-01 -5.87310701e-02 -4.52884418e-03 1.54877239e+02] [ 5.87303529e-02 9.98273841e-01 -2.91306790e-04 2.92323206e+00] [ 4.53813543e-03 2.48203388e-05 9.99989702e-01 -6.81212660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.280281693 meters 0.017537856260956868 Centerline is valid? [True, True] Translation: X:154.94, Y:2.93, Z:-0.06 [[ 9.98201443e-01 -5.98751437e-02 -2.97422250e-03 1.54936141e+02] [ 5.98748379e-02 9.98205874e-01 -1.91821800e-04 2.92536386e+00] [ 2.98037173e-03 1.33957077e-05 9.99995559e-01 -6.46255267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.340281693 meters 0.01811021333971343 Centerline is valid? [True, True] Translation: X:154.99, Y:2.93, Z:-0.06 [[ 9.98295158e-01 -5.83613734e-02 -8.52625250e-04 1.54993519e+02] [ 5.83613476e-02 9.98295522e-01 -5.50434276e-05 2.93020417e+00] [ 8.54384379e-04 5.18922866e-06 9.99999635e-01 -6.16566157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.400281693 meters 0.021337230596803466 Centerline is valid? [True, True] Translation: X:155.05, Y:2.94, Z:-0.07 [[ 9.98573641e-01 -5.33161241e-02 -2.84157043e-03 1.55051459e+02] [ 5.33158166e-02 9.98577683e-01 -1.83908757e-04 2.94191728e+00] [ 2.84733412e-03 3.21457890e-05 9.99995946e-01 -6.52733561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.460281693 meters 0.028511436203487 Centerline is valid? [True, True] Translation: X:155.11, Y:2.96, Z:-0.06 [[ 9.98927760e-01 -4.62267590e-02 -2.53335742e-03 1.55108636e+02] [ 4.62264916e-02 9.98930971e-01 -1.64044292e-04 2.96040490e+00] [ 2.53823242e-03 4.67601718e-05 9.99996778e-01 -6.46717091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.520281693 meters 0.03079400394166324 Centerline is valid? [True, True] Translation: X:155.17, Y:2.97, Z:-0.06 [[ 9.99014865e-01 -4.43323916e-02 -1.98439640e-03 1.55166464e+02] [ 4.43322236e-02 9.99016835e-01 -1.28562695e-04 2.97118262e+00] [ 1.98814490e-03 4.04633388e-05 9.99998023e-01 -6.37874688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.580281693 meters 0.02578505931481295 Centerline is valid? [True, True] Translation: X:155.23, Y:2.97, Z:-0.06 [[ 9.98766936e-01 -4.96299047e-02 -1.21636174e-03 1.55225439e+02] [ 4.96298455e-02 9.98767677e-01 -7.88316140e-05 2.97196020e+00] [ 1.21877520e-03 1.83665643e-05 9.99999257e-01 -6.25094800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.640281693 meters 0.02164217171841622 Centerline is valid? [True, True] Translation: X:155.28, Y:2.97, Z:-0.06 [[ 9.98563839e-01 -5.35220090e-02 -2.37762178e-03 1.55284941e+02] [ 5.35217929e-02 9.98566670e-01 -1.54486425e-04 2.97067727e+00] [ 2.38248228e-03 2.70099775e-05 9.99997162e-01 -6.44490554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.700281693 meters 0.017709837987023604 Centerline is valid? [True, True] Translation: X:155.34, Y:2.97, Z:-0.07 [[ 9.98148484e-01 -6.07259827e-02 -3.45831019e-03 1.55343103e+02] [ 6.07255681e-02 9.98154474e-01 -2.24846628e-04 2.96589296e+00] [ 3.46558183e-03 1.44224690e-05 9.99993995e-01 -6.53169927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.760281693 meters 0.01692254775643946 Centerline is valid? [True, True] Translation: X:155.40, Y:2.96, Z:-0.06 [[ 9.97803009e-01 -6.62282473e-02 -1.72485643e-03 1.55401969e+02] [ 6.62281518e-02 9.97804500e-01 -1.12478232e-04 2.96403426e+00] [ 1.72851874e-03 -2.00293479e-06 9.99998506e-01 -6.21250649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.820281693 meters 0.0170920743517556 Centerline is valid? [True, True] Translation: X:155.46, Y:2.97, Z:-0.06 [[ 9.97690953e-01 -6.78844029e-02 -2.11407160e-03 1.55459416e+02] [ 6.78842630e-02 9.97693193e-01 -1.37932254e-04 2.96573461e+00] [ 2.11855829e-03 -5.89843048e-06 9.99997756e-01 -6.28106513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.880281693 meters 0.01845732499727401 Centerline is valid? [True, True] Translation: X:155.52, Y:2.97, Z:-0.07 [[ 9.97557352e-01 -6.96376460e-02 -5.47067629e-03 1.55516896e+02] [ 6.96367342e-02 9.97572352e-01 -3.57210601e-04 2.96713077e+00] [ 5.48227072e-03 -2.46219700e-05 9.99984972e-01 -7.00906736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.940281693 meters 0.017884985613870672 Centerline is valid? [True, True] Translation: X:155.57, Y:2.98, Z:-0.07 [[ 9.97631701e-01 -6.84303516e-02 -6.94812309e-03 1.55574869e+02] [ 6.84288421e-02 9.97655896e-01 -4.55022143e-04 2.97544797e+00] [ 6.96297329e-03 -2.15075039e-05 9.99975758e-01 -7.04219807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.000281693 meters 0.01682549377577212 Centerline is valid? [True, True] Translation: X:155.63, Y:2.99, Z:-0.06 [[ 9.97872630e-01 -6.51266516e-02 -2.95524994e-03 1.55632272e+02] [ 6.51263636e-02 9.97877006e-01 -1.93698959e-04 2.98535015e+00] [ 2.96159093e-03 8.22207662e-07 9.99995614e-01 -6.15025460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.060281693 meters 0.01726422605250217 Centerline is valid? [True, True] Translation: X:155.69, Y:3.00, Z:-0.06 [[ 9.98079636e-01 -6.19150707e-02 -1.88776250e-03 1.55689570e+02] [ 6.19149466e-02 9.98081422e-01 -1.24135128e-04 2.99642766e+00] [ 1.89182652e-03 7.01602858e-06 9.99998210e-01 -5.92134904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.120281693 meters 0.01838498599937718 Centerline is valid? [True, True] Translation: X:155.75, Y:3.01, Z:-0.06 [[ 9.98241634e-01 -5.92104894e-02 -2.78543126e-03 1.55747330e+02] [ 5.92102077e-02 9.98245520e-01 -1.83593631e-04 3.00774471e+00] [ 2.79141494e-03 1.83448427e-05 9.99996104e-01 -6.15137558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.180281693 meters 0.018976669119135516 Centerline is valid? [True, True] Translation: X:155.80, Y:3.02, Z:-0.06 [[ 9.98269986e-01 -5.86881280e-02 -3.56904870e-03 1.55804313e+02] [ 5.86876610e-02 9.98276366e-01 -2.35533765e-04 3.01556301e+00] [ 3.57672001e-03 2.56671680e-05 9.99993603e-01 -6.24520779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.240281693 meters 0.01711659290041611 Centerline is valid? [True, True] Translation: X:155.86, Y:3.02, Z:-0.06 [[ 9.98033377e-01 -6.26736948e-02 -1.17778434e-03 1.55862154e+02] [ 6.26736466e-02 9.98034072e-01 -7.78029948e-05 3.01531526e+00] [ 1.18034510e-03 3.83394643e-06 9.99999303e-01 -5.78393509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.300281693 meters 0.0169209625444332 Centerline is valid? [True, True] Translation: X:155.92, Y:3.01, Z:-0.06 [[ 9.97650252e-01 -6.85074511e-02 -8.39427948e-04 1.55921147e+02] [ 6.85074285e-02 9.97650605e-01 -5.56639445e-05 3.00861581e+00] [ 8.41269195e-04 -1.97390190e-06 9.99999646e-01 -5.80086698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.360281693 meters 0.018156419481740578 Centerline is valid? [True, True] Translation: X:155.98, Y:3.01, Z:-0.06 [[ 9.97418499e-01 -7.16870148e-02 -4.16040773e-03 1.55980290e+02] [ 7.16864859e-02 9.97427176e-01 -2.76301007e-04 3.00546489e+00] [ 4.16951093e-03 -2.26572744e-05 9.99991307e-01 -6.48369110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.420281693 meters 0.01973866582165593 Centerline is valid? [True, True] Translation: X:156.04, Y:3.00, Z:-0.07 [[ 9.97259110e-01 -7.37633834e-02 -5.76454329e-03 1.56038083e+02] [ 7.37624007e-02 9.97275770e-01 -3.83184336e-04 3.00109422e+00] [ 5.77710432e-03 -4.30724814e-05 9.99983311e-01 -6.86285666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.480281693 meters 0.019657032758890906 Centerline is valid? [True, True] Translation: X:156.10, Y:3.00, Z:-0.07 [[ 9.97228090e-01 -7.42428189e-02 -4.91337342e-03 1.56096483e+02] [ 7.42421061e-02 9.97240193e-01 -3.27553666e-04 3.00088864e+00] [ 4.92413197e-03 -3.81334747e-05 9.99987876e-01 -6.58539007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.540281693 meters 0.019450700678918558 Centerline is valid? [True, True] Translation: X:156.15, Y:3.00, Z:-0.07 [[ 9.97225663e-01 -7.42946274e-02 -4.61359175e-03 1.56154796e+02] [ 7.42939956e-02 9.97236335e-01 -3.08423145e-04 3.00109783e+00] [ 4.62375551e-03 -3.51946900e-05 9.99989310e-01 -6.57134178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.600281693 meters 0.023855854565907716 Centerline is valid? [True, True] Translation: X:156.21, Y:2.99, Z:-0.07 [[ 9.96768488e-01 -8.02325023e-02 -3.91499542e-03 1.56214423e+02] [ 8.02320928e-02 9.96776175e-01 -2.61812978e-04 2.98812797e+00] [ 3.92338007e-03 -5.31413502e-05 9.99992302e-01 -6.63518298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.660281693 meters 0.03064467840912973 Centerline is valid? [True, True] Translation: X:156.28, Y:2.97, Z:-0.07 [[ 9.96212040e-01 -8.67684340e-02 -5.72799480e-03 1.56275124e+02] [ 8.67676649e-02 9.96228501e-01 -3.83106777e-04 2.97291709e+00] [ 5.73963325e-03 -1.15349150e-04 9.99983522e-01 -7.05767151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.720281693 meters 0.036691506642411095 Centerline is valid? [True, True] Translation: X:156.34, Y:2.96, Z:-0.07 [[ 9.95704871e-01 -9.23323587e-02 -6.82248594e-03 1.56336716e+02] [ 9.23313981e-02 9.95728228e-01 -4.56305292e-04 2.96038133e+00] [ 6.83547358e-03 -1.75584263e-04 9.99976622e-01 -7.15004840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.780281693 meters 0.03625372857479059 Centerline is valid? [True, True] Translation: X:156.40, Y:2.95, Z:-0.07 [[ 9.95636297e-01 -9.31408362e-02 -5.75757030e-03 1.56396740e+02] [ 9.31401600e-02 9.95652932e-01 -3.86046242e-04 2.95099942e+00] [ 5.76849842e-03 -1.51899368e-04 9.99983351e-01 -6.82651077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.840281693 meters 0.030699782295456935 Centerline is valid? [True, True] Translation: X:156.46, Y:2.95, Z:-0.07 [[ 9.96215006e-01 -8.66140716e-02 -7.32562725e-03 1.56455845e+02] [ 8.66127998e-02 9.96241929e-01 -4.91284342e-04 2.95300371e+00] [ 7.34064916e-03 -1.45068253e-04 9.99973047e-01 -7.15876645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.900281693 meters 0.024634228603552338 Centerline is valid? [True, True] Translation: X:156.52, Y:2.96, Z:-0.07 [[ 9.96731257e-01 -8.05336227e-02 -6.41384871e-03 1.56515590e+02] [ 8.05325214e-02 9.96751889e-01 -4.30205804e-04 2.96092732e+00] [ 6.42766185e-03 -8.77238373e-05 9.99979339e-01 -6.90887065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.960281693 meters 0.01793944155977826 Centerline is valid? [True, True] Translation: X:156.57, Y:2.97, Z:-0.06 [[ 9.97426472e-01 -7.16096053e-02 -3.53512596e-03 1.56574489e+02] [ 7.16092143e-02 9.97432737e-01 -2.37204445e-04 2.97497802e+00] [ 3.54303648e-03 -1.65535997e-05 9.99993723e-01 -6.33193115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.020281693 meters 0.017496434068102137 Centerline is valid? [True, True] Translation: X:156.63, Y:2.99, Z:-0.07 [[ 9.97823037e-01 -6.57165319e-02 -5.52490918e-03 1.56631333e+02] [ 6.57154840e-02 9.97838332e-01 -3.71175619e-04 2.98604444e+00] [ 5.53735854e-03 7.29550195e-06 9.99984669e-01 -6.89580065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.080281693 meters 0.018651667074938025 Centerline is valid? [True, True] Translation: X:156.69, Y:3.00, Z:-0.07 [[ 9.98060119e-01 -6.18464407e-02 -7.14257840e-03 1.56689258e+02] [ 6.18445817e-02 9.98085676e-01 -4.81058229e-04 2.99639248e+00] [ 7.15865693e-03 3.83952603e-05 9.99974376e-01 -6.97973802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.140281693 meters 0.024391640139938477 Centerline is valid? [True, True] Translation: X:156.75, Y:3.02, Z:-0.07 [[ 9.98500039e-01 -5.45473110e-02 -4.71844548e-03 1.56746132e+02] [ 5.45464170e-02 9.98511185e-01 -3.18049057e-04 3.01637694e+00] [ 4.72876931e-03 6.01977010e-05 9.99988817e-01 -6.63540876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.200281693 meters 0.02926078471301067 Centerline is valid? [True, True] Translation: X:156.80, Y:3.03, Z:-0.07 [[ 9.98765536e-01 -4.95157067e-02 -3.94949379e-03 1.56804970e+02] [ 4.95150407e-02 9.98773343e-01 -2.66293991e-04 3.03060529e+00] [ 3.95783485e-03 7.04059148e-05 9.99992165e-01 -6.56812644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.260281693 meters 0.02703470135329348 Centerline is valid? [True, True] Translation: X:156.86, Y:3.04, Z:-0.07 [[ 9.98741984e-01 -4.99662997e-02 -4.22126336e-03 1.56862625e+02] [ 4.99655394e-02 9.98750902e-01 -2.85452806e-04 3.03584304e+00] [ 4.23025360e-03 7.41760009e-05 9.99991050e-01 -6.52878018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.320281693 meters 0.022322027913309252 Centerline is valid? [True, True] Translation: X:156.92, Y:3.03, Z:-0.07 [[ 9.98423140e-01 -5.59948880e-02 -3.97576049e-03 1.56921848e+02] [ 5.59942612e-02 9.98431054e-01 -2.68889927e-04 3.03295799e+00] [ 3.98457920e-03 4.58461541e-05 9.99992060e-01 -6.64771023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.380281693 meters 0.018759745278649976 Centerline is valid? [True, True] Translation: X:156.98, Y:3.03, Z:-0.07 [[ 9.98045812e-01 -6.21335814e-02 -6.63140913e-03 1.56981020e+02] [ 6.21319655e-02 9.98067842e-01 -4.49607353e-04 3.02752502e+00] [ 6.64653192e-03 3.67062516e-05 9.99977911e-01 -6.98743819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.440281693 meters 0.018294397520410795 Centerline is valid? [True, True] Translation: X:157.04, Y:3.04, Z:-0.06 [[ 9.98069164e-01 -6.20112238e-02 -3.54275651e-03 1.57038690e+02] [ 6.20107612e-02 9.98075452e-01 -2.40389812e-04 3.03597824e+00] [ 3.55084517e-03 2.02366307e-05 9.99993696e-01 -6.39130409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.500281693 meters 0.01910464621817876 Centerline is valid? [True, True] Translation: X:157.10, Y:3.04, Z:-0.06 [[ 9.98151549e-01 -6.06915161e-02 -3.16622663e-03 1.57096778e+02] [ 6.06911382e-02 9.98156571e-01 -2.15377287e-04 3.04438214e+00] [ 3.17346149e-03 2.28172743e-05 9.99994964e-01 -6.32805226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.560281693 meters 0.019998050207013215 Centerline is valid? [True, True] Translation: X:157.16, Y:3.05, Z:-0.07 [[ 9.98190301e-01 -5.99423777e-02 -4.79946623e-03 1.57155163e+02] [ 5.99414973e-02 9.98201838e-01 -3.27207258e-04 3.05038362e+00] [ 4.81044959e-03 3.89279191e-05 9.99988429e-01 -6.72680994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.620281693 meters 0.019527960592789575 Centerline is valid? [True, True] Translation: X:157.21, Y:3.05, Z:-0.07 [[ 9.98062719e-01 -6.17616831e-02 -7.50351094e-03 1.57214349e+02] [ 6.17595739e-02 9.98090924e-01 -5.12712103e-04 3.05336709e+00] [ 7.52085213e-03 4.83051974e-05 9.99971717e-01 -7.25599720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.680281693 meters 0.01791778085325778 Centerline is valid? [True, True] Translation: X:157.27, Y:3.05, Z:-0.07 [[ 9.97896520e-01 -6.45523217e-02 -5.96097693e-03 1.57273664e+02] [ 6.45510344e-02 9.97914324e-01 -4.08295533e-04 3.04968731e+00] [ 5.97490068e-03 2.26494651e-05 9.99982150e-01 -6.80477741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.740281693 meters 0.01699612705726029 Centerline is valid? [True, True] Translation: X:157.33, Y:3.05, Z:-0.06 [[ 9.97765708e-01 -6.67189424e-02 -3.48919370e-03 1.57333223e+02] [ 6.67185126e-02 9.97771809e-01 -2.39574605e-04 3.04666668e+00] [ 3.49740327e-03 6.24551199e-06 9.99993884e-01 -6.44830925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.800281693 meters 0.01701840648799657 Centerline is valid? [True, True] Translation: X:157.39, Y:3.05, Z:-0.06 [[ 9.97736128e-01 -6.71642842e-02 -3.40271548e-03 1.57391186e+02] [ 6.71638758e-02 9.97741930e-01 -2.34264859e-04 3.04540164e+00] [ 3.41076614e-03 5.19495293e-06 9.99994183e-01 -6.45333210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.860281693 meters 0.01720938570954498 Centerline is valid? [True, True] Translation: X:157.45, Y:3.05, Z:-0.06 [[ 9.97816915e-01 -6.59471091e-02 -3.51895636e-03 1.57449426e+02] [ 6.59466625e-02 9.97823120e-01 -2.42900142e-04 3.04577538e+00] [ 3.52731457e-03 1.03064434e-05 9.99993779e-01 -6.39056628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.920281693 meters 0.018955421846734745 Centerline is valid? [True, True] Translation: X:157.51, Y:3.05, Z:-0.06 [[ 9.98106105e-01 -6.13890587e-02 -3.94788534e-03 1.57508323e+02] [ 6.13884585e-02 9.98113913e-01 -2.73148719e-04 3.05153435e+00] [ 3.95720763e-03 3.02768090e-05 9.99992170e-01 -6.42077088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.980281693 meters 0.018943879552806544 Centerline is valid? [True, True] Translation: X:157.57, Y:3.05, Z:-0.07 [[ 9.98070994e-01 -6.19591800e-02 -3.91798503e-03 1.57566522e+02] [ 6.19585925e-02 9.98078684e-01 -2.71272303e-04 3.04907297e+00] [ 3.92726515e-03 2.79961798e-05 9.99992288e-01 -6.53961168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.040281693 meters 0.017661647345493556 Centerline is valid? [True, True] Translation: X:157.62, Y:3.04, Z:-0.07 [[ 9.97830768e-01 -6.56081438e-02 -5.41561973e-03 1.57624613e+02] [ 6.56070734e-02 9.97845465e-01 -3.75264920e-04 3.04362119e+00] [ 5.42857202e-03 1.91479224e-05 9.99985265e-01 -6.96059185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.100281693 meters 0.01786875570279481 Centerline is valid? [True, True] Translation: X:157.68, Y:3.04, Z:-0.07 [[ 9.97617317e-01 -6.84237621e-02 -8.82477812e-03 1.57684173e+02] [ 6.84210173e-02 9.97656348e-01 -6.12919875e-04 3.03885101e+00] [ 8.84603419e-03 7.65918499e-06 9.99960873e-01 -7.44971295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.160281693 meters 0.017760842681881113 Centerline is valid? [True, True] Translation: X:157.74, Y:3.05, Z:-0.07 [[ 9.97857614e-01 -6.51818988e-02 -5.61268583e-03 1.57742758e+02] [ 6.51807320e-02 9.97873399e-01 -3.90761479e-04 3.04964294e+00] [ 5.62622046e-03 2.40853461e-05 9.99984172e-01 -6.71354760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.220281693 meters 0.01709606563551505 Centerline is valid? [True, True] Translation: X:157.80, Y:3.05, Z:-0.06 [[ 9.97856193e-01 -6.54082072e-02 -2.18731096e-03 1.57801379e+02] [ 6.54080297e-02 9.97858590e-01 -1.52678355e-04 3.05439487e+00] [ 2.19261345e-03 9.28334242e-06 9.99997596e-01 -6.27042272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.280281693 meters 0.016859244015166076 Centerline is valid? [True, True] Translation: X:157.86, Y:3.05, Z:-0.07 [[ 9.97671624e-01 -6.81010016e-02 -3.68564646e-03 1.57858570e+02] [ 6.81005151e-02 9.97678432e-01 -2.57497241e-04 3.05248183e+00] [ 3.69462580e-03 5.90326790e-06 9.99993175e-01 -6.67921610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.340281693 meters 0.0176044473699707 Centerline is valid? [True, True] Translation: X:157.92, Y:3.05, Z:-0.07 [[ 9.97365164e-01 -7.21101852e-02 -7.92780153e-03 1.57918036e+02] [ 7.21080506e-02 9.97396672e-01 -5.55128090e-04 3.04834564e+00] [ 7.94719325e-03 -1.79928952e-05 9.99968420e-01 -7.38273512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.400281693 meters 0.017199473332252906 Centerline is valid? [True, True] Translation: X:157.98, Y:3.05, Z:-0.07 [[ 9.97197019e-01 -7.46580824e-02 -4.92708728e-03 1.57976791e+02] [ 7.46572846e-02 9.97209191e-01 -3.45897229e-04 3.04720187e+00] [ 4.93916074e-03 -2.29152716e-05 9.99987802e-01 -6.66744137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.460281693 meters 0.017124360907440128 Centerline is valid? [True, True] Translation: X:158.03, Y:3.05, Z:-0.06 [[ 9.97233999e-01 -7.42569995e-02 -3.20139926e-03 1.58034438e+02] [ 7.42566600e-02 9.97239138e-01 -2.24927820e-04 3.05057049e+00] [ 3.20926310e-03 -1.34195471e-05 9.99994850e-01 -6.38729328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.520281693 meters 0.016960544895587227 Centerline is valid? [True, True] Translation: X:158.09, Y:3.06, Z:-0.06 [[ 9.97271347e-01 -7.37462590e-02 -3.36904357e-03 1.58091337e+02] [ 7.37458792e-02 9.97277037e-01 -2.36989149e-04 3.05601641e+00] [ 3.37734685e-03 -1.21105922e-05 9.99994297e-01 -6.41271257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.580281693 meters 0.016372672223512033 Centerline is valid? [True, True] Translation: X:158.15, Y:3.07, Z:-0.06 [[ 9.97356070e-01 -7.26630254e-02 -9.77069650e-04 1.58149058e+02] [ 7.26629928e-02 9.97356548e-01 -6.89314706e-05 3.06664859e+00] [ 9.79495583e-04 -2.24758428e-06 9.99999520e-01 -5.90496899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.640281693 meters 0.01631466413827544 Centerline is valid? [True, True] Translation: X:158.21, Y:3.08, Z:-0.06 [[ 9.97369765e-01 -7.24770810e-02 -7.90091733e-04 1.58206621e+02] [ 7.24770595e-02 9.97370078e-01 -5.59067342e-05 3.07832954e+00] [ 7.92065810e-04 -1.50383914e-06 9.99999686e-01 -5.87971196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.700281693 meters 0.01711065518273124 Centerline is valid? [True, True] Translation: X:158.27, Y:3.08, Z:-0.06 [[ 9.97240964e-01 -7.41256271e-02 -3.98141120e-03 1.58265498e+02] [ 7.41250916e-02 9.97248911e-01 -2.82098359e-04 3.08494779e+00] [ 3.99136870e-03 -1.38024308e-05 9.99992034e-01 -6.45426245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.760281693 meters 0.018655235309370265 Centerline is valid? [True, True] Translation: X:158.32, Y:3.09, Z:-0.06 [[ 9.96951798e-01 -7.79780880e-02 -2.55543234e-03 1.58322967e+02] [ 7.79778797e-02 9.96955073e-01 -1.81192002e-04 3.08985075e+00] [ 2.56178024e-03 -1.86275037e-05 9.99996718e-01 -6.12515413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.820281693 meters 0.021111187265143314 Centerline is valid? [True, True] Translation: X:158.38, Y:3.09, Z:-0.06 [[ 9.96664305e-01 -8.15624048e-02 -2.79964472e-03 1.58381516e+02] [ 8.15621676e-02 9.96668236e-01 -1.98984665e-04 3.09262502e+00] [ 2.80654663e-03 -3.00241784e-05 9.99996061e-01 -6.25338116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.880281693 meters 0.02443341914714509 Centerline is valid? [True, True] Translation: X:158.44, Y:3.10, Z:-0.07 [[ 9.96240114e-01 -8.64809794e-02 -5.16489700e-03 1.58441008e+02] [ 8.64802380e-02 9.96253499e-01 -3.67123952e-04 3.09715667e+00] [ 5.17729594e-03 -8.09179136e-05 9.99986594e-01 -6.54926672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.940281693 meters 0.023808315081015486 Centerline is valid? [True, True] Translation: X:158.50, Y:3.11, Z:-0.06 [[ 9.96286588e-01 -8.59981112e-02 -4.16635031e-03 1.58499248e+02] [ 8.59976215e-02 9.96295298e-01 -2.96878800e-04 3.10558650e+00] [ 4.17644624e-03 -6.25198506e-05 9.99991277e-01 -6.35201858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.000281693 meters 0.026440321660270404 Centerline is valid? [True, True] Translation: X:158.56, Y:3.11, Z:-0.07 [[ 9.96130948e-01 -8.77498232e-02 -4.80664853e-03 1.58557329e+02] [ 8.77491907e-02 9.96142541e-01 -3.42736555e-04 3.10747577e+00] [ 4.81818215e-03 -8.03690283e-05 9.99988389e-01 -6.61512833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.060281693 meters 0.02762075079476429 Centerline is valid? [True, True] Translation: X:158.62, Y:3.11, Z:-0.07 [[ 9.95940217e-01 -8.98698830e-02 -5.14662667e-03 1.58615970e+02] [ 8.98691816e-02 9.95953510e-01 -3.67843903e-04 3.10773414e+00] [ 5.15885899e-03 -9.61725909e-05 9.99986688e-01 -6.61224636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.120281693 meters 0.02667771791218103 Centerline is valid? [True, True] Translation: X:158.67, Y:3.11, Z:-0.07 [[ 9.96085211e-01 -8.82966809e-02 -4.23653277e-03 1.58673296e+02] [ 8.82961906e-02 9.96094218e-01 -3.03012257e-04 3.11123394e+00] [ 4.24674078e-03 -7.22436776e-05 9.99990980e-01 -6.51497294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.180281693 meters 0.020310622267135408 Centerline is valid? [True, True] Translation: X:158.73, Y:3.12, Z:-0.06 [[ 9.96694705e-01 -8.11996610e-02 -2.50592990e-03 1.58732530e+02] [ 8.11994668e-02 9.96697855e-01 -1.79303966e-04 3.12426729e+00] [ 2.51221438e-03 -2.47688581e-05 9.99996844e-01 -6.09040411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.240281693 meters 0.016313951643983988 Centerline is valid? [True, True] Translation: X:158.79, Y:3.14, Z:-0.06 [[ 9.97520505e-01 -7.03674926e-02 -1.12148745e-03 1.58789910e+02] [ 7.03674467e-02 9.97521136e-01 -8.03074237e-05 3.14417734e+00] [ 1.12435847e-03 1.19209352e-06 9.99999368e-01 -5.88065228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.300281693 meters 0.01779371653251953 Centerline is valid? [True, True] Translation: X:158.85, Y:3.16, Z:-0.06 [[ 9.97846673e-01 -6.55645440e-02 -1.81894778e-03 1.58848496e+02] [ 6.55644149e-02 9.97848330e-01 -1.30587936e-04 3.15585233e+00] [ 1.82359594e-03 1.10484909e-05 9.99998337e-01 -6.04851404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.360281693 meters 0.0195309910637835 Centerline is valid? [True, True] Translation: X:158.91, Y:3.17, Z:-0.06 [[ 9.98028737e-01 -6.26839921e-02 -3.05899120e-03 1.58905293e+02] [ 6.26836129e-02 9.98033424e-01 -2.19760053e-04 3.16598888e+00] [ 3.06675090e-03 2.75782281e-05 9.99995297e-01 -6.21220726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.420281693 meters 0.019053136418159422 Centerline is valid? [True, True] Translation: X:158.96, Y:3.17, Z:-0.06 [[ 9.97998318e-01 -6.31153038e-02 -3.97684885e-03 1.58963305e+02] [ 6.31146631e-02 9.98006241e-01 -2.86519984e-04 3.16948830e+00] [ 3.98700376e-03 3.49489869e-05 9.99992051e-01 -6.36863086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.480281693 meters 0.018645964128680564 Centerline is valid? [True, True] Translation: X:159.02, Y:3.17, Z:-0.07 [[ 9.97854644e-01 -6.52685922e-02 -5.11078711e-03 1.59021340e+02] [ 6.52675610e-02 9.97867732e-01 -3.68461652e-04 3.17078760e+00] [ 5.12393851e-03 3.41025609e-05 9.99986872e-01 -6.68831739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.540281693 meters 0.0166837613522138 Centerline is valid? [True, True] Translation: X:159.08, Y:3.17, Z:-0.06 [[ 9.97527743e-01 -7.01850956e-02 -3.52898856e-03 1.59079230e+02] [ 7.01846339e-02 9.97533986e-01 -2.54630571e-04 3.16848826e+00] [ 3.53815729e-03 6.32028883e-06 9.99993741e-01 -6.43392524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.600281693 meters 0.016631386680607284 Centerline is valid? [True, True] Translation: X:159.14, Y:3.16, Z:-0.06 [[ 9.97243542e-01 -7.41426472e-02 -2.86111207e-03 1.59136372e+02] [ 7.41423594e-02 9.97247646e-01 -2.06680532e-04 3.16397720e+00] [ 2.86856112e-03 -6.01877389e-06 9.99995886e-01 -6.37886273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.660281693 meters 0.016567699121145977 Centerline is valid? [True, True] Translation: X:159.19, Y:3.17, Z:-0.07 [[ 9.97367862e-01 -7.23931990e-02 -4.07085786e-03 1.59194114e+02] [ 7.23925986e-02 9.97376170e-01 -2.94834809e-04 3.17120738e+00] [ 4.08152065e-03 -6.41216110e-07 9.99991671e-01 -6.56552819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.720281693 meters 0.016383813936133647 Centerline is valid? [True, True] Translation: X:159.25, Y:3.17, Z:-0.06 [[ 9.97292812e-01 -7.34653100e-02 -3.14578683e-03 1.59252459e+02] [ 7.34649548e-02 9.97297773e-01 -2.28458262e-04 3.17204716e+00] [ 3.15406996e-03 -3.26530461e-06 9.99995026e-01 -6.30700320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.780281693 meters 0.016771917375871696 Centerline is valid? [True, True] Translation: X:159.31, Y:3.17, Z:-0.06 [[ 9.97101995e-01 -7.60398456e-02 -2.35649634e-03 1.59309522e+02] [ 7.60396528e-02 9.97104780e-01 -1.71445253e-04 3.17041546e+00] [ 2.36271043e-03 -8.23875942e-06 9.99997209e-01 -6.24893977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.840281693 meters 0.01689451265285567 Centerline is valid? [True, True] Translation: X:159.37, Y:3.17, Z:-0.06 [[ 9.97091039e-01 -7.61411766e-02 -3.46126062e-03 1.59367174e+02] [ 7.61407590e-02 9.97097047e-01 -2.52462225e-04 3.17273460e+00] [ 3.47043552e-03 -1.18151887e-05 9.99993978e-01 -6.36768384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.900281693 meters 0.016073786973761963 Centerline is valid? [True, True] Translation: X:159.42, Y:3.19, Z:-0.06 [[ 9.97469037e-01 -7.10916860e-02 -1.22153776e-03 1.59424578e+02] [ 7.10916299e-02 9.97469785e-01 -8.93300565e-05 3.18877464e+00] [ 1.22479763e-03 2.26285486e-06 9.99999250e-01 -5.78952027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.960281693 meters 0.017228345866634378 Centerline is valid? [True, True] Translation: X:159.48, Y:3.20, Z:-0.06 [[ 9.97729023e-01 -6.73540408e-02 -4.80391478e-04 1.59482847e+02] [ 6.73540317e-02 9.97729138e-01 -3.52454744e-05 3.19904094e+00] [ 4.81674500e-04 2.80912987e-06 9.99999884e-01 -5.65661042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.020281693 meters 0.01734329435345261 Centerline is valid? [True, True] Translation: X:159.54, Y:3.21, Z:-0.05 [[ 9.97741559e-01 -6.71235239e-02 2.49259246e-03 1.59540823e+02] [ 6.71232763e-02 9.97744673e-01 1.82986733e-04 3.20573197e+00] [-2.49925356e-03 -1.52624966e-05 9.99996877e-01 -5.30868925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.080281693 meters 0.017410367426992285 Centerline is valid? [True, True] Translation: X:159.60, Y:3.21, Z:-0.06 [[ 9.97697873e-01 -6.77885436e-02 -1.91505883e-03 1.59597807e+02] [ 6.77883981e-02 9.97699711e-01 -1.40822992e-04 3.21061902e+00] [ 1.92019982e-03 1.06800291e-05 9.99998156e-01 -6.06720111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.140281693 meters 0.019231125438431702 Centerline is valid? [True, True] Translation: X:159.65, Y:3.22, Z:-0.06 [[ 9.97875226e-01 -6.51180008e-02 -2.16311977e-03 1.59654878e+02] [ 6.51178086e-02 9.97877570e-01 -1.59259033e-04 3.22172856e+00] [ 2.16889933e-03 1.80630250e-05 9.99997648e-01 -6.01817158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.200281693 meters 0.021946690149739337 Centerline is valid? [True, True] Translation: X:159.71, Y:3.23, Z:-0.06 [[ 9.98101337e-01 -6.15234641e-02 -2.92986507e-03 1.59713244e+02] [ 6.15230945e-02 9.98105637e-01 -2.16193492e-04 3.22991705e+00] [ 2.93761581e-03 3.55286485e-05 9.99995685e-01 -6.21039254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.260281693 meters 0.02318153262642582 Centerline is valid? [True, True] Translation: X:159.77, Y:3.24, Z:-0.06 [[ 9.98270266e-01 -5.87650527e-02 -1.77343167e-03 1.59771640e+02] [ 5.87649123e-02 9.98271841e-01 -1.31183025e-04 3.23746447e+00] [ 1.77807587e-03 2.67405569e-05 9.99998419e-01 -6.01023195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.320281693 meters 0.023221234617177917 Centerline is valid? [True, True] Translation: X:159.83, Y:3.24, Z:-0.06 [[ 9.98244365e-01 -5.92145017e-02 -1.35260517e-03 1.59829627e+02] [ 5.92144201e-02 9.98245282e-01 -1.00332133e-04 3.23819854e+00] [ 1.35617285e-03 2.00622556e-05 9.99999080e-01 -6.02043883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.380281693 meters 0.026293743596610658 Centerline is valid? [True, True] Translation: X:159.89, Y:3.25, Z:-0.07 [[ 9.98409402e-01 -5.61981991e-02 -4.51975116e-03 1.59888787e+02] [ 5.61972575e-02 9.98419629e-01 -3.35157090e-04 3.24740541e+00] [ 4.53144350e-03 8.06263700e-05 9.99989730e-01 -6.54989151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.440281693 meters 0.02780054023314776 Centerline is valid? [True, True] Translation: X:159.95, Y:3.25, Z:-0.07 [[ 9.98477683e-01 -5.49695108e-02 -4.54627578e-03 1.59947420e+02] [ 5.49685418e-02 9.98488030e-01 -3.37914488e-04 3.25457310e+00] [ 4.55797694e-03 8.74979246e-05 9.99989609e-01 -6.58945619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.500281693 meters 0.029725603621457198 Centerline is valid? [True, True] Translation: X:160.01, Y:3.26, Z:-0.06 [[ 9.98596289e-01 -5.29197953e-02 -2.22412671e-03 1.60005567e+02] [ 5.29195574e-02 9.98598765e-01 -1.65706847e-04 3.26274154e+00] [ 2.22977935e-03 4.77744417e-05 9.99997513e-01 -6.18168273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.560281693 meters 0.029054123123151147 Centerline is valid? [True, True] Translation: X:160.06, Y:3.27, Z:-0.06 [[ 9.98516208e-01 -5.44452524e-02 -1.04742450e-03 1.60063795e+02] [ 5.44452002e-02 9.98516757e-01 -7.82362732e-05 3.26659682e+00] [ 1.05013051e-03 2.10929503e-05 9.99999448e-01 -5.96296955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.620281693 meters 0.026370697877204797 Centerline is valid? [True, True] Translation: X:160.12, Y:3.27, Z:-0.06 [[ 9.98401624e-01 -5.65038688e-02 -1.22918929e-03 1.60122703e+02] [ 5.65037983e-02 9.98402380e-01 -9.20063695e-05 3.26821931e+00] [ 1.23242423e-03 2.24054449e-05 9.99999240e-01 -5.95561365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.680281693 meters 0.024867470352848624 Centerline is valid? [True, True] Translation: X:160.18, Y:3.27, Z:-0.06 [[ 9.98288022e-01 -5.84774201e-02 -1.19022939e-03 1.60181453e+02] [ 5.84773552e-02 9.98288731e-01 -8.92868054e-05 3.27065206e+00] [ 1.19341385e-03 1.95324817e-05 9.99999288e-01 -5.98675889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.740281693 meters 0.024272955987773754 Centerline is valid? [True, True] Translation: X:160.24, Y:3.27, Z:-0.07 [[ 9.98126671e-01 -6.10849221e-02 -3.43238500e-03 1.60239835e+02] [ 6.10843962e-02 9.98132571e-01 -2.57935063e-04 3.27230025e+00] [ 3.44173121e-03 4.77867006e-05 9.99994076e-01 -6.52896504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.800281693 meters 0.02449631857042703 Centerline is valid? [True, True] Translation: X:160.30, Y:3.28, Z:-0.06 [[ 9.98206558e-01 -5.98291574e-02 -2.03473885e-03 1.60298601e+02] [ 5.98289693e-02 9.98208631e-01 -1.53254841e-04 3.27954344e+00] [ 2.04026299e-03 3.12436587e-05 9.99997918e-01 -6.08210088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.860281693 meters 0.025017588328468895 Centerline is valid? [True, True] Translation: X:160.36, Y:3.29, Z:-0.06 [[ 9.98303085e-01 -5.81793119e-02 -2.47351548e-03 1.60356800e+02] [ 5.81790278e-02 9.98306148e-01 -1.86707978e-04 3.29119241e+00] [ 2.48018825e-03 4.24844249e-05 9.99996923e-01 -6.16405301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.920281693 meters 0.027730252093063443 Centerline is valid? [True, True] Translation: X:160.41, Y:3.30, Z:-0.06 [[ 9.98278117e-01 -5.86083238e-02 -2.42187092e-03 1.60413970e+02] [ 5.86080524e-02 9.98281054e-01 -1.82917156e-04 3.30459879e+00] [ 2.42842832e-03 4.06610563e-05 9.99997051e-01 -6.39597333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.980281693 meters 0.01904777852915492 Centerline is valid? [True, True] Translation: X:160.47, Y:3.30, Z:-0.06 [[ 9.97796189e-01 -6.63430032e-02 -1.17081679e-03 1.60474607e+02] [ 6.63429451e-02 9.97796876e-01 -8.84365610e-05 3.29772868e+00] [ 1.17410449e-03 1.05662293e-05 9.99999311e-01 -6.06474853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.040281693 meters 0.016386914366804037 Centerline is valid? [True, True] Translation: X:160.53, Y:3.29, Z:-0.07 [[ 9.97270914e-01 -7.37404132e-02 -3.61605867e-03 1.60534295e+02] [ 7.37399052e-02 9.97277470e-01 -2.73778949e-04 3.28875549e+00] [ 3.62640241e-03 6.38395892e-06 9.99993425e-01 -6.63577386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.100281693 meters 0.018632555961095924 Centerline is valid? [True, True] Translation: X:160.59, Y:3.28, Z:-0.07 [[ 9.96582806e-01 -8.23743965e-02 -6.09673257e-03 1.60592513e+02] [ 8.23731118e-02 9.96601453e-01 -4.61952653e-04 3.27891532e+00] [ 6.11406561e-03 -4.18327624e-05 9.99981308e-01 -7.03374848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.160281693 meters 0.019332139987001288 Centerline is valid? [True, True] Translation: X:160.65, Y:3.28, Z:-0.07 [[ 9.96506961e-01 -8.32863698e-02 -6.10390277e-03 1.60650436e+02] [ 8.32850971e-02 9.96525654e-01 -4.62840634e-04 3.28031736e+00] [ 6.12124401e-03 -4.71402218e-05 9.99981264e-01 -6.93047731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.220281693 meters 0.01671151396532137 Centerline is valid? [True, True] Translation: X:160.71, Y:3.30, Z:-0.07 [[ 9.96938784e-01 -7.79965444e-02 -5.44052317e-03 1.60707916e+02] [ 7.79954494e-02 9.96953629e-01 -4.13483652e-04 3.29686508e+00] [ 5.45619962e-03 -1.21181601e-05 9.99985115e-01 -6.82041518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.280281693 meters 0.016704862356677223 Centerline is valid? [True, True] Translation: X:160.76, Y:3.31, Z:-0.07 [[ 9.97147424e-01 -7.52450194e-02 -5.93308377e-03 1.60764668e+02] [ 7.52436656e-02 9.97165075e-01 -4.51370464e-04 3.30859913e+00] [ 5.95022730e-03 3.65592485e-06 9.99982297e-01 -6.97139788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.340281693 meters 0.016182420928934522 Centerline is valid? [True, True] Translation: X:160.82, Y:3.32, Z:-0.06 [[ 9.97161409e-01 -7.52350578e-02 -2.96819224e-03 1.60821742e+02] [ 7.52347185e-02 9.97165827e-01 -2.25982659e-04 3.31542492e+00] [ 2.97678169e-03 2.03007839e-06 9.99995569e-01 -6.39230069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.400281693 meters 0.016860782509992248 Centerline is valid? [True, True] Translation: X:160.88, Y:3.31, Z:-0.07 [[ 9.96842247e-01 -7.92835807e-02 -4.43259985e-03 1.60880154e+02] [ 7.92828629e-02 9.96852102e-01 -3.37708805e-04 3.31394464e+00] [ 4.44542124e-03 -1.47868022e-05 9.99990119e-01 -6.66283975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.460281693 meters 0.016148558098940814 Centerline is valid? [True, True] Translation: X:160.94, Y:3.33, Z:-0.06 [[ 9.97015184e-01 -7.70968119e-02 -4.09938165e-03 1.60937693e+02] [ 7.70961761e-02 9.97023611e-01 -3.13120236e-04 3.32587604e+00] [ 4.11132087e-03 -3.86101962e-06 9.99991548e-01 -6.37377235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.520281693 meters 0.01636833038420438 Centerline is valid? [True, True] Translation: X:161.00, Y:3.34, Z:-0.06 [[ 9.97293026e-01 -7.34766710e-02 -2.79258982e-03 1.60995289e+02] [ 7.34763603e-02 9.97296936e-01 -2.13832146e-04 3.33705680e+00] [ 2.80075294e-03 8.06397231e-06 9.99996078e-01 -6.08565023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.580281693 meters 0.018453961851079947 Centerline is valid? [True, True] Translation: X:161.05, Y:3.35, Z:-0.06 [[ 9.97589306e-01 -6.92873012e-02 -3.85311016e-03 1.61052720e+02] [ 6.92866761e-02 9.97596747e-01 -2.95627152e-04 3.35337235e+00] [ 3.86433337e-03 2.79452898e-05 9.99992533e-01 -6.30124517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.640281693 meters 0.02404205016684069 Centerline is valid? [True, True] Translation: X:161.11, Y:3.37, Z:-0.06 [[ 9.98035051e-01 -6.25483998e-02 -3.70608242e-03 1.61110194e+02] [ 6.25477748e-02 9.98041930e-01 -2.84431690e-04 3.37401674e+00] [ 3.71661640e-03 5.20655880e-05 9.99993092e-01 -6.30805060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.700281693 meters 0.024932960225869664 Centerline is valid? [True, True] Translation: X:161.17, Y:3.39, Z:-0.07 [[ 9.98070506e-01 -6.19379968e-02 -4.35319924e-03 1.61168244e+02] [ 6.19371255e-02 9.98079997e-01 -3.34822377e-04 3.38560676e+00] [ 4.36557931e-03 6.45516914e-05 9.99990469e-01 -6.52411223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.760281693 meters 0.023961054515767403 Centerline is valid? [True, True] Translation: X:161.23, Y:3.39, Z:-0.06 [[ 9.97988508e-01 -6.33107530e-02 -3.26893847e-03 1.61225202e+02] [ 6.33102685e-02 9.97993861e-01 -2.51587197e-04 3.39447273e+00] [ 3.27830870e-03 4.41237593e-05 9.99994625e-01 -6.19206030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.820281693 meters 0.018225753609243917 Centerline is valid? [True, True] Translation: X:161.28, Y:3.40, Z:-0.06 [[ 9.97584877e-01 -6.94318345e-02 -1.90600617e-03 1.61284256e+02] [ 6.94316808e-02 9.97586698e-01 -1.46784614e-04 3.39583879e+00] [ 1.91159793e-03 1.40928993e-05 9.99998173e-01 -5.93556482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.880281693 meters 0.016455454310190454 Centerline is valid? [True, True] Translation: X:161.34, Y:3.39, Z:-0.07 [[ 9.96948435e-01 -7.78716686e-02 -5.46091269e-03 1.61342759e+02] [ 7.78705317e-02 9.96963391e-01 -4.20839892e-04 3.38749667e+00] [ 5.47710154e-03 -5.68850239e-06 9.99985001e-01 -6.73796513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.940281693 meters 0.017952244801471864 Centerline is valid? [True, True] Translation: X:161.40, Y:3.39, Z:-0.07 [[ 9.96522148e-01 -8.31225820e-02 -5.85197198e-03 1.61401390e+02] [ 8.31213648e-02 9.96539329e-01 -4.51322581e-04 3.38554023e+00] [ 5.86923533e-03 -3.66709505e-05 9.99982775e-01 -6.71306239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.000281693 meters 0.022987286125644033 Centerline is valid? [True, True] Translation: X:161.46, Y:3.37, Z:-0.06 [[ 9.95918250e-01 -9.02330676e-02 -2.19847776e-03 1.61460546e+02] [ 9.02329126e-02 9.95920676e-01 -1.69772766e-04 3.37463866e+00] [ 2.20482857e-03 -2.92952555e-05 9.99997569e-01 -5.95709675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.060281693 meters 0.024653092996166 Centerline is valid? [True, True] Translation: X:161.52, Y:3.37, Z:-0.06 [[ 9.95624336e-01 -9.34214729e-02 -2.14704353e-03 1.61519248e+02] [ 9.34213323e-02 9.95626650e-01 -1.65915755e-04 3.37320398e+00] [ 2.15315385e-03 -3.53899029e-05 9.99997681e-01 -5.97425491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.120281693 meters 0.029677806690555447 Centerline is valid? [True, True] Translation: X:161.58, Y:3.36, Z:-0.06 [[ 9.95386292e-01 -9.59236529e-02 -2.18671805e-03 1.61578278e+02] [ 9.59235126e-02 9.95388693e-01 -1.69181283e-04 3.35805292e+00] [ 2.19286291e-03 -4.13569463e-05 9.99997595e-01 -6.07174819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.180281693 meters 0.02950059466193624 Centerline is valid? [True, True] Translation: X:161.64, Y:3.36, Z:-0.06 [[ 9.95278683e-01 -9.69643270e-02 -4.27336860e-03 1.61637686e+02] [ 9.69637980e-02 9.95287854e-01 -3.31283251e-04 3.35801683e+00] [ 4.28535452e-03 -8.46428909e-05 9.99990814e-01 -6.29709482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.240281693 meters 0.02293214893402327 Centerline is valid? [True, True] Translation: X:161.70, Y:3.37, Z:-0.06 [[ 9.95851192e-01 -9.09620550e-02 -2.51144127e-03 1.61697593e+02] [ 9.09618532e-02 9.95854359e-01 -1.94694850e-04 3.36517907e+00] [ 2.51873958e-03 -3.45582540e-05 9.99996827e-01 -5.78684421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.300281693 meters 0.01760679401523404 Centerline is valid? [True, True] Translation: X:161.76, Y:3.38, Z:-0.06 [[ 9.96469634e-01 -8.39419327e-02 -1.42117977e-03 1.61756104e+02] [ 8.39418606e-02 9.96470648e-01 -1.10435828e-04 3.37897684e+00] [ 1.42543412e-03 -9.25052425e-06 9.99998984e-01 -5.69802701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.360281693 meters 0.017124196088133942 Centerline is valid? [True, True] Translation: X:161.82, Y:3.38, Z:-0.06 [[ 9.96572005e-01 -8.27091512e-02 -1.85350642e-03 1.61815142e+02] [ 8.27090259e-02 9.96573728e-01 -1.44289619e-04 3.38465552e+00] [ 1.85908987e-03 -9.50671532e-06 9.99998272e-01 -5.82650398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.420281693 meters 0.016729377314995606 Centerline is valid? [True, True] Translation: X:161.87, Y:3.39, Z:-0.06 [[ 9.96608667e-01 -8.22571263e-02 -2.22019842e-03 1.61873409e+02] [ 8.22569444e-02 9.96611140e-01 -1.73256919e-04 3.38698942e+00] [ 2.22692610e-03 -9.95739102e-06 9.99997520e-01 -5.78658196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.480281693 meters 0.016986789435427908 Centerline is valid? [True, True] Translation: X:161.93, Y:3.40, Z:-0.06 [[ 9.96619137e-01 -8.20843547e-02 -3.52898329e-03 1.61929913e+02] [ 8.20838927e-02 9.96625385e-01 -2.75787961e-04 3.39538268e+00] [ 3.53971221e-03 -1.48171260e-05 9.99993735e-01 -6.08539571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.540281693 meters 0.01664530016952955 Centerline is valid? [True, True] Translation: X:161.99, Y:3.41, Z:-0.06 [[ 9.96818359e-01 -7.94829377e-02 -5.96834489e-03 1.61987156e+02] [ 7.94815630e-02 9.96836227e-01 -4.67544817e-04 3.40869157e+00] [ 5.98662423e-03 -8.31612320e-06 9.99982080e-01 -6.36493519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.600281693 meters 0.016364418011375344 Centerline is valid? [True, True] Translation: X:162.04, Y:3.43, Z:-0.06 [[ 9.97111201e-01 -7.59042557e-02 -2.79210775e-03 1.62044815e+02] [ 7.59039394e-02 9.97115111e-01 -2.19213074e-04 3.42944526e+00] [ 2.80069203e-03 6.64783399e-06 9.99996078e-01 -5.78157960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.660281693 meters 0.017516262572246765 Centerline is valid? [True, True] Translation: X:162.10, Y:3.45, Z:-0.06 [[ 9.97318246e-01 -7.30741931e-02 -4.05932550e-03 1.62102317e+02] [ 7.30734986e-02 9.97326507e-01 -3.19342560e-04 3.44883225e+00] [ 4.07180862e-03 2.18570457e-05 9.99991710e-01 -5.98818375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.720281693 meters 0.016283841258632883 Centerline is valid? [True, True] Translation: X:162.16, Y:3.45, Z:-0.06 [[ 9.97045605e-01 -7.67378922e-02 -3.37016493e-03 1.62160240e+02] [ 7.67374338e-02 9.97051301e-01 -2.65295340e-04 3.45487600e+00] [ 3.38058553e-03 5.89374478e-06 9.99994286e-01 -5.87646049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.780281693 meters 0.016869969949998252 Centerline is valid? [True, True] Translation: X:162.22, Y:3.46, Z:-0.06 [[ 9.96566578e-01 -8.27014868e-02 -3.93958934e-03 1.62218896e+02] [ 8.27009043e-02 9.96574364e-01 -3.10798864e-04 3.45979188e+00] [ 3.95179727e-03 -1.60758407e-05 9.99992191e-01 -5.86343799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.840281693 meters 0.01710176748180168 Centerline is valid? [True, True] Translation: X:162.28, Y:3.47, Z:-0.06 [[ 9.96521838e-01 -8.32710833e-02 -3.18649148e-03 1.62275046e+02] [ 8.32707044e-02 9.96526932e-01 -2.51626214e-04 3.46879411e+00] [ 3.19637777e-03 -1.45903734e-05 9.99994891e-01 -5.68762995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.900281693 meters 0.016823416823466032 Centerline is valid? [True, True] Translation: X:162.33, Y:3.47, Z:-0.05 [[ 9.96515592e-01 -8.33884099e-02 -1.74583183e-03 1.62332415e+02] [ 8.33882957e-02 9.96517121e-01 -1.38222453e-04 3.47440197e+00] [ 1.75127746e-03 -7.84111053e-06 9.99998466e-01 -5.42953542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96028169299998 meters 0.01711320396225 Centerline is valid? [True, True] Translation: X:162.39, Y:3.48, Z:-0.06 [[ 9.96507291e-01 -8.34495642e-02 -3.06417891e-03 1.62389726e+02] [ 8.34492125e-02 9.96512002e-01 -2.42680359e-04 3.47904621e+00] [ 3.07374263e-03 -1.38705699e-05 9.99995276e-01 -5.79448396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.020281693 meters 0.01690020621540808 Centerline is valid? [True, True] Translation: X:162.45, Y:3.49, Z:-0.06 [[ 9.96506259e-01 -8.34404976e-02 -3.59999878e-03 1.62447739e+02] [ 8.34400094e-02 9.96512761e-01 -2.85844272e-04 3.48567343e+00] [ 3.61129572e-03 -1.55383261e-05 9.99993479e-01 -5.90828919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.080281693 meters 0.017092881413994957 Centerline is valid? [True, True] Translation: X:162.51, Y:3.49, Z:-0.06 [[ 9.96485384e-01 -8.36736134e-02 -3.95037943e-03 1.62505176e+02] [ 8.36730245e-02 9.96493214e-01 -3.14406933e-04 3.49062358e+00] [ 3.96283386e-03 -1.72382814e-05 9.99992148e-01 -5.95389398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.140281693 meters 0.01661554819866353 Centerline is valid? [True, True] Translation: X:162.56, Y:3.50, Z:-0.06 [[ 9.96643023e-01 -8.17909605e-02 -3.59495577e-03 1.62563013e+02] [ 8.17904599e-02 9.96649506e-01 -2.86290452e-04 3.49761098e+00] [ 3.60632686e-03 -8.70370372e-06 9.99993497e-01 -5.89516235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.200281693 meters 0.016816479286286344 Centerline is valid? [True, True] Translation: X:162.62, Y:3.51, Z:-0.06 [[ 9.96787635e-01 -7.99379818e-02 -4.93243486e-03 1.62620686e+02] [ 7.99370123e-02 9.96799839e-01 -3.93707961e-04 3.50841326e+00] [ 4.94812249e-03 -1.84087872e-06 9.99987758e-01 -6.28595281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.260281693 meters 0.017127426395155555 Centerline is valid? [True, True] Translation: X:162.68, Y:3.51, Z:-0.07 [[ 9.96689615e-01 -8.09203762e-02 -7.85515503e-03 1.62679266e+02] [ 8.09179381e-02 9.96720569e-01 -6.28220274e-04 3.51474856e+00] [ 7.88023041e-03 -9.48232489e-06 9.99968950e-01 -6.72163879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.320281693 meters 0.016999487794272405 Centerline is valid? [True, True] Translation: X:162.74, Y:3.53, Z:-0.07 [[ 9.96768546e-01 -7.99773922e-02 -7.48888633e-03 1.62736337e+02] [ 7.99751388e-02 9.96796678e-01 -6.00363311e-04 3.52520437e+00] [ 7.51291250e-03 -5.01459003e-07 9.99971778e-01 -6.52700719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.380281693 meters 0.016684336081589358 Centerline is valid? [True, True] Translation: X:162.79, Y:3.53, Z:-0.06 [[ 9.96808535e-01 -7.96621161e-02 -5.16644394e-03 1.62793533e+02] [ 7.96610379e-02 9.96821924e-01 -4.14458849e-04 3.53448064e+00] [ 5.18304126e-03 1.57183152e-06 9.99986568e-01 -6.20463099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.440281693 meters 0.01662993939242323 Centerline is valid? [True, True] Translation: X:162.85, Y:3.54, Z:-0.06 [[ 9.96533976e-01 -8.31181233e-02 -3.37811413e-03 1.62851671e+02] [ 8.31176798e-02 9.96539702e-01 -2.71694073e-04 3.53817910e+00] [ 3.38900755e-03 -1.00286343e-05 9.99994257e-01 -5.76364459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.500281693 meters 0.017224325615385217 Centerline is valid? [True, True] Translation: X:162.91, Y:3.54, Z:-0.06 [[ 9.96402317e-01 -8.46579103e-02 -3.93203543e-03 1.62909472e+02] [ 8.46573208e-02 9.96410075e-01 -3.16418566e-04 3.54033346e+00] [ 3.94470705e-03 -1.75953920e-05 9.99992219e-01 -5.85157951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.560281693 meters 0.01727274074666792 Centerline is valid? [True, True] Translation: X:162.97, Y:3.55, Z:-0.06 [[ 9.96464879e-01 -8.37981094e-02 -5.96839135e-03 1.62967993e+02] [ 8.37967299e-02 9.96482753e-01 -4.81266825e-04 3.54881417e+00] [ 5.98772829e-03 -2.05661889e-05 9.99982073e-01 -6.14820826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.620281693 meters 0.016918832197337877 Centerline is valid? [True, True] Translation: X:163.02, Y:3.56, Z:-0.06 [[ 9.96838738e-01 -7.91805431e-02 -6.55530457e-03 1.63024926e+02] [ 7.91787712e-02 9.96860292e-01 -5.29784813e-04 3.56297815e+00] [ 6.57667148e-03 9.06906315e-06 9.99978373e-01 -6.24690140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.680281693 meters 0.01756479666632019 Centerline is valid? [True, True] Translation: X:163.08, Y:3.57, Z:-0.06 [[ 9.97138111e-01 -7.55209169e-02 -3.48968509e-03 1.63081927e+02] [ 7.55203917e-02 9.97144218e-01 -2.82210995e-04 3.57469053e+00] [ 3.50103214e-03 1.78609533e-05 9.99993871e-01 -5.64118706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.740281693 meters 0.019758401228530016 Centerline is valid? [True, True] Translation: X:163.14, Y:3.58, Z:-0.06 [[ 9.97450786e-01 -7.12161101e-02 -4.49390994e-03 1.63140632e+02] [ 7.12151920e-02 9.97460908e-01 -3.64207151e-04 3.58298056e+00] [ 4.50843690e-03 4.32440504e-05 9.99989836e-01 -5.67715066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.800281693 meters 0.022301371895651335 Centerline is valid? [True, True] Translation: X:163.20, Y:3.59, Z:-0.06 [[ 9.97611500e-01 -6.90038654e-02 -3.12429169e-03 1.63197991e+02] [ 6.90034103e-02 9.97616392e-01 -2.53372045e-04 3.59040130e+00] [ 3.13432826e-03 3.71800846e-05 9.99995087e-01 -5.54376647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.860281693 meters 0.023978482920042142 Centerline is valid? [True, True] Translation: X:163.26, Y:3.60, Z:-0.05 [[ 9.97742898e-01 -6.71000770e-02 -2.58632794e-03 1.63256433e+02] [ 6.70997575e-02 9.97746249e-01 -2.10193574e-04 3.59831163e+00] [ 2.59460301e-03 3.61771684e-05 9.99996633e-01 -5.40445206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.920281693 meters 0.026483337410107013 Centerline is valid? [True, True] Translation: X:163.32, Y:3.61, Z:-0.06 [[ 9.97977658e-01 -6.33897182e-02 -4.72624687e-03 1.63315392e+02] [ 6.33886096e-02 9.97988846e-01 -3.84127341e-04 3.60842611e+00] [ 4.74109138e-03 8.37602869e-05 9.99988757e-01 -5.72931799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.980281693 meters 0.028121021370047506 Centerline is valid? [True, True] Translation: X:163.37, Y:3.62, Z:-0.06 [[ 9.97985501e-01 -6.32611515e-02 -4.79237242e-03 1.63372972e+02] [ 6.32600088e-02 9.97997004e-01 -3.89794476e-04 3.61544811e+00] [ 4.80743216e-03 8.58437136e-05 9.99988441e-01 -5.94275369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.040281693 meters 0.023297912855690824 Centerline is valid? [True, True] Translation: X:163.43, Y:3.61, Z:-0.06 [[ 9.97693733e-01 -6.76796317e-02 -5.16560887e-03 1.63432538e+02] [ 6.76783590e-02 9.97707103e-01 -4.20977678e-04 3.61402022e+00] [ 5.18225627e-03 7.04068598e-05 9.99986570e-01 -5.83033997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.100281693 meters 0.024156572951049414 Centerline is valid? [True, True] Translation: X:163.49, Y:3.62, Z:-0.06 [[ 9.97719957e-01 -6.73938311e-02 -3.59992891e-03 1.63488924e+02] [ 6.73932101e-02 9.97726450e-01 -2.93666449e-04 3.62311027e+00] [ 3.61153560e-03 5.03861105e-05 9.99993477e-01 -5.56122909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.160281693 meters 0.025449297154059844 Centerline is valid? [True, True] Translation: X:163.55, Y:3.63, Z:-0.06 [[ 9.97800729e-01 -6.60260488e-02 -5.85372874e-03 1.63546888e+02] [ 6.60243776e-02 9.97817896e-01 -4.78477351e-04 3.63478642e+00] [ 5.87254726e-03 9.09362529e-05 9.99982752e-01 -5.95799455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.220281693 meters 0.024840610040332237 Centerline is valid? [True, True] Translation: X:163.60, Y:3.64, Z:-0.06 [[ 9.97824182e-01 -6.56255925e-02 -6.33908627e-03 1.63604920e+02] [ 6.56236179e-02 9.97844312e-01 -5.19221797e-04 3.64298334e+00] [ 6.35949541e-03 1.02098290e-04 9.99979773e-01 -5.95038743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.280281693 meters 0.025691076825201692 Centerline is valid? [True, True] Translation: X:163.66, Y:3.65, Z:-0.06 [[ 9.97867478e-01 -6.50295770e-02 -5.62590374e-03 1.63662820e+02] [ 6.50280105e-02 9.97883332e-01 -4.61112372e-04 3.65020185e+00] [ 5.64398151e-03 9.42877124e-05 9.99984068e-01 -5.85675210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.340281693 meters 0.02550421780524761 Centerline is valid? [True, True] Translation: X:163.72, Y:3.66, Z:-0.06 [[ 9.97822090e-01 -6.56857019e-02 -6.03872765e-03 1.63721422e+02] [ 6.56839029e-02 9.97840357e-01 -4.95980108e-04 3.65683108e+00] [ 6.05826496e-03 9.82527069e-05 9.99981644e-01 -5.99201341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.400281693 meters 0.023132257612705015 Centerline is valid? [True, True] Translation: X:163.78, Y:3.66, Z:-0.06 [[ 9.97600821e-01 -6.90608284e-02 -4.81706354e-03 1.63778677e+02] [ 6.90597217e-02 9.97612449e-01 -3.95897120e-04 3.66285509e+00] [ 4.83290354e-03 6.22822241e-05 9.99988320e-01 -5.70788679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46028169299998 meters 0.021253189871290323 Centerline is valid? [True, True] Translation: X:163.84, Y:3.67, Z:-0.05 [[ 9.97433274e-01 -7.15400338e-02 -2.98112276e-03 1.63836386e+02] [ 7.15396202e-02 9.97437729e-01 -2.45274914e-04 3.66918998e+00] [ 2.99103129e-03 3.13769705e-05 9.99995526e-01 -5.29283114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.520281693 meters 0.020655253926867796 Centerline is valid? [True, True] Translation: X:163.90, Y:3.68, Z:-0.05 [[ 9.97473441e-01 -7.09380776e-02 -3.81098350e-03 1.63895834e+02] [ 7.09373970e-02 9.97480720e-01 -3.13615904e-04 3.67789510e+00] [ 3.82362988e-03 4.24822857e-05 9.99992689e-01 -5.36909979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.580281693 meters 0.01920963780613269 Centerline is valid? [True, True] Translation: X:163.96, Y:3.68, Z:-0.05 [[ 9.97287460e-01 -7.34468207e-02 -4.82566248e-03 1.63955564e+02] [ 7.34457583e-02 9.97299134e-01 -3.97230335e-04 3.68254371e+00] [ 4.84180432e-03 4.17283922e-05 9.99988278e-01 -5.44568116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.640281693 meters 0.016532945222677165 Centerline is valid? [True, True] Translation: X:164.01, Y:3.68, Z:-0.05 [[ 9.96704282e-01 -8.10379610e-02 -3.66373279e-03 1.64014066e+02] [ 8.10373991e-02 9.96711016e-01 -3.01816361e-04 3.67676129e+00] [ 3.67614141e-03 3.92228358e-06 9.99993243e-01 -5.35055050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.700281693 meters 0.017058013716255323 Centerline is valid? [True, True] Translation: X:164.07, Y:3.67, Z:-0.05 [[ 9.96331262e-01 -8.54802475e-02 -4.14041472e-03 1.64073355e+02] [ 8.54795652e-02 9.96339865e-01 -3.41800130e-04 3.67102497e+00] [ 4.15447740e-03 -1.33746945e-05 9.99991370e-01 -5.39975970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.760281693 meters 0.016866144813033713 Centerline is valid? [True, True] Translation: X:164.13, Y:3.68, Z:-0.05 [[ 9.96743216e-01 -8.05370290e-02 -4.09248601e-03 1.64130749e+02] [ 8.05363175e-02 9.96751617e-01 -3.38637393e-04 3.68402664e+00] [ 4.10646490e-03 7.94077183e-06 9.99991568e-01 -5.30570729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.820281693 meters 0.01857036632764106 Centerline is valid? [True, True] Translation: X:164.19, Y:3.70, Z:-0.05 [[ 9.97115605e-01 -7.57831982e-02 -4.16847264e-03 1.64188019e+02] [ 7.57824169e-02 9.97124318e-01 -3.45277471e-04 3.69535994e+00] [ 4.18265167e-03 2.83846231e-05 9.99991252e-01 -5.33076108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.880281693 meters 0.01954135948833811 Centerline is valid? [True, True] Translation: X:164.25, Y:3.70, Z:-0.05 [[ 9.97213211e-01 -7.45001978e-02 -3.94121947e-03 1.64245548e+02] [ 7.44994886e-02 9.97220998e-01 -3.26670640e-04 3.70357947e+00] [ 3.95460384e-03 3.21414428e-05 9.99992180e-01 -5.40830004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.940281693 meters 0.0171490027778895 Centerline is valid? [True, True] Translation: X:164.31, Y:3.69, Z:-0.06 [[ 9.96427158e-01 -8.42743088e-02 -5.54612646e-03 1.64305740e+02] [ 8.42730505e-02 9.96442593e-01 -4.60601396e-04 3.68963222e+00] [ 5.56521349e-03 -8.43325551e-06 9.99984514e-01 -5.91808181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.000281693 meters 0.021314934713587773 Centerline is valid? [True, True] Translation: X:164.37, Y:3.68, Z:-0.06 [[ 9.95641097e-01 -9.28558673e-02 -8.75179332e-03 1.64366389e+02] [ 9.28530642e-02 9.95679557e-01 -7.26952446e-04 3.67833545e+00] [ 8.78148349e-03 -8.88470960e-05 9.99961438e-01 -6.35169677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.060281693 meters 0.032498916820423634 Centerline is valid? [True, True] Translation: X:164.43, Y:3.66, Z:-0.06 [[ 9.94432117e-01 -1.05091211e-01 -7.78473091e-03 1.64427451e+02] [ 1.05089367e-01 9.94462572e-01 -6.46612569e-04 3.65705397e+00] [ 7.80957682e-03 -1.75080138e-04 9.99969489e-01 -6.20773804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.120281693 meters 0.03918409137516403 Centerline is valid? [True, True] Translation: X:164.49, Y:3.64, Z:-0.05 [[ 9.93657782e-01 -1.12412325e-01 -2.77171556e-03 1.64489102e+02] [ 1.12412119e-01 9.93661644e-01 -2.30235886e-04 3.64167941e+00] [ 2.78002879e-03 -8.27987398e-05 9.99996132e-01 -5.09693790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.180281693 meters 0.04253880256499712 Centerline is valid? [True, True] Translation: X:164.55, Y:3.64, Z:-0.05 [[ 9.93460425e-01 -1.14165541e-01 -1.61652769e-03 1.64547342e+02] [ 1.14165474e-01 9.93461739e-01 -1.34386952e-04 3.63616918e+00] [ 1.62130077e-03 -5.10435315e-05 9.99998684e-01 -4.84713812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.240281693 meters 0.03661254325200531 Centerline is valid? [True, True] Translation: X:164.61, Y:3.65, Z:-0.05 [[ 9.93845754e-01 -1.10745970e-01 -2.43877007e-03 1.64606751e+02] [ 1.10745806e-01 9.93848744e-01 -2.02745340e-04 3.64589056e+00] [ 2.44622180e-03 -6.85859619e-05 9.99997006e-01 -4.93634410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.300281693 meters 0.03994724060292246 Centerline is valid? [True, True] Translation: X:164.67, Y:3.64, Z:-0.05 [[ 9.93593425e-01 -1.12944002e-01 -3.96960446e-03 1.64665502e+02] [ 1.12943583e-01 9.93601348e-01 -3.30197836e-04 3.63991905e+00] [ 3.98149821e-03 -1.20258952e-04 9.99992067e-01 -5.23041122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.360281693 meters 0.045177576014602754 Centerline is valid? [True, True] Translation: X:164.72, Y:3.64, Z:-0.05 [[ 9.93415117e-01 -1.14488444e-01 -4.33603401e-03 1.64723949e+02] [ 1.14487958e-01 9.93424570e-01 -3.60920407e-04 3.63524571e+00] [ 4.34884394e-03 -1.37879890e-04 9.99990534e-01 -5.13931258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.420281693 meters 0.039025707928826904 Centerline is valid? [True, True] Translation: X:164.78, Y:3.65, Z:-0.05 [[ 9.93781454e-01 -1.11258080e-01 -4.47891020e-03 1.64782993e+02] [ 1.11257529e-01 9.93791539e-01 -3.72899797e-04 3.64702612e+00] [ 4.49259118e-03 -1.27731577e-04 9.99989900e-01 -5.26648914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.480281693 meters 0.028960914260433526 Centerline is valid? [True, True] Translation: X:164.84, Y:3.67, Z:-0.05 [[ 9.94737524e-01 -1.02359429e-01 -4.45043306e-03 1.64842346e+02] [ 1.02358795e-01 9.94747475e-01 -3.70578002e-04 3.66673505e+00] [ 4.46498920e-03 -8.69131205e-05 9.99990028e-01 -5.10845502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.540281693 meters 0.022641543164132635 Centerline is valid? [True, True] Translation: X:164.90, Y:3.68, Z:-0.06 [[ 9.95481167e-01 -9.46767266e-02 -7.31865026e-03 1.64900147e+02] [ 9.46748033e-02 9.95508066e-01 -6.09573446e-04 3.68171228e+00] [ 7.34348778e-03 -8.60728882e-05 9.99973033e-01 -5.70191607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.600281693 meters 0.02262422132023452 Centerline is valid? [True, True] Translation: X:164.96, Y:3.68, Z:-0.06 [[ 9.95478502e-01 -9.46505642e-02 -7.98894030e-03 1.64957714e+02] [ 9.46482598e-02 9.95510554e-01 -6.66887117e-04 3.68354633e+00] [ 8.01619562e-03 -9.22675084e-05 9.99967866e-01 -5.85904307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.660281693 meters 0.024402945658523297 Centerline is valid? [True, True] Translation: X:165.02, Y:3.68, Z:-0.06 [[ 9.95307682e-01 -9.65146969e-02 -6.89426073e-03 1.65016193e+02] [ 9.65130230e-02 9.95331555e-01 -5.75855283e-04 3.67836412e+00] [ 6.91765375e-03 -9.22327578e-05 9.99976068e-01 -5.74667576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.720281693 meters 0.028316664714061666 Centerline is valid? [True, True] Translation: X:165.08, Y:3.67, Z:-0.06 [[ 9.94897629e-01 -1.00679359e-01 -6.50957256e-03 1.65076208e+02] [ 1.00677955e-01 9.94918918e-01 -5.43932027e-04 3.67128558e+00] [ 6.53125962e-03 -1.14213767e-04 9.99978665e-01 -5.51859923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.780281693 meters 0.03291186598098582 Centerline is valid? [True, True] Translation: X:165.14, Y:3.66, Z:-0.05 [[ 9.94528249e-01 -1.04351415e-01 -4.93390560e-03 1.65135587e+02] [ 1.04350652e-01 9.94540482e-01 -4.12493152e-04 3.66240818e+00] [ 4.95001310e-03 -1.04620175e-04 9.99987743e-01 -5.19738756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.840281693 meters 0.03666348645721286 Centerline is valid? [True, True] Translation: X:165.20, Y:3.66, Z:-0.05 [[ 9.94200972e-01 -1.07467755e-01 -3.88713484e-03 1.65196128e+02] [ 1.07467305e-01 9.94208566e-01 -3.25057918e-04 3.65665175e+00] [ 3.89955600e-03 -9.45670058e-05 9.99992392e-01 -4.97832469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.900281693 meters 0.041270597408151546 Centerline is valid? [True, True] Translation: X:165.26, Y:3.65, Z:-0.05 [[ 9.93784151e-01 -1.11152105e-01 -6.18641465e-03 1.65257750e+02] [ 1.11151036e-01 9.93803391e-01 -5.17321251e-04 3.64794436e+00] [ 6.20558120e-03 -1.73520739e-04 9.99980730e-01 -5.43699503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96028169299998 meters 0.0367081659810501 Centerline is valid? [True, True] Translation: X:165.32, Y:3.65, Z:-0.05 [[ 9.93724037e-01 -1.11661755e-01 -6.64768782e-03 1.65316595e+02] [ 1.11660525e-01 9.93746254e-01 -5.57027141e-04 3.65032405e+00] [ 6.66831350e-03 -1.88753052e-04 9.99977749e-01 -5.25701969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.020281693 meters 0.04099899297082925 Centerline is valid? [True, True] Translation: X:165.38, Y:3.64, Z:-0.05 [[ 9.93910220e-01 -1.10068129e-01 -5.24236744e-03 1.65375153e+02] [ 1.10067340e-01 9.93924035e-01 -4.39548195e-04 3.64488136e+00] [ 5.25889525e-03 -1.40141997e-04 9.99986162e-01 -5.10880169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.080281693 meters 0.031393691416328175 Centerline is valid? [True, True] Translation: X:165.43, Y:3.66, Z:-0.05 [[ 9.94374374e-01 -1.05772885e-01 -5.63034827e-03 1.65434627e+02] [ 1.05771907e-01 9.94390306e-01 -4.72125403e-04 3.65784985e+00] [ 5.64870180e-03 -1.26063271e-04 9.99984038e-01 -5.10213507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.140281693 meters 0.02966400161675444 Centerline is valid? [True, True] Translation: X:165.49, Y:3.66, Z:-0.05 [[ 9.94553748e-01 -1.03969896e-01 -7.28720685e-03 1.65493566e+02] [ 1.03968201e-01 9.94580433e-01 -6.12186273e-04 3.66461643e+00] [ 7.31136229e-03 -1.48785631e-04 9.99973261e-01 -5.44248489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.200281693 meters 0.024528504905950124 Centerline is valid? [True, True] Translation: X:165.55, Y:3.67, Z:-0.05 [[ 9.95347598e-01 -9.61521725e-02 -6.15786238e-03 1.65551873e+02] [ 9.61508112e-02 9.95366643e-01 -5.17415687e-04 3.67436375e+00] [ 6.17908145e-03 -7.70750024e-05 9.99980906e-01 -5.31705973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.260281693 meters 0.01864510721921371 Centerline is valid? [True, True] Translation: X:165.61, Y:3.69, Z:-0.05 [[ 9.95886834e-01 -9.04132640e-02 -5.90392033e-03 1.65609857e+02] [ 9.04119101e-02 9.95904333e-01 -4.96349705e-04 3.68921353e+00] [ 5.92461644e-03 -3.94765787e-05 9.99982449e-01 -5.12511489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.320281693 meters 0.01672887270980913 Centerline is valid? [True, True] Translation: X:165.67, Y:3.70, Z:-0.05 [[ 9.96299911e-01 -8.56841341e-02 -6.68696940e-03 1.65667839e+02] [ 8.56822835e-02 9.96322352e-01 -5.63268458e-04 3.69979195e+00] [ 6.71064025e-03 -1.17704925e-05 9.99977483e-01 -5.19612119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.380281693 meters 0.01653014961999884 Centerline is valid? [True, True] Translation: X:165.72, Y:3.71, Z:-0.05 [[ 9.96533051e-01 -8.29550946e-02 -6.35060678e-03 1.65723751e+02] [ 8.29533651e-02 9.96553286e-01 -5.35703455e-04 3.71036145e+00] [ 6.37315739e-03 7.04199513e-06 9.99979691e-01 -5.15068155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.440281693 meters 0.016986639178388226 Centerline is valid? [True, True] Translation: X:165.78, Y:3.72, Z:-0.05 [[ 9.96559828e-01 -8.25525348e-02 -7.32038540e-03 1.65781318e+02] [ 8.25502232e-02 9.96586714e-01 -6.17883004e-04 3.71529402e+00] [ 7.34640664e-03 1.14579311e-05 9.99973015e-01 -5.36004630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.500281693 meters 0.01660004689014694 Centerline is valid? [True, True] Translation: X:165.84, Y:3.72, Z:-0.05 [[ 9.96464779e-01 -8.36587776e-02 -7.69105925e-03 1.65839326e+02] [ 8.36562476e-02 9.96494460e-01 -6.50635293e-04 3.72057944e+00] [ 7.71852929e-03 4.92999681e-06 9.99970212e-01 -5.16962299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.560281693 meters 0.016732668427491108 Centerline is valid? [True, True] Translation: X:165.90, Y:3.72, Z:-0.05 [[ 9.96088651e-01 -8.81819657e-02 -5.59816099e-03 1.65898071e+02] [ 8.81806916e-02 9.96104382e-01 -4.74498945e-04 3.71931480e+00] [ 5.61819495e-03 -2.10066935e-05 9.99984218e-01 -4.72596333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.620281693 meters 0.01915981592481227 Centerline is valid? [True, True] Translation: X:165.96, Y:3.72, Z:-0.05 [[ 9.95577182e-01 -9.38026245e-02 -5.20986608e-03 1.65957385e+02] [ 9.38015934e-02 9.95590812e-01 -4.42468462e-04 3.71651213e+00] [ 5.22839951e-03 -4.81822351e-05 9.99986331e-01 -4.59110466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.680281693 meters 0.02022597045060954 Centerline is valid? [True, True] Translation: X:166.02, Y:3.72, Z:-0.05 [[ 9.95384486e-01 -9.58302262e-02 -5.12763569e-03 1.66015998e+02] [ 9.58292497e-02 9.95397692e-01 -4.36352909e-04 3.71808682e+00] [ 5.14585253e-03 -5.70385655e-05 9.99986758e-01 -4.51431502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.740281693 meters 0.023595753108153684 Centerline is valid? [True, True] Translation: X:166.07, Y:3.72, Z:-0.05 [[ 9.95049039e-01 -9.91682207e-02 -6.56312641e-03 1.66074444e+02] [ 9.91666913e-02 9.95070678e-01 -5.58846618e-04 3.71607918e+00] [ 6.58619447e-03 -9.47637410e-05 9.99978306e-01 -4.91653182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.800281693 meters 0.024385255672163587 Centerline is valid? [True, True] Translation: X:166.13, Y:3.72, Z:-0.05 [[ 9.95002718e-01 -9.95701988e-02 -7.44089132e-03 1.66132413e+02] [ 9.95682410e-02 9.95030534e-01 -6.34012564e-04 3.71809251e+00] [ 7.46704282e-03 -1.10032236e-04 9.99972115e-01 -5.03384104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.860281693 meters 0.022382988708523645 Centerline is valid? [True, True] Translation: X:166.19, Y:3.73, Z:-0.05 [[ 9.95140384e-01 -9.82193860e-02 -6.96907221e-03 1.66191398e+02] [ 9.82176278e-02 9.95164782e-01 -5.94916022e-04 3.72512156e+00] [ 6.99380752e-03 -9.24607814e-05 9.99975539e-01 -4.77458401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.920281693 meters 0.018952352671457603 Centerline is valid? [True, True] Translation: X:166.25, Y:3.74, Z:-0.05 [[ 9.95633195e-01 -9.31088980e-02 -6.72853230e-03 1.66249521e+02] [ 9.31071404e-02 9.95655930e-01 -5.74665307e-04 3.73574605e+00] [ 6.75280954e-03 -5.43185462e-05 9.99977198e-01 -4.69928029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.980281693 meters 0.016644623088482635 Centerline is valid? [True, True] Translation: X:166.31, Y:3.75, Z:-0.05 [[ 9.96351463e-01 -8.49820752e-02 -7.86188053e-03 1.66306929e+02] [ 8.49794120e-02 9.96382480e-01 -6.72794031e-04 3.75206889e+00] [ 7.89061546e-03 2.24133198e-06 9.99968869e-01 -4.96354581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.040281693 meters 0.017285990748421253 Centerline is valid? [True, True] Translation: X:166.37, Y:3.76, Z:-0.05 [[ 9.96609990e-01 -8.18518564e-02 -8.29462207e-03 1.66365123e+02] [ 8.18487721e-02 9.96644507e-01 -7.11185079e-04 3.75966049e+00] [ 8.32500134e-03 2.98695230e-05 9.99965346e-01 -5.06682401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.100281693 meters 0.019596174288111074 Centerline is valid? [True, True] Translation: X:166.42, Y:3.77, Z:-0.05 [[ 9.96976254e-01 -7.72813401e-02 -8.12049578e-03 1.66422040e+02] [ 7.72782288e-02 9.97009323e-01 -6.96691316e-04 3.77062308e+00] [ 8.15005123e-03 6.70471683e-05 9.99966786e-01 -4.99618507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.160281693 meters 0.024989653205828456 Centerline is valid? [True, True] Translation: X:166.48, Y:3.79, Z:-0.05 [[ 9.97470913e-01 -7.05803789e-02 -8.37785071e-03 1.66480870e+02] [ 7.05768293e-02 9.97506087e-01 -7.18949961e-04 3.78546305e+00] [ 8.40770084e-03 1.25849534e-04 9.99964647e-01 -5.08327929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.220281693 meters 0.029854598592946004 Centerline is valid? [True, True] Translation: X:166.54, Y:3.80, Z:-0.05 [[ 9.97889613e-01 -6.42568367e-02 -9.34768455e-03 1.66540433e+02] [ 6.42521404e-02 9.97933374e-01 -8.02168002e-04 3.79872940e+00] [ 9.37991116e-03 1.99866378e-04 9.99955988e-01 -5.13433692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.280281693 meters 0.03619964921516413 Centerline is valid? [True, True] Translation: X:166.60, Y:3.82, Z:-0.05 [[ 9.98185277e-01 -5.96112076e-02 -8.52387590e-03 1.66597687e+02] [ 5.96071293e-02 9.98221646e-01 -7.31926790e-04 3.81595996e+00] [ 8.55234847e-03 2.22514773e-04 9.99963403e-01 -5.02159898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.340281693 meters 0.04482802129716509 Centerline is valid? [True, True] Translation: X:166.66, Y:3.84, Z:-0.05 [[ 9.98656475e-01 -5.14095424e-02 -6.50409706e-03 1.66655826e+02] [ 5.14069939e-02 9.98677630e-01 -5.58510943e-04 3.84420653e+00] [ 6.52420903e-03 2.23404492e-04 9.99978692e-01 -4.67425576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.400281693 meters 0.045569456197418236 Centerline is valid? [True, True] Translation: X:166.71, Y:3.86, Z:-0.04 [[ 9.98800131e-01 -4.85404542e-02 -6.49019693e-03 1.66714148e+02] [ 4.85378546e-02 9.98821188e-01 -5.57550925e-04 3.85875322e+00] [ 6.50960998e-03 2.41861702e-04 9.99978783e-01 -4.41514890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46028169299998 meters 0.039833393371220285 Centerline is valid? [True, True] Translation: X:166.77, Y:3.87, Z:-0.04 [[ 9.98555250e-01 -5.36237813e-02 -3.45001057e-03 1.66773757e+02] [ 5.36230770e-02 9.98561204e-01 -2.96380100e-04 3.86652605e+00] [ 3.46093973e-03 1.10951722e-04 9.99994005e-01 -3.90033253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.520281693 meters 0.035984240289240035 Centerline is valid? [True, True] Translation: X:166.83, Y:3.87, Z:-0.04 [[ 9.98238474e-01 -5.91677466e-02 -4.37342588e-03 1.66832749e+02] [ 5.91666677e-02 9.98248047e-01 -3.75777970e-04 3.86911016e+00] [ 4.38799778e-03 1.16354992e-04 9.99990366e-01 -4.13271433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.580281693 meters 0.030073523409401955 Centerline is valid? [True, True] Translation: X:166.89, Y:3.87, Z:-0.05 [[ 9.97817218e-01 -6.54548975e-02 -8.74390354e-03 1.66892238e+02] [ 6.54508242e-02 9.97855513e-01 -7.51498516e-04 3.87138492e+00] [ 8.77434161e-03 1.77562465e-04 9.99961489e-01 -4.87906366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.640281693 meters 0.025792101222020896 Centerline is valid? [True, True] Translation: X:166.95, Y:3.87, Z:-0.05 [[ 9.97532022e-01 -6.97440166e-02 -8.10172640e-03 1.66952743e+02] [ 6.97406603e-02 9.97564913e-01 -6.96395072e-04 3.86918008e+00] [ 8.13056738e-03 1.29656636e-04 9.99966938e-01 -4.77179888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.700281693 meters 0.01940259774479908 Centerline is valid? [True, True] Translation: X:167.01, Y:3.86, Z:-0.05 [[ 9.96984976e-01 -7.72530178e-02 -7.27523206e-03 1.67013837e+02] [ 7.72505106e-02 9.97011518e-01 -6.25436493e-04 3.86043434e+00] [ 7.30180702e-03 6.15353956e-05 9.99973340e-01 -4.68146933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.760281693 meters 0.019267511535200524 Centerline is valid? [True, True] Translation: X:167.07, Y:3.86, Z:-0.04 [[ 9.96929063e-01 -7.80183726e-02 -6.75109512e-03 1.67072002e+02] [ 7.80162284e-02 9.96951920e-01 -5.80779101e-04 3.86236667e+00] [ 6.77582868e-03 5.23005859e-05 9.99977042e-01 -4.48672760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.820281693 meters 0.021995352219062438 Centerline is valid? [True, True] Translation: X:167.13, Y:3.87, Z:-0.04 [[ 9.97225525e-01 -7.41681371e-02 -6.35140591e-03 1.67129790e+02] [ 7.41661545e-02 9.97245748e-01 -5.47442369e-04 3.87405972e+00] [ 6.37451531e-03 7.48641517e-05 9.99979680e-01 -4.49627775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.880281693 meters 0.021877212845484686 Centerline is valid? [True, True] Translation: X:167.19, Y:3.88, Z:-0.04 [[ 9.97344557e-01 -7.27181678e-02 -3.98794223e-03 1.67188548e+02] [ 7.27173719e-02 9.97352528e-01 -3.44421709e-04 3.87802235e+00] [ 4.00242998e-03 5.35144380e-05 9.99991989e-01 -3.87327940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.940281693 meters 0.028146078271701503 Centerline is valid? [True, True] Translation: X:167.25, Y:3.89, Z:-0.04 [[ 9.97739225e-01 -6.71029911e-02 -3.69167007e-03 1.67245681e+02] [ 6.71022700e-02 9.97746052e-01 -3.18970752e-04 3.89406970e+00] [ 3.70475313e-03 7.05301886e-05 9.99993135e-01 -3.90098674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.000281693 meters 0.03461313222633605 Centerline is valid? [True, True] Translation: X:167.30, Y:3.91, Z:-0.04 [[ 9.97985268e-01 -6.32211377e-02 -5.33779076e-03 1.67303113e+02] [ 6.32195738e-02 9.97999535e-01 -4.61369053e-04 3.91010638e+00] [ 5.35628098e-03 1.22986661e-04 9.99985647e-01 -4.23764654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.060281693 meters 0.03917410572867396 Centerline is valid? [True, True] Translation: X:167.36, Y:3.93, Z:-0.04 [[ 9.98236248e-01 -5.91881349e-02 -4.59985966e-03 1.67361464e+02] [ 5.91869303e-02 9.98246838e-01 -3.97682207e-04 3.92937531e+00] [ 4.61533343e-03 1.24729221e-04 9.99989342e-01 -4.17201798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.120281693 meters 0.038037815384576 Centerline is valid? [True, True] Translation: X:167.42, Y:3.94, Z:-0.04 [[ 9.98141170e-01 -6.07894269e-02 -4.34164866e-03 1.67420443e+02] [ 6.07883660e-02 9.98150606e-01 -3.76012352e-04 3.93573503e+00] [ 4.35647682e-03 1.11391681e-04 9.99990504e-01 -4.19103746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.180281693 meters 0.03203709162533326 Centerline is valid? [True, True] Translation: X:167.48, Y:3.94, Z:-0.04 [[ 9.97801075e-01 -6.61664586e-02 -3.87481847e-03 1.67479701e+02] [ 6.61656539e-02 9.97808596e-01 -3.35629562e-04 3.93733400e+00] [ 3.88853459e-03 7.85116403e-05 9.99992437e-01 -4.10006517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.240281693 meters 0.022133923710317548 Centerline is valid? [True, True] Translation: X:167.54, Y:3.93, Z:-0.04 [[ 9.97268439e-01 -7.37667755e-02 -3.75813405e-03 1.67541096e+02] [ 7.37660723e-02 9.97275519e-01 -3.25562126e-04 3.92808310e+00] [ 3.77191075e-03 4.74500447e-05 9.99992885e-01 -4.14816368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.300281693 meters 0.02123225045861096 Centerline is valid? [True, True] Translation: X:167.60, Y:3.93, Z:-0.04 [[ 9.97048904e-01 -7.66290703e-02 -4.63335237e-03 1.67599129e+02] [ 7.66280287e-02 9.97059669e-01 -4.02164067e-04 3.93451498e+00] [ 4.65054624e-03 4.59325843e-05 9.99989185e-01 -4.36624133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.360281693 meters 0.021542756498153955 Centerline is valid? [True, True] Translation: X:167.66, Y:3.94, Z:-0.05 [[ 9.96964385e-01 -7.74094151e-02 -8.35445752e-03 1.67657156e+02] [ 7.74060462e-02 9.96999386e-01 -7.26335491e-04 3.94285322e+00] [ 8.38561422e-03 7.74450917e-05 9.99964837e-01 -5.23187555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.420281693 meters 0.018860384658226783 Centerline is valid? [True, True] Translation: X:167.72, Y:3.94, Z:-0.04 [[ 9.96900588e-01 -7.85298603e-02 -4.71997868e-03 1.67716375e+02] [ 7.85287939e-02 9.96911761e-01 -4.11134760e-04 3.94428494e+00] [ 4.73768861e-03 3.92062516e-05 9.99988776e-01 -4.30145021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.480281693 meters 0.01872551468116313 Centerline is valid? [True, True] Translation: X:167.77, Y:3.95, Z:-0.04 [[ 9.96777994e-01 -8.01618194e-02 -2.77734786e-03 1.67774233e+02] [ 8.01614561e-02 9.96781863e-01 -2.42065356e-04 3.94766887e+00] [ 2.78781437e-03 1.86491712e-05 9.99996114e-01 -3.97751387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.540281693 meters 0.01677658339222513 Centerline is valid? [True, True] Translation: X:167.83, Y:3.94, Z:-0.04 [[ 9.96561468e-01 -8.27858702e-02 -3.42625548e-03 1.67833428e+02] [ 8.27853309e-02 9.96567358e-01 -2.99171835e-04 3.94390578e+00] [ 3.43926157e-03 1.44994298e-05 9.99994086e-01 -4.10882827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.600281693 meters 0.015845155761439026 Centerline is valid? [True, True] Translation: X:167.89, Y:3.94, Z:-0.04 [[ 9.96266748e-01 -8.62374903e-02 -3.95750349e-03 1.67891850e+02] [ 8.62367951e-02 9.96274608e-01 -3.46291542e-04 3.93806254e+00] [ 3.97262356e-03 3.71633037e-06 9.99992109e-01 -4.11188508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.660281693 meters 0.016089470471915328 Centerline is valid? [True, True] Translation: X:167.95, Y:3.94, Z:-0.04 [[ 9.96380334e-01 -8.49248034e-02 -3.74276397e-03 1.67949768e+02] [ 8.49241697e-02 9.96387363e-01 -3.28211142e-04 3.93979121e+00] [ 3.75711599e-03 9.17200459e-06 9.99992942e-01 -3.91914116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.720281693 meters 0.016837644963572283 Centerline is valid? [True, True] Translation: X:168.01, Y:3.94, Z:-0.04 [[ 9.96553889e-01 -8.29069547e-02 -2.60439326e-03 1.68007887e+02] [ 8.29066406e-02 9.96557292e-01 -2.28510688e-04 3.94429844e+00] [ 2.61437222e-03 1.18017189e-05 9.99996582e-01 -3.82617031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.780281693 meters 0.016669742341699892 Centerline is valid? [True, True] Translation: X:168.07, Y:3.94, Z:-0.04 [[ 9.96575504e-01 -8.26708868e-02 -1.66986476e-03 1.68065714e+02] [ 8.26707567e-02 9.96576903e-01 -1.46883500e-04 3.94425669e+00] [ 1.67629164e-03 8.33151505e-06 9.99998595e-01 -3.68451205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.840281693 meters 0.016109415108378072 Centerline is valid? [True, True] Translation: X:168.12, Y:3.94, Z:-0.04 [[ 9.96396698e-01 -8.47696792e-02 -2.77893695e-03 1.68124560e+02] [ 8.47693270e-02 9.96400573e-01 -2.44513357e-04 3.93783823e+00] [ 2.78966168e-03 8.06368636e-06 9.99996109e-01 -3.96397078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.900281693 meters 0.016118110235545505 Centerline is valid? [True, True] Translation: X:168.18, Y:3.94, Z:-0.04 [[ 9.96435108e-01 -8.43183758e-02 -2.73630489e-03 1.68182916e+02] [ 8.43180310e-02 9.96438865e-01 -2.41333260e-04 3.93791142e+00] [ 2.74690937e-03 9.75309307e-06 9.99996227e-01 -3.81089548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96028169299998 meters 0.018306380652819674 Centerline is valid? [True, True] Translation: X:168.24, Y:3.94, Z:-0.04 [[ 9.96877661e-01 -7.89417842e-02 -1.76755569e-03 1.68240930e+02] [ 7.89416315e-02 9.96879228e-01 -1.56054284e-04 3.94368307e+00] [ 1.77435875e-03 1.60332993e-05 9.99998426e-01 -3.79708214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.020281693 meters 0.01862391186770135 Centerline is valid? [True, True] Translation: X:168.30, Y:3.94, Z:-0.04 [[ 9.96860540e-01 -7.91434082e-02 -2.32056885e-03 1.68297946e+02] [ 7.91431450e-02 9.96863241e-01 -2.05191879e-04 3.94094216e+00] [ 2.32952937e-03 2.08905708e-05 9.99997286e-01 -4.00301628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.080281693 meters 0.018675209425359194 Centerline is valid? [True, True] Translation: X:168.36, Y:3.94, Z:-0.04 [[ 9.96775445e-01 -8.00559148e-02 -5.45554772e-03 1.68356816e+02] [ 8.00544689e-02 9.96790373e-01 -4.83250692e-04 3.93956099e+00] [ 5.47672452e-03 4.49514481e-05 9.99985002e-01 -4.47366975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.140281693 meters 0.02036266658370821 Centerline is valid? [True, True] Translation: X:168.42, Y:3.94, Z:-0.05 [[ 9.96918942e-01 -7.81487827e-02 -6.73732748e-03 1.68415780e+02] [ 7.81465265e-02 9.96941705e-01 -5.97882809e-04 3.94407229e+00] [ 6.76344655e-03 6.95419575e-05 9.99977125e-01 -4.75214101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.200281693 meters 0.026692452010713012 Centerline is valid? [True, True] Translation: X:168.47, Y:3.96, Z:-0.04 [[ 9.97458365e-01 -7.11491718e-02 -3.82165341e-03 1.68472815e+02] [ 7.11483938e-02 9.97465684e-01 -3.39301360e-04 3.95739267e+00] [ 3.83610915e-03 6.65344778e-05 9.99992640e-01 -4.15756507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.260281693 meters 0.0356898153184984 Centerline is valid? [True, True] Translation: X:168.53, Y:3.98, Z:-0.04 [[ 9.98075304e-01 -6.20096470e-02 -7.01428740e-04 1.68532238e+02] [ 6.20096185e-02 9.98075550e-01 -6.22757370e-05 3.97603596e+00] [ 7.03940572e-04 1.86605465e-05 9.99999752e-01 -3.62956397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.320281693 meters 0.05004873692664669 Centerline is valid? [True, True] Translation: X:168.59, Y:4.01, Z:-0.04 [[ 9.98782517e-01 -4.92843684e-02 -2.12954086e-03 1.68590339e+02] [ 4.92840771e-02 9.98784784e-01 -1.89079125e-04 4.00677285e+00] [ 2.13627165e-03 8.38964682e-05 9.99997715e-01 -3.87138475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.380281693 meters 0.0547653605239248 Centerline is valid? [True, True] Translation: X:168.65, Y:4.03, Z:-0.04 [[ 9.99024500e-01 -4.38780478e-02 -4.97642798e-03 1.68648565e+02] [ 4.38763900e-02 9.99036870e-01 -4.41870600e-04 4.02804735e+00] [ 4.99102345e-03 2.23091861e-04 9.99987520e-01 -4.28107474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.440281693 meters 0.053837699518333886 Centerline is valid? [True, True] Translation: X:168.71, Y:4.04, Z:-0.04 [[ 9.99059880e-01 -4.33375490e-02 -1.10170116e-03 1.68706708e+02] [ 4.33374672e-02 9.99060486e-01 -9.80584908e-05 4.04333725e+00] [ 1.10491571e-03 5.02213661e-05 9.99999388e-01 -3.64338801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.500281693 meters 0.050639942290666054 Centerline is valid? [True, True] Translation: X:168.77, Y:4.05, Z:-0.03 [[ 9.98955992e-01 -4.56334424e-02 2.12490499e-03 1.68766255e+02] [ 4.56331433e-02 9.98958248e-01 1.89081679e-04 4.05216649e+00] [-2.13131981e-03 -9.19181825e-05 9.99997725e-01 -3.17339550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.560281693 meters 0.04689784184469963 Centerline is valid? [True, True] Translation: X:168.83, Y:4.07, Z:-0.04 [[ 9.98735665e-01 -5.02599287e-02 -1.00540670e-03 1.68825223e+02] [ 5.02598641e-02 9.98736170e-01 -8.94750610e-05 4.06865598e+00] [ 1.00863304e-03 3.88303307e-05 9.99999491e-01 -3.74188419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.620281693 meters 0.03915940178806472 Centerline is valid? [True, True] Translation: X:168.89, Y:4.07, Z:-0.04 [[ 9.98379632e-01 -5.68027839e-02 -3.39927089e-03 1.68885278e+02] [ 5.68020828e-02 9.98385412e-01 -3.02507783e-04 4.07142277e+00] [ 3.41096575e-03 1.08931942e-04 9.99994177e-01 -4.01655005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.680281693 meters 0.03672928096416142 Centerline is valid? [True, True] Translation: X:168.94, Y:4.09, Z:-0.03 [[ 9.98201358e-01 -5.99462091e-02 7.07212148e-04 1.68942762e+02] [ 5.99461795e-02 9.98201609e-01 6.29456431e-05 4.08756534e+00] [-7.09713656e-04 -2.04377601e-05 9.99999748e-01 -3.29742989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.740281693 meters 0.03917241757634969 Centerline is valid? [True, True] Translation: X:169.00, Y:4.10, Z:-0.04 [[ 9.98203229e-01 -5.99191856e-02 -6.63401282e-05 1.69001040e+02] [ 5.99191853e-02 9.98203231e-01 -5.91022872e-06 4.10341319e+00] [ 6.65750664e-05 1.92456296e-06 9.99999998e-01 -3.53257953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.800281693 meters 0.03051616124878636 Centerline is valid? [True, True] Translation: X:169.06, Y:4.10, Z:-0.04 [[ 9.97821268e-01 -6.59728217e-02 -5.51734204e-04 1.69061488e+02] [ 6.59728047e-02 9.97821420e-01 -4.91238488e-05 4.10309769e+00] [ 5.53773046e-04 1.26173682e-05 9.99999847e-01 -3.66499718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.860281693 meters 0.0254408292734312 Centerline is valid? [True, True] Translation: X:169.12, Y:4.10, Z:-0.04 [[ 9.97458599e-01 -7.12272503e-02 -1.73867767e-03 1.69121219e+02] [ 7.12270885e-02 9.97460113e-01 -1.54849521e-04 4.10226557e+00] [ 1.74529113e-03 3.06150384e-05 9.99998477e-01 -3.90641041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.920281693 meters 0.02140683325046815 Centerline is valid? [True, True] Translation: X:169.18, Y:4.10, Z:-0.04 [[ 9.97096409e-01 -7.61492598e-02 -2.01365326e-04 1.69179310e+02] [ 7.61492578e-02 9.97096430e-01 -1.79651133e-05 4.10395936e+00] [ 2.02148678e-04 2.57912988e-06 9.99999980e-01 -3.61601235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.980281693 meters 0.020064945455885816 Centerline is valid? [True, True] Translation: X:169.24, Y:4.11, Z:-0.03 [[ 9.96931642e-01 -7.82674660e-02 1.22673608e-03 1.69237345e+02] [ 7.82673906e-02 9.96932397e-01 1.09398457e-04 4.10727658e+00] [-1.23153528e-03 -1.30493513e-05 9.99999242e-01 -3.32597650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.040281693 meters 0.017525143599305976 Centerline is valid? [True, True] Translation: X:169.30, Y:4.10, Z:-0.03 [[ 9.96639821e-01 -8.18940749e-02 1.55832886e-03 1.69296908e+02] [ 8.18939573e-02 9.96641039e-01 1.39203400e-04 4.10376184e+00] [-1.56449443e-03 -1.11179344e-05 9.99998776e-01 -3.31727785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.100281693 meters 0.015385146142065906 Centerline is valid? [True, True] Translation: X:169.36, Y:4.09, Z:-0.04 [[ 9.95848351e-01 -9.10242838e-02 8.01595020e-04 1.69357729e+02] [ 9.10242556e-02 9.95848673e-01 7.17086820e-05 4.08784727e+00] [-8.04794569e-04 1.55361737e-06 9.99999676e-01 -3.59552205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.160281693 meters 0.018335842769341026 Centerline is valid? [True, True] Translation: X:169.42, Y:4.07, Z:-0.04 [[ 9.95256541e-01 -9.72849126e-02 -2.52179305e-04 1.69416977e+02] [ 9.72849100e-02 9.95256573e-01 -2.26112685e-05 4.07305204e+00] [ 2.53182846e-04 -2.02922805e-06 9.99999968e-01 -3.67163117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.220281693 meters 0.017323671734322657 Centerline is valid? [True, True] Translation: X:169.48, Y:4.08, Z:-0.04 [[ 9.95388827e-01 -9.58771511e-02 -2.94188096e-03 1.69475251e+02] [ 9.58767891e-02 9.95393174e-01 -2.64151658e-04 4.07501643e+00] [ 2.95365434e-03 -1.91244914e-05 9.99995638e-01 -4.13358844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.280281693 meters 0.01558871236222001 Centerline is valid? [True, True] Translation: X:169.53, Y:4.08, Z:-0.04 [[ 9.96165695e-01 -8.74579426e-02 -2.23976792e-03 1.69532440e+02] [ 8.74577112e-02 9.96168213e-01 -2.01207759e-04 4.08409863e+00] [ 2.24878282e-03 4.55129132e-06 9.99997471e-01 -4.01660447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.340281693 meters 0.021469124817302947 Centerline is valid? [True, True] Translation: X:169.59, Y:4.10, Z:-0.04 [[ 9.96996782e-01 -7.74429293e-02 1.00363141e-04 1.69591028e+02] [ 7.74429288e-02 9.96996787e-01 9.00964087e-06 4.09850349e+00] [-1.00759462e-04 -1.21016741e-06 9.99999995e-01 -3.63341972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.400281693 meters 0.025872944423119458 Centerline is valid? [True, True] Translation: X:169.65, Y:4.11, Z:-0.04 [[ 9.97455626e-01 -7.12845243e-02 8.89050396e-04 1.69649477e+02] [ 7.12844814e-02 9.97456022e-01 7.99086827e-05 4.10798665e+00] [-8.92484924e-04 -1.63298688e-05 9.99999602e-01 -3.50705351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46028169299998 meters 0.03688220735427939 Centerline is valid? [True, True] Translation: X:169.71, Y:4.13, Z:-0.04 [[ 9.97975083e-01 -6.36051933e-02 3.35811280e-04 1.69707242e+02] [ 6.36051867e-02 9.97975140e-01 3.01899908e-05 4.12680449e+00] [-3.37051550e-04 -8.76951938e-06 9.99999943e-01 -3.63279907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.520281693 meters 0.047055635084598514 Centerline is valid? [True, True] Translation: X:169.77, Y:4.15, Z:-0.04 [[ 9.98419879e-01 -5.61920872e-02 -4.41403377e-04 1.69765115e+02] [ 5.61920752e-02 9.98419976e-01 -3.96856620e-05 4.14670495e+00] [ 4.42935969e-04 1.48195821e-05 9.99999902e-01 -3.87114831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.580281693 meters 0.046964294116499876 Centerline is valid? [True, True] Translation: X:169.82, Y:4.16, Z:-0.04 [[ 9.98629578e-01 -5.23347750e-02 1.91524837e-04 1.69824790e+02] [ 5.23347727e-02 9.98629597e-01 1.72190767e-05 4.15908624e+00] [-1.92163528e-04 -7.17207050e-06 9.99999982e-01 -3.52617843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.640281693 meters 0.05264394928717979 Centerline is valid? [True, True] Translation: X:169.88, Y:4.18, Z:-0.03 [[ 9.98716529e-01 -5.06379726e-02 1.04460996e-03 1.69882288e+02] [ 5.06379021e-02 9.98717074e-01 9.39125240e-05 4.17924875e+00] [-1.04802534e-03 -4.08951332e-05 9.99999450e-01 -3.46126910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.700281693 meters 0.0516225533085731 Centerline is valid? [True, True] Translation: X:169.94, Y:4.19, Z:-0.04 [[ 9.98782723e-01 -4.93087800e-02 1.30984354e-03 1.69941665e+02] [ 4.93086679e-02 9.98783581e-01 1.17755501e-04 4.19477227e+00] [-1.31405660e-03 -5.30255200e-05 9.99999135e-01 -3.58692458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.760281693 meters 0.046878629199387865 Centerline is valid? [True, True] Translation: X:170.00, Y:4.21, Z:-0.04 [[ 9.98519876e-01 -5.43696801e-02 1.41255955e-03 1.70000908e+02] [ 5.43695548e-02 9.98520874e-01 1.26989555e-04 4.20816728e+00] [-1.41737458e-03 -5.00013610e-05 9.99998994e-01 -3.55106805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.820281693 meters 0.042854202775827334 Centerline is valid? [True, True] Translation: X:170.06, Y:4.21, Z:-0.04 [[ 9.98306396e-01 -5.81750222e-02 8.22819068e-05 1.70061561e+02] [ 5.81750218e-02 9.98306399e-01 7.40008775e-06 4.21332960e+00] [-8.25730544e-05 -2.60080321e-06 9.99999997e-01 -3.83487660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.880281693 meters 0.036633862629029214 Centerline is valid? [True, True] Translation: X:170.12, Y:4.22, Z:-0.04 [[ 9.97984420e-01 -6.34543036e-02 8.05944993e-04 1.70122061e+02] [ 6.34542657e-02 9.97984745e-01 7.24470461e-05 4.21674125e+00] [-8.08917885e-04 -2.11603755e-05 9.99999673e-01 -3.73691412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.940281693 meters 0.03348168631910302 Centerline is valid? [True, True] Translation: X:170.18, Y:4.22, Z:-0.04 [[ 9.97853930e-01 -6.54753018e-02 7.20046433e-04 1.70182165e+02] [ 6.54752722e-02 9.97854190e-01 6.47264564e-05 4.22324927e+00] [-7.22739335e-04 -1.74423127e-05 9.99999739e-01 -3.86393726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.000281693 meters 0.03401033438834577 Centerline is valid? [True, True] Translation: X:170.24, Y:4.23, Z:-0.04 [[ 9.97744471e-01 -6.71016404e-02 -1.82776282e-03 1.70241776e+02] [ 6.71014520e-02 9.97746144e-01 -1.64301363e-04 4.23115754e+00] [ 1.83466820e-03 4.12852375e-05 9.99998316e-01 -4.37319857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.060281693 meters 0.03156666479876512 Centerline is valid? [True, True] Translation: X:170.30, Y:4.23, Z:-0.04 [[ 9.97627917e-01 -6.88324334e-02 -7.96917150e-04 1.70300339e+02] [ 6.88323980e-02 9.97628235e-01 -7.18136479e-05 4.23473654e+00] [ 7.99970158e-04 1.67895816e-05 9.99999680e-01 -4.15076799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.120281693 meters 0.025452192705350752 Centerline is valid? [True, True] Translation: X:170.36, Y:4.23, Z:-0.04 [[ 9.97277209e-01 -7.37438719e-02 -9.37700236e-05 1.70361424e+02] [ 7.37438714e-02 9.97277214e-01 -8.44868776e-06 4.22866691e+00] [ 9.41377469e-05 1.51071919e-06 9.99999996e-01 -4.15018297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.180281693 meters 0.02108336719345784 Centerline is valid? [True, True] Translation: X:170.42, Y:4.22, Z:-0.05 [[ 9.96870774e-01 -7.90299345e-02 -1.71172064e-03 1.70420644e+02] [ 7.90297861e-02 9.96872243e-01 -1.54246854e-04 4.22205141e+00] [ 1.71855691e-03 1.84872647e-05 9.99998523e-01 -4.53720792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.240281693 meters 0.019315996483170814 Centerline is valid? [True, True] Translation: X:170.48, Y:4.22, Z:-0.04 [[ 9.96764911e-01 -8.03630329e-02 -1.22236043e-03 1.70480481e+02] [ 8.03629580e-02 9.96765661e-01 -1.10370247e-04 4.21918810e+00] [ 1.22727659e-03 1.17806892e-05 9.99999247e-01 -4.25311098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.300281693 meters 0.022034216711028898 Centerline is valid? [True, True] Translation: X:170.54, Y:4.22, Z:-0.04 [[ 9.96881237e-01 -7.89120197e-02 8.32072380e-04 1.70538372e+02] [ 7.89119845e-02 9.96881584e-01 7.51228572e-05 4.22420450e+00] [-8.35405729e-04 -9.22808410e-06 9.99999651e-01 -3.79762627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.360281693 meters 0.02353114625129337 Centerline is valid? [True, True] Translation: X:170.60, Y:4.23, Z:-0.04 [[ 9.97106129e-01 -7.60124662e-02 1.21366787e-03 1.70596933e+02] [ 7.60123890e-02 9.97106867e-01 1.09739240e-04 4.22879157e+00] [-1.21849812e-03 -1.71678743e-05 9.99999257e-01 -3.72397250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.420281693 meters 0.027155082314735873 Centerline is valid? [True, True] Translation: X:170.65, Y:4.23, Z:-0.04 [[ 9.97328784e-01 -7.30430401e-02 1.08816965e-04 1.70654423e+02] [ 7.30430395e-02 9.97328789e-01 9.83098772e-06 4.23465451e+00] [-1.09244377e-04 -1.85640516e-06 9.99999994e-01 -3.95253375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.480281693 meters 0.033071567866344645 Centerline is valid? [True, True] Translation: X:170.71, Y:4.25, Z:-0.04 [[ 9.97592744e-01 -6.93425978e-02 -5.66573935e-04 1.70712646e+02] [ 6.93425799e-02 9.97592905e-01 -5.13157120e-05 4.24520009e+00] [ 5.68768503e-04 1.19044836e-05 9.99999838e-01 -4.14647511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.540281693 meters 0.03193165646779037 Centerline is valid? [True, True] Translation: X:170.77, Y:4.24, Z:-0.04 [[ 9.97499737e-01 -7.06680927e-02 -5.43083586e-04 1.70772132e+02] [ 7.06680763e-02 9.97499885e-01 -4.93082584e-05 4.24489663e+00] [ 5.45210335e-04 1.08063025e-05 9.99999851e-01 -4.13992823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.600281693 meters 0.02554202750594159 Centerline is valid? [True, True] Translation: X:170.83, Y:4.24, Z:-0.04 [[ 9.97267068e-01 -7.38779886e-02 6.61386807e-04 1.70832122e+02] [ 7.38779650e-02 9.97267287e-01 6.00344133e-05 4.23957269e+00] [-6.64014649e-04 -1.10084319e-05 9.99999779e-01 -3.87798932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.660281693 meters 0.02343286336507781 Centerline is valid? [True, True] Translation: X:170.89, Y:4.24, Z:-0.04 [[ 9.97118594e-01 -7.58545623e-02 -7.71059979e-04 1.70891899e+02] [ 7.58545307e-02 9.97118892e-01 -7.02156292e-05 4.23742166e+00] [ 7.74164647e-04 1.15249167e-05 9.99999700e-01 -4.20044863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.720281693 meters 0.023761578475344467 Centerline is valid? [True, True] Translation: X:170.95, Y:4.24, Z:-0.04 [[ 9.97175482e-01 -7.50907783e-02 -1.55981100e-03 1.70950342e+02] [ 7.50906476e-02 9.97176702e-01 -1.42250940e-04 4.24121726e+00] [ 1.56608892e-03 2.47219319e-05 9.99998773e-01 -4.21952654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.780281693 meters 0.0260672967007167 Centerline is valid? [True, True] Translation: X:171.01, Y:4.25, Z:-0.04 [[ 9.97394984e-01 -7.21329530e-02 -2.89088816e-04 1.71008100e+02] [ 7.21329484e-02 9.97395026e-01 -2.63912413e-05 4.24976068e+00] [ 2.90239425e-04 5.46966302e-06 9.99999958e-01 -4.00511250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.840281693 meters 0.03384877738707894 Centerline is valid? [True, True] Translation: X:171.07, Y:4.27, Z:-0.04 [[ 9.97721156e-01 -6.74535913e-02 -1.58348526e-03 1.71065624e+02] [ 6.74534468e-02 9.97722412e-01 -1.44547760e-04 4.26595998e+00] [ 1.58962900e-03 3.74068197e-05 9.99998736e-01 -4.34493567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.900281693 meters 0.03731423349616383 Centerline is valid? [True, True] Translation: X:171.12, Y:4.28, Z:-0.04 [[ 9.97906425e-01 -6.46303402e-02 -2.38470233e-03 1.71124682e+02] [ 6.46300044e-02 9.97909272e-01 -2.17719527e-04 4.27688987e+00] [ 2.39378786e-03 6.31403925e-05 9.99997133e-01 -4.43780391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96028169299998 meters 0.04367984536629765 Centerline is valid? [True, True] Translation: X:171.18, Y:4.30, Z:-0.04 [[ 9.98366909e-01 -5.71092677e-02 -1.43073552e-03 1.71183101e+02] [ 5.71091391e-02 9.98367933e-01 -1.30638473e-04 4.29871848e+00] [ 1.43586113e-03 4.87170543e-05 9.99998968e-01 -4.26736351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.020281693 meters 0.047800822581784454 Centerline is valid? [True, True] Translation: X:171.24, Y:4.32, Z:-0.04 [[ 9.98570792e-01 -5.34147513e-02 -1.79963111e-03 1.71241167e+02] [ 5.34145417e-02 9.98572411e-01 -1.64341535e-04 4.31956116e+00] [ 1.80584024e-03 6.79801861e-05 9.99998367e-01 -4.28788885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.080281693 meters 0.04644197870711741 Centerline is valid? [True, True] Translation: X:171.30, Y:4.33, Z:-0.05 [[ 9.98444933e-01 -5.55966033e-02 -4.09058280e-03 1.71299898e+02] [ 5.55955385e-02 9.98453302e-01 -3.73641084e-04 4.33018577e+00] [ 4.10502908e-03 1.45641893e-04 9.99991564e-01 -4.83995957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.140281693 meters 0.032949751469521955 Centerline is valid? [True, True] Translation: X:171.36, Y:4.32, Z:-0.05 [[ 9.97675210e-01 -6.80825280e-02 -2.99076535e-03 1.71359982e+02] [ 6.80820147e-02 9.97679690e-01 -2.73222677e-04 4.32316032e+00] [ 3.00242754e-03 6.89701617e-05 9.99995490e-01 -4.74891417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.200281693 meters 0.020028414847357578 Centerline is valid? [True, True] Translation: X:171.42, Y:4.31, Z:-0.05 [[ 9.96791215e-01 -7.99893664e-02 -2.99596125e-03 1.71421873e+02] [ 7.99889050e-02 9.96795716e-01 -2.73698911e-04 4.31296331e+00] [ 3.00825434e-03 3.31770105e-05 9.99995475e-01 -4.65968672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.260281693 meters 0.015886848357934594 Centerline is valid? [True, True] Translation: X:171.48, Y:4.31, Z:-0.04 [[ 9.96321482e-01 -8.56787508e-02 -1.62963816e-03 1.71481273e+02] [ 8.56786214e-02 9.96322815e-01 -1.49196694e-04 4.31138618e+00] [ 1.63642866e-03 9.02272073e-06 9.99998661e-01 -4.38052794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.320281693 meters 0.014521681921042478 Centerline is valid? [True, True] Translation: X:171.54, Y:4.31, Z:-0.04 [[ 9.95840247e-01 -9.11015550e-02 -1.64612732e-03 1.71540340e+02] [ 9.11014299e-02 9.95841607e-01 -1.50978616e-04 4.30954084e+00] [ 1.65303646e-03 3.86030322e-07 9.99998634e-01 -4.39534603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.380281693 meters 0.014564053573173077 Centerline is valid? [True, True] Translation: X:171.60, Y:4.31, Z:-0.04 [[ 9.95597495e-01 -9.37284972e-02 -7.73007699e-04 1.71598828e+02] [ 9.37284702e-02 9.95597795e-01 -7.10847100e-05 4.30733578e+00] [ 7.76267423e-04 -1.68106988e-06 9.99999699e-01 -4.16013349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.440281693 meters 0.016696122141473917 Centerline is valid? [True, True] Translation: X:171.66, Y:4.30, Z:-0.04 [[ 9.95133403e-01 -9.85289189e-02 1.25023905e-03 1.71658104e+02] [ 9.85288522e-02 9.95134188e-01 1.14917434e-04 4.29834711e+00] [-1.25547831e-03 8.82644171e-06 9.99999212e-01 -3.79085296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.500281693 meters 0.018347457120653648 Centerline is valid? [True, True] Translation: X:171.72, Y:4.29, Z:-0.04 [[ 9.94890989e-01 -1.00953781e-01 5.04977856e-04 1.71717248e+02] [ 1.00953770e-01 9.94891117e-01 4.64492841e-05 4.29371888e+00] [-5.07087214e-04 4.76744427e-06 9.99999871e-01 -3.85981694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.560281693 meters 0.015018968098936313 Centerline is valid? [True, True] Translation: X:171.78, Y:4.30, Z:-0.04 [[ 9.95501960e-01 -9.47077148e-02 -2.50913029e-03 1.71775682e+02] [ 9.47074321e-02 9.95505122e-01 -2.31537396e-04 4.29746026e+00] [ 2.51978044e-03 -7.13735533e-06 9.99996825e-01 -4.36734435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.620281693 meters 0.014876385186744223 Centerline is valid? [True, True] Translation: X:171.83, Y:4.30, Z:-0.04 [[ 9.95884965e-01 -9.05814360e-02 -2.85290132e-03 1.71832192e+02] [ 9.05810530e-02 9.95889052e-01 -2.63457345e-04 4.30234869e+00] [ 2.86503754e-03 3.95440330e-06 9.99995896e-01 -4.43361899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.680281693 meters 0.015370281157075116 Centerline is valid? [True, True] Translation: X:171.89, Y:4.30, Z:-0.04 [[ 9.96080808e-01 -8.84207060e-02 -2.19140866e-03 1.71891004e+02] [ 8.84204737e-02 9.96083219e-01 -2.02812467e-04 4.30107736e+00] [ 2.20075821e-03 8.25221485e-06 9.99997578e-01 -4.37935942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.740281693 meters 0.01784987269170042 Centerline is valid? [True, True] Translation: X:171.95, Y:4.31, Z:-0.05 [[ 9.96370512e-01 -8.50615637e-02 -3.21467675e-03 1.71948563e+02] [ 8.50610462e-02 9.96375697e-01 -2.97624174e-04 4.30555074e+00] [ 3.22834216e-03 2.31001832e-05 9.99994789e-01 -4.59674958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.800281693 meters 0.020791830548324973 Centerline is valid? [True, True] Translation: X:172.01, Y:4.32, Z:-0.05 [[ 9.96674640e-01 -8.13781345e-02 -4.15474980e-03 1.72006694e+02] [ 8.13772352e-02 9.96683298e-01 -3.85341898e-04 4.31542179e+00] [ 4.17232814e-03 4.59584456e-05 9.99991295e-01 -4.75922779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.860281693 meters 0.02956926704526903 Centerline is valid? [True, True] Translation: X:172.06, Y:4.33, Z:-0.05 [[ 9.97105063e-01 -7.59806287e-02 -2.90481903e-03 1.72063470e+02] [ 7.59801658e-02 9.97109293e-01 -2.69520588e-04 4.33385511e+00] [ 2.91690039e-03 4.80317114e-05 9.99995745e-01 -4.60222977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.920281693 meters 0.025461570124534975 Centerline is valid? [True, True] Translation: X:172.12, Y:4.33, Z:-0.04 [[ 9.97043111e-01 -7.68427736e-02 -4.71334653e-04 1.72122487e+02] [ 7.68427615e-02 9.97043223e-01 -4.38556730e-05 4.33354305e+00] [ 4.73311013e-04 7.50734043e-06 9.99999888e-01 -4.17434579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.980281693 meters 0.019810035198748393 Centerline is valid? [True, True] Translation: X:172.18, Y:4.33, Z:-0.05 [[ 9.96657176e-01 -8.16177601e-02 -3.60752898e-03 1.72181950e+02] [ 8.16170805e-02 9.96663704e-01 -3.35444871e-04 4.32643874e+00] [ 3.62287145e-03 3.98875554e-05 9.99993437e-01 -4.71119562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.040281693 meters 0.01657475485154505 Centerline is valid? [True, True] Translation: X:172.24, Y:4.32, Z:-0.05 [[ 9.96149614e-01 -8.75757808e-02 -4.05336292e-03 1.72241014e+02] [ 8.75749693e-02 9.96157860e-01 -3.77601739e-04 4.32178738e+00] [ 4.07085810e-03 2.11746930e-05 9.99991714e-01 -4.85013090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.100281693 meters 0.01587702096843011 Centerline is valid? [True, True] Translation: X:172.30, Y:4.32, Z:-0.05 [[ 9.96018522e-01 -8.90020047e-02 -5.07424356e-03 1.72299159e+02] [ 8.90007465e-02 9.96031447e-01 -4.73664575e-04 4.32138176e+00] [ 5.09626325e-03 2.01672254e-05 9.99987014e-01 -4.86673147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.160281693 meters 0.018338576539996286 Centerline is valid? [True, True] Translation: X:172.36, Y:4.33, Z:-0.05 [[ 9.96422941e-01 -8.43554060e-02 -5.04867321e-03 1.72357280e+02] [ 8.43540966e-02 9.96435730e-01 -4.72114359e-04 4.33197025e+00] [ 5.07050377e-03 4.45493102e-05 9.99987144e-01 -4.83125932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.220281693 meters 0.02191981904114124 Centerline is valid? [True, True] Translation: X:172.41, Y:4.34, Z:-0.05 [[ 9.96762724e-01 -8.03059849e-02 -3.87557354e-03 1.72414588e+02] [ 8.03051814e-02 9.96770258e-01 -3.62751095e-04 4.34398486e+00] [ 3.89218752e-03 5.03481335e-05 9.99992424e-01 -4.58693435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.280281693 meters 0.030870044922276147 Centerline is valid? [True, True] Translation: X:172.47, Y:4.37, Z:-0.05 [[ 9.97492134e-01 -7.06575980e-02 -4.11650002e-03 1.72473344e+02] [ 7.06566093e-02 9.97500624e-01 -3.85281984e-04 4.36671303e+00] [ 4.13343444e-03 9.34578150e-05 9.99991453e-01 -4.65599729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.340281693 meters 0.03303684966225528 Centerline is valid? [True, True] Translation: X:172.53, Y:4.38, Z:-0.04 [[ 9.97768406e-01 -6.67506133e-02 -1.60134215e-03 1.72531658e+02] [ 6.67504585e-02 9.97769690e-01 -1.49946577e-04 4.37641281e+00] [ 1.60777969e-03 4.27216343e-05 9.99998707e-01 -4.26786788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.400281693 meters 0.03346730898225258 Centerline is valid? [True, True] Translation: X:172.59, Y:4.38, Z:-0.04 [[ 9.97764941e-01 -6.68030445e-02 -1.57336705e-03 1.72588769e+02] [ 6.68028946e-02 9.97766181e-01 -1.47680869e-04 4.38384689e+00] [ 1.57971797e-03 4.22453203e-05 9.99998751e-01 -4.22646548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46028169299998 meters 0.03187154745626618 Centerline is valid? [True, True] Translation: X:172.65, Y:4.39, Z:-0.04 [[ 9.97676284e-01 -6.81312090e-02 4.12485332e-04 1.72647117e+02] [ 6.81311989e-02 9.97676369e-01 3.87113682e-05 4.38903513e+00] [-4.14164321e-04 -1.05182938e-05 9.99999914e-01 -3.90156649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.520281693 meters 0.028203336403498234 Centerline is valid? [True, True] Translation: X:172.71, Y:4.39, Z:-0.04 [[ 9.97232710e-01 -7.43432754e-02 1.48531806e-05 1.72706240e+02] [ 7.43432753e-02 9.97232710e-01 1.38825078e-06 4.38887472e+00] [-1.49152847e-05 -2.80174987e-07 1.00000000e+00 -4.03914945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.580281693 meters 0.02054037055912636 Centerline is valid? [True, True] Translation: X:172.77, Y:4.38, Z:-0.05 [[ 9.96635785e-01 -8.19026206e-02 -3.01223031e-03 1.72766906e+02] [ 8.19021385e-02 9.96640336e-01 -2.83267218e-04 4.37867624e+00] [ 3.02531055e-03 3.56061427e-05 9.99995423e-01 -4.60789972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.640281693 meters 0.01759463991165442 Centerline is valid? [True, True] Translation: X:172.83, Y:4.37, Z:-0.05 [[ 9.96262042e-01 -8.63380363e-02 -2.77266187e-03 1.72826568e+02] [ 8.63376436e-02 9.96265900e-01 -2.61243627e-04 4.37301104e+00] [ 2.78486373e-03 2.08820166e-05 9.99996122e-01 -4.63547142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.700281693 meters 0.016752322831775066 Centerline is valid? [True, True] Translation: X:172.89, Y:4.37, Z:-0.05 [[ 9.96111511e-01 -8.80335037e-02 -3.45828091e-03 1.72886397e+02] [ 8.80329011e-02 9.96117514e-01 -3.26399599e-04 4.36663819e+00] [ 3.47358828e-03 2.06878972e-05 9.99993967e-01 -4.71294948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.760281693 meters 0.017054869533970004 Centerline is valid? [True, True] Translation: X:172.94, Y:4.37, Z:-0.05 [[ 9.96125672e-01 -8.78613936e-02 -3.74445577e-03 1.72944668e+02] [ 8.78606852e-02 9.96132710e-01 -3.53586439e-04 4.36987638e+00] [ 3.76104147e-03 2.32260790e-05 9.99992927e-01 -4.73539140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.820281693 meters 0.020149389642946908 Centerline is valid? [True, True] Translation: X:173.00, Y:4.37, Z:-0.04 [[ 9.96533013e-01 -8.31872492e-02 -1.35454448e-03 1.73003268e+02] [ 8.31871518e-02 9.96533934e-01 -1.28176038e-04 4.37441667e+00] [ 1.36051215e-03 1.50509561e-05 9.99999074e-01 -4.22535330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.880281693 meters 0.024755133122856116 Centerline is valid? [True, True] Translation: X:173.06, Y:4.38, Z:-0.04 [[ 9.96944850e-01 -7.81004002e-02 -1.13694442e-03 1.73061825e+02] [ 7.81003283e-02 9.96945499e-01 -1.07589524e-04 4.38205690e+00] [ 1.14187440e-03 1.84650900e-05 9.99999348e-01 -4.36842708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.940281693 meters 0.027056641922802407 Centerline is valid? [True, True] Translation: X:173.12, Y:4.39, Z:-0.05 [[ 9.97088515e-01 -7.62127368e-02 -2.47209529e-03 1.73120164e+02] [ 7.62123899e-02 9.97091579e-01 -2.34356658e-04 4.38819157e+00] [ 2.48276636e-03 4.52700421e-05 9.99996917e-01 -4.53327779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.000281693 meters 0.03232736369377233 Centerline is valid? [True, True] Translation: X:173.18, Y:4.40, Z:-0.04 [[ 9.97503510e-01 -7.06167049e-02 1.71452330e-04 1.73179079e+02] [ 7.06167031e-02 9.97503524e-01 1.62480559e-05 4.40062641e+00] [-1.72171687e-04 -4.10009455e-06 9.99999985e-01 -4.03616886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.060281693 meters 0.03728187918954448 Centerline is valid? [True, True] Translation: X:173.24, Y:4.41, Z:-0.04 [[ 9.97863029e-01 -6.53396512e-02 3.24754186e-04 1.73238433e+02] [ 6.53396446e-02 9.97863082e-01 3.07832931e-05 4.41431535e+00] [-3.26071583e-04 -9.49818693e-06 9.99999947e-01 -3.97053073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.120281693 meters 0.045989637002094956 Centerline is valid? [True, True] Translation: X:173.30, Y:4.44, Z:-0.04 [[ 9.98208891e-01 -5.97748182e-02 -2.44562283e-03 1.73296269e+02] [ 5.97744293e-02 9.98211883e-01 -2.31845577e-04 4.43908941e+00] [ 2.45510830e-03 8.52446075e-05 9.99996983e-01 -4.43454185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.180281693 meters 0.04770574083246493 Centerline is valid? [True, True] Translation: X:173.35, Y:4.45, Z:-0.04 [[ 9.98360292e-01 -5.71823328e-02 -2.62818616e-03 1.73354750e+02] [ 5.71818745e-02 9.98363747e-01 -2.49220584e-04 4.45293829e+00] [ 2.63813680e-03 9.85273238e-05 9.99996515e-01 -4.47119620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.240281693 meters 0.04894490186060898 Centerline is valid? [True, True] Translation: X:173.41, Y:4.47, Z:-0.04 [[ 9.98372764e-01 -5.70057452e-02 -1.47303205e-03 1.73410656e+02] [ 5.70056010e-02 9.98373849e-01 -1.39779296e-04 4.47152328e+00] [ 1.47860490e-03 5.55807651e-05 9.99998905e-01 -4.23788574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.300281693 meters 0.04868823043794809 Centerline is valid? [True, True] Translation: X:173.47, Y:4.49, Z:-0.04 [[ 9.98312766e-01 -5.80253626e-02 -2.16298065e-03 1.73467966e+02] [ 5.80250531e-02 9.98315106e-01 -2.05610992e-04 4.48851367e+00] [ 2.17126691e-03 7.97570110e-05 9.99997640e-01 -4.48452698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.360281693 meters 0.04522818278927306 Centerline is valid? [True, True] Translation: X:173.53, Y:4.50, Z:-0.05 [[ 9.98080436e-01 -6.18119763e-02 -3.83701417e-03 1.73527546e+02] [ 6.18110304e-02 9.98087803e-01 -3.64747681e-04 4.49911185e+00] [ 3.85222282e-03 1.26877725e-04 9.99992572e-01 -4.88512393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.420281693 meters 0.032753086212028854 Centerline is valid? [True, True] Translation: X:173.59, Y:4.49, Z:-0.04 [[ 9.97473438e-01 -7.10333548e-02 -1.00191251e-03 1.73588960e+02] [ 7.10332950e-02 9.97473940e-01 -9.52363882e-05 4.49399705e+00] [ 1.00614658e-03 2.38266204e-05 9.99999494e-01 -4.29657561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.480281693 meters 0.02580044648485851 Centerline is valid? [True, True] Translation: X:173.65, Y:4.49, Z:-0.04 [[ 9.96940978e-01 -7.81580902e-02 -4.03942937e-06 1.73649988e+02] [ 7.81580902e-02 9.96940978e-01 -3.91389453e-07 4.49012384e+00] [ 4.05766292e-06 7.44780994e-08 1.00000000e+00 -4.06646740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.540281693 meters 0.01659617693127197 Centerline is valid? [True, True] Translation: X:173.71, Y:4.47, Z:-0.04 [[ 9.95931679e-01 -9.01101861e-02 -4.94630477e-04 1.73710999e+02] [ 9.01101738e-02 9.95931802e-01 -4.70467456e-05 4.47476109e+00] [ 4.96857613e-04 2.28410603e-06 9.99999877e-01 -4.32401463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.600281693 meters 0.016168175688224866 Centerline is valid? [True, True] Translation: X:173.77, Y:4.45, Z:-0.05 [[ 9.95126081e-01 -9.85933104e-02 -1.85513464e-03 1.73771656e+02] [ 9.85931520e-02 9.95127810e-01 -1.76821837e-04 4.45373967e+00] [ 1.86352952e-03 -6.94354950e-06 9.99998264e-01 -4.57184204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.660281693 meters 0.017769151845014115 Centerline is valid? [True, True] Translation: X:173.83, Y:4.44, Z:-0.05 [[ 9.94916177e-01 -1.00678937e-01 -2.35630486e-03 1.73830686e+02] [ 1.00678688e-01 9.94918967e-01 -2.24662738e-04 4.44345794e+00] [ 2.36695120e-03 -1.37090882e-05 9.99997199e-01 -4.63666470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.720281693 meters 0.015447975517467691 Centerline is valid? [True, True] Translation: X:173.89, Y:4.45, Z:-0.04 [[ 9.95321080e-01 -9.66208394e-02 -6.00439770e-04 1.73889654e+02] [ 9.66208224e-02 9.95321261e-01 -5.73787329e-05 4.45030993e+00] [ 6.03174450e-04 -9.04721850e-07 9.99999818e-01 -4.19042207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.780281693 meters 0.017088263185459338 Centerline is valid? [True, True] Translation: X:173.95, Y:4.47, Z:-0.04 [[ 9.95961257e-01 -8.97839341e-02 -1.43699778e-04 1.73947290e+02] [ 8.97839330e-02 9.95961267e-01 -1.37953019e-05 4.46603433e+00] [ 1.44358009e-04 8.37654962e-07 9.99999990e-01 -4.18093183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.840281693 meters 0.01773572553361164 Centerline is valid? [True, True] Translation: X:174.01, Y:4.47, Z:-0.04 [[ 9.96106050e-01 -8.81427175e-02 1.89714407e-03 1.74005702e+02] [ 8.81425313e-02 9.96107856e-01 1.81677990e-04 4.47191905e+00] [-1.90577370e-03 -1.37514646e-05 9.99998184e-01 -3.67458964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.900281693 meters 0.017206657202322565 Centerline is valid? [True, True] Translation: X:174.06, Y:4.48, Z:-0.04 [[ 9.96002605e-01 -8.92921900e-02 2.39076157e-03 1.74063204e+02] [ 8.92918966e-02 9.96005474e-01 2.29393972e-04 4.47690439e+00] [-2.40169470e-03 -1.50013590e-05 9.99997116e-01 -3.73507957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96028169299998 meters 0.015424199402994542 Centerline is valid? [True, True] Translation: X:174.12, Y:4.47, Z:-0.04 [[ 9.95584200e-01 -9.38727894e-02 2.59828035e-05 1.74121556e+02] [ 9.38727894e-02 9.95584200e-01 2.47565310e-06 4.47111294e+00] [-2.61004651e-05 -2.56428674e-08 1.00000000e+00 -4.18522170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.020281693 meters 0.015597161974235756 Centerline is valid? [True, True] Translation: X:174.18, Y:4.47, Z:-0.04 [[ 9.95269226e-01 -9.71512512e-02 -8.95458814e-04 1.74179582e+02] [ 9.71512130e-02 9.95269629e-01 -8.62199545e-05 4.46873242e+00] [ 8.99599338e-04 -1.18284252e-06 9.99999595e-01 -4.45748072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.080281693 meters 0.01549642239656786 Centerline is valid? [True, True] Translation: X:174.24, Y:4.47, Z:-0.04 [[ 9.95452495e-01 -9.52512911e-02 -1.23393666e-03 1.74237311e+02] [ 9.52512168e-02 9.95453259e-01 -1.19023832e-04 4.47051148e+00] [ 1.23966344e-03 9.48602255e-07 9.99999232e-01 -4.40317835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.140281693 meters 0.01651149701219048 Centerline is valid? [True, True] Translation: X:174.29, Y:4.48, Z:-0.04 [[ 9.95839472e-01 -9.11239851e-02 4.07567052e-04 1.74294885e+02] [ 9.11239766e-02 9.95839555e-01 3.92955152e-05 4.47982270e+00] [-4.09452156e-04 -1.99289460e-06 9.99999916e-01 -4.10460206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.200281693 meters 0.022895551928865398 Centerline is valid? [True, True] Translation: X:174.35, Y:4.50, Z:-0.04 [[ 9.96519440e-01 -8.33570695e-02 7.77037396e-04 1.74352447e+02] [ 8.33570364e-02 9.96519743e-01 7.49713840e-05 4.49601880e+00] [-7.80582501e-04 -9.93890714e-06 9.99999695e-01 -4.17086147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.260281693 meters 0.027441763293594684 Centerline is valid? [True, True] Translation: X:174.41, Y:4.51, Z:-0.05 [[ 9.96955469e-01 -7.79513656e-02 -1.83770235e-03 1.74410992e+02] [ 7.79511710e-02 9.96957162e-01 -1.77385937e-04 4.51048157e+00] [ 1.84593800e-03 3.35948294e-05 9.99998296e-01 -4.61741419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.320281693 meters 0.03035622267311222 Centerline is valid? [True, True] Translation: X:174.47, Y:4.52, Z:-0.05 [[ 9.97135499e-01 -7.56052371e-02 -2.15517914e-03 1.74469065e+02] [ 7.56049631e-02 9.97137827e-01 -2.08414767e-04 4.52400089e+00] [ 2.16476789e-03 4.48755232e-05 9.99997656e-01 -4.95028571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.380281693 meters 0.030143374726161565 Centerline is valid? [True, True] Translation: X:174.53, Y:4.53, Z:-0.05 [[ 9.97140823e-01 -7.55492309e-02 -1.57884750e-03 1.74526495e+02] [ 7.55490833e-02 9.97142072e-01 -1.52989759e-04 4.53391298e+00] [ 1.58589353e-03 3.32718524e-05 9.99998742e-01 -4.70402727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.440281693 meters 0.03229626882225445 Centerline is valid? [True, True] Translation: X:174.58, Y:4.55, Z:-0.05 [[ 9.97169491e-01 -7.51421041e-02 -2.58259885e-03 1.74583323e+02] [ 7.51417077e-02 9.97172834e-01 -2.50314740e-04 4.54874648e+00] [ 2.59410659e-03 5.55453337e-05 9.99996634e-01 -5.06830911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.500281693 meters 0.027660900730839596 Centerline is valid? [True, True] Translation: X:174.64, Y:4.56, Z:-0.05 [[ 9.96929766e-01 -7.82579257e-02 -2.59604654e-03 1.74641716e+02] [ 7.82575354e-02 9.96933145e-01 -2.51732341e-04 4.55719817e+00] [ 2.60778489e-03 4.77992598e-05 9.99996599e-01 -5.11130012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.560281693 meters 0.022600450068267434 Centerline is valid? [True, True] Translation: X:174.70, Y:4.56, Z:-0.05 [[ 9.96486727e-01 -8.37125715e-02 -2.53145125e-03 1.74701500e+02] [ 8.37122179e-02 9.96489942e-01 -2.45485930e-04 4.56193139e+00] [ 2.54311597e-03 3.27100723e-05 9.99996766e-01 -4.97077927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.620281693 meters 0.018838966280035317 Centerline is valid? [True, True] Translation: X:174.76, Y:4.57, Z:-0.05 [[ 9.96042251e-01 -8.87698676e-02 -4.44341064e-03 1.74760436e+02] [ 8.87688252e-02 9.96052162e-01 -4.31665701e-04 4.56501988e+00] [ 4.46418768e-03 3.55209346e-05 9.99990035e-01 -5.34691791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.680281693 meters 0.015971983683047076 Centerline is valid? [True, True] Translation: X:174.82, Y:4.57, Z:-0.05 [[ 9.95502984e-01 -9.47292907e-02 -4.11962612e-04 1.74819107e+02] [ 9.47292822e-02 9.95503070e-01 -4.01380484e-05 4.56844052e+00] [ 4.13912294e-04 9.32624473e-07 9.99999914e-01 -4.57725783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.740281693 meters 0.01561779453460405 Centerline is valid? [True, True] Translation: X:174.88, Y:4.57, Z:-0.05 [[ 9.95282015e-01 -9.70238351e-02 -2.94186826e-04 1.74876122e+02] [ 9.70238308e-02 9.95282058e-01 -2.86742008e-05 4.57095532e+00] [ 2.95580951e-04 -4.21649833e-09 9.99999956e-01 -4.58629304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.800281693 meters 0.016263412502461508 Centerline is valid? [True, True] Translation: X:174.93, Y:4.57, Z:-0.05 [[ 9.95051641e-01 -9.93314112e-02 -2.34554276e-03 1.74934597e+02] [ 9.93311477e-02 9.95054406e-01 -2.28825981e-04 4.57290982e+00] [ 2.35667226e-03 -5.29178617e-06 9.99997223e-01 -5.01536557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.860281693 meters 0.016839620672493404 Centerline is valid? [True, True] Translation: X:174.99, Y:4.57, Z:-0.05 [[ 9.94876582e-01 -1.01051507e-01 -3.02962186e-03 1.74994097e+02] [ 1.01051074e-01 9.94881195e-01 -2.96025104e-04 4.57279324e+00] [ 3.04402760e-03 -1.16380998e-05 9.99995367e-01 -5.24226384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.920281693 meters 0.015796804592026953 Centerline is valid? [True, True] Translation: X:175.05, Y:4.58, Z:-0.05 [[ 9.95247627e-01 -9.73640552e-02 -1.54977228e-03 1.75051264e+02] [ 9.73639373e-02 9.95248834e-01 -1.51506517e-04 4.58023848e+00] [ 1.55716034e-03 -1.05429196e-07 9.99998788e-01 -4.90750097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.980281693 meters 0.015822676103902887 Centerline is valid? [True, True] Translation: X:175.11, Y:4.58, Z:-0.05 [[ 9.95262428e-01 -9.72149522e-02 -1.39737861e-03 1.75108812e+02] [ 9.72148558e-02 9.95263409e-01 -1.36900834e-04 4.58370768e+00] [ 1.40406861e-03 4.06296547e-07 9.99999014e-01 -5.02147895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.040281693 meters 0.01648419799515041 Centerline is valid? [True, True] Translation: X:175.17, Y:4.58, Z:-0.05 [[ 9.94915318e-01 -1.00667622e-01 -3.08865070e-03 1.75168618e+02] [ 1.00667167e-01 9.94920112e-01 -3.03014483e-04 4.57992098e+00] [ 3.10346445e-03 -9.45196457e-06 9.99995184e-01 -5.31023337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.100281693 meters 0.017087225856890605 Centerline is valid? [True, True] Translation: X:175.23, Y:4.58, Z:-0.05 [[ 9.94721096e-01 -1.02507273e-01 -4.71176727e-03 1.75227263e+02] [ 1.02506230e-01 9.94732255e-01 -4.63010504e-04 4.58185172e+00] [ 4.73440882e-03 -2.24191844e-05 9.99988792e-01 -5.40322988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.160281693 meters 0.016678460165075886 Centerline is valid? [True, True] Translation: X:175.28, Y:4.59, Z:-0.05 [[ 9.94932974e-01 -1.00423118e-01 -4.85528862e-03 1.75283965e+02] [ 1.00421984e-01 9.94944821e-01 -4.77515688e-04 4.59133786e+00] [ 4.87869788e-03 -1.24816112e-05 9.99988099e-01 -5.41643749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.220281693 meters 0.017792811911488966 Centerline is valid? [True, True] Translation: X:175.34, Y:4.59, Z:-0.05 [[ 9.94669925e-01 -1.03092517e-01 -1.91631636e-03 1.75340968e+02] [ 1.03092345e-01 9.94671771e-01 -1.88735327e-04 4.59098511e+00] [ 1.92556299e-03 -9.82819438e-06 9.99998146e-01 -4.95367980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.280281693 meters 0.02060615023039465 Centerline is valid? [True, True] Translation: X:175.40, Y:4.59, Z:-0.05 [[ 9.93949949e-01 -1.09828025e-01 -1.14218969e-03 1.75400353e+02] [ 1.09827968e-01 9.93950605e-01 -1.12716696e-04 4.58784121e+00] [ 1.14765958e-03 -1.34096180e-05 9.99999341e-01 -4.70461667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.340281693 meters 0.03509927881450127 Centerline is valid? [True, True] Translation: X:175.46, Y:4.57, Z:-0.05 [[ 9.92945440e-01 -1.18502082e-01 -4.07550787e-03 1.75461508e+02] [ 1.18501429e-01 9.92953800e-01 -4.02089402e-04 4.56724121e+00] [ 4.09443946e-03 -8.37006698e-05 9.99991614e-01 -5.37058651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.400281693 meters 0.031475307541383946 Centerline is valid? [True, True] Translation: X:175.52, Y:4.57, Z:-0.05 [[ 9.92600402e-01 -1.21339650e-01 -4.59678334e-03 1.75521117e+02] [ 1.21338850e-01 9.92611041e-01 -4.53624344e-04 4.57134167e+00] [ 4.61786052e-03 -1.07500697e-04 9.99989332e-01 -5.15481345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46028169299998 meters 0.030490283478056403 Centerline is valid? [True, True] Translation: X:175.58, Y:4.57, Z:-0.05 [[ 9.92748141e-01 -1.20165775e-01 -3.36387104e-03 1.75580546e+02] [ 1.20165338e-01 9.92753837e-01 -3.32552520e-04 4.57163070e+00] [ 3.37945732e-03 -7.40798054e-05 9.99994287e-01 -4.85844231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.520281693 meters 0.027614754764492665 Centerline is valid? [True, True] Translation: X:175.64, Y:4.58, Z:-0.04 [[ 9.93162687e-01 -1.16734174e-01 -1.00458111e-03 1.75638680e+02] [ 1.16734133e-01 9.93163195e-01 -9.93359220e-05 4.57865780e+00] [ 1.00930888e-03 -1.86121734e-05 9.99999490e-01 -4.46490047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.580281693 meters 0.02173328447648212 Centerline is valid? [True, True] Translation: X:175.70, Y:4.59, Z:-0.05 [[ 9.93951730e-01 -1.09804009e-01 -1.74279740e-03 1.75696224e+02] [ 1.09803876e-01 9.93953258e-01 -1.72385773e-04 4.59189736e+00] [ 1.75118780e-03 -2.00227722e-05 9.99998466e-01 -4.68947688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.640281693 meters 0.01873727538993113 Centerline is valid? [True, True] Translation: X:175.75, Y:4.60, Z:-0.05 [[ 9.94383403e-01 -1.05745011e-01 -4.43171543e-03 1.75754626e+02] [ 1.05744104e-01 9.94393278e-01 -4.39072671e-04 4.60021934e+00] [ 4.45329778e-03 -3.20212003e-05 9.99990084e-01 -5.12349268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.700281693 meters 0.017804646810785824 Centerline is valid? [True, True] Translation: X:175.81, Y:4.61, Z:-0.05 [[ 9.94565072e-01 -1.04047321e-01 -3.80435033e-03 1.75812309e+02] [ 1.04046640e-01 9.94572348e-01 -3.77100822e-04 4.60679215e+00] [ 3.82293797e-03 -2.07785641e-05 9.99992692e-01 -5.03473118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.760281693 meters 0.016203252440230454 Centerline is valid? [True, True] Translation: X:175.87, Y:4.62, Z:-0.05 [[ 9.94913223e-01 -1.00682738e-01 -3.26561104e-03 1.75870315e+02] [ 1.00682216e-01 9.94918583e-01 -3.24245334e-04 4.61507411e+00] [ 3.28166302e-03 -6.19298493e-06 9.99994615e-01 -4.87371528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.820281693 meters 0.016561500769177274 Centerline is valid? [True, True] Translation: X:175.93, Y:4.63, Z:-0.05 [[ 9.95284689e-01 -9.69437535e-02 -3.20894863e-03 1.75926247e+02] [ 9.69432293e-02 9.95289862e-01 -3.18840849e-04 4.62709504e+00] [ 3.22474367e-03 6.25157241e-06 9.99994800e-01 -5.07464107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.880281693 meters 0.017329430409479478 Centerline is valid? [True, True] Translation: X:175.98, Y:4.63, Z:-0.06 [[ 9.95404177e-01 -9.56235253e-02 -5.16386024e-03 1.75984757e+02] [ 9.56221461e-02 9.95417571e-01 -5.13883449e-04 4.63088227e+00] [ 5.18933657e-03 1.77423325e-05 9.99986535e-01 -5.51301016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.940281693 meters 0.017835743498372827 Centerline is valid? [True, True] Translation: X:176.04, Y:4.64, Z:-0.05 [[ 9.95505782e-01 -9.46058553e-02 -4.23910881e-03 1.76041326e+02] [ 9.46049145e-02 9.95514807e-01 -4.22358078e-04 4.63668397e+00] [ 4.26005314e-03 1.94193822e-05 9.99990926e-01 -5.32073180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.000281693 meters 0.017990675049918973 Centerline is valid? [True, True] Translation: X:176.10, Y:4.64, Z:-0.05 [[ 9.95612833e-01 -9.35082905e-02 -3.35966209e-03 1.76098953e+02] [ 9.35076911e-02 9.95618501e-01 -3.35372577e-04 4.63935391e+00] [ 3.37630185e-03 1.97469962e-05 9.99994300e-01 -5.05220321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.060281693 meters 0.019787574459263067 Centerline is valid? [True, True] Translation: X:176.16, Y:4.64, Z:-0.05 [[ 9.95941375e-01 -8.99482869e-02 -3.17539339e-03 1.76157347e+02] [ 8.99477317e-02 9.95946437e-01 -3.17500867e-04 4.64425047e+00] [ 3.19108039e-03 3.05928170e-05 9.99994908e-01 -4.90782096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.120281693 meters 0.023882203342784448 Centerline is valid? [True, True] Translation: X:176.22, Y:4.65, Z:-0.05 [[ 9.96325826e-01 -8.55010810e-02 -4.94094913e-03 1.76215543e+02] [ 8.54996817e-02 9.96338075e-01 -4.94131663e-04 4.65434868e+00] [ 4.96510453e-03 6.98665601e-05 9.99987671e-01 -5.32937010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.180281693 meters 0.023768165966348547 Centerline is valid? [True, True] Translation: X:176.27, Y:4.66, Z:-0.05 [[ 9.96417088e-01 -8.44639436e-02 -4.33925544e-03 1.76274541e+02] [ 8.44628511e-02 9.96426534e-01 -4.34736614e-04 4.65861687e+00] [ 4.36046882e-03 6.66731051e-05 9.99990491e-01 -5.10297123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.240281693 meters 0.029747025074525462 Centerline is valid? [True, True] Translation: X:176.33, Y:4.67, Z:-0.05 [[ 9.96709229e-01 -8.10551582e-02 -8.79457363e-04 1.76330921e+02] [ 8.10551119e-02 9.96709617e-01 -8.81711761e-05 4.67479563e+00] [ 8.83710340e-04 1.65965100e-05 9.99999609e-01 -4.58943590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.300281693 meters 0.032918441872153224 Centerline is valid? [True, True] Translation: X:176.39, Y:4.69, Z:-0.05 [[ 9.96991338e-01 -7.74744538e-02 -2.44571635e-03 1.76389522e+02] [ 7.74740852e-02 9.96994336e-01 -2.45203787e-04 4.68883777e+00] [ 2.45736238e-03 5.49864142e-05 9.99996979e-01 -4.86379904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.360281693 meters 0.03163834052271685 Centerline is valid? [True, True] Translation: X:176.45, Y:4.70, Z:-0.05 [[ 9.96865003e-01 -7.89472699e-02 -5.24358978e-03 1.76447570e+02] [ 7.89455918e-02 9.96878787e-01 -5.26571689e-04 4.69515809e+00] [ 5.26879481e-03 1.10962590e-04 9.99986114e-01 -5.39263445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.420281693 meters 0.029385640283660596 Centerline is valid? [True, True] Translation: X:176.51, Y:4.70, Z:-0.05 [[ 9.96627664e-01 -8.20450869e-02 -1.37939218e-03 1.76506044e+02] [ 8.20449737e-02 9.96628618e-01 -1.38564269e-04 4.70053018e+00] [ 1.38611024e-03 2.49247878e-05 9.99999039e-01 -4.57874991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.480281693 meters 0.022617663253261464 Centerline is valid? [True, True] Translation: X:176.57, Y:4.70, Z:-0.04 [[ 9.96278763e-01 -8.61850275e-02 -8.75484276e-04 1.76565167e+02] [ 8.61849834e-02 9.96279148e-01 -8.79959794e-05 4.69922715e+00] [ 8.79810665e-04 1.22149278e-05 9.99999613e-01 -4.33128327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.540281693 meters 0.022277267484307757 Centerline is valid? [True, True] Translation: X:176.62, Y:4.71, Z:-0.05 [[ 9.95979237e-01 -8.94982614e-02 -3.92700301e-03 1.76622472e+02] [ 8.94974001e-02 9.95986978e-01 -3.94885609e-04 4.70905429e+00] [ 3.94658543e-03 4.18413076e-05 9.99992211e-01 -5.12688257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.600281693 meters 0.021157473342723162 Centerline is valid? [True, True] Translation: X:176.68, Y:4.71, Z:-0.05 [[ 9.95834990e-01 -9.11013154e-02 -3.63643667e-03 1.76680884e+02] [ 9.11005853e-02 9.95841629e-01 -3.66249303e-04 4.71365738e+00] [ 3.65468080e-03 3.34423623e-05 9.99993321e-01 -5.02192462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.660281693 meters 0.017055045077016686 Centerline is valid? [True, True] Translation: X:176.74, Y:4.71, Z:-0.05 [[ 9.95256014e-01 -9.72531402e-02 -2.70043361e-03 1.76740554e+02] [ 9.72527590e-02 9.95259678e-01 -2.72429067e-04 4.70794809e+00] [ 2.71412727e-03 8.51204771e-06 9.99996317e-01 -4.62190594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.720281693 meters 0.01654940597696976 Centerline is valid? [True, True] Translation: X:176.80, Y:4.71, Z:-0.04 [[ 9.95052579e-01 -9.93495791e-02 -1.61994828e-04 1.76798703e+02] [ 9.93495777e-02 9.95052592e-01 -1.63825960e-05 4.71167369e+00] [ 1.62820978e-04 2.07426667e-07 9.99999987e-01 -4.24324065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.780281693 meters 0.01965482200248346 Centerline is valid? [True, True] Translation: X:176.86, Y:4.73, Z:-0.05 [[ 9.95670427e-01 -9.28652876e-02 -4.05462218e-03 1.76855811e+02] [ 9.28643879e-02 9.95678682e-01 -4.10010546e-04 4.73472561e+00] [ 4.07517661e-03 3.17053682e-05 9.99991696e-01 -4.78299246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.840281693 meters 0.022231255634489414 Centerline is valid? [True, True] Translation: X:176.91, Y:4.75, Z:-0.04 [[ 9.96003092e-01 -8.92999576e-02 -1.83245845e-03 1.76913061e+02] [ 8.92997673e-02 9.96004778e-01 -1.85619782e-04 4.74964013e+00] [ 1.84171321e-03 2.12397638e-05 9.99998304e-01 -4.47368348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.900281693 meters 0.02022992421268942 Centerline is valid? [True, True] Translation: X:176.97, Y:4.75, Z:-0.04 [[ 9.95820751e-01 -9.13290529e-02 -1.89365285e-04 1.76971760e+02] [ 9.13290509e-02 9.95820769e-01 -1.92634456e-05 4.75417592e+00] [ 1.90333196e-04 1.88838711e-06 9.99999982e-01 -4.21662482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96028169299998 meters 0.01857164576231804 Centerline is valid? [True, True] Translation: X:177.03, Y:4.76, Z:-0.05 [[ 9.95443769e-01 -9.51789689e-02 -5.71546211e-03 1.77031040e+02] [ 9.51772034e-02 9.95460176e-01 -5.80730840e-04 4.75535346e+00] [ 5.74478828e-03 3.41031968e-05 9.99983498e-01 -5.24490516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.020281693 meters 0.01841773776442593 Centerline is valid? [True, True] Translation: X:177.09, Y:4.76, Z:-0.05 [[ 9.95333158e-01 -9.63881276e-02 -4.60807878e-03 1.77088081e+02] [ 9.63869917e-02 9.95343824e-01 -4.68461351e-04 4.76236700e+00] [ 4.63177687e-03 2.21162644e-05 9.99989273e-01 -5.07514728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.080281693 meters 0.018189614538256314 Centerline is valid? [True, True] Translation: X:177.15, Y:4.77, Z:-0.05 [[ 9.95349255e-01 -9.62908740e-02 -2.81560924e-03 1.77145560e+02] [ 9.62904480e-02 9.95353237e-01 -2.86801448e-04 4.77007219e+00] [ 2.83014213e-03 1.43513330e-05 9.99995995e-01 -4.65745288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.140281693 meters 0.018669589093301072 Centerline is valid? [True, True] Translation: X:177.20, Y:4.78, Z:-0.05 [[ 9.95426344e-01 -9.55104612e-02 -2.03628559e-03 1.77202255e+02] [ 9.55102360e-02 9.95428426e-01 -2.07803731e-04 4.78122108e+00] [ 2.04682399e-03 1.23671909e-05 9.99997905e-01 -4.52861612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.200281693 meters 0.019153761436435636 Centerline is valid? [True, True] Translation: X:177.26, Y:4.79, Z:-0.04 [[ 9.95527390e-01 -9.44616274e-02 -1.48893683e-03 1.77260450e+02] [ 9.44615054e-02 9.95528503e-01 -1.52196045e-04 4.79339492e+00] [ 1.49665574e-03 1.08681169e-05 9.99998880e-01 -4.38085487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.260281693 meters 0.01826428622206872 Centerline is valid? [True, True] Translation: X:177.32, Y:4.80, Z:-0.04 [[ 9.95342431e-01 -9.63941279e-02 -1.27156046e-03 1.77318533e+02] [ 9.63940402e-02 9.95343243e-01 -1.30186869e-04 4.80214677e+00] [ 1.27818836e-03 7.00966534e-06 9.99999183e-01 -4.34941824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.320281693 meters 0.01736181348472364 Centerline is valid? [True, True] Translation: X:177.38, Y:4.81, Z:-0.04 [[ 9.95119539e-01 -9.86701941e-02 -1.13823466e-03 1.77377096e+02] [ 9.86701251e-02 9.95120190e-01 -1.16724591e-04 4.80774150e+00] [ 1.14419753e-03 3.84516515e-06 9.99999345e-01 -4.37712953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.380281693 meters 0.0169690015245434 Centerline is valid? [True, True] Translation: X:177.44, Y:4.81, Z:-0.04 [[ 9.94586921e-01 -1.03907882e-01 -8.80755929e-05 1.77435418e+02] [ 1.03907882e-01 9.94586925e-01 -9.05217276e-06 4.80784217e+00] [ 8.85394252e-05 -1.48575634e-07 9.99999996e-01 -4.11455925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.440281693 meters 0.017978609004966485 Centerline is valid? [True, True] Translation: X:177.49, Y:4.81, Z:-0.04 [[ 9.94202838e-01 -1.07520717e-01 -1.12061606e-04 1.77494862e+02] [ 1.07520716e-01 9.94202844e-01 -1.15678018e-05 4.80707007e+00] [ 1.12655746e-04 -5.48202774e-07 9.99999994e-01 -4.18148045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.500281693 meters 0.019228809093671004 Centerline is valid? [True, True] Translation: X:177.55, Y:4.81, Z:-0.05 [[ 9.94027439e-01 -1.09098761e-01 -2.62893643e-03 1.77552846e+02] [ 1.09098428e-01 9.94030915e-01 -2.70308330e-04 4.80590418e+00] [ 2.64273439e-03 -1.81189343e-05 9.99996508e-01 -4.61925266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.560281693 meters 0.017422703209626307 Centerline is valid? [True, True] Translation: X:177.61, Y:4.82, Z:-0.05 [[ 9.94757805e-01 -1.02199236e-01 -3.49646400e-03 1.77609229e+02] [ 1.02198603e-01 9.94763950e-01 -3.59681390e-04 4.82385078e+00] [ 3.51491550e-03 4.62132934e-07 9.99993823e-01 -4.76847663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.620281693 meters 0.021064489553628815 Centerline is valid? [True, True] Translation: X:177.67, Y:4.85, Z:-0.05 [[ 9.95612203e-01 -9.35262590e-02 -3.02982528e-03 1.77666201e+02] [ 9.35257420e-02 9.95616813e-01 -3.12196174e-04 4.84746143e+00] [ 3.04574352e-03 2.74596641e-05 9.99995361e-01 -4.63541733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.680281693 meters 0.03413006540900172 Centerline is valid? [True, True] Translation: X:177.72, Y:4.89, Z:-0.04 [[ 9.96841718e-01 -7.93750260e-02 -2.48878471e-03 1.77722603e+02] [ 7.93746330e-02 9.96844823e-01 -2.56432673e-04 4.88616017e+00] [ 2.50128650e-03 5.80764132e-05 9.99996870e-01 -4.44843196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.740281693 meters 0.04284819354096086 Centerline is valid? [True, True] Translation: X:177.78, Y:4.92, Z:-0.05 [[ 9.97445078e-01 -7.13440024e-02 -3.65363262e-03 1.77780251e+02] [ 7.13431016e-02 9.97451763e-01 -3.76445785e-04 4.91777417e+00] [ 3.67117945e-03 1.14822512e-04 9.99993255e-01 -4.82949450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.800281693 meters 0.0421993610835385 Centerline is valid? [True, True] Translation: X:177.84, Y:4.94, Z:-0.04 [[ 9.97366254e-01 -7.25289251e-02 -3.31715628e-04 1.77836767e+02] [ 7.25289177e-02 9.97366309e-01 -3.42834966e-05 4.93819062e+00] [ 3.33328537e-04 1.01342272e-05 9.99999944e-01 -4.12420755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.860281693 meters 0.03815992361468342 Centerline is valid? [True, True] Translation: X:177.90, Y:4.95, Z:-0.04 [[ 9.97058476e-01 -7.66445943e-02 3.97720134e-05 1.77896064e+02] [ 7.66445942e-02 9.97058477e-01 4.10070929e-06 4.95209158e+00] [-3.99693203e-05 -1.04033713e-06 9.99999999e-01 -4.19876046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.920281693 meters 0.034860894460037886 Centerline is valid? [True, True] Translation: X:177.95, Y:4.96, Z:-0.05 [[ 9.96725887e-01 -8.08228554e-02 -2.27406040e-03 1.77954281e+02] [ 8.08225301e-02 9.96728480e-01 -2.34742841e-04 4.96146941e+00] [ 2.28559336e-03 5.01789513e-05 9.99997387e-01 -4.73706146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.980281693 meters 0.024281630748208383 Centerline is valid? [True, True] Translation: X:178.02, Y:4.96, Z:-0.05 [[ 9.95858846e-01 -9.08595318e-02 -3.11526108e-03 1.78015447e+02] [ 9.08589703e-02 9.95863718e-01 -3.21573916e-04 4.95584679e+00] [ 3.13159354e-03 3.71928149e-05 9.99995096e-01 -4.82732433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.040281693 meters 0.018857803556336195 Centerline is valid? [True, True] Translation: X:178.07, Y:4.96, Z:-0.04 [[ 9.95223747e-01 -9.76183109e-02 5.99239564e-04 1.78074217e+02] [ 9.76182914e-02 9.95223927e-01 6.18676520e-05 4.95542553e+00] [-6.02416968e-04 -3.07541412e-06 9.99999819e-01 -4.13703835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.100281693 meters 0.017706819642914474 Centerline is valid? [True, True] Translation: X:178.13, Y:4.96, Z:-0.04 [[ 9.94876922e-01 -1.01091002e-01 -7.21134102e-04 1.78132612e+02] [ 1.01090975e-01 9.94877183e-01 -7.46326773e-05 4.96284391e+00] [ 7.24984556e-04 1.35017897e-06 9.99999737e-01 -4.37771816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.160281693 meters 0.01746474813365872 Centerline is valid? [True, True] Translation: X:178.19, Y:4.97, Z:-0.05 [[ 9.94530431e-01 -1.04441410e-01 -1.10178874e-03 1.78190374e+02] [ 1.04441347e-01 9.94531041e-01 -1.14222846e-04 4.96587777e+00] [ 1.10769270e-03 -1.47420493e-06 9.99999387e-01 -4.56622259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.220281693 meters 0.019901337900633042 Centerline is valid? [True, True] Translation: X:178.25, Y:4.96, Z:-0.05 [[ 9.94002070e-01 -1.09285604e-01 -4.06712687e-03 1.78249128e+02] [ 1.09284793e-01 9.94010390e-01 -4.21657918e-04 4.96280832e+00] [ 4.08884751e-03 -2.53462764e-05 9.99991640e-01 -5.33195198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.280281693 meters 0.018824054395731104 Centerline is valid? [True, True] Translation: X:178.31, Y:4.97, Z:-0.04 [[ 9.93935277e-01 -1.09961729e-01 -1.04053101e-03 1.78306427e+02] [ 1.09961676e-01 9.93935822e-01 -1.08132220e-04 4.97129199e+00] [ 1.04611145e-03 -6.94210619e-06 9.99999453e-01 -4.38810443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.340281693 meters 0.021997018445752622 Centerline is valid? [True, True] Translation: X:178.37, Y:4.97, Z:-0.04 [[ 9.93555902e-01 -1.13339961e-01 8.50224290e-04 1.78365541e+02] [ 1.13339927e-01 9.93556266e-01 8.83320423e-05 4.96598632e+00] [-8.54757221e-04 8.60153726e-06 9.99999635e-01 -4.28477947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.400281693 meters 0.02964366612206606 Centerline is valid? [True, True] Translation: X:178.43, Y:4.95, Z:-0.04 [[ 9.92712815e-01 -1.20503312e-01 -4.67531093e-04 1.78428160e+02] [ 1.20503303e-01 9.92712925e-01 -4.85840159e-05 4.95015016e+00] [ 4.69978693e-04 -8.10906544e-06 9.99999890e-01 -4.44510457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46028169299998 meters 0.03477128309990192 Centerline is valid? [True, True] Translation: X:178.49, Y:4.94, Z:-0.05 [[ 9.92183390e-01 -1.24784857e-01 -9.27774747e-04 1.78489051e+02] [ 1.24784822e-01 9.92183823e-01 -9.64374064e-05 4.93968744e+00] [ 9.32557023e-04 -2.00886135e-05 9.99999565e-01 -4.53187923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.520281693 meters 0.03622724433928848 Centerline is valid? [True, True] Translation: X:178.55, Y:4.94, Z:-0.05 [[ 9.92056396e-01 -1.25785517e-01 -1.45322161e-03 1.78548888e+02] [ 1.25785430e-01 9.92057459e-01 -1.51306407e-04 4.93653074e+00] [ 1.46071149e-03 -3.26896167e-05 9.99998933e-01 -4.70259584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.580281693 meters 0.025328891212248836 Centerline is valid? [True, True] Translation: X:178.61, Y:4.95, Z:-0.05 [[ 9.92839827e-01 -1.19402373e-01 -3.48581582e-03 1.78607471e+02] [ 1.19401834e-01 9.92845945e-01 -3.62921775e-04 4.95177926e+00] [ 3.50421182e-03 -5.58896102e-05 9.99993859e-01 -4.91689902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.640281693 meters 0.022678775732442973 Centerline is valid? [True, True] Translation: X:178.67, Y:4.96, Z:-0.05 [[ 9.93283741e-01 -1.15673950e-01 -2.63577475e-03 1.78665560e+02] [ 1.15673628e-01 9.93287238e-01 -2.74552041e-04 4.95636947e+00] [ 2.64983994e-03 -3.21815511e-05 9.99996489e-01 -4.85140977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.700281693 meters 0.023732717489500874 Centerline is valid? [True, True] Translation: X:178.72, Y:4.95, Z:-0.05 [[ 9.93448860e-01 -1.14269226e-01 -1.38104818e-03 1.78724267e+02] [ 1.14269136e-01 9.93449820e-01 -1.43945241e-04 4.95232440e+00] [ 1.38845058e-03 -1.48089471e-05 9.99999036e-01 -4.72597767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.760281693 meters 0.022385056089386336 Centerline is valid? [True, True] Translation: X:178.78, Y:4.96, Z:-0.05 [[ 9.93344264e-01 -1.15165228e-01 -2.03532760e-03 1.78783359e+02] [ 1.15165034e-01 9.93346349e-01 -2.12489492e-04 4.95559577e+00] [ 2.04625664e-03 -2.33233545e-05 9.99997906e-01 -4.88609815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.820281693 meters 0.024022201440588534 Centerline is valid? [True, True] Translation: X:178.84, Y:4.95, Z:-0.04 [[ 9.92878639e-01 -1.19130139e-01 1.34197917e-04 1.78842473e+02] [ 1.19130138e-01 9.92878648e-01 1.39941209e-05 4.95185093e+00] [-1.34909368e-04 2.09255269e-06 9.99999991e-01 -4.43242774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.880281693 meters 0.027759639729234835 Centerline is valid? [True, True] Translation: X:178.90, Y:4.94, Z:-0.04 [[ 9.92625016e-01 -1.21224312e-01 4.93511596e-04 1.78901080e+02] [ 1.21224301e-01 9.92625139e-01 5.15483281e-05 4.94428000e+00] [-4.96120927e-04 8.65743838e-06 9.99999877e-01 -4.36055166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.940281693 meters 0.027235550537410176 Centerline is valid? [True, True] Translation: X:178.96, Y:4.95, Z:-0.05 [[ 9.92658403e-01 -1.20947748e-01 -9.68395812e-04 1.78958857e+02] [ 1.20947706e-01 9.92658875e-01 -1.01426392e-04 4.94750957e+00] [ 9.73553991e-04 -1.64434916e-05 9.99999526e-01 -4.54391737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.000281693 meters 0.0242547529798499 Centerline is valid? [True, True] Translation: X:179.02, Y:4.96, Z:-0.05 [[ 9.93159667e-01 -1.16733954e-01 -2.65688592e-03 1.79016344e+02] [ 1.16733627e-01 9.93163221e-01 -2.78237229e-04 4.95783761e+00] [ 2.67120111e-03 -3.38139370e-05 9.99996432e-01 -4.91382832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.060281693 meters 0.018801991204438845 Centerline is valid? [True, True] Translation: X:179.07, Y:4.98, Z:-0.05 [[ 9.93996222e-01 -1.09394356e-01 -2.09430246e-03 1.79074102e+02] [ 1.09394136e-01 9.93998428e-01 -2.19654632e-04 4.97695780e+00] [ 2.10576233e-03 -1.07685346e-05 9.99997783e-01 -4.80784579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.120281693 meters 0.017415574374718894 Centerline is valid? [True, True] Translation: X:179.13, Y:4.99, Z:-0.04 [[ 9.94350862e-01 -1.06142923e-01 2.05945735e-04 1.79132026e+02] [ 1.06142921e-01 9.94350884e-01 2.15722891e-05 4.99127892e+00] [-2.07072069e-04 4.09257567e-07 9.99999979e-01 -4.43265523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.180281693 meters 0.017435411542810884 Centerline is valid? [True, True] Translation: X:179.19, Y:5.00, Z:-0.04 [[ 9.94496548e-01 -1.04767232e-01 6.65005473e-04 1.79188588e+02] [ 1.04767209e-01 9.94496771e-01 6.98840202e-05 5.00279718e+00] [-6.68667350e-04 1.71350368e-07 9.99999776e-01 -4.42712161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.240281693 meters 0.018552058692819635 Centerline is valid? [True, True] Translation: X:179.25, Y:5.02, Z:-0.05 [[ 9.94796964e-01 -1.01825253e-01 -3.25860256e-03 1.79245226e+02] [ 1.01824676e-01 9.94802301e-01 -3.42863961e-04 5.01903199e+00] [ 3.27657754e-03 9.27387810e-06 9.99994632e-01 -5.20886333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.300281693 meters 0.01784704979394881 Centerline is valid? [True, True] Translation: X:179.30, Y:5.02, Z:-0.05 [[ 9.94534404e-01 -1.04391509e-01 -1.93166163e-03 1.79303583e+02] [ 1.04391310e-01 9.94536280e-01 -2.03592752e-04 5.02402795e+00] [ 1.94236093e-03 8.31307494e-07 9.99998114e-01 -5.08065470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.360281693 meters 0.017701280739797105 Centerline is valid? [True, True] Translation: X:179.36, Y:5.03, Z:-0.05 [[ 9.94392725e-01 -1.05748329e-01 -6.32390269e-04 1.79361685e+02] [ 1.05748308e-01 9.94392926e-01 -6.68134032e-05 5.03027116e+00] [ 6.35909815e-04 -4.35438990e-07 9.99999798e-01 -4.91806127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.420281693 meters 0.01759014708194762 Centerline is valid? [True, True] Translation: X:179.42, Y:5.04, Z:-0.05 [[ 9.94428234e-01 -1.05413180e-01 -7.40421369e-04 1.79418333e+02] [ 1.05413151e-01 9.94428510e-01 -7.82887790e-05 5.03605961e+00] [ 7.44548788e-04 -1.97577101e-07 9.99999723e-01 -4.83754094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.480281693 meters 0.01770471679023537 Centerline is valid? [True, True] Translation: X:179.48, Y:5.04, Z:-0.05 [[ 9.94469460e-01 -1.05004784e-01 -2.11866286e-03 1.79476049e+02] [ 1.05004545e-01 9.94471717e-01 -2.24032468e-04 5.04139885e+00] [ 2.13047478e-03 3.24217550e-07 9.99997731e-01 -5.07371883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.540281693 meters 0.018306207446573824 Centerline is valid? [True, True] Translation: X:179.53, Y:5.05, Z:-0.05 [[ 9.94807297e-01 -1.01753896e-01 -2.14144062e-03 1.79534193e+02] [ 1.01753643e-01 9.94809602e-01 -2.26828663e-04 5.04918508e+00] [ 2.15340639e-03 7.75142413e-06 9.99997681e-01 -5.09890826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.600281693 meters 0.02008866085119141 Centerline is valid? [True, True] Translation: X:179.59, Y:5.06, Z:-0.05 [[ 9.95258430e-01 -9.72648537e-02 4.54094555e-04 1.79592577e+02] [ 9.72648419e-02 9.95258533e-01 4.81057456e-05 5.05994703e+00] [-4.56620479e-04 -3.71021381e-06 9.99999896e-01 -4.61460519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.660281693 meters 0.022431966486412575 Centerline is valid? [True, True] Translation: X:179.65, Y:5.07, Z:-0.05 [[ 9.95435941e-01 -9.54313572e-02 3.79041948e-04 1.79649887e+02] [ 9.54313488e-02 9.95436013e-01 4.02047974e-05 5.07014721e+00] [-3.81148804e-04 -3.84881598e-06 9.99999927e-01 -4.62243113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.720281693 meters 0.023379462784371266 Centerline is valid? [True, True] Translation: X:179.71, Y:5.08, Z:-0.05 [[ 9.95708887e-01 -9.25404486e-02 -2.78860961e-04 1.79707888e+02] [ 9.25404440e-02 9.95708926e-01 -2.96973146e-05 5.07881952e+00] [ 2.80412551e-04 3.76396291e-06 9.99999961e-01 -4.68680551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.780281693 meters 0.02633857710619573 Centerline is valid? [True, True] Translation: X:179.76, Y:5.09, Z:-0.05 [[ 9.95940824e-01 -9.00092253e-02 4.63930058e-04 1.79764779e+02] [ 9.00092121e-02 9.95940932e-01 4.93180504e-05 5.09394951e+00] [-4.66486013e-04 -7.35988075e-06 9.99999891e-01 -4.63756866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.840281693 meters 0.029629413457337356 Centerline is valid? [True, True] Translation: X:179.82, Y:5.11, Z:-0.05 [[ 9.95988299e-01 -8.94834941e-02 -1.14940289e-04 1.79821653e+02] [ 8.94834933e-02 9.95988305e-01 -1.22497560e-05 5.10793140e+00] [ 1.15575335e-04 1.91535502e-06 9.99999993e-01 -4.69403543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.900281693 meters 0.02690532506382703 Centerline is valid? [True, True] Translation: X:179.88, Y:5.11, Z:-0.05 [[ 9.95930816e-01 -9.01166014e-02 -8.98605125e-04 1.79879348e+02] [ 9.01165516e-02 9.95931221e-01 -9.58414457e-05 5.11385909e+00] [ 9.03585805e-04 1.44722542e-05 9.99999592e-01 -4.90118739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96028169299998 meters 0.025552828998581356 Centerline is valid? [True, True] Translation: X:179.94, Y:5.12, Z:-0.05 [[ 9.95803310e-01 -9.15178409e-02 -5.03041683e-04 1.79937997e+02] [ 9.15178254e-02 9.95803437e-01 -5.37532134e-05 5.12260385e+00] [ 5.05850015e-04 7.49034697e-06 9.99999872e-01 -4.87543874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.020281693 meters 0.023888085670746174 Centerline is valid? [True, True] Translation: X:180.00, Y:5.13, Z:-0.05 [[ 9.95629905e-01 -9.33713976e-02 -1.69550071e-03 1.79996324e+02] [ 9.33712242e-02 9.95631348e-01 -1.81322716e-04 5.12898275e+00] [ 1.70502401e-03 2.22193420e-05 9.99998546e-01 -5.02529725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.080281693 meters 0.02090565339309222 Centerline is valid? [True, True] Translation: X:180.05, Y:5.13, Z:-0.05 [[ 9.95206289e-01 -9.77830787e-02 -1.70629769e-03 1.80054853e+02] [ 9.77829091e-02 9.95207752e-01 -1.82755636e-04 5.13312651e+00] [ 1.71599109e-03 1.50328073e-05 9.99998528e-01 -5.07779487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.140281693 meters 0.018540339174053545 Centerline is valid? [True, True] Translation: X:180.11, Y:5.14, Z:-0.05 [[ 9.94742006e-01 -1.02412602e-01 -1.12543502e-05 1.80112730e+02] [ 1.02412602e-01 9.94742006e-01 -1.26267886e-06 5.13958864e+00] [ 1.13244891e-05 1.03452411e-07 1.00000000e+00 -4.70164944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.200281693 meters 0.01790790015772801 Centerline is valid? [True, True] Translation: X:180.17, Y:5.15, Z:-0.05 [[ 9.94534745e-01 -1.04405322e-01 -4.12010615e-04 1.80169761e+02] [ 1.04405313e-01 9.94534830e-01 -4.43195236e-05 5.14944386e+00] [ 4.14386101e-04 1.06120901e-06 9.99999914e-01 -4.70096913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.260281693 meters 0.017742105765655738 Centerline is valid? [True, True] Translation: X:180.23, Y:5.16, Z:-0.04 [[ 9.94488414e-01 -1.04836722e-01 1.43405763e-03 1.80226984e+02] [ 1.04836609e-01 9.94489448e-01 1.54239853e-04 5.16018438e+00] [-1.44232518e-03 -3.04800816e-06 9.99998960e-01 -4.37208492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.320281693 meters 0.017465483620869932 Centerline is valid? [True, True] Translation: X:180.28, Y:5.17, Z:-0.05 [[ 9.94327388e-01 -1.06362386e-01 -2.96941487e-04 1.80283843e+02] [ 1.06362381e-01 9.94327432e-01 -3.20737882e-05 5.16977303e+00] [ 2.98668511e-04 3.08442469e-07 9.99999955e-01 -4.72164049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.380281693 meters 0.01770401758270439 Centerline is valid? [True, True] Translation: X:180.34, Y:5.18, Z:-0.05 [[ 9.94452392e-01 -1.05186801e-01 -4.21505807e-04 1.80340040e+02] [ 1.05186792e-01 9.94452481e-01 -4.54979461e-05 5.18425366e+00] [ 4.23953278e-04 9.08697882e-07 9.99999910e-01 -4.65606163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.440281693 meters 0.019840505054349915 Centerline is valid? [True, True] Translation: X:180.40, Y:5.21, Z:-0.05 [[ 9.94930150e-01 -1.00568034e-01 2.60011099e-04 1.80396148e+02] [ 1.00568030e-01 9.94930184e-01 2.80435111e-05 5.20677648e+00] [-2.61513171e-04 -1.75253069e-06 9.99999966e-01 -4.57905257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.500281693 meters 0.023735521237493357 Centerline is valid? [True, True] Translation: X:180.45, Y:5.23, Z:-0.04 [[ 9.95382452e-01 -9.59792529e-02 1.32541129e-03 1.80452704e+02] [ 9.59791473e-02 9.95383335e-01 1.43203783e-04 5.23061087e+00] [-1.33303690e-03 -1.53306872e-05 9.99999111e-01 -4.41557567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.560281693 meters 0.024443704299937474 Centerline is valid? [True, True] Translation: X:180.51, Y:5.25, Z:-0.05 [[ 9.95565871e-01 -9.40656459e-02 4.99804405e-04 1.80509859e+02] [ 9.40656306e-02 9.95565997e-01 5.40462369e-05 5.25036779e+00] [-5.02672165e-04 -6.79217237e-06 9.99999874e-01 -4.66070489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.620281693 meters 0.02464244845985885 Centerline is valid? [True, True] Translation: X:180.57, Y:5.26, Z:-0.05 [[ 9.95541290e-01 -9.43242385e-02 -6.90689611e-04 1.80566193e+02] [ 9.43242092e-02 9.95541530e-01 -7.48959974e-05 5.26360689e+00] [ 6.94674700e-04 9.41330654e-06 9.99999759e-01 -4.93741687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.680281693 meters 0.021108208915482804 Centerline is valid? [True, True] Translation: X:180.62, Y:5.28, Z:-0.05 [[ 9.95123026e-01 -9.86247296e-02 -1.82385811e-03 1.80624358e+02] [ 9.86245323e-02 9.95124697e-01 -1.98015479e-04 5.27569005e+00] [ 1.83449547e-03 1.71726094e-05 9.99998317e-01 -5.09026651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.740281693 meters 0.01806424960894376 Centerline is valid? [True, True] Translation: X:180.68, Y:5.28, Z:-0.05 [[ 9.94417681e-01 -1.05485942e-01 -2.48828650e-03 1.80682730e+02] [ 1.05485596e-01 9.94420794e-01 -2.70536254e-04 5.27816758e+00] [ 2.50294161e-03 6.54765053e-06 9.99996868e-01 -5.27137819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.800281693 meters 0.019336892750271128 Centerline is valid? [True, True] Translation: X:180.74, Y:5.28, Z:-0.05 [[ 9.93361082e-01 -1.15016509e-01 -2.22772367e-03 1.80741821e+02] [ 1.15016254e-01 9.93363580e-01 -2.42567697e-04 5.27657960e+00] [ 2.24083885e-03 -1.52671213e-05 9.99997489e-01 -5.16104837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.860281693 meters 0.023534101694365612 Centerline is valid? [True, True] Translation: X:180.80, Y:5.27, Z:-0.05 [[ 9.92706742e-01 -1.20533875e-01 -2.21563069e-03 1.80800956e+02] [ 1.20533636e-01 9.92709214e-01 -2.41311780e-04 5.27394928e+00] [ 2.22856325e-03 -2.75061936e-05 9.99997516e-01 -5.20485231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.920281693 meters 0.026955779474334408 Centerline is valid? [True, True] Translation: X:180.86, Y:5.28, Z:-0.05 [[ 9.92221209e-01 -1.24484787e-01 -7.81566025e-04 1.80860802e+02] [ 1.24484759e-01 9.92221516e-01 -8.51421609e-05 5.27600929e+00] [ 7.86085531e-04 -1.28132005e-05 9.99999691e-01 -5.05471010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.980281693 meters 0.026621417079662493 Centerline is valid? [True, True] Translation: X:180.92, Y:5.28, Z:-0.05 [[ 9.92101901e-01 -1.25416351e-01 -2.13447991e-03 1.80919344e+02] [ 1.25416140e-01 9.92104197e-01 -2.32898467e-04 5.28334682e+00] [ 2.14683575e-03 -3.66392200e-05 9.99997695e-01 -5.20985665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.040281693 meters 0.02880385657212453 Centerline is valid? [True, True] Translation: X:180.98, Y:5.28, Z:-0.05 [[ 9.91847944e-01 -1.27402795e-01 -2.48665742e-03 1.80976874e+02] [ 1.27402515e-01 9.91851060e-01 -2.71452367e-04 5.28455325e+00] [ 2.50097758e-03 -4.75669350e-05 9.99996871e-01 -5.32327677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.100281693 meters 0.02911409665216556 Centerline is valid? [True, True] Translation: X:181.04, Y:5.29, Z:-0.05 [[ 9.91655630e-01 -1.28910317e-01 -1.11412793e-03 1.81035461e+02] [ 1.28910261e-01 9.91656256e-01 -1.21845820e-04 5.28823801e+00] [ 1.12053911e-03 -2.27934286e-05 9.99999372e-01 -4.92986043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.160281693 meters 0.03275344915102219 Centerline is valid? [True, True] Translation: X:181.09, Y:5.29, Z:-0.05 [[ 9.91400274e-01 -1.30863611e-01 -4.59528315e-04 1.81093182e+02] [ 1.30863601e-01 9.91400381e-01 -5.03132271e-05 5.28700667e+00] [ 4.62160717e-04 -1.02549831e-05 9.99999893e-01 -4.78160939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.220281693 meters 0.03465529121359363 Centerline is valid? [True, True] Translation: X:181.15, Y:5.29, Z:-0.05 [[ 9.90848276e-01 -1.34979352e-01 -5.19040314e-04 1.81152750e+02] [ 1.34979341e-01 9.90848411e-01 -5.68202883e-05 5.28653982e+00] [ 5.21959836e-04 -1.37594348e-05 9.99999864e-01 -4.83554546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.280281693 meters 0.036203662618882214 Centerline is valid? [True, True] Translation: X:181.21, Y:5.28, Z:-0.05 [[ 9.90605159e-01 -1.36698466e-01 -3.86636356e-03 1.81212224e+02] [ 1.36697853e-01 9.90612698e-01 -4.23849876e-04 5.28460328e+00] [ 3.88800847e-03 -1.08655722e-04 9.99992436e-01 -5.39791918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.340281693 meters 0.03462358679924729 Centerline is valid? [True, True] Translation: X:181.27, Y:5.29, Z:-0.05 [[ 9.90865420e-01 -1.34815100e-01 -3.25717761e-03 1.81270306e+02] [ 1.34814653e-01 9.90870769e-01 -3.57185880e-04 5.29156046e+00] [ 3.27559613e-03 -8.51921337e-05 9.99994632e-01 -5.16438388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.400281693 meters 0.032619531109288835 Centerline is valid? [True, True] Translation: X:181.33, Y:5.30, Z:-0.05 [[ 9.91146709e-01 -1.32771229e-01 5.08007486e-05 1.81328942e+02] [ 1.32771229e-01 9.91146710e-01 5.52732025e-06 5.29918407e+00] [-5.10848639e-05 1.26649256e-06 9.99999999e-01 -4.64939298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46028169299998 meters 0.0367108002227085 Centerline is valid? [True, True] Translation: X:181.39, Y:5.30, Z:-0.04 [[ 9.91087762e-01 -1.33206329e-01 1.05896038e-03 1.81387181e+02] [ 1.33206281e-01 9.91088328e-01 1.16318741e-04 5.29866452e+00] [-1.06501766e-03 2.57780928e-05 9.99999433e-01 -4.42455237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.520281693 meters 0.031922827971892775 Centerline is valid? [True, True] Translation: X:181.44, Y:5.31, Z:-0.04 [[ 9.90885648e-01 -1.34701556e-01 1.05964192e-03 1.81444558e+02] [ 1.34701509e-01 9.90886214e-01 1.16477740e-04 5.30998932e+00] [-1.06567431e-03 2.73192453e-05 9.99999432e-01 -4.35844124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.580281693 meters 0.03513013442846052 Centerline is valid? [True, True] Translation: X:181.50, Y:5.31, Z:-0.04 [[ 9.91042543e-01 -1.33535440e-01 1.72159358e-03 1.81502703e+02] [ 1.33535312e-01 9.91044038e-01 1.89372710e-04 5.30898171e+00] [-1.73146302e-03 4.22171241e-05 9.99998500e-01 -4.28637836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.640281693 meters 0.03186908824862177 Centerline is valid? [True, True] Translation: X:181.56, Y:5.32, Z:-0.04 [[ 9.91479761e-01 -1.30257070e-01 9.89960563e-04 1.81561951e+02] [ 1.30257026e-01 9.91480255e-01 1.08925633e-04 5.31960695e+00] [-9.95714685e-04 2.09517586e-05 9.99999504e-01 -4.30352510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.700281693 meters 0.022530673798950615 Centerline is valid? [True, True] Translation: X:181.62, Y:5.34, Z:-0.05 [[ 9.92544046e-01 -1.21878671e-01 -1.38082636e-03 1.81619462e+02] [ 1.21878577e-01 9.92545006e-01 -1.51967461e-04 5.34285376e+00] [ 1.38905390e-03 -1.74587534e-05 9.99999035e-01 -4.66784421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.760281693 meters 0.017983325262845896 Centerline is valid? [True, True] Translation: X:181.68, Y:5.36, Z:-0.05 [[ 9.93586856e-01 -1.13054804e-01 -1.94166124e-03 1.81675517e+02] [ 1.13054602e-01 9.93588754e-01 -2.13791160e-04 5.36499871e+00] [ 1.95338289e-03 -7.09365243e-06 9.99998092e-01 -4.77168634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.820281693 meters 0.017688325626217038 Centerline is valid? [True, True] Translation: X:181.73, Y:5.38, Z:-0.05 [[ 9.93968586e-01 -1.09644417e-01 -2.13353581e-03 1.81732312e+02] [ 1.09644165e-01 9.93970876e-01 -2.35042187e-04 5.38183778e+00] [ 2.14644352e-03 -3.05203278e-07 9.99997696e-01 -4.97159807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.880281693 meters 0.017948225381238626 Centerline is valid? [True, True] Translation: X:181.79, Y:5.40, Z:-0.05 [[ 9.94190377e-01 -1.07624640e-01 -1.55899813e-03 1.81789255e+02] [ 1.07624502e-01 9.94191600e-01 -1.72055773e-04 5.39734675e+00] [ 1.56846029e-03 3.26979582e-06 9.99998770e-01 -4.86041232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.940281693 meters 0.018838461659161667 Centerline is valid? [True, True] Translation: X:181.85, Y:5.42, Z:-0.04 [[ 9.94535612e-01 -1.04397872e-01 3.88069553e-05 1.81846379e+02] [ 1.04397872e-01 9.94535612e-01 4.23286646e-06 5.41599064e+00] [-3.90368013e-05 -1.58372871e-07 9.99999999e-01 -4.41181022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.000281693 meters 0.019735524093470236 Centerline is valid? [True, True] Translation: X:181.90, Y:5.43, Z:-0.05 [[ 9.94679144e-01 -1.03009130e-01 -1.58714018e-03 1.81902758e+02] [ 1.03008981e-01 9.94680410e-01 -1.75464166e-04 5.43164909e+00] [ 1.59677166e-03 1.10408530e-05 9.99998725e-01 -4.76667098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.060281693 meters 0.018671141615662135 Centerline is valid? [True, True] Translation: X:181.96, Y:5.44, Z:-0.05 [[ 9.94476453e-01 -1.04947319e-01 -1.62607156e-03 1.81960693e+02] [ 1.04947165e-01 9.94477783e-01 -1.79857721e-04 5.43653592e+00] [ 1.63596763e-03 8.21266845e-06 9.99998662e-01 -4.86220100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.120281693 meters 0.017599724948632493 Centerline is valid? [True, True] Translation: X:182.02, Y:5.44, Z:-0.05 [[ 9.94163635e-01 -1.07873687e-01 -1.39078861e-03 1.82019683e+02] [ 1.07873577e-01 9.94164608e-01 -1.54084335e-04 5.44041763e+00] [ 1.39929446e-03 3.15570067e-06 9.99999021e-01 -4.65762815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.180281693 meters 0.017361594158506244 Centerline is valid? [True, True] Translation: X:182.08, Y:5.45, Z:-0.04 [[ 9.94146366e-01 -1.08040831e-01 -4.26140074e-04 1.82076585e+02] [ 1.08040820e-01 9.94146457e-01 -4.73298856e-05 5.44892394e+00] [ 4.28759205e-04 1.01231055e-06 9.99999908e-01 -4.35669552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.240281693 meters 0.01705361539014721 Centerline is valid? [True, True] Translation: X:182.13, Y:5.45, Z:-0.04 [[ 9.93882419e-01 -1.10438525e-01 1.03427167e-03 1.82133544e+02] [ 1.10438465e-01 9.93882957e-01 1.14779627e-04 5.45384779e+00] [-1.04062108e-03 1.45922542e-07 9.99999459e-01 -4.03855176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.300281693 meters 0.017137056291503285 Centerline is valid? [True, True] Translation: X:182.19, Y:5.46, Z:-0.04 [[ 9.93701841e-01 -1.12054990e-01 5.74286976e-04 1.82191515e+02] [ 1.12054972e-01 9.93702007e-01 6.37864279e-05 5.45749438e+00] [-5.77817709e-04 9.67019966e-07 9.99999833e-01 -4.17471738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.360281693 meters 0.018138834693628213 Centerline is valid? [True, True] Translation: X:182.25, Y:5.46, Z:-0.04 [[ 9.93318553e-01 -1.15404216e-01 -3.45580254e-04 1.82250413e+02] [ 1.15404210e-01 9.93318613e-01 -3.85223690e-05 5.45672331e+00] [ 3.47716942e-04 -1.61643212e-06 9.99999940e-01 -4.34752968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.420281693 meters 0.021630330246114313 Centerline is valid? [True, True] Translation: X:182.31, Y:5.45, Z:-0.04 [[ 9.92700383e-01 -1.20598749e-01 1.37496429e-03 1.82309011e+02] [ 1.20598652e-01 9.92701336e-01 1.53152219e-04 5.45197239e+00] [-1.38339886e-03 1.37845744e-05 9.99999043e-01 -4.12402939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.480281693 meters 0.024017820173111167 Centerline is valid? [True, True] Translation: X:182.37, Y:5.45, Z:-0.04 [[ 9.92141493e-01 -1.25120118e-01 -4.63061257e-04 1.82368208e+02] [ 1.25120108e-01 9.92141601e-01 -5.17170829e-05 5.45127877e+00] [ 4.65893184e-04 -6.62761060e-06 9.99999891e-01 -4.45025319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.540281693 meters 0.026830491867976113 Centerline is valid? [True, True] Translation: X:182.43, Y:5.45, Z:-0.05 [[ 9.91773449e-01 -1.27989079e-01 -2.05483846e-03 1.82426948e+02] [ 1.27988878e-01 9.91775577e-01 -2.29387532e-04 5.44784369e+00] [ 2.06729769e-03 -3.54960051e-05 9.99997863e-01 -4.68232148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.600281693 meters 0.0306981820665903 Centerline is valid? [True, True] Translation: X:182.49, Y:5.45, Z:-0.05 [[ 9.91693450e-01 -1.28613550e-01 -1.62976032e-03 1.82485318e+02] [ 1.28613424e-01 9.91694789e-01 -1.82085262e-04 5.44564756e+00] [ 1.63964345e-03 -2.90362932e-05 9.99998655e-01 -4.54315625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.660281693 meters 0.02872037162558474 Centerline is valid? [True, True] Translation: X:182.54, Y:5.45, Z:-0.04 [[ 9.91923945e-01 -1.26829035e-01 -1.13266649e-03 1.82544020e+02] [ 1.26828973e-01 9.91924592e-01 -1.26743309e-04 5.45324967e+00] [ 1.13959448e-03 -1.79352038e-05 9.99999351e-01 -4.43101176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.720281693 meters 0.026403006523967848 Centerline is valid? [True, True] Translation: X:182.60, Y:5.47, Z:-0.05 [[ 9.92214926e-01 -1.24477023e-01 -3.87435510e-03 1.82601592e+02] [ 1.24476277e-01 9.92222489e-01 -4.33978521e-04 5.46519989e+00] [ 3.89824262e-03 -5.16653315e-05 9.99992400e-01 -5.16911066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.780281693 meters 0.022512731195082597 Centerline is valid? [True, True] Translation: X:182.66, Y:5.48, Z:-0.05 [[ 9.92403585e-01 -1.22996227e-01 -2.65550358e-03 1.82658930e+02] [ 1.22995870e-01 9.92407138e-01 -2.97876850e-04 5.47993371e+00] [ 2.67197843e-03 -3.10019181e-05 9.99996430e-01 -4.67250369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.840281693 meters 0.021108850710799123 Centerline is valid? [True, True] Translation: X:182.72, Y:5.49, Z:-0.05 [[ 9.92573321e-01 -1.21616281e-01 -2.77178326e-03 1.82717283e+02] [ 1.21615885e-01 9.92577191e-01 -3.11347964e-04 5.48983053e+00] [ 2.78907382e-03 -2.80571925e-05 9.99996110e-01 -4.59665372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.900281693 meters 0.022303625445883254 Centerline is valid? [True, True] Translation: X:182.78, Y:5.49, Z:-0.05 [[ 9.92385351e-01 -1.23129073e-01 -3.24741082e-03 1.82776123e+02] [ 1.23128537e-01 9.92390664e-01 -3.65271290e-04 5.49313174e+00] [ 3.26767569e-03 -3.73590653e-05 9.99994660e-01 -4.74423537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96028169299998 meters 0.025594153583419658 Centerline is valid? [True, True] Translation: X:182.83, Y:5.49, Z:-0.05 [[ 9.92290198e-01 -1.23915386e-01 -2.26723356e-03 1.82833817e+02] [ 1.23915126e-01 9.92292788e-01 -2.55126849e-04 5.49342100e+00] [ 2.28137365e-03 -2.77846615e-05 9.99997397e-01 -4.73813373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.020281693 meters 0.02330353570200988 Centerline is valid? [True, True] Translation: X:182.89, Y:5.50, Z:-0.05 [[ 9.92175697e-01 -1.24810993e-01 -3.09891145e-03 1.82892057e+02] [ 1.24810510e-01 9.92180535e-01 -3.49224481e-04 5.50218092e+00] [ 3.11826668e-03 -4.02846770e-05 9.99995137e-01 -4.75888925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.080281693 meters 0.021072851426006633 Centerline is valid? [True, True] Translation: X:182.95, Y:5.51, Z:-0.05 [[ 9.92447847e-01 -1.22628896e-01 -3.06985120e-03 1.82950976e+02] [ 1.22628411e-01 9.92452595e-01 -3.46438479e-04 5.50560763e+00] [ 3.08916515e-03 -3.26288518e-05 9.99995228e-01 -4.60288781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.140281693 meters 0.01949845795311495 Centerline is valid? [True, True] Translation: X:183.01, Y:5.51, Z:-0.04 [[ 9.92759158e-01 -1.20109179e-01 -1.74336528e-03 1.83009318e+02] [ 1.20109018e-01 9.92760689e-01 -1.97039729e-04 5.50790903e+00] [ 1.75441080e-03 -1.37808964e-05 9.99998461e-01 -4.30890105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.200281693 meters 0.01722132319966092 Centerline is valid? [True, True] Translation: X:183.07, Y:5.51, Z:-0.04 [[ 9.93316011e-01 -1.15419657e-01 -1.26666579e-03 1.83067259e+02] [ 1.15419568e-01 9.93316819e-01 -1.43365004e-04 5.51432643e+00] [ 1.27474757e-03 -3.79126465e-06 9.99999188e-01 -4.21674433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.260281693 meters 0.01668251713969295 Centerline is valid? [True, True] Translation: X:183.13, Y:5.52, Z:-0.05 [[ 9.93538292e-01 -1.13447382e-01 -3.36947955e-03 1.83125514e+02] [ 1.13446739e-01 9.93544006e-01 -3.81911772e-04 5.51650969e+00] [ 3.39105310e-03 -2.81249804e-06 9.99994250e-01 -4.50208684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.320281693 meters 0.01708704208326699 Centerline is valid? [True, True] Translation: X:183.18, Y:5.52, Z:-0.05 [[ 9.93556767e-01 -1.13239162e-01 -4.67357716e-03 1.83184015e+02] [ 1.13237922e-01 9.93567759e-01 -5.29921196e-04 5.51506845e+00] [ 4.70352342e-03 -2.71937600e-06 9.99988938e-01 -4.63388185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.380281693 meters 0.017076867551130356 Centerline is valid? [True, True] Translation: X:183.24, Y:5.52, Z:-0.05 [[ 9.93742899e-01 -1.11611114e-01 -4.24376051e-03 1.83240621e+02] [ 1.11610075e-01 9.93751961e-01 -4.81737054e-04 5.51951581e+00] [ 4.27101254e-03 5.07634817e-06 9.99990879e-01 -4.61663366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.440281693 meters 0.018489395859240126 Centerline is valid? [True, True] Translation: X:183.30, Y:5.53, Z:-0.05 [[ 9.94207512e-01 -1.07359419e-01 -5.03773039e-03 1.83298657e+02] [ 1.07357896e-01 9.94220275e-01 -5.72656862e-04 5.52688103e+00] [ 5.07009380e-03 2.84996209e-05 9.99987147e-01 -4.84964422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.500281693 meters 0.022399566025338477 Centerline is valid? [True, True] Translation: X:183.36, Y:5.54, Z:-0.04 [[ 9.94725467e-01 -1.02519119e-01 -3.32798970e-03 1.83355011e+02] [ 1.02518426e-01 9.94731034e-01 -3.78472347e-04 5.54066730e+00] [ 3.34925528e-03 3.52958158e-05 9.99994391e-01 -4.46446113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.560281693 meters 0.02301532197941023 Centerline is valid? [True, True] Translation: X:183.41, Y:5.55, Z:-0.04 [[ 9.95085196e-01 -9.89835747e-02 -2.77585954e-03 1.83413606e+02] [ 9.89830777e-02 9.95089067e-01 -3.16195486e-04 5.54716547e+00] [ 2.79352564e-03 3.98783262e-05 9.99996097e-01 -4.25170982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.620281693 meters 0.027647613385723736 Centerline is valid? [True, True] Translation: X:183.47, Y:5.56, Z:-0.04 [[ 9.95430602e-01 -9.54843000e-02 -8.14921589e-04 1.83470006e+02] [ 9.54842560e-02 9.95430936e-01 -9.28792889e-05 5.56175736e+00] [ 8.20066674e-04 1.46427049e-05 9.99999664e-01 -4.06669523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.680281693 meters 0.028240943410058353 Centerline is valid? [True, True] Translation: X:183.53, Y:5.57, Z:-0.04 [[ 9.95473471e-01 -9.50381642e-02 5.62870244e-04 1.83528500e+02] [ 9.50381431e-02 9.95473630e-01 6.41729353e-05 5.56859602e+00] [-5.66421363e-04 -1.03883118e-05 9.99999840e-01 -3.70586333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.740281693 meters 0.03721663084794713 Centerline is valid? [True, True] Translation: X:183.59, Y:5.59, Z:-0.05 [[ 9.95959226e-01 -8.97311640e-02 -3.67933242e-03 1.83585974e+02] [ 8.97302246e-02 9.95966019e-01 -4.19929457e-04 5.58876402e+00] [ 3.70217082e-03 8.80852929e-05 9.99993143e-01 -4.55317347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.800281693 meters 0.0461592475099909 Centerline is valid? [True, True] Translation: X:183.64, Y:5.61, Z:-0.04 [[ 9.96510986e-01 -8.34287268e-02 -2.34575619e-03 1.83644058e+02] [ 8.34283276e-02 9.96513744e-01 -2.67724124e-04 5.61005782e+00] [ 2.35991416e-03 7.10875148e-05 9.99997213e-01 -4.37141228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.860281693 meters 0.049235548001377215 Centerline is valid? [True, True] Translation: X:183.70, Y:5.62, Z:-0.05 [[ 9.96659544e-01 -8.15920378e-02 -3.53458144e-03 1.83702703e+02] [ 8.15911193e-02 9.96665805e-01 -4.03528340e-04 5.61917708e+00] [ 3.55572115e-03 1.13789915e-04 9.99993672e-01 -4.63462046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.920281693 meters 0.04335251697909635 Centerline is valid? [True, True] Translation: X:183.76, Y:5.61, Z:-0.04 [[ 9.96679985e-01 -8.13979689e-02 -1.83818037e-03 1.83763073e+02] [ 8.13977195e-02 9.96681678e-01 -2.10198745e-04 5.61273554e+00] [ 1.84919044e-03 5.98771916e-05 9.99998288e-01 -4.39968800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.980281693 meters 0.04443266633775707 Centerline is valid? [True, True] Translation: X:183.82, Y:5.62, Z:-0.04 [[ 9.96744039e-01 -8.06147812e-02 1.60536841e-03 1.83821032e+02] [ 8.06145898e-02 9.96745331e-01 1.83728269e-04 5.62027955e+00] [-1.61495468e-03 -5.37139414e-05 9.99998695e-01 -3.71462561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.040281693 meters 0.046177780899660736 Centerline is valid? [True, True] Translation: X:183.88, Y:5.63, Z:-0.05 [[ 9.97034128e-01 -7.69053866e-02 -2.91706136e-03 1.83881164e+02] [ 7.69047383e-02 9.97038389e-01 -3.33945165e-04 5.62662752e+00] [ 2.93410434e-03 1.08618887e-04 9.99995690e-01 -4.53148489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.100281693 meters 0.05028866687957116 Centerline is valid? [True, True] Translation: X:183.94, Y:5.64, Z:-0.05 [[ 9.97293469e-01 -7.33818995e-02 -4.56447441e-03 1.83940237e+02] [ 7.33802750e-02 9.97303897e-01 -5.22597968e-04 5.63782721e+00] [ 4.59051734e-03 1.86241153e-04 9.99989446e-01 -4.82751232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.160281693 meters 0.05995275063819 Centerline is valid? [True, True] Translation: X:184.00, Y:5.66, Z:-0.04 [[ 9.97604472e-01 -6.91704497e-02 -8.75477398e-04 1.83997674e+02] [ 6.91703883e-02 9.97604855e-01 -1.00252339e-04 5.65799963e+00] [ 8.80315002e-04 3.94550704e-05 9.99999612e-01 -4.14597468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.220281693 meters 0.05769572317916415 Centerline is valid? [True, True] Translation: X:184.06, Y:5.66, Z:-0.04 [[ 9.97697931e-01 -6.78122006e-02 5.86088023e-04 1.84057399e+02] [ 6.78121728e-02 9.97698103e-01 6.71160854e-05 5.66366524e+00] [-5.89290198e-04 -2.72176773e-05 9.99999826e-01 -3.83085156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.280281693 meters 0.05931218483876633 Centerline is valid? [True, True] Translation: X:184.12, Y:5.68, Z:-0.04 [[ 9.97683553e-01 -6.80189960e-02 -9.71568551e-04 1.84115925e+02] [ 6.80189199e-02 9.97684025e-01 -1.11267864e-04 5.67618375e+00] [ 9.76886751e-04 4.49250741e-05 9.99999522e-01 -4.17362661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.340281693 meters 0.053035930936372655 Centerline is valid? [True, True] Translation: X:184.18, Y:5.68, Z:-0.04 [[ 9.97575989e-01 -6.95662983e-02 -1.63596179e-03 1.84175641e+02] [ 6.95660844e-02 9.97577328e-01 -1.87405045e-04 5.67741085e+00] [ 1.64503547e-03 7.31433175e-05 9.99998644e-01 -4.31199663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.400281693 meters 0.05204194110296307 Centerline is valid? [True, True] Translation: X:184.23, Y:5.68, Z:-0.04 [[ 9.97281683e-01 -7.36801277e-02 -6.95231987e-04 1.84234886e+02] [ 7.36800900e-02 9.97281925e-01 -7.96522922e-05 5.68426643e+00] [ 6.99211086e-04 2.82110166e-05 9.99999755e-01 -3.99378998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46028169299998 meters 0.048322728223829325 Centerline is valid? [True, True] Translation: X:184.29, Y:5.68, Z:-0.04 [[ 9.96870736e-01 -7.90485585e-02 -2.45613103e-04 1.84294497e+02] [ 7.90485540e-02 9.96870767e-01 -2.81457777e-05 5.68359487e+00] [ 2.47069405e-04 8.64234148e-06 9.99999969e-01 -4.08264141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.520281693 meters 0.042341514651692516 Centerline is valid? [True, True] Translation: X:184.36, Y:5.68, Z:-0.04 [[ 9.96415794e-01 -8.45875692e-02 7.12670222e-04 1.84355689e+02] [ 8.45875324e-02 9.96416049e-01 8.16553251e-05 5.67887726e+00] [-7.17023072e-04 -2.10796400e-05 9.99999743e-01 -3.85482032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.580281693 meters 0.035665169297596215 Centerline is valid? [True, True] Translation: X:184.42, Y:5.67, Z:-0.04 [[ 9.96426109e-01 -8.44689877e-02 1.26334416e-05 1.84415820e+02] [ 8.44689877e-02 9.96426109e-01 1.39085681e-06 5.67160784e+00] [-1.27057753e-05 -3.18752010e-07 1.00000000e+00 -3.95487396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.640281693 meters 0.04667377793312226 Centerline is valid? [True, True] Translation: X:184.47, Y:5.69, Z:-0.04 [[ 9.96607809e-01 -8.22937257e-02 -7.86274838e-04 1.84472235e+02] [ 8.22936801e-02 9.96608119e-01 -9.02652425e-05 5.69268079e+00] [ 7.91036150e-04 2.52535956e-05 9.99999687e-01 -4.12435793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.700281693 meters 0.05098920984889459 Centerline is valid? [True, True] Translation: X:184.53, Y:5.71, Z:-0.04 [[ 9.96847175e-01 -7.93448193e-02 3.30640977e-04 1.84531475e+02] [ 7.93448110e-02 9.96847230e-01 3.79527049e-05 5.70684039e+00] [-3.32609893e-04 -1.15984008e-05 9.99999945e-01 -3.87745389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.760281693 meters 0.05207824191767622 Centerline is valid? [True, True] Translation: X:184.59, Y:5.72, Z:-0.04 [[ 9.96841201e-01 -7.94080924e-02 1.40557847e-03 1.84588398e+02] [ 7.94079435e-02 9.96842190e-01 1.61518689e-04 5.71615444e+00] [-1.41396581e-03 -4.93943884e-05 9.99998999e-01 -3.70112839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.820281693 meters 0.0400829295099764 Centerline is valid? [True, True] Translation: X:184.65, Y:5.71, Z:-0.04 [[ 9.96687834e-01 -8.13179243e-02 8.69539012e-04 1.84647908e+02] [ 8.13178680e-02 9.96688213e-01 9.99818131e-05 5.71216405e+00] [-8.74789598e-04 -2.89415982e-05 9.99999617e-01 -3.89837253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.880281693 meters 0.0502444943067633 Centerline is valid? [True, True] Translation: X:184.70, Y:5.74, Z:-0.04 [[ 9.96627018e-01 -8.20508090e-02 -1.50084741e-03 1.84703705e+02] [ 8.20506419e-02 9.96628146e-01 -1.72664770e-04 5.73993741e+00] [ 1.50995406e-03 4.89368810e-05 9.99998859e-01 -4.30529383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.940281693 meters 0.039990191313252765 Centerline is valid? [True, True] Translation: X:184.76, Y:5.74, Z:-0.04 [[ 9.96611903e-01 -8.22211523e-02 -2.09704505e-03 1.84762657e+02] [ 8.22208257e-02 9.96614107e-01 -2.41642635e-04 5.74136867e+00] [ 2.10981281e-03 6.84031505e-05 9.99997772e-01 -4.27375065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.000281693 meters 0.03910902920569923 Centerline is valid? [True, True] Translation: X:184.82, Y:5.76, Z:-0.04 [[ 9.96479315e-01 -8.38257511e-02 -1.48941932e-03 1.84820011e+02] [ 8.38255878e-02 9.96480427e-01 -1.71865984e-04 5.76050565e+00] [ 1.49858399e-03 4.64094485e-05 9.99998876e-01 -4.31842817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.060281693 meters 0.032785464319362904 Centerline is valid? [True, True] Translation: X:184.88, Y:5.77, Z:-0.04 [[ 9.95915358e-01 -9.02773273e-02 -1.61355305e-03 1.84879185e+02] [ 9.02771442e-02 9.95916664e-01 -1.86137686e-04 5.77337457e+00] [ 1.62376838e-03 3.97104197e-05 9.99998681e-01 -4.40127873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.120281693 meters 0.022717906548523514 Centerline is valid? [True, True] Translation: X:184.94, Y:5.77, Z:-0.04 [[ 9.94898436e-01 -1.00872858e-01 -1.32991148e-03 1.84938924e+02] [ 1.00872743e-01 9.94899325e-01 -1.53439787e-04 5.77194833e+00] [ 1.33860594e-03 1.85051851e-05 9.99999104e-01 -4.31950603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.180281693 meters 0.016506521992742322 Centerline is valid? [True, True] Translation: X:185.00, Y:5.77, Z:-0.04 [[ 9.94025615e-01 -1.09140786e-01 1.16874564e-03 1.84997939e+02] [ 1.09140702e-01 9.94026302e-01 1.34869486e-04 5.77117288e+00] [-1.17648366e-03 -6.50600392e-06 9.99999308e-01 -3.81089188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.240281693 meters 0.014996995995624587 Centerline is valid? [True, True] Translation: X:185.06, Y:5.77, Z:-0.04 [[ 9.93281999e-01 -1.15708102e-01 1.58318022e-03 1.85057421e+02] [ 1.15707957e-01 9.93283260e-01 1.82908704e-04 5.76781095e+00] [-1.59371043e-03 1.50662507e-06 9.99998730e-01 -3.82306400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.300281693 meters 0.016051917275879776 Centerline is valid? [True, True] Translation: X:185.12, Y:5.77, Z:-0.04 [[ 9.92807745e-01 -1.19712683e-01 1.28644862e-03 1.85116528e+02] [ 1.19712590e-01 9.92808579e-01 1.48822021e-04 5.76735934e+00] [-1.29501311e-03 6.25244197e-06 9.99999161e-01 -3.91235391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.360281693 meters 0.018976045455611323 Centerline is valid? [True, True] Translation: X:185.18, Y:5.76, Z:-0.04 [[ 9.92237557e-01 -1.24349871e-01 1.31945435e-03 1.85175267e+02] [ 1.24349778e-01 9.92238434e-01 1.52751416e-04 5.76317731e+00] [-1.32820794e-03 1.25081634e-05 9.99999118e-01 -3.91787141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.420281693 meters 0.025613151772795467 Centerline is valid? [True, True] Translation: X:185.24, Y:5.76, Z:-0.04 [[ 9.91298521e-01 -1.31618545e-01 1.94931968e-03 1.85235945e+02] [ 1.31618356e-01 9.91300438e-01 2.25752455e-04 5.75622382e+00] [-1.96207466e-03 3.27781764e-05 9.99998075e-01 -3.91670980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.480281693 meters 0.03310129448661662 Centerline is valid? [True, True] Translation: X:185.30, Y:5.75, Z:-0.04 [[ 9.90492883e-01 -1.37560501e-01 -9.78913842e-04 1.85296167e+02] [ 1.37560456e-01 9.90493366e-01 -1.13403752e-04 5.74820288e+00] [ 9.85207544e-04 -2.23342253e-05 9.99999514e-01 -4.42077041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.540281693 meters 0.03937691296818166 Centerline is valid? [True, True] Translation: X:185.36, Y:5.74, Z:-0.05 [[ 9.89749293e-01 -1.42803721e-01 -1.85339259e-03 1.85357676e+02] [ 1.42803569e-01 9.89751027e-01 -2.14726628e-04 5.74176679e+00] [ 1.86506098e-03 -5.21455477e-05 9.99998259e-01 -4.52850914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.600281693 meters 0.04143766351129457 Centerline is valid? [True, True] Translation: X:185.42, Y:5.74, Z:-0.04 [[ 9.89481185e-01 -1.44654052e-01 -1.47980855e-03 1.85417452e+02] [ 1.44653957e-01 9.89482290e-01 -1.71715609e-04 5.73947149e+00] [ 1.48908372e-03 -4.41507992e-05 9.99998890e-01 -4.46226865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.660281693 meters 0.047489586936412656 Centerline is valid? [True, True] Translation: X:185.48, Y:5.73, Z:-0.04 [[ 9.88857514e-01 -1.48864083e-01 5.48614089e-04 1.85478063e+02] [ 1.48864070e-01 9.88857666e-01 6.36458477e-05 5.72698147e+00] [-5.51975829e-04 1.87322515e-05 9.99999847e-01 -4.01247391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.720281693 meters 0.04516066517780575 Centerline is valid? [True, True] Translation: X:185.54, Y:5.73, Z:-0.04 [[ 9.88939371e-01 -1.48310013e-01 1.74945643e-03 1.85537207e+02] [ 1.48309885e-01 9.88940917e-01 2.03194952e-04 5.72687945e+00] [-1.76024489e-03 5.85141933e-05 9.99998449e-01 -3.78104646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.780281693 meters 0.040223749263997285 Centerline is valid? [True, True] Translation: X:185.60, Y:5.73, Z:-0.04 [[ 9.89645817e-01 -1.43505530e-01 2.70550388e-03 1.85596715e+02] [ 1.43505207e-01 9.89649512e-01 3.14357140e-04 5.73126012e+00] [-2.72261258e-03 7.71516637e-05 9.99996291e-01 -3.52603142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.840281693 meters 0.033737579902997854 Centerline is valid? [True, True] Translation: X:185.65, Y:5.74, Z:-0.04 [[ 9.89897199e-01 -1.41780859e-01 1.31288105e-03 1.85654852e+02] [ 1.41780782e-01 9.89898069e-01 1.52593905e-04 5.73945297e+00] [-1.32125331e-03 3.50890219e-05 9.99999127e-01 -3.87659800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.900281693 meters 0.03347816019461259 Centerline is valid? [True, True] Translation: X:185.71, Y:5.74, Z:-0.05 [[ 9.90467927e-01 -1.37710430e-01 -3.02054021e-03 1.85714393e+02] [ 1.37709999e-01 9.90472530e-01 -3.51226290e-04 5.73528292e+00] [ 3.04012962e-03 -6.80802130e-05 9.99995376e-01 -4.71897625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96028169299998 meters 0.023007091059480636 Centerline is valid? [True, True] Translation: X:185.77, Y:5.75, Z:-0.04 [[ 9.91562233e-01 -1.29630768e-01 4.49407139e-04 1.85773201e+02] [ 1.29630757e-01 9.91562335e-01 5.22555744e-05 5.74890970e+00] [-4.52389122e-04 6.44233383e-06 9.99999898e-01 -3.99361467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.020281693 meters 0.015589913875581661 Centerline is valid? [True, True] Translation: X:185.83, Y:5.77, Z:-0.05 [[ 9.92931923e-01 -1.18651308e-01 -2.83973430e-03 1.85831716e+02] [ 1.18650848e-01 9.92935983e-01 -3.30306256e-04 5.76825081e+00] [ 2.85886564e-03 -8.96525764e-06 9.99995913e-01 -4.69968082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.080281693 meters 0.017587467908197905 Centerline is valid? [True, True] Translation: X:185.89, Y:5.79, Z:-0.05 [[ 9.94092524e-01 -1.08468637e-01 -3.82198848e-03 1.85888567e+02] [ 1.08467727e-01 9.94099871e-01 -4.45222350e-04 5.79230881e+00] [ 3.84773091e-03 2.80298056e-05 9.99992597e-01 -4.81960672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.140281693 meters 0.01969701793527226 Centerline is valid? [True, True] Translation: X:185.94, Y:5.81, Z:-0.05 [[ 9.94388282e-01 -1.05738563e-01 -3.36162870e-03 1.85944833e+02] [ 1.05737842e-01 9.94393964e-01 -3.91868409e-04 5.80549227e+00] [ 3.38421889e-03 3.42179896e-05 9.99994273e-01 -4.75955496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.200281693 meters 0.026940340537817353 Centerline is valid? [True, True] Translation: X:186.00, Y:5.83, Z:-0.05 [[ 9.94912889e-01 -1.00713065e-01 -2.28524903e-03 1.86000693e+02] [ 1.00712719e-01 9.94915513e-01 -2.66494022e-04 5.83207793e+00] [ 2.30046914e-03 3.49846947e-05 9.99997353e-01 -4.63350558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.260281693 meters 0.023161290497067135 Centerline is valid? [True, True] Translation: X:186.06, Y:5.84, Z:-0.04 [[ 9.94961648e-01 -1.00244637e-01 1.52673858e-03 1.86059035e+02] [ 1.00244481e-01 9.94962820e-01 1.78229086e-04 5.83895184e+00] [-1.53691464e-03 -2.42839885e-05 9.99998819e-01 -3.67770802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.320281693 meters 0.02145942496579531 Centerline is valid? [True, True] Translation: X:186.12, Y:5.85, Z:-0.03 [[ 9.94639499e-01 -1.03357544e-01 3.07972228e-03 1.86115923e+02] [ 1.03356925e-01 9.94644266e-01 3.59801730e-04 5.84888604e+00] [-3.10041633e-03 -3.95623881e-05 9.99995193e-01 -3.42842580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.380281693 meters 0.01780737723944812 Centerline is valid? [True, True] Translation: X:186.17, Y:5.85, Z:-0.04 [[ 9.94243855e-01 -1.07135370e-01 1.08090593e-03 1.86174578e+02] [ 1.07135296e-01 9.94244443e-01 1.26411614e-04 5.85242427e+00] [-1.08822787e-03 -9.88079422e-06 9.99999408e-01 -3.86273841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.440281693 meters 0.014344488904575453 Centerline is valid? [True, True] Translation: X:186.23, Y:5.85, Z:-0.04 [[ 9.93230286e-01 -1.16161289e-01 3.92709979e-04 1.86232855e+02] [ 1.16161280e-01 9.93230363e-01 4.59523913e-05 5.85042156e+00] [-3.95389364e-04 -2.36128545e-08 9.99999922e-01 -3.93275240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.500281693 meters 0.019405476146558718 Centerline is valid? [True, True] Translation: X:186.29, Y:5.84, Z:-0.04 [[ 9.91880368e-01 -1.27172465e-01 7.07174575e-04 1.86293153e+02] [ 1.27172438e-01 9.91880620e-01 8.28152581e-05 5.83949216e+00] [-7.11964576e-04 7.79028613e-06 9.99999747e-01 -3.88686970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.560281693 meters 0.02337180749140382 Centerline is valid? [True, True] Translation: X:186.35, Y:5.84, Z:-0.04 [[ 9.91310678e-01 -1.31541379e-01 6.90792722e-05 1.86352463e+02] [ 1.31541379e-01 9.91310681e-01 8.04709481e-06 5.83796819e+00] [-6.95375463e-05 1.10961172e-06 9.99999998e-01 -4.12874757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.620281693 meters 0.02433102359432541 Centerline is valid? [True, True] Translation: X:186.41, Y:5.84, Z:-0.05 [[ 9.91213699e-01 -1.32227143e-01 -3.37418182e-03 1.86410928e+02] [ 1.32226560e-01 9.91219441e-01 -3.96324221e-04 5.84214360e+00] [ 3.39695944e-03 -5.33144567e-05 9.99994229e-01 -4.86479983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.680281693 meters 0.022249068421897708 Centerline is valid? [True, True] Translation: X:186.47, Y:5.85, Z:-0.05 [[ 9.91331471e-01 -1.31352660e-01 -2.89710041e-03 1.86469410e+02] [ 1.31352225e-01 9.91335703e-01 -3.40775100e-04 5.84959479e+00] [ 2.91676078e-03 -4.27195040e-05 9.99995745e-01 -4.73342107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.740281693 meters 0.025413816573531846 Centerline is valid? [True, True] Translation: X:186.53, Y:5.84, Z:-0.05 [[ 9.91163116e-01 -1.32622647e-01 -2.62887805e-03 1.86528074e+02] [ 1.32622293e-01 9.91166601e-01 -3.09346821e-04 5.84382311e+00] [ 2.64668251e-03 -4.20346754e-05 9.99996497e-01 -4.88252270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.800281693 meters 0.0257401104168602 Centerline is valid? [True, True] Translation: X:186.59, Y:5.84, Z:-0.05 [[ 9.91122257e-01 -1.32921225e-01 -2.93596711e-03 1.86586438e+02] [ 1.32920783e-01 9.91126604e-01 -3.46036204e-04 5.84440308e+00] [ 2.95591067e-03 -4.72868630e-05 9.99995630e-01 -4.93720206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.860281693 meters 0.020634223499542467 Centerline is valid? [True, True] Translation: X:186.64, Y:5.86, Z:-0.05 [[ 9.91531854e-01 -1.29838896e-01 -2.53828888e-03 1.86644622e+02] [ 1.29838555e-01 9.91535103e-01 -2.99558064e-04 5.85632057e+00] [ 2.55569681e-03 -3.25463961e-05 9.99996734e-01 -4.69208188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.920281693 meters 0.01748103606976164 Centerline is valid? [True, True] Translation: X:186.70, Y:5.87, Z:-0.05 [[ 9.92106375e-01 -1.25384898e-01 -1.88895325e-03 1.86701530e+02] [ 1.25384701e-01 9.92108173e-01 -2.23018011e-04 5.86705480e+00] [ 1.90200904e-03 -1.55882474e-05 9.99998191e-01 -4.58022510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.980281693 meters 0.017806857926751646 Centerline is valid? [True, True] Translation: X:186.76, Y:5.87, Z:-0.04 [[ 9.91968772e-01 -1.26474289e-01 1.48649192e-03 1.86760315e+02] [ 1.26474168e-01 9.91969886e-01 1.75673751e-04 5.87252710e+00] [-1.49677344e-03 1.37399539e-05 9.99998880e-01 -3.92813524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.040281693 meters 0.01886577771460405 Centerline is valid? [True, True] Translation: X:186.82, Y:5.88, Z:-0.04 [[ 9.91775464e-01 -1.27970962e-01 2.20495998e-03 1.86819108e+02] [ 1.27970698e-01 9.91777915e-01 2.60970022e-04 5.87566491e+00] [-2.22022720e-03 2.33466035e-05 9.99997535e-01 -3.74968926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.100281693 meters 0.018433888000667708 Centerline is valid? [True, True] Translation: X:186.88, Y:5.88, Z:-0.04 [[ 9.91860602e-01 -1.27318519e-01 1.59400841e-03 1.86876295e+02] [ 1.27318380e-01 9.91861883e-01 1.88808891e-04 5.88221347e+00] [-1.60507505e-03 1.56744684e-05 9.99998712e-01 -3.83922782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.160281693 meters 0.0169137718735501 Centerline is valid? [True, True] Translation: X:186.94, Y:5.89, Z:-0.04 [[ 9.92118870e-01 -1.25290056e-01 1.59683808e-03 1.86935527e+02] [ 1.25289914e-01 9.92120155e-01 1.89359648e-04 5.88680674e+00] [-1.60798013e-03 1.22004261e-05 9.99998707e-01 -3.77354061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.220281693 meters 0.01794156043074401 Centerline is valid? [True, True] Translation: X:187.00, Y:5.88, Z:-0.04 [[ 9.91955180e-01 -1.26589283e-01 -2.73082693e-04 1.86995036e+02] [ 1.26589278e-01 9.91955218e-01 -3.24898647e-05 5.88418484e+00] [ 2.74998671e-04 -2.34085147e-06 9.99999962e-01 -4.33037889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.280281693 meters 0.0156916039872015 Centerline is valid? [True, True] Translation: X:187.05, Y:5.89, Z:-0.04 [[ 9.92409990e-01 -1.22965192e-01 -1.40492620e-03 1.87052853e+02] [ 1.22965079e-01 9.92410984e-01 -1.67015056e-04 5.88892636e+00] [ 1.41480123e-03 -7.00944993e-06 9.99998999e-01 -4.43045826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.340281693 meters 0.014759152928214093 Centerline is valid? [True, True] Translation: X:187.11, Y:5.91, Z:-0.05 [[ 9.93269894e-01 -1.15798871e-01 -2.35341188e-03 1.87109382e+02] [ 1.15798532e-01 9.93272682e-01 -2.80150965e-04 5.90907530e+00] [ 2.37002089e-03 5.74387889e-06 9.99997191e-01 -4.51311003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.400281693 meters 0.024862713093777383 Centerline is valid? [True, True] Translation: X:187.16, Y:5.94, Z:-0.04 [[ 9.94667545e-01 -1.03128964e-01 9.44587812e-04 1.87164906e+02] [ 1.03128904e-01 9.94667993e-01 1.12435753e-04 5.94099433e+00] [-9.51146646e-04 -1.44218881e-05 9.99999548e-01 -3.96868356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46028169299998 meters 0.0313958356831206 Centerline is valid? [True, True] Translation: X:187.22, Y:5.97, Z:-0.04 [[ 9.95461265e-01 -9.51666497e-02 4.22193779e-04 1.87222536e+02] [ 9.51666370e-02 9.95461355e-01 5.02587372e-05 5.96528254e+00] [-4.25060547e-04 -9.85186398e-06 9.99999910e-01 -4.14733169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.520281693 meters 0.03595787103860079 Centerline is valid? [True, True] Translation: X:187.28, Y:5.99, Z:-0.05 [[ 9.95988810e-01 -8.94525907e-02 -2.12690473e-03 1.87280301e+02] [ 8.94522537e-02 9.95991079e-01 -2.53239390e-04 5.98585862e+00] [ 2.14103106e-03 6.19671770e-05 9.99997706e-01 -4.63531164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.580281693 meters 0.043778689022883205 Centerline is valid? [True, True] Translation: X:187.34, Y:6.01, Z:-0.04 [[ 9.96460289e-01 -8.40516313e-02 -1.48832016e-03 1.87336908e+02] [ 8.40514603e-02 9.96461399e-01 -1.77203148e-04 6.01347266e+00] [ 1.49794781e-03 5.14804169e-05 9.99998877e-01 -4.42040765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.640281693 meters 0.042784381465924136 Centerline is valid? [True, True] Translation: X:187.40, Y:6.03, Z:-0.05 [[ 9.96645113e-01 -8.17868849e-02 -3.06982429e-03 1.87395111e+02] [ 8.17861459e-02 9.96649834e-01 -3.65693982e-04 6.02618583e+00] [ 3.08944884e-03 1.13398023e-04 9.99995221e-01 -4.57577130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.700281693 meters 0.04378485171394856 Centerline is valid? [True, True] Translation: X:187.45, Y:6.04, Z:-0.05 [[ 9.96558915e-01 -8.28244561e-02 -3.23093568e-03 1.87450933e+02] [ 8.28236424e-02 9.96564145e-01 -3.85078211e-04 6.04421044e+00] [ 3.25172854e-03 1.16155263e-04 9.99994706e-01 -4.78875617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.760281693 meters 0.03964691045591096 Centerline is valid? [True, True] Translation: X:187.51, Y:6.05, Z:-0.04 [[ 9.95844945e-01 -9.10617244e-02 7.79448270e-04 1.87509111e+02] [ 9.10616796e-02 9.95845250e-01 9.29070935e-05 6.05136303e+00] [-7.84670138e-04 -2.15431908e-05 9.99999692e-01 -4.10343494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.820281693 meters 0.02866771595493571 Centerline is valid? [True, True] Translation: X:187.57, Y:6.05, Z:-0.05 [[ 9.95191323e-01 -9.79320354e-02 -1.88340391e-03 1.87570123e+02] [ 9.79317858e-02 9.95193104e-01 -2.24525788e-04 6.04708757e+00] [ 1.89633886e-03 3.90010071e-05 9.99998201e-01 -4.57213885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.880281693 meters 0.02649873728830288 Centerline is valid? [True, True] Translation: X:187.63, Y:6.05, Z:-0.05 [[ 9.94944663e-01 -1.00407412e-01 -1.86252527e-03 1.87628111e+02] [ 1.00407172e-01 9.94946406e-01 -2.22393819e-04 6.05423734e+00] [ 1.87544281e-03 3.42586481e-05 9.99998241e-01 -4.58141803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.940281693 meters 0.027140170048707935 Centerline is valid? [True, True] Translation: X:187.69, Y:6.06, Z:-0.04 [[ 9.94965227e-01 -1.00219254e-01 5.46227595e-04 1.87685550e+02] [ 1.00219233e-01 9.94965377e-01 6.52173170e-05 6.06006742e+00] [-5.50013575e-04 -1.01464518e-05 9.99999849e-01 -4.06764130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.000281693 meters 0.02254892657417055 Centerline is valid? [True, True] Translation: X:187.75, Y:6.06, Z:-0.04 [[ 9.94511805e-01 -1.04624401e-01 -6.91021925e-05 1.87745080e+02] [ 1.04624401e-01 9.94511807e-01 -8.27200445e-06 6.05939767e+00] [ 6.95883999e-05 9.96830604e-07 9.99999998e-01 -4.24285342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.060281693 meters 0.019481916989446672 Centerline is valid? [True, True] Translation: X:187.80, Y:6.06, Z:-0.04 [[ 9.94227565e-01 -1.07291829e-01 1.09925380e-04 1.87804656e+02] [ 1.07291828e-01 9.94227571e-01 1.30943954e-05 6.05963046e+00] [-1.10695765e-04 -1.22471396e-06 9.99999994e-01 -4.28563600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.120281693 meters 0.016048897624482587 Centerline is valid? [True, True] Translation: X:187.86, Y:6.05, Z:-0.04 [[ 9.93652987e-01 -1.12473636e-01 1.85005273e-03 1.87863780e+02] [ 1.12473419e-01 9.93654709e-01 2.21441730e-04 6.05257850e+00] [-1.86321996e-03 -1.19544801e-05 9.99998264e-01 -3.95682359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.180281693 meters 0.015870597220938445 Centerline is valid? [True, True] Translation: X:187.92, Y:6.05, Z:-0.05 [[ 9.93498839e-01 -1.13810303e-01 -2.69673681e-03 1.87921474e+02] [ 1.13809845e-01 9.93502499e-01 -3.23383751e-04 6.05493224e+00] [ 2.71601916e-03 1.43661832e-05 9.99996312e-01 -4.66564587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.240281693 meters 0.01525121279495415 Centerline is valid? [True, True] Translation: X:187.98, Y:6.06, Z:-0.04 [[ 9.93393125e-01 -1.14747306e-01 -1.77634546e-03 1.87980075e+02] [ 1.14747108e-01 9.93394713e-01 -2.13373227e-04 6.05645368e+00] [ 1.78909619e-03 8.13299321e-06 9.99998400e-01 -4.44350010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.300281693 meters 0.01512609179268567 Centerline is valid? [True, True] Translation: X:188.04, Y:6.06, Z:-0.04 [[ 9.93333752e-01 -1.15270945e-01 -8.15838447e-04 1.88036818e+02] [ 1.15270903e-01 9.93334087e-01 -9.80630026e-05 6.06005365e+00] [ 8.21703954e-04 3.36685579e-06 9.99999662e-01 -4.28419846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.360281693 meters 0.014728676545744153 Centerline is valid? [True, True] Translation: X:188.09, Y:6.06, Z:-0.04 [[ 9.93174527e-01 -1.16627879e-01 -1.51537103e-03 1.88094630e+02] [ 1.16627736e-01 9.93175683e-01 -1.82436496e-04 6.06109074e+00] [ 1.52630684e-03 4.45698782e-06 9.99998835e-01 -4.45679280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.420281693 meters 0.014350474923824089 Centerline is valid? [True, True] Translation: X:188.15, Y:6.06, Z:-0.04 [[ 9.92801102e-01 -1.19770797e-01 -9.63572807e-04 1.88152566e+02] [ 1.19770741e-01 9.92801569e-01 -1.16039425e-04 6.06286795e+00] [ 9.70534730e-04 -2.03760441e-07 9.99999529e-01 -4.39639462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.480281693 meters 0.015124291407673159 Centerline is valid? [True, True] Translation: X:188.21, Y:6.06, Z:-0.05 [[ 9.92390661e-01 -1.23104433e-01 -2.46485768e-03 1.88212126e+02] [ 1.23104074e-01 9.92393722e-01 -2.97230046e-04 6.05867693e+00] [ 2.48269962e-03 -8.46570061e-06 9.99996918e-01 -4.69306670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.540281693 meters 0.015199357536141916 Centerline is valid? [True, True] Translation: X:188.27, Y:6.06, Z:-0.04 [[ 9.92212972e-01 -1.24551395e-01 6.06947152e-04 1.88270502e+02] [ 1.24551373e-01 9.92213158e-01 7.32267606e-05 6.06298407e+00] [-6.11341445e-04 2.93955949e-06 9.99999813e-01 -4.11027186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.600281693 meters 0.01606903275010876 Centerline is valid? [True, True] Translation: X:188.33, Y:6.06, Z:-0.04 [[ 9.91957074e-01 -1.26574595e-01 1.86071737e-04 1.88329329e+02] [ 1.26574593e-01 9.91957092e-01 2.24430160e-05 6.06360024e+00] [-1.87415894e-04 1.28944577e-06 9.99999982e-01 -4.21951196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.660281693 meters 0.0189117098223726 Centerline is valid? [True, True] Translation: X:188.39, Y:6.06, Z:-0.04 [[ 9.91379173e-01 -1.31024149e-01 9.12303947e-05 1.88388522e+02] [ 1.31024149e-01 9.91379177e-01 1.09895436e-05 6.06142575e+00] [-9.18838092e-05 1.05858020e-06 9.99999996e-01 -4.28663087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.720281693 meters 0.02565751006028638 Centerline is valid? [True, True] Translation: X:188.45, Y:6.05, Z:-0.04 [[ 9.90369329e-01 -1.38446505e-01 1.07542798e-03 1.88449334e+02] [ 1.38446445e-01 9.90369913e-01 1.30239844e-04 6.04884239e+00] [-1.08310276e-03 1.99036335e-05 9.99999413e-01 -4.03776035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.780281693 meters 0.028917642074713694 Centerline is valid? [True, True] Translation: X:188.51, Y:6.04, Z:-0.04 [[ 9.89930719e-01 -1.41552465e-01 2.65163427e-04 1.88509794e+02] [ 1.41552462e-01 9.89930755e-01 3.21128332e-05 6.04424568e+00] [-2.67039083e-04 5.74505581e-06 9.99999964e-01 -4.11544953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.840281693 meters 0.03033445024461889 Centerline is valid? [True, True] Translation: X:188.57, Y:6.04, Z:-0.04 [[ 9.89684072e-01 -1.43264249e-01 8.90158732e-04 1.88570020e+02] [ 1.43264210e-01 9.89684472e-01 1.07920045e-04 6.03925732e+00] [-8.96437359e-04 2.07211374e-05 9.99999598e-01 -3.98666618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.900281693 meters 0.029337800818987413 Centerline is valid? [True, True] Translation: X:188.63, Y:6.04, Z:-0.04 [[ 9.90012201e-01 -1.40972004e-01 -1.65400603e-03 1.88628403e+02] [ 1.40971865e-01 9.90013582e-01 -2.00746457e-04 6.04059379e+00] [ 1.66578807e-03 -3.44268744e-05 9.99998612e-01 -4.34414693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96028169299998 meters 0.025707770270356343 Centerline is valid? [True, True] Translation: X:188.69, Y:6.05, Z:-0.04 [[ 9.90397977e-01 -1.38233898e-01 -1.79915473e-03 1.88686805e+02] [ 1.38233729e-01 9.90399610e-01 -2.18440460e-04 6.04815472e+00] [ 1.81207802e-03 -3.23608780e-05 9.99998358e-01 -4.31914324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.020281693 meters 0.021577415219419905 Centerline is valid? [True, True] Translation: X:188.75, Y:6.06, Z:-0.04 [[ 9.91070894e-01 -1.33334032e-01 -7.20449572e-04 1.88745058e+02] [ 1.33334004e-01 9.91071156e-01 -8.75019625e-05 6.05574683e+00] [ 7.25683780e-04 -9.33977802e-06 9.99999737e-01 -4.16486863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.080281693 meters 0.015665214620646014 Centerline is valid? [True, True] Translation: X:188.80, Y:6.07, Z:-0.04 [[ 9.91996371e-01 -1.26265611e-01 4.41510168e-04 1.88802773e+02] [ 1.26265599e-01 9.91996470e-01 5.36305065e-05 6.07385148e+00] [-4.44748217e-04 2.54627818e-06 9.99999901e-01 -4.03822149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.140281693 meters 0.015577423684172963 Centerline is valid? [True, True] Translation: X:188.86, Y:6.08, Z:-0.05 [[ 9.92112516e-01 -1.25302017e-01 -3.48704348e-03 1.88860795e+02] [ 1.25301298e-01 9.92118644e-01 -4.24642932e-04 6.08045218e+00] [ 3.51276946e-03 -1.56375058e-05 9.99993830e-01 -4.95551714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.200281693 meters 0.018493117747030455 Centerline is valid? [True, True] Translation: X:188.92, Y:6.07, Z:-0.05 [[ 9.91506711e-01 -1.30045881e-01 -1.58477942e-03 1.88921330e+02] [ 1.30045738e-01 9.91507977e-01 -1.93261688e-04 6.07147982e+00] [ 1.59645433e-03 -1.44735486e-05 9.99998726e-01 -4.53051208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.260281693 meters 0.01615216711096528 Centerline is valid? [True, True] Translation: X:188.98, Y:6.08, Z:-0.04 [[ 9.91828722e-01 -1.27576565e-01 -7.90305691e-05 1.88979723e+02] [ 1.27576565e-01 9.91828725e-01 -9.70271006e-06 6.07947669e+00] [ 7.96226270e-05 -4.59021988e-07 9.99999997e-01 -4.18775033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.320281693 meters 0.01414047839129518 Centerline is valid? [True, True] Translation: X:189.04, Y:6.09, Z:-0.05 [[ 9.92712487e-01 -1.20483262e-01 -2.38795848e-03 1.89036480e+02] [ 1.20482909e-01 9.92715359e-01 -2.91666014e-04 6.09287476e+00] [ 2.40570393e-03 1.83230942e-06 9.99997106e-01 -4.79252070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.380281693 meters 0.01596091321071377 Centerline is valid? [True, True] Translation: X:189.09, Y:6.10, Z:-0.05 [[ 9.93164468e-01 -1.16586051e-01 -5.65966803e-03 1.89094546e+02] [ 1.16583999e-01 9.93180594e-01 -6.92172437e-04 6.10331485e+00] [ 5.70177010e-03 2.76143355e-05 9.99983744e-01 -5.41507773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.440281693 meters 0.020142032386379235 Centerline is valid? [True, True] Translation: X:189.15, Y:6.12, Z:-0.05 [[ 9.93786240e-01 -1.11138571e-01 -6.09323799e-03 1.89150523e+02] [ 1.11136089e-01 9.93804917e-01 -7.45570531e-04 6.11755313e+00] [ 6.13835152e-03 6.37590955e-05 9.99981158e-01 -5.44757120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.500281693 meters 0.02505442702472927 Centerline is valid? [True, True] Translation: X:189.21, Y:6.14, Z:-0.05 [[ 9.94327366e-01 -1.06284674e-01 -4.08135550e-03 1.89207329e+02] [ 1.06283519e-01 9.94335740e-01 -4.99525695e-04 6.13520766e+00] [ 4.11132957e-03 6.29112447e-05 9.99991546e-01 -5.02175325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.560281693 meters 0.02553694209464983 Centerline is valid? [True, True] Translation: X:189.27, Y:6.14, Z:-0.04 [[ 9.94418314e-01 -1.05504622e-01 -9.95422572e-04 1.89265265e+02] [ 1.05504553e-01 9.94418812e-01 -1.22034702e-04 6.14360191e+00] [ 1.00274216e-03 1.63319291e-05 9.99999497e-01 -4.44379238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.620281693 meters 0.020199679895049887 Centerline is valid? [True, True] Translation: X:189.32, Y:6.14, Z:-0.05 [[ 9.93822443e-01 -1.10976422e-01 -1.08863153e-03 1.89324736e+02] [ 1.10976342e-01 9.93823039e-01 -1.33440518e-04 6.14043841e+00] [ 1.09671585e-03 1.18038370e-05 9.99999399e-01 -4.58544534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.680281693 meters 0.016498510938556473 Centerline is valid? [True, True] Translation: X:189.38, Y:6.14, Z:-0.04 [[ 9.93412985e-01 -1.14587030e-01 -6.73924702e-04 1.89384031e+02] [ 1.14587001e-01 9.93413213e-01 -8.27648106e-05 6.14223912e+00] [ 6.78969478e-04 4.99662720e-06 9.99999769e-01 -4.39225006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.740281693 meters 0.015902648811886123 Centerline is valid? [True, True] Translation: X:189.44, Y:6.15, Z:-0.04 [[ 9.93287682e-01 -1.15656905e-01 -1.74973108e-03 1.89441094e+02] [ 1.15656706e-01 9.93289223e-01 -2.15132412e-04 6.15127486e+00] [ 1.76287058e-03 1.13202424e-05 9.99998446e-01 -4.47671881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.800281693 meters 0.019504518982683194 Centerline is valid? [True, True] Translation: X:189.50, Y:6.17, Z:-0.04 [[ 9.93738662e-01 -1.11725612e-01 -9.26673400e-04 1.89496300e+02] [ 1.11725554e-01 9.93739094e-01 -1.13975431e-04 6.17496483e+00] [ 9.33605560e-04 9.72869283e-06 9.99999564e-01 -4.30028831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.860281693 meters 0.021607262895368382 Centerline is valid? [True, True] Translation: X:189.55, Y:6.19, Z:-0.05 [[ 9.94033150e-01 -1.09048078e-01 -2.57162037e-03 1.89553629e+02] [ 1.09047623e-01 9.94036476e-01 -3.16705462e-04 6.19366931e+00] [ 2.59082057e-03 3.43866386e-05 9.99996643e-01 -4.63178484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.920281693 meters 0.02163306288978182 Centerline is valid? [True, True] Translation: X:189.61, Y:6.20, Z:-0.05 [[ 9.93998035e-01 -1.09338643e-01 -3.60100225e-03 1.89611153e+02] [ 1.09337752e-01 9.94004557e-01 -4.44119154e-04 6.20304147e+00] [ 3.62797203e-03 4.77280766e-05 9.99993418e-01 -4.79582972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.980281693 meters 0.019776598083243394 Centerline is valid? [True, True] Translation: X:189.67, Y:6.21, Z:-0.05 [[ 9.93731873e-01 -1.11743006e-01 -3.23495909e-03 1.89668739e+02] [ 1.11742298e-01 9.93737138e-01 -3.99484991e-04 6.21431743e+00] [ 3.25933864e-03 3.54992057e-05 9.99994688e-01 -4.79769766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.040281693 meters 0.020100536323867498 Centerline is valid? [True, True] Translation: X:189.73, Y:6.23, Z:-0.05 [[ 9.93532777e-01 -1.13490508e-01 -3.53926612e-03 1.89725914e+02] [ 1.13489671e-01 9.93539080e-01 -4.37222155e-04 6.22633017e+00] [ 3.56601977e-03 3.27243955e-05 9.99993641e-01 -5.10630140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.100281693 meters 0.01743722783185347 Centerline is valid? [True, True] Translation: X:189.78, Y:6.23, Z:-0.05 [[ 9.93278818e-01 -1.15641088e-01 -4.93230067e-03 1.89784901e+02] [ 1.15639484e-01 9.93291064e-01 -6.10104134e-04 6.22998327e+00] [ 4.96976328e-03 3.56348098e-05 9.99987650e-01 -5.34724435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.160281693 meters 0.01650597999482478 Centerline is valid? [True, True] Translation: X:189.84, Y:6.24, Z:-0.05 [[ 9.93231888e-01 -1.16116873e-01 -2.69982674e-03 1.89843690e+02] [ 1.16116393e-01 9.93235557e-01 -3.34435174e-04 6.23670336e+00] [ 2.72039748e-03 1.86775365e-05 9.99996300e-01 -4.77585695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.220281693 meters 0.0197024799408249 Centerline is valid? [True, True] Translation: X:189.90, Y:6.26, Z:-0.05 [[ 9.93688796e-01 -1.12137708e-01 -2.77693828e-03 1.89899737e+02] [ 1.12137185e-01 9.93692676e-01 -3.44111990e-04 6.25612925e+00] [ 2.79801116e-03 3.05421888e-05 9.99996085e-01 -4.83672199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.280281693 meters 0.02371727281159671 Centerline is valid? [True, True] Translation: X:189.96, Y:6.28, Z:-0.05 [[ 9.94151710e-01 -1.07979164e-01 -1.69627366e-03 1.89956443e+02] [ 1.07978962e-01 9.94153157e-01 -2.10513724e-04 6.27931631e+00] [ 1.70908691e-03 2.61207102e-05 9.99998539e-01 -4.58787245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.340281693 meters 0.023395979212017415 Centerline is valid? [True, True] Translation: X:190.01, Y:6.29, Z:-0.05 [[ 9.94073288e-01 -1.08709237e-01 -7.74665290e-04 1.90014145e+02] [ 1.08709195e-01 9.94073590e-01 -9.62920288e-05 6.29448717e+00] [ 7.80542138e-04 1.15080937e-05 9.99999695e-01 -4.51126588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.400281693 meters 0.01604888350377677 Centerline is valid? [True, True] Translation: X:190.07, Y:6.30, Z:-0.05 [[ 9.93088568e-01 -1.17361279e-01 -1.19402979e-03 1.90074418e+02] [ 1.17361185e-01 9.93089286e-01 -1.48353621e-04 6.29860651e+00] [ 1.20318916e-03 7.19553387e-06 9.99999276e-01 -4.55066455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46028169299998 meters 0.015671778122397353 Centerline is valid? [True, True] Translation: X:190.13, Y:6.30, Z:-0.05 [[ 9.91789925e-01 -1.27802478e-01 -4.39001596e-03 1.90133355e+02] [ 1.27801312e-01 9.91799640e-01 -5.46338363e-04 6.29754603e+00] [ 4.42383965e-03 -1.91969141e-05 9.99990215e-01 -5.08919431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.520281693 meters 0.01931252066964355 Centerline is valid? [True, True] Translation: X:190.19, Y:6.30, Z:-0.05 [[ 9.90935165e-01 -1.34300229e-01 -3.30865266e-03 1.90191723e+02] [ 1.34299602e-01 9.90940688e-01 -4.12038353e-04 6.30014549e+00] [ 3.33401539e-03 -3.60474423e-05 9.99994442e-01 -4.80082923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.580281693 meters 0.024216659643342534 Centerline is valid? [True, True] Translation: X:190.25, Y:6.30, Z:-0.05 [[ 9.90132414e-01 -1.40131135e-01 -1.03350315e-03 1.90252146e+02] [ 1.40131076e-01 9.90132953e-01 -1.28728539e-04 6.29895602e+00] [ 1.04134440e-03 -1.73676102e-05 9.99999458e-01 -4.52858047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.640281693 meters 0.029275560236995714 Centerline is valid? [True, True] Translation: X:190.31, Y:6.29, Z:-0.05 [[ 9.89248145e-01 -1.46243666e-01 -9.47918305e-04 1.90313461e+02] [ 1.46243620e-01 9.89248599e-01 -1.18076464e-04 6.29313046e+00] [ 9.54994790e-04 -2.18200808e-05 9.99999544e-01 -4.59492875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.700281693 meters 0.03374522246273054 Centerline is valid? [True, True] Translation: X:190.37, Y:6.29, Z:-0.05 [[ 9.88935261e-01 -1.48339541e-01 -1.55889771e-03 1.90372412e+02] [ 1.48339419e-01 9.88936489e-01 -1.94344346e-04 6.28859298e+00] [ 1.57047978e-03 -3.90520043e-05 9.99998766e-01 -4.73380706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.760281693 meters 0.03116638739731132 Centerline is valid? [True, True] Translation: X:190.43, Y:6.29, Z:-0.05 [[ 9.89334602e-01 -1.45650548e-01 -1.72114455e-03 1.90430269e+02] [ 1.45650394e-01 9.89336099e-01 -2.14653903e-04 6.29234789e+00] [ 1.73405489e-03 -3.83208489e-05 9.99998496e-01 -4.57011199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.820281693 meters 0.0297998018427117 Centerline is valid? [True, True] Translation: X:190.49, Y:6.29, Z:-0.05 [[ 9.89729323e-01 -1.42953047e-01 -5.42227342e-04 1.90488485e+02] [ 1.42953031e-01 9.89729471e-01 -6.76675261e-05 6.29460980e+00] [ 5.46331660e-04 -1.05405074e-05 9.99999851e-01 -4.52398148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.880281693 meters 0.029905057147226796 Centerline is valid? [True, True] Translation: X:190.55, Y:6.29, Z:-0.04 [[ 9.89373924e-01 -1.45387357e-01 1.32438454e-03 1.90547298e+02] [ 1.45387266e-01 9.89374810e-01 1.65287154e-04 6.29388848e+00] [-1.33434337e-03 2.90178479e-05 9.99999109e-01 -4.21588712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.940281693 meters 0.03271577370980357 Centerline is valid? [True, True] Translation: X:190.61, Y:6.29, Z:-0.04 [[ 9.89052832e-01 -1.47561699e-01 -1.99057624e-04 1.90605481e+02] [ 1.47561697e-01 9.89052852e-01 -2.48768193e-05 6.29411684e+00] [ 2.00549376e-04 -4.76879216e-06 9.99999980e-01 -4.39631742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.000281693 meters 0.03838543064402105 Centerline is valid? [True, True] Translation: X:190.67, Y:6.29, Z:-0.05 [[ 9.88336841e-01 -1.52266603e-01 -2.27385070e-03 1.90666973e+02] [ 1.52266352e-01 9.88339455e-01 -2.83976426e-04 6.28502764e+00] [ 2.29057648e-03 -6.55665867e-05 9.99997374e-01 -4.83270352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.060281693 meters 0.040896348800259795 Centerline is valid? [True, True] Translation: X:190.73, Y:6.28, Z:-0.05 [[ 9.87951380e-01 -1.54751088e-01 -2.04233635e-03 1.90727284e+02] [ 1.54750891e-01 9.87953489e-01 -2.55113763e-04 6.28247276e+00] [ 2.05721245e-03 -6.40133744e-05 9.99997882e-01 -4.78003544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.120281693 meters 0.03906080593969464 Centerline is valid? [True, True] Translation: X:190.79, Y:6.28, Z:-0.05 [[ 9.88411810e-01 -1.51781817e-01 -2.09131487e-03 1.90786518e+02] [ 1.51781603e-01 9.88414021e-01 -2.61305584e-04 6.28206315e+00] [ 2.10674637e-03 -5.91455987e-05 9.99997779e-01 -4.65296570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.180281693 meters 0.02606183923391334 Centerline is valid? [True, True] Translation: X:190.84, Y:6.30, Z:-0.05 [[ 9.90128694e-01 -1.40152026e-01 -1.60573411e-03 1.90844209e+02] [ 1.40151884e-01 9.90129996e-01 -2.00659409e-04 6.30081039e+00] [ 1.61800833e-03 -2.63680234e-05 9.99998691e-01 -4.61361420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.240281693 meters 0.01674166121319134 Centerline is valid? [True, True] Translation: X:190.90, Y:6.32, Z:-0.04 [[ 9.91455122e-01 -1.30448159e-01 -1.39659833e-04 1.90901730e+02] [ 1.30448158e-01 9.91455132e-01 -1.74627854e-05 6.32094153e+00] [ 1.40744446e-04 -9.04799949e-07 9.99999990e-01 -4.20713528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.300281693 meters 0.01501673688773796 Centerline is valid? [True, True] Translation: X:190.96, Y:6.33, Z:-0.05 [[ 9.91993437e-01 -1.26263705e-01 -2.54901907e-03 1.90958635e+02] [ 1.26263303e-01 9.91996712e-01 -3.18745478e-04 6.33453375e+00] [ 2.56886452e-03 -5.65414361e-06 9.99996700e-01 -4.78490399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.360281693 meters 0.015116005499050377 Centerline is valid? [True, True] Translation: X:191.01, Y:6.35, Z:-0.05 [[ 9.92512391e-01 -1.22118087e-01 -2.51536654e-03 1.91014617e+02] [ 1.22117681e-01 9.92515578e-01 -3.15031855e-04 6.35059748e+00] [ 2.53501156e-03 5.50229127e-06 9.99996787e-01 -4.70485645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.420281693 meters 0.01786258994746826 Centerline is valid? [True, True] Translation: X:191.07, Y:6.37, Z:-0.04 [[ 9.93114736e-01 -1.17137503e-01 1.38824554e-03 1.91069748e+02] [ 1.17137374e-01 9.93115706e-01 1.73891766e-04 6.37476459e+00] [-1.39905770e-03 -1.00790375e-05 9.99999021e-01 -3.83169376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.480281693 meters 0.017530732286646297 Centerline is valid? [True, True] Translation: X:191.13, Y:6.38, Z:-0.04 [[ 9.93025003e-01 -1.17872331e-01 2.73078115e-03 1.91126676e+02] [ 1.17871835e-01 9.93028757e-01 3.42501795e-04 6.38316478e+00] [-2.75211570e-03 -1.82306602e-05 9.99996213e-01 -3.66998527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.540281693 meters 0.015096361444312895 Centerline is valid? [True, True] Translation: X:191.19, Y:6.37, Z:-0.04 [[ 9.91909681e-01 -1.26940577e-01 1.12895983e-03 1.91187174e+02] [ 1.26940498e-01 9.91910324e-01 1.41739198e-04 6.37189755e+00] [-1.13781936e-03 2.71823963e-06 9.99999353e-01 -4.17182951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.600281693 meters 0.02692027292235406 Centerline is valid? [True, True] Translation: X:191.25, Y:6.35, Z:-0.05 [[ 9.89932313e-01 -1.41535632e-01 -1.29614603e-03 1.91251132e+02] [ 1.41535540e-01 9.89933162e-01 -1.62813932e-04 6.34725011e+00] [ 1.30614191e-03 -2.22759561e-05 9.99999147e-01 -4.74195867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.660281693 meters 0.04287158518464435 Centerline is valid? [True, True] Translation: X:191.31, Y:6.32, Z:-0.05 [[ 9.88501608e-01 -1.51209725e-01 -4.35679922e-04 1.91313996e+02] [ 1.51209716e-01 9.88501704e-01 -5.47188148e-05 6.32100016e+00] [ 4.38944362e-04 -1.17894007e-05 9.99999904e-01 -4.50242613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.720281693 meters 0.039550811059911664 Centerline is valid? [True, True] Translation: X:191.37, Y:6.33, Z:-0.05 [[ 9.88426617e-01 -1.51684141e-01 -2.17814243e-03 1.91372640e+02] [ 1.51683906e-01 9.88429015e-01 -2.73962418e-04 6.32523009e+00] [ 2.19449493e-03 -5.95974045e-05 9.99997590e-01 -4.75227481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.780281693 meters 0.03172148363454703 Centerline is valid? [True, True] Translation: X:191.43, Y:6.34, Z:-0.05 [[ 9.89149331e-01 -1.46862418e-01 -3.87698862e-03 1.91431263e+02] [ 1.46861635e-01 9.89156925e-01 -4.87643105e-04 6.33756130e+00] [ 3.90656658e-03 -8.70290340e-05 9.99992366e-01 -5.07678851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.840281693 meters 0.028365860539361333 Centerline is valid? [True, True] Translation: X:191.49, Y:6.35, Z:-0.05 [[ 9.89433623e-01 -1.44924239e-01 -4.25097425e-03 1.91489388e+02] [ 1.44923275e-01 9.89442751e-01 -5.35430042e-04 6.34715203e+00] [ 4.28369245e-03 -8.62926257e-05 9.99990821e-01 -5.06878693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.900281693 meters 0.03127192122193782 Centerline is valid? [True, True] Translation: X:191.55, Y:6.35, Z:-0.05 [[ 9.89527795e-01 -1.44235775e-01 -5.54826208e-03 1.91547249e+02] [ 1.44234122e-01 9.89543344e-01 -6.99097599e-04 6.34793816e+00] [ 5.59108069e-03 -1.08472204e-04 9.99984364e-01 -5.37208843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96028169299998 meters 0.02929816147431389 Centerline is valid? [True, True] Translation: X:191.61, Y:6.35, Z:-0.05 [[ 9.89358258e-01 -1.45481470e-01 -2.31941399e-03 1.91605796e+02] [ 1.45481184e-01 9.89360975e-01 -2.92673977e-04 6.35272230e+00] [ 2.33731633e-03 -4.78716769e-05 9.99997267e-01 -4.73343219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.020281693 meters 0.03201635264304449 Centerline is valid? [True, True] Translation: X:191.67, Y:6.35, Z:-0.04 [[ 9.89002300e-01 -1.47897576e-01 -8.70576215e-04 1.91665524e+02] [ 1.47897537e-01 9.89002683e-01 -1.10026161e-04 6.34839127e+00] [ 8.77274815e-04 -1.99399514e-05 9.99999615e-01 -4.47464442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.080281693 meters 0.03423757905026273 Centerline is valid? [True, True] Translation: X:191.72, Y:6.35, Z:-0.04 [[ 9.89254559e-01 -1.46197422e-01 1.31577269e-03 1.91723967e+02] [ 1.46197330e-01 9.89255434e-01 1.66289022e-04 6.34788525e+00] [-1.32594631e-03 2.78602811e-05 9.99999121e-01 -3.93679586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.140281693 meters 0.024564549358476122 Centerline is valid? [True, True] Translation: X:191.78, Y:6.36, Z:-0.04 [[ 9.90389654e-01 -1.38298172e-01 1.39594138e-03 1.91782188e+02] [ 1.38298060e-01 9.90390638e-01 1.76459985e-04 6.36385485e+00] [-1.40693137e-03 1.82918420e-05 9.99999010e-01 -3.88050676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.200281693 meters 0.0151244424858117 Centerline is valid? [True, True] Translation: X:191.84, Y:6.39, Z:-0.04 [[ 9.91852777e-01 -1.27389044e-01 -3.15611605e-04 1.91839486e+02] [ 1.27389037e-01 9.91852828e-01 -3.99039414e-05 6.39089656e+00] [ 3.18123587e-04 -6.26623431e-07 9.99999949e-01 -4.35070356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.260281693 meters 0.0176202884584136 Centerline is valid? [True, True] Translation: X:191.90, Y:6.42, Z:-0.05 [[ 9.92929058e-01 -1.18683021e-01 -2.49533374e-03 1.91895269e+02] [ 1.18682602e-01 9.92932193e-01 -3.15910556e-04 6.41716649e+00] [ 2.51519042e-03 1.75240701e-05 9.99996837e-01 -4.85871551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.320281693 meters 0.020349327785960946 Centerline is valid? [True, True] Translation: X:191.95, Y:6.43, Z:-0.05 [[ 9.93329765e-01 -1.15296417e-01 -1.64756671e-03 1.91951730e+02] [ 1.15296230e-01 9.93331131e-01 -2.08657593e-04 6.43019925e+00] [ 1.66063678e-03 1.73075684e-05 9.99998621e-01 -4.59144015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.380281693 meters 0.025249359346981762 Centerline is valid? [True, True] Translation: X:192.01, Y:6.45, Z:-0.05 [[ 9.93823805e-01 -1.10959080e-01 -1.52558775e-03 1.92007748e+02] [ 1.10958914e-01 9.93824976e-01 -1.93276365e-04 6.45002527e+00] [ 1.53761298e-03 2.28050929e-05 9.99998818e-01 -4.60185824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.440281693 meters 0.031209342130155474 Centerline is valid? [True, True] Translation: X:192.07, Y:6.47, Z:-0.05 [[ 9.94426896e-01 -1.05389124e-01 -2.87779623e-03 1.92066054e+02] [ 1.05388510e-01 9.94431058e-01 -3.64558108e-04 6.47193195e+00] [ 2.90019041e-03 5.92397312e-05 9.99995793e-01 -4.87983895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.500281693 meters 0.03883695514352337 Centerline is valid? [True, True] Translation: X:192.12, Y:6.50, Z:-0.05 [[ 9.95041841e-01 -9.94182346e-02 -2.78374424e-03 1.92123383e+02] [ 9.94176367e-02 9.95045732e-01 -3.52677151e-04 6.49849540e+00] [ 2.80501537e-03 7.41752484e-05 9.99996063e-01 -4.76258212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.560281693 meters 0.038891185799292564 Centerline is valid? [True, True] Translation: X:192.18, Y:6.51, Z:-0.05 [[ 9.95149397e-01 -9.83681651e-02 -1.17514153e-03 1.92181429e+02] [ 9.83680575e-02 9.95150091e-01 -1.49111100e-04 6.51001701e+00] [ 1.18410999e-03 3.27914314e-05 9.99999298e-01 -4.50198801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.620281693 meters 0.032958893676782106 Centerline is valid? [True, True] Translation: X:192.24, Y:6.52, Z:-0.04 [[ 9.95004974e-01 -9.98251069e-02 -2.24279130e-04 1.92240351e+02] [ 9.98251030e-02 9.95004999e-01 -2.85355099e-05 6.51667096e+00] [ 2.26007416e-04 6.00428707e-06 9.99999974e-01 -4.33724458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.680281693 meters 0.043651800669525384 Centerline is valid? [True, True] Translation: X:192.30, Y:6.54, Z:-0.04 [[ 9.95164510e-01 -9.82203783e-02 5.95381048e-04 1.92295542e+02] [ 9.82203506e-02 9.95164688e-01 7.56264656e-05 6.54216859e+00] [-5.99930255e-04 -1.67822393e-05 9.99999820e-01 -4.20815702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.740281693 meters 0.03770739878782997 Centerline is valid? [True, True] Translation: X:192.36, Y:6.55, Z:-0.04 [[ 9.95375150e-01 -9.60542770e-02 -1.37331822e-03 1.92355461e+02] [ 9.60541276e-02 9.95376097e-01 -1.74528099e-04 6.54513846e+00] [ 1.38373230e-03 4.18080487e-05 9.99999042e-01 -4.35763757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.800281693 meters 0.035407340459676626 Centerline is valid? [True, True] Translation: X:192.41, Y:6.55, Z:-0.04 [[ 9.95301796e-01 -9.68211299e-02 -6.43669599e-05 1.92413885e+02] [ 9.68211295e-02 9.95301798e-01 -8.24815723e-06 6.55274658e+00] [ 6.48631468e-05 1.97732394e-06 9.99999998e-01 -4.31658380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.860281693 meters 0.035672752572005854 Centerline is valid? [True, True] Translation: X:192.47, Y:6.56, Z:-0.04 [[ 9.95049738e-01 -9.93730789e-02 1.00535101e-03 1.92471933e+02] [ 9.93730003e-02 9.95050245e-01 1.27959584e-04 6.55981035e+00] [-1.01309051e-03 -2.74214041e-05 9.99999486e-01 -4.22748446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.920281693 meters 0.03644622023444566 Centerline is valid? [True, True] Translation: X:192.53, Y:6.57, Z:-0.04 [[ 9.95233014e-01 -9.75236845e-02 6.16092397e-04 1.92529650e+02] [ 9.75236546e-02 9.95233204e-01 7.84412445e-05 6.56795575e+00] [-6.20805489e-04 -1.79837341e-05 9.99999807e-01 -4.24201340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.980281693 meters 0.045036192832729464 Centerline is valid? [True, True] Translation: X:192.59, Y:6.59, Z:-0.05 [[ 9.95780047e-01 -9.17531978e-02 -1.85688647e-03 1.92586969e+02] [ 9.17529162e-02 9.95781777e-01 -2.36478039e-04 6.58947507e+00] [ 1.87075132e-03 6.51053644e-05 9.99998248e-01 -4.73083722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.040281693 meters 0.04577992018639011 Centerline is valid? [True, True] Translation: X:192.65, Y:6.60, Z:-0.05 [[ 9.96032934e-01 -8.89244383e-02 -3.29218959e-03 1.92646748e+02] [ 8.89235376e-02 9.96038367e-01 -4.19267236e-04 6.59861923e+00] [ 3.31643025e-03 1.24850830e-04 9.99994493e-01 -5.10337579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.100281693 meters 0.05141859346294406 Centerline is valid? [True, True] Translation: X:192.70, Y:6.62, Z:-0.05 [[ 9.96235928e-01 -8.66265579e-02 -3.13308333e-03 1.92703118e+02] [ 8.66257303e-02 9.96240846e-01 -3.99163957e-04 6.61524945e+00] [ 3.15588379e-03 1.26255843e-04 9.99995012e-01 -5.02932207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.160281693 meters 0.05190057059931663 Centerline is valid? [True, True] Translation: X:192.76, Y:6.63, Z:-0.05 [[ 9.96114422e-01 -8.80467989e-02 -1.95443649e-03 1.92759779e+02] [ 8.80464794e-02 9.96116336e-01 -2.49118148e-04 6.62611815e+00] [ 1.96878017e-03 7.60689279e-05 9.99998059e-01 -4.80186379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.220281693 meters 0.048588726587935484 Centerline is valid? [True, True] Translation: X:192.82, Y:6.63, Z:-0.05 [[ 9.96154559e-01 -8.75422586e-02 -3.52822747e-03 1.92818325e+02] [ 8.75412119e-02 9.96160797e-01 -4.50306756e-04 6.63491816e+00] [ 3.55410276e-03 1.39709820e-04 9.99993674e-01 -4.98585628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.280281693 meters 0.05764577840391193 Centerline is valid? [True, True] Translation: X:192.87, Y:6.66, Z:-0.05 [[ 9.96341727e-01 -8.54335646e-02 -2.06633427e-03 1.92873896e+02] [ 8.54332009e-02 9.96343866e-01 -2.63802588e-04 6.65943935e+00] [ 2.08131707e-03 8.63039756e-05 9.99997830e-01 -4.76653270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.340281693 meters 0.05310945554601697 Centerline is valid? [True, True] Translation: X:192.93, Y:6.66, Z:-0.04 [[ 9.96401403e-01 -8.47583830e-02 -5.09814324e-04 1.92932098e+02] [ 8.47583607e-02 9.96401534e-01 -6.51307805e-05 6.66463300e+00] [ 5.13500154e-04 2.16853747e-05 9.99999868e-01 -4.42942576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.400281693 meters 0.05633141395693639 Centerline is valid? [True, True] Translation: X:192.99, Y:6.68, Z:-0.05 [[ 9.96781013e-01 -8.01063450e-02 -3.25340293e-03 1.92990481e+02] [ 8.01054146e-02 9.96786311e-01 -4.15509791e-04 6.68305022e+00] [ 3.27623247e-03 1.53557081e-04 9.99994621e-01 -4.85757069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46028169299998 meters 0.06315552610937138 Centerline is valid? [True, True] Translation: X:193.05, Y:6.71, Z:-0.04 [[ 9.97171786e-01 -7.51545565e-02 -4.71088595e-04 1.93047427e+02] [ 7.51545364e-02 9.97171897e-01 -6.01697069e-05 6.70684467e+00] [ 4.74278336e-04 2.45950891e-05 9.99999887e-01 -4.33313232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.520281693 meters 0.0653855509923511 Centerline is valid? [True, True] Translation: X:193.11, Y:6.73, Z:-0.04 [[ 9.97278240e-01 -7.37299754e-02 4.65610828e-05 1.93105010e+02] [ 7.37299752e-02 9.97278241e-01 5.94014413e-06 6.72724953e+00] [-4.68723214e-05 -2.49102901e-06 9.99999999e-01 -4.34640273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.580281693 meters 0.06660700630821471 Centerline is valid? [True, True] Translation: X:193.16, Y:6.74, Z:-0.04 [[ 9.97284701e-01 -7.36338002e-02 -1.13483995e-03 1.93162353e+02] [ 7.36336826e-02 9.97285345e-01 -1.45200087e-04 6.74479024e+00] [ 1.14245088e-03 6.12433808e-05 9.99999346e-01 -4.41898292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.640281693 meters 0.06404116917248502 Centerline is valid? [True, True] Translation: X:193.22, Y:6.76, Z:-0.04 [[ 9.97324139e-01 -7.31025019e-02 -7.65312272e-04 1.93219098e+02] [ 7.31024481e-02 9.97324432e-01 -9.80624708e-05 6.76412282e+00] [ 7.70433239e-04 4.18538686e-05 9.99999702e-01 -4.40651150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.700281693 meters 0.06339460650018786 Centerline is valid? [True, True] Translation: X:193.28, Y:6.78, Z:-0.05 [[ 9.96949026e-01 -7.79974147e-02 -3.00713345e-03 1.93276256e+02] [ 7.79966069e-02 9.96953550e-01 -3.85161124e-04 6.78341229e+00] [ 3.02801394e-03 1.49439802e-04 9.99995404e-01 -4.85281065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.760281693 meters 0.05687441359761465 Centerline is valid? [True, True] Translation: X:193.34, Y:6.79, Z:-0.04 [[ 9.96614310e-01 -8.22121719e-02 -1.03718961e-03 1.93335774e+02] [ 8.22120781e-02 9.96614849e-01 -1.32846146e-04 6.79120818e+00] [ 1.04460014e-03 4.71268565e-05 9.99999453e-01 -4.48590421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.820281693 meters 0.05689142315512767 Centerline is valid? [True, True] Translation: X:193.39, Y:6.81, Z:-0.04 [[ 9.96325406e-01 -8.56473679e-02 4.63257165e-04 1.93394171e+02] [ 8.56473496e-02 9.96325513e-01 5.93367459e-05 6.80580546e+00] [-4.66636969e-04 -1.94419590e-05 9.99999891e-01 -4.17225143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.880281693 meters 0.04800383148568209 Centerline is valid? [True, True] Translation: X:193.45, Y:6.81, Z:-0.05 [[ 9.95701271e-01 -9.26160964e-02 -1.11239659e-03 1.93454369e+02] [ 9.26159949e-02 9.95701892e-01 -1.42507110e-04 6.81021174e+00] [ 1.12081384e-03 3.88687935e-05 9.99999371e-01 -4.66667851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.940281693 meters 0.03845326666768967 Centerline is valid? [True, True] Translation: X:193.51, Y:6.81, Z:-0.04 [[ 9.95360294e-01 -9.62163850e-02 -5.39822749e-04 1.93514271e+02] [ 9.62163616e-02 9.95360441e-01 -6.91751094e-05 6.81143544e+00] [ 5.43973988e-04 1.69143765e-05 9.99999852e-01 -4.37646140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.000281693 meters 0.038254598353195654 Centerline is valid? [True, True] Translation: X:193.57, Y:6.83, Z:-0.05 [[ 9.95168379e-01 -9.81456669e-02 -2.70647063e-03 1.93571154e+02] [ 9.81450860e-02 9.95172056e-01 -3.46920690e-04 6.82659897e+00] [ 2.72745271e-03 7.96177071e-05 9.99996277e-01 -4.92999916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.060281693 meters 0.0355170720213013 Centerline is valid? [True, True] Translation: X:193.63, Y:6.83, Z:-0.05 [[ 9.94637688e-01 -1.03397391e-01 -2.20207341e-03 1.93630192e+02] [ 1.03397019e-01 9.94640124e-01 -2.82310908e-04 6.83289086e+00] [ 2.21946078e-03 5.31092420e-05 9.99997536e-01 -5.04237126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.120281693 meters 0.026479807866367805 Centerline is valid? [True, True] Translation: X:193.69, Y:6.83, Z:-0.05 [[ 9.94027414e-01 -1.09071427e-01 -3.59489755e-03 1.93691166e+02] [ 1.09070473e-01 9.94033913e-01 -4.60908075e-04 6.82866346e+00] [ 3.62372198e-03 6.60580861e-05 9.99993432e-01 -5.17202765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18028169299998 meters 0.021323538750128435 Centerline is valid? [True, True] Translation: X:193.75, Y:6.83, Z:-0.05 [[ 9.93461530e-01 -1.14162880e-01 -1.01212923e-03 1.93751690e+02] [ 1.14162807e-01 9.93462046e-01 -1.29781885e-04 6.82980932e+00] [ 1.02032825e-03 1.33857964e-05 9.99999479e-01 -4.53517673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.240281693 meters 0.01762189992756532 Centerline is valid? [True, True] Translation: X:193.81, Y:6.83, Z:-0.05 [[ 9.92919191e-01 -1.18787019e-01 -1.06063341e-03 1.93810772e+02] [ 1.18786942e-01 9.92919757e-01 -1.36236302e-04 6.82906926e+00] [ 1.06930698e-03 9.28223904e-06 9.99999428e-01 -4.59956496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.300281693 meters 0.014899108419970128 Centerline is valid? [True, True] Translation: X:193.87, Y:6.82, Z:-0.05 [[ 9.92056261e-01 -1.25782145e-01 -1.79629429e-03 1.93870047e+02] [ 1.25781934e-01 9.92057887e-01 -2.30760472e-04 6.81920767e+00] [ 1.81105346e-03 2.98600265e-06 9.99998360e-01 -4.81325160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.360281693 meters 0.015005433333057245 Centerline is valid? [True, True] Translation: X:193.93, Y:6.81, Z:-0.04 [[ 9.91377482e-01 -1.31036937e-01 1.00274111e-04 1.93929421e+02] [ 1.31036936e-01 9.91377487e-01 1.28341030e-05 6.81255095e+00] [-1.01091238e-04 4.16171514e-07 9.99999995e-01 -4.35802794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.420281693 meters 0.014803548454359354 Centerline is valid? [True, True] Translation: X:193.99, Y:6.82, Z:-0.05 [[ 9.91739792e-01 -1.28244475e-01 -2.35356093e-03 1.93986017e+02] [ 1.28244117e-01 9.91742585e-01 -3.02996346e-04 6.81913217e+00] [ 2.37298421e-03 -1.33681087e-06 9.99997184e-01 -4.73007343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.480281693 meters 0.01763019596370303 Centerline is valid? [True, True] Translation: X:194.04, Y:6.84, Z:-0.05 [[ 9.92822116e-01 -1.19558145e-01 -3.17734313e-03 1.94042629e+02] [ 1.19557446e-01 9.92827200e-01 -4.09607880e-04 6.83813716e+00] [ 3.20352465e-03 2.67927315e-05 9.99994868e-01 -4.89789014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.540281693 meters 0.024844858089147027 Centerline is valid? [True, True] Translation: X:194.10, Y:6.86, Z:-0.05 [[ 9.93730909e-01 -1.11790539e-01 -1.32500586e-03 1.94098790e+02] [ 1.11790410e-01 9.93731792e-01 -1.70869702e-04 6.85804492e+00] [ 1.33580206e-03 2.16755552e-05 9.99999108e-01 -4.63380997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.600281693 meters 0.037054485433086745 Centerline is valid? [True, True] Translation: X:194.15, Y:6.89, Z:-0.05 [[ 9.94694764e-01 -1.02860878e-01 -1.40196296e-03 1.94154889e+02] [ 1.02860725e-01 9.94695752e-01 -1.80798021e-04 6.88616882e+00] [ 1.41312365e-03 3.56319177e-05 9.99999001e-01 -4.69820943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.660281693 meters 0.04148413428792639 Centerline is valid? [True, True] Translation: X:194.21, Y:6.91, Z:-0.05 [[ 9.95322666e-01 -9.65862456e-02 -1.97175058e-03 1.94213408e+02] [ 9.65859312e-02 9.95324617e-01 -2.54275242e-04 6.90674934e+00] [ 1.98709139e-03 6.26425458e-05 9.99998024e-01 -4.76666506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.720281693 meters 0.04494212611646922 Centerline is valid? [True, True] Translation: X:194.27, Y:6.92, Z:-0.05 [[ 9.95632401e-01 -9.33519162e-02 -1.24135836e-03 1.94272319e+02] [ 9.33517891e-02 9.95633174e-01 -1.60084214e-04 6.92204285e+00] [ 1.25088173e-03 4.35020065e-05 9.99999217e-01 -4.64500702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.780281693 meters 0.05180594403685778 Centerline is valid? [True, True] Translation: X:194.33, Y:6.94, Z:-0.04 [[ 9.95714007e-01 -9.24742746e-02 1.45772656e-03 1.94327434e+02] [ 9.24740983e-02 9.95715073e-01 1.88049959e-04 6.94412221e+00] [-1.46887009e-03 -5.24420294e-05 9.99998920e-01 -4.02210436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.840281693 meters 0.045218640319550245 Centerline is valid? [True, True] Translation: X:194.39, Y:6.95, Z:-0.04 [[ 9.95878005e-01 -9.07012743e-02 5.27416793e-04 1.94386568e+02] [ 9.07012510e-02 9.95878144e-01 6.80515063e-05 6.94712635e+00] [-5.31415215e-04 -1.99336354e-05 9.99999859e-01 -4.25204666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.900281693 meters 0.04937457448626795 Centerline is valid? [True, True] Translation: X:194.44, Y:6.96, Z:-0.04 [[ 9.95915177e-01 -9.02903357e-02 7.83968060e-04 1.94443805e+02] [ 9.02902840e-02 9.95915486e-01 1.01187310e-04 6.96266885e+00] [-7.89902167e-04 -2.99892786e-05 9.99999688e-01 -4.21927579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96028169299998 meters 0.048146423588554726 Centerline is valid? [True, True] Translation: X:194.50, Y:6.97, Z:-0.04 [[ 9.95685096e-01 -9.27899984e-02 1.09820015e-03 1.94501804e+02] [ 9.27898984e-02 9.95685701e-01 1.41787532e-04 6.97223633e+00] [-1.10661865e-03 -3.92738515e-05 9.99999387e-01 -4.27861198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.020281693 meters 0.05110294532072797 Centerline is valid? [True, True] Translation: X:194.56, Y:6.99, Z:-0.04 [[ 9.95810556e-01 -9.14402448e-02 -1.33774027e-04 1.94557873e+02] [ 9.14402433e-02 9.95810565e-01 -1.72927811e-05 6.99259522e+00] [ 1.34794845e-04 4.98800436e-06 9.99999991e-01 -4.41636564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.080281693 meters 0.053494815513783954 Centerline is valid? [True, True] Translation: X:194.62, Y:7.01, Z:-0.05 [[ 9.95987655e-01 -8.94707653e-02 -1.89035264e-03 1.94615722e+02] [ 8.94704627e-02 9.95989446e-01 -2.44209214e-04 7.01075355e+00] [ 1.90462087e-03 7.40986368e-05 9.99998183e-01 -4.75658206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.140281693 meters 0.050867042642276504 Centerline is valid? [True, True] Translation: X:194.67, Y:7.02, Z:-0.05 [[ 9.95775046e-01 -9.18262398e-02 1.11503932e-05 1.94674895e+02] [ 9.18262397e-02 9.95775046e-01 1.42981046e-06 7.02320508e+00] [-1.12345774e-05 -3.99870902e-07 1.00000000e+00 -4.56464674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.200281693 meters 0.03867718936859466 Centerline is valid? [True, True] Translation: X:194.74, Y:7.02, Z:-0.05 [[ 9.95064046e-01 -9.91853403e-02 -3.13252499e-03 1.94736338e+02] [ 9.91845569e-02 9.95068972e-01 -4.04831815e-04 7.01612789e+00] [ 3.15723181e-03 9.21354801e-05 9.99995012e-01 -5.15532522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.260281693 meters 0.03489363608902726 Centerline is valid? [True, True] Translation: X:194.80, Y:7.02, Z:-0.04 [[ 9.94359939e-01 -1.06054214e-01 9.03113101e-04 1.94795556e+02] [ 1.06054152e-01 9.94360349e-01 1.16719613e-04 7.02210782e+00] [-9.10398465e-04 -2.02824133e-05 9.99999585e-01 -4.28285183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.320281693 meters 0.028224033839616074 Centerline is valid? [True, True] Translation: X:194.85, Y:7.02, Z:-0.03 [[ 9.94125942e-01 -1.08090380e-01 5.48464060e-03 1.94854805e+02] [ 1.08088108e-01 9.94141065e-01 7.09720562e-04 7.02383870e+00] [-5.52922041e-03 -1.12727194e-04 9.99984707e-01 -3.44322417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.380281693 meters 0.023827945422911306 Centerline is valid? [True, True] Translation: X:194.91, Y:7.03, Z:-0.04 [[ 9.93652151e-01 -1.12427201e-01 3.94046071e-03 1.94914532e+02] [ 1.12426062e-01 9.93659962e-01 5.10026887e-04 7.02797486e+00] [-3.97281894e-03 -6.37788325e-05 9.99992106e-01 -3.76423614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.440281693 meters 0.017441227308632446 Centerline is valid? [True, True] Translation: X:194.98, Y:7.02, Z:-0.04 [[ 9.92821222e-01 -1.19593845e-01 1.82561257e-03 1.94975315e+02] [ 1.19593612e-01 9.92822901e-01 2.36316682e-04 7.02486794e+00] [-1.84077199e-03 -1.62886146e-05 9.99998306e-01 -4.26681520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.500281693 meters 0.015783343916573017 Centerline is valid? [True, True] Translation: X:195.03, Y:7.03, Z:-0.05 [[ 9.92278205e-01 -1.23993266e-01 -3.10383518e-03 1.95032960e+02] [ 1.23992615e-01 9.92283059e-01 -4.02085815e-04 7.03062333e+00] [ 3.12973900e-03 1.41283512e-05 9.99995102e-01 -5.03252303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.560281693 meters 0.014733373602749546 Centerline is valid? [True, True] Translation: X:195.09, Y:7.03, Z:-0.05 [[ 9.91812869e-01 -1.27661405e-01 -3.13039672e-03 1.95092085e+02] [ 1.27660760e-01 9.91817809e-01 -4.06048061e-04 7.03398345e+00] [ 3.15661988e-03 3.09486913e-06 9.99995018e-01 -5.02001596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.620281693 meters 0.015078094385108525 Centerline is valid? [True, True] Translation: X:195.15, Y:7.03, Z:-0.05 [[ 9.91178214e-01 -1.32533214e-01 -8.33343201e-04 1.95151270e+02] [ 1.32533170e-01 9.91178565e-01 -1.08304859e-04 7.03051359e+00] [ 8.40345909e-04 -3.09619941e-06 9.99999647e-01 -4.75321679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68028169299998 meters 0.01502682568165886 Centerline is valid? [True, True] Translation: X:195.21, Y:7.04, Z:-0.05 [[ 9.91168813e-01 -1.32596550e-01 -1.59333401e-03 1.95208774e+02] [ 1.32596388e-01 9.91170094e-01 -2.07320042e-04 7.03713176e+00] [ 1.60675494e-03 -5.78117451e-06 9.99998709e-01 -4.88954505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.740281693 meters 0.015149026748513577 Centerline is valid? [True, True] Translation: X:195.27, Y:7.04, Z:-0.05 [[ 9.91329613e-01 -1.31335159e-01 -4.08353243e-03 1.95266715e+02] [ 1.31334084e-01 9.91338023e-01 -5.31430886e-04 7.04290461e+00] [ 4.11795653e-03 -9.48381668e-06 9.99991521e-01 -5.32631904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.800281693 meters 0.015230911309037039 Centerline is valid? [True, True] Translation: X:195.32, Y:7.05, Z:-0.06 [[ 9.91828740e-01 -1.27439048e-01 -5.91936733e-03 1.95324506e+02] [ 1.27436714e-01 9.91846404e-01 -7.71361380e-04 7.05417087e+00] [ 5.96940476e-03 1.07136647e-05 9.99982183e-01 -5.71154711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.860281693 meters 0.01661794083916365 Centerline is valid? [True, True] Translation: X:195.38, Y:7.07, Z:-0.05 [[ 9.92375241e-01 -1.23182655e-01 -4.17315179e-03 1.95381009e+02] [ 1.23181456e-01 9.92384015e-01 -5.44034864e-04 7.06540567e+00] [ 4.20838479e-03 2.58318150e-05 9.99991144e-01 -5.41675598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.920281693 meters 0.019455398436996296 Centerline is valid? [True, True] Translation: X:195.44, Y:7.08, Z:-0.05 [[ 9.92900966e-01 -1.18939671e-01 -1.01305946e-03 1.95437017e+02] [ 1.18939598e-01 9.92901483e-01 -1.32141055e-04 7.08086695e+00] [ 1.02158506e-03 1.07100954e-05 9.99999478e-01 -4.76076742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.980281693 meters 0.02515039005187859 Centerline is valid? [True, True] Translation: X:195.49, Y:7.10, Z:-0.04 [[ 9.93627438e-01 -1.12714306e-01 -1.47055323e-05 1.95494594e+02] [ 1.12714306e-01 9.93627438e-01 -1.92608278e-06 7.09972312e+00] [ 1.48289174e-05 2.56284837e-07 1.00000000e+00 -4.48502149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.040281693 meters 0.036710949424510836 Centerline is valid? [True, True] Translation: X:195.55, Y:7.13, Z:-0.05 [[ 9.94622972e-01 -1.03558403e-01 -8.94336723e-04 1.95550064e+02] [ 1.03558340e-01 9.94623374e-01 -1.16657989e-04 7.13372056e+00] [ 9.01609125e-04 2.34146902e-05 9.99999593e-01 -4.68626695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.100281693 meters 0.04234721712545485 Centerline is valid? [True, True] Translation: X:195.61, Y:7.16, Z:-0.05 [[ 9.95126722e-01 -9.86002202e-02 -8.96285045e-04 1.95607914e+02] [ 9.86001548e-02 9.95127125e-01 -1.16912218e-04 7.15862704e+00] [ 9.03445131e-04 2.79686280e-05 9.99999592e-01 -4.75572274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.160281693 meters 0.030685146225540333 Centerline is valid? [True, True] Translation: X:195.67, Y:7.17, Z:-0.05 [[ 9.94433181e-01 -1.05368558e-01 -3.39900256e-04 1.95668251e+02] [ 1.05368549e-01 9.94433239e-01 -4.43376048e-05 7.16569638e+00] [ 3.42679902e-04 8.27598863e-06 9.99999941e-01 -4.69806070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.220281693 meters 0.021804412013513727 Centerline is valid? [True, True] Translation: X:195.73, Y:7.17, Z:-0.05 [[ 9.93278288e-01 -1.15750656e-01 -1.67648199e-04 1.95727579e+02] [ 1.15750654e-01 9.93278302e-01 -2.18756428e-05 7.16760900e+00] [ 1.69053439e-04 2.32321239e-06 9.99999986e-01 -4.70766838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.280281693 meters 0.014906454775926581 Centerline is valid? [True, True] Translation: X:195.79, Y:7.16, Z:-0.05 [[ 9.91163010e-01 -1.32648944e-01 -3.80552687e-04 1.95788772e+02] [ 1.32648935e-01 9.91163083e-01 -4.96625751e-05 7.15770959e+00] [ 3.83777463e-04 -1.25620136e-06 9.99999926e-01 -4.74846441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.340281693 meters 0.027291360861059172 Centerline is valid? [True, True] Translation: X:195.85, Y:7.14, Z:-0.05 [[ 9.88736815e-01 -1.49660216e-01 -1.15306945e-03 1.95851509e+02] [ 1.49660143e-01 9.88737487e-01 -1.50469839e-04 7.14054639e+00] [ 1.16260234e-03 -2.37934691e-05 9.99999324e-01 -4.80981575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.400281693 meters 0.03277744368026687 Centerline is valid? [True, True] Translation: X:195.91, Y:7.14, Z:-0.05 [[ 9.87909565e-01 -1.55030669e-01 -4.28828877e-04 1.95912315e+02] [ 1.55030659e-01 9.87909658e-01 -5.59698224e-05 7.13603329e+00] [ 4.32321228e-04 -1.11885007e-05 9.99999906e-01 -4.67672987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46028169299998 meters 0.0426846998923919 Centerline is valid? [True, True] Translation: X:195.97, Y:7.12, Z:-0.04 [[ 9.86501859e-01 -1.63739320e-01 1.87551387e-03 1.95974586e+02] [ 1.63739150e-01 9.86503640e-01 2.44781890e-04 7.12038978e+00] [-1.89028168e-03 6.56172573e-05 9.99998211e-01 -4.11494391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.520281693 meters 0.04740285448177854 Centerline is valid? [True, True] Translation: X:196.04, Y:7.11, Z:-0.04 [[ 9.85841522e-01 -1.67676023e-01 1.11549769e-03 1.96036702e+02] [ 1.67675965e-01 9.85842152e-01 1.45599521e-04 7.10852959e+00] [-1.12411819e-03 4.35040979e-05 9.99999367e-01 -4.27836197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.580281693 meters 0.04653223036882419 Centerline is valid? [True, True] Translation: X:196.10, Y:7.10, Z:-0.04 [[ 9.85892248e-01 -1.67381189e-01 -1.10789212e-04 1.96096487e+02] [ 1.67381189e-01 9.85892254e-01 -1.45331312e-05 7.10365894e+00] [ 1.11658799e-04 -4.21592866e-06 9.99999994e-01 -4.47194312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.640281693 meters 0.04581050804889271 Centerline is valid? [True, True] Translation: X:196.16, Y:7.10, Z:-0.04 [[ 9.85959982e-01 -1.66981760e-01 8.13678687e-05 1.96157152e+02] [ 1.66981760e-01 9.85959985e-01 1.05921790e-05 7.09566423e+00] [-8.19941633e-05 3.14348524e-06 9.99999997e-01 -4.33612201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.700281693 meters 0.0430899263044986 Centerline is valid? [True, True] Translation: X:196.22, Y:7.09, Z:-0.04 [[ 9.86382221e-01 -1.64467961e-01 6.36104351e-04 1.96217744e+02] [ 1.64467942e-01 9.86382425e-01 8.32381407e-05 7.09285829e+00] [-6.41132159e-04 2.25141514e-05 9.99999794e-01 -4.14449500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.760281693 meters 0.03536731639127941 Centerline is valid? [True, True] Translation: X:196.28, Y:7.10, Z:-0.04 [[ 9.87563334e-01 -1.57221180e-01 4.03002834e-04 1.96277423e+02] [ 1.57221172e-01 9.87563416e-01 5.27418884e-05 7.10171857e+00] [-4.06282998e-04 1.12746226e-05 9.99999917e-01 -4.17118860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.820281693 meters 0.02760021883675052 Centerline is valid? [True, True] Translation: X:196.34, Y:7.11, Z:-0.05 [[ 9.89024298e-01 -1.47727200e-01 -2.75914651e-03 1.96336068e+02] [ 1.47726767e-01 9.89028145e-01 -3.61203894e-04 7.11140776e+00] [ 2.78223319e-03 -5.03603668e-05 9.99996128e-01 -4.91742375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.880281693 meters 0.020202809805929606 Centerline is valid? [True, True] Translation: X:196.39, Y:7.12, Z:-0.05 [[ 9.90013561e-01 -1.40918162e-01 -3.90129099e-03 1.96394962e+02] [ 1.40917243e-01 9.90021247e-01 -5.10841169e-04 7.12486084e+00] [ 3.93434777e-03 -4.40194846e-05 9.99992259e-01 -5.16217399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.940281693 meters 0.015209802544837774 Centerline is valid? [True, True] Translation: X:196.45, Y:7.14, Z:-0.05 [[ 9.91034730e-01 -1.33597588e-01 -1.35927755e-03 1.96451239e+02] [ 1.33597469e-01 9.91035663e-01 -1.78059469e-04 7.14346261e+00] [ 1.37088084e-03 -5.13292259e-06 9.99999060e-01 -4.55869167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.000281693 meters 0.014443899120128433 Centerline is valid? [True, True] Translation: X:196.51, Y:7.16, Z:-0.04 [[ 9.91721813e-01 -1.28404867e-01 1.90233513e-04 1.96507725e+02] [ 1.28404864e-01 9.91721831e-01 2.48934040e-05 7.16152242e+00] [-1.91855162e-04 -2.60423228e-07 9.99999982e-01 -4.31112480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.060281693 meters 0.015194930048163816 Centerline is valid? [True, True] Translation: X:196.56, Y:7.18, Z:-0.05 [[ 9.91912542e-01 -1.26894536e-01 -2.69933977e-03 1.96564361e+02] [ 1.26894042e-01 9.91916214e-01 -3.54260891e-04 7.17830945e+00] [ 2.72247266e-03 8.86568652e-06 9.99996294e-01 -4.90749267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.120281693 meters 0.015258045488447034 Centerline is valid? [True, True] Translation: X:196.62, Y:7.18, Z:-0.05 [[ 9.91047529e-01 -1.33499229e-01 -1.65878261e-03 1.96622312e+02] [ 1.33499051e-01 9.91048917e-01 -2.17839154e-04 7.17545206e+00] [ 1.67301606e-03 -5.55694811e-06 9.99998600e-01 -4.72647248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18028169299998 meters 0.023562397981703734 Centerline is valid? [True, True] Translation: X:196.68, Y:7.16, Z:-0.04 [[ 9.89342048e-01 -1.45608327e-01 7.25472506e-04 1.96684615e+02] [ 1.45608296e-01 9.89342314e-01 9.52650038e-05 7.16430997e+00] [-7.31612026e-04 1.13851415e-05 9.99999732e-01 -4.30216509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.240281693 meters 0.02779899538078239 Centerline is valid? [True, True] Translation: X:196.75, Y:7.16, Z:-0.04 [[ 9.88732898e-01 -1.49653001e-01 3.35211995e-03 1.96745577e+02] [ 1.49652368e-01 9.88738578e-01 4.40268573e-04 7.15860432e+00] [-3.38025782e-03 6.63446654e-05 9.99994285e-01 -3.79823883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.300281693 meters 0.03168265083169168 Centerline is valid? [True, True] Translation: X:196.81, Y:7.15, Z:-0.04 [[ 9.88177831e-01 -1.53286411e-01 2.80192685e-03 1.96806267e+02] [ 1.53285984e-01 9.88181801e-01 3.68096149e-04 7.15022493e+00] [-2.82523726e-03 6.57516599e-05 9.99996007e-01 -3.98667169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.360281693 meters 0.031932484924641104 Centerline is valid? [True, True] Translation: X:196.87, Y:7.14, Z:-0.04 [[ 9.87734296e-01 -1.56138358e-01 1.33182112e-03 1.96867417e+02] [ 1.56138264e-01 9.87735193e-01 1.74993877e-04 7.14254092e+00] [-1.34280985e-03 3.51007840e-05 9.99999098e-01 -4.13875284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.420281693 meters 0.030522735985170964 Centerline is valid? [True, True] Translation: X:196.93, Y:7.14, Z:-0.04 [[ 9.88496444e-01 -1.51242163e-01 7.67380269e-04 1.96926972e+02] [ 1.51242131e-01 9.88496741e-01 1.00844330e-04 7.14113412e+00] [-7.73804810e-04 1.63759657e-05 9.99999700e-01 -4.16350741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.480281693 meters 0.019604838243820293 Centerline is valid? [True, True] Translation: X:196.99, Y:7.16, Z:-0.04 [[ 9.89856751e-01 -1.42066868e-01 -7.86250227e-04 1.96985060e+02] [ 1.42066831e-01 9.89857063e-01 -1.03350684e-04 7.16096721e+00] [ 7.92958048e-04 -9.39770532e-06 9.99999686e-01 -4.36567493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.540281693 meters 0.014391227157079804 Centerline is valid? [True, True] Translation: X:197.04, Y:7.18, Z:-0.04 [[ 9.91302887e-01 -1.31592780e-01 -1.38783721e-03 1.97040934e+02] [ 1.31592653e-01 9.91303859e-01 -1.82499983e-04 7.18303804e+00] [ 1.39978406e-03 -1.71641992e-06 9.99999020e-01 -4.41520539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.600281693 meters 0.019100193927899915 Centerline is valid? [True, True] Translation: X:197.10, Y:7.21, Z:-0.04 [[ 9.92764664e-01 -1.20067058e-01 -1.49121336e-03 1.97096634e+02] [ 1.20066898e-01 9.92765784e-01 -1.96378449e-04 7.21197752e+00] [ 1.50400419e-03 1.59122215e-05 9.99998869e-01 -4.43742814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.660281693 meters 0.027258059270070138 Centerline is valid? [True, True] Translation: X:197.15, Y:7.24, Z:-0.04 [[ 9.93540253e-01 -1.13480161e-01 -1.36892989e-04 1.97152092e+02] [ 1.13480160e-01 9.93540262e-01 -1.80487431e-05 7.23857291e+00] [ 1.38056870e-04 2.39751452e-06 9.99999990e-01 -4.43750944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.720281693 meters 0.025567010262468784 Centerline is valid? [True, True] Translation: X:197.21, Y:7.25, Z:-0.05 [[ 9.93484906e-01 -1.13941806e-01 -2.23766497e-03 1.97208808e+02] [ 1.13941430e-01 9.93487425e-01 -2.95191270e-04 7.25124100e+00] [ 2.25672663e-03 3.83053257e-05 9.99997453e-01 -4.83447734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.780281693 meters 0.02171022704721028 Centerline is valid? [True, True] Translation: X:197.27, Y:7.26, Z:-0.05 [[ 9.93019571e-01 -1.17945982e-01 -9.36860334e-04 1.97267443e+02] [ 1.17945918e-01 9.93020012e-01 -1.23622651e-04 7.25838742e+00] [ 9.44901856e-04 1.22608597e-05 9.99999554e-01 -4.73891841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.840281693 meters 0.017346297371206756 Centerline is valid? [True, True] Translation: X:197.33, Y:7.26, Z:-0.05 [[ 9.92332749e-01 -1.23588652e-01 -1.24926444e-03 1.97325648e+02] [ 1.23588542e-01 9.92333535e-01 -1.64915730e-04 7.25898804e+00] [ 1.26006871e-03 9.25650912e-06 9.99999206e-01 -4.93549987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.900281693 meters 0.015468218355837232 Centerline is valid? [True, True] Translation: X:197.38, Y:7.26, Z:-0.05 [[ 9.91924043e-01 -1.26822447e-01 -1.66153954e-03 1.97384559e+02] [ 1.26822257e-01 9.91925434e-01 -2.19643976e-04 7.26134395e+00] [ 1.67597912e-03 7.14994564e-06 9.99998596e-01 -4.71388707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96028169299998 meters 0.01636557279680378 Centerline is valid? [True, True] Translation: X:197.44, Y:7.27, Z:-0.05 [[ 9.92077299e-01 -1.25595328e-01 -2.90626213e-03 1.97441586e+02] [ 1.25594741e-01 9.92081556e-01 -3.84278147e-04 7.27384468e+00] [ 2.93151259e-03 1.62223860e-05 9.99995703e-01 -5.09594620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.020281693 meters 0.014564518707909993 Centerline is valid? [True, True] Translation: X:197.50, Y:7.27, Z:-0.05 [[ 9.91438702e-01 -1.30571851e-01 5.39574075e-04 1.97501537e+02] [ 1.30571831e-01 9.91438849e-01 7.13707603e-05 7.27268979e+00] [-5.44273712e-04 -3.06558898e-07 9.99999852e-01 -4.50253561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.080281693 meters 0.018519485388973404 Centerline is valid? [True, True] Translation: X:197.56, Y:7.26, Z:-0.05 [[ 9.90135322e-01 -1.40098377e-01 -2.11867741e-03 1.97561601e+02] [ 1.40098098e-01 9.90137589e-01 -2.80586528e-04 7.26342584e+00] [ 2.13709186e-03 -1.90040419e-05 9.99997716e-01 -4.85821062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.140281693 meters 0.020681319916905572 Centerline is valid? [True, True] Translation: X:197.62, Y:7.27, Z:-0.05 [[ 9.89705634e-01 -1.43116423e-01 -6.69260354e-04 1.97620100e+02] [ 1.43116396e-01 9.89705860e-01 -8.86851285e-05 7.26552235e+00] [ 6.75063193e-04 -8.00995858e-06 9.99999772e-01 -4.61397468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.200281693 meters 0.019745219782507668 Centerline is valid? [True, True] Translation: X:197.68, Y:7.27, Z:-0.05 [[ 9.89938815e-01 -1.41475532e-01 -2.41164317e-03 1.97677683e+02] [ 1.41475173e-01 9.89941752e-01 -3.19939508e-04 7.27451395e+00] [ 2.43264988e-03 -2.44670966e-05 9.99997041e-01 -4.95768748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.260281693 meters 0.017051781710547644 Centerline is valid? [True, True] Translation: X:197.74, Y:7.29, Z:-0.05 [[ 9.90394283e-01 -1.38254296e-01 -2.21657013e-03 1.97735407e+02] [ 1.38253984e-01 9.90396764e-01 -2.94412662e-04 7.28787518e+00] [ 2.23598770e-03 -1.48650333e-05 9.99997500e-01 -4.71781450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.320281693 meters 0.015956057471257095 Centerline is valid? [True, True] Translation: X:197.79, Y:7.30, Z:-0.05 [[ 9.90685322e-01 -1.36165654e-01 -1.22745805e-03 1.97792068e+02] [ 1.36165556e-01 9.90686083e-01 -1.63092724e-04 7.30153121e+00] [ 1.23823323e-03 -5.56394013e-06 9.99999233e-01 -4.73817826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.380281693 meters 0.020498458063286203 Centerline is valid? [True, True] Translation: X:197.85, Y:7.30, Z:-0.04 [[ 9.89750137e-01 -1.42809850e-01 -1.15550537e-04 1.97852035e+02] [ 1.42809849e-01 9.89750144e-01 -1.54232928e-05 7.29626526e+00] [ 1.16568759e-04 -1.23654863e-06 9.99999993e-01 -4.42458929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.440281693 meters 0.02913576676336943 Centerline is valid? [True, True] Translation: X:197.91, Y:7.28, Z:-0.04 [[ 9.88555687e-01 -1.50855799e-01 -4.25036611e-04 1.97913077e+02] [ 1.50855789e-01 9.88555779e-01 -5.65517771e-05 7.28460210e+00] [ 4.28703561e-04 -8.21465230e-06 9.99999908e-01 -4.49221253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.500281693 meters 0.033547798964421754 Centerline is valid? [True, True] Translation: X:197.97, Y:7.28, Z:-0.05 [[ 9.88048633e-01 -1.54109729e-01 -3.17635289e-03 1.97973738e+02] [ 1.54109167e-01 9.88053736e-01 -4.22676844e-04 7.27880001e+00] [ 3.20354596e-03 -7.18798190e-05 9.99994866e-01 -5.01899912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.560281693 meters 0.029541069552090626 Centerline is valid? [True, True] Translation: X:198.03, Y:7.29, Z:-0.04 [[ 9.88603188e-01 -1.50544572e-01 -2.61344583e-04 1.98032506e+02] [ 1.50544568e-01 9.88603223e-01 -3.47892048e-05 7.28679589e+00] [ 2.63603423e-04 -4.95128843e-06 9.99999965e-01 -4.35822512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.620281693 meters 0.02573049268480639 Centerline is valid? [True, True] Translation: X:198.09, Y:7.29, Z:-0.04 [[ 9.89064993e-01 -1.47480132e-01 -2.22317751e-04 1.98091487e+02] [ 1.47480129e-01 9.89065018e-01 -2.96671612e-05 7.29407773e+00] [ 2.24262028e-04 -3.44470007e-06 9.99999975e-01 -4.43614274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68028169299998 meters 0.026116446984136378 Centerline is valid? [True, True] Translation: X:198.15, Y:7.30, Z:-0.05 [[ 9.89078520e-01 -1.47367937e-01 -2.52454399e-03 1.98148472e+02] [ 1.47367557e-01 9.89081741e-01 -3.36677818e-04 7.29925168e+00] [ 2.54659588e-03 -3.90350824e-05 9.99996757e-01 -4.88543605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.740281693 meters 0.023080582736129753 Centerline is valid? [True, True] Translation: X:198.21, Y:7.31, Z:-0.05 [[ 9.89216311e-01 -1.46449127e-01 -1.93456906e-03 1.98206683e+02] [ 1.46448902e-01 9.89218203e-01 -2.58330806e-04 7.31012554e+00] [ 1.95154325e-03 -2.77704687e-05 9.99998095e-01 -4.71662730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.800281693 meters 0.01916796537077777 Centerline is valid? [True, True] Translation: X:198.26, Y:7.33, Z:-0.05 [[ 9.90063477e-01 -1.40604436e-01 -2.16888319e-03 1.98262862e+02] [ 1.40604139e-01 9.90065853e-01 -2.89700225e-04 7.32609282e+00] [ 2.18807032e-03 -1.81323411e-05 9.99997606e-01 -4.74093711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.860281693 meters 0.014848504816889275 Centerline is valid? [True, True] Translation: X:198.32, Y:7.35, Z:-0.05 [[ 9.91159618e-01 -1.32639416e-01 -3.06528225e-03 1.98318835e+02] [ 1.32638783e-01 9.91164358e-01 -4.09976226e-04 7.35214674e+00] [ 3.09257752e-03 -2.23425696e-07 9.99995218e-01 -4.78488790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.920281693 meters 0.015754819078744133 Centerline is valid? [True, True] Translation: X:198.37, Y:7.37, Z:-0.05 [[ 9.91666918e-01 -1.28781074e-01 -3.48700785e-03 1.98374776e+02] [ 1.28780230e-01 9.91673048e-01 -4.66543265e-04 7.36911084e+00] [ 3.51805365e-03 1.35978498e-05 9.99993812e-01 -5.02067593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.980281693 meters 0.014916971093762353 Centerline is valid? [True, True] Translation: X:198.43, Y:7.37, Z:-0.05 [[ 9.91346178e-01 -1.31246740e-01 -2.65471652e-03 1.98433476e+02] [ 1.31246259e-01 9.91349733e-01 -3.55653683e-04 7.37197439e+00] [ 2.67843090e-03 4.15430822e-06 9.99996413e-01 -4.80649185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.040281693 meters 0.015008319655799646 Centerline is valid? [True, True] Translation: X:198.49, Y:7.37, Z:-0.05 [[ 9.90935036e-01 -1.34303627e-01 -3.20771011e-03 1.98491185e+02] [ 1.34302939e-01 9.90940228e-01 -4.29953281e-04 7.37007841e+00] [ 3.23639328e-03 -4.74912386e-06 9.99994763e-01 -4.96872206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.100281693 meters 0.014698281516081957 Centerline is valid? [True, True] Translation: X:198.55, Y:7.38, Z:-0.04 [[ 9.91193883e-01 -1.32413012e-01 -1.21683721e-03 1.98548536e+02] [ 1.32412911e-01 9.91194630e-01 -1.63379541e-04 7.37518421e+00] [ 1.22775608e-03 8.15845231e-07 9.99999246e-01 -4.42418402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.160281693 meters 0.015266836172570174 Centerline is valid? [True, True] Translation: X:198.61, Y:7.38, Z:-0.05 [[ 9.91529160e-01 -1.29865569e-01 -2.20428090e-03 1.98607271e+02] [ 1.29865231e-01 9.91531610e-01 -2.96273235e-04 7.38273713e+00] [ 2.22408989e-03 7.50410299e-06 9.99997527e-01 -4.61367033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.220281693 meters 0.020614988499153886 Centerline is valid? [True, True] Translation: X:198.66, Y:7.40, Z:-0.04 [[ 9.92369365e-01 -1.23299027e-01 -6.27867884e-04 1.98662785e+02] [ 1.23298999e-01 9.92369563e-01 -8.44434153e-05 7.40087637e+00] [ 6.33488769e-04 6.38357696e-06 9.99999799e-01 -4.26501588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.280281693 meters 0.02221858588147405 Centerline is valid? [True, True] Translation: X:198.72, Y:7.41, Z:-0.04 [[ 9.92818187e-01 -1.19624034e-01 1.46252908e-03 1.98719805e+02] [ 1.19623874e-01 9.92819264e-01 1.96707104e-04 7.41437502e+00] [-1.47555794e-03 -2.03409963e-05 9.99998911e-01 -3.97220957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.340281693 meters 0.020673330932917976 Centerline is valid? [True, True] Translation: X:198.78, Y:7.42, Z:-0.04 [[ 9.92593197e-01 -1.21484584e-01 4.90298398e-04 1.98778439e+02] [ 1.21484566e-01 9.92593318e-01 6.59750109e-05 7.42003725e+00] [-4.94681861e-04 -5.92265883e-06 9.99999878e-01 -4.24587861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.400281693 meters 0.018394882003901318 Centerline is valid? [True, True] Translation: X:198.84, Y:7.42, Z:-0.05 [[ 9.92170591e-01 -1.24874902e-01 -1.94350942e-03 1.98836207e+02] [ 1.24874628e-01 9.92172494e-01 -2.61875588e-04 7.42193560e+00] [ 1.96099828e-03 1.71302405e-05 9.99998077e-01 -4.76739842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46028169299998 meters 0.01801066366682152 Centerline is valid? [True, True] Translation: X:198.89, Y:7.43, Z:-0.05 [[ 9.92062701e-01 -1.25730709e-01 -1.84038639e-03 1.98893806e+02] [ 1.25730465e-01 9.92064407e-01 -2.48366402e-04 7.42878263e+00] [ 1.85700912e-03 1.50024070e-05 9.99998276e-01 -4.75926197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.520281693 meters 0.01660266040423956 Centerline is valid? [True, True] Translation: X:198.95, Y:7.43, Z:-0.04 [[ 9.91707968e-01 -1.28511643e-01 2.53225046e-04 1.98951227e+02] [ 1.28511639e-01 9.91708000e-01 3.41597188e-05 7.43404814e+00] [-2.55515226e-04 -1.33409962e-06 9.99999967e-01 -4.36553880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.580281693 meters 0.015318878111130493 Centerline is valid? [True, True] Translation: X:199.01, Y:7.43, Z:-0.05 [[ 9.91238363e-01 -1.32056131e-01 -2.77248882e-03 1.99010729e+02] [ 1.32055600e-01 9.91242240e-01 -3.74718738e-04 7.43435849e+00] [ 2.79769193e-03 5.31291444e-06 9.99996086e-01 -4.91387140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.640281693 meters 0.01657537347102713 Centerline is valid? [True, True] Translation: X:199.07, Y:7.43, Z:-0.04 [[ 9.90139424e-01 -1.40084470e-01 -5.11730598e-04 1.99070886e+02] [ 1.40084453e-01 9.90139556e-01 -6.92940801e-05 7.42546158e+00] [ 5.16391732e-04 -3.07470041e-06 9.99999867e-01 -4.32384664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.700281693 meters 0.015986829137375647 Centerline is valid? [True, True] Translation: X:199.13, Y:7.43, Z:-0.04 [[ 9.90346463e-01 -1.38614147e-01 -4.42044164e-05 1.99127527e+02] [ 1.38614146e-01 9.90346464e-01 -6.01460774e-06 7.43496494e+00] [ 4.46113972e-05 -1.70811938e-07 9.99999999e-01 -4.18378094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.760281693 meters 0.015333198072485633 Centerline is valid? [True, True] Translation: X:199.18, Y:7.46, Z:-0.04 [[ 9.91325896e-01 -1.31423728e-01 -8.77960901e-04 1.99182339e+02] [ 1.31423674e-01 9.91326285e-01 -1.19096233e-04 7.46197189e+00] [ 8.85997789e-04 2.67833244e-06 9.99999608e-01 -4.12841352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.820281693 meters 0.01844355632062675 Centerline is valid? [True, True] Translation: X:199.24, Y:7.49, Z:-0.04 [[ 9.92103808e-01 -1.25410274e-01 1.51599724e-03 1.99238259e+02] [ 1.25410106e-01 9.92104966e-01 2.05731410e-04 7.49020627e+00] [-1.52982922e-03 -1.39855405e-05 9.99998830e-01 -3.92518202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.880281693 meters 0.01617220742127534 Centerline is valid? [True, True] Translation: X:199.30, Y:7.50, Z:-0.04 [[ 9.91522580e-01 -1.29933009e-01 -6.22102379e-04 1.99295007e+02] [ 1.29932982e-01 9.91522775e-01 -8.45312027e-05 7.49988082e+00] [ 6.27812071e-04 2.98297911e-06 9.99999803e-01 -4.40386225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.940281693 meters 0.016276627414286864 Centerline is valid? [True, True] Translation: X:199.35, Y:7.50, Z:-0.05 [[ 9.90183388e-01 -1.39764603e-01 -1.64737165e-03 1.99353582e+02] [ 1.39764424e-01 9.90184758e-01 -2.24151408e-04 7.50093857e+00] [ 1.66253073e-03 -8.29294825e-06 9.99998618e-01 -4.54255101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.000281693 meters 0.02435586757251092 Centerline is valid? [True, True] Translation: X:199.41, Y:7.50, Z:-0.05 [[ 9.88849734e-01 -1.48910957e-01 -1.31565379e-03 1.99413303e+02] [ 1.48910851e-01 9.88850609e-01 -1.79022112e-04 7.49762641e+00] [ 1.32764341e-03 -1.88891581e-05 9.99999119e-01 -4.56412596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.060281693 meters 0.03039426811172817 Centerline is valid? [True, True] Translation: X:199.47, Y:7.50, Z:-0.04 [[ 9.87663512e-01 -1.56590632e-01 -4.00240434e-04 1.99474614e+02] [ 1.56590623e-01 9.87663593e-01 -5.44573283e-05 7.49646872e+00] [ 4.03830413e-04 -8.88838267e-06 9.99999918e-01 -4.40067861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.120281693 meters 0.03439276100171062 Centerline is valid? [True, True] Translation: X:199.54, Y:7.50, Z:-0.05 [[ 9.87079761e-01 -1.60224152e-01 -1.32941874e-03 1.99535240e+02] [ 1.60224053e-01 9.87080655e-01 -1.80921235e-04 7.49521337e+00] [ 1.34123147e-03 -3.44211693e-05 9.99999100e-01 -4.61240509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18028169299998 meters 0.034021703320239585 Centerline is valid? [True, True] Translation: X:199.59, Y:7.50, Z:-0.05 [[ 9.87162230e-01 -1.59695542e-01 -2.84003106e-03 1.99593882e+02] [ 1.59695089e-01 9.87166313e-01 -3.86959094e-04 7.50396196e+00] [ 2.86537863e-03 -7.15476124e-05 9.99995892e-01 -4.84377477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.240281693 meters 0.031562089651640264 Centerline is valid? [True, True] Translation: X:199.65, Y:7.51, Z:-0.05 [[ 9.87428458e-01 -1.58051681e-01 -2.16956863e-03 1.99652228e+02] [ 1.58051412e-01 9.87430840e-01 -2.95978070e-04 7.51270575e+00] [ 2.18907881e-03 -5.06462163e-05 9.99997603e-01 -4.74476682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.300281693 meters 0.036638562293191436 Centerline is valid? [True, True] Translation: X:199.71, Y:7.51, Z:-0.04 [[ 9.86710267e-01 -1.62480684e-01 1.69582608e-03 1.99712850e+02] [ 1.62480526e-01 9.86711723e-01 2.31314346e-04 7.50689666e+00] [-1.71087558e-03 4.72984722e-05 9.99998535e-01 -4.06031699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.360281693 meters 0.043242520865917476 Centerline is valid? [True, True] Translation: X:199.77, Y:7.50, Z:-0.04 [[ 9.85768055e-01 -1.68105021e-01 1.42939951e-03 1.99774404e+02] [ 1.68104915e-01 9.85769090e-01 1.94981639e-04 7.49922583e+00] [-1.44183524e-03 4.80824104e-05 9.99998959e-01 -4.12674149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.420281693 meters 0.04450361875077859 Centerline is valid? [True, True] Translation: X:199.83, Y:7.50, Z:-0.04 [[ 9.85676328e-01 -1.68648040e-01 1.23886608e-04 1.99834428e+02] [ 1.68648039e-01 9.85676336e-01 1.68648877e-05 7.49754901e+00] [-1.24956328e-04 4.26991283e-06 9.99999992e-01 -4.36344653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.480281693 meters 0.04400277682222542 Centerline is valid? [True, True] Translation: X:199.89, Y:7.50, Z:-0.04 [[ 9.85858744e-01 -1.67574250e-01 1.18632984e-03 1.99892719e+02] [ 1.67574176e-01 9.85859457e-01 1.62082502e-04 7.49539045e+00] [-1.19671535e-03 3.90077927e-05 9.99999283e-01 -4.27279285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.540281693 meters 0.03790342552377303 Centerline is valid? [True, True] Translation: X:199.95, Y:7.50, Z:-0.04 [[ 9.86315207e-01 -1.64870435e-01 -2.29305231e-04 1.99952488e+02] [ 1.64870432e-01 9.86315233e-01 -3.13475683e-05 7.49973756e+00] [ 2.31335529e-04 -6.88706921e-06 9.99999973e-01 -4.48112351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.600281693 meters 0.03033120986931017 Centerline is valid? [True, True] Translation: X:200.01, Y:7.51, Z:-0.05 [[ 9.87918874e-01 -1.54963548e-01 -1.61138863e-03 2.00010385e+02] [ 1.54963394e-01 9.87920188e-01 -2.20268543e-04 7.51312166e+00] [ 1.62605696e-03 -3.20988015e-05 9.99998677e-01 -4.80046676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.660281693 meters 0.019808956947158313 Centerline is valid? [True, True] Translation: X:200.07, Y:7.53, Z:-0.05 [[ 9.89399240e-01 -1.45178520e-01 -3.51294062e-03 2.00068324e+02] [ 1.45177730e-01 9.89405476e-01 -4.80230431e-04 7.53483059e+00] [ 3.54544183e-03 -3.48611211e-05 9.99993714e-01 -5.15209300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.720281693 meters 0.016697592527950698 Centerline is valid? [True, True] Translation: X:200.13, Y:7.55, Z:-0.05 [[ 9.90073411e-01 -1.40544337e-01 -1.38907323e-03 2.00125631e+02] [ 1.40544209e-01 9.90074386e-01 -1.90166890e-04 7.54613307e+00] [ 1.40201271e-03 -6.94701738e-06 9.99999017e-01 -4.70615454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.780281693 meters 0.01756457017550099 Centerline is valid? [True, True] Translation: X:200.18, Y:7.55, Z:-0.05 [[ 9.89853701e-01 -1.42060069e-01 -2.93059118e-03 2.00184345e+02] [ 1.42059503e-01 9.89858039e-01 -4.01609582e-04 7.54786805e+00] [ 2.95792192e-03 -1.87835938e-05 9.99995625e-01 -5.14379830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.840281693 meters 0.0175823145392293 Centerline is valid? [True, True] Translation: X:200.24, Y:7.55, Z:-0.05 [[ 9.89824121e-01 -1.42244338e-01 -3.84170014e-03 2.00242034e+02] [ 1.42243363e-01 9.89831575e-01 -5.27167688e-04 7.55473298e+00] [ 3.87762273e-03 -2.46530559e-05 9.99992482e-01 -5.26317974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.900281693 meters 0.01737607523629949 Centerline is valid? [True, True] Translation: X:200.30, Y:7.56, Z:-0.05 [[ 9.89775950e-01 -1.42610697e-01 -2.39957421e-03 2.00299496e+02] [ 1.42610316e-01 9.89778859e-01 -3.29747356e-04 7.56150033e+00] [ 2.42207332e-03 -1.58280343e-05 9.99997067e-01 -5.00697091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96028169299998 meters 0.018948948968957238 Centerline is valid? [True, True] Translation: X:200.36, Y:7.56, Z:-0.05 [[ 9.89470524e-01 -1.44732693e-01 -7.27571772e-04 2.00357369e+02] [ 1.44732658e-01 9.89470792e-01 -1.00024327e-04 7.56266570e+00] [ 7.34387808e-04 -6.33227344e-06 9.99999730e-01 -4.60220487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.020281693 meters 0.01728359916773019 Centerline is valid? [True, True] Translation: X:200.41, Y:7.58, Z:-0.05 [[ 9.89690871e-01 -1.43219126e-01 -5.12441496e-04 2.00414683e+02] [ 1.43219109e-01 9.89691003e-01 -7.05774844e-05 7.57766790e+00] [ 5.17266784e-04 -3.54152244e-06 9.99999866e-01 -4.53700533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.080281693 meters 0.015616386835192262 Centerline is valid? [True, True] Translation: X:200.47, Y:7.60, Z:-0.05 [[ 9.90266082e-01 -1.39175632e-01 -1.79722260e-03 2.00471871e+02] [ 1.39175411e-01 9.90267713e-01 -2.47682069e-04 7.59563735e+00] [ 1.81420282e-03 -4.85804209e-06 9.99998354e-01 -4.72383964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.140281693 meters 0.015618424802219992 Centerline is valid? [True, True] Translation: X:200.53, Y:7.61, Z:-0.05 [[ 9.90447499e-01 -1.37860250e-01 -2.88143099e-03 2.00526725e+02] [ 1.37859677e-01 9.90451691e-01 -3.97273888e-04 7.61226318e+00] [ 2.90868647e-03 -3.75421833e-06 9.99995770e-01 -4.97002990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.200281693 meters 0.016868536316227197 Centerline is valid? [True, True] Translation: X:200.59, Y:7.62, Z:-0.05 [[ 9.89845864e-01 -1.42107022e-01 -3.28036311e-03 2.00585426e+02] [ 1.42106301e-01 9.89851299e-01 -4.52831565e-04 7.61750401e+00] [ 3.31142223e-03 -1.79268173e-05 9.99994517e-01 -5.01027786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.260281693 meters 0.021672019004632018 Centerline is valid? [True, True] Translation: X:200.65, Y:7.61, Z:-0.05 [[ 9.88662500e-01 -1.50151148e-01 -1.04598562e-03 2.00645744e+02] [ 1.50151079e-01 9.88663053e-01 -1.44423560e-04 7.61421174e+00] [ 1.05581270e-03 -1.42697117e-05 9.99999443e-01 -4.67364380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.320281693 meters 0.029015561871555268 Centerline is valid? [True, True] Translation: X:200.71, Y:7.61, Z:-0.05 [[ 9.87313971e-01 -1.58738357e-01 -3.64088869e-03 2.00707514e+02] [ 1.58737582e-01 9.87320681e-01 -5.02711864e-04 7.60544027e+00] [ 3.67452436e-03 -8.16114195e-05 9.99993246e-01 -5.11451351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.380281693 meters 0.034082107099018086 Centerline is valid? [True, True] Translation: X:200.77, Y:7.60, Z:-0.06 [[ 9.86602043e-01 -1.63038799e-01 -5.89561132e-03 2.00769531e+02] [ 1.63036844e-01 9.86619646e-01 -8.14024422e-04 7.59804446e+00] [ 5.94944351e-03 -1.58083702e-04 9.99982289e-01 -5.62313609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.440281693 meters 0.03728528631519931 Centerline is valid? [True, True] Translation: X:200.83, Y:7.58, Z:-0.05 [[ 9.86373592e-01 -1.64512266e-01 -1.68882051e-03 2.00829673e+02] [ 1.64512108e-01 9.86375036e-01 -2.33301469e-04 7.58492163e+00] [ 1.70419134e-03 -4.77090134e-05 9.99998547e-01 -4.69005527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.500281693 meters 0.030676206981191265 Centerline is valid? [True, True] Translation: X:200.89, Y:7.58, Z:-0.05 [[ 9.87395998e-01 -1.58245739e-01 -2.72581986e-03 2.00890790e+02] [ 1.58245302e-01 9.87399758e-01 -3.76573927e-04 7.58428171e+00] [ 2.75106509e-03 -5.95205998e-05 9.99996214e-01 -5.00040452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.560281693 meters 0.018498094407582405 Centerline is valid? [True, True] Translation: X:200.95, Y:7.60, Z:-0.05 [[ 9.89313132e-01 -1.45791566e-01 -2.08475327e-03 2.00949663e+02] [ 1.45791283e-01 9.89315328e-01 -2.88031018e-04 7.59650661e+00] [ 2.10447086e-03 -1.89859853e-05 9.99997785e-01 -4.66932089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.620281693 meters 0.017728126394361186 Centerline is valid? [True, True] Translation: X:201.01, Y:7.62, Z:-0.04 [[ 9.91650324e-01 -1.28954469e-01 -6.15781802e-04 2.01006058e+02] [ 1.28954441e-01 9.91650515e-01 -8.52323370e-05 7.62124507e+00] [ 6.21631432e-04 5.11287647e-06 9.99999807e-01 -4.26313288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68028169299998 meters 0.03489794922923893 Centerline is valid? [True, True] Translation: X:201.06, Y:7.65, Z:-0.04 [[ 9.93799838e-01 -1.11179951e-01 -9.48941154e-04 2.01061640e+02] [ 1.11179876e-01 9.93800291e-01 -1.31276294e-04 7.65453340e+00] [ 9.57653286e-04 2.49591995e-05 9.99999541e-01 -4.40170275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.740281693 meters 0.0425733391275829 Centerline is valid? [True, True] Translation: X:201.12, Y:7.68, Z:-0.05 [[ 9.94784450e-01 -1.01941721e-01 -3.43280450e-03 2.01119329e+02] [ 1.01940688e-01 9.94790365e-01 -4.74917746e-04 7.67634737e+00] [ 3.46333478e-03 1.22498334e-04 9.99993995e-01 -4.71765768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.800281693 meters 0.05349326309263504 Centerline is valid? [True, True] Translation: X:201.17, Y:7.71, Z:-0.05 [[ 9.95676396e-01 -9.28012723e-02 -4.05441562e-03 2.01174765e+02] [ 9.27997561e-02 9.95684634e-01 -5.60914321e-04 7.70821441e+00] [ 4.08897290e-03 1.82240369e-04 9.99991624e-01 -4.89490682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.860281693 meters 0.055447605717326355 Centerline is valid? [True, True] Translation: X:201.23, Y:7.73, Z:-0.04 [[ 9.95941088e-01 -9.00016322e-02 -1.02774963e-03 2.01232558e+02] [ 9.00015333e-02 9.95941617e-01 -1.42185534e-04 7.73299139e+00] [ 1.03637555e-03 4.91093729e-05 9.99999462e-01 -4.26677820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.920281693 meters 0.05301063580683567 Centerline is valid? [True, True] Translation: X:201.29, Y:7.75, Z:-0.04 [[ 9.95784351e-01 -9.17077452e-02 1.79328735e-03 2.01289901e+02] [ 9.17074466e-02 9.95785962e-01 2.48202997e-04 7.75167828e+00] [-1.80849251e-03 -8.26988564e-05 9.99998361e-01 -3.85147351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.980281693 meters 0.0469550520824938 Centerline is valid? [True, True] Translation: X:201.35, Y:7.76, Z:-0.04 [[ 9.95228941e-01 -9.75600708e-02 -1.17810972e-03 2.01348710e+02] [ 9.75599459e-02 9.95229637e-01 -1.63103742e-04 7.76362072e+00] [ 1.18840212e-03 4.73892434e-05 9.99999293e-01 -4.46598730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.040281693 meters 0.0388141124585342 Centerline is valid? [True, True] Translation: X:201.41, Y:7.77, Z:-0.05 [[ 9.94398552e-01 -1.05634909e-01 -3.57561148e-03 2.01408703e+02] [ 1.05633812e-01 9.94404974e-01 -4.95017405e-04 7.76977215e+00] [ 3.60789696e-03 1.14539122e-04 9.99993485e-01 -4.60845345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.100281693 meters 0.035451941313380406 Centerline is valid? [True, True] Translation: X:201.47, Y:7.78, Z:-0.04 [[ 9.93951177e-01 -1.09817766e-01 -1.05641053e-03 2.01465915e+02] [ 1.09817672e-01 9.93951738e-01 -1.46269443e-04 7.78326552e+00] [ 1.06608406e-03 2.93721400e-05 9.99999431e-01 -4.27511496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.160281693 meters 0.035316959688040064 Centerline is valid? [True, True] Translation: X:201.52, Y:7.80, Z:-0.04 [[ 9.93863525e-01 -1.10599993e-01 -1.71330342e-03 2.01522528e+02] [ 1.10599747e-01 9.93865001e-01 -2.37546305e-04 7.79956934e+00] [ 1.72906492e-03 4.65976830e-05 9.99998504e-01 -4.38184980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.220281693 meters 0.03209551641233903 Centerline is valid? [True, True] Translation: X:201.58, Y:7.81, Z:-0.05 [[ 9.93485634e-01 -1.13912940e-01 -3.18396565e-03 2.01581929e+02] [ 1.13912110e-01 9.93490733e-01 -4.41462666e-04 7.80884084e+00] [ 3.21352867e-03 7.58945711e-05 9.99994834e-01 -4.61446149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.280281693 meters 0.027271779998058826 Centerline is valid? [True, True] Translation: X:201.64, Y:7.81, Z:-0.05 [[ 9.92842366e-01 -1.19395198e-01 -2.97034066e-03 2.01641952e+02] [ 1.19394500e-01 9.92846808e-01 -4.11908468e-04 7.80823340e+00] [ 2.99827313e-03 5.43178392e-05 9.99995504e-01 -4.59123408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.340281693 meters 0.02557861336764288 Centerline is valid? [True, True] Translation: X:201.70, Y:7.82, Z:-0.05 [[ 9.92640207e-01 -1.21073621e-01 -2.56841630e-03 2.01700324e+02] [ 1.21073103e-01 9.92643529e-01 -3.56628176e-04 7.81734123e+00] [ 2.59270008e-03 4.30373349e-05 9.99996638e-01 -4.52422666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.400281693 meters 0.03141856581082016 Centerline is valid? [True, True] Translation: X:201.76, Y:7.84, Z:-0.05 [[ 9.93222765e-01 -1.16182736e-01 -3.17991175e-03 2.01756961e+02] [ 1.16181917e-01 9.93227853e-01 -4.41586344e-04 7.83737614e+00] [ 3.20968163e-03 6.91453653e-05 9.99994847e-01 -4.54468130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46028169299998 meters 0.03701959416170307 Centerline is valid? [True, True] Translation: X:201.81, Y:7.86, Z:-0.05 [[ 9.93700656e-01 -1.11983702e-01 -4.31944209e-03 2.01813338e+02] [ 1.11982151e-01 9.93710037e-01 -5.99917830e-04 7.86104916e+00] [ 4.35945398e-03 1.12438323e-04 9.99990491e-01 -4.69615496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.520281693 meters 0.035830408253521254 Centerline is valid? [True, True] Translation: X:201.87, Y:7.88, Z:-0.04 [[ 9.93825426e-01 -1.10908861e-01 -3.20109924e-03 2.01870131e+02] [ 1.10908002e-01 9.93830578e-01 -4.45163682e-04 7.87772323e+00] [ 3.23072291e-03 8.73874635e-05 9.99994777e-01 -4.49084684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.580281693 meters 0.03444822970845873 Centerline is valid? [True, True] Translation: X:201.93, Y:7.89, Z:-0.04 [[ 9.93343824e-01 -1.15157857e-01 -2.59122568e-03 2.01928236e+02] [ 1.15157309e-01 9.93347202e-01 -3.60373179e-04 7.89037489e+00] [ 2.61548659e-03 5.95758951e-05 9.99996578e-01 -4.38472941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.640281693 meters 0.025109509393107556 Centerline is valid? [True, True] Translation: X:201.99, Y:7.89, Z:-0.04 [[ 9.92753088e-01 -1.20147423e-01 -2.42977914e-03 2.01988764e+02] [ 1.20146955e-01 9.92756060e-01 -3.37979347e-04 7.88946805e+00] [ 2.45278531e-03 4.35994748e-05 9.99996991e-01 -4.15393732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.700281693 meters 0.02217263414383831 Centerline is valid? [True, True] Translation: X:202.05, Y:7.90, Z:-0.04 [[ 9.92360848e-01 -1.23352606e-01 -2.02036042e-03 2.02046506e+02] [ 1.23352288e-01 9.92362904e-01 -2.81414812e-04 7.89933090e+00] [ 2.03964398e-03 3.00489603e-05 9.99997919e-01 -4.14920713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.760281693 meters 0.022323834737897858 Centerline is valid? [True, True] Translation: X:202.10, Y:7.91, Z:-0.05 [[ 9.92126548e-01 -1.25161785e-01 -4.40916281e-03 2.02103886e+02] [ 1.25160291e-01 9.92136344e-01 -6.14311620e-04 7.90887709e+00] [ 4.45137900e-03 5.76227672e-05 9.99990091e-01 -4.76019361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.820281693 meters 0.019030744798961535 Centerline is valid? [True, True] Translation: X:202.16, Y:7.91, Z:-0.04 [[ 9.91701370e-01 -1.28500254e-01 -4.00958188e-03 2.02162785e+02] [ 1.28499042e-01 9.91709475e-01 -5.59341720e-04 7.91412109e+00] [ 4.04821590e-03 3.94725177e-05 9.99991805e-01 -4.46405745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.880281693 meters 0.016621350189142577 Centerline is valid? [True, True] Translation: X:202.22, Y:7.91, Z:-0.04 [[ 9.91091196e-01 -1.33170004e-01 -1.99798540e-03 2.02221362e+02] [ 1.33169712e-01 9.91093210e-01 -2.78830665e-04 7.91408221e+00] [ 2.01732165e-03 1.02754761e-05 9.99997965e-01 -4.32060618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.940281693 meters 0.01497797715761407 Centerline is valid? [True, True] Translation: X:202.28, Y:7.91, Z:-0.04 [[ 9.90369903e-01 -1.38413702e-01 -3.01713858e-03 2.02281214e+02] [ 1.38413060e-01 9.90374498e-01 -4.21594878e-04 7.91152521e+00] [ 3.04645161e-03 -7.65041832e-08 9.99995360e-01 -4.39323788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.000281693 meters 0.016081363078522957 Centerline is valid? [True, True] Translation: X:202.34, Y:7.91, Z:-0.05 [[ 9.89765889e-01 -1.42627260e-01 -4.57718351e-03 2.02340653e+02] [ 1.42625826e-01 9.89776472e-01 -6.39935289e-04 7.90594417e+00] [ 4.62166077e-03 -1.94384581e-05 9.99989320e-01 -4.72375679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.060281693 meters 0.01623198243532541 Centerline is valid? [True, True] Translation: X:202.40, Y:7.91, Z:-0.05 [[ 9.89732031e-01 -1.42844102e-01 -5.10576098e-03 2.02398994e+02] [ 1.42842315e-01 9.89745201e-01 -7.14806268e-04 7.90912534e+00] [ 5.15550828e-03 -2.18520570e-05 9.99986710e-01 -4.81149853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.120281693 meters 0.015060403730916437 Centerline is valid? [True, True] Translation: X:202.46, Y:7.92, Z:-0.05 [[ 9.90156991e-01 -1.39921944e-01 -3.31395433e-03 2.02456793e+02] [ 1.39921173e-01 9.90162537e-01 -4.64498826e-04 7.91879223e+00] [ 3.34634700e-03 -3.76561832e-06 9.99994401e-01 -4.50700016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18028169299998 meters 0.015133599372349796 Centerline is valid? [True, True] Translation: X:202.52, Y:7.92, Z:-0.04 [[ 9.89971801e-01 -1.41256392e-01 -1.56977044e-03 2.02515701e+02] [ 1.41256221e-01 9.89973046e-01 -2.20353834e-04 7.91797772e+00] [ 1.58515681e-03 -3.59575778e-06 9.99998744e-01 -4.15755033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.240281693 meters 0.01602759032238081 Centerline is valid? [True, True] Translation: X:202.58, Y:7.91, Z:-0.04 [[ 9.89576668e-01 -1.43995490e-01 -1.82106081e-03 2.02575331e+02] [ 1.43995263e-01 9.89578344e-01 -2.55905830e-04 7.91348812e+00] [ 1.83893163e-03 -8.98569280e-06 9.99998309e-01 -4.28199587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.300281693 meters 0.016586371629013687 Centerline is valid? [True, True] Translation: X:202.64, Y:7.91, Z:-0.04 [[ 9.89344194e-01 -1.45588249e-01 -1.45851018e-03 2.02635131e+02] [ 1.45588105e-01 9.89345269e-01 -2.05207085e-04 7.91065480e+00] [ 1.47284589e-03 -9.32129548e-06 9.99998915e-01 -4.09745549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.360281693 meters 0.014846521900435198 Centerline is valid? [True, True] Translation: X:202.69, Y:7.92, Z:-0.04 [[ 9.90138331e-01 -1.40065606e-01 -2.77701402e-03 2.02693124e+02] [ 1.40065060e-01 9.90142225e-01 -3.91136732e-04 7.92209401e+00] [ 2.80442365e-03 -1.68316422e-06 9.99996068e-01 -4.14553460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.420281693 meters 0.027628244075666004 Centerline is valid? [True, True] Translation: X:202.75, Y:7.96, Z:-0.04 [[ 9.92520491e-01 -1.22038963e-01 -3.09291703e-03 2.02747025e+02] [ 1.22038198e-01 9.92525309e-01 -4.35648531e-04 7.96437040e+00] [ 3.12296453e-03 5.49360723e-05 9.99995122e-01 -4.28641139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.480281693 meters 0.029011774742801234 Centerline is valid? [True, True] Translation: X:202.81, Y:7.98, Z:-0.04 [[ 9.93184516e-01 -1.16519342e-01 -2.78578528e-03 2.02805537e+02] [ 1.16518700e-01 9.93188420e-01 -3.92419118e-04 7.97944715e+00] [ 2.81253410e-03 6.51485124e-05 9.99996043e-01 -4.14812599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.540281693 meters 0.037775281115280626 Centerline is valid? [True, True] Translation: X:202.86, Y:8.01, Z:-0.04 [[ 9.93521762e-01 -1.13641181e-01 4.36323953e-04 2.02860175e+02] [ 1.13641165e-01 9.93521858e-01 6.14654598e-05 8.01071623e+00] [-4.40482392e-04 -1.14829096e-05 9.99999903e-01 -3.66227866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.600281693 meters 0.03030053083094102 Centerline is valid? [True, True] Translation: X:202.92, Y:8.02, Z:-0.04 [[ 9.93198154e-01 -1.16425097e-01 -1.61951572e-03 2.02918353e+02] [ 1.16424879e-01 9.93199474e-01 -2.28282994e-04 8.01980433e+00] [ 1.63508003e-03 3.81783260e-05 9.99998663e-01 -4.16028040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.660281693 meters 0.026652576287771533 Centerline is valid? [True, True] Translation: X:202.98, Y:8.03, Z:-0.05 [[ 9.92622545e-01 -1.21193574e-01 -3.54974648e-03 2.02975936e+02] [ 1.21192558e-01 9.92628890e-01 -5.00466461e-04 8.03246956e+00] [ 3.58423423e-03 6.65714344e-05 9.99993574e-01 -4.54908621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.720281693 meters 0.02645032650387041 Centerline is valid? [True, True] Translation: X:203.03, Y:8.05, Z:-0.05 [[ 9.92149443e-01 -1.24923253e-01 -5.80207844e-03 2.03032024e+02] [ 1.24920603e-01 9.92166404e-01 -8.18354736e-04 8.04644937e+00] [ 5.85885884e-03 8.71310567e-05 9.99982833e-01 -5.13489863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.780281693 meters 0.028668498695173836 Centerline is valid? [True, True] Translation: X:203.09, Y:8.07, Z:-0.05 [[ 9.92404034e-01 -1.22955042e-01 -4.03609207e-03 2.03087711e+02] [ 1.22953741e-01 9.92412239e-01 -5.69913511e-04 8.06989220e+00] [ 4.07554091e-03 6.93318508e-05 9.99991693e-01 -4.60837736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.840281693 meters 0.024412746964263134 Centerline is valid? [True, True] Translation: X:203.14, Y:8.09, Z:-0.04 [[ 9.92432857e-01 -1.22753106e-01 -2.94961044e-03 2.03144077e+02] [ 1.22752408e-01 9.92437238e-01 -4.17108242e-04 8.08816514e+00] [ 2.97850457e-03 5.18801387e-05 9.99995563e-01 -4.34834759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.900281693 meters 0.020317189563717038 Centerline is valid? [True, True] Translation: X:203.20, Y:8.10, Z:-0.04 [[ 9.91422108e-01 -1.30698880e-01 8.54540921e-05 2.03201543e+02] [ 1.30698880e-01 9.91422111e-01 1.20762367e-05 8.10095567e+00] [-8.62994270e-05 -8.03893941e-07 9.99999996e-01 -3.85190542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96028169299998 meters 0.01792949315267905 Centerline is valid? [True, True] Translation: X:203.26, Y:8.09, Z:-0.04 [[ 9.88953114e-01 -1.48220770e-01 -1.53035457e-03 2.03262835e+02] [ 1.48220612e-01 9.88954298e-01 -2.16712531e-04 8.08731122e+00] [ 1.54557203e-03 -1.25115592e-05 9.99998806e-01 -4.17593917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.020281693 meters 0.03329145571013733 Centerline is valid? [True, True] Translation: X:203.33, Y:8.07, Z:-0.04 [[ 9.86179514e-01 -1.65679209e-01 6.04735584e-04 2.03325539e+02] [ 1.65679187e-01 9.86179699e-01 8.56174398e-05 8.07067609e+00] [-6.10562986e-04 1.57579350e-05 9.99999813e-01 -3.75856817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.080281693 meters 0.051308850648402425 Centerline is valid? [True, True] Translation: X:203.39, Y:8.05, Z:-0.04 [[ 9.84025189e-01 -1.78028910e-01 3.66258358e-04 2.03388774e+02] [ 1.78028903e-01 9.84025257e-01 5.18569442e-05 8.04837218e+00] [-3.69639510e-04 1.41760343e-05 9.99999932e-01 -3.94616314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.140281693 meters 0.059625323576243706 Centerline is valid? [True, True] Translation: X:203.45, Y:8.03, Z:-0.05 [[ 9.82147033e-01 -1.88087844e-01 -3.18871618e-03 2.03452425e+02] [ 1.88087366e-01 9.82152197e-01 -4.51551847e-04 8.02904466e+00] [ 3.21673601e-03 -1.56266921e-04 9.99994814e-01 -4.57872026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.200281693 meters 0.06718446018320509 Centerline is valid? [True, True] Translation: X:203.51, Y:8.01, Z:-0.05 [[ 9.81728253e-01 -1.90234396e-01 -4.52904135e-03 2.03514981e+02] [ 1.90233456e-01 9.81738672e-01 -6.41457916e-04 8.00746925e+00] [ 4.56836240e-03 -2.31837828e-04 9.99989538e-01 -4.80577905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.260281693 meters 0.05439650032828654 Centerline is valid? [True, True] Translation: X:203.57, Y:8.02, Z:-0.05 [[ 9.83115639e-01 -1.82883655e-01 -6.09988687e-03 2.03574744e+02] [ 1.82881808e-01 9.83134527e-01 -8.63991295e-04 8.01516979e+00] [ 6.15501927e-03 -2.66154986e-04 9.99981022e-01 -4.98583718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.320281693 meters 0.03964236298117921 Centerline is valid? [True, True] Translation: X:203.63, Y:8.03, Z:-0.05 [[ 9.85449297e-01 -1.69921829e-01 -4.03178992e-03 2.03634309e+02] [ 1.69920914e-01 9.85457537e-01 -5.71127086e-04 8.02709623e+00] [ 4.07020472e-03 -1.22268642e-04 9.99991709e-01 -4.62082939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.380281693 meters 0.02410906452281178 Centerline is valid? [True, True] Translation: X:203.69, Y:8.05, Z:-0.05 [[ 9.87722807e-01 -1.56160011e-01 -4.20792501e-03 2.03692271e+02] [ 1.56158888e-01 9.87731768e-01 -5.96142202e-04 8.04742082e+00] [ 4.24939478e-03 -6.82816402e-05 9.99990969e-01 -4.62187276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.440281693 meters 0.017116734662086287 Centerline is valid? [True, True] Translation: X:203.75, Y:8.06, Z:-0.05 [[ 9.89245800e-01 -1.46199517e-01 -4.29524288e-03 2.03749063e+02] [ 1.46198253e-01 9.89255124e-01 -6.08610609e-04 8.06315153e+00] [ 4.33806961e-03 -2.58915165e-05 9.99990590e-01 -4.86764899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.500281693 meters 0.01482569417693336 Centerline is valid? [True, True] Translation: X:203.81, Y:8.07, Z:-0.04 [[ 9.89817300e-01 -1.42338903e-01 -1.16138566e-03 2.03807266e+02] [ 1.42338808e-01 9.89817982e-01 -1.64800746e-04 8.07434847e+00] [ 1.17301797e-03 -2.18762090e-06 9.99999312e-01 -4.18729631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.560281693 meters 0.014764649964711078 Centerline is valid? [True, True] Translation: X:203.87, Y:8.08, Z:-0.04 [[ 9.89793599e-01 -1.42507390e-01 -5.23745927e-04 2.03865262e+02] [ 1.42507370e-01 9.89793738e-01 -7.44553974e-05 8.07680733e+00] [ 5.29010883e-04 -9.42178995e-07 9.99999860e-01 -4.10082435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.620281693 meters 0.014764546527431687 Centerline is valid? [True, True] Translation: X:203.92, Y:8.08, Z:-0.04 [[ 9.89876129e-01 -1.41933543e-01 -3.44087748e-04 2.03922360e+02] [ 1.41933535e-01 9.89876189e-01 -4.89286637e-05 8.08163761e+00] [ 3.47548887e-04 -4.04274007e-07 9.99999940e-01 -4.05397435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68028169299998 meters 0.015971829442761674 Centerline is valid? [True, True] Translation: X:203.98, Y:8.10, Z:-0.04 [[ 9.90759037e-01 -1.35628146e-01 1.23977450e-03 2.03979477e+02] [ 1.35628032e-01 9.90759812e-01 1.76338175e-04 8.10018840e+00] [-1.25223517e-03 -6.56046500e-06 9.99999216e-01 -3.61011624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.740281693 meters 0.020789466131606624 Centerline is valid? [True, True] Translation: X:204.04, Y:8.12, Z:-0.04 [[ 9.91593331e-01 -1.29386325e-01 1.35850934e-03 2.04035845e+02] [ 1.29386181e-01 9.91594261e-01 1.93446429e-04 8.12134553e+00] [-1.37211938e-03 -1.60478530e-05 9.99999059e-01 -3.52147397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.800281693 meters 0.03221459910504702 Centerline is valid? [True, True] Translation: X:204.09, Y:8.16, Z:-0.04 [[ 9.92867491e-01 -1.19223092e-01 8.60160616e-06 2.04090083e+02] [ 1.19223092e-01 9.92867491e-01 1.22472184e-06 8.16093457e+00] [-8.68627024e-06 -1.90476414e-07 1.00000000e+00 -3.90416285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.860281693 meters 0.04000987963069806 Centerline is valid? [True, True] Translation: X:204.15, Y:8.19, Z:-0.04 [[ 9.93576692e-01 -1.13160302e-01 3.20886465e-04 2.04146771e+02] [ 1.13160293e-01 9.93576744e-01 4.57059945e-05 8.19186253e+00] [-3.23997433e-04 -9.10080446e-06 9.99999947e-01 -3.68609223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.920281693 meters 0.04472133586366691 Centerline is valid? [True, True] Translation: X:204.20, Y:8.22, Z:-0.04 [[ 9.93957986e-01 -1.09752849e-01 -1.35452324e-03 2.04203284e+02] [ 1.09752688e-01 9.93958908e-01 -1.92963323e-04 8.21955853e+00] [ 1.36751872e-03 4.31348695e-05 9.99999064e-01 -3.94822993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.980281693 meters 0.04133197290004511 Centerline is valid? [True, True] Translation: X:204.26, Y:8.25, Z:-0.04 [[ 9.94168666e-01 -1.07799649e-01 -2.81064790e-03 2.04259201e+02] [ 1.07798947e-01 9.94172634e-01 -4.00467190e-04 8.24866729e+00] [ 2.83743945e-03 9.51470472e-05 9.99995970e-01 -4.35968698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.040281693 meters 0.036989177352056625 Centerline is valid? [True, True] Translation: X:204.32, Y:8.26, Z:-0.04 [[ 9.93589703e-01 -1.13042118e-01 -9.90727298e-04 2.04316664e+02] [ 1.13042033e-01 9.93590197e-01 -1.41177271e-04 8.26469651e+00] [ 1.00033591e-03 2.82784553e-05 9.99999499e-01 -3.98350969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.100281693 meters 0.031291951288865666 Centerline is valid? [True, True] Translation: X:204.37, Y:8.28, Z:-0.04 [[ 9.92496106e-01 -1.22253582e-01 -2.35389765e-03 2.04374775e+02] [ 1.22253130e-01 9.92498897e-01 -3.35455334e-04 8.27575765e+00] [ 2.37725144e-03 4.51667564e-05 9.99997173e-01 -4.41849520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.160281693 meters 0.02799226939479223 Centerline is valid? [True, True] Translation: X:204.43, Y:8.28, Z:-0.04 [[ 9.92159746e-01 -1.24968393e-01 -1.39235558e-03 2.04433946e+02] [ 1.24968238e-01 9.92160723e-01 -1.98546637e-04 8.28117962e+00] [ 1.40625257e-03 2.29897580e-05 9.99999011e-01 -4.26021462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.220281693 meters 0.02070546024830783 Centerline is valid? [True, True] Translation: X:204.49, Y:8.28, Z:-0.04 [[ 9.91330618e-01 -1.31390974e-01 1.35557485e-04 2.04494316e+02] [ 1.31390973e-01 9.91330627e-01 1.93233889e-05 8.28053097e+00] [-1.36921205e-04 -1.34483726e-06 9.99999991e-01 -3.88561454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.280281693 meters 0.02011647617589401 Centerline is valid? [True, True] Translation: X:204.55, Y:8.29, Z:-0.04 [[ 9.91218269e-01 -1.32233422e-01 -8.15144458e-04 2.04551074e+02] [ 1.32233371e-01 9.91218605e-01 -1.16438984e-04 8.29139037e+00] [ 8.23383478e-04 7.62714876e-06 9.99999661e-01 -3.98866095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.340281693 meters 0.020232130908610157 Centerline is valid? [True, True] Translation: X:204.61, Y:8.30, Z:-0.04 [[ 9.91184521e-01 -1.32488505e-01 -2.03378034e-04 2.04607969e+02] [ 1.32488501e-01 9.91184542e-01 -2.91299942e-05 8.30298532e+00] [ 2.05444552e-04 1.92794841e-06 9.99999979e-01 -4.04678021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.400281693 meters 0.015378911834208425 Centerline is valid? [True, True] Translation: X:204.67, Y:8.30, Z:-0.04 [[ 9.90471541e-01 -1.37708876e-01 1.54631264e-03 2.04667508e+02] [ 1.37708699e-01 9.90472748e-01 2.21234059e-04 8.30231005e+00] [-1.56204642e-03 -6.18533885e-06 9.99998780e-01 -3.68650245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46028169299998 meters 0.014984768397299408 Centerline is valid? [True, True] Translation: X:204.72, Y:8.31, Z:-0.04 [[ 9.90183184e-01 -1.39763093e-01 -1.88127952e-03 2.04724774e+02] [ 1.39762833e-01 9.90184972e-01 -2.69355884e-04 8.31004838e+00] [ 1.90046072e-03 3.77871142e-06 9.99998194e-01 -4.42816862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.520281693 meters 0.01569329759866671 Centerline is valid? [True, True] Translation: X:204.78, Y:8.32, Z:-0.05 [[ 9.89912300e-01 -1.41497765e-01 -7.21259954e-03 2.04782888e+02] [ 1.41493988e-01 9.89938575e-01 -1.03381337e-03 8.31647656e+00] [ 7.28631279e-03 2.84509988e-06 9.99973454e-01 -5.39137161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.580281693 meters 0.015326881061421181 Centerline is valid? [True, True] Translation: X:204.84, Y:8.32, Z:-0.04 [[ 9.89435285e-01 -1.44958711e-01 -2.18847332e-03 2.04841803e+02] [ 1.44958371e-01 9.89437705e-01 -3.14073519e-04 8.31842422e+00] [ 2.21088571e-03 -6.48210575e-06 9.99997556e-01 -4.49294308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.640281693 meters 0.01634996535266893 Centerline is valid? [True, True] Translation: X:204.90, Y:8.32, Z:-0.04 [[ 9.88986905e-01 -1.47992586e-01 -1.75970083e-03 2.04900990e+02] [ 1.47992371e-01 9.88988470e-01 -2.52842947e-04 8.31826936e+00] [ 1.77774271e-03 -1.03639342e-05 9.99998420e-01 -4.41157552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.700281693 meters 0.016821405934640536 Centerline is valid? [True, True] Translation: X:204.96, Y:8.32, Z:-0.05 [[ 9.88968063e-01 -1.48082821e-01 -3.69428921e-03 2.04958407e+02] [ 1.48081870e-01 9.88974963e-01 -5.30931944e-04 8.32396362e+00] [ 3.73218143e-03 -2.19825195e-05 9.99993035e-01 -4.83781939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.760281693 meters 0.015196068674041812 Centerline is valid? [True, True] Translation: X:205.01, Y:8.34, Z:-0.05 [[ 9.89572854e-01 -1.43988145e-01 -3.60294889e-03 2.05014689e+02] [ 1.43987213e-01 9.89579413e-01 -5.18122526e-04 8.33797577e+00] [ 3.64000755e-03 -6.05858135e-06 9.99993375e-01 -4.67654631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.820281693 meters 0.014993308873358082 Centerline is valid? [True, True] Translation: X:205.07, Y:8.35, Z:-0.04 [[ 9.89760280e-01 -1.42723803e-01 -2.12220061e-03 2.05071181e+02] [ 1.42723476e-01 9.89762555e-01 -3.05622265e-04 8.35088738e+00] [ 2.14409427e-03 -3.95069795e-07 9.99997701e-01 -4.37138446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.880281693 meters 0.015297943823995235 Centerline is valid? [True, True] Translation: X:205.13, Y:8.35, Z:-0.04 [[ 9.89269772e-01 -1.46081234e-01 2.36451844e-03 2.05129480e+02] [ 1.46080836e-01 9.89272598e-01 3.40818961e-04 8.35297024e+00] [-2.38894056e-03 8.24893589e-06 9.99997146e-01 -3.64203436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.940281693 meters 0.01821194048223246 Centerline is valid? [True, True] Translation: X:205.19, Y:8.35, Z:-0.04 [[ 9.88440623e-01 -1.51589431e-01 2.40395021e-03 2.05188647e+02] [ 1.51589036e-01 9.88443546e-01 3.46686194e-04 8.35139542e+00] [-2.42872303e-03 2.17337757e-05 9.99997050e-01 -3.62269568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.000281693 meters 0.020959058915826275 Centerline is valid? [True, True] Translation: X:205.25, Y:8.35, Z:-0.04 [[ 9.87961025e-01 -1.54701808e-01 -6.02344235e-04 2.05246365e+02] [ 1.54701784e-01 9.87961209e-01 -8.69535782e-05 8.35449303e+00] [ 6.08544615e-04 -7.27698120e-06 9.99999815e-01 -4.30669934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.060281693 meters 0.023492547615915085 Centerline is valid? [True, True] Translation: X:205.30, Y:8.36, Z:-0.04 [[ 9.87517475e-01 -1.57509182e-01 3.05768346e-04 2.05304914e+02] [ 1.57509176e-01 9.87517523e-01 4.41232679e-05 8.35664318e+00] [-3.08901420e-04 4.58882210e-06 9.99999952e-01 -4.02533573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.120281693 meters 0.02963660493590035 Centerline is valid? [True, True] Translation: X:205.36, Y:8.35, Z:-0.04 [[ 9.86812816e-01 -1.61863464e-01 -8.27509996e-04 2.05364193e+02] [ 1.61863420e-01 9.86813163e-01 -1.19517484e-04 8.35196188e+00] [ 8.35943270e-04 -1.60022137e-05 9.99999650e-01 -4.29994128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18028169299998 meters 0.033516351103225685 Centerline is valid? [True, True] Translation: X:205.43, Y:8.35, Z:-0.05 [[ 9.85504154e-01 -1.69637441e-01 -2.16831711e-03 2.05426017e+02] [ 1.69637162e-01 9.85506537e-01 -3.13141688e-04 8.34876884e+00] [ 2.19001124e-03 -5.92247254e-05 9.99997600e-01 -4.61920757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.240281693 meters 0.0374153006354248 Centerline is valid? [True, True] Translation: X:205.49, Y:8.35, Z:-0.04 [[ 9.84891419e-01 -1.73166830e-01 -1.46358165e-03 2.05486307e+02] [ 1.73166707e-01 9.84892505e-01 -2.11429036e-04 8.34519881e+00] [ 1.47808309e-03 -4.52089699e-05 9.99998907e-01 -4.40205956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.300281693 meters 0.03956768223056433 Centerline is valid? [True, True] Translation: X:205.55, Y:8.34, Z:-0.04 [[ 9.84783802e-01 -1.73773517e-01 -1.90501479e-03 2.05545564e+02] [ 1.73773309e-01 9.84785642e-01 -2.75379172e-04 8.34065772e+00] [ 1.92388482e-03 -5.98517754e-05 9.99998148e-01 -4.44826490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.360281693 meters 0.033330901115508745 Centerline is valid? [True, True] Translation: X:205.60, Y:8.35, Z:-0.05 [[ 9.85738995e-01 -1.68251735e-01 -3.16036493e-03 2.05604843e+02] [ 1.68251135e-01 9.85744057e-01 -4.56825689e-04 8.34932465e+00] [ 3.19217267e-03 -8.14240921e-05 9.99994902e-01 -4.54111988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.420281693 meters 0.02736776920578546 Centerline is valid? [True, True] Translation: X:205.66, Y:8.36, Z:-0.04 [[ 9.86852434e-01 -1.61618282e-01 -1.34327792e-03 2.05662584e+02] [ 1.61618167e-01 9.86853348e-01 -1.94143299e-04 8.36068378e+00] [ 1.35699542e-03 -2.55073284e-05 9.99999079e-01 -4.26833614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.480281693 meters 0.021538344171371588 Centerline is valid? [True, True] Translation: X:205.72, Y:8.38, Z:-0.04 [[ 9.87805013e-01 -1.55694799e-01 -6.21574565e-04 2.05720657e+02] [ 1.55694773e-01 9.87805208e-01 -8.98603829e-05 8.37520814e+00] [ 6.27985386e-04 -8.01137394e-06 9.99999803e-01 -4.17100288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.540281693 meters 0.01765261770723203 Centerline is valid? [True, True] Translation: X:205.78, Y:8.39, Z:-0.05 [[ 9.88598364e-01 -1.50557878e-01 -2.36656123e-03 2.05777313e+02] [ 1.50557490e-01 9.88601196e-01 -3.42256018e-04 8.38961090e+00] [ 2.39111461e-03 -1.79497804e-05 9.99997141e-01 -4.50393965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.600281693 meters 0.01630204772886153 Centerline is valid? [True, True] Translation: X:205.84, Y:8.40, Z:-0.04 [[ 9.88918958e-01 -1.48441540e-01 -2.09843713e-03 2.05835561e+02] [ 1.48441229e-01 9.88921185e-01 -3.03851121e-04 8.40053492e+00] [ 2.12029306e-03 -1.10104521e-05 9.99997752e-01 -4.44114226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.660281693 meters 0.014662627279824392 Centerline is valid? [True, True] Translation: X:205.89, Y:8.42, Z:-0.04 [[ 9.89830161e-01 -1.42251965e-01 7.93801110e-04 2.05891317e+02] [ 1.42251919e-01 9.89830480e-01 1.14946300e-04 8.42065919e+00] [-8.02079871e-04 -8.57583183e-07 9.99999678e-01 -3.90040969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.720281693 meters 0.014774142111869802 Centerline is valid? [True, True] Translation: X:205.95, Y:8.43, Z:-0.04 [[ 9.89906500e-01 -1.41720838e-01 -5.69507475e-04 2.05948294e+02] [ 1.41720814e-01 9.89906664e-01 -8.26438962e-05 8.43121427e+00] [ 5.75471607e-04 1.09866710e-06 9.99999834e-01 -4.14569080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.780281693 meters 0.015172109947535178 Centerline is valid? [True, True] Translation: X:206.01, Y:8.43, Z:-0.05 [[ 9.89352243e-01 -1.45517961e-01 -2.58116580e-03 2.06006509e+02] [ 1.45517478e-01 9.89355610e-01 -3.74805997e-04 8.43377482e+00] [ 2.60823187e-03 -4.78958323e-06 9.99996599e-01 -4.62968131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.840281693 meters 0.01766118704938006 Centerline is valid? [True, True] Translation: X:206.07, Y:8.43, Z:-0.04 [[ 9.88562961e-01 -1.50806448e-01 -8.29418848e-04 2.06065478e+02] [ 1.50806400e-01 9.88563309e-01 -1.20483200e-04 8.42820471e+00] [ 8.38102684e-04 -5.97644236e-06 9.99999649e-01 -4.31213157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.900281693 meters 0.020453020087657345 Centerline is valid? [True, True] Translation: X:206.13, Y:8.43, Z:-0.04 [[ 9.88038253e-01 -1.54193990e-01 2.15010725e-03 2.06125407e+02] [ 1.54193675e-01 9.88040593e-01 3.12554791e-04 8.42629963e+00] [-2.17258731e-03 2.27168493e-05 9.99997640e-01 -3.58439109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96028169299998 meters 0.01945903252459025 Centerline is valid? [True, True] Translation: X:206.18, Y:8.43, Z:-0.05 [[ 9.88255533e-01 -1.52788882e-01 -2.56112374e-03 2.06183213e+02] [ 1.52788429e-01 9.88258851e-01 -3.72800317e-04 8.43424975e+00] [ 2.58801295e-03 -2.28880971e-05 9.99996651e-01 -4.80286759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.020281693 meters 0.0185890005449054 Centerline is valid? [True, True] Translation: X:206.24, Y:8.44, Z:-0.05 [[ 9.88177776e-01 -1.53274673e-01 -3.39980299e-03 2.06242074e+02] [ 1.53273875e-01 9.88183624e-01 -4.95427218e-04 8.44048034e+00] [ 3.43556608e-03 -3.15308129e-05 9.99994098e-01 -4.86410428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.080281693 meters 0.019398129606409534 Centerline is valid? [True, True] Translation: X:206.30, Y:8.45, Z:-0.05 [[ 9.87929153e-01 -1.54874419e-01 -3.14683236e-03 2.06300401e+02] [ 1.54873742e-01 9.87934164e-01 -4.59090103e-04 8.44577174e+00] [ 3.17996451e-03 -3.38132079e-05 9.99994943e-01 -4.79415838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.140281693 meters 0.02295472214429325 Centerline is valid? [True, True] Translation: X:206.36, Y:8.45, Z:-0.05 [[ 9.87208170e-01 -1.59423517e-01 -2.04246236e-03 2.06359897e+02] [ 1.59423241e-01 9.87210282e-01 -2.98335506e-04 8.44700499e+00] [ 2.06390154e-03 -3.10967212e-05 9.99997870e-01 -4.56416264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.200281693 meters 0.022637267037401522 Centerline is valid? [True, True] Translation: X:206.42, Y:8.45, Z:-0.04 [[ 9.87092636e-01 -1.60146896e-01 1.04874850e-03 2.06418829e+02] [ 1.60146824e-01 9.87093193e-01 1.53278127e-04 8.45267631e+00] [-1.05975952e-03 1.66540310e-05 9.99999438e-01 -4.16294402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.260281693 meters 0.018678121126791233 Centerline is valid? [True, True] Translation: X:206.48, Y:8.47, Z:-0.05 [[ 9.88091185e-01 -1.53866120e-01 -1.01307518e-03 2.06476424e+02] [ 1.53866049e-01 9.88091705e-01 -1.48153119e-04 8.46823758e+00] [ 1.02380692e-03 -9.48908346e-06 9.99999476e-01 -4.54853461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.320281693 meters 0.015279305983135521 Centerline is valid? [True, True] Translation: X:206.53, Y:8.49, Z:-0.05 [[ 9.89240184e-01 -1.46216437e-01 -4.96099266e-03 2.06532747e+02] [ 1.46214633e-01 9.89252624e-01 -7.26314777e-04 8.49046850e+00] [ 5.01387417e-03 -6.86995770e-06 9.99987430e-01 -5.22979607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.380281693 meters 0.015026226021898834 Centerline is valid? [True, True] Translation: X:206.59, Y:8.51, Z:-0.05 [[ 9.89799172e-01 -1.42452711e-01 -2.19663430e-03 2.06589331e+02] [ 1.42452347e-01 9.89801609e-01 -3.22000460e-04 8.50749906e+00] [ 2.22010200e-03 5.80007725e-06 9.99997536e-01 -4.61547829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.440281693 meters 0.014522056468718285 Centerline is valid? [True, True] Translation: X:206.65, Y:8.52, Z:-0.04 [[ 9.89658103e-01 -1.43436125e-01 1.70780147e-03 2.06645496e+02] [ 1.43435907e-01 9.89659577e-01 2.50560706e-04 8.52310055e+00] [-1.72608154e-03 -3.00938070e-06 9.99998510e-01 -3.92643034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.500281693 meters 0.014548354584451 Centerline is valid? [True, True] Translation: X:206.70, Y:8.53, Z:-0.04 [[ 9.89110736e-01 -1.47163824e-01 1.66182881e-03 2.06702973e+02] [ 1.47163622e-01 9.89112132e-01 2.44133078e-04 8.52804619e+00] [-1.67966259e-03 3.08609781e-06 9.99998589e-01 -3.99934008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.560281693 meters 0.01977164232745387 Centerline is valid? [True, True] Translation: X:206.76, Y:8.52, Z:-0.04 [[ 9.87540862e-01 -1.57340298e-01 2.66001991e-03 2.06764169e+02] [ 1.57339816e-01 9.87544444e-01 3.90934926e-04 8.52120452e+00] [-2.68839771e-03 3.24628302e-05 9.99996386e-01 -3.83822281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.620281693 meters 0.025905391261167608 Centerline is valid? [True, True] Translation: X:206.82, Y:8.52, Z:-0.04 [[ 9.86398124e-01 -1.64371247e-01 9.13819158e-04 2.06824892e+02] [ 1.64371193e-01 9.86398547e-01 1.34324434e-04 8.51626843e+00] [-9.23468964e-04 1.77081757e-05 9.99999573e-01 -4.15604140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68028169299998 meters 0.026797206449618884 Centerline is valid? [True, True] Translation: X:206.88, Y:8.52, Z:-0.04 [[ 9.86308605e-01 -1.64907526e-01 9.18514186e-04 2.06882636e+02] [ 1.64907472e-01 9.86309032e-01 1.35061245e-04 8.51996067e+00] [-9.28211454e-04 1.82577844e-05 9.99999569e-01 -4.18781075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.740281693 meters 0.026155637536195212 Centerline is valid? [True, True] Translation: X:206.94, Y:8.52, Z:-0.04 [[ 9.86602982e-01 -1.63139047e-01 -4.54995027e-04 2.06940450e+02] [ 1.63139034e-01 9.86603087e-01 -6.69828932e-05 8.52495121e+00] [ 4.59827023e-04 -8.14192678e-06 9.99999894e-01 -4.45764427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.800281693 meters 0.020709343742977823 Centerline is valid? [True, True] Translation: X:207.00, Y:8.54, Z:-0.05 [[ 9.87415865e-01 -1.58121723e-01 -2.72575859e-03 2.06997948e+02] [ 1.58121217e-01 9.87419627e-01 -4.01578655e-04 8.54082157e+00] [ 2.75496584e-03 -3.44751297e-05 9.99996204e-01 -4.76288925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.860281693 meters 0.015103321065109454 Centerline is valid? [True, True] Translation: X:207.05, Y:8.58, Z:-0.05 [[ 9.89358683e-01 -1.45441419e-01 -4.02370742e-03 2.07052782e+02] [ 1.45440210e-01 9.89366865e-01 -5.93069695e-04 8.57563560e+00] [ 4.06717970e-03 1.54979808e-06 9.99991729e-01 -4.95221516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.920281693 meters 0.021144325595659447 Centerline is valid? [True, True] Translation: X:207.11, Y:8.61, Z:-0.05 [[ 9.90992673e-01 -1.33871610e-01 -3.45182033e-03 2.07106795e+02] [ 1.33870649e-01 9.90998683e-01 -5.08891268e-04 8.60985194e+00] [ 3.48887550e-03 4.22100886e-05 9.99993913e-01 -4.92594340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.980281693 meters 0.03272287061941671 Centerline is valid? [True, True] Translation: X:207.16, Y:8.65, Z:-0.05 [[ 9.92650925e-01 -1.20967642e-01 -3.31218904e-03 2.07161338e+02] [ 1.20966685e-01 9.92656447e-01 -4.88309981e-04 8.65196656e+00] [ 3.34693551e-03 8.40568247e-05 9.99994395e-01 -4.87399613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.040281693 meters 0.036448939617658604 Centerline is valid? [True, True] Translation: X:207.22, Y:8.68, Z:-0.04 [[ 9.92945878e-01 -1.18568121e-01 -2.90795176e-04 2.07215578e+02] [ 1.18568114e-01 9.92945920e-01 -4.29009018e-05 8.68264559e+00] [ 2.93830563e-04 8.11923808e-06 9.99999957e-01 -4.46478489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.100281693 meters 0.032781839378219664 Centerline is valid? [True, True] Translation: X:207.27, Y:8.70, Z:-0.05 [[ 9.92682695e-01 -1.20750978e-01 -5.17235205e-04 2.07272152e+02] [ 1.20750954e-01 9.92682830e-01 -7.63199407e-05 8.70186770e+00] [ 5.22666214e-04 1.33048398e-05 9.99999863e-01 -4.50560893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.160281693 meters 0.02889499617556169 Centerline is valid? [True, True] Translation: X:207.33, Y:8.72, Z:-0.04 [[ 9.92252655e-01 -1.24236300e-01 -1.01325826e-04 2.07329288e+02] [ 1.24236299e-01 9.92252660e-01 -1.50173694e-05 8.71926688e+00] [ 1.02406523e-04 2.31267909e-06 9.99999995e-01 -4.45825258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.220281693 meters 0.02199862185300784 Centerline is valid? [True, True] Translation: X:207.39, Y:8.73, Z:-0.05 [[ 9.91230834e-01 -1.32137511e-01 -1.05419648e-03 2.07389303e+02] [ 1.32137420e-01 9.91231395e-01 -1.55716673e-04 8.72526707e+00] [ 1.06552866e-03 1.50523649e-05 9.99999432e-01 -4.76238686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.280281693 meters 0.017979072784559312 Centerline is valid? [True, True] Translation: X:207.45, Y:8.73, Z:-0.05 [[ 9.90378044e-01 -1.38366746e-01 -2.44406557e-03 2.07447099e+02] [ 1.38366276e-01 9.90381060e-01 -3.61163391e-04 8.73152556e+00] [ 2.47052925e-03 1.95120408e-05 9.99996948e-01 -5.02433758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.340281693 meters 0.015330654958980226 Centerline is valid? [True, True] Translation: X:207.51, Y:8.73, Z:-0.05 [[ 9.88788031e-01 -1.49305635e-01 -2.46103820e-03 2.07507457e+02] [ 1.49305191e-01 9.88791094e-01 -3.64124328e-04 8.72540166e+00] [ 2.48781847e-03 -7.40400328e-06 9.99996905e-01 -4.93799508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.400281693 meters 0.021823566722369802 Centerline is valid? [True, True] Translation: X:207.57, Y:8.72, Z:-0.05 [[ 9.87125592e-01 -1.59939580e-01 -1.54821769e-03 2.07568892e+02] [ 1.59939417e-01 9.87126806e-01 -2.29075845e-04 8.71884742e+00] [ 1.56492547e-03 -2.14944060e-05 9.99998775e-01 -4.82033880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46028169299998 meters 0.029515216390815113 Centerline is valid? [True, True] Translation: X:207.63, Y:8.71, Z:-0.05 [[ 9.85679313e-01 -1.68628450e-01 -8.59287479e-04 2.07631484e+02] [ 1.68628403e-01 9.85679687e-01 -1.27133256e-04 8.71053471e+00] [ 8.68420497e-04 -1.95876548e-05 9.99999623e-01 -4.58980112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.520281693 meters 0.03778962036000302 Centerline is valid? [True, True] Translation: X:207.69, Y:8.70, Z:-0.04 [[ 9.84520540e-01 -1.75268985e-01 -2.97893357e-04 2.07693603e+02] [ 1.75268980e-01 9.84520585e-01 -4.40776268e-05 8.69711155e+00] [ 3.01007583e-04 -8.81613566e-06 9.99999955e-01 -4.35303422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.580281693 meters 0.0417979133504167 Centerline is valid? [True, True] Translation: X:207.76, Y:8.69, Z:-0.04 [[ 9.83965031e-01 -1.78360932e-01 4.42968349e-04 2.07755034e+02] [ 1.78360920e-01 9.83965130e-01 6.55431798e-05 8.68854565e+00] [-4.47555752e-04 1.45160455e-05 9.99999900e-01 -4.27646066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.640281693 meters 0.03932826812005207 Centerline is valid? [True, True] Translation: X:207.82, Y:8.69, Z:-0.04 [[ 9.84292513e-01 -1.76545260e-01 -1.42692753e-04 2.07815050e+02] [ 1.76545259e-01 9.84292523e-01 -2.11879770e-05 8.68830585e+00] [ 1.44192047e-04 -4.33656192e-06 9.99999990e-01 -4.17161592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.700281693 meters 0.03308271090701903 Centerline is valid? [True, True] Translation: X:207.87, Y:8.69, Z:-0.05 [[ 9.85416269e-01 -1.70144053e-01 -2.40371110e-03 2.07873915e+02] [ 1.70143690e-01 9.85419199e-01 -3.56111140e-04 8.69398412e+00] [ 2.42925326e-03 -5.80585663e-05 9.99997048e-01 -4.63036804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.760281693 meters 0.030399245853265984 Centerline is valid? [True, True] Translation: X:207.93, Y:8.70, Z:-0.05 [[ 9.85865572e-01 -1.67530040e-01 -1.66128455e-03 2.07932349e+02] [ 1.67529863e-01 9.85866971e-01 -2.46206462e-04 8.69881594e+00] [ 1.67905254e-03 -3.55882979e-05 9.99998590e-01 -4.53351468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.820281693 meters 0.028885480198505543 Centerline is valid? [True, True] Translation: X:207.99, Y:8.70, Z:-0.04 [[ 9.86174214e-01 -1.65711543e-01 3.22506099e-04 2.07991010e+02] [ 1.65711537e-01 9.86174267e-01 4.77916167e-05 8.69628518e+00] [-3.25966838e-04 6.31212114e-06 9.99999947e-01 -4.15143204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.880281693 meters 0.019258873813120997 Centerline is valid? [True, True] Translation: X:208.05, Y:8.71, Z:-0.04 [[ 9.87548350e-01 -1.57306742e-01 -1.68704525e-03 2.08048845e+02] [ 1.57306545e-01 9.87549790e-01 -2.50171468e-04 8.71435350e+00] [ 1.70539484e-03 -1.83268383e-05 9.99998546e-01 -4.42644201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.940281693 meters 0.01530842251444664 Centerline is valid? [True, True] Translation: X:208.10, Y:8.74, Z:-0.04 [[ 9.89687116e-01 -1.43230257e-01 -2.12257829e-03 2.08103647e+02] [ 1.43229911e-01 9.89689392e-01 -3.15163458e-04 8.74422279e+00] [ 2.14583416e-03 7.89651482e-06 9.99997698e-01 -4.41435822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.000281693 meters 0.017175041790842772 Centerline is valid? [True, True] Translation: X:208.16, Y:8.76, Z:-0.04 [[ 9.90222227e-01 -1.39489563e-01 -1.61363481e-03 2.08159388e+02] [ 1.39489358e-01 9.90223541e-01 -2.39693701e-04 8.75955953e+00] [ 1.63129394e-03 1.22651467e-05 9.99998669e-01 -4.39001890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.060281693 meters 0.02468920042017325 Centerline is valid? [True, True] Translation: X:208.21, Y:8.79, Z:-0.04 [[ 9.91374089e-01 -1.31059744e-01 -8.70824132e-04 2.08214330e+02] [ 1.31059681e-01 9.91374472e-01 -1.29409664e-04 8.78713892e+00] [ 8.80273212e-04 1.41634548e-05 9.99999612e-01 -4.28542280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.120281693 meters 0.027231657055395046 Centerline is valid? [True, True] Translation: X:208.27, Y:8.81, Z:-0.05 [[ 9.91666179e-01 -1.28809516e-01 -2.50960933e-03 2.08270990e+02] [ 1.28808983e-01 9.91669353e-01 -3.73346666e-04 8.80600647e+00] [ 2.53679326e-03 4.69750357e-05 9.99996781e-01 -4.58238945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18028169299998 meters 0.02540520762824358 Centerline is valid? [True, True] Translation: X:208.33, Y:8.82, Z:-0.05 [[ 9.91613112e-01 -1.29216631e-01 -2.54934017e-03 2.08327725e+02] [ 1.29216081e-01 9.91616388e-01 -3.79760870e-04 8.81562959e+00] [ 2.57703891e-03 4.71601109e-05 9.99996678e-01 -4.62290519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.240281693 meters 0.026021115190505005 Centerline is valid? [True, True] Translation: X:208.38, Y:8.83, Z:-0.05 [[ 9.91391484e-01 -1.30896247e-01 -3.01626643e-03 2.08384454e+02] [ 1.30895486e-01 9.91396071e-01 -4.49439096e-04 8.82791020e+00] [ 3.04914458e-03 5.07544339e-05 9.99995350e-01 -4.70965592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.300281693 meters 0.024994518028128118 Centerline is valid? [True, True] Translation: X:208.44, Y:8.84, Z:-0.04 [[ 9.91450229e-01 -1.30477619e-01 -1.42658943e-03 2.08441667e+02] [ 1.30477447e-01 9.91451255e-01 -2.12854118e-04 8.84240735e+00] [ 1.44216658e-03 2.48965171e-05 9.99998960e-01 -4.31248992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.360281693 meters 0.02669064879494854 Centerline is valid? [True, True] Translation: X:208.50, Y:8.86, Z:-0.04 [[ 9.91528158e-01 -1.29885606e-01 -1.28077064e-03 2.08497536e+02] [ 1.29885467e-01 9.91528985e-01 -1.91141608e-04 8.85892168e+00] [ 1.29474776e-03 2.31687935e-05 9.99999162e-01 -4.43757600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.420281693 meters 0.024024642981658892 Centerline is valid? [True, True] Translation: X:208.55, Y:8.87, Z:-0.05 [[ 9.91185365e-01 -1.32453662e-01 -2.75685899e-03 2.08554484e+02] [ 1.32453028e-01 9.91189198e-01 -4.11896131e-04 8.87303266e+00] [ 2.78712600e-03 4.31110945e-05 9.99996115e-01 -4.69201460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.480281693 meters 0.020487797752251683 Centerline is valid? [True, True] Translation: X:208.61, Y:8.89, Z:-0.04 [[ 9.90637929e-01 -1.36508851e-01 -1.35209863e-03 2.08610740e+02] [ 1.36508702e-01 9.90638851e-01 -2.02084409e-04 8.88591772e+00] [ 1.36702775e-03 1.56192502e-05 9.99999065e-01 -4.31587320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.540281693 meters 0.01870036572491545 Centerline is valid? [True, True] Translation: X:208.67, Y:8.90, Z:-0.04 [[ 9.90337180e-01 -1.38679690e-01 4.62874531e-04 2.08666689e+02] [ 1.38679673e-01 9.90337288e-01 6.91813161e-05 8.90017834e+00] [-4.67995951e-04 -4.32154081e-06 9.99999890e-01 -3.95463929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.600281693 meters 0.015478258527856946 Centerline is valid? [True, True] Translation: X:208.73, Y:8.90, Z:-0.04 [[ 9.89612745e-01 -1.43757125e-01 -7.09665990e-04 2.08725074e+02] [ 1.43757086e-01 9.89613000e-01 -1.06275087e-04 8.90492786e+00] [ 7.17572490e-04 3.15166565e-06 9.99999743e-01 -4.21500918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.660281693 meters 0.01474396247678036 Centerline is valid? [True, True] Translation: X:208.78, Y:8.91, Z:-0.04 [[ 9.89026151e-01 -1.47724803e-01 -2.15770006e-03 2.08783402e+02] [ 1.47724449e-01 9.89028504e-01 -3.23096617e-04 8.90885517e+00] [ 2.18175624e-03 8.05950388e-07 9.99997620e-01 -4.42416963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.720281693 meters 0.014481820682888927 Centerline is valid? [True, True] Translation: X:208.84, Y:8.92, Z:-0.04 [[ 9.88908758e-01 -1.48517369e-01 -1.43522626e-03 2.08840539e+02] [ 1.48517213e-01 9.88909799e-01 -2.15236567e-04 8.91821445e+00] [ 1.45127568e-03 -3.06478416e-07 9.99998947e-01 -4.14769349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.780281693 meters 0.015066926787760039 Centerline is valid? [True, True] Translation: X:208.90, Y:8.94, Z:-0.04 [[ 9.89499891e-01 -1.44533451e-01 -2.15929546e-04 2.08897445e+02] [ 1.44533448e-01 9.89499915e-01 -3.24661830e-05 8.93855535e+00] [ 2.18354716e-04 9.16242884e-07 9.99999976e-01 -3.93573921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.840281693 meters 0.020486748720751295 Centerline is valid? [True, True] Translation: X:208.95, Y:8.97, Z:-0.04 [[ 9.90648102e-01 -1.36440787e-01 -4.98615086e-04 2.08951782e+02] [ 1.36440767e-01 9.90648228e-01 -7.48778578e-05 8.96944166e+00] [ 5.04168545e-04 6.14618300e-06 9.99999873e-01 -3.98693124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.900281693 meters 0.02387190688972621 Centerline is valid? [True, True] Translation: X:209.01, Y:9.00, Z:-0.04 [[ 9.91079076e-01 -1.33269972e-01 -1.17431911e-03 2.09006554e+02] [ 1.33269857e-01 9.91079772e-01 -1.76398812e-04 8.99599333e+00] [ 1.18735258e-03 1.83238331e-05 9.99999295e-01 -4.10730853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96028169299998 meters 0.018552849237120493 Centerline is valid? [True, True] Translation: X:209.06, Y:9.00, Z:-0.04 [[ 9.90274042e-01 -1.39125366e-01 -1.20592471e-03 2.09064890e+02] [ 1.39125248e-01 9.90274776e-01 -1.81197229e-04 9.00378392e+00] [ 1.21940595e-03 1.16603378e-05 9.99999256e-01 -4.07851429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.020281693 meters 0.016100125858166326 Centerline is valid? [True, True] Translation: X:209.12, Y:9.01, Z:-0.05 [[ 9.89668986e-01 -1.43329668e-01 -3.45011804e-03 2.09123057e+02] [ 1.43328730e-01 9.89675000e-01 -5.18965047e-04 9.01198196e+00] [ 3.48887866e-03 1.91025743e-05 9.99993914e-01 -4.67087328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.080281693 meters 0.015112352454578903 Centerline is valid? [True, True] Translation: X:209.18, Y:9.02, Z:-0.05 [[ 9.89197025e-01 -1.46506745e-01 -5.00187584e-03 2.09180693e+02] [ 1.46504812e-01 9.89209671e-01 -7.52603781e-04 9.01994307e+00] [ 5.05816549e-03 1.16745418e-05 9.99987207e-01 -5.01936890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.140281693 meters 0.015092235406581108 Centerline is valid? [True, True] Translation: X:209.24, Y:9.02, Z:-0.05 [[ 9.88426689e-01 -1.51634735e-01 -4.42581636e-03 2.09238090e+02] [ 1.51633271e-01 9.88436597e-01 -6.66282469e-04 9.02078010e+00] [ 4.47567043e-03 -1.25296379e-05 9.99989984e-01 -4.90538791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.200281693 meters 0.01701198547279544 Centerline is valid? [True, True] Translation: X:209.30, Y:9.02, Z:-0.04 [[ 9.87731093e-01 -1.56160391e-01 -1.10436596e-03 2.09297170e+02] [ 1.56160302e-01 9.87731711e-01 -1.66473587e-04 9.02219906e+00] [ 1.11681386e-03 -8.02698423e-06 9.99999376e-01 -4.20219971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.260281693 meters 0.018460501447211588 Centerline is valid? [True, True] Translation: X:209.36, Y:9.03, Z:-0.04 [[ 9.87160910e-01 -1.59725567e-01 -1.04005592e-03 2.09356285e+02] [ 1.59725491e-01 9.87161457e-01 -1.56960283e-04 9.02534618e+00] [ 1.05177369e-03 -1.11783867e-05 9.99999447e-01 -4.24801723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.320281693 meters 0.02013962660174218 Centerline is valid? [True, True] Translation: X:209.41, Y:9.03, Z:-0.04 [[ 9.86991049e-01 -1.60771239e-01 -1.13004952e-03 2.09414291e+02] [ 1.60771149e-01 9.86991696e-01 -1.70565962e-04 9.03059351e+00] [ 1.14277159e-03 -1.33322818e-05 9.99999347e-01 -4.24195568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.380281693 meters 0.02063475381063751 Centerline is valid? [True, True] Translation: X:209.47, Y:9.04, Z:-0.04 [[ 9.86776513e-01 -1.62076870e-01 -1.78949833e-03 2.09472403e+02] [ 1.62076646e-01 9.86778135e-01 -2.70417717e-04 9.03714705e+00] [ 1.80966628e-03 -2.31940360e-05 9.99998362e-01 -4.39296312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.440281693 meters 0.025199757895413174 Centerline is valid? [True, True] Translation: X:209.53, Y:9.04, Z:-0.05 [[ 9.85878869e-01 -1.67429644e-01 -3.18918117e-03 2.09532421e+02] [ 1.67428961e-01 9.85884025e-01 -4.82008551e-04 9.03562949e+00] [ 3.22486529e-03 -5.87592434e-05 9.99994798e-01 -4.77001462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.500281693 meters 0.03569395047394872 Centerline is valid? [True, True] Translation: X:209.59, Y:9.02, Z:-0.05 [[ 9.84580902e-01 -1.74921443e-01 -1.71321347e-03 2.09594808e+02] [ 1.74921257e-01 9.84582392e-01 -2.58934669e-04 9.02187733e+00] [ 1.73209304e-03 -4.47353242e-05 9.99998499e-01 -4.54849816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.560281693 meters 0.04352218710213523 Centerline is valid? [True, True] Translation: X:209.66, Y:9.01, Z:-0.05 [[ 9.83518221e-01 -1.80786898e-01 -2.82963062e-03 2.09657449e+02] [ 1.80786415e-01 9.83522287e-01 -4.27693968e-04 9.01239358e+00] [ 2.86032624e-03 -9.09139651e-05 9.99995905e-01 -4.76446090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.620281693 meters 0.042027174758655084 Centerline is valid? [True, True] Translation: X:209.72, Y:9.02, Z:-0.05 [[ 9.83399529e-01 -1.81428462e-01 -3.01329568e-03 2.09716341e+02] [ 1.81427915e-01 9.83404141e-01 -4.55981551e-04 9.01695857e+00] [ 3.04601548e-03 -9.82839111e-05 9.99995356e-01 -4.73419579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68028169299998 meters 0.04150449698904926 Centerline is valid? [True, True] Translation: X:209.77, Y:9.02, Z:-0.05 [[ 9.83382610e-01 -1.81506382e-01 -3.75173026e-03 2.09774004e+02] [ 1.81505533e-01 9.83389759e-01 -5.68399923e-04 9.02280447e+00] [ 3.79258133e-03 -1.22005203e-04 9.99992801e-01 -4.92806906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.740281693 meters 0.045554072425375874 Centerline is valid? [True, True] Translation: X:209.84, Y:9.02, Z:-0.05 [[ 9.82854869e-01 -1.84298446e-01 -5.51271509e-03 2.09835746e+02] [ 1.84296657e-01 9.82870309e-01 -8.35169934e-04 9.01753161e+00] [ 5.57220450e-03 -1.95124124e-04 9.99984456e-01 -5.31044134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.800281693 meters 0.05384309127874605 Centerline is valid? [True, True] Translation: X:209.90, Y:9.00, Z:-0.05 [[ 9.81950897e-01 -1.89116832e-01 -2.69437888e-03 2.09898122e+02] [ 1.89116422e-01 9.81954588e-01 -4.08248934e-04 9.00274623e+00] [ 2.72296445e-03 -1.08670887e-04 9.99996287e-01 -4.70068986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.860281693 meters 0.055578802452090965 Centerline is valid? [True, True] Translation: X:209.96, Y:9.00, Z:-0.04 [[ 9.81605483e-01 -1.90916525e-01 -1.24759917e-03 2.09957970e+02] [ 1.90916438e-01 9.81606274e-01 -1.89066555e-04 9.00467414e+00] [ 1.26074710e-03 -5.25984231e-05 9.99999204e-01 -4.32379617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.920281693 meters 0.055422640303740965 Centerline is valid? [True, True] Translation: X:210.02, Y:9.00, Z:-0.04 [[ 9.80868606e-01 -1.94669771e-01 -6.77121047e-04 2.10020196e+02] [ 1.94669747e-01 9.80868839e-01 -1.02618602e-04 8.99811261e+00] [ 6.84143675e-04 -3.11596178e-05 9.99999765e-01 -4.26365372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.980281693 meters 0.053352648319100554 Centerline is valid? [True, True] Translation: X:210.08, Y:8.99, Z:-0.05 [[ 9.81102976e-01 -1.93450829e-01 -3.70505674e-03 2.10080930e+02] [ 1.93450085e-01 9.81109958e-01 -5.61677066e-04 8.99096033e+00] [ 3.74372496e-03 -1.65680500e-04 9.99992979e-01 -4.73884546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.040281693 meters 0.04324504268160926 Centerline is valid? [True, True] Translation: X:210.14, Y:9.00, Z:-0.04 [[ 9.82697468e-01 -1.85208745e-01 -1.84605723e-03 2.10140779e+02] [ 1.85208545e-01 9.82699199e-01 -2.79882345e-04 9.00023740e+00] [ 1.86595562e-03 -6.68659033e-05 9.99998257e-01 -4.18509193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.100281693 meters 0.03551294396021665 Centerline is valid? [True, True] Translation: X:210.20, Y:9.01, Z:-0.04 [[ 9.84451723e-01 -1.75643830e-01 -2.01239019e-03 2.10199261e+02] [ 1.75643573e-01 9.84453779e-01 -3.05141006e-04 9.01080515e+00] [ 2.03470126e-03 -5.30668136e-05 9.99997929e-01 -4.34807427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.160281693 meters 0.028426916032550317 Centerline is valid? [True, True] Translation: X:210.26, Y:9.02, Z:-0.04 [[ 9.85645714e-01 -1.68826909e-01 -3.97974254e-05 2.10258069e+02] [ 1.68826909e-01 9.85645715e-01 -6.04166400e-06 9.02033411e+00] [ 4.02461573e-05 -7.63936095e-07 9.99999999e-01 -4.04996329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.220281693 meters 0.025040326432823324 Centerline is valid? [True, True] Translation: X:210.32, Y:9.03, Z:-0.05 [[ 9.86034633e-01 -1.66495771e-01 -3.85486398e-03 2.10316827e+02] [ 1.66494755e-01 9.86042166e-01 -5.85257012e-04 9.02678118e+00] [ 3.89850125e-03 -6.47309499e-05 9.99992399e-01 -4.85149572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.280281693 meters 0.022969816768032038 Centerline is valid? [True, True] Translation: X:210.37, Y:9.03, Z:-0.05 [[ 9.86461390e-01 -1.63935540e-01 -4.36625508e-03 2.10374091e+02] [ 1.63934210e-01 9.86471051e-01 -6.63104285e-04 9.03415860e+00] [ 4.41589060e-03 -6.16518044e-05 9.99990248e-01 -4.91203225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.340281693 meters 0.019367797456995704 Centerline is valid? [True, True] Translation: X:210.43, Y:9.04, Z:-0.05 [[ 9.86941208e-01 -1.61047384e-01 -3.28513777e-03 2.10431920e+02] [ 1.61046613e-01 9.86946675e-01 -4.99495491e-04 9.04375661e+00] [ 3.32269824e-03 -3.60876286e-05 9.99994479e-01 -4.58881471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.400281693 meters 0.014217391158529224 Centerline is valid? [True, True] Translation: X:210.49, Y:9.06, Z:-0.04 [[ 9.88345629e-01 -1.52210863e-01 -2.18418534e-03 2.10488055e+02] [ 1.52210500e-01 9.88348043e-01 -3.32181650e-04 9.06359076e+00] [ 2.20929696e-03 -4.14566145e-06 9.99997559e-01 -4.38164371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46028169299998 meters 0.016716458343735894 Centerline is valid? [True, True] Translation: X:210.54, Y:9.09, Z:-0.04 [[ 9.89831077e-01 -1.42244967e-01 -8.98737544e-04 2.10543927e+02] [ 1.42244901e-01 9.89831485e-01 -1.36891971e-04 9.08880721e+00] [ 9.09070912e-04 7.65909398e-06 9.99999587e-01 -4.07828972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.520281693 meters 0.027394414226909445 Centerline is valid? [True, True] Translation: X:210.60, Y:9.13, Z:-0.04 [[ 9.91515455e-01 -1.29987938e-01 -4.89256411e-04 2.10598205e+02] [ 1.29987917e-01 9.91515575e-01 -7.45032791e-05 9.12741014e+00] [ 4.94789879e-04 1.02737308e-05 9.99999878e-01 -3.89575587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.580281693 meters 0.04202417494498619 Centerline is valid? [True, True] Translation: X:210.65, Y:9.17, Z:-0.04 [[ 9.92615067e-01 -1.21302178e-01 1.05371931e-03 2.10651677e+02] [ 1.21302076e-01 9.92615626e-01 1.60454740e-04 9.16938328e+00] [-1.06540176e-03 -3.14514530e-05 9.99999432e-01 -3.71812762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.640281693 meters 0.035767681469867973 Centerline is valid? [True, True] Translation: X:210.71, Y:9.19, Z:-0.04 [[ 9.92561972e-01 -1.21737227e-01 -8.82945515e-04 2.10708205e+02] [ 1.21737155e-01 9.92562364e-01 -1.34658699e-04 9.18672244e+00] [ 8.92771465e-04 2.61698282e-05 9.99999601e-01 -4.04116769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.700281693 meters 0.029504612668358677 Centerline is valid? [True, True] Translation: X:210.77, Y:9.20, Z:-0.04 [[ 9.91641539e-01 -1.29010549e-01 -1.82639261e-03 2.10766723e+02] [ 1.29010255e-01 9.91643220e-01 -2.78456984e-04 9.19934397e+00] [ 1.84705374e-03 4.05061356e-05 9.99998293e-01 -4.28986601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.760281693 meters 0.018349819960665457 Centerline is valid? [True, True] Translation: X:210.83, Y:9.20, Z:-0.04 [[ 9.90044138e-01 -1.40755681e-01 -6.65428279e-04 2.10828205e+02] [ 1.40755644e-01 9.90044362e-01 -1.01454327e-04 9.19859613e+00] [ 6.73083788e-04 6.78147528e-06 9.99999773e-01 -4.11029802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.820281693 meters 0.014774273407478816 Centerline is valid? [True, True] Translation: X:210.89, Y:9.20, Z:-0.04 [[ 9.89070029e-01 -1.47441284e-01 -1.24305354e-03 2.10886401e+02] [ 1.47441162e-01 9.89070810e-01 -1.89657420e-04 9.19894747e+00] [ 1.25743130e-03 4.30721174e-06 9.99999209e-01 -4.27657813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.880281693 meters 0.014371522729419836 Centerline is valid? [True, True] Translation: X:210.94, Y:9.20, Z:-0.04 [[ 9.88306888e-01 -1.52455434e-01 -2.61458575e-03 2.10944811e+02] [ 1.52454910e-01 9.88310346e-01 -3.99428121e-04 9.19970540e+00] [ 2.64491713e-03 -3.84887279e-06 9.99996502e-01 -4.36382613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.940281693 meters 0.014308988792929439 Centerline is valid? [True, True] Translation: X:211.00, Y:9.21, Z:-0.04 [[ 9.88591647e-01 -1.50601777e-01 -2.37920382e-03 2.11001477e+02] [ 1.50601337e-01 9.88594510e-01 -3.63932600e-04 9.21285850e+00] [ 2.40687673e-03 1.46945256e-06 9.99997103e-01 -4.29024121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.000281693 meters 0.014673815257478939 Centerline is valid? [True, True] Translation: X:211.06, Y:9.22, Z:-0.04 [[ 9.88885415e-01 -1.48662610e-01 -2.25047588e-03 2.11058234e+02] [ 1.48662212e-01 9.88887976e-01 -3.44333778e-04 9.22436550e+00] [ 2.27665809e-03 5.94592955e-06 9.99997408e-01 -4.30239353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.060281693 meters 0.01399016693132851 Centerline is valid? [True, True] Translation: X:211.12, Y:9.23, Z:-0.04 [[ 9.88417368e-01 -1.51746853e-01 1.99995774e-03 2.11116219e+02] [ 1.51746544e-01 9.88419391e-01 3.06300217e-04 9.22669908e+00] [-2.02327710e-03 7.34220975e-07 9.99997953e-01 -3.53325743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.120281693 meters 0.014827079555088473 Centerline is valid? [True, True] Translation: X:211.17, Y:9.23, Z:-0.04 [[ 9.87969024e-01 -1.54641490e-01 -1.79388766e-03 2.11173447e+02] [ 1.54641245e-01 9.87970652e-01 -2.74986173e-04 9.23443893e+00] [ 1.81483263e-03 -5.73120080e-06 9.99998353e-01 -4.22144507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18028169299998 meters 0.014916008316856827 Centerline is valid? [True, True] Translation: X:211.23, Y:9.25, Z:-0.04 [[ 9.87855205e-01 -1.55377266e-01 2.06801570e-06 2.11230469e+02] [ 1.55377266e-01 9.87855205e-01 2.54370972e-07 9.24549376e+00] [-2.08242353e-06 7.00409395e-08 1.00000000e+00 -3.74711091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.240281693 meters 0.01768061611739202 Centerline is valid? [True, True] Translation: X:211.29, Y:9.24, Z:-0.04 [[ 9.87083383e-01 -1.60206973e-01 3.48202813e-04 2.11290358e+02] [ 1.60206964e-01 9.87083444e-01 5.34356814e-05 9.24485735e+00] [-3.52266001e-04 3.03904242e-06 9.99999938e-01 -3.86062192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.300281693 meters 0.021168161879709758 Centerline is valid? [True, True] Translation: X:211.35, Y:9.24, Z:-0.04 [[ 9.86222165e-01 -1.65424734e-01 -7.05980126e-04 2.11350728e+02] [ 1.65424699e-01 9.86222418e-01 -1.08626103e-04 9.24046126e+00] [ 7.14222871e-04 -9.65707957e-06 9.99999745e-01 -4.13807285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.360281693 meters 0.026890942693735095 Centerline is valid? [True, True] Translation: X:211.41, Y:9.23, Z:-0.04 [[ 9.85558130e-01 -1.69335160e-01 8.81050366e-04 2.11412051e+02] [ 1.69335106e-01 9.85558524e-01 1.35518373e-04 9.22768055e+00] [-8.91274723e-04 1.56315236e-05 9.99999603e-01 -3.73211760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.420281693 meters 0.023757187312952364 Centerline is valid? [True, True] Translation: X:211.47, Y:9.24, Z:-0.04 [[ 9.86081973e-01 -1.66256436e-01 -1.06725261e-03 2.11470661e+02] [ 1.66256355e-01 9.86082551e-01 -1.64381916e-04 9.23593875e+00] [ 1.07972873e-03 -1.53434849e-05 9.99999417e-01 -4.14468990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.480281693 meters 0.016650689306600925 Centerline is valid? [True, True] Translation: X:211.53, Y:9.25, Z:-0.04 [[ 9.87261015e-01 -1.59083155e-01 -2.87026978e-03 2.11527364e+02] [ 1.59082542e-01 9.87265187e-01 -4.42107018e-04 9.25457092e+00] [ 2.90404921e-03 -2.01347882e-05 9.99995783e-01 -4.36305299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.540281693 meters 0.015452303993235503 Centerline is valid? [True, True] Translation: X:211.59, Y:9.26, Z:-0.04 [[ 9.87538988e-01 -1.57374232e-01 -3.13366252e-04 2.11585108e+02] [ 1.57374225e-01 9.87539038e-01 -4.83727609e-05 9.26291007e+00] [ 3.17074034e-04 -1.54578362e-06 9.99999950e-01 -3.98370870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.600281693 meters 0.015574683757092719 Centerline is valid? [True, True] Translation: X:211.64, Y:9.27, Z:-0.04 [[ 9.87405484e-01 -1.58208193e-01 -7.59620697e-04 2.11642632e+02] [ 1.58208150e-01 9.87405777e-01 -1.17339999e-04 9.27006476e+00] [ 7.68618013e-04 -4.31602662e-06 9.99999705e-01 -4.10313734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.660281693 meters 0.014944572982368745 Centerline is valid? [True, True] Translation: X:211.70, Y:9.28, Z:-0.04 [[ 9.87653460e-01 -1.56649638e-01 -1.23846316e-03 2.11700173e+02] [ 1.56649521e-01 9.87654237e-01 -1.91468738e-04 9.27981503e+00] [ 1.25316689e-03 -4.89989877e-06 9.99999215e-01 -4.13077730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.720281693 meters 0.014232885117136844 Centerline is valid? [True, True] Translation: X:211.76, Y:9.29, Z:-0.04 [[ 9.88135148e-01 -1.53582777e-01 -1.12232942e-03 2.11756447e+02] [ 1.53582679e-01 9.88135786e-01 -1.73550025e-04 9.29164683e+00] [ 1.13566816e-03 -8.79479252e-07 9.99999355e-01 -4.12332122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.780281693 meters 0.01561260830762886 Centerline is valid? [True, True] Translation: X:211.81, Y:9.31, Z:-0.04 [[ 9.88981983e-01 -1.48030538e-01 -1.26376218e-03 2.11812263e+02] [ 1.48030410e-01 9.88982790e-01 -1.95489561e-04 9.30964242e+00] [ 1.27877747e-03 6.26042071e-06 9.99999182e-01 -4.29419972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.840281693 meters 0.01635749771904761 Centerline is valid? [True, True] Translation: X:211.87, Y:9.32, Z:-0.04 [[ 9.89264506e-01 -1.46135828e-01 -2.40514296e-04 2.11870029e+02] [ 1.46135823e-01 9.89264535e-01 -3.72983272e-05 9.31921351e+00] [ 2.43382885e-04 1.75015666e-06 9.99999970e-01 -3.98525514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.900281693 meters 0.016309109485826773 Centerline is valid? [True, True] Translation: X:211.93, Y:9.33, Z:-0.04 [[ 9.89261140e-01 -1.46158345e-01 3.68214803e-04 2.11927407e+02] [ 1.46158334e-01 9.89261208e-01 5.70195674e-05 9.32851590e+00] [-3.72594507e-04 -2.58958013e-06 9.99999931e-01 -3.84550772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96028169299998 meters 0.015440932422580314 Centerline is valid? [True, True] Translation: X:211.99, Y:9.33, Z:-0.04 [[ 9.88956328e-01 -1.48200619e-01 -1.39887410e-03 2.11986240e+02] [ 1.48200460e-01 9.88957318e-01 -2.17170896e-04 9.33090583e+00] [ 1.41561164e-03 7.45874709e-06 9.99998998e-01 -4.26079054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.020281693 meters 0.014417900514403507 Centerline is valid? [True, True] Translation: X:212.05, Y:9.33, Z:-0.04 [[ 9.88386137e-01 -1.51948756e-01 -2.10248171e-03 2.12046650e+02] [ 1.51948404e-01 9.88388373e-01 -3.26736611e-04 9.32668676e+00] [ 2.12771570e-03 3.47319488e-06 9.99997736e-01 -4.40224424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.080281693 meters 0.016112643173045102 Centerline is valid? [True, True] Translation: X:212.10, Y:9.33, Z:-0.04 [[ 9.89102333e-01 -1.47228998e-01 -4.43120968e-04 2.12104310e+02] [ 1.47228982e-01 9.89102433e-01 -6.88987484e-05 9.33465603e+00] [ 4.48435921e-04 2.90766369e-06 9.99999899e-01 -4.01143322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.140281693 meters 0.021100121853964583 Centerline is valid? [True, True] Translation: X:212.16, Y:9.35, Z:-0.04 [[ 9.90125520e-01 -1.40183160e-01 -3.69904161e-04 2.12162676e+02] [ 1.40183148e-01 9.90125589e-01 -5.75143647e-05 9.34844685e+00] [ 3.74314120e-04 5.09211053e-06 9.99999930e-01 -4.09954428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.200281693 meters 0.024158011335226742 Centerline is valid? [True, True] Translation: X:212.22, Y:9.36, Z:-0.05 [[ 9.90675337e-01 -1.36220194e-01 -2.53667173e-03 2.12221152e+02] [ 1.36219630e-01 9.90678584e-01 -3.94462531e-04 9.35734894e+00] [ 2.56676012e-03 4.52398166e-05 9.99996705e-01 -4.56017425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.260281693 meters 0.028500010653541328 Centerline is valid? [True, True] Translation: X:212.28, Y:9.37, Z:-0.05 [[ 9.90785964e-01 -1.35417097e-01 -2.32028715e-03 2.12277093e+02] [ 1.35416623e-01 9.90788680e-01 -3.60962878e-04 9.37116112e+00] [ 2.34779479e-03 4.34315034e-05 9.99997243e-01 -4.59140826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.320281693 meters 0.029841606272888153 Centerline is valid? [True, True] Translation: X:212.34, Y:9.38, Z:-0.04 [[ 9.91320421e-01 -1.31456103e-01 -1.76494520e-03 2.12336105e+02] [ 1.31455822e-01 9.91321992e-01 -2.74603606e-04 9.38138808e+00] [ 1.78572731e-03 4.02078400e-05 9.99998405e-01 -4.43250369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.380281693 meters 0.03401213845753661 Centerline is valid? [True, True] Translation: X:212.39, Y:9.40, Z:-0.05 [[ 9.91787436e-01 -1.27878189e-01 -2.20232520e-03 2.12393744e+02] [ 1.27877743e-01 9.91789880e-01 -3.42704149e-04 9.39923454e+00] [ 2.22806823e-03 5.82612934e-05 9.99997516e-01 -4.63126529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.440281693 meters 0.03854191104279345 Centerline is valid? [True, True] Translation: X:212.45, Y:9.42, Z:-0.05 [[ 9.92327793e-01 -1.23596286e-01 -3.08377146e-03 2.12452096e+02] [ 1.23595391e-01 9.92332580e-01 -4.79854908e-04 9.41721443e+00] [ 3.11943518e-03 9.50334229e-05 9.99995130e-01 -4.66304381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.500281693 meters 0.04069631589456465 Centerline is valid? [True, True] Translation: X:212.51, Y:9.43, Z:-0.05 [[ 9.92635976e-01 -1.21107657e-01 -2.59903776e-03 2.12509417e+02] [ 1.21107013e-01 9.92639374e-01 -4.04575615e-04 9.43274734e+00] [ 2.62890442e-03 8.68346109e-05 9.99996541e-01 -4.52175978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.560281693 meters 0.04177137750501894 Centerline is valid? [True, True] Translation: X:212.57, Y:9.45, Z:-0.04 [[ 9.92532630e-01 -1.21972994e-01 -1.25222291e-03 2.12565649e+02] [ 1.21972845e-01 9.92533419e-01 -1.95010046e-04 9.44716164e+00] [ 1.26665905e-03 4.08166424e-05 9.99999197e-01 -4.36463474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.620281693 meters 0.036568486232927605 Centerline is valid? [True, True] Translation: X:212.62, Y:9.45, Z:-0.04 [[ 9.92272102e-01 -1.24080899e-01 -7.84806851e-05 2.12624752e+02] [ 1.24080899e-01 9.92272105e-01 -1.22406493e-05 9.45150934e+00] [ 7.93930254e-05 2.40810091e-06 9.99999997e-01 -4.08121567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68028169299998 meters 0.035978901786698846 Centerline is valid? [True, True] Translation: X:212.68, Y:9.46, Z:-0.04 [[ 9.92110992e-01 -1.25359342e-01 -9.02419459e-04 2.12682902e+02] [ 1.25359266e-01 9.92111402e-01 -1.40755334e-04 9.46338191e+00] [ 9.12945631e-04 2.65182730e-05 9.99999583e-01 -4.24516648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.740281693 meters 0.03719008921342709 Centerline is valid? [True, True] Translation: X:212.74, Y:9.48, Z:-0.04 [[ 9.92334408e-01 -1.23570632e-01 1.64958779e-03 2.12739955e+02] [ 1.23570375e-01 9.92335778e-01 2.57246071e-04 9.48208414e+00] [-1.66873304e-03 -5.14339464e-05 9.99998606e-01 -3.79847642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.800281693 meters 0.045797868820956475 Centerline is valid? [True, True] Translation: X:212.79, Y:9.52, Z:-0.04 [[ 9.92852655e-01 -1.19334190e-01 1.71970318e-03 2.12794616e+02] [ 1.19333904e-01 9.92854142e-01 2.68225614e-04 9.51528974e+00] [-1.73942291e-03 -6.10896179e-05 9.99998485e-01 -3.72328476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.860281693 meters 0.04728412490274559 Centerline is valid? [True, True] Translation: X:212.85, Y:9.54, Z:-0.04 [[ 9.93351799e-01 -1.15117860e-01 -2.87181164e-04 2.12851738e+02] [ 1.15117852e-01 9.93351840e-01 -4.47996347e-05 9.53934337e+00] [ 2.90429176e-04 1.14421190e-05 9.99999958e-01 -4.08203736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.920281693 meters 0.0459780607705125 Centerline is valid? [True, True] Translation: X:212.91, Y:9.56, Z:-0.04 [[ 9.93352575e-01 -1.15108873e-01 -7.80988614e-04 2.12908400e+02] [ 1.15108813e-01 9.93352881e-01 -1.22012292e-04 9.55956726e+00] [ 7.89841987e-04 3.13025529e-05 9.99999688e-01 -4.20276300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.980281693 meters 0.04778081434174711 Centerline is valid? [True, True] Translation: X:212.97, Y:9.58, Z:-0.04 [[ 9.92899529e-01 -1.18952284e-01 9.37742016e-04 2.12965018e+02] [ 1.18952199e-01 9.92899971e-01 1.46446642e-04 9.58088499e+00] [-9.48504183e-04 -3.38603276e-05 9.99999550e-01 -3.93025535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.040281693 meters 0.04041253824201131 Centerline is valid? [True, True] Translation: X:213.02, Y:9.59, Z:-0.04 [[ 9.92646883e-01 -1.21046125e-01 -3.87677834e-05 2.13022929e+02] [ 1.21046124e-01 9.92646884e-01 -6.07293738e-06 9.58973978e+00] [ 3.92178249e-05 1.33559242e-06 9.99999999e-01 -4.05653289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.100281693 meters 0.041272225843398534 Centerline is valid? [True, True] Translation: X:213.08, Y:9.61, Z:-0.04 [[ 9.92470862e-01 -1.22470946e-01 -1.56672261e-03 2.13078140e+02] [ 1.22470712e-01 9.92472098e-01 -2.44876356e-04 9.61014425e+00] [ 1.58491871e-03 5.11550156e-05 9.99998743e-01 -4.34866961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.160281693 meters 0.03642954274017447 Centerline is valid? [True, True] Translation: X:213.14, Y:9.62, Z:-0.04 [[ 9.92137668e-01 -1.25146718e-01 -1.07127795e-03 2.13136685e+02] [ 1.25146610e-01 9.92138245e-01 -1.67459159e-04 9.62144479e+00] [ 1.08381279e-03 3.20757358e-05 9.99999412e-01 -4.32251848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.220281693 meters 0.034481298418690055 Centerline is valid? [True, True] Translation: X:213.19, Y:9.63, Z:-0.04 [[ 9.91829604e-01 -1.27564216e-01 -1.18658073e-03 2.13194205e+02] [ 1.27564085e-01 9.91830313e-01 -1.85547007e-04 9.63435688e+00] [ 1.20055590e-03 3.26659288e-05 9.99999279e-01 -4.37796480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.280281693 meters 0.029496751871634763 Centerline is valid? [True, True] Translation: X:213.25, Y:9.64, Z:-0.04 [[ 9.91051131e-01 -1.33473330e-01 -1.58903789e-03 2.13252593e+02] [ 1.33473103e-01 9.91052405e-01 -2.48503646e-04 9.64338114e+00] [ 1.60798843e-03 3.41860022e-05 9.99998707e-01 -4.40468223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.340281693 meters 0.025704296920108484 Centerline is valid? [True, True] Translation: X:213.31, Y:9.65, Z:-0.04 [[ 9.90501061e-01 -1.37505076e-01 -4.77356805e-05 2.13310772e+02] [ 1.37505076e-01 9.90501062e-01 -7.47860957e-06 9.64978993e+00] [ 4.83105891e-05 8.43672340e-07 9.99999999e-01 -4.17718995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.400281693 meters 0.019081388928095265 Centerline is valid? [True, True] Translation: X:213.37, Y:9.65, Z:-0.04 [[ 9.89488764e-01 -1.44599269e-01 1.74281716e-03 2.13371739e+02] [ 1.44599013e-01 9.89490299e-01 2.72637556e-04 9.64672346e+00] [-1.76392386e-03 -1.77621566e-05 9.99998444e-01 -3.96609955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46028169299998 meters 0.015981894157077046 Centerline is valid? [True, True] Translation: X:213.43, Y:9.65, Z:-0.04 [[ 9.88793368e-01 -1.49286255e-01 1.13538344e-03 2.13430799e+02] [ 1.49286149e-01 9.88794020e-01 1.77747776e-04 9.64947600e+00] [-1.14919566e-03 -6.25880053e-06 9.99999340e-01 -4.05989817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.520281693 meters 0.015238112227295583 Centerline is valid? [True, True] Translation: X:213.49, Y:9.66, Z:-0.05 [[ 9.88462948e-01 -1.51455653e-01 -1.47858835e-03 2.13488177e+02] [ 1.51455476e-01 9.88464054e-01 -2.31653675e-04 9.65658917e+00] [ 1.49661669e-03 5.04077342e-06 9.99998880e-01 -4.63346232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.580281693 meters 0.014870859467883675 Centerline is valid? [True, True] Translation: X:213.55, Y:9.66, Z:-0.05 [[ 9.88140756e-01 -1.53534916e-01 -2.20826852e-03 2.13546300e+02] [ 1.53534525e-01 9.88143223e-01 -3.46400927e-04 9.66241679e+00] [ 2.23527021e-03 3.24741497e-06 9.99997502e-01 -4.76968028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.640281693 meters 0.014466239992010507 Centerline is valid? [True, True] Translation: X:213.60, Y:9.67, Z:-0.04 [[ 9.88002030e-01 -1.54431213e-01 1.72903137e-03 2.13603318e+02] [ 1.54430975e-01 9.88003543e-01 2.71434721e-04 9.67275003e+00] [-1.75020711e-03 -1.16205541e-06 9.99998468e-01 -3.92531107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.700281693 meters 0.014653095454749873 Centerline is valid? [True, True] Translation: X:213.66, Y:9.68, Z:-0.04 [[ 9.88096369e-01 -1.53811673e-01 2.74511206e-03 2.13660209e+02] [ 1.53811068e-01 9.88100182e-01 4.31183657e-04 9.68463789e+00] [-2.77876680e-03 -3.82238769e-06 9.99996139e-01 -3.82651135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.760281693 meters 0.014841977950158949 Centerline is valid? [True, True] Translation: X:213.72, Y:9.70, Z:-0.04 [[ 9.88182687e-01 -1.53280685e-01 8.94706943e-05 2.13715476e+02] [ 1.53280685e-01 9.88182691e-01 1.40345411e-05 9.69743783e+00] [-9.05646156e-05 -1.54561224e-07 9.99999996e-01 -4.39163181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.820281693 meters 0.01512331903635211 Centerline is valid? [True, True] Translation: X:213.77, Y:9.72, Z:-0.05 [[ 9.88154898e-01 -1.53435513e-01 -2.72795720e-03 2.13771411e+02] [ 1.53434913e-01 9.88158663e-01 -4.28888686e-04 9.71600721e+00] [ 2.76146130e-03 5.24457890e-06 9.99996187e-01 -4.93302293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.880281693 meters 0.014665305890624971 Centerline is valid? [True, True] Translation: X:213.83, Y:9.73, Z:-0.04 [[ 9.87938307e-01 -1.54847984e-01 -6.39189833e-05 2.13828098e+02] [ 1.54847983e-01 9.87938309e-01 -1.01269320e-05 9.72820389e+00] [ 6.47161473e-05 1.07058388e-07 9.99999998e-01 -4.32404742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.940281693 meters 0.015148273595314642 Centerline is valid? [True, True] Translation: X:213.89, Y:9.74, Z:-0.04 [[ 9.87277866e-01 -1.58964565e-01 3.56131525e-03 2.13886028e+02] [ 1.58963575e-01 9.87284289e-01 5.61115509e-04 9.73655929e+00] [-3.60522808e-03 1.21424808e-05 9.99993501e-01 -3.72932687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.000281693 meters 0.017389714598755893 Centerline is valid? [True, True] Translation: X:213.94, Y:9.74, Z:-0.04 [[ 9.86579863e-01 -1.63279291e-01 -2.16519915e-04 2.13943449e+02] [ 1.63279287e-01 9.86579887e-01 -3.41512530e-05 9.74302292e+00] [ 2.19190386e-04 -1.66027889e-06 9.99999976e-01 -4.48286513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.060281693 meters 0.021424802837221174 Centerline is valid? [True, True] Translation: X:214.00, Y:9.75, Z:-0.04 [[ 9.85723069e-01 -1.68366488e-01 1.66058190e-03 2.14001665e+02] [ 1.68366286e-01 9.85724467e-01 2.61841379e-04 9.74656829e+00] [-1.68096153e-03 2.14829198e-05 9.99998587e-01 -4.04880985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.120281693 meters 0.02595540049684098 Centerline is valid? [True, True] Translation: X:214.06, Y:9.75, Z:-0.04 [[ 9.84854237e-01 -1.73384119e-01 -2.79881871e-04 2.14061525e+02] [ 1.73384114e-01 9.84854277e-01 -4.41568057e-05 9.74559416e+00] [ 2.83298946e-04 -5.03905281e-06 9.99999960e-01 -4.47819772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18028169299998 meters 0.03014593695159197 Centerline is valid? [True, True] Translation: X:214.12, Y:9.75, Z:-0.05 [[ 9.84136643e-01 -1.77408830e-01 -1.08402895e-03 2.14122084e+02] [ 1.77408750e-01 9.84137240e-01 -1.71013558e-04 9.74549738e+00] [ 1.09717257e-03 -2.40155107e-05 9.99999398e-01 -4.63900680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.240281693 meters 0.035170013152093 Centerline is valid? [True, True] Translation: X:214.18, Y:9.74, Z:-0.05 [[ 9.83326300e-01 -1.81846170e-01 -1.16559993e-03 2.14183448e+02] [ 1.81846080e-01 9.83326990e-01 -1.83890716e-04 9.74146866e+00] [ 1.17960569e-03 -3.11352013e-05 9.99999304e-01 -4.67035826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.300281693 meters 0.03866031826632737 Centerline is valid? [True, True] Translation: X:214.24, Y:9.74, Z:-0.05 [[ 9.82733505e-01 -1.85017507e-01 -1.83848011e-03 2.14243798e+02] [ 1.85017288e-01 9.82735223e-01 -2.90115624e-04 9.74005652e+00] [ 1.86041563e-03 -5.50442591e-05 9.99998268e-01 -4.74208403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.360281693 meters 0.04085042798598926 Centerline is valid? [True, True] Translation: X:214.30, Y:9.74, Z:-0.05 [[ 9.82330898e-01 -1.87150740e-01 -7.79563252e-04 2.14304711e+02] [ 1.87150702e-01 9.82331207e-01 -1.23037036e-04 9.73747099e+00] [ 7.88815783e-04 -2.50327275e-05 9.99999689e-01 -4.51122201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.420281693 meters 0.03489733739265914 Centerline is valid? [True, True] Translation: X:214.36, Y:9.75, Z:-0.04 [[ 9.83272572e-01 -1.82139333e-01 -5.59732091e-04 2.14362954e+02] [ 1.82139312e-01 9.83272731e-01 -8.83434633e-05 9.75188011e+00] [ 5.66460122e-04 -1.50835138e-05 9.99999839e-01 -4.41755707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.480281693 meters 0.03413646106765813 Centerline is valid? [True, True] Translation: X:214.42, Y:9.76, Z:-0.05 [[ 9.83847665e-01 -1.78987703e-01 -2.67832017e-03 2.14422406e+02] [ 1.78987215e-01 9.83851309e-01 -4.22778849e-04 9.75517328e+00] [ 2.71074102e-03 -6.34350855e-05 9.99996324e-01 -4.86228719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.540281693 meters 0.036432999068602846 Centerline is valid? [True, True] Translation: X:214.48, Y:9.75, Z:-0.04 [[ 9.82719101e-01 -1.85100175e-01 1.04616762e-03 2.14483708e+02] [ 1.85100104e-01 9.82719657e-01 1.65143535e-04 9.75125022e+00] [-1.05865759e-03 3.13560300e-05 9.99999439e-01 -4.16727914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.600281693 meters 0.042856114000759254 Centerline is valid? [True, True] Translation: X:214.55, Y:9.74, Z:-0.04 [[ 9.81372930e-01 -1.92112248e-01 2.35245452e-04 2.14546497e+02] [ 1.92112245e-01 9.81372959e-01 3.71341653e-05 9.73724261e+00] [-2.37997453e-04 8.75106729e-06 9.99999972e-01 -4.30662188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.660281693 meters 0.04498109211305516 Centerline is valid? [True, True] Translation: X:214.61, Y:9.73, Z:-0.05 [[ 9.80843423e-01 -1.94784560e-01 -2.27044909e-03 2.14608187e+02] [ 1.94784251e-01 9.80846047e-01 -3.58533898e-04 9.72564646e+00] [ 2.29679788e-03 -9.05821086e-05 9.99997358e-01 -4.67092610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.720281693 meters 0.03890694303213794 Centerline is valid? [True, True] Translation: X:214.67, Y:9.72, Z:-0.04 [[ 9.82144374e-01 -1.88128136e-01 -4.81753352e-04 2.14668687e+02] [ 1.88128122e-01 9.82144492e-01 -7.60902753e-05 9.72466464e+00] [ 4.87466123e-04 -1.58997174e-05 9.99999881e-01 -4.23209340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.780281693 meters 0.02928365250529583 Centerline is valid? [True, True] Translation: X:214.73, Y:9.73, Z:-0.05 [[ 9.84423887e-01 -1.75801945e-01 -1.81303249e-03 2.14726996e+02] [ 1.75801715e-01 9.84425556e-01 -2.86372032e-04 9.73358681e+00] [ 1.83514028e-03 -3.68227520e-05 9.99998315e-01 -4.52255794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.840281693 meters 0.018644466423484916 Centerline is valid? [True, True] Translation: X:214.78, Y:9.76, Z:-0.04 [[ 9.86304598e-01 -1.64925881e-01 -1.64123448e-03 2.14784344e+02] [ 1.64925678e-01 9.86305963e-01 -2.59246206e-04 9.75833330e+00] [ 1.66151576e-03 -1.49859844e-05 9.99998620e-01 -4.37478645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.900281693 meters 0.017989868453987316 Centerline is valid? [True, True] Translation: X:214.84, Y:9.80, Z:-0.05 [[ 9.88844322e-01 -1.48917843e-01 -3.22218170e-03 2.14836328e+02] [ 1.48916975e-01 9.88849572e-01 -5.09170117e-04 9.79755546e+00] [ 3.26207751e-03 2.36524291e-05 9.99994679e-01 -4.82534902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96028169299998 meters 0.025693039484092302 Centerline is valid? [True, True] Translation: X:214.89, Y:9.83, Z:-0.05 [[ 9.90047932e-01 -1.40705665e-01 -2.64721393e-03 2.14892190e+02] [ 1.40705049e-01 9.90051470e-01 -4.18363688e-04 9.82638869e+00] [ 2.67974418e-03 4.17237373e-05 9.99996409e-01 -4.65679212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.020281693 meters 0.023198763954051575 Centerline is valid? [True, True] Translation: X:214.95, Y:9.84, Z:-0.04 [[ 9.89917284e-01 -1.41641587e-01 1.19690585e-03 2.14950548e+02] [ 1.41641462e-01 9.89918007e-01 1.89294597e-04 9.83586978e+00] [-1.21165064e-03 -1.78544984e-05 9.99999266e-01 -3.86617301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.080281693 meters 0.021823610024699867 Centerline is valid? [True, True] Translation: X:215.01, Y:9.84, Z:-0.04 [[ 9.89630143e-01 -1.43638758e-01 2.96361797e-04 2.15007942e+02] [ 1.43638750e-01 9.89630187e-01 4.68818196e-05 9.84425006e+00] [-3.00022627e-04 -3.82662358e-06 9.99999955e-01 -4.16838577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.140281693 meters 0.024572453795010926 Centerline is valid? [True, True] Translation: X:215.07, Y:9.86, Z:-0.04 [[ 9.89987606e-01 -1.41149002e-01 -1.22459853e-03 2.15065232e+02] [ 1.41148869e-01 9.89988363e-01 -1.94052830e-04 9.85862990e+00] [ 1.23972866e-03 1.92591981e-05 9.99999231e-01 -4.23816608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.200281693 meters 0.022559279813449653 Centerline is valid? [True, True] Translation: X:215.12, Y:9.86, Z:-0.04 [[ 9.89851015e-01 -1.42085019e-01 -2.61084719e-03 2.15124130e+02] [ 1.42084421e-01 9.89854457e-01 -4.14102929e-04 9.86299160e+00] [ 2.64319655e-03 3.89394937e-05 9.99996506e-01 -4.44923765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.260281693 meters 0.022902457858271674 Centerline is valid? [True, True] Translation: X:215.18, Y:9.87, Z:-0.05 [[ 9.89679959e-01 -1.43284711e-01 -1.75222782e-03 2.15181794e+02] [ 1.43284443e-01 9.89681510e-01 -2.78004368e-04 9.87086548e+00] [ 1.77398125e-03 2.40683635e-05 9.99998426e-01 -4.50875512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.320281693 meters 0.02010893495930045 Centerline is valid? [True, True] Translation: X:215.24, Y:9.87, Z:-0.04 [[ 9.89321814e-01 -1.45730964e-01 2.19878088e-03 2.15241303e+02] [ 1.45730548e-01 9.89324257e-01 3.49131656e-04 9.87226526e+00] [-2.22618655e-03 -2.49740206e-05 9.99997522e-01 -3.72528936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.380281693 meters 0.021653936920255176 Centerline is valid? [True, True] Translation: X:215.30, Y:9.88, Z:-0.05 [[ 9.89449271e-01 -1.44812622e-01 -4.40962619e-03 2.15298081e+02] [ 1.44810938e-01 9.89459095e-01 -7.00566024e-04 9.88170813e+00] [ 4.46459554e-03 5.46124390e-05 9.99990032e-01 -4.97566481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.440281693 meters 0.026894464454633664 Centerline is valid? [True, True] Translation: X:215.35, Y:9.90, Z:-0.05 [[ 9.90005210e-01 -1.40996102e-01 -3.12781567e-03 2.15354099e+02] [ 1.40995235e-01 9.90010150e-01 -4.97206647e-04 9.89823643e+00] [ 3.16667346e-03 5.12300664e-05 9.99994985e-01 -4.71431614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.500281693 meters 0.026579694149574472 Centerline is valid? [True, True] Translation: X:215.41, Y:9.91, Z:-0.05 [[ 9.90157339e-01 -1.39939428e-01 -2.32379004e-03 2.15412087e+02] [ 1.39938945e-01 9.90160065e-01 -3.69801927e-04 9.90611828e+00] [ 2.35267397e-03 4.09733643e-05 9.99997232e-01 -4.64106063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.560281693 meters 0.02627808409283076 Centerline is valid? [True, True] Translation: X:215.47, Y:9.92, Z:-0.05 [[ 9.90175799e-01 -1.39794317e-01 -3.07169676e-03 2.15470694e+02] [ 1.39793471e-01 9.90180562e-01 -4.89305441e-04 9.91505793e+00] [ 3.10993654e-03 5.50952529e-05 9.99995163e-01 -4.71479501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.620281693 meters 0.02697435072115446 Centerline is valid? [True, True] Translation: X:215.53, Y:9.93, Z:-0.04 [[ 9.90429279e-01 -1.38000696e-01 -2.37712712e-03 2.15528400e+02] [ 1.38000184e-01 9.90432131e-01 -3.79080112e-04 9.92826096e+00] [ 2.40669640e-03 4.74080628e-05 9.99997103e-01 -4.47757501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68028169299998 meters 0.03139656960052663 Centerline is valid? [True, True] Translation: X:215.58, Y:9.95, Z:-0.04 [[ 9.90972305e-01 -1.34053329e-01 -1.89621895e-03 2.15584877e+02] [ 1.34052995e-01 9.90974118e-01 -3.02423917e-04 9.94751532e+00] [ 1.91964483e-03 4.54998964e-05 9.99998156e-01 -4.33256639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.740281693 meters 0.03104065843615449 Centerline is valid? [True, True] Translation: X:215.64, Y:9.96, Z:-0.04 [[ 9.90989954e-01 -1.33936213e-01 -4.25826854e-05 2.15641765e+02] [ 1.33936213e-01 9.90989955e-01 -6.86516707e-06 9.95941083e+00] [ 4.31185080e-05 1.09994800e-06 9.99999999e-01 -3.90887541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.800281693 meters 0.029608208020063635 Centerline is valid? [True, True] Translation: X:215.70, Y:9.97, Z:-0.04 [[ 9.90867929e-01 -1.34815462e-01 2.35347123e-03 2.15700405e+02] [ 1.34814949e-01 9.90870722e-01 3.76131480e-04 9.96554440e+00] [-2.38269408e-03 -5.54135173e-05 9.99997160e-01 -3.50124413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.860281693 meters 0.02742019977384158 Centerline is valid? [True, True] Translation: X:215.76, Y:9.97, Z:-0.04 [[ 9.90480676e-01 -1.37646968e-01 1.15882091e-03 2.15759900e+02] [ 1.37646845e-01 9.90481354e-01 1.85359096e-04 9.96860682e+00] [-1.17330462e-03 -2.40865609e-05 9.99999311e-01 -3.84919469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.920281693 meters 0.026364767527503066 Centerline is valid? [True, True] Translation: X:215.82, Y:9.97, Z:-0.04 [[ 9.90236373e-01 -1.39388457e-01 -1.66841736e-03 2.15818326e+02] [ 1.39388205e-01 9.90237778e-01 -2.67068063e-04 9.97171048e+00] [ 1.68935610e-03 3.19028098e-05 9.99998573e-01 -4.30623744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.980281693 meters 0.025239293373473026 Centerline is valid? [True, True] Translation: X:215.88, Y:9.98, Z:-0.05 [[ 9.90087001e-01 -1.40418484e-01 -3.22175906e-03 2.15877728e+02] [ 1.40417547e-01 9.90092241e-01 -5.16236551e-04 9.97600434e+00] [ 3.26232780e-03 5.87275947e-05 9.99994677e-01 -4.62587587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.040281693 meters 0.025787608161926667 Centerline is valid? [True, True] Translation: X:215.94, Y:9.99, Z:-0.04 [[ 9.90192135e-01 -1.39686493e-01 -2.68708939e-03 2.15935968e+02] [ 1.39685837e-01 9.90195779e-01 -4.31037243e-04 9.98564741e+00] [ 2.72095466e-03 5.14613563e-05 9.99996297e-01 -4.46576345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.100281693 meters 0.026792687805228886 Centerline is valid? [True, True] Translation: X:215.99, Y:10.00, Z:-0.04 [[ 9.90354241e-01 -1.38537018e-01 -2.44381350e-03 2.15993296e+02] [ 1.38536471e-01 9.90357255e-01 -3.92440715e-04 1.00007275e+01] [ 2.47461600e-03 5.00980276e-05 9.99996937e-01 -4.40203045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.160281693 meters 0.028938240920936352 Centerline is valid? [True, True] Translation: X:216.05, Y:10.02, Z:-0.05 [[ 9.90279569e-01 -1.39064746e-01 -2.71526483e-03 2.16049966e+02] [ 1.39064072e-01 9.90283290e-01 -4.36152725e-04 1.00151395e+01] [ 2.74953486e-03 5.43173474e-05 9.99996219e-01 -4.54538315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.220281693 meters 0.02393606575345523 Centerline is valid? [True, True] Translation: X:216.11, Y:10.03, Z:-0.04 [[ 9.89890633e-01 -1.41808350e-01 -2.63167704e-03 2.16107790e+02] [ 1.41807725e-01 9.89894131e-01 -4.23218150e-04 1.00250072e+01] [ 2.66509752e-03 4.57475474e-05 9.99996448e-01 -4.33008108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.280281693 meters 0.024465474479402085 Centerline is valid? [True, True] Translation: X:216.16, Y:10.04, Z:-0.04 [[ 9.89839669e-01 -1.42168529e-01 -2.35351718e-03 2.16163227e+02] [ 1.42168030e-01 9.89842466e-01 -3.78793359e-04 1.00405895e+01] [ 2.38346374e-03 4.03497930e-05 9.99997159e-01 -4.32589655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.340281693 meters 0.02434317375823335 Centerline is valid? [True, True] Translation: X:216.22, Y:10.06, Z:-0.04 [[ 9.89805632e-01 -1.42422101e-01 8.69754297e-04 2.16219115e+02] [ 1.42422033e-01 9.89806014e-01 1.40069443e-04 1.00559595e+01] [-8.80837018e-04 -1.47693486e-05 9.99999612e-01 -3.79900270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.400281693 meters 0.023657588339701587 Centerline is valid? [True, True] Translation: X:216.28, Y:10.07, Z:-0.04 [[ 9.89531380e-01 -1.44317273e-01 4.16155837e-04 2.16275525e+02] [ 1.44317258e-01 9.89531467e-01 6.70575774e-05 1.00674670e+01] [-4.21476863e-04 -6.29710781e-06 9.99999911e-01 -3.92277401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46028169299998 meters 0.021166034901339625 Centerline is valid? [True, True] Translation: X:216.33, Y:10.08, Z:-0.04 [[ 9.89165415e-01 -1.46792467e-01 -1.93743696e-03 2.16333402e+02] [ 1.46792136e-01 9.89167312e-01 -3.12705250e-04 1.00760932e+01] [ 1.96235209e-03 2.49167081e-05 9.99998074e-01 -4.40740101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.520281693 meters 0.018177215772120198 Centerline is valid? [True, True] Translation: X:216.39, Y:10.08, Z:-0.05 [[ 9.88544180e-01 -1.50912010e-01 -2.44337429e-03 2.16391624e+02] [ 1.50911495e-01 9.88547199e-01 -3.94750355e-04 1.00847666e+01] [ 2.47496338e-03 2.14948985e-05 9.99996937e-01 -4.50768552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.580281693 meters 0.015323566003737863 Centerline is valid? [True, True] Translation: X:216.45, Y:10.09, Z:-0.05 [[ 9.87570856e-01 -1.57144895e-01 -3.04727001e-03 2.16450336e+02] [ 1.57144122e-01 9.87575558e-01 -4.92796984e-04 1.00868976e+01] [ 3.08684991e-03 7.81136810e-06 9.99995236e-01 -4.81087221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.640281693 meters 0.015293160001755294 Centerline is valid? [True, True] Translation: X:216.51, Y:10.09, Z:-0.05 [[ 9.86990761e-01 -1.60717834e-01 -4.36074600e-03 2.16508518e+02] [ 1.60716284e-01 9.87000394e-01 -7.05999280e-04 1.00914264e+01] [ 4.41752469e-03 -4.02812565e-06 9.99990243e-01 -5.06662741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.700281693 meters 0.016761625924602702 Centerline is valid? [True, True] Translation: X:216.57, Y:10.09, Z:-0.05 [[ 9.86168225e-01 -1.65706758e-01 -3.67464008e-03 2.16568186e+02] [ 1.65705690e-01 9.86175071e-01 -5.95510393e-04 1.00917943e+01] [ 3.72251854e-03 -2.16353419e-05 9.99993071e-01 -4.83718812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.760281693 meters 0.019448067194308593 Centerline is valid? [True, True] Translation: X:216.63, Y:10.09, Z:-0.05 [[ 9.85433454e-01 -1.70031180e-01 -3.21022534e-03 2.16627859e+02] [ 1.70030386e-01 9.85438682e-01 -5.20775016e-04 1.00919623e+01] [ 3.25202822e-03 -3.26467292e-05 9.99994712e-01 -4.64538430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.820281693 meters 0.02247982694415636 Centerline is valid? [True, True] Translation: X:216.69, Y:10.09, Z:-0.04 [[ 9.84910453e-01 -1.73054037e-01 -1.92362581e-03 2.16687303e+02] [ 1.73053757e-01 9.84912331e-01 -3.12154163e-04 1.00864064e+01] [ 1.94862232e-03 -2.54467766e-05 9.99998101e-01 -4.42600080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.880281693 meters 0.02311571329193912 Centerline is valid? [True, True] Translation: X:216.75, Y:10.09, Z:-0.05 [[ 9.84876897e-01 -1.73226730e-01 -3.16187973e-03 2.16745253e+02] [ 1.73225975e-01 9.84881972e-01 -5.13252556e-04 1.00907657e+01] [ 3.20298740e-03 -4.22291128e-05 9.99994870e-01 -4.61799671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.940281693 meters 0.019326101323568046 Centerline is valid? [True, True] Translation: X:216.80, Y:10.10, Z:-0.04 [[ 9.85520657e-01 -1.69535127e-01 -2.62200004e-03 2.16802467e+02] [ 1.69534593e-01 9.85524145e-01 -4.26057990e-04 1.01041458e+01] [ 2.65627614e-03 -2.46307612e-05 9.99996472e-01 -4.38834708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.000281693 meters 0.01453837648736946 Centerline is valid? [True, True] Translation: X:216.86, Y:10.13, Z:-0.04 [[ 9.87241305e-01 -1.59231289e-01 4.94619717e-05 2.16857320e+02] [ 1.59231289e-01 9.87241306e-01 7.99026557e-06 1.01320826e+01] [-5.01032019e-05 -1.24266900e-08 9.99999999e-01 -3.88276770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.060281693 meters 0.015228155499902316 Centerline is valid? [True, True] Translation: X:216.91, Y:10.15, Z:-0.04 [[ 9.87652629e-01 -1.56659566e-01 -2.54693508e-04 2.16914637e+02] [ 1.56659561e-01 9.87652662e-01 -4.15197985e-05 1.01459625e+01] [ 2.58053195e-04 1.10696498e-06 9.99999967e-01 -3.99472451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.120281693 meters 0.015978971056998817 Centerline is valid? [True, True] Translation: X:216.97, Y:10.16, Z:-0.04 [[ 9.87782708e-01 -1.55814452e-01 -2.67927073e-03 2.16972222e+02] [ 1.55813841e-01 9.87786341e-01 -4.36676782e-04 1.01595802e+01] [ 2.71458758e-03 1.38743109e-05 9.99996315e-01 -4.41827733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18028169299998 meters 0.015793087022539815 Centerline is valid? [True, True] Translation: X:217.03, Y:10.17, Z:-0.04 [[ 9.87609229e-01 -1.56925344e-01 -1.56440486e-03 2.17029011e+02] [ 1.56925137e-01 9.87610468e-01 -2.55106600e-04 1.01693056e+01] [ 1.58505531e-03 6.45118645e-06 9.99998744e-01 -4.19992531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.240281693 meters 0.01724598147119807 Centerline is valid? [True, True] Translation: X:217.09, Y:10.19, Z:-0.05 [[ 9.87891384e-01 -1.55065741e-01 -5.02282085e-03 2.17085667e+02] [ 1.55063577e-01 9.87904153e-01 -8.19809182e-04 1.01852141e+01] [ 5.08918989e-03 3.10258616e-05 9.99987050e-01 -4.89669328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.300281693 meters 0.017318170462876106 Centerline is valid? [True, True] Translation: X:217.14, Y:10.20, Z:-0.05 [[ 9.87976738e-01 -1.54555034e-01 -3.83481843e-03 2.17141765e+02] [ 1.54553766e-01 9.87984180e-01 -6.26627714e-04 1.01987962e+01] [ 3.88558841e-03 2.64079745e-05 9.99992451e-01 -4.67897825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.360281693 meters 0.0163719742644086 Centerline is valid? [True, True] Translation: X:217.20, Y:10.21, Z:-0.05 [[ 9.87550374e-01 -1.57247656e-01 -4.17540227e-03 2.17199077e+02] [ 1.57246176e-01 9.87559200e-01 -6.82467015e-04 1.02066896e+01] [ 4.23077327e-03 1.74045132e-05 9.99991050e-01 -4.88492941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.420281693 meters 0.01691795619843774 Centerline is valid? [True, True] Translation: X:217.26, Y:10.20, Z:-0.05 [[ 9.86193024e-01 -1.65472628e-01 -6.49073275e-03 2.17259857e+02] [ 1.65469222e-01 9.86214383e-01 -1.06190816e-03 1.02016676e+01] [ 6.57697072e-03 -2.67700826e-05 9.99978371e-01 -5.37489500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.480281693 meters 0.020829787919897 Centerline is valid? [True, True] Translation: X:217.32, Y:10.20, Z:-0.05 [[ 9.85037241e-01 -1.72292887e-01 -4.09821198e-03 2.17319684e+02] [ 1.72291586e-01 9.85045765e-01 -6.71145846e-04 1.02000642e+01] [ 4.15256001e-03 -4.49837896e-05 9.99991377e-01 -4.75357430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.540281693 meters 0.02872786471044152 Centerline is valid? [True, True] Translation: X:217.38, Y:10.19, Z:-0.04 [[ 9.83471993e-01 -1.81060215e-01 -1.96513822e-04 2.17382081e+02] [ 1.81060212e-01 9.83472012e-01 -3.21857653e-05 1.01921127e+01] [ 1.99093406e-04 -3.92703552e-06 9.99999980e-01 -3.80827107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.600281693 meters 0.035094542786645734 Centerline is valid? [True, True] Translation: X:217.44, Y:10.19, Z:-0.04 [[ 9.82609646e-01 -1.85682613e-01 -5.00902570e-04 2.17442334e+02] [ 1.85682595e-01 9.82609774e-01 -8.20487845e-05 1.01882785e+01] [ 5.07426794e-04 -1.23869621e-05 9.99999871e-01 -3.87817815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.660281693 meters 0.03699226411322824 Centerline is valid? [True, True] Translation: X:217.50, Y:10.19, Z:-0.04 [[ 9.81733257e-01 -1.90257642e-01 -1.35746102e-03 2.17503997e+02] [ 1.90257516e-01 9.81734194e-01 -2.22333795e-04 1.01869225e+01] [ 1.37496661e-03 -3.99946823e-05 9.99999054e-01 -4.13377850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.720281693 meters 0.03866170803170838 Centerline is valid? [True, True] Translation: X:217.56, Y:10.18, Z:-0.04 [[ 9.81706480e-01 -1.90391185e-01 -1.89312429e-03 2.17562632e+02] [ 1.90390941e-01 9.81708304e-01 -3.10198230e-04 1.01848849e+01] [ 1.91755484e-03 -5.59101023e-05 9.99998160e-01 -4.12614818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.780281693 meters 0.0411012349864537 Centerline is valid? [True, True] Translation: X:217.62, Y:10.18, Z:-0.04 [[ 9.81191607e-01 -1.93023885e-01 -2.19323991e-03 2.17623737e+02] [ 1.93023564e-01 9.81194056e-01 -3.59409457e-04 1.01817762e+01] [ 2.22136857e-03 -7.06974397e-05 9.99997530e-01 -4.19566324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.840281693 meters 0.03805244710483133 Centerline is valid? [True, True] Translation: X:217.68, Y:10.19, Z:-0.04 [[ 9.81143848e-01 -1.93235190e-01 -4.11218125e-03 2.17682379e+02] [ 1.93234058e-01 9.81152457e-01 -6.74612016e-04 1.01867278e+01] [ 4.16503552e-03 -1.32722041e-04 9.99991317e-01 -4.49560729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.900281693 meters 0.03687963434146831 Centerline is valid? [True, True] Translation: X:217.74, Y:10.19, Z:-0.05 [[ 9.82178845e-01 -1.87878706e-01 -5.12910293e-03 2.17741585e+02] [ 1.87876872e-01 9.82192228e-01 -8.41488033e-04 1.01892914e+01] [ 5.19586271e-03 -1.37148068e-04 9.99986492e-01 -4.78869852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96028169299998 meters 0.028141438305800244 Centerline is valid? [True, True] Translation: X:217.80, Y:10.21, Z:-0.04 [[ 9.83236635e-01 -1.82297803e-01 -3.63745355e-03 2.17799674e+02] [ 1.82296842e-01 9.83243360e-01 -5.96808246e-04 1.02083899e+01] [ 3.68529888e-03 -7.62925628e-05 9.99993206e-01 -4.43352068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.020281693 meters 0.022185642717184494 Centerline is valid? [True, True] Translation: X:217.86, Y:10.22, Z:-0.05 [[ 9.84583055e-01 -1.74871475e-01 -4.02179634e-03 2.17856655e+02] [ 1.74870238e-01 9.84591268e-01 -6.60019530e-04 1.02223786e+01] [ 4.07524414e-03 -5.34484373e-05 9.99991695e-01 -4.51243533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.080281693 meters 0.018660527559323712 Centerline is valid? [True, True] Translation: X:217.91, Y:10.23, Z:-0.04 [[ 9.85243497e-01 -1.71118344e-01 -3.71007378e-03 2.17914446e+02] [ 1.71117262e-01 9.85250481e-01 -6.09527953e-04 1.02335431e+01] [ 3.75965339e-03 -3.43242139e-05 9.99992932e-01 -4.43887822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.140281693 meters 0.016587458189562525 Centerline is valid? [True, True] Translation: X:217.97, Y:10.24, Z:-0.04 [[ 9.85740915e-01 -1.68270094e-01 -1.55615348e-04 2.17972089e+02] [ 1.68270092e-01 9.85740927e-01 -2.55929974e-05 1.02409634e+01] [ 1.57702954e-04 -9.57344301e-07 9.99999988e-01 -3.70578952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.200281693 meters 0.014856783541743341 Centerline is valid? [True, True] Translation: X:218.03, Y:10.26, Z:-0.04 [[ 9.87056818e-01 -1.60367446e-01 1.05844615e-03 2.18028866e+02] [ 1.60367352e-01 9.87057385e-01 1.74055834e-04 1.02596099e+01] [-1.07265998e-03 -2.06279231e-06 9.99999425e-01 -3.53902936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.260281693 meters 0.017513969577401377 Centerline is valid? [True, True] Translation: X:218.09, Y:10.28, Z:-0.04 [[ 9.88051193e-01 -1.54126038e-01 -6.28049576e-05 2.18085802e+02] [ 1.54126037e-01 9.88051195e-01 -1.04002138e-05 1.02770070e+01] [ 6.36574571e-05 5.96064439e-07 9.99999998e-01 -3.78819042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.320281693 meters 0.021779222316806703 Centerline is valid? [True, True] Translation: X:218.14, Y:10.29, Z:-0.04 [[ 9.88928433e-01 -1.48389567e-01 -1.04493829e-03 2.18143015e+02] [ 1.48389468e-01 9.88928984e-01 -1.72118469e-04 1.02940866e+01] [ 1.05891035e-03 1.51550109e-05 9.99999439e-01 -3.91545429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.380281693 meters 0.022298432135685147 Centerline is valid? [True, True] Translation: X:218.20, Y:10.30, Z:-0.04 [[ 9.88835473e-01 -1.49007581e-01 -1.07189111e-03 2.18200086e+02] [ 1.49007477e-01 9.88836053e-01 -1.76629700e-04 1.03005953e+01] [ 1.08624374e-03 1.49379230e-05 9.99999410e-01 -3.97854491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.440281693 meters 0.022034452970141713 Centerline is valid? [True, True] Translation: X:218.26, Y:10.31, Z:-0.04 [[ 9.88724895e-01 -1.49702500e-01 -3.49902392e-03 2.18257738e+02] [ 1.49701394e-01 9.88731086e-01 -5.77181093e-04 1.03105053e+01] [ 3.54599917e-03 4.68645565e-05 9.99993712e-01 -4.35225930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.500281693 meters 0.026727090484958183 Centerline is valid? [True, True] Translation: X:218.32, Y:10.33, Z:-0.04 [[ 9.89745003e-01 -1.42818108e-01 -2.79589232e-03 2.18315526e+02] [ 1.42817375e-01 9.89748950e-01 -4.61148781e-04 1.03331834e+01] [ 2.83309188e-03 5.71177013e-05 9.99995985e-01 -4.11776879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.560281693 meters 0.03236172481308077 Centerline is valid? [True, True] Translation: X:218.37, Y:10.36, Z:-0.04 [[ 9.90353494e-01 -1.38559111e-01 -1.15303304e-03 2.18370526e+02] [ 1.38558983e-01 9.90354165e-01 -1.90264022e-04 1.03564583e+01] [ 1.16827389e-03 2.86655540e-05 9.99999317e-01 -3.89956925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.620281693 meters 0.03180641647307334 Centerline is valid? [True, True] Translation: X:218.43, Y:10.37, Z:-0.04 [[ 9.90318449e-01 -1.38813703e-01 -3.53153452e-04 2.18426675e+02] [ 1.38813691e-01 9.90318512e-01 -5.84008413e-05 1.03717968e+01] [ 3.57841238e-04 8.81289639e-06 9.99999936e-01 -3.81204681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68028169299998 meters 0.026711614726972362 Centerline is valid? [True, True] Translation: X:218.49, Y:10.38, Z:-0.04 [[ 9.89381863e-01 -1.45329089e-01 -1.72782464e-03 2.18485114e+02] [ 1.45328812e-01 9.89383371e-01 -2.85460345e-04 1.03811521e+01] [ 1.75096666e-03 3.13265856e-05 9.99998467e-01 -4.07501593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.740281693 meters 0.02092522102279582 Centerline is valid? [True, True] Translation: X:218.55, Y:10.39, Z:-0.04 [[ 9.88437808e-01 -1.51595380e-01 -3.08882504e-03 2.18545408e+02] [ 1.51594525e-01 9.88442633e-01 -5.10341218e-04 1.03858704e+01] [ 3.13049173e-03 3.61915892e-05 9.99995099e-01 -4.33526348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.800281693 meters 0.018893986946002275 Centerline is valid? [True, True] Translation: X:218.60, Y:10.40, Z:-0.04 [[ 9.88076473e-01 -1.53943285e-01 -2.51963288e-03 2.18603053e+02] [ 1.53942722e-01 9.88079685e-01 -4.16761845e-04 1.03955716e+01] [ 2.55375575e-03 2.39134293e-05 9.99996739e-01 -4.10157031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.860281693 meters 0.018998149415314785 Centerline is valid? [True, True] Translation: X:218.66, Y:10.41, Z:-0.04 [[ 9.88061082e-01 -1.54054652e-01 -1.56931394e-03 2.18658638e+02] [ 1.54054434e-01 9.88062328e-01 -2.59693116e-04 1.04094383e+01] [ 1.59058692e-03 1.48328902e-05 9.99998735e-01 -3.81812418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.920281693 meters 0.018097738121362318 Centerline is valid? [True, True] Translation: X:218.72, Y:10.42, Z:-0.04 [[ 9.87962866e-01 -1.54688595e-01 -9.02637830e-04 2.18715937e+02] [ 1.54688523e-01 9.87963278e-01 -1.49594239e-04 1.04211547e+01] [ 9.14913552e-04 8.16583974e-06 9.99999581e-01 -3.78128748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.980281693 meters 0.016807730695644812 Centerline is valid? [True, True] Translation: X:218.77, Y:10.43, Z:-0.04 [[ 9.87620964e-01 -1.56848534e-01 -1.83539952e-03 2.18773976e+02] [ 1.56848240e-01 9.87622669e-01 -3.04417483e-04 1.04299756e+01] [ 1.86042961e-03 1.27699051e-05 9.99998269e-01 -3.90985528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.040281693 meters 0.014884674011099734 Centerline is valid? [True, True] Translation: X:218.83, Y:10.43, Z:-0.04 [[ 9.86766259e-01 -1.62149054e-01 1.84495229e-04 2.18832858e+02] [ 1.62149051e-01 9.86766276e-01 3.05679408e-05 1.04314324e+01] [-1.87010233e-04 -2.47686294e-07 9.99999983e-01 -3.51806226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.100281693 meters 0.014688864498398582 Centerline is valid? [True, True] Translation: X:218.89, Y:10.44, Z:-0.03 [[ 9.86608088e-01 -1.63090830e-01 2.42113386e-03 2.18890523e+02] [ 1.63090334e-01 9.86611059e-01 4.02287882e-04 1.04392940e+01] [-2.45432691e-03 -2.03694795e-06 9.99996988e-01 -3.15312676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.160281693 meters 0.01584144057805044 Centerline is valid? [True, True] Translation: X:218.95, Y:10.45, Z:-0.03 [[ 9.87293621e-01 -1.58899507e-01 1.50100973e-03 2.18947795e+02] [ 1.58899311e-01 9.87294762e-01 2.49639687e-04 1.04547209e+01] [-1.52160666e-03 -7.95825920e-06 9.99998842e-01 -3.34574287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.220281693 meters 0.02244892092225016 Centerline is valid? [True, True] Translation: X:219.00, Y:10.48, Z:-0.04 [[ 9.88596733e-01 -1.50586160e-01 -5.54243502e-04 2.19003166e+02] [ 1.50586132e-01 9.88596889e-01 -9.22323748e-05 1.04810330e+01] [ 5.61812321e-04 7.71923921e-06 9.99999842e-01 -3.69561621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.280281693 meters 0.03133335022307059 Centerline is valid? [True, True] Translation: X:219.06, Y:10.51, Z:-0.04 [[ 9.89844560e-01 -1.42151105e-01 -9.00735748e-04 2.19059394e+02] [ 1.42151027e-01 9.89844969e-01 -1.49883572e-04 1.05112972e+01] [ 9.12894864e-04 2.03209266e-05 9.99999583e-01 -3.79492223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.340281693 meters 0.033711922718838244 Centerline is valid? [True, True] Translation: X:219.12, Y:10.53, Z:-0.04 [[ 9.90103924e-01 -1.40336032e-01 -1.30719145e-04 2.19115549e+02] [ 1.40336031e-01 9.90103933e-01 -2.17781374e-05 1.05295369e+01] [ 1.32481797e-04 3.21801333e-06 9.99999991e-01 -3.73893825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.400281693 meters 0.032676688957232115 Centerline is valid? [True, True] Translation: X:219.17, Y:10.55, Z:-0.04 [[ 9.89805595e-01 -1.42417614e-01 -1.45139732e-03 2.19171274e+02] [ 1.42417412e-01 9.89806659e-01 -2.41692333e-04 1.05481182e+01] [ 1.47102397e-03 3.25241738e-05 9.99998918e-01 -4.07584987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46028169299998 meters 0.03129995263712614 Centerline is valid? [True, True] Translation: X:219.23, Y:10.56, Z:-0.04 [[ 9.89684844e-01 -1.43260534e-01 -5.73252907e-04 2.19229577e+02] [ 1.43260503e-01 9.89685010e-01 -9.55871279e-05 1.05588333e+01] [ 5.81033672e-04 1.24766322e-05 9.99999831e-01 -3.88064276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.520281693 meters 0.028865909563477583 Centerline is valid? [True, True] Translation: X:219.29, Y:10.57, Z:-0.04 [[ 9.89505191e-01 -1.44497267e-01 -1.27792923e-04 2.19286518e+02] [ 1.44497266e-01 9.89505199e-01 -2.13740229e-05 1.05725384e+01] [ 1.29540249e-04 2.68397877e-06 9.99999992e-01 -3.72286042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.580281693 meters 0.033869500777666546 Centerline is valid? [True, True] Translation: X:219.34, Y:10.61, Z:-0.04 [[ 9.89801597e-01 -1.42452722e-01 1.43811578e-04 2.19339284e+02] [ 1.42452720e-01 9.89801607e-01 2.39708250e-05 1.06052770e+01] [-1.45759640e-04 -3.24001047e-06 9.99999989e-01 -3.91170840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.640281693 meters 0.02914129249894828 Centerline is valid? [True, True] Translation: X:219.40, Y:10.62, Z:-0.03 [[ 9.89848973e-01 -1.42104201e-01 2.32512566e-03 2.19396523e+02] [ 1.42103681e-01 9.89851703e-01 3.88456405e-04 1.06180235e+01] [-2.35673089e-03 -5.41042591e-05 9.99997221e-01 -3.47654632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.700281693 meters 0.030281796155033572 Centerline is valid? [True, True] Translation: X:219.45, Y:10.64, Z:-0.04 [[ 9.89377037e-01 -1.45355413e-01 2.20972357e-03 2.19451602e+02] [ 1.45354950e-01 9.89379504e-01 3.69345948e-04 1.06392030e+01] [-2.23994164e-03 -4.42281408e-05 9.99997490e-01 -3.56575233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.760281693 meters 0.021170098158605904 Centerline is valid? [True, True] Translation: X:219.51, Y:10.64, Z:-0.04 [[ 9.88264779e-01 -1.52746639e-01 1.09120145e-03 2.19512312e+02] [ 1.52746530e-01 9.88265381e-01 1.82420595e-04 1.06418520e+01] [-1.10626075e-03 -1.36026137e-05 9.99999388e-01 -3.80260178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.820281693 meters 0.01716348285059071 Centerline is valid? [True, True] Translation: X:219.57, Y:10.65, Z:-0.03 [[ 9.87410504e-01 -1.58120825e-01 4.27789926e-03 2.19570544e+02] [ 1.58119209e-01 9.87419771e-01 7.15420121e-04 1.06451697e+01] [-4.33720513e-03 -2.99952936e-05 9.99990594e-01 -3.17583161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.880281693 meters 0.015246131486724481 Centerline is valid? [True, True] Translation: X:219.63, Y:10.65, Z:-0.04 [[ 9.86782264e-01 -1.62034321e-01 2.37546736e-03 2.19629226e+02] [ 1.62033833e-01 9.86785123e-01 3.97623667e-04 1.06489335e+01] [-2.40850453e-03 -7.46190099e-06 9.99997100e-01 -3.69089401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.940281693 meters 0.015604188637853912 Centerline is valid? [True, True] Translation: X:219.69, Y:10.65, Z:-0.04 [[ 9.85716266e-01 -1.68414449e-01 1.23848602e-04 2.19687279e+02] [ 1.68414448e-01 9.85716274e-01 2.07154144e-05 1.06460219e+01] [-1.25568358e-04 4.38373008e-07 9.99999992e-01 -4.17436369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.000281693 meters 0.019299735290879888 Centerline is valid? [True, True] Translation: X:219.75, Y:10.64, Z:-0.04 [[ 9.84809153e-01 -1.73629247e-01 1.95339684e-03 2.19746783e+02] [ 1.73628940e-01 9.84811091e-01 3.27281368e-04 1.06431955e+01] [-1.98055249e-03 1.68565346e-05 9.99998039e-01 -3.79093320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.060281693 meters 0.01789068185116147 Centerline is valid? [True, True] Translation: X:219.80, Y:10.65, Z:-0.04 [[ 9.84794382e-01 -1.73718269e-01 1.41012212e-03 2.19803615e+02] [ 1.73718109e-01 9.84795391e-01 2.36474116e-04 1.06535997e+01] [-1.42976163e-03 1.20853660e-05 9.99998978e-01 -3.91542338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.120281693 meters 0.01722019340045158 Centerline is valid? [True, True] Translation: X:219.86, Y:10.66, Z:-0.04 [[ 9.84983213e-01 -1.72643514e-01 1.51213135e-03 2.19860566e+02] [ 1.72643328e-01 9.84984374e-01 2.53718007e-04 1.06642523e+01] [-1.53322852e-03 1.11514102e-05 9.99998825e-01 -3.91450017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18028169299998 meters 0.01824804277853281 Centerline is valid? [True, True] Translation: X:219.92, Y:10.67, Z:-0.04 [[ 9.84703459e-01 -1.74230131e-01 1.72028215e-03 2.19918986e+02] [ 1.74229892e-01 9.84704962e-01 2.88888771e-04 1.06702202e+01] [-1.74430350e-03 1.52548010e-05 9.99998479e-01 -4.07448582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.240281693 meters 0.020072532494394616 Centerline is valid? [True, True] Translation: X:219.98, Y:10.67, Z:-0.04 [[ 9.84364107e-01 -1.76143437e-01 8.91693687e-04 2.19977056e+02] [ 1.76143373e-01 9.84364511e-01 1.49818657e-04 1.06722995e+01] [-9.04141193e-04 9.58982551e-06 9.99999591e-01 -4.12778106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.300281693 meters 0.017599348471970432 Centerline is valid? [True, True] Translation: X:220.03, Y:10.69, Z:-0.04 [[ 9.84788242e-01 -1.73723194e-01 3.51720333e-03 2.20033949e+02] [ 1.73722189e-01 9.84794522e-01 5.91582568e-04 1.06885010e+01] [-3.56649418e-03 2.84327046e-05 9.99993640e-01 -3.69568451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.360281693 meters 0.015057623412461243 Centerline is valid? [True, True] Translation: X:220.09, Y:10.71, Z:-0.04 [[ 9.85733357e-01 -1.68295548e-01 2.52153022e-03 2.20088869e+02] [ 1.68295014e-01 9.85736582e-01 4.24279902e-04 1.07086286e+01] [-2.55696900e-03 6.13411143e-06 9.99996731e-01 -3.95854056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.420281693 meters 0.014939989126377177 Centerline is valid? [True, True] Translation: X:220.14, Y:10.73, Z:-0.04 [[ 9.86405304e-01 -1.64321231e-01 1.76358463e-03 2.20144018e+02] [ 1.64320963e-01 9.86406880e-01 2.97021748e-04 1.07276161e+01] [-1.78841899e-03 -3.18990387e-06 9.99998401e-01 -4.09257473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.480281693 meters 0.015170239820192305 Centerline is valid? [True, True] Translation: X:220.20, Y:10.74, Z:-0.04 [[ 9.86644501e-01 -1.62842402e-01 3.87049567e-03 2.20201090e+02] [ 1.62841095e-01 9.86652093e-01 6.52593848e-04 1.07427747e+01] [-3.92510260e-03 -1.36023775e-05 9.99992297e-01 -3.85704935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.540281693 meters 0.01614763597653803 Centerline is valid? [True, True] Translation: X:220.26, Y:10.76, Z:-0.04 [[ 9.86965248e-01 -1.60897213e-01 3.41853870e-03 2.20257666e+02] [ 1.60896180e-01 9.86971168e-01 5.76965089e-04 1.07586671e+01] [-3.46683121e-03 -1.94146741e-05 9.99993990e-01 -3.97714265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.600281693 meters 0.01706976811918241 Centerline is valid? [True, True] Translation: X:220.31, Y:10.78, Z:-0.05 [[ 9.87140135e-01 -1.59855974e-01 -6.48589906e-04 2.20313184e+02] [ 1.59855936e-01 9.87140349e-01 -1.09536453e-04 1.07751469e+01] [ 6.57759323e-04 4.44688211e-06 9.99999784e-01 -4.71682742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.660281693 meters 0.016363833533631605 Centerline is valid? [True, True] Translation: X:220.37, Y:10.79, Z:-0.05 [[ 9.86932008e-01 -1.61137242e-01 3.89992027e-05 2.20370727e+02] [ 1.61137241e-01 9.86932008e-01 6.53623378e-06 1.07868729e+01] [-3.95427921e-05 -1.66594384e-07 9.99999999e-01 -4.63279251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.720281693 meters 0.014738268647444156 Centerline is valid? [True, True] Translation: X:220.43, Y:10.79, Z:-0.04 [[ 9.85977086e-01 -1.66856611e-01 2.83846117e-03 2.20430078e+02] [ 1.66855920e-01 9.85981172e-01 4.80141235e-04 1.07875833e+01] [-2.87878401e-03 2.05794750e-07 9.99995856e-01 -4.04715059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.780281693 meters 0.015762188078543266 Centerline is valid? [True, True] Translation: X:220.49, Y:10.79, Z:-0.04 [[ 9.85172323e-01 -1.71528979e-01 3.64726535e-03 2.20489379e+02] [ 1.71527868e-01 9.85179075e-01 6.17574740e-04 1.07892297e+01] [-3.69914147e-03 1.71901100e-05 9.99993158e-01 -3.93081615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.840281693 meters 0.01733185509854227 Centerline is valid? [True, True] Translation: X:220.55, Y:10.80, Z:-0.04 [[ 9.84591180e-01 -1.74825817e-01 4.01778623e-03 2.20547990e+02] [ 1.74824493e-01 9.84599377e-01 6.80992675e-04 1.07953299e+01] [-4.07496492e-03 3.19080588e-05 9.99991697e-01 -3.87868878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.900281693 meters 0.01711261664872675 Centerline is valid? [True, True] Translation: X:220.61, Y:10.80, Z:-0.04 [[ 9.84653040e-01 -1.74461553e-01 4.64296410e-03 2.20605605e+02] [ 1.74459778e-01 9.84663986e-01 7.87838544e-04 1.08041794e+01] [-4.70920707e-03 3.42628665e-05 9.99988911e-01 -3.73135625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96028169299998 meters 0.01858316962463627 Centerline is valid? [True, True] Translation: X:220.66, Y:10.81, Z:-0.04 [[ 9.84378929e-01 -1.76010116e-01 4.30839899e-03 2.20664250e+02] [ 1.76008601e-01 9.84388357e-01 7.31359878e-04 1.08056441e+01] [-4.36986454e-03 3.83800233e-05 9.99990451e-01 -3.82033380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.020281693 meters 0.018848160757845102 Centerline is valid? [True, True] Translation: X:220.72, Y:10.81, Z:-0.04 [[ 9.84041064e-01 -1.77885108e-01 4.48024940e-03 2.20723578e+02] [ 1.77883486e-01 9.84051262e-01 7.61261388e-04 1.08083981e+01] [-4.54421214e-03 4.78499142e-05 9.99989674e-01 -3.82958027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.080281693 meters 0.017718538923998616 Centerline is valid? [True, True] Translation: X:220.78, Y:10.82, Z:-0.04 [[ 9.84270129e-01 -1.76627673e-01 3.87026159e-03 2.20781606e+02] [ 1.76626450e-01 9.84277737e-01 6.58283133e-04 1.08165253e+01] [-3.92568334e-03 3.56621431e-05 9.99992294e-01 -3.90478889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.140281693 meters 0.015797361985098242 Centerline is valid? [True, True] Translation: X:220.84, Y:10.83, Z:-0.04 [[ 9.85172293e-01 -1.71557585e-01 1.88382726e-03 2.20838331e+02] [ 1.71557286e-01 9.85174094e-01 3.20584854e-04 1.08293835e+01] [-1.91089658e-03 7.35297554e-06 9.99998174e-01 -4.19990699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.200281693 meters 0.014920426793165716 Centerline is valid? [True, True] Translation: X:220.90, Y:10.84, Z:-0.05 [[ 9.85738314e-01 -1.68283239e-01 8.53345137e-04 2.20895427e+02] [ 1.68283176e-01 9.85738683e-01 1.45321294e-04 1.08419619e+01] [-8.65630449e-04 3.54863172e-07 9.99999625e-01 -4.51808926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.260281693 meters 0.029210884613684818 Centerline is valid? [True, True] Translation: X:220.95, Y:10.85, Z:-0.04 [[ 9.85840079e-01 -1.67684061e-01 1.18069852e-03 2.20952338e+02] [ 1.67683940e-01 9.85840786e-01 2.01310285e-04 1.08527011e+01] [-1.19773728e-03 -4.75567100e-07 9.99999283e-01 -3.62179836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.320281693 meters 0.014930074062342842 Centerline is valid? [True, True] Translation: X:221.01, Y:10.86, Z:-0.04 [[ 9.85928108e-01 -1.67161907e-01 1.63173820e-03 2.21009773e+02] [ 1.67161675e-01 9.85929458e-01 2.78554371e-04 1.08632431e+01] [-1.65534244e-03 -1.87049263e-06 9.99998630e-01 -4.28403748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.380281693 meters 0.015493337301117798 Centerline is valid? [True, True] Translation: X:221.07, Y:10.88, Z:-0.04 [[ 9.86389031e-01 -1.64401002e-01 2.99826969e-03 2.21065981e+02] [ 1.64400205e-01 9.86393588e-01 5.12116191e-04 1.08768233e+01] [-3.04166641e-03 -1.22296432e-05 9.99995374e-01 -4.10436976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.440281693 meters 0.016782567229293707 Centerline is valid? [True, True] Translation: X:221.12, Y:10.89, Z:-0.04 [[ 9.86814334e-01 -1.61838511e-01 2.40153282e-03 2.21123751e+02] [ 1.61837991e-01 9.86817256e-01 4.10556523e-04 1.08883336e+01] [-2.43631788e-03 -1.64838158e-05 9.99997032e-01 -4.26539719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.500281693 meters 0.01782776058795037 Centerline is valid? [True, True] Translation: X:221.18, Y:10.90, Z:-0.04 [[ 9.86980255e-01 -1.60808550e-01 3.25374160e-03 2.21180726e+02] [ 1.60807589e-01 9.86985618e-01 5.56499669e-04 1.08967998e+01] [-3.30088607e-03 -2.60278424e-05 9.99994552e-01 -4.19005162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.560281693 meters 0.017635788771911694 Centerline is valid? [True, True] Translation: X:221.24, Y:10.91, Z:-0.04 [[ 9.86896208e-01 -1.61266610e-01 5.38090595e-03 2.21238921e+02] [ 1.61263985e-01 9.86910877e-01 9.21176430e-04 1.09053143e+01] [-5.45902961e-03 -4.13591919e-05 9.99985099e-01 -3.74665849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.620281693 meters 0.019301279458995162 Centerline is valid? [True, True] Translation: X:221.30, Y:10.92, Z:-0.04 [[ 9.87189866e-01 -1.59474993e-01 4.88836019e-03 2.21295842e+02] [ 1.59472802e-01 9.87201967e-01 8.37300825e-04 1.09168274e+01] [-4.95932734e-03 -4.70143941e-05 9.99987701e-01 -3.81936867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68028169299998 meters 0.019427710811024568 Centerline is valid? [True, True] Translation: X:221.35, Y:10.93, Z:-0.04 [[ 9.87311836e-01 -1.58737065e-01 4.22885565e-03 2.21354507e+02] [ 1.58735416e-01 9.87320891e-01 7.25005342e-04 1.09250316e+01] [-4.29032275e-03 -4.45371955e-05 9.99990796e-01 -3.97920234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.740281693 meters 0.020606127927051104 Centerline is valid? [True, True] Translation: X:221.41, Y:10.93, Z:-0.04 [[ 9.87495108e-01 -1.57578964e-01 4.72036090e-03 2.21412392e+02] [ 1.57576892e-01 9.87506388e-01 8.10051166e-04 1.09346928e+01] [-4.78903357e-03 -5.61017661e-05 9.99988531e-01 -3.77480300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.800281693 meters 0.021907545385406735 Centerline is valid? [True, True] Translation: X:221.47, Y:10.95, Z:-0.04 [[ 9.87862034e-01 -1.55326570e-01 1.50268496e-03 2.21469928e+02] [ 1.55326357e-01 9.87863177e-01 2.58087816e-04 1.09481495e+01] [-1.52453503e-03 -2.15485745e-05 9.99998838e-01 -4.43129170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.860281693 meters 0.026244393971521448 Centerline is valid? [True, True] Translation: X:221.53, Y:10.97, Z:-0.04 [[ 9.88279284e-01 -1.52646244e-01 1.78357938e-03 2.21525263e+02] [ 1.52645940e-01 9.88280893e-01 3.06530635e-04 1.09654707e+01] [-1.80946817e-03 -3.06817267e-05 9.99998362e-01 -4.39216504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.920281693 meters 0.029059095074340482 Centerline is valid? [True, True] Translation: X:221.58, Y:10.98, Z:-0.05 [[ 9.88591157e-01 -1.50614665e-01 1.65732657e-03 2.21581101e+02] [ 1.50614398e-01 9.88592546e-01 2.84973205e-04 1.09829154e+01] [-1.68134184e-03 -3.21047458e-05 9.99998586e-01 -4.54205101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.980281693 meters 0.024534752701146478 Centerline is valid? [True, True] Translation: X:221.64, Y:10.99, Z:-0.05 [[ 9.87940716e-01 -1.54832398e-01 -2.66025316e-04 2.21640469e+02] [ 1.54832391e-01 9.87940752e-01 -4.57607631e-05 1.09884804e+01] [ 2.69902500e-04 4.01958517e-06 9.99999964e-01 -4.86933556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.040281693 meters 0.01844719991783034 Centerline is valid? [True, True] Translation: X:221.70, Y:10.99, Z:-0.05 [[ 9.87139112e-01 -1.59862964e-01 4.53669469e-04 2.21699566e+02] [ 1.59862945e-01 9.87139217e-01 7.80311294e-05 1.09910180e+01] [-4.60309212e-04 -4.50264268e-06 9.99999894e-01 -4.67743511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.100281693 meters 0.018458216410716974 Centerline is valid? [True, True] Translation: X:221.75, Y:11.01, Z:-0.04 [[ 9.87030102e-01 -1.60510622e-01 2.81381485e-03 2.21754392e+02] [ 1.60509894e-01 9.87034113e-01 4.84292113e-04 1.10056756e+01] [-2.85506528e-03 -2.63657708e-05 9.99995924e-01 -4.17987408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.160281693 meters 0.02034424136132959 Centerline is valid? [True, True] Translation: X:221.81, Y:11.03, Z:-0.04 [[ 9.87438042e-01 -1.57973355e-01 3.24549764e-03 2.21810965e+02] [ 1.57972370e-01 9.87443374e-01 5.59115509e-04 1.10259930e+01] [-3.29307050e-03 -3.93929683e-05 9.99994577e-01 -4.04942400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.220281693 meters 0.021915754637097728 Centerline is valid? [True, True] Translation: X:221.87, Y:11.05, Z:-0.04 [[ 9.87756080e-01 -1.55990335e-01 2.22286474e-03 2.21867449e+02] [ 1.55989868e-01 9.87758581e-01 3.83304033e-04 1.10451829e+01] [-2.25544545e-03 -3.18665115e-05 9.99997456e-01 -4.19267970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.280281693 meters 0.023639669814533394 Centerline is valid? [True, True] Translation: X:221.92, Y:11.07, Z:-0.04 [[ 9.88011832e-01 -1.54371171e-01 1.47045372e-03 2.21921601e+02] [ 1.54370964e-01 9.88012926e-01 2.53667447e-04 1.10689856e+01] [-1.49198622e-03 -2.36310807e-05 9.99998887e-01 -4.33505137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.340281693 meters 0.02218240363924471 Centerline is valid? [True, True] Translation: X:221.98, Y:11.09, Z:-0.05 [[ 9.87638090e-01 -1.56751102e-01 3.08727705e-04 2.21977920e+02] [ 1.56751093e-01 9.87638138e-01 5.32575304e-05 1.10852545e+01] [-3.13259432e-04 -4.20576041e-06 9.99999951e-01 -4.69284168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40028169299998 meters 0.01660501691653794 Centerline is valid? [True, True] Translation: X:222.04, Y:11.09, Z:-0.05 [[ 9.86548348e-01 -1.63468982e-01 -4.98010712e-04 2.22037247e+02] [ 1.63468959e-01 9.86548474e-01 -8.61357810e-05 1.10910179e+01] [ 5.05392236e-04 3.56781960e-06 9.99999872e-01 -4.84675817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46028169299998 meters 0.014761656439413845 Centerline is valid? [True, True] Translation: X:222.10, Y:11.10, Z:-0.05 [[ 9.85609650e-01 -1.69034789e-01 -9.26553766e-04 2.22095088e+02] [ 1.69034713e-01 9.85610085e-01 -1.60231852e-04 1.10961464e+01] [ 9.40305493e-04 1.30630988e-06 9.99999558e-01 -5.05413138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.520281693 meters 0.014965981141275007 Centerline is valid? [True, True] Translation: X:222.15, Y:11.11, Z:-0.05 [[ 9.85436679e-01 -1.70015900e-01 -3.02426255e-03 2.22151881e+02] [ 1.70015095e-01 9.85441319e-01 -5.23225995e-04 1.11099523e+01] [ 3.06919002e-03 1.43580243e-06 9.99995290e-01 -5.40466907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.580281693 meters 0.01487104635560492 Centerline is valid? [True, True] Translation: X:222.21, Y:11.12, Z:-0.05 [[ 9.85559341e-01 -1.69313264e-01 -2.40908141e-03 2.22208023e+02] [ 1.69312750e-01 9.85562286e-01 -4.17296008e-04 1.11230882e+01] [ 2.44495353e-03 3.38177977e-06 9.99997011e-01 -5.34639812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.640281693 meters 0.014983625937191538 Centerline is valid? [True, True] Translation: X:222.26, Y:11.14, Z:-0.06 [[ 9.85445163e-01 -1.69943795e-01 -4.11545893e-03 2.22264433e+02] [ 1.69942299e-01 9.85453757e-01 -7.13023288e-04 1.11369748e+01] [ 4.17676835e-03 3.25479710e-06 9.99991277e-01 -5.64857270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.700281693 meters 0.014664580374889576 Centerline is valid? [True, True] Translation: X:222.32, Y:11.15, Z:-0.05 [[ 9.85221208e-01 -1.71252094e-01 -3.44848552e-03 2.22321260e+02] [ 1.71251049e-01 9.85227243e-01 -5.98189200e-04 1.11486881e+01] [ 3.49998304e-03 -1.20807787e-06 9.99993875e-01 -5.35249391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.760281693 meters 0.015036420139978347 Centerline is valid? [True, True] Translation: X:222.38, Y:11.15, Z:-0.05 [[ 9.84595587e-01 -1.74839939e-01 -1.58919259e-03 2.22377629e+02] [ 1.74839721e-01 9.84596870e-01 -2.75892892e-04 1.11548804e+01] [ 1.61295115e-03 -6.21106480e-06 9.99998699e-01 -5.09649559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.820281693 meters 0.02245755720171106 Centerline is valid? [True, True] Translation: X:222.44, Y:11.14, Z:-0.05 [[ 9.82551631e-01 -1.85986617e-01 1.12693212e-03 2.22441032e+02] [ 1.85986515e-01 9.82552277e-01 1.95609902e-04 1.11440200e+01] [-1.14365054e-03 1.73973489e-05 9.99999346e-01 -4.65299752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.880281693 meters 0.026746758415445552 Centerline is valid? [True, True] Translation: X:222.50, Y:11.14, Z:-0.05 [[ 9.81665467e-01 -1.90606473e-01 1.44364151e-03 2.22501332e+02] [ 1.90606310e-01 9.81666528e-01 2.50622637e-04 1.11432645e+01] [-1.46494484e-03 2.91395933e-05 9.99998927e-01 -4.55462394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.940281693 meters 0.027947230051064906 Centerline is valid? [True, True] Translation: X:222.56, Y:11.14, Z:-0.05 [[ 9.81210316e-01 -1.92922388e-01 -2.69587997e-03 2.22561144e+02] [ 1.92921828e-01 9.81214018e-01 -4.68554378e-04 1.11424483e+01] [ 2.73562985e-03 -6.03437034e-05 9.99996256e-01 -5.25513444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.000281693 meters 0.027070778369595153 Centerline is valid? [True, True] Translation: X:222.62, Y:11.15, Z:-0.06 [[ 9.81872112e-01 -1.89483956e-01 -4.79432291e-03 2.22619557e+02] [ 1.89482145e-01 9.81883813e-01 -8.33415734e-04 1.11459684e+01] [ 4.86538697e-03 -9.01309223e-05 9.99988160e-01 -5.73874975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.060281693 meters 0.019935631045147898 Centerline is valid? [True, True] Translation: X:222.68, Y:11.16, Z:-0.05 [[ 9.83069361e-01 -1.83214831e-01 -2.63780752e-03 2.22677740e+02] [ 1.83214260e-01 9.83072899e-01 -4.58602913e-04 1.11598296e+01] [ 2.67717994e-03 -3.24454796e-05 9.99996416e-01 -5.37640527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.120281693 meters 0.01811265609437538 Centerline is valid? [True, True] Translation: X:222.73, Y:11.17, Z:-0.05 [[ 9.83664398e-01 -1.79997231e-01 -2.31277648e-03 2.22734449e+02] [ 1.79996783e-01 9.83667117e-01 -4.02244917e-04 1.11699460e+01] [ 2.34740515e-03 -2.06183235e-05 9.99997245e-01 -5.41763258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18028169299998 meters 0.01560690192556009 Centerline is valid? [True, True] Translation: X:222.79, Y:11.18, Z:-0.05 [[ 9.84313671e-01 -1.76421545e-01 -1.42667929e-03 2.22791569e+02] [ 1.76421371e-01 9.84314705e-01 -2.48219477e-04 1.11800186e+01] [ 1.44809267e-03 -7.37089175e-06 9.99998951e-01 -5.17420795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.240281693 meters 0.015264099641906666 Centerline is valid? [True, True] Translation: X:222.85, Y:11.19, Z:-0.05 [[ 9.84389659e-01 -1.75998842e-01 -1.18654122e-03 2.22848859e+02] [ 1.75998720e-01 9.84390374e-01 -2.06700410e-04 1.11890125e+01] [ 1.20439879e-03 -5.35599086e-06 9.99999275e-01 -5.10630237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.300281693 meters 0.014901317638538693 Centerline is valid? [True, True] Translation: X:222.91, Y:11.20, Z:-0.05 [[ 9.84458170e-01 -1.75611042e-01 -1.69528399e-03 2.22906495e+02] [ 1.75610793e-01 9.84459629e-01 -2.95621516e-04 1.11958052e+01] [ 1.72085305e-03 -6.68314824e-06 9.99998519e-01 -5.16274865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.360281693 meters 0.01432789292803368 Centerline is valid? [True, True] Translation: X:222.96, Y:11.21, Z:-0.05 [[ 9.84830745e-01 -1.73509343e-01 -1.70619416e-03 2.22963246e+02] [ 1.73509087e-01 9.84832223e-01 -2.97858329e-04 1.12073252e+01] [ 1.73199619e-03 -2.70015011e-06 9.99998500e-01 -5.21956589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.420281693 meters 0.014020954883079367 Centerline is valid? [True, True] Translation: X:223.02, Y:11.21, Z:-0.05 [[ 9.84996500e-01 -1.72574290e-01 9.49157709e-05 2.23019400e+02] [ 1.72574289e-01 9.84996505e-01 1.65454731e-05 1.12148114e+01] [-9.63470259e-05 8.27885886e-08 9.99999995e-01 -4.87232865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.480281693 meters 0.014668049650763501 Centerline is valid? [True, True] Translation: X:223.08, Y:11.22, Z:-0.05 [[ 9.84459743e-01 -1.75605862e-01 -1.26358329e-03 2.23078722e+02] [ 1.75605723e-01 9.84460553e-01 -2.20919363e-04 1.12176117e+01] [ 1.28274264e-03 -4.40623806e-06 9.99999177e-01 -5.15661013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.540281693 meters 0.018612178602362656 Centerline is valid? [True, True] Translation: X:223.14, Y:11.21, Z:-0.05 [[ 9.83164141e-01 -1.82717508e-01 -1.60785471e-03 2.23138703e+02] [ 1.82717292e-01 9.83165455e-01 -2.81154837e-04 1.12126657e+01] [ 1.63215912e-03 -1.73615041e-05 9.99998668e-01 -5.25022145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.600281693 meters 0.021343837262002494 Centerline is valid? [True, True] Translation: X:223.20, Y:11.21, Z:-0.05 [[ 9.82528444e-01 -1.86109624e-01 -1.03174568e-03 2.23199051e+02] [ 1.86109537e-01 9.82528986e-01 -1.80631619e-04 1.12112437e+01] [ 1.04733732e-03 -1.45420084e-05 9.99999451e-01 -5.07418998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.660281693 meters 0.01732012490570081 Centerline is valid? [True, True] Translation: X:223.26, Y:11.23, Z:-0.05 [[ 9.83446385e-01 -1.81198585e-01 -5.29789332e-04 2.23256718e+02] [ 1.81198561e-01 9.83446528e-01 -9.27932079e-05 1.12250011e+01] [ 5.37833477e-04 -4.73991962e-06 9.99999855e-01 -4.87964800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.720281693 meters 0.014555787796522867 Centerline is valid? [True, True] Translation: X:223.31, Y:11.24, Z:-0.05 [[ 9.84485965e-01 -1.75461549e-01 7.92984299e-04 2.23312046e+02] [ 1.75461494e-01 9.84486285e-01 1.38878041e-04 1.12435693e+01] [-8.05049922e-04 2.41472703e-06 9.99999676e-01 -4.76207280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.780281693 meters 0.01422093571625719 Centerline is valid? [True, True] Translation: X:223.37, Y:11.27, Z:-0.05 [[ 9.85321102e-01 -1.70701415e-01 1.83093212e-03 2.23366681e+02] [ 1.70701113e-01 9.85322803e-01 3.20988596e-04 1.12666597e+01] [-1.85885237e-03 -3.73468740e-06 9.99998272e-01 -4.56757910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.840281693 meters 0.016152216329912837 Centerline is valid? [True, True] Translation: X:223.42, Y:11.29, Z:-0.05 [[ 9.86055928e-01 -1.66414137e-01 2.05456086e-04 2.23422499e+02] [ 1.66414133e-01 9.86055949e-01 3.60041027e-05 1.12872647e+01] [-2.08582787e-04 -1.31126263e-06 9.99999978e-01 -4.86303155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90028169299998 meters 0.01782807714556312 Centerline is valid? [True, True] Translation: X:223.48, Y:11.31, Z:-0.05 [[ 9.86455077e-01 -1.64009183e-01 -2.71463000e-03 2.23478949e+02] [ 1.64008491e-01 9.86458812e-01 -4.76983824e-04 1.13072152e+01] [ 2.75610041e-03 2.53007447e-05 9.99996202e-01 -5.36233979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96028169299998 meters 0.016519979051775664 Centerline is valid? [True, True] Translation: X:223.53, Y:11.32, Z:-0.05 [[ 9.86098650e-01 -1.66160729e-01 2.55305241e-04 2.23534676e+02] [ 1.66160723e-01 9.86098683e-01 4.48487516e-05 1.13226092e+01] [-2.59208263e-04 -1.80359006e-06 9.99999966e-01 -4.86522513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.020281693 meters 0.014974712727959095 Centerline is valid? [True, True] Translation: X:223.59, Y:11.33, Z:-0.05 [[ 9.85583601e-01 -1.69181213e-01 1.63778393e-03 2.23592421e+02] [ 1.69180968e-01 9.85584962e-01 2.88046812e-04 1.13315865e+01] [-1.66290732e-03 -6.81234355e-06 9.99998617e-01 -4.67979172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.080281693 meters 0.014116789897356 Centerline is valid? [True, True] Translation: X:223.65, Y:11.34, Z:-0.05 [[ 9.85080811e-01 -1.72092312e-01 1.76593735e-04 2.23649526e+02] [ 1.72092309e-01 9.85080827e-01 3.10551883e-05 1.13402075e+01] [-1.79303461e-04 -2.01446608e-07 9.99999984e-01 -4.96593959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.140281693 meters 0.014072393106288978 Centerline is valid? [True, True] Translation: X:223.71, Y:11.35, Z:-0.04 [[ 9.84615936e-01 -1.74710722e-01 2.76076417e-03 2.23706385e+02] [ 1.74710046e-01 9.84619807e-01 4.86243200e-04 1.13496818e+01] [-2.80325498e-03 3.57043184e-06 9.99996071e-01 -4.43606540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.200281693 meters 0.014863646580843687 Centerline is valid? [True, True] Translation: X:223.76, Y:11.36, Z:-0.05 [[ 9.84215397e-01 -1.76974296e-01 -3.89742302e-04 2.23764035e+02] [ 1.76974282e-01 9.84215474e-01 -6.86935600e-05 1.13573418e+01] [ 3.95747399e-04 -1.36510477e-06 9.99999922e-01 -5.15248454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.260281693 meters 0.015862178654941574 Centerline is valid? [True, True] Translation: X:223.82, Y:11.36, Z:-0.05 [[ 9.83760128e-01 -1.79487977e-01 -2.75376829e-04 2.23822509e+02] [ 1.79487971e-01 9.83760167e-01 -4.86203628e-05 1.13643645e+01] [ 2.79631526e-04 -1.59605396e-06 9.99999961e-01 -5.13424096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.320281693 meters 0.01618514431846114 Centerline is valid? [True, True] Translation: X:223.88, Y:11.38, Z:-0.05 [[ 9.83658161e-01 -1.80043873e-01 9.09450507e-04 2.23879109e+02] [ 1.80043801e-01 9.83658581e-01 1.60496250e-04 1.13753319e+01] [-9.23485162e-04 5.86747993e-06 9.99999574e-01 -4.92948630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.380281693 meters 0.013955803836805853 Centerline is valid? [True, True] Translation: X:223.93, Y:11.41, Z:-0.05 [[ 9.84655941e-01 -1.74505923e-01 -5.99975072e-04 2.23932380e+02] [ 1.74505891e-01 9.84656124e-01 -1.05973998e-04 1.14060531e+01] [ 6.09262219e-04 -3.51257501e-07 9.99999814e-01 -5.30165074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.440281693 meters 0.014979666811482243 Centerline is valid? [True, True] Translation: X:223.99, Y:11.43, Z:-0.05 [[ 9.85514055e-01 -1.69592367e-01 -6.89866485e-04 2.23987215e+02] [ 1.69592323e-01 9.85514297e-01 -1.21998372e-04 1.14331883e+01] [ 7.00563277e-04 3.23505025e-06 9.99999755e-01 -5.36319102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.500281693 meters 0.014457482593856876 Centerline is valid? [True, True] Translation: X:224.04, Y:11.45, Z:-0.05 [[ 9.85278830e-01 -1.70954653e-01 -3.65521766e-04 2.24043161e+02] [ 1.70954641e-01 9.85278898e-01 -6.47433175e-05 1.14482913e+01] [ 3.71209054e-04 1.30257781e-06 9.99999931e-01 -5.30216432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.560281693 meters 0.014085409256186688 Centerline is valid? [True, True] Translation: X:224.10, Y:11.46, Z:-0.06 [[ 9.84398028e-01 -1.75951806e-01 -1.21858327e-03 2.24099277e+02] [ 1.75951674e-01 9.84398782e-01 -2.15828115e-04 1.14569705e+01] [ 1.23754723e-03 -1.95099503e-06 9.99999234e-01 -5.60463721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.620281693 meters 0.014962516166830914 Centerline is valid? [True, True] Translation: X:224.16, Y:11.47, Z:-0.05 [[ 9.83852627e-01 -1.78980265e-01 -2.70248744e-04 2.24156660e+02] [ 1.78980259e-01 9.83852664e-01 -4.79503396e-05 1.14685201e+01] [ 2.74467112e-04 -1.19312253e-06 9.99999962e-01 -5.17936097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68028169299998 meters 0.013604070034439798 Centerline is valid? [True, True] Translation: X:224.21, Y:11.49, Z:-0.05 [[ 9.84327876e-01 -1.76339515e-01 1.73439428e-03 2.24212548e+02] [ 1.76339247e-01 9.84329404e-01 3.07628609e-04 1.14879570e+01] [-1.76146237e-03 3.03436670e-06 9.99998449e-01 -4.86370758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.740281693 meters 0.013395857970186942 Centerline is valid? [True, True] Translation: X:224.27, Y:11.50, Z:-0.05 [[ 9.84505693e-01 -1.75325558e-01 3.08046444e-03 2.24268620e+02] [ 1.75324705e-01 9.84510512e-01 5.47018996e-04 1.15044913e+01] [-3.12865603e-03 1.53820294e-06 9.99995106e-01 -4.80700771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.800281693 meters 0.013719215437368551 Centerline is valid? [True, True] Translation: X:224.33, Y:11.51, Z:-0.05 [[ 9.84189217e-01 -1.77113003e-01 1.60301010e-03 2.24325316e+02] [ 1.77112774e-01 9.84190522e-01 2.84798776e-04 1.15130628e+01] [-1.62810892e-03 3.61768150e-06 9.99998675e-01 -5.09342392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.860281693 meters 0.01741652065857417 Centerline is valid? [True, True] Translation: X:224.38, Y:11.51, Z:-0.06 [[ 9.82957239e-01 -1.83825077e-01 -1.84596583e-03 2.24383654e+02] [ 1.83824785e-01 9.82958972e-01 -3.28125053e-04 1.15137767e+01] [ 1.87482628e-03 -1.68013749e-05 9.99998242e-01 -5.68607603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.920281693 meters 0.022473415983236558 Centerline is valid? [True, True] Translation: X:224.44, Y:11.51, Z:-0.05 [[ 9.81896532e-01 -1.89416834e-01 6.80554096e-04 2.24443404e+02] [ 1.89416795e-01 9.81896768e-01 1.20974601e-04 1.15120997e+01] [-6.91148493e-04 1.01238348e-05 9.99999761e-01 -5.20891533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.980281693 meters 0.024542513736405626 Centerline is valid? [True, True] Translation: X:224.50, Y:11.52, Z:-0.06 [[ 9.81563688e-01 -1.91133496e-01 -8.44737702e-04 2.24501025e+02] [ 1.91133438e-01 9.81564051e-01 -1.50275328e-04 1.15200172e+01] [ 8.57886809e-04 -1.39528163e-05 9.99999632e-01 -5.66185587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.040281693 meters 0.02331977239282482 Centerline is valid? [True, True] Translation: X:224.56, Y:11.53, Z:-0.06 [[ 9.81397519e-01 -1.91973919e-01 -2.21892658e-03 2.24558994e+02] [ 1.91973516e-01 9.81400027e-01 -3.95095204e-04 1.15312484e+01] [ 2.25350258e-03 -3.82296843e-05 9.99997460e-01 -5.83944387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.100281693 meters 0.02581859460784452 Centerline is valid? [True, True] Translation: X:224.62, Y:11.54, Z:-0.06 [[ 9.81345606e-01 -1.92229961e-01 -2.90587775e-03 2.24616400e+02] [ 1.92229271e-01 9.81349907e-01 -5.17530078e-04 1.15367232e+01] [ 2.95116765e-03 -5.07188942e-05 9.99995644e-01 -5.97552103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.160281693 meters 0.022366786926899127 Centerline is valid? [True, True] Translation: X:224.67, Y:11.55, Z:-0.06 [[ 9.81583190e-01 -1.91029223e-01 -1.50897223e-03 2.24673701e+02] [ 1.91029035e-01 9.81584350e-01 -2.69045197e-04 1.15489769e+01] [ 1.53257902e-03 -2.41672653e-05 9.99998825e-01 -5.70715525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.220281693 meters 0.020688323871098334 Centerline is valid? [True, True] Translation: X:224.73, Y:11.56, Z:-0.06 [[ 9.81967483e-01 -1.89042722e-01 -1.64672010e-03 2.24731813e+02] [ 1.89042495e-01 9.81968863e-01 -2.93873854e-04 1.15567817e+01] [ 1.67258258e-03 -2.27255085e-05 9.99998601e-01 -5.69524818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.280281693 meters 0.019528456145400077 Centerline is valid? [True, True] Translation: X:224.79, Y:11.57, Z:-0.06 [[ 9.82275678e-01 -1.87435137e-01 -1.60063344e-03 2.24789286e+02] [ 1.87434920e-01 9.82276982e-01 -2.85764260e-04 1.15658988e+01] [ 1.62582764e-03 -1.93153179e-05 9.99998678e-01 -5.66531450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.340281693 meters 0.01985935250077094 Centerline is valid? [True, True] Translation: X:224.85, Y:11.57, Z:-0.05 [[ 9.82222799e-01 -1.87718864e-01 3.32062577e-05 2.24847869e+02] [ 1.87718864e-01 9.82222800e-01 5.87039777e-06 1.15670258e+01] [-3.37179278e-05 4.67402439e-07 9.99999999e-01 -5.34677991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40028169299998 meters 0.021490337630835958 Centerline is valid? [True, True] Translation: X:224.91, Y:11.57, Z:-0.05 [[ 9.81927107e-01 -1.89259386e-01 2.03953450e-04 2.24907425e+02] [ 1.89259382e-01 9.81927128e-01 3.64243880e-05 1.15697550e+01] [-2.07161082e-04 2.83400993e-06 9.99999979e-01 -5.38938193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46028169299998 meters 0.022977055821597675 Centerline is valid? [True, True] Translation: X:224.97, Y:11.57, Z:-0.05 [[ 9.81740256e-01 -1.90223794e-01 -9.88500523e-04 2.24967011e+02] [ 1.90223712e-01 9.81740754e-01 -1.77019896e-04 1.15681887e+01] [ 1.00412464e-03 -1.42486809e-05 9.99999496e-01 -5.42120298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.520281693 meters 0.017989528187756725 Centerline is valid? [True, True] Translation: X:225.02, Y:11.59, Z:-0.05 [[ 9.82996064e-01 -1.83625948e-01 -4.98939963e-04 2.25024280e+02] [ 1.83625926e-01 9.82996191e-01 -8.94483588e-05 1.15850894e+01] [ 5.06881123e-04 -3.69092831e-06 9.99999872e-01 -5.22532181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.580281693 meters 0.01639977912260989 Centerline is valid? [True, True] Translation: X:225.08, Y:11.61, Z:-0.05 [[ 9.84579191e-01 -1.74939438e-01 -9.61259123e-05 2.25080248e+02] [ 1.74939437e-01 9.84579196e-01 -1.72892135e-05 1.16091040e+01] [ 9.76681388e-05 2.06386901e-07 9.99999995e-01 -5.15199051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.640281693 meters 0.02588701530067194 Centerline is valid? [True, True] Translation: X:225.13, Y:11.65, Z:-0.05 [[ 9.86813706e-01 -1.61857189e-01 -9.80112574e-04 2.25133619e+02] [ 1.61857094e-01 9.86814192e-01 -1.75776854e-04 1.16482181e+01] [ 9.95639746e-04 1.48208358e-05 9.99999504e-01 -5.43379242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.700281693 meters 0.026882508562387233 Centerline is valid? [True, True] Translation: X:225.19, Y:11.66, Z:-0.05 [[ 9.87435294e-01 -1.58014683e-01 -1.70276143e-03 2.25191474e+02] [ 1.58014391e-01 9.87436762e-01 -3.05421682e-04 1.16635207e+01] [ 1.72963035e-03 3.25233374e-05 9.99998504e-01 -5.49296097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.760281693 meters 0.023241021714875663 Centerline is valid? [True, True] Translation: X:225.25, Y:11.67, Z:-0.06 [[ 9.86749824e-01 -1.62208482e-01 -3.63218937e-03 2.25249172e+02] [ 1.62207182e-01 9.86756508e-01 -6.51682084e-04 1.16741523e+01] [ 3.68979486e-03 5.38799778e-05 9.99993191e-01 -5.96856157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.820281693 meters 0.020703106429821375 Centerline is valid? [True, True] Translation: X:225.31, Y:11.68, Z:-0.06 [[ 9.86112960e-01 -1.66034792e-01 -3.69846797e-03 2.25308233e+02] [ 1.66033470e-01 9.86119894e-01 -6.63912073e-04 1.16804384e+01] [ 3.75736535e-03 4.06228303e-05 9.99992940e-01 -5.88221253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.880281693 meters 0.020022527830374514 Centerline is valid? [True, True] Translation: X:225.36, Y:11.69, Z:-0.05 [[ 9.85845193e-01 -1.67646813e-01 -1.94980913e-03 2.25364364e+02] [ 1.67646448e-01 9.85847121e-01 -3.50203769e-04 1.16936822e+01] [ 1.98092426e-03 1.83681263e-05 9.99998038e-01 -5.45060245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.940281693 meters 0.023768615455099066 Centerline is valid? [True, True] Translation: X:225.42, Y:11.71, Z:-0.06 [[ 9.86208336e-01 -1.65483255e-01 -2.90011713e-03 2.25420295e+02] [ 1.65482438e-01 9.86212599e-01 -5.21036056e-04 1.17112452e+01] [ 2.94635480e-03 3.39316471e-05 9.99995659e-01 -5.89925900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.000281693 meters 0.021741507726603215 Centerline is valid? [True, True] Translation: X:225.48, Y:11.72, Z:-0.05 [[ 9.86196266e-01 -1.65580349e-01 -2.71324262e-04 2.25478408e+02] [ 1.65580342e-01 9.86196303e-01 -4.88616958e-05 1.17179728e+01] [ 2.75669521e-04 3.26125785e-06 9.99999962e-01 -5.18580936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.060281693 meters 0.02164810820850769 Centerline is valid? [True, True] Translation: X:225.54, Y:11.72, Z:-0.05 [[ 9.86094315e-01 -1.66185469e-01 6.25679663e-04 2.25535683e+02] [ 1.66185431e-01 9.86094514e-01 1.12542548e-04 1.17242414e+01] [-6.35682219e-04 -6.99872181e-06 9.99999798e-01 -4.96768278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.120281693 meters 0.022066035169956654 Centerline is valid? [True, True] Translation: X:225.59, Y:11.74, Z:-0.05 [[ 9.86117427e-01 -1.66049156e-01 3.13674147e-04 2.25592164e+02] [ 1.66049147e-01 9.86117477e-01 5.64299424e-05 1.17350744e+01] [-3.18689703e-04 -3.56122517e-06 9.99999949e-01 -5.06025825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18028169299998 meters 0.023350461187810492 Centerline is valid? [True, True] Translation: X:225.65, Y:11.74, Z:-0.05 [[ 9.86403899e-01 -1.64327856e-01 1.92447258e-03 2.25649720e+02] [ 1.64327493e-01 9.86405776e-01 3.46426750e-04 1.17449804e+01] [-1.95523843e-03 -2.54729430e-05 9.99998088e-01 -4.70580367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.240281693 meters 0.025190149184166184 Centerline is valid? [True, True] Translation: X:225.71, Y:11.76, Z:-0.05 [[ 9.86641303e-01 -1.62907735e-01 9.21547691e-05 2.25706463e+02] [ 1.62907735e-01 9.86641308e-01 1.65683739e-05 1.17578953e+01] [-9.36228182e-05 -1.33431737e-06 9.99999996e-01 -4.98342241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.300281693 meters 0.02723976967717278 Centerline is valid? [True, True] Translation: X:225.76, Y:11.77, Z:-0.06 [[ 9.86918851e-01 -1.61202024e-01 -2.25569763e-03 2.25763248e+02] [ 1.61201516e-01 9.86921428e-01 -4.06686967e-04 1.17731253e+01] [ 2.29175509e-03 3.77451567e-05 9.99997373e-01 -5.59729653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.360281693 meters 0.023648496999977665 Centerline is valid? [True, True] Translation: X:225.82, Y:11.78, Z:-0.05 [[ 9.86463260e-01 -1.63981792e-01 -4.57547611e-04 2.25822259e+02] [ 1.63981772e-01 9.86463366e-01 -8.26158940e-05 1.17789646e+01] [ 4.64901458e-04 6.46807617e-06 9.99999892e-01 -5.12667772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.420281693 meters 0.019317831380421997 Centerline is valid? [True, True] Translation: X:225.88, Y:11.78, Z:-0.05 [[ 9.85291061e-01 -1.70882596e-01 -8.14104065e-04 2.25881311e+02] [ 1.70882533e-01 9.85291398e-01 -1.46991620e-04 1.17770756e+01] [ 8.27248042e-04 5.71336439e-06 9.99999658e-01 -5.30041899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.480281693 meters 0.017715229544297918 Centerline is valid? [True, True] Translation: X:225.94, Y:11.77, Z:-0.06 [[ 9.83666088e-01 -1.79986159e-01 -2.45152564e-03 2.25941743e+02] [ 1.79985614e-01 9.83669143e-01 -4.42782254e-04 1.17664021e+01] [ 2.49118480e-03 -5.68945933e-06 9.99996897e-01 -5.71426449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.540281693 meters 0.019291616504662153 Centerline is valid? [True, True] Translation: X:226.00, Y:11.77, Z:-0.06 [[ 9.82848283e-01 -1.84390508e-01 -3.06474332e-03 2.26001852e+02] [ 1.84389677e-01 9.82853061e-01 -5.54061845e-04 1.17658573e+01] [ 3.11435610e-03 -2.05482962e-05 9.99995150e-01 -5.74316773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.600281693 meters 0.01953303799701303 Centerline is valid? [True, True] Translation: X:226.06, Y:11.77, Z:-0.05 [[ 9.82652046e-01 -1.85445176e-01 -2.24590300e-03 2.26059520e+02] [ 1.85444731e-01 9.82654612e-01 -4.06490424e-04 1.17701530e+01] [ 2.28232863e-03 -1.70522313e-05 9.99997395e-01 -5.43968809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.660281693 meters 0.017752012437794697 Centerline is valid? [True, True] Translation: X:226.12, Y:11.78, Z:-0.05 [[ 9.83437481e-01 -1.81243057e-01 -1.29401666e-03 2.26116692e+02] [ 1.81242906e-01 9.83438333e-01 -2.34267374e-04 1.17770402e+01] [ 1.31504492e-03 -4.14402263e-06 9.99999135e-01 -5.32709001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.720281693 meters 0.01761609080619637 Centerline is valid? [True, True] Translation: X:226.17, Y:11.78, Z:-0.05 [[ 9.83293504e-01 -1.82022308e-01 -1.32848238e-03 2.26174985e+02] [ 1.82022149e-01 9.83294401e-01 -2.40809160e-04 1.17812082e+01] [ 1.35012192e-03 -5.02713488e-06 9.99999089e-01 -5.30953932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.780281693 meters 0.01811195326312593 Centerline is valid? [True, True] Translation: X:226.23, Y:11.78, Z:-0.05 [[ 9.83023589e-01 -1.83476110e-01 -1.06797374e-03 2.26233768e+02] [ 1.83476008e-01 9.83024169e-01 -1.93819831e-04 1.17841514e+01] [ 1.08540531e-03 -5.41809244e-06 9.99999411e-01 -5.17442261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.840281693 meters 0.01751873832411189 Centerline is valid? [True, True] Translation: X:226.29, Y:11.79, Z:-0.05 [[ 9.83360058e-01 -1.81665520e-01 -7.97231241e-04 2.26291212e+02] [ 1.81665463e-01 9.83360381e-01 -1.44704141e-04 1.17916438e+01] [ 8.10253370e-04 -2.53310994e-06 9.99999672e-01 -5.08519184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90028169299998 meters 0.01696073610708374 Centerline is valid? [True, True] Translation: X:226.35, Y:11.81, Z:-0.05 [[ 9.84064772e-01 -1.77798340e-01 -2.06776251e-03 2.26346404e+02] [ 1.77797943e-01 9.84066944e-01 -3.75466889e-04 1.18057284e+01] [ 2.10157412e-03 1.83981714e-06 9.99997792e-01 -5.27986004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96028169299998 meters 0.02103715755358168 Centerline is valid? [True, True] Translation: X:226.40, Y:11.83, Z:-0.05 [[ 9.85742717e-01 -1.68240667e-01 -2.52482137e-03 2.26401776e+02] [ 1.68240044e-01 9.85745950e-01 -4.58527495e-04 1.18315531e+01] [ 2.56597541e-03 2.72140807e-05 9.99996708e-01 -5.42522299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.020281693 meters 0.024987376977074087 Centerline is valid? [True, True] Translation: X:226.46, Y:11.85, Z:-0.05 [[ 9.86470117e-01 -1.63939526e-01 -7.34675929e-04 2.26457243e+02] [ 1.63939472e-01 9.86470391e-01 -1.33515472e-04 1.18482619e+01] [ 7.46624514e-04 1.12666400e-05 9.99999721e-01 -5.06040260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.080281693 meters 0.0244389098596756 Centerline is valid? [True, True] Translation: X:226.52, Y:11.86, Z:-0.05 [[ 9.86437201e-01 -1.64136191e-01 -9.79415203e-04 2.26515358e+02] [ 1.64136095e-01 9.86437687e-01 -1.78109036e-04 1.18555810e+01] [ 9.95366206e-04 1.49359922e-05 9.99999505e-01 -5.05544449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.140281693 meters 0.022458204740115104 Centerline is valid? [True, True] Translation: X:226.58, Y:11.86, Z:-0.05 [[ 9.86075110e-01 -1.66293506e-01 -1.53194002e-03 2.26575461e+02] [ 1.66293274e-01 9.86076300e-01 -2.78819351e-04 1.18566299e+01] [ 1.55697560e-03 2.01855005e-05 9.99998788e-01 -5.27294846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.200281693 meters 0.02517874290251802 Centerline is valid? [True, True] Translation: X:226.63, Y:11.87, Z:-0.05 [[ 9.86464565e-01 -1.63959629e-01 -2.21416348e-03 2.26631021e+02] [ 1.63959137e-01 9.86467049e-01 -4.03178297e-04 1.18712757e+01] [ 2.25030428e-03 3.46887701e-05 9.99997467e-01 -5.35664984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.260281693 meters 0.02582031460054988 Centerline is valid? [True, True] Translation: X:226.69, Y:11.88, Z:-0.05 [[ 9.86730759e-01 -1.62344672e-01 -2.57242791e-03 2.26688966e+02] [ 1.62344002e-01 9.86734111e-01 -4.68870670e-04 1.18817772e+01] [ 2.61442102e-03 4.50308720e-05 9.99996581e-01 -5.44152956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.320281693 meters 0.026344083799011542 Centerline is valid? [True, True] Translation: X:226.75, Y:11.89, Z:-0.05 [[ 9.86785392e-01 -1.62031304e-01 -6.68027006e-04 2.26746844e+02] [ 1.62031258e-01 9.86785618e-01 -1.21805256e-04 1.18889677e+01] [ 6.78935706e-04 1.19543906e-05 9.99999769e-01 -5.01987710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.380281693 meters 0.03161521234294641 Centerline is valid? [True, True] Translation: X:226.80, Y:11.90, Z:-0.05 [[ 9.87176250e-01 -1.59622654e-01 -1.91288404e-03 2.26802660e+02] [ 1.59622278e-01 9.87178103e-01 -3.48862568e-04 1.19046667e+01] [ 1.94404360e-03 3.90499348e-05 9.99998110e-01 -5.36404752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.440281693 meters 0.034055201744238546 Centerline is valid? [True, True] Translation: X:226.86, Y:11.92, Z:-0.06 [[ 9.87998254e-01 -1.54432785e-01 -3.15679542e-03 2.26860613e+02] [ 1.54431733e-01 9.88003294e-01 -5.75741072e-04 1.19214969e+01] [ 3.20783757e-03 8.13217852e-05 9.99994852e-01 -5.50163049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.500281693 meters 0.037171425376419175 Centerline is valid? [True, True] Translation: X:226.92, Y:11.94, Z:-0.05 [[ 9.88504754e-01 -1.51152715e-01 -3.34789115e-03 2.26918057e+02] [ 1.51151513e-01 9.88510418e-01 -6.10720671e-04 1.19373344e+01] [ 3.40173737e-03 9.76614735e-05 9.99994209e-01 -5.49538322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.560281693 meters 0.03744289602819848 Centerline is valid? [True, True] Translation: X:226.98, Y:11.95, Z:-0.05 [[ 9.88575511e-01 -1.50707141e-01 -2.41167789e-03 2.26975400e+02] [ 1.50706515e-01 9.88578450e-01 -4.40392772e-04 1.19530102e+01] [ 2.45050313e-03 7.19059402e-05 9.99996995e-01 -5.29578807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.620281693 meters 0.030702627863742504 Centerline is valid? [True, True] Translation: X:227.04, Y:11.96, Z:-0.05 [[ 9.87533854e-01 -1.57396194e-01 -1.82356803e-03 2.27035897e+02] [ 1.57395847e-01 9.87535537e-01 -3.32969736e-04 1.19581609e+01] [ 1.85324640e-03 4.17968513e-05 9.99998282e-01 -5.19596605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68028169299998 meters 0.028628914664031217 Centerline is valid? [True, True] Translation: X:227.09, Y:11.97, Z:-0.05 [[ 9.86718096e-01 -1.62437030e-01 -1.26909439e-03 2.27093181e+02] [ 1.62436866e-01 9.86718912e-01 -2.31783419e-04 1.19709839e+01] [ 1.28988965e-03 2.25571786e-05 9.99999168e-01 -5.05960913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.740281693 meters 0.024550316490228343 Centerline is valid? [True, True] Translation: X:227.15, Y:11.98, Z:-0.05 [[ 9.86327561e-01 -1.64794603e-01 8.25378661e-04 2.27151434e+02] [ 1.64794535e-01 9.86327906e-01 1.50817112e-04 1.19786575e+01] [-8.38947852e-04 -1.27371815e-05 9.99999648e-01 -4.59716690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.800281693 meters 0.021465314372316344 Centerline is valid? [True, True] Translation: X:227.21, Y:11.99, Z:-0.05 [[ 9.85669548e-01 -1.68684307e-01 -1.07079328e-03 2.27208867e+02] [ 1.68684194e-01 9.85670130e-01 -1.95799844e-04 1.19883661e+01] [ 1.08847731e-03 1.23680424e-05 9.99999408e-01 -4.92410033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.860281693 meters 0.01886763416060696 Centerline is valid? [True, True] Translation: X:227.27, Y:12.00, Z:-0.05 [[ 9.85033913e-01 -1.72359970e-01 -4.80434988e-04 2.27266644e+02] [ 1.72359947e-01 9.85034030e-01 -8.79769716e-05 1.19973783e+01] [ 4.88408521e-04 3.85255141e-06 9.99999881e-01 -4.77011363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.920281693 meters 0.019330294555540754 Centerline is valid? [True, True] Translation: X:227.32, Y:12.01, Z:-0.04 [[ 9.85129608e-01 -1.71801238e-01 1.99770478e-03 2.27322753e+02] [ 1.71800850e-01 9.85131633e-01 3.65683002e-04 1.20132086e+01] [-2.03082697e-03 -1.70377723e-05 9.99997938e-01 -4.25264804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.980281693 meters 0.019625899629050293 Centerline is valid? [True, True] Translation: X:227.38, Y:12.03, Z:-0.05 [[ 9.85346127e-01 -1.70565130e-01 7.38874400e-04 2.27379172e+02] [ 1.70565077e-01 9.85346404e-01 1.35327102e-04 1.20316153e+01] [-7.51129318e-04 -7.31786717e-06 9.99999718e-01 -4.55090416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.040281693 meters 0.023118059755941053 Centerline is valid? [True, True] Translation: X:227.43, Y:12.06, Z:-0.05 [[ 9.85880789e-01 -1.67424235e-01 -2.86268971e-03 2.27433507e+02] [ 1.67423417e-01 9.85884945e-01 -5.24725207e-04 1.20570626e+01] [ 2.91013440e-03 3.80352076e-05 9.99995765e-01 -5.25405954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.100281693 meters 0.022147735757064142 Centerline is valid? [True, True] Translation: X:227.49, Y:12.08, Z:-0.05 [[ 9.85846128e-01 -1.67632861e-01 -2.57593144e-03 2.27488466e+02] [ 1.67632198e-01 9.85849493e-01 -4.72709404e-04 1.20760323e+01] [ 2.61872233e-03 3.42096869e-05 9.99996571e-01 -5.22105474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.160281693 meters 0.020012192322054922 Centerline is valid? [True, True] Translation: X:227.55, Y:12.09, Z:-0.05 [[ 9.85418813e-01 -1.70126588e-01 -2.58966773e-03 2.27546213e+02] [ 1.70125925e-01 9.85422216e-01 -4.75664341e-04 1.20854150e+01] [ 2.63283927e-03 2.81589723e-05 9.99996534e-01 -5.27304383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.220281693 meters 0.027233828941718358 Centerline is valid? [True, True] Translation: X:227.61, Y:12.09, Z:-0.05 [[ 9.84206652e-01 -1.77003186e-01 -2.67178782e-03 2.27605633e+02] [ 1.77002505e-01 9.84210278e-01 -4.91161881e-04 1.20899553e+01] [ 2.71653825e-03 1.04916540e-05 9.99996310e-01 -4.86181373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.280281693 meters 0.01599575099781897 Centerline is valid? [True, True] Translation: X:227.66, Y:12.10, Z:-0.05 [[ 9.83975051e-01 -1.78305760e-01 -3.94426724e-04 2.27664419e+02] [ 1.78305745e-01 9.83975130e-01 -7.25693981e-05 1.20983382e+01] [ 4.01045629e-04 1.07792610e-06 9.99999920e-01 -4.89880213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.340281693 meters 0.01587674904174621 Centerline is valid? [True, True] Translation: X:227.72, Y:12.10, Z:-0.05 [[ 9.83405345e-01 -1.81409120e-01 -2.15843996e-03 2.27722964e+02] [ 1.81408685e-01 9.83407714e-01 -3.97439933e-04 1.21025118e+01] [ 2.19472573e-03 -7.15199107e-07 9.99997592e-01 -5.23106033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40028169299998 meters 0.01580979063083248 Centerline is valid? [True, True] Translation: X:227.78, Y:12.11, Z:-0.05 [[ 9.83353233e-01 -1.81692660e-01 -2.04857137e-03 2.27779887e+02] [ 1.81692269e-01 9.83355367e-01 -3.77347816e-04 1.21076980e+01] [ 2.08303497e-03 -1.14338423e-06 9.99997830e-01 -5.19021908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46028169299998 meters 0.015838881727577043 Centerline is valid? [True, True] Translation: X:227.84, Y:12.12, Z:-0.05 [[ 9.83379585e-01 -1.81558092e-01 -1.11866491e-03 2.27836893e+02] [ 1.81557975e-01 9.83380221e-01 -2.06328561e-04 1.21159469e+01] [ 1.13753357e-03 -2.03241355e-07 9.99999353e-01 -5.03977745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.520281693 meters 0.015995280920379763 Centerline is valid? [True, True] Translation: X:227.90, Y:12.12, Z:-0.05 [[ 9.82874131e-01 -1.84266709e-01 -2.05493723e-03 2.27896852e+02] [ 1.84266318e-01 9.82876279e-01 -3.79300287e-04 1.21174231e+01] [ 2.08964147e-03 -5.85127776e-06 9.99997817e-01 -5.33128172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.580281693 meters 0.01999820153503551 Centerline is valid? [True, True] Translation: X:227.96, Y:12.11, Z:-0.05 [[ 9.81363043e-01 -1.92162677e-01 -2.87634305e-04 2.27957852e+02] [ 1.92162670e-01 9.81363085e-01 -5.31211746e-05 1.21083504e+01] [ 2.92481596e-04 -3.14141843e-06 9.99999957e-01 -5.03187481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.640281693 meters 0.0259278048294934 Centerline is valid? [True, True] Translation: X:228.02, Y:12.10, Z:-0.05 [[ 9.80048491e-01 -1.98753570e-01 -1.40483351e-03 2.28018649e+02] [ 1.98753403e-01 9.80049498e-01 -2.59431809e-04 1.20990258e+01] [ 1.42836938e-03 -2.49596879e-05 9.99998980e-01 -5.20822703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.700281693 meters 0.02891373740991256 Centerline is valid? [True, True] Translation: X:228.08, Y:12.09, Z:-0.05 [[ 9.79506180e-01 -2.01410410e-01 -1.22073261e-03 2.28078763e+02] [ 2.01410286e-01 9.79506940e-01 -2.25510719e-04 1.20934976e+01] [ 1.24113627e-03 -2.49789612e-05 9.99999229e-01 -5.14999085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.760281693 meters 0.026933609147366974 Centerline is valid? [True, True] Translation: X:228.14, Y:12.09, Z:-0.05 [[ 9.79931003e-01 -1.99329753e-01 -1.69652402e-03 2.28138840e+02] [ 1.99329508e-01 9.79932471e-01 -3.13707108e-04 1.20936000e+01] [ 1.72501014e-03 -3.07559784e-05 9.99998512e-01 -5.20050491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.820281693 meters 0.023763136264977683 Centerline is valid? [True, True] Translation: X:228.20, Y:12.10, Z:-0.05 [[ 9.80638937e-01 -1.95802586e-01 -2.93636018e-03 2.28196248e+02] [ 1.95801838e-01 9.80643332e-01 -5.43060472e-04 1.20999984e+01] [ 2.98585468e-03 -4.23984746e-05 9.99995541e-01 -5.42991268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.880281693 meters 0.01772380184013701 Centerline is valid? [True, True] Translation: X:228.25, Y:12.11, Z:-0.05 [[ 9.81944832e-01 -1.89160752e-01 -1.59908259e-03 2.28254253e+02] [ 1.89160521e-01 9.81946134e-01 -2.95775417e-04 1.21127280e+01] [ 1.62616206e-03 -1.20481529e-05 9.99998678e-01 -5.16947890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.940281693 meters 0.01622139270367648 Centerline is valid? [True, True] Translation: X:228.31, Y:12.13, Z:-0.05 [[ 9.82432941e-01 -1.86611859e-01 -1.23746510e-03 2.28312252e+02] [ 1.86611719e-01 9.82433720e-01 -2.29126512e-04 1.21254851e+01] [ 1.25848516e-03 -5.82405588e-06 9.99999208e-01 -5.13755677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.000281693 meters 0.01635140777864488 Centerline is valid? [True, True] Translation: X:228.37, Y:12.15, Z:-0.05 [[ 9.84135983e-01 -1.77402652e-01 -2.16015601e-03 2.28366815e+02] [ 1.77402202e-01 9.84138354e-01 -4.00025644e-04 1.21475696e+01] [ 2.19685799e-03 1.04631984e-05 9.99997587e-01 -5.30098637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.060281693 meters 0.021821385804944325 Centerline is valid? [True, True] Translation: X:228.42, Y:12.17, Z:-0.05 [[ 9.85611584e-01 -1.69007069e-01 -2.53314566e-03 2.28422663e+02] [ 1.69006422e-01 9.85614838e-01 -4.69143447e-04 1.21745780e+01] [ 2.57599451e-03 3.42753319e-05 9.99996682e-01 -5.32132564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.120281693 meters 0.02410824166562084 Centerline is valid? [True, True] Translation: X:228.48, Y:12.19, Z:-0.05 [[ 9.85966361e-01 -1.66939697e-01 -1.21348119e-03 2.28477617e+02] [ 1.66939547e-01 9.85967108e-01 -2.24828088e-04 1.21937948e+01] [ 1.23398527e-03 1.90949311e-05 9.99999238e-01 -5.17277866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18028169299998 meters 0.02176997389405139 Centerline is valid? [True, True] Translation: X:228.53, Y:12.21, Z:-0.05 [[ 9.85639673e-01 -1.68861827e-01 3.43169356e-04 2.28534119e+02] [ 1.68861815e-01 9.85639733e-01 6.35756403e-05 1.22106289e+01] [-3.48976852e-04 -4.71447281e-06 9.99999939e-01 -4.89312536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.240281693 meters 0.018053730298816687 Centerline is valid? [True, True] Translation: X:228.59, Y:12.22, Z:-0.05 [[ 9.84682147e-01 -1.74352010e-01 -1.56421262e-03 2.28591165e+02] [ 1.74351769e-01 9.84683389e-01 -2.90143132e-04 1.22248956e+01] [ 1.59084122e-03 1.29755246e-05 9.99998735e-01 -5.28405817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.300281693 meters 0.015379049565045278 Centerline is valid? [True, True] Translation: X:228.65, Y:12.23, Z:-0.06 [[ 9.82839887e-01 -1.84445557e-01 -2.36495770e-03 2.28649854e+02] [ 1.84445036e-01 9.82842732e-01 -4.38809882e-04 1.22273419e+01] [ 2.40531802e-03 -4.92485236e-06 9.99997107e-01 -5.58340208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.360281693 meters 0.01873413295513512 Centerline is valid? [True, True] Translation: X:228.71, Y:12.23, Z:-0.05 [[ 9.81493339e-01 -1.91489155e-01 -1.65203005e-03 2.28708610e+02] [ 1.91488910e-01 9.81494729e-01 -3.06633055e-04 1.22300113e+01] [ 1.68017569e-03 -1.53871327e-05 9.99998588e-01 -5.38108097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.420281693 meters 0.02528584780336602 Centerline is valid? [True, True] Translation: X:228.77, Y:12.23, Z:-0.05 [[ 9.80031310e-01 -1.98836320e-01 -1.65830759e-03 2.28768607e+02] [ 1.98836084e-01 9.80032712e-01 -3.07848590e-04 1.22320054e+01] [ 1.68640716e-03 -2.80301293e-05 9.99998578e-01 -5.40044253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.480281693 meters 0.03555672503335817 Centerline is valid? [True, True] Translation: X:228.83, Y:12.22, Z:-0.05 [[ 9.78022973e-01 -2.08496151e-01 6.47816406e-04 2.28830250e+02] [ 2.08496117e-01 9.78023187e-01 1.20260131e-04 1.22246055e+01] [-6.58653240e-04 1.74500338e-05 9.99999783e-01 -4.98132465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.540281693 meters 0.04331924757097055 Centerline is valid? [True, True] Translation: X:228.89, Y:12.22, Z:-0.05 [[ 9.76695246e-01 -2.14630703e-01 2.38230004e-04 2.28892664e+02] [ 2.14630699e-01 9.76695275e-01 4.42255926e-05 1.22171822e+01] [-2.42170289e-04 7.93654609e-06 9.99999971e-01 -4.96241291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.600281693 meters 0.04440628311599883 Centerline is valid? [True, True] Translation: X:228.95, Y:12.22, Z:-0.05 [[ 9.76484327e-01 -2.15588129e-01 -3.42238369e-04 2.28952194e+02] [ 2.15588120e-01 9.76484387e-01 -6.36466783e-05 1.22211733e+01] [ 3.47911893e-04 -1.16325428e-05 9.99999939e-01 -5.05687487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.660281693 meters 0.041561043377991484 Centerline is valid? [True, True] Translation: X:229.01, Y:12.23, Z:-0.05 [[ 9.77213276e-01 -2.12259737e-01 -1.35300760e-04 2.29010710e+02] [ 2.12259735e-01 9.77213285e-01 -2.51513838e-05 1.22303655e+01] [ 1.37556326e-04 -4.14063737e-06 9.99999991e-01 -4.98108718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.720281693 meters 0.03434455954146482 Centerline is valid? [True, True] Translation: X:229.07, Y:12.25, Z:-0.05 [[ 9.78598190e-01 -2.05765328e-01 -2.49250591e-03 2.29068608e+02] [ 2.05764815e-01 9.78601362e-01 -4.63249206e-04 1.22475118e+01] [ 2.53449030e-03 -5.95351813e-05 9.99996786e-01 -5.45828580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.780281693 meters 0.027847761161606914 Centerline is valid? [True, True] Translation: X:229.13, Y:12.26, Z:-0.05 [[ 9.79807309e-01 -1.99936454e-01 -1.74683709e-03 2.29126675e+02] [ 1.99936193e-01 9.79808866e-01 -3.24704479e-04 1.22639128e+01] [ 1.77648673e-03 -3.11081345e-05 9.99998422e-01 -5.27952349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.840281693 meters 0.024434515767687716 Centerline is valid? [True, True] Translation: X:229.18, Y:12.28, Z:-0.05 [[ 9.80445324e-01 -1.96787676e-01 1.25587216e-03 2.29183544e+02] [ 1.96787538e-01 9.80446128e-01 2.33477896e-04 1.22776912e+01] [-1.27726057e-03 1.82276803e-05 9.99999184e-01 -4.67599268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90028169299998 meters 0.02051134503522278 Centerline is valid? [True, True] Translation: X:229.24, Y:12.29, Z:-0.04 [[ 9.80846912e-01 -1.94757693e-01 2.96245734e-03 2.29240758e+02] [ 1.94756916e-01 9.80851385e-01 5.51215771e-04 1.22934441e+01] [-3.01308390e-03 3.63007689e-05 9.99995460e-01 -4.42565701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96028169299998 meters 0.016621021869523495 Centerline is valid? [True, True] Translation: X:229.30, Y:12.31, Z:-0.05 [[ 9.81741248e-01 -1.90220965e-01 3.25683619e-04 2.29297587e+02] [ 1.90220955e-01 9.81741302e-01 6.06027995e-05 1.23083607e+01] [-3.31264984e-04 2.45558113e-06 9.99999945e-01 -4.83247085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.020281693 meters 0.014656314266288146 Centerline is valid? [True, True] Translation: X:229.35, Y:12.33, Z:-0.05 [[ 9.83288805e-01 -1.82052375e-01 2.43703225e-04 2.29352797e+02] [ 1.82052369e-01 9.83288835e-01 4.53747865e-05 1.23301003e+01] [-2.47891248e-04 -2.49770094e-07 9.99999969e-01 -4.81984008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.080281693 meters 0.016648685081833935 Centerline is valid? [True, True] Translation: X:229.41, Y:12.35, Z:-0.04 [[ 9.84037532e-01 -1.77949658e-01 2.01369258e-03 2.29409586e+02] [ 1.77949262e-01 9.84039592e-01 3.75654738e-04 1.23462830e+01] [-2.04840086e-03 -1.13232527e-05 9.99997902e-01 -4.42709588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.140281693 meters 0.01842637670431702 Centerline is valid? [True, True] Translation: X:229.47, Y:12.36, Z:-0.04 [[ 9.84397936e-01 -1.75930111e-01 3.04964985e-03 2.29466775e+02] [ 1.75929191e-01 9.84402659e-01 5.69401781e-04 1.23625253e+01] [-3.10225834e-03 -2.39955063e-05 9.99995188e-01 -4.18919045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.200281693 meters 0.020777736035666922 Centerline is valid? [True, True] Translation: X:229.52, Y:12.38, Z:-0.04 [[ 9.85031369e-01 -1.72352827e-01 2.77563694e-03 2.29522800e+02] [ 1.72352050e-01 9.85035280e-01 5.18673643e-04 1.23822525e+01] [-2.82349518e-03 -3.25230931e-05 9.99996013e-01 -4.37047790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.260281693 meters 0.020944227793882764 Centerline is valid? [True, True] Translation: X:229.58, Y:12.40, Z:-0.04 [[ 9.85132969e-01 -1.71776635e-01 2.41263498e-03 2.29579980e+02] [ 1.71776045e-01 9.85135923e-01 4.51225651e-04 1.23981340e+01] [-2.45428341e-03 -3.00843712e-05 9.99996988e-01 -4.46438352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.320281693 meters 0.01882011137388452 Centerline is valid? [True, True] Translation: X:229.64, Y:12.41, Z:-0.05 [[ 9.84589821e-01 -1.74877709e-01 8.19120806e-04 2.29635854e+02] [ 1.74877642e-01 9.84590162e-01 1.53243383e-04 1.24129062e+01] [-8.33297139e-04 -7.63596051e-06 9.99999653e-01 -4.89656026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.380281693 meters 0.014283120195810357 Centerline is valid? [True, True] Translation: X:229.69, Y:12.42, Z:-0.05 [[ 9.83180350e-01 -1.82629047e-01 -1.74058032e-03 2.29694986e+02] [ 1.82628756e-01 9.83181891e-01 -3.26032223e-04 1.24158663e+01] [ 1.77085001e-03 2.66845582e-06 9.99998432e-01 -5.45258048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.440281693 meters 0.018279742473647356 Centerline is valid? [True, True] Translation: X:229.76, Y:12.41, Z:-0.05 [[ 9.81020012e-01 -1.93906482e-01 -1.13675529e-04 2.29755005e+02] [ 1.93906481e-01 9.81020018e-01 -2.13305346e-05 1.24082123e+01] [ 1.15654099e-04 -1.11674058e-06 9.99999993e-01 -5.17371728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.500281693 meters 0.026304369719222353 Centerline is valid? [True, True] Translation: X:229.82, Y:12.40, Z:-0.05 [[ 9.79475606e-01 -2.01557601e-01 -1.43898655e-03 2.29816800e+02] [ 2.01557422e-01 9.79476663e-01 -2.69644671e-04 1.24012508e+01] [ 1.46380268e-03 -2.59280431e-05 9.99998928e-01 -5.37601827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.560281693 meters 0.029694730740063374 Centerline is valid? [True, True] Translation: X:229.88, Y:12.40, Z:-0.05 [[ 9.78832681e-01 -2.04653320e-01 -1.89768823e-03 2.29877111e+02] [ 2.04653015e-01 9.78834520e-01 -3.55644646e-04 1.24026795e+01] [ 1.93030660e-03 -4.02510152e-05 9.99998136e-01 -5.48672098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.620281693 meters 0.03032446498943802 Centerline is valid? [True, True] Translation: X:229.94, Y:12.40, Z:-0.05 [[ 9.78027308e-01 -2.08476740e-01 -1.85949527e-04 2.29937236e+02] [ 2.08476737e-01 9.78027325e-01 -3.48757198e-05 1.24027921e+01] [ 1.89134495e-04 -4.65674441e-06 9.99999982e-01 -5.10119148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68028169299998 meters 0.028809964100181384 Centerline is valid? [True, True] Translation: X:230.00, Y:12.41, Z:-0.05 [[ 9.78206038e-01 -2.07633411e-01 1.14660746e-03 2.29996674e+02] [ 2.07633301e-01 9.78206709e-01 2.15071013e-04 1.24077255e+01] [-1.16627504e-03 2.76901285e-05 9.99999320e-01 -4.94064684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.740281693 meters 0.02283630396062092 Centerline is valid? [True, True] Translation: X:230.05, Y:12.42, Z:-0.05 [[ 9.79876130e-01 -1.99606353e-01 -2.71096505e-04 2.30053641e+02] [ 1.99606346e-01 9.79876168e-01 -5.08762884e-05 1.24249542e+01] [ 2.75796235e-04 -4.26012225e-06 9.99999962e-01 -5.18056281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.800281693 meters 0.016526602642939182 Centerline is valid? [True, True] Translation: X:230.11, Y:12.45, Z:-0.05 [[ 9.81354848e-01 -1.92203408e-01 -7.15325251e-04 2.30109958e+02] [ 1.92203361e-01 9.81355109e-01 -1.34250258e-04 1.24485090e+01] [ 7.27791447e-04 -5.74077638e-06 9.99999735e-01 -5.21082770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.860281693 meters 0.01403026365094836 Centerline is valid? [True, True] Translation: X:230.16, Y:12.47, Z:-0.05 [[ 9.82824679e-01 -1.84541723e-01 5.81119023e-05 2.30164149e+02] [ 1.84541723e-01 9.82824680e-01 1.08885446e-05 1.24721420e+01] [-5.91232026e-05 2.25402401e-08 9.99999998e-01 -5.03761329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.920281693 meters 0.018138250876734346 Centerline is valid? [True, True] Translation: X:230.22, Y:12.50, Z:-0.05 [[ 9.84531913e-01 -1.75184998e-01 2.67010932e-03 2.30217292e+02] [ 1.75184283e-01 9.84535533e-01 5.01386845e-04 1.25028531e+01] [-2.71665296e-03 -2.58701628e-05 9.99996310e-01 -4.56751927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.980281693 meters 0.02187943781105699 Centerline is valid? [True, True] Translation: X:230.27, Y:12.53, Z:-0.05 [[ 9.85199961e-01 -1.71396083e-01 2.10229032e-03 2.30272701e+02] [ 1.71395630e-01 9.85202204e-01 3.95067817e-04 1.25259739e+01] [-2.13889414e-03 -2.88974239e-05 9.99997712e-01 -4.73243554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.040281693 meters 0.020873115598707824 Centerline is valid? [True, True] Translation: X:230.33, Y:12.54, Z:-0.05 [[ 9.84957439e-01 -1.72790755e-01 -1.48246836e-03 2.30330162e+02] [ 1.72790531e-01 9.84958555e-01 -2.78788714e-04 1.25413355e+01] [ 1.50834201e-03 1.84385229e-05 9.99998862e-01 -5.38460496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.100281693 meters 0.0164664392297478 Centerline is valid? [True, True] Translation: X:230.39, Y:12.55, Z:-0.06 [[ 9.83971420e-01 -1.78304479e-01 -2.78533489e-03 2.30388618e+02] [ 1.78303710e-01 9.83975362e-01 -5.23891168e-04 1.25478117e+01] [ 2.83411305e-03 1.88583927e-05 9.99995984e-01 -5.56880851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.160281693 meters 0.014407017662533442 Centerline is valid? [True, True] Translation: X:230.45, Y:12.56, Z:-0.05 [[ 9.83315636e-01 -1.81907501e-01 1.45619877e-04 2.30446184e+02] [ 1.81907499e-01 9.83315647e-01 2.73571406e-05 1.25577481e+01] [-1.48166773e-04 -4.11356392e-07 9.99999989e-01 -4.95033349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.220281693 meters 0.013724560769147685 Centerline is valid? [True, True] Translation: X:230.50, Y:12.57, Z:-0.05 [[ 9.82845166e-01 -1.84432084e-01 4.31616513e-04 2.30503257e+02] [ 1.84432067e-01 9.82845261e-01 8.12554187e-05 1.25686364e+01] [-4.39198351e-04 -2.57569877e-07 9.99999904e-01 -5.04902012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.280281693 meters 0.013706966169058551 Centerline is valid? [True, True] Translation: X:230.56, Y:12.58, Z:-0.05 [[ 9.82499057e-01 -1.86267025e-01 4.45658932e-04 2.30560436e+02] [ 1.86267007e-01 9.82499158e-01 8.39384492e-05 1.25781410e+01] [-4.53494490e-04 5.42108027e-07 9.99999897e-01 -4.99179297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.340281693 meters 0.0143301227705791 Centerline is valid? [True, True] Translation: X:230.62, Y:12.59, Z:-0.05 [[ 9.82123189e-01 -1.88236726e-01 -9.88607151e-04 2.30617193e+02] [ 1.88236633e-01 9.82123686e-01 -1.86412595e-04 1.25878399e+01] [ 1.00602420e-03 -3.01194949e-06 9.99999494e-01 -5.22720340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40028169299998 meters 0.016746022247826835 Centerline is valid? [True, True] Translation: X:230.68, Y:12.60, Z:-0.05 [[ 9.81328470e-01 -1.92338766e-01 -4.81947083e-04 2.30675329e+02] [ 1.92338744e-01 9.81328589e-01 -9.09952113e-05 1.25952544e+01] [ 4.90450357e-04 -3.40090530e-06 9.99999880e-01 -5.20415580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46028169299998 meters 0.01733297244480913 Centerline is valid? [True, True] Translation: X:230.73, Y:12.61, Z:-0.05 [[ 9.81141135e-01 -1.93288647e-01 1.25383882e-03 2.30733266e+02] [ 1.93288503e-01 9.81141936e-01 2.36737782e-04 1.26065010e+01] [-1.27595257e-03 1.00794509e-05 9.99999186e-01 -4.77184185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.520281693 meters 0.014542021295599035 Centerline is valid? [True, True] Translation: X:230.79, Y:12.63, Z:-0.04 [[ 9.81895150e-01 -1.89413654e-01 2.09352174e-03 2.30788124e+02] [ 1.89413241e-01 9.81897381e-01 3.95633779e-04 1.26303140e+01] [-2.13056196e-03 8.06984942e-06 9.99997730e-01 -4.49816063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.580281693 meters 0.015193357103370535 Centerline is valid? [True, True] Translation: X:230.84, Y:12.66, Z:-0.05 [[ 9.83400940e-01 -1.81441562e-01 -1.24522972e-03 2.30841032e+02] [ 1.81441409e-01 9.83401729e-01 -2.35627510e-04 1.26645606e+01] [ 1.26731368e-03 5.78008106e-06 9.99999197e-01 -5.26221819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.640281693 meters 0.019673391091236645 Centerline is valid? [True, True] Translation: X:230.90, Y:12.69, Z:-0.05 [[ 9.84267278e-01 -1.76680781e-01 -1.35183959e-03 2.30895478e+02] [ 1.76680596e-01 9.84268206e-01 -2.55993817e-04 1.26916371e+01] [ 1.37580192e-03 1.31225119e-05 9.99999053e-01 -5.33866256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.700281693 meters 0.0224714673988755 Centerline is valid? [True, True] Translation: X:230.95, Y:12.72, Z:-0.05 [[ 9.84676060e-01 -1.74393172e-01 -2.81691715e-04 2.30951045e+02] [ 1.74393164e-01 9.84676100e-01 -5.34268326e-05 1.27153727e+01] [ 2.86692374e-04 3.48301357e-06 9.99999959e-01 -5.15627220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.760281693 meters 0.01990657525347284 Centerline is valid? [True, True] Translation: X:231.01, Y:12.73, Z:-0.06 [[ 9.84152778e-01 -1.77293639e-01 -3.20557694e-03 2.31008444e+02] [ 1.77292599e-01 9.84157998e-01 -6.07934110e-04 1.27282163e+01] [ 3.26257704e-03 2.99749758e-05 9.99994677e-01 -5.87988549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.820281693 meters 0.019905029909232038 Centerline is valid? [True, True] Translation: X:231.06, Y:12.74, Z:-0.06 [[ 9.84207583e-01 -1.77009590e-01 -1.74341929e-03 2.31064775e+02] [ 1.77009281e-01 9.84209127e-01 -3.30971673e-04 1.27446187e+01] [ 1.77447434e-03 1.71434348e-05 9.99998425e-01 -5.50359918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.880281693 meters 0.02323403761154036 Centerline is valid? [True, True] Translation: X:231.12, Y:12.77, Z:-0.05 [[ 9.84694976e-01 -1.74282693e-01 -1.16029238e-03 2.31120031e+02] [ 1.74282554e-01 9.84695660e-01 -2.20458338e-04 1.27679382e+01] [ 1.18095694e-03 1.48654996e-05 9.99999303e-01 -5.36081342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.940281693 meters 0.023772933700672523 Centerline is valid? [True, True] Translation: X:231.18, Y:12.78, Z:-0.05 [[ 9.84717774e-01 -1.74157603e-01 -1.87202478e-04 2.31176446e+02] [ 1.74157599e-01 9.84717792e-01 -3.56519663e-05 1.27828001e+01] [ 1.90550672e-04 2.50439084e-06 9.99999982e-01 -5.31815648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.000281693 meters 0.020371339949196803 Centerline is valid? [True, True] Translation: X:231.23, Y:12.79, Z:-0.05 [[ 9.84145981e-01 -1.77352631e-01 1.65307995e-03 2.31234995e+02] [ 1.77352353e-01 9.84147369e-01 3.14502441e-04 1.27900433e+01] [-1.68265212e-03 -1.63386959e-05 9.99998584e-01 -4.82035941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.060281693 meters 0.01469326971860812 Centerline is valid? [True, True] Translation: X:231.29, Y:12.79, Z:-0.05 [[ 9.83212650e-01 -1.82463327e-01 1.39413700e-04 2.31294360e+02] [ 1.82463325e-01 9.83212660e-01 2.64932029e-05 1.27918524e+01] [-1.41907353e-04 -6.10564921e-07 9.99999990e-01 -5.09305255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.120281693 meters 0.013832459133978611 Centerline is valid? [True, True] Translation: X:231.35, Y:12.80, Z:-0.05 [[ 9.82443490e-01 -1.86558929e-01 7.44924330e-04 2.31351519e+02] [ 1.86558875e-01 9.82443772e-01 1.41902013e-04 1.28012389e+01] [-7.58319356e-04 -4.38463885e-07 9.99999712e-01 -5.05587567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18028169299998 meters 0.013854251070637296 Centerline is valid? [True, True] Translation: X:231.41, Y:12.81, Z:-0.05 [[ 9.81932341e-01 -1.89226825e-01 1.44427571e-03 2.31408942e+02] [ 1.89226624e-01 9.81933403e-01 2.75377901e-04 1.28091082e+01] [-1.47029145e-03 2.89295056e-06 9.99998919e-01 -4.92924319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.240281693 meters 0.016441542088312312 Centerline is valid? [True, True] Translation: X:231.47, Y:12.81, Z:-0.05 [[ 9.80805799e-01 -1.94985405e-01 -8.22661957e-04 2.31468489e+02] [ 1.94985341e-01 9.80806144e-01 -1.57088474e-04 1.28114294e+01] [ 8.37501861e-04 -6.33373638e-06 9.99999649e-01 -5.34542762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.300281693 meters 0.021802648513542803 Centerline is valid? [True, True] Translation: X:231.53, Y:12.80, Z:-0.05 [[ 9.79607546e-01 -2.00920493e-01 -1.06443377e-04 2.31529270e+02] [ 2.00920492e-01 9.79607552e-01 -2.03339563e-05 1.28049747e+01] [ 1.08358244e-04 -1.46735869e-06 9.99999994e-01 -5.14670118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.360281693 meters 0.022089468125090737 Centerline is valid? [True, True] Translation: X:231.59, Y:12.81, Z:-0.05 [[ 9.79424701e-01 -2.01809315e-01 -5.06083081e-04 2.31588752e+02] [ 2.01809292e-01 9.79424831e-01 -9.67587588e-05 1.28072870e+01] [ 5.15197155e-04 -7.36434992e-06 9.99999867e-01 -5.11461787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.420281693 meters 0.019932753623367508 Centerline is valid? [True, True] Translation: X:231.65, Y:12.82, Z:-0.05 [[ 9.79850632e-01 -1.99727596e-01 -1.27522494e-03 2.31647516e+02] [ 1.99727448e-01 9.79851462e-01 -2.43919853e-04 1.28157847e+01] [ 1.29824854e-03 -1.56923999e-05 9.99999157e-01 -5.21936365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.480281693 meters 0.015967786345143658 Centerline is valid? [True, True] Translation: X:231.71, Y:12.83, Z:-0.05 [[ 9.80873091e-01 -1.94640908e-01 1.70191154e-03 2.31705806e+02] [ 1.94640636e-01 9.80874567e-01 3.25529191e-04 1.28253171e+01] [-1.73272304e-03 1.19583201e-05 9.99998499e-01 -4.62698043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.540281693 meters 0.014402179640226843 Centerline is valid? [True, True] Translation: X:231.76, Y:12.84, Z:-0.05 [[ 9.81504746e-01 -1.91428041e-01 1.93375797e-03 2.31763508e+02] [ 1.91427683e-01 9.81506651e-01 3.70159872e-04 1.28365765e+01] [-1.96885528e-03 6.86113663e-06 9.99998062e-01 -4.67457574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.600281693 meters 0.013956478087339278 Centerline is valid? [True, True] Translation: X:231.82, Y:12.85, Z:-0.05 [[ 9.81916086e-01 -1.89316145e-01 -4.43182658e-04 2.31820789e+02] [ 1.89316126e-01 9.81916187e-01 -8.49170324e-05 1.28461063e+01] [ 4.51244390e-04 -5.20223589e-07 9.99999898e-01 -5.05239442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.660281693 meters 0.014069681770606399 Centerline is valid? [True, True] Translation: X:231.88, Y:12.86, Z:-0.05 [[ 9.82181458e-01 -1.87934597e-01 4.13968465e-04 2.31877534e+02] [ 1.87934580e-01 9.82181545e-01 7.93049125e-05 1.28571938e+01] [-4.21496323e-04 -9.28247380e-08 9.99999911e-01 -4.92227293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.720281693 meters 0.01397611266702084 Centerline is valid? [True, True] Translation: X:231.93, Y:12.86, Z:-0.05 [[ 9.82128742e-01 -1.88204639e-01 1.46577579e-03 2.31934222e+02] [ 1.88204429e-01 9.82129835e-01 2.81116580e-04 1.28630377e+01] [-1.49248958e-03 -2.27176624e-07 9.99998886e-01 -4.79153906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.780281693 meters 0.014158802938862685 Centerline is valid? [True, True] Translation: X:231.99, Y:12.87, Z:-0.05 [[ 9.81954957e-01 -1.89114703e-01 -3.01751452e-04 2.31991770e+02] [ 1.89114694e-01 9.81955004e-01 -5.79943062e-05 1.28699442e+01] [ 3.07273924e-04 -1.17837040e-07 9.99999953e-01 -5.12964420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.840281693 meters 0.014442378552327799 Centerline is valid? [True, True] Translation: X:232.05, Y:12.88, Z:-0.06 [[ 9.82290247e-01 -1.87351421e-01 -2.30546375e-03 2.32048230e+02] [ 1.87350898e-01 9.82292953e-01 -4.42769609e-04 1.28802255e+01] [ 2.34759431e-03 2.99756373e-06 9.99997244e-01 -5.54613823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90028169299998 meters 0.015902633471015254 Centerline is valid? [True, True] Translation: X:232.11, Y:12.89, Z:-0.05 [[ 9.83240878e-01 -1.82292451e-01 -2.61513397e-03 2.32105419e+02] [ 1.82291758e-01 9.83244355e-01 -5.02750440e-04 1.28920567e+01] [ 2.66296332e-03 1.76074151e-05 9.99996454e-01 -5.40227622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96028169299998 meters 0.02319524980501036 Centerline is valid? [True, True] Translation: X:232.16, Y:12.91, Z:-0.05 [[ 9.84493486e-01 -1.75415294e-01 -1.43211337e-03 2.32161173e+02] [ 1.75415079e-01 9.84494527e-01 -2.75353030e-04 1.29117176e+01] [ 1.45820891e-03 1.98689838e-05 9.99998937e-01 -5.32309617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.020281693 meters 0.027997816698564895 Centerline is valid? [True, True] Translation: X:232.22, Y:12.93, Z:-0.05 [[ 9.85253353e-01 -1.71100590e-01 -6.46261904e-04 2.32218971e+02] [ 1.71100545e-01 9.85253565e-01 -1.24273323e-04 1.29271063e+01] [ 6.57995084e-04 1.18649440e-05 9.99999783e-01 -5.16209136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.080281693 meters 0.032725843680792316 Centerline is valid? [True, True] Translation: X:232.28, Y:12.94, Z:-0.05 [[ 9.85901952e-01 -1.67323674e-01 -3.58346497e-04 2.32277032e+02] [ 1.67323660e-01 9.85902018e-01 -6.89196969e-05 1.29421454e+01] [ 3.64826431e-04 7.98821645e-06 9.99999933e-01 -5.12517612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.140281693 meters 0.03421429079992446 Centerline is valid? [True, True] Translation: X:232.34, Y:12.96, Z:-0.05 [[ 9.86742101e-01 -1.62292557e-01 -1.07300555e-03 2.32335497e+02] [ 1.62292429e-01 9.86742684e-01 -2.06362305e-04 1.29550789e+01] [ 1.09227145e-03 2.94856969e-05 9.99999403e-01 -5.08964209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.200281693 meters 0.04503740534137095 Centerline is valid? [True, True] Translation: X:232.39, Y:12.98, Z:-0.05 [[ 9.87276172e-01 -1.59011578e-01 1.03883315e-03 2.32389994e+02] [ 1.59011456e-01 9.87276718e-01 1.99811084e-04 1.29821043e+01] [-1.05738805e-03 -3.20823518e-05 9.99999440e-01 -4.70606809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.260281693 meters 0.04100388826002148 Centerline is valid? [True, True] Translation: X:232.45, Y:12.99, Z:-0.05 [[ 9.87567685e-01 -1.57191059e-01 1.01864670e-03 2.32448483e+02] [ 1.57190941e-01 9.87568210e-01 1.95964143e-04 1.29908619e+01] [-1.03678691e-03 -3.34058223e-05 9.99999462e-01 -4.83746016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.320281693 meters 0.03819152822138451 Centerline is valid? [True, True] Translation: X:232.51, Y:13.00, Z:-0.05 [[ 9.87480940e-01 -1.57737603e-01 4.92686533e-04 2.32506551e+02] [ 1.57737575e-01 9.87481062e-01 9.48134973e-05 1.30009565e+01] [-5.01474275e-04 -1.59113424e-05 9.99999874e-01 -4.84118418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.380281693 meters 0.039109770730522735 Centerline is valid? [True, True] Translation: X:232.56, Y:13.02, Z:-0.04 [[ 9.87096807e-01 -1.60095598e-01 3.04856242e-03 2.32562576e+02] [ 1.60094548e-01 9.87101510e-01 5.87192371e-04 1.30167952e+01] [-3.10324748e-03 -9.15574928e-05 9.99995181e-01 -4.31383991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.440281693 meters 0.03749973038410812 Centerline is valid? [True, True] Translation: X:232.62, Y:13.03, Z:-0.05 [[ 9.87155109e-01 -1.59749756e-01 2.19248022e-03 2.32619454e+02] [ 1.59749212e-01 9.87157541e-01 4.22425760e-04 1.30297953e+01] [-2.23180579e-03 -6.67527596e-05 9.99997507e-01 -4.52591750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.500281693 meters 0.04031377924242056 Centerline is valid? [True, True] Translation: X:232.68, Y:13.05, Z:-0.05 [[ 9.87513104e-01 -1.57536807e-01 -1.55858778e-04 2.32676008e+02] [ 1.57536804e-01 9.87513116e-01 -3.00426081e-05 1.30522613e+01] [ 1.58645404e-04 5.11397548e-06 9.99999987e-01 -4.95052058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.560281693 meters 0.04373210952922629 Centerline is valid? [True, True] Translation: X:232.73, Y:13.07, Z:-0.05 [[ 9.87359955e-01 -1.58492840e-01 -5.82967975e-04 2.32730596e+02] [ 1.58492801e-01 9.87360126e-01 -1.12394374e-04 1.30749217e+01] [ 5.93413037e-04 1.85774769e-05 9.99999824e-01 -4.97777047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.620281693 meters 0.03705511635581671 Centerline is valid? [True, True] Translation: X:232.79, Y:13.08, Z:-0.05 [[ 9.86931223e-01 -1.61137413e-01 -1.22245710e-03 2.32789395e+02] [ 1.61137245e-01 9.86931980e-01 -2.35884318e-04 1.30820351e+01] [ 1.24449179e-03 3.58182303e-05 9.99999225e-01 -5.12279581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68028169299998 meters 0.03306698759138116 Centerline is valid? [True, True] Translation: X:232.85, Y:13.09, Z:-0.05 [[ 9.86366625e-01 -1.64561986e-01 -4.84137270e-04 2.32847996e+02] [ 1.64561960e-01 9.86366744e-01 -9.34078955e-05 1.30945343e+01] [ 4.92908291e-04 1.24638528e-05 9.99999878e-01 -4.95884469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.740281693 meters 0.03360387808396223 Centerline is valid? [True, True] Translation: X:232.90, Y:13.12, Z:-0.05 [[ 9.86362062e-01 -1.64588031e-01 -8.14393816e-04 2.32903455e+02] [ 1.64587957e-01 9.86362398e-01 -1.57339897e-04 1.31156361e+01] [ 8.29183700e-04 2.11546910e-05 9.99999656e-01 -5.01044250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.800281693 meters 0.032287375715566086 Centerline is valid? [True, True] Translation: X:232.96, Y:13.13, Z:-0.05 [[ 9.86019053e-01 -1.66629610e-01 -1.00027751e-03 2.32959541e+02] [ 1.66629500e-01 9.86019560e-01 -1.93235891e-04 1.31330164e+01] [ 1.01849201e-03 2.38585280e-05 9.99999481e-01 -5.19655729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.860281693 meters 0.027433421610020155 Centerline is valid? [True, True] Translation: X:233.02, Y:13.14, Z:-0.05 [[ 9.85201912e-01 -1.71397282e-01 4.04671591e-04 2.33017432e+02] [ 1.71397264e-01 9.85201995e-01 7.81712068e-05 1.31417389e+01] [-4.12081591e-04 -7.65481873e-06 9.99999915e-01 -4.93595738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.920281693 meters 0.01787876787780867 Centerline is valid? [True, True] Translation: X:233.08, Y:13.14, Z:-0.05 [[ 9.83439016e-01 -1.81236332e-01 1.04573016e-03 2.33078186e+02] [ 1.81236219e-01 9.83439572e-01 2.02052632e-04 1.31384804e+01] [-1.06503170e-03 -9.18226092e-06 9.99999433e-01 -4.80011227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.980281693 meters 0.013995813129216191 Centerline is valid? [True, True] Translation: X:233.14, Y:13.14, Z:-0.05 [[ 9.82062773e-01 -1.88554092e-01 2.53129870e-04 2.33138493e+02] [ 1.88554086e-01 9.82062806e-01 4.88980496e-05 1.31393263e+01] [-2.57809358e-04 -2.92282860e-07 9.99999967e-01 -4.84224480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.040281693 meters 0.014213575335313821 Centerline is valid? [True, True] Translation: X:233.20, Y:13.14, Z:-0.05 [[ 9.81375763e-01 -1.92097571e-01 3.66158312e-04 2.33196353e+02] [ 1.92097558e-01 9.81375832e-01 7.08101223e-05 1.31434702e+01] [-3.72941370e-04 8.46779766e-07 9.99999930e-01 -4.90858405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.100281693 meters 0.016220635418655892 Centerline is valid? [True, True] Translation: X:233.26, Y:13.15, Z:-0.05 [[ 9.80476040e-01 -1.96638567e-01 9.61278115e-05 2.33255804e+02] [ 1.96638566e-01 9.80476045e-01 1.85669979e-05 1.31463678e+01] [-9.79020043e-05 6.97938415e-07 9.99999995e-01 -4.90212486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.160281693 meters 0.020203600978113148 Centerline is valid? [True, True] Translation: X:233.32, Y:13.14, Z:-0.06 [[ 9.79659342e-01 -2.00650553e-01 -2.63226707e-03 2.33315040e+02] [ 2.00649906e-01 9.79662878e-01 -5.10104003e-04 1.31441127e+01] [ 2.68108698e-03 -2.84359875e-05 9.99996405e-01 -5.51336527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.220281693 meters 0.02257815310702018 Centerline is valid? [True, True] Translation: X:233.38, Y:13.15, Z:-0.05 [[ 9.78608892e-01 -2.05726180e-01 -1.17265026e-03 2.33375606e+02] [ 2.05726055e-01 9.78609595e-01 -2.27274659e-04 1.31460148e+01] [ 1.19432315e-03 -1.88317114e-05 9.99999287e-01 -5.08449573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.280281693 meters 0.025142331199261916 Centerline is valid? [True, True] Translation: X:233.43, Y:13.15, Z:-0.05 [[ 9.77978848e-01 -2.08703579e-01 -4.35401957e-04 2.33434966e+02] [ 2.08703562e-01 9.77978945e-01 -8.45152854e-05 1.31475828e+01] [ 4.43452589e-04 -8.21577807e-06 9.99999902e-01 -5.02293936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.340281693 meters 0.027101842221671238 Centerline is valid? [True, True] Translation: X:233.49, Y:13.15, Z:-0.05 [[ 9.77583096e-01 -2.10537854e-01 -2.25901524e-03 2.33494778e+02] [ 2.10537403e-01 9.77585705e-01 -4.38352048e-04 1.31451212e+01] [ 2.30067070e-03 -4.70816501e-05 9.99997352e-01 -5.43796054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40028169299998 meters 0.027424443541055925 Centerline is valid? [True, True] Translation: X:233.55, Y:13.14, Z:-0.05 [[ 9.77672917e-01 -2.10119925e-01 -2.29861713e-03 2.33554087e+02] [ 2.10119456e-01 9.77675619e-01 -4.46173979e-04 1.31436141e+01] [ 2.34105197e-03 -4.67719667e-05 9.99997259e-01 -5.26056967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46028169299998 meters 0.02446425263992057 Centerline is valid? [True, True] Translation: X:233.61, Y:13.15, Z:-0.05 [[ 9.78088790e-01 -2.08187698e-01 -4.48636381e-04 2.33614009e+02] [ 2.08187680e-01 9.78088893e-01 -8.71476199e-05 1.31464331e+01] [ 4.56949323e-04 -8.16245729e-06 9.99999896e-01 -4.99759925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.520281693 meters 0.019391137193488242 Centerline is valid? [True, True] Translation: X:233.67, Y:13.16, Z:-0.05 [[ 9.79461802e-01 -2.01629650e-01 2.51866130e-04 2.33671657e+02] [ 2.01629644e-01 9.79461834e-01 4.89051996e-05 1.31577716e+01] [-2.56554000e-04 2.88290329e-06 9.99999967e-01 -4.84030067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.580281693 meters 0.014543126819302303 Centerline is valid? [True, True] Translation: X:233.73, Y:13.18, Z:-0.05 [[ 9.81872494e-01 -1.89530023e-01 -2.18517738e-03 2.33725865e+02] [ 1.89529548e-01 9.81874926e-01 -4.24614334e-04 1.31833681e+01] [ 2.22604804e-03 2.76145450e-06 9.99997522e-01 -5.24185122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.640281693 meters 0.01643128303100758 Centerline is valid? [True, True] Translation: X:233.78, Y:13.20, Z:-0.05 [[ 9.82731327e-01 -1.85011592e-01 -3.13846943e-03 2.33782262e+02] [ 1.85010586e-01 9.82736338e-01 -6.10387374e-04 1.32028227e+01] [ 3.19721669e-03 1.91967244e-05 9.99994889e-01 -5.39319538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.700281693 meters 0.025184421087950673 Centerline is valid? [True, True] Translation: X:233.84, Y:13.23, Z:-0.05 [[ 9.84142089e-01 -1.77361472e-01 -2.69372130e-03 2.33835439e+02] [ 1.77360702e-01 9.84145775e-01 -5.24006991e-04 1.32339297e+01] [ 2.74395308e-03 3.79370344e-05 9.99996235e-01 -5.35803487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.760281693 meters 0.02569200093171754 Centerline is valid? [True, True] Translation: X:233.89, Y:13.25, Z:-0.04 [[ 9.84992416e-01 -1.72581751e-01 2.34090879e-03 2.33893004e+02] [ 1.72581155e-01 9.84995197e-01 4.55407842e-04 1.32508091e+01] [-2.38437900e-03 -4.45765260e-05 9.99997156e-01 -4.39503138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.820281693 meters 0.029273688389357806 Centerline is valid? [True, True] Translation: X:233.95, Y:13.27, Z:-0.05 [[ 9.85133945e-01 -1.71786831e-01 6.29039645e-04 2.33947480e+02] [ 1.71786788e-01 9.85134145e-01 1.22403794e-04 1.32713947e+01] [-6.40715793e-04 -1.25234328e-05 9.99999795e-01 -4.67837448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.880281693 meters 0.03320341118022491 Centerline is valid? [True, True] Translation: X:234.00, Y:13.30, Z:-0.05 [[ 9.85616266e-01 -1.68998664e-01 -1.64396545e-04 2.34002151e+02] [ 1.68998661e-01 9.85616280e-01 -3.20207566e-05 1.32958775e+01] [ 1.67443376e-04 3.77738257e-06 9.99999986e-01 -4.89669008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.940281693 meters 0.0330530006460398 Centerline is valid? [True, True] Translation: X:234.06, Y:13.32, Z:-0.05 [[ 9.86036059e-01 -1.66530906e-01 5.89789461e-04 2.34059049e+02] [ 1.66530867e-01 9.86036235e-01 1.14827908e-04 1.33156360e+01] [-6.00676175e-04 -1.50063072e-05 9.99999819e-01 -4.75775538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.000281693 meters 0.03323077759177438 Centerline is valid? [True, True] Translation: X:234.11, Y:13.33, Z:-0.05 [[ 9.85945347e-01 -1.67067218e-01 -5.62785327e-04 2.34114647e+02] [ 1.67067182e-01 9.85945508e-01 -1.09631093e-04 1.33307043e+01] [ 5.73191426e-04 1.40673076e-05 9.99999836e-01 -5.07347685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.060281693 meters 0.028053661483818007 Centerline is valid? [True, True] Translation: X:234.17, Y:13.34, Z:-0.05 [[ 9.84999735e-01 -1.72547465e-01 -1.70124071e-03 2.34173594e+02] [ 1.72547150e-01 9.85001204e-01 -3.31398887e-04 1.33415031e+01] [ 1.73290619e-03 3.28835799e-05 9.99998498e-01 -5.28324085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.120281693 meters 0.02195485573054224 Centerline is valid? [True, True] Translation: X:234.23, Y:13.35, Z:-0.05 [[ 9.83952019e-01 -1.78433082e-01 2.45080043e-04 2.34233279e+02] [ 1.78433075e-01 9.83952049e-01 4.77387532e-05 1.33495378e+01] [-2.49665183e-04 -3.24225695e-06 9.99999969e-01 -4.73115214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18028169299998 meters 0.019713666858752702 Centerline is valid? [True, True] Translation: X:234.29, Y:13.36, Z:-0.05 [[ 9.83453524e-01 -1.81159967e-01 4.82752043e-04 2.34291012e+02] [ 1.81159943e-01 9.83453642e-01 9.40655667e-05 1.33593896e+01] [-4.91805170e-04 -5.05378047e-06 9.99999879e-01 -4.69096400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.240281693 meters 0.018055730534133386 Centerline is valid? [True, True] Translation: X:234.35, Y:13.37, Z:-0.05 [[ 9.83183678e-01 -1.82618827e-01 -4.68491409e-04 2.34349315e+02] [ 1.82618804e-01 9.83183790e-01 -9.14769026e-05 1.33686686e+01] [ 4.77318563e-04 4.38325694e-06 9.99999886e-01 -4.93023518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.300281693 meters 0.016282583979034274 Centerline is valid? [True, True] Translation: X:234.41, Y:13.38, Z:-0.05 [[ 9.82563925e-01 -1.85924808e-01 3.16158965e-04 2.34407349e+02] [ 1.85924798e-01 9.82563975e-01 6.16901181e-05 1.33757702e+01] [-3.22116133e-04 -1.83269295e-06 9.99999948e-01 -4.73990813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.360281693 meters 0.014721977886459767 Centerline is valid? [True, True] Translation: X:234.47, Y:13.37, Z:-0.05 [[ 9.81260770e-01 -1.92684358e-01 -1.98692456e-04 2.34467516e+02] [ 1.92684354e-01 9.81260790e-01 -3.88937541e-05 1.33740777e+01] [ 2.02463335e-04 -1.20012513e-07 9.99999980e-01 -4.78635028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.420281693 meters 0.019493869471112684 Centerline is valid? [True, True] Translation: X:234.53, Y:13.36, Z:-0.05 [[ 9.79497527e-01 -2.01454723e-01 -7.67379628e-04 2.34527947e+02] [ 2.01454667e-01 9.79497828e-01 -1.50075366e-04 1.33643862e+01] [ 7.81880070e-04 -7.59375766e-06 9.99999694e-01 -5.06965804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.480281693 meters 0.022243656038218346 Centerline is valid? [True, True] Translation: X:234.59, Y:13.36, Z:-0.05 [[ 9.78686947e-01 -2.05348425e-01 -1.97058708e-03 2.34587897e+02] [ 2.05348065e-01 9.78688931e-01 -3.85702026e-04 1.33633248e+01] [ 2.00779506e-03 -2.71747043e-05 9.99997984e-01 -5.06628311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.540281693 meters 0.021093432460664037 Centerline is valid? [True, True] Translation: X:234.65, Y:13.37, Z:-0.05 [[ 9.78927286e-01 -2.04198287e-01 -2.10425377e-03 2.34646157e+02] [ 2.04197872e-01 9.78929548e-01 -4.12175902e-04 1.33742630e+01] [ 2.14408180e-03 -2.61939055e-05 9.99997701e-01 -5.04463861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.600281693 meters 0.019692658302330822 Centerline is valid? [True, True] Translation: X:234.70, Y:13.38, Z:-0.05 [[ 9.79339406e-01 -2.02198254e-01 -3.19282940e-03 2.34704037e+02] [ 2.02197289e-01 9.79344610e-01 -6.25529382e-04 1.33804080e+01] [ 3.25336121e-03 -3.29758759e-05 9.99994707e-01 -5.41788577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.660281693 meters 0.01976584234738209 Centerline is valid? [True, True] Translation: X:234.76, Y:13.39, Z:-0.05 [[ 9.79259955e-01 -2.02584991e-01 -3.04341614e-03 2.34762297e+02] [ 2.02584114e-01 9.79264684e-01 -5.96867398e-04 1.33850637e+01] [ 3.10122632e-03 -3.20594206e-05 9.99995191e-01 -5.31316507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.720281693 meters 0.01857391618005788 Centerline is valid? [True, True] Translation: X:234.82, Y:13.39, Z:-0.05 [[ 9.79367339e-01 -2.02067458e-01 -2.89103493e-03 2.34821774e+02] [ 2.02066663e-01 9.79371606e-01 -5.67469533e-04 1.33886783e+01] [ 2.94606465e-03 -2.84206545e-05 9.99995660e-01 -5.13560977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.780281693 meters 0.016557228919260727 Centerline is valid? [True, True] Translation: X:234.88, Y:13.40, Z:-0.05 [[ 9.80002163e-01 -1.98967140e-01 -2.79968112e-03 2.34878831e+02] [ 1.98966381e-01 9.80006162e-01 -5.50013517e-04 1.34022541e+01] [ 2.85313936e-03 -1.80279834e-05 9.99995930e-01 -5.08343082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.840281693 meters 0.01470577424179922 Centerline is valid? [True, True] Translation: X:234.93, Y:13.42, Z:-0.05 [[ 9.81471436e-01 -1.91605850e-01 -1.00909714e-03 2.34934386e+02] [ 1.91605747e-01 9.81471955e-01 -1.98342001e-04 1.34190187e+01] [ 1.02840403e-03 1.31819787e-06 9.99999471e-01 -4.84810555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90028169299998 meters 0.0162678267424524 Centerline is valid? [True, True] Translation: X:234.99, Y:13.44, Z:-0.05 [[ 9.82202911e-01 -1.87802546e-01 -2.76509566e-03 2.34991502e+02] [ 1.87801758e-01 9.82206803e-01 -5.43921481e-04 1.34354239e+01] [ 2.81804561e-03 1.49514343e-05 9.99996029e-01 -5.17379262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96028169299998 meters 0.01675060721973674 Centerline is valid? [True, True] Translation: X:235.05, Y:13.45, Z:-0.05 [[ 9.82359037e-01 -1.87000625e-01 -1.22031071e-03 2.35046734e+02] [ 1.87000471e-01 9.82359795e-01 -2.40149945e-04 1.34479131e+01] [ 1.24369236e-03 7.71479252e-06 9.99999227e-01 -4.81972066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.020281693 meters 0.015580662736789066 Centerline is valid? [True, True] Translation: X:235.10, Y:13.46, Z:-0.05 [[ 9.81872367e-01 -1.89542284e-01 -6.14651990e-04 2.35103330e+02] [ 1.89542246e-01 9.81872559e-01 -1.21000928e-04 1.34588037e+01] [ 6.26444715e-04 2.30494881e-06 9.99999804e-01 -4.74073410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.080281693 meters 0.01475543367702262 Centerline is valid? [True, True] Translation: X:235.16, Y:13.47, Z:-0.05 [[ 9.81538066e-01 -1.91266849e-01 -1.31310069e-04 2.35161198e+02] [ 1.91266847e-01 9.81538075e-01 -2.59362372e-05 1.34667363e+01] [ 1.33846575e-04 3.42141148e-07 9.99999991e-01 -4.67497868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.140281693 meters 0.014930311795041479 Centerline is valid? [True, True] Translation: X:235.22, Y:13.47, Z:-0.05 [[ 9.81070803e-01 -1.93630547e-01 -2.70026213e-03 2.35219251e+02] [ 1.93629815e-01 9.81074519e-01 -5.32589253e-04 1.34744440e+01] [ 2.75228392e-03 -3.43490975e-07 9.99996212e-01 -5.23501440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.200281693 meters 0.015352251468766414 Centerline is valid? [True, True] Translation: X:235.28, Y:13.49, Z:-0.06 [[ 9.80900443e-01 -1.94440801e-01 -5.20540956e-03 2.35275639e+02] [ 1.94438089e-01 9.80914255e-01 -1.02689641e-03 1.34852888e+01] [ 5.30573100e-03 -4.84674193e-06 9.99985924e-01 -5.74613322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.260281693 meters 0.0152653260464789 Centerline is valid? [True, True] Translation: X:235.33, Y:13.51, Z:-0.05 [[ 9.81568930e-01 -1.91091821e-01 -2.52017340e-03 2.35330986e+02] [ 1.91091173e-01 9.81572166e-01 -4.97624682e-04 1.35082228e+01] [ 2.56882407e-03 6.87003525e-06 9.99996701e-01 -5.14284506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.320281693 meters 0.01709302928266929 Centerline is valid? [True, True] Translation: X:235.39, Y:13.53, Z:-0.05 [[ 9.82298417e-01 -1.87309694e-01 -2.21334834e-03 2.35385256e+02] [ 1.87309184e-01 9.82300910e-01 -4.37213142e-04 1.35344941e+01] [ 2.25606835e-03 1.48933047e-05 9.99997455e-01 -5.08229113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.380281693 meters 0.01789230690983608 Centerline is valid? [True, True] Translation: X:235.44, Y:13.56, Z:-0.06 [[ 9.82371966e-01 -1.86875461e-01 -4.78364837e-03 2.35439821e+02] [ 1.86873074e-01 9.82383612e-01 -9.45167436e-04 1.35553081e+01] [ 4.87600637e-03 3.45709172e-05 9.99988112e-01 -5.65843660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.440281693 meters 0.016678968019161407 Centerline is valid? [True, True] Translation: X:235.50, Y:13.57, Z:-0.06 [[ 9.81898906e-01 -1.89324954e-01 -5.53165843e-03 2.35497628e+02] [ 1.89321798e-01 9.81914488e-01 -1.09345102e-03 1.35686807e+01] [ 5.63863312e-03 2.63948438e-05 9.99984102e-01 -5.83446033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.500281693 meters 0.015150534965997857 Centerline is valid? [True, True] Translation: X:235.56, Y:13.57, Z:-0.05 [[ 9.80638366e-01 -1.95786491e-01 -4.00554311e-03 2.35556360e+02] [ 1.95784887e-01 9.80646547e-01 -7.92514926e-04 1.35748575e+01] [ 4.08318573e-03 -7.05426120e-06 9.99991664e-01 -5.43269831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.560281693 meters 0.01658717396809113 Centerline is valid? [True, True] Translation: X:235.61, Y:13.58, Z:-0.05 [[ 9.79949096e-01 -1.99205150e-01 -4.13246282e-03 2.35613745e+02] [ 1.99203472e-01 9.79957809e-01 -8.17839186e-04 1.35805601e+01] [ 4.21255699e-03 -2.17601711e-05 9.99991127e-01 -5.40072456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.620281693 meters 0.017160390656031206 Centerline is valid? [True, True] Translation: X:235.67, Y:13.59, Z:-0.05 [[ 9.79731216e-01 -2.00291826e-01 -3.15091552e-03 2.35669294e+02] [ 2.00290855e-01 9.79736283e-01 -6.23842843e-04 1.35910491e+01] [ 3.21201688e-03 -1.99012569e-05 9.99994841e-01 -5.23036398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68028169299998 meters 0.01728225651862611 Centerline is valid? [True, True] Translation: X:235.73, Y:13.60, Z:-0.05 [[ 9.79319726e-01 -2.02304231e-01 -2.42340192e-03 2.35727149e+02] [ 2.02303662e-01 9.79322724e-01 -4.80257630e-04 1.36021827e+01] [ 2.47045072e-03 -1.99373119e-05 9.99996948e-01 -5.13792465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.740281693 meters 0.020654340473983512 Centerline is valid? [True, True] Translation: X:235.79, Y:13.60, Z:-0.05 [[ 9.78415133e-01 -2.06633400e-01 -2.54283542e-03 2.35785971e+02] [ 2.06632788e-01 9.78418437e-01 -5.04039809e-04 1.36038102e+01] [ 2.59210851e-03 -3.22729946e-05 9.99996640e-01 -5.11413510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.800281693 meters 0.02284236595314836 Centerline is valid? [True, True] Translation: X:235.84, Y:13.61, Z:-0.05 [[ 9.77901182e-01 -2.09026100e-01 -4.16755982e-03 2.35844916e+02] [ 2.09024474e-01 9.77910060e-01 -8.26812998e-04 1.36082876e+01] [ 4.24832417e-03 -6.25805916e-05 9.99990974e-01 -5.41450852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.860281693 meters 0.02156656858977352 Centerline is valid? [True, True] Translation: X:235.90, Y:13.62, Z:-0.05 [[ 9.77968152e-01 -2.08726908e-01 -3.37207379e-03 2.35902486e+02] [ 2.08725840e-01 9.77973965e-01 -6.69544600e-04 1.36228844e+01] [ 3.43755235e-03 -4.90456380e-05 9.99994090e-01 -5.17549393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.920281693 meters 0.019984574854574555 Centerline is valid? [True, True] Translation: X:235.96, Y:13.64, Z:-0.05 [[ 9.78612316e-01 -2.05698736e-01 -2.44252353e-03 2.35958531e+02] [ 2.05698165e-01 9.78615363e-01 -4.85107726e-04 1.36371096e+01] [ 2.49007710e-03 -2.76902144e-05 9.99996899e-01 -4.98445951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.980281693 meters 0.018791191872029395 Centerline is valid? [True, True] Translation: X:236.02, Y:13.65, Z:-0.05 [[ 9.78832548e-01 -2.04662086e-01 -5.23722704e-04 2.36015905e+02] [ 2.04662060e-01 9.78832688e-01 -1.04153019e-04 1.36509439e+01] [ 5.33953076e-04 -5.23780276e-06 9.99999857e-01 -4.62661146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.040281693 meters 0.01865567114062187 Centerline is valid? [True, True] Translation: X:236.07, Y:13.66, Z:-0.05 [[ 9.78710013e-01 -2.05216772e-01 -3.57580245e-03 2.36073592e+02] [ 2.05215542e-01 9.78716545e-01 -7.11418416e-04 1.36647994e+01] [ 3.64569201e-03 -3.75379112e-05 9.99993354e-01 -5.09668794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.100281693 meters 0.01974547098650483 Centerline is valid? [True, True] Translation: X:236.13, Y:13.68, Z:-0.05 [[ 9.78564457e-01 -2.05915550e-01 -3.22348146e-03 2.36130403e+02] [ 2.05914554e-01 9.78569765e-01 -6.41486982e-04 1.36770410e+01] [ 3.28649364e-03 -3.60253856e-05 9.99994599e-01 -5.05054643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.160281693 meters 0.020182355104666174 Centerline is valid? [True, True] Translation: X:236.19, Y:13.69, Z:-0.05 [[ 9.78376644e-01 -2.06814921e-01 -2.59453260e-03 2.36188514e+02] [ 2.06814278e-01 9.78380083e-01 -5.16799728e-04 1.36874680e+01] [ 2.64532091e-03 -3.09616019e-05 9.99996501e-01 -4.94262970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.220281693 meters 0.021606157177892986 Centerline is valid? [True, True] Translation: X:236.25, Y:13.69, Z:-0.05 [[ 9.78018440e-01 -2.08504166e-01 -2.43802078e-03 2.36247462e+02] [ 2.08503602e-01 9.78021478e-01 -4.86034269e-04 1.36937477e+01] [ 2.48577686e-03 -3.29856371e-05 9.99996910e-01 -4.96925449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.280281693 meters 0.026199237286192414 Centerline is valid? [True, True] Translation: X:236.31, Y:13.69, Z:-0.05 [[ 9.77442263e-01 -2.11184361e-01 -2.79059725e-03 2.36306737e+02] [ 2.11183633e-01 9.77446246e-01 -5.56442176e-04 1.36919129e+01] [ 2.84517069e-03 -4.54383649e-05 9.99995951e-01 -5.08215959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.340281693 meters 0.026776896061344955 Centerline is valid? [True, True] Translation: X:236.37, Y:13.70, Z:-0.05 [[ 9.76976395e-01 -2.13316847e-01 -3.61196998e-03 2.36365263e+02] [ 2.13315639e-01 9.76983070e-01 -7.20838117e-04 1.36992610e+01] [ 3.68260044e-03 -6.62478603e-05 9.99993217e-01 -5.11877275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40028169299998 meters 0.024950824347769966 Centerline is valid? [True, True] Translation: X:236.42, Y:13.71, Z:-0.05 [[ 9.77402649e-01 -2.11353674e-01 -3.69941701e-03 2.36422946e+02] [ 2.11352393e-01 9.77409648e-01 -7.38465073e-04 1.37069764e+01] [ 3.77192318e-03 -6.01029178e-05 9.99992884e-01 -5.12847972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46028169299998 meters 0.01811298367402235 Centerline is valid? [True, True] Translation: X:236.48, Y:13.73, Z:-0.05 [[ 9.78720114e-01 -2.05177462e-01 -3.02453785e-03 2.36480417e+02] [ 2.05176576e-01 9.78724787e-01 -6.03773028e-04 1.37265178e+01] [ 3.08407078e-03 -2.96395142e-05 9.99995244e-01 -4.66949164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.520281693 meters 0.014687758890200561 Centerline is valid? [True, True] Translation: X:236.54, Y:13.74, Z:-0.04 [[ 9.80065430e-01 -1.98669515e-01 -1.47521815e-03 2.36536042e+02] [ 1.98669297e-01 9.80066540e-01 -2.94598170e-04 1.37447662e+01] [ 1.50433962e-03 -4.35507012e-06 9.99998868e-01 -4.35405925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.580281693 meters 0.014010325180557164 Centerline is valid? [True, True] Translation: X:236.59, Y:13.76, Z:-0.04 [[ 9.80665737e-01 -1.95690345e-01 -4.30150275e-05 2.36592498e+02] [ 1.95690345e-01 9.80665738e-01 -8.61118045e-06 1.37591298e+01] [ 4.38684885e-05 2.70640516e-08 9.99999999e-01 -4.19678641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.640281693 meters 0.014127464723963196 Centerline is valid? [True, True] Translation: X:236.65, Y:13.77, Z:-0.04 [[ 9.80620801e-01 -1.95908467e-01 -1.64852314e-03 2.36649215e+02] [ 1.95908190e-01 9.80622186e-01 -3.29657597e-04 1.37687540e+01] [ 1.68116108e-03 3.09913083e-07 9.99998587e-01 -4.43313688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.700281693 meters 0.01489634906434539 Centerline is valid? [True, True] Translation: X:236.71, Y:13.77, Z:-0.05 [[ 9.79825801e-01 -1.99840026e-01 -2.31596961e-03 2.36707890e+02] [ 1.99839489e-01 9.79828538e-01 -4.63193377e-04 1.37721001e+01] [ 2.36181769e-03 -8.97336123e-06 9.99997211e-01 -4.59255635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.760281693 meters 0.016930928879526387 Centerline is valid? [True, True] Translation: X:236.77, Y:13.77, Z:-0.04 [[ 9.79116818e-01 -2.03292445e-01 -1.56172251e-03 2.36766828e+02] [ 2.03292205e-01 9.79118063e-01 -3.12440666e-04 1.37740311e+01] [ 1.59262755e-03 -1.15701036e-05 9.99998732e-01 -4.42127005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.820281693 meters 0.01733494128699375 Centerline is valid? [True, True] Translation: X:236.83, Y:13.78, Z:-0.04 [[ 9.78865591e-01 -2.04491658e-01 -2.30589846e-03 2.36825176e+02] [ 2.04491138e-01 9.78868306e-01 -4.61728230e-04 1.37805010e+01] [ 2.35159049e-03 -1.95659228e-05 9.99997235e-01 -4.49824575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.880281693 meters 0.018257652449908925 Centerline is valid? [True, True] Translation: X:236.88, Y:13.79, Z:-0.05 [[ 9.78631744e-01 -2.05592838e-01 -3.39048509e-03 2.36883644e+02] [ 2.05591717e-01 9.78637616e-01 -6.79434441e-04 1.37878700e+01] [ 3.45774311e-03 -3.21395416e-05 9.99994021e-01 -4.75541924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.940281693 meters 0.01750763283483135 Centerline is valid? [True, True] Translation: X:236.94, Y:13.79, Z:-0.05 [[ 9.78650085e-01 -2.05517199e-01 -2.58693786e-03 2.36941148e+02] [ 2.05516545e-01 9.78653504e-01 -5.18930090e-04 1.37948547e+01] [ 2.63836486e-03 -2.38075555e-05 9.99996519e-01 -4.62688229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.000281693 meters 0.017441620411494285 Centerline is valid? [True, True] Translation: X:237.00, Y:13.80, Z:-0.05 [[ 9.78763106e-01 -2.04964537e-01 -3.51023250e-03 2.36998484e+02] [ 2.04963328e-01 9.78769400e-01 -7.04554466e-04 1.38006165e+01] [ 3.58011684e-03 -2.98770188e-05 9.99993591e-01 -4.75315240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.060281693 meters 0.016110233176803206 Centerline is valid? [True, True] Translation: X:237.06, Y:13.81, Z:-0.05 [[ 9.79187784e-01 -2.02897245e-01 -4.89804981e-03 2.37056399e+02] [ 2.02894861e-01 9.79200034e-01 -9.83917596e-04 1.38107743e+01] [ 4.99580471e-03 -3.03490462e-05 9.99987520e-01 -5.10335650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.120281693 meters 0.01480561753284897 Centerline is valid? [True, True] Translation: X:237.11, Y:13.82, Z:-0.05 [[ 9.79543237e-01 -2.01209188e-01 -3.14784175e-03 2.37114404e+02] [ 2.01208193e-01 9.79548295e-01 -6.32902922e-04 1.38221873e+01] [ 3.21080890e-03 -1.34157728e-05 9.99994845e-01 -4.62649562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18028169299998 meters 0.014234046727710286 Centerline is valid? [True, True] Translation: X:237.17, Y:13.83, Z:-0.05 [[ 9.80073389e-01 -1.98604679e-01 -3.51190966e-03 2.37171168e+02] [ 1.98603423e-01 9.80079681e-01 -7.06270693e-04 1.38319243e+01] [ 3.58221997e-03 -5.28016930e-06 9.99993584e-01 -4.69643479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.240281693 meters 0.015467528109024862 Centerline is valid? [True, True] Translation: X:237.23, Y:13.85, Z:-0.05 [[ 9.81286419e-01 -1.92495281e-01 -4.74657905e-03 2.37227685e+02] [ 1.92492911e-01 9.81297899e-01 -9.55406646e-04 1.38506058e+01] [ 4.84171931e-03 2.38447483e-05 9.99988279e-01 -4.80300438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.300281693 meters 0.02100872243006551 Centerline is valid? [True, True] Translation: X:237.28, Y:13.88, Z:-0.04 [[ 9.83062749e-01 -1.83256128e-01 -2.19627187e-03 2.37283681e+02] [ 1.83255597e-01 9.83065202e-01 -4.42109725e-04 1.38761726e+01] [ 2.24009777e-03 3.21424883e-05 9.99997490e-01 -4.20851197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.360281693 meters 0.026712691536292132 Centerline is valid? [True, True] Translation: X:237.34, Y:13.90, Z:-0.04 [[ 9.83826701e-01 -1.79105845e-01 -2.47375467e-03 2.37338550e+02] [ 1.79105159e-01 9.83829809e-01 -4.98061533e-04 1.39002755e+01] [ 2.52295931e-03 4.69440122e-05 9.99996816e-01 -4.31113354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.420281693 meters 0.029476501142348205 Centerline is valid? [True, True] Translation: X:237.39, Y:13.92, Z:-0.04 [[ 9.84215869e-01 -1.76936225e-01 -3.56314486e-03 2.37394377e+02] [ 1.76934786e-01 9.84222316e-01 -7.17607185e-04 1.39191271e+01] [ 3.63389739e-03 7.58361057e-05 9.99993394e-01 -4.49406197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.480281693 meters 0.028850729734907658 Centerline is valid? [True, True] Translation: X:237.45, Y:13.93, Z:-0.04 [[ 9.84089618e-01 -1.77643962e-01 -3.20114303e-03 2.37451652e+02] [ 1.77642803e-01 9.84094822e-01 -6.45262915e-04 1.39343701e+01] [ 3.26485534e-03 6.63365148e-05 9.99994668e-01 -4.42063108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.540281693 meters 0.03011739968335185 Centerline is valid? [True, True] Translation: X:237.51, Y:13.95, Z:-0.04 [[ 9.84157601e-01 -1.77273304e-01 -2.82694174e-03 2.37507087e+02] [ 1.77272398e-01 9.84161659e-01 -5.69968349e-04 1.39529955e+01] [ 2.88320784e-03 5.97999415e-05 9.99995842e-01 -4.42106022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.600281693 meters 0.03029283127399341 Centerline is valid? [True, True] Translation: X:237.56, Y:13.97, Z:-0.04 [[ 9.84413450e-01 -1.75850271e-01 -2.61558765e-03 2.37563203e+02] [ 1.75849489e-01 9.84416923e-01 -5.27824744e-04 1.39714934e+01] [ 2.66764687e-03 5.96480259e-05 9.99996440e-01 -4.30809438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.660281693 meters 0.02970952501530827 Centerline is valid? [True, True] Translation: X:237.62, Y:13.99, Z:-0.05 [[ 9.84529126e-01 -1.75170551e-01 -4.20458559e-03 2.37619400e+02] [ 1.75168521e-01 9.84538099e-01 -8.49173993e-04 1.39896917e+01] [ 4.28832498e-03 9.95254895e-05 9.99990800e-01 -4.55873782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.720281693 meters 0.027878776227648328 Centerline is valid? [True, True] Translation: X:237.68, Y:14.00, Z:-0.05 [[ 9.83826967e-01 -1.79067483e-01 -4.39719781e-03 2.37676922e+02] [ 1.79065301e-01 9.83836790e-01 -8.88129148e-04 1.40032663e+01] [ 4.48516002e-03 8.63798564e-05 9.99989938e-01 -4.63502762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.780281693 meters 0.023574147285146632 Centerline is valid? [True, True] Translation: X:237.74, Y:14.01, Z:-0.04 [[ 9.83110561e-01 -1.82983461e-01 -3.26765590e-03 2.37735102e+02] [ 1.82982277e-01 9.83115990e-01 -6.60150548e-04 1.40117419e+01] [ 3.33328140e-03 5.10778593e-05 9.99994443e-01 -4.45924146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.840281693 meters 0.0186687089470761 Centerline is valid? [True, True] Translation: X:237.79, Y:14.02, Z:-0.04 [[ 9.82100192e-01 -1.88356922e-01 -9.39472451e-04 2.37794293e+02] [ 1.88356827e-01 9.82100641e-01 -1.89822819e-04 1.40175601e+01] [ 9.58410939e-04 9.46897753e-06 9.99999541e-01 -4.02568139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90028169299998 meters 0.014019466718237712 Centerline is valid? [True, True] Translation: X:237.85, Y:14.01, Z:-0.04 [[ 9.80508532e-01 -1.96465966e-01 -2.03545858e-03 2.37854640e+02] [ 1.96465534e-01 9.80510645e-01 -4.11658167e-04 1.40148160e+01] [ 2.07666562e-03 3.73688877e-06 9.99997844e-01 -4.32935687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96028169299998 meters 0.014358533344880933 Centerline is valid? [True, True] Translation: X:237.91, Y:14.02, Z:-0.05 [[ 9.79544822e-01 -2.01203323e-01 -3.02729514e-03 2.37914471e+02] [ 2.01202390e-01 9.79549500e-01 -6.12741486e-04 1.40161728e+01] [ 3.08867107e-03 -8.89126938e-06 9.99995230e-01 -4.56798535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.020281693 meters 0.014444948355511774 Centerline is valid? [True, True] Translation: X:237.97, Y:14.02, Z:-0.04 [[ 9.79469983e-01 -2.01559094e-01 -3.53318628e-03 2.37972566e+02] [ 2.01557825e-01 9.79476356e-01 -7.15302974e-04 1.40213673e+01] [ 3.60484824e-03 -1.15235504e-05 9.99993502e-01 -4.47628130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.080281693 meters 0.014616723071265773 Centerline is valid? [True, True] Translation: X:238.03, Y:14.04, Z:-0.05 [[ 9.80705054e-01 -1.95448844e-01 -4.16488765e-03 2.38028237e+02] [ 1.95447022e-01 9.80713898e-01 -8.44034820e-04 1.40402393e+01] [ 4.24952883e-03 1.37343275e-05 9.99990971e-01 -4.61273577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.140281693 meters 0.018342462897207923 Centerline is valid? [True, True] Translation: X:238.08, Y:14.06, Z:-0.04 [[ 9.82121107e-01 -1.88242443e-01 -1.70715842e-03 2.38083408e+02] [ 1.88242126e-01 9.82122590e-01 -3.46063351e-04 1.40613231e+01] [ 1.74178266e-03 1.85169907e-05 9.99998483e-01 -4.01793433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.200281693 meters 0.02008396140143654 Centerline is valid? [True, True] Translation: X:238.14, Y:14.08, Z:-0.04 [[ 9.82349271e-01 -1.87050766e-01 -1.38618435e-03 2.38139901e+02] [ 1.87050556e-01 9.82350248e-01 -2.81085413e-04 1.40758371e+01] [ 1.41429579e-03 1.68374959e-05 9.99999000e-01 -4.01513883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.260281693 meters 0.018805407334004296 Centerline is valid? [True, True] Translation: X:238.20, Y:14.08, Z:-0.04 [[ 9.82057131e-01 -1.88583189e-01 -4.14469261e-04 2.38197879e+02] [ 1.88583170e-01 9.82057219e-01 -8.41633216e-05 1.40844760e+01] [ 4.22904318e-04 4.49126279e-06 9.99999911e-01 -3.82367409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.320281693 meters 0.02018494465707238 Centerline is valid? [True, True] Translation: X:238.26, Y:14.10, Z:-0.04 [[ 9.82362235e-01 -1.86987581e-01 -2.89756887e-04 2.38255436e+02] [ 1.86987572e-01 9.82362278e-01 -5.89044035e-05 1.40982475e+01] [ 2.95660627e-04 3.68452490e-06 9.99999956e-01 -3.67288201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.380281693 meters 0.022678398561289795 Centerline is valid? [True, True] Translation: X:238.31, Y:14.12, Z:-0.04 [[ 9.82977382e-01 -1.83714182e-01 -2.13660670e-03 2.38311125e+02] [ 1.83713672e-01 9.82979704e-01 -4.34357246e-04 1.41204637e+01] [ 2.18003861e-03 3.44394862e-05 9.99997623e-01 -4.01253700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.440281693 meters 0.024657140989469566 Centerline is valid? [True, True] Translation: X:238.37, Y:14.14, Z:-0.04 [[ 9.83275196e-01 -1.82122992e-01 -1.05135519e-03 2.38366190e+02] [ 1.82122867e-01 9.83275758e-01 -2.13830547e-04 1.41403244e+01] [ 1.07271553e-03 1.87784506e-05 9.99999424e-01 -3.88324715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.500281693 meters 0.0213568568735467 Centerline is valid? [True, True] Translation: X:238.42, Y:14.15, Z:-0.04 [[ 9.82524531e-01 -1.86131895e-01 6.80328757e-04 2.38422620e+02] [ 1.86131844e-01 9.82524767e-01 1.38369653e-04 1.41523399e+01] [-6.94194859e-04 -9.32073321e-06 9.99999759e-01 -3.61496672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.560281693 meters 0.01472657252305009 Centerline is valid? [True, True] Translation: X:238.48, Y:14.15, Z:-0.04 [[ 9.80763884e-01 -1.95194724e-01 -1.10602337e-03 2.38483805e+02] [ 1.95194594e-01 9.80764508e-01 -2.25000048e-04 1.41540986e+01] [ 1.12866729e-03 4.78213737e-06 9.99999363e-01 -4.10823829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.620281693 meters 0.014152373858840106 Centerline is valid? [True, True] Translation: X:238.54, Y:14.16, Z:-0.04 [[ 9.79427807e-01 -2.01780958e-01 -2.36961208e-03 2.38541681e+02] [ 2.01780381e-01 9.79430674e-01 -4.82578038e-04 1.41584172e+01] [ 2.41824582e-03 -5.49087841e-06 9.99997076e-01 -4.33412322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68028169299998 meters 0.015047295711326097 Centerline is valid? [True, True] Translation: X:238.60, Y:14.17, Z:-0.04 [[ 9.78928172e-01 -2.04185857e-01 -2.78735323e-03 2.38599518e+02] [ 2.04185068e-01 9.78932140e-01 -5.67857336e-04 1.41650951e+01] [ 2.84457810e-03 -1.32443641e-05 9.99995954e-01 -4.34865254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.740281693 meters 0.01613277070423553 Centerline is valid? [True, True] Translation: X:238.66, Y:14.17, Z:-0.05 [[ 9.78476414e-01 -2.06324032e-01 -3.78166714e-03 2.38658757e+02] [ 2.06322592e-01 9.78483722e-01 -7.71075641e-04 1.41711763e+01] [ 3.85939117e-03 -2.57640403e-05 9.99992552e-01 -4.56195075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.800281693 meters 0.018384307399384056 Centerline is valid? [True, True] Translation: X:238.72, Y:14.17, Z:-0.04 [[ 9.77792562e-01 -2.09570990e-01 -1.30605942e-03 2.38717075e+02] [ 2.09570822e-01 9.77793434e-01 -2.66381183e-04 1.41746127e+01] [ 1.33288209e-03 -1.32464056e-05 9.99999112e-01 -4.18359614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.860281693 meters 0.020168123239685285 Centerline is valid? [True, True] Translation: X:238.77, Y:14.18, Z:-0.04 [[ 9.77382621e-01 -2.11477871e-01 -5.66898692e-04 2.38774355e+02] [ 2.11477840e-01 9.77382786e-01 -1.15667695e-04 1.41810554e+01] [ 5.78538180e-04 -6.83491580e-06 9.99999833e-01 -4.03949734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.920281693 meters 0.019523101653147634 Centerline is valid? [True, True] Translation: X:238.83, Y:14.19, Z:-0.04 [[ 9.77263796e-01 -2.12009359e-01 -2.73960767e-03 2.38831942e+02] [ 2.12008624e-01 9.77267635e-01 -5.59413651e-04 1.41922364e+01] [ 2.79593083e-03 -3.41257433e-05 9.99996091e-01 -4.36748042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.980281693 meters 0.020577940880480074 Centerline is valid? [True, True] Translation: X:238.89, Y:14.20, Z:-0.05 [[ 9.77428432e-01 -2.11237759e-01 -3.50274688e-03 2.38888101e+02] [ 2.11236552e-01 9.77434708e-01 -7.15402087e-04 1.42045330e+01] [ 3.57482631e-03 -4.06538324e-05 9.99993609e-01 -4.63240373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.040281693 meters 0.01610787857606287 Centerline is valid? [True, True] Translation: X:238.94, Y:14.23, Z:-0.04 [[ 9.78389793e-01 -2.06763233e-01 -1.54213588e-03 2.38943449e+02] [ 2.06762993e-01 9.78391008e-01 -3.15257091e-04 1.42285552e+01] [ 1.57399546e-03 -1.04123093e-05 9.99998761e-01 -4.09668534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.100281693 meters 0.015045789699134074 Centerline is valid? [True, True] Translation: X:239.00, Y:14.24, Z:-0.04 [[ 9.78803313e-01 -2.04797977e-01 -1.36508711e-03 2.38999296e+02] [ 2.04797787e-01 9.78804265e-01 -2.79114615e-04 1.42433520e+01] [ 1.39331519e-03 -6.36850882e-06 9.99999029e-01 -4.08278723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.160281693 meters 0.016033608072232555 Centerline is valid? [True, True] Translation: X:239.06, Y:14.25, Z:-0.04 [[ 9.78366723e-01 -2.06870560e-01 -1.76807269e-03 2.39057223e+02] [ 2.06870244e-01 9.78368321e-01 -3.61832889e-04 1.42514408e+01] [ 1.80467888e-03 -1.17563704e-05 9.99998371e-01 -4.18645839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.220281693 meters 0.01784105045242116 Centerline is valid? [True, True] Translation: X:239.12, Y:14.26, Z:-0.04 [[ 9.77697494e-01 -2.10017969e-01 -2.51953814e-04 2.39115951e+02] [ 2.10017963e-01 9.77697526e-01 -5.16529828e-05 1.42569961e+01] [ 2.57182675e-04 -2.41383482e-06 9.99999967e-01 -3.93353609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.280281693 meters 0.016612516049793667 Centerline is valid? [True, True] Translation: X:239.17, Y:14.27, Z:-0.04 [[ 9.78078615e-01 -2.08235450e-01 -4.69697511e-04 2.39173265e+02] [ 2.08235428e-01 9.78078728e-01 -9.62344354e-05 1.42662324e+01] [ 4.79440565e-04 -3.68281902e-06 9.99999885e-01 -3.86312859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.340281693 meters 0.015833051289116364 Centerline is valid? [True, True] Translation: X:239.23, Y:14.28, Z:-0.04 [[ 9.78521873e-01 -2.06142783e-01 -3.10483128e-04 2.39230243e+02] [ 2.06142773e-01 9.78521923e-01 -6.36382107e-05 1.42768829e+01] [ 3.16933105e-04 -1.73247173e-06 9.99999950e-01 -4.01614660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40028169299998 meters 0.014159928750020827 Centerline is valid? [True, True] Translation: X:239.29, Y:14.29, Z:-0.04 [[ 9.78894295e-01 -2.04362430e-01 1.39857385e-03 2.39288196e+02] [ 2.04362229e-01 9.78895294e-01 2.86743443e-04 1.42892767e+01] [-1.42765695e-03 5.12414947e-06 9.99998981e-01 -3.66154852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46028169299998 meters 0.013632098822050019 Centerline is valid? [True, True] Translation: X:239.34, Y:14.30, Z:-0.04 [[ 9.79288195e-01 -2.02470614e-01 5.30459461e-04 2.39344933e+02] [ 2.02470584e-01 9.79288339e-01 1.08814363e-04 1.43022434e+01] [-5.41504475e-04 8.41815527e-07 9.99999853e-01 -3.77463630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.520281693 meters 0.01383457451707654 Centerline is valid? [True, True] Translation: X:239.40, Y:14.31, Z:-0.04 [[ 9.79883369e-01 -1.99567981e-01 -1.09734893e-03 2.39401772e+02] [ 1.99567854e-01 9.79883983e-01 -2.25495812e-04 1.43143996e+01] [ 1.12027638e-03 1.96402512e-06 9.99999372e-01 -4.20436306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.580281693 meters 0.013997162989904565 Centerline is valid? [True, True] Translation: X:239.46, Y:14.32, Z:-0.04 [[ 9.79968589e-01 -1.99140710e-01 -2.13139627e-03 2.39458749e+02] [ 1.99140228e-01 9.79970906e-01 -4.38313251e-04 1.43236980e+01] [ 2.17599235e-03 5.08647859e-06 9.99997633e-01 -4.34888413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.640281693 meters 0.01404905521932157 Centerline is valid? [True, True] Translation: X:239.52, Y:14.33, Z:-0.04 [[ 9.80041512e-01 -1.98784315e-01 -1.85203930e-03 2.39516043e+02] [ 1.98783949e-01 9.80043262e-01 -3.81209088e-04 1.43311668e+01] [ 1.89085702e-03 5.44504519e-06 9.99998212e-01 -4.32295391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.700281693 meters 0.014823978429626372 Centerline is valid? [True, True] Translation: X:239.57, Y:14.34, Z:-0.04 [[ 9.80261073e-01 -1.97696509e-01 -2.07806684e-03 2.39573270e+02] [ 1.97696047e-01 9.80263276e-01 -4.27799350e-04 1.43397801e+01] [ 2.12162705e-03 8.52945061e-06 9.99997749e-01 -4.46500068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.760281693 meters 0.015485209928747667 Centerline is valid? [True, True] Translation: X:239.63, Y:14.35, Z:-0.04 [[ 9.80807846e-01 -1.94972109e-01 -1.35832754e-03 2.39631061e+02] [ 1.94971909e-01 9.80808787e-01 -2.79914756e-04 1.43512759e+01] [ 1.38683516e-03 9.70687570e-06 9.99999038e-01 -4.09220451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.820281693 meters 0.01759524361202689 Centerline is valid? [True, True] Translation: X:239.69, Y:14.37, Z:-0.04 [[ 9.81390894e-01 -1.92018494e-01 -9.00496111e-04 2.39687404e+02] [ 1.92018404e-01 9.81391307e-01 -1.85742852e-04 1.43694804e+01] [ 9.19405118e-04 9.37451729e-06 9.99999577e-01 -4.01172710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.880281693 meters 0.021366865790470892 Centerline is valid? [True, True] Translation: X:239.74, Y:14.39, Z:-0.04 [[ 9.82214025e-01 -1.87764382e-01 3.82035808e-04 2.39743036e+02] [ 1.87764366e-01 9.82214099e-01 7.87793324e-05 1.43888337e+01] [-3.90032910e-04 -5.64545397e-06 9.99999924e-01 -3.87361143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.940281693 meters 0.024133210499290545 Centerline is valid? [True, True] Translation: X:239.80, Y:14.41, Z:-0.04 [[ 9.82648468e-01 -1.85476471e-01 6.83701353e-04 2.39797505e+02] [ 1.85476418e-01 9.82648706e-01 1.41047413e-04 1.44083511e+01] [-6.97999226e-04 -1.17895458e-05 9.99999756e-01 -3.77331823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.000281693 meters 0.024487104391559055 Centerline is valid? [True, True] Translation: X:239.85, Y:14.42, Z:-0.04 [[ 9.82637040e-01 -1.85538239e-01 9.82982940e-05 2.39852884e+02] [ 1.85538238e-01 9.82637045e-01 2.02624908e-05 1.44225217e+01] [-1.00351012e-04 -1.67258166e-06 9.99999995e-01 -3.94222533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.060281693 meters 0.02251338554446514 Centerline is valid? [True, True] Translation: X:239.91, Y:14.43, Z:-0.04 [[ 9.82227429e-01 -1.87694324e-01 -3.43246858e-04 2.39910873e+02] [ 1.87694311e-01 9.82227489e-01 -7.09652165e-05 1.44319568e+01] [ 3.50466268e-04 5.27849973e-06 9.99999939e-01 -4.09002805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.120281693 meters 0.017517795704029407 Centerline is valid? [True, True] Translation: X:239.97, Y:14.43, Z:-0.04 [[ 9.81255041e-01 -1.92713285e-01 3.66357142e-04 2.39970377e+02] [ 1.92713270e-01 9.81255110e-01 7.56848385e-05 1.44332550e+01] [-3.74075291e-04 -3.66424658e-06 9.99999930e-01 -3.98552548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18028169299998 meters 0.01704575488370339 Centerline is valid? [True, True] Translation: X:240.03, Y:14.44, Z:-0.04 [[ 9.80930489e-01 -1.94356037e-01 -1.05221861e-03 2.40027452e+02] [ 1.94355916e-01 9.80931053e-01 -2.17506209e-04 1.44416681e+01] [ 1.07442755e-03 8.85356100e-06 9.99999423e-01 -4.30953543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.240281693 meters 0.01815245677007305 Centerline is valid? [True, True] Translation: X:240.09, Y:14.45, Z:-0.05 [[ 9.81136307e-01 -1.93303931e-01 -2.26661657e-03 2.40085378e+02] [ 1.93303363e-01 9.81138925e-01 -4.68917819e-04 1.44542971e+01] [ 2.31450940e-03 2.19276903e-05 9.99997321e-01 -4.56308778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.300281693 meters 0.023183731728728212 Centerline is valid? [True, True] Translation: X:240.14, Y:14.47, Z:-0.04 [[ 9.82094105e-01 -1.88385405e-01 -1.45219411e-03 2.40140581e+02] [ 1.88385167e-01 9.82095178e-01 -3.00477078e-04 1.44743320e+01] [ 1.48279833e-03 2.15249372e-05 9.99998900e-01 -4.36869655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.360281693 meters 0.025369588064050017 Centerline is valid? [True, True] Translation: X:240.20, Y:14.49, Z:-0.04 [[ 9.82762297e-01 -1.84872261e-01 -7.17619500e-04 2.40197903e+02] [ 1.84872202e-01 9.82762559e-01 -1.48514749e-04 1.44888579e+01] [ 7.32705833e-04 1.32867987e-05 9.99999731e-01 -4.26962537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.420281693 meters 0.03007847664070175 Centerline is valid? [True, True] Translation: X:240.25, Y:14.51, Z:-0.04 [[ 9.83116345e-01 -1.82979757e-01 -8.13115739e-04 2.40253075e+02] [ 1.82979680e-01 9.83116681e-01 -1.68332580e-04 1.45073815e+01] [ 8.30189101e-04 1.67068527e-05 9.99999655e-01 -4.36059163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.480281693 meters 0.03402312114691102 Centerline is valid? [True, True] Translation: X:240.31, Y:14.53, Z:-0.04 [[ 9.83648400e-01 -1.80099262e-01 -2.84949708e-04 2.40310130e+02] [ 1.80099252e-01 9.83648441e-01 -5.89976019e-05 1.45268132e+01] [ 2.90915761e-04 6.71366728e-06 9.99999958e-01 -4.25685772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.540281693 meters 0.0364891978024621 Centerline is valid? [True, True] Translation: X:240.37, Y:14.54, Z:-0.04 [[ 9.84015408e-01 -1.78081437e-01 8.23527237e-04 2.40367154e+02] [ 1.78081356e-01 9.84015753e-01 1.70502170e-04 1.45429359e+01] [-8.40727046e-04 -2.11219152e-05 9.99999646e-01 -4.04326369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.600281693 meters 0.033329445306274866 Centerline is valid? [True, True] Translation: X:240.43, Y:14.56, Z:-0.04 [[ 9.84396224e-01 -1.75947595e-01 2.55304851e-03 2.40425467e+02] [ 1.75946816e-01 9.84399532e-01 5.28669549e-04 1.45561494e+01] [-2.60623789e-03 -7.12195523e-05 9.99996601e-01 -3.80509189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.660281693 meters 0.034195628037956324 Centerline is valid? [True, True] Translation: X:240.48, Y:14.57, Z:-0.04 [[ 9.84371419e-01 -1.76101848e-01 -1.02379343e-03 2.40480946e+02] [ 1.76101722e-01 9.84371951e-01 -2.12086524e-04 1.45719286e+01] [ 1.04514237e-03 2.84801262e-05 9.99999453e-01 -4.46798328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.720281693 meters 0.03303329815231435 Centerline is valid? [True, True] Translation: X:240.54, Y:14.59, Z:-0.05 [[ 9.84137372e-01 -1.77403059e-01 -1.33670072e-03 2.40538613e+02] [ 1.77402846e-01 9.84138280e-01 -2.77162995e-04 1.45854596e+01] [ 1.36466791e-03 3.56319492e-05 9.99999068e-01 -4.59322797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.780281693 meters 0.033161845218850794 Centerline is valid? [True, True] Translation: X:240.59, Y:14.60, Z:-0.04 [[ 9.83928064e-01 -1.78562165e-01 1.05698354e-03 2.40594312e+02] [ 1.78562033e-01 9.83928632e-01 2.19161688e-04 1.46014303e+01] [-1.07913036e-03 -2.69022054e-05 9.99999417e-01 -4.14319378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.840281693 meters 0.038908040487487416 Centerline is valid? [True, True] Translation: X:240.65, Y:14.63, Z:-0.04 [[ 9.84761298e-01 -1.73911267e-01 -2.37552108e-04 2.40650782e+02] [ 1.73911261e-01 9.84761327e-01 -4.92600825e-05 1.46275470e+01] [ 2.42499012e-04 7.19643633e-06 9.99999971e-01 -4.20317179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90028169299998 meters 0.05109520702080093 Centerline is valid? [True, True] Translation: X:240.70, Y:14.67, Z:-0.04 [[ 9.86506115e-01 -1.63721762e-01 -9.32455252e-04 2.40704305e+02] [ 1.63721652e-01 9.86506555e-01 -1.93367073e-04 1.46685121e+01] [ 9.51531616e-04 3.80946851e-05 9.99999547e-01 -4.33981505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96028169299998 meters 0.05473936753986382 Centerline is valid? [True, True] Translation: X:240.76, Y:14.69, Z:-0.04 [[ 9.86920416e-01 -1.61202290e-01 1.38326890e-03 2.40760673e+02] [ 1.61202046e-01 9.86921384e-01 2.86862932e-04 1.46927635e+01] [-1.41142062e-03 -6.01251084e-05 9.99999002e-01 -3.94892256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.020281693 meters 0.046227406993813565 Centerline is valid? [True, True] Translation: X:240.82, Y:14.70, Z:-0.03 [[ 9.85617230e-01 -1.68926417e-01 4.74784037e-03 2.40820558e+02] [ 1.68923631e-01 9.85628651e-01 9.84674558e-04 1.47004991e+01] [-4.84594505e-03 -1.68489774e-04 9.99988244e-01 -3.29573727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.080281693 meters 0.02456372377616242 Centerline is valid? [True, True] Translation: X:240.89, Y:14.68, Z:-0.04 [[ 9.82698507e-01 -1.85209196e-01 1.09447016e-03 2.40885529e+02] [ 1.85209058e-01 9.82699116e-01 2.26997702e-04 1.46832486e+01] [-1.11757692e-03 -2.03645162e-05 9.99999375e-01 -4.21601345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.140281693 meters 0.017079292533970947 Centerline is valid? [True, True] Translation: X:240.95, Y:14.68, Z:-0.04 [[ 9.80661483e-01 -1.95709897e-01 -8.31750901e-04 2.40947000e+02] [ 1.95709821e-01 9.80661836e-01 -1.72540854e-04 1.46791004e+01] [ 8.49434318e-04 6.42235041e-06 9.99999639e-01 -4.44878966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.200281693 meters 0.013517821708938432 Centerline is valid? [True, True] Translation: X:241.01, Y:14.67, Z:-0.04 [[ 9.79037841e-01 -2.03677890e-01 4.72211391e-04 2.41008767e+02] [ 2.03677866e-01 9.79037955e-01 9.79742714e-05 1.46720087e+01] [-4.82268067e-04 2.58489302e-07 9.99999884e-01 -4.13501098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.260281693 meters 0.013552739860765616 Centerline is valid? [True, True] Translation: X:241.07, Y:14.68, Z:-0.04 [[ 9.78965181e-01 -2.04023809e-01 1.20837793e-03 2.41065998e+02] [ 2.04023654e-01 9.78965927e-01 2.51027151e-04 1.46805242e+01] [-1.23417633e-03 7.90840560e-07 9.99999238e-01 -4.05636447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.320281693 meters 0.01370418850203323 Centerline is valid? [True, True] Translation: X:241.12, Y:14.69, Z:-0.04 [[ 9.79226438e-01 -2.02759844e-01 2.00726318e-03 2.41122958e+02] [ 2.02759415e-01 9.79228495e-01 4.17237894e-04 1.46886680e+01] [-2.05016840e-03 -1.57886775e-06 9.99997898e-01 -3.99966063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.380281693 meters 0.013759179531230833 Centerline is valid? [True, True] Translation: X:241.18, Y:14.70, Z:-0.04 [[ 9.79361273e-01 -2.02115192e-01 9.72542004e-04 2.41179174e+02] [ 2.02115091e-01 9.79361756e-01 2.02221206e-04 1.46966427e+01] [-9.93342423e-04 -1.48220165e-06 9.99999507e-01 -4.16131581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.440281693 meters 0.01395445384917263 Centerline is valid? [True, True] Translation: X:241.24, Y:14.70, Z:-0.04 [[ 9.79488037e-01 -2.01496523e-01 1.52892745e-03 2.41235608e+02] [ 2.01496272e-01 9.79489230e-01 3.18047852e-04 1.47049324e+01] [-1.56165351e-03 -3.45088406e-06 9.99998781e-01 -4.04398952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.500281693 meters 0.013897812711957024 Centerline is valid? [True, True] Translation: X:241.29, Y:14.71, Z:-0.04 [[ 9.79381845e-01 -2.02006942e-01 2.09682661e-03 2.41292238e+02] [ 2.02006471e-01 9.79384090e-01 4.36357241e-04 1.47123279e+01] [-2.14174581e-03 -3.78781747e-06 9.99997706e-01 -3.98718905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.560281693 meters 0.01365182849133724 Centerline is valid? [True, True] Translation: X:241.35, Y:14.72, Z:-0.04 [[ 9.79066254e-01 -2.03531319e-01 2.06693694e-03 2.41349493e+02] [ 2.03530863e-01 9.79068436e-01 4.30485473e-04 1.47194800e+01] [-2.11128999e-03 -7.88339945e-07 9.99997771e-01 -4.00155044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.620281693 meters 0.013745855591983939 Centerline is valid? [True, True] Translation: X:241.41, Y:14.72, Z:-0.04 [[ 9.78695455e-01 -2.05317124e-01 2.90870043e-04 2.41408007e+02] [ 2.05317115e-01 9.78695498e-01 6.05802658e-05 1.47233656e+01] [-2.97111368e-04 4.30967408e-07 9.99999956e-01 -4.36331037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68028169299998 meters 0.013641553178182523 Centerline is valid? [True, True] Translation: X:241.46, Y:14.73, Z:-0.04 [[ 9.78943262e-01 -2.04110163e-01 3.02171578e-03 2.41464602e+02] [ 2.04109190e-01 9.78947926e-01 6.30142717e-04 1.47341511e+01] [-3.08672092e-03 -1.14008112e-07 9.99995236e-01 -3.79006060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.740281693 meters 0.013874505625484965 Centerline is valid? [True, True] Translation: X:241.52, Y:14.74, Z:-0.03 [[ 9.78874182e-01 -2.04370264e-01 6.17501709e-03 2.41521611e+02] [ 2.04366205e-01 9.78893659e-01 1.28809432e-03 1.47444268e+01] [-6.30793324e-03 1.08253800e-06 9.99980105e-01 -3.12972995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.800281693 meters 0.014605382783985888 Centerline is valid? [True, True] Translation: X:241.58, Y:14.75, Z:-0.03 [[ 9.78168592e-01 -2.07730628e-01 5.84730098e-03 2.41580383e+02] [ 2.07727042e-01 9.78186069e-01 1.22073963e-03 1.47487442e+01] [-5.97333337e-03 2.05533722e-05 9.99982159e-01 -3.26839298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.860281693 meters 0.01815363922303258 Centerline is valid? [True, True] Translation: X:241.64, Y:14.75, Z:-0.04 [[ 9.77054737e-01 -2.12962258e-01 3.33437111e-03 2.41641013e+02] [ 2.12961121e-01 9.77060426e-01 6.96615271e-04 1.47470528e+01] [-3.40623481e-03 2.94601573e-05 9.99994198e-01 -3.79096741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.920281693 meters 0.017819507727762814 Centerline is valid? [True, True] Translation: X:241.70, Y:14.76, Z:-0.03 [[ 9.77177392e-01 -2.12361549e-01 5.18818352e-03 2.41698004e+02] [ 2.12358785e-01 9.77191164e-01 1.08426040e-03 1.47589593e+01] [-5.30010231e-03 4.22416018e-05 9.99985953e-01 -3.25222522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.980281693 meters 0.015445896962357807 Centerline is valid? [True, True] Translation: X:241.76, Y:14.78, Z:-0.03 [[ 9.77810042e-01 -2.09444900e-01 4.51163681e-03 2.41755095e+02] [ 2.09442776e-01 9.77820450e-01 9.43478997e-04 1.47756137e+01] [-4.60917760e-03 2.23865000e-05 9.99989377e-01 -3.44109469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.040281693 meters 0.01371480474785355 Centerline is valid? [True, True] Translation: X:241.81, Y:14.79, Z:-0.04 [[ 9.78670119e-01 -2.05409582e-01 3.42062968e-03 2.41811080e+02] [ 2.05408335e-01 9.78676097e-01 7.15834371e-04 1.47932206e+01] [-3.49472774e-03 2.06013857e-06 9.99993893e-01 -3.72892251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.100281693 meters 0.014077326919697241 Centerline is valid? [True, True] Translation: X:241.87, Y:14.81, Z:-0.04 [[ 9.79332935e-01 -2.02223315e-01 3.56849932e-03 2.41867666e+02] [ 2.02221934e-01 9.79339436e-01 7.47470489e-04 1.48073503e+01] [-3.64592807e-03 -1.03936348e-05 9.99993354e-01 -3.81573811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.160281693 meters 0.01669797936381252 Centerline is valid? [True, True] Translation: X:241.92, Y:14.83, Z:-0.04 [[ 9.80008378e-01 -1.98918810e-01 3.85822805e-03 2.41922261e+02] [ 1.98917169e-01 9.80015973e-01 8.08444511e-04 1.48275205e+01] [-3.94193993e-03 -2.48145942e-05 9.99992230e-01 -3.58223072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.220281693 meters 0.020908791102823288 Centerline is valid? [True, True] Translation: X:241.98, Y:14.85, Z:-0.04 [[ 9.81289892e-01 -1.92506776e-01 3.36004595e-03 2.41977777e+02] [ 1.92505493e-01 9.81295643e-01 7.04181311e-04 1.48516881e+01] [-3.43275813e-03 -4.41787003e-05 9.99994107e-01 -3.84065276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.280281693 meters 0.021212976035505902 Centerline is valid? [True, True] Translation: X:242.03, Y:14.87, Z:-0.03 [[ 9.81328711e-01 -1.92249810e-01 5.82855877e-03 2.42034889e+02] [ 1.92245939e-01 9.81346017e-01 1.22245488e-03 1.48656945e+01] [-5.95484964e-03 -7.91133119e-05 9.99982267e-01 -3.40923907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.340281693 meters 0.017833313059410504 Centerline is valid? [True, True] Translation: X:242.09, Y:14.87, Z:-0.04 [[ 9.80532477e-01 -1.96318623e-01 3.88067414e-03 2.42093686e+02] [ 1.96316938e-01 9.80540156e-01 8.14119442e-04 1.48727117e+01] [-3.96498363e-03 -3.64284880e-05 9.99992139e-01 -3.76145735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40028169299998 meters 0.017704283164798898 Centerline is valid? [True, True] Translation: X:242.15, Y:14.89, Z:-0.04 [[ 9.80448743e-01 -1.96739822e-01 3.70190651e-03 2.42149473e+02] [ 1.96738291e-01 9.80455731e-01 7.76828960e-04 1.48873844e+01] [-3.78238865e-03 -3.33342170e-05 9.99992846e-01 -3.81927102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46028169299998 meters 0.01854466988978108 Centerline is valid? [True, True] Translation: X:242.21, Y:14.90, Z:-0.04 [[ 9.80782822e-01 -1.95020316e-01 5.66857985e-03 2.42206037e+02] [ 1.95016692e-01 9.80799201e-01 1.19047526e-03 1.49046584e+01] [-5.79190544e-03 -6.21299983e-05 9.99983225e-01 -3.57825489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.520281693 meters 0.019700696774412548 Centerline is valid? [True, True] Translation: X:242.26, Y:14.92, Z:-0.04 [[ 9.80869788e-01 -1.94647358e-01 2.62010845e-03 2.42262207e+02] [ 1.94646582e-01 9.80873287e-01 5.50422186e-04 1.49198327e+01] [-2.67713261e-03 -2.98973401e-05 9.99996416e-01 -4.01956846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.580281693 meters 0.01906405203014351 Centerline is valid? [True, True] Translation: X:242.32, Y:14.93, Z:-0.04 [[ 9.80780996e-01 -1.95068500e-01 4.11325333e-03 2.42319324e+02] [ 1.95066588e-01 9.80789620e-01 8.64852548e-04 1.49306416e+01] [-4.20294166e-03 -4.58726498e-05 9.99991167e-01 -3.84129824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.640281693 meters 0.019479113801852924 Centerline is valid? [True, True] Translation: X:242.38, Y:14.94, Z:-0.03 [[ 9.80768080e-01 -1.95090379e-01 5.80659924e-03 2.42375542e+02] [ 1.95086567e-01 9.80785267e-01 1.22130997e-03 1.49436246e+01] [-5.93329281e-03 -6.50323229e-05 9.99982396e-01 -3.45773075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.700281693 meters 0.020989933273361752 Centerline is valid? [True, True] Translation: X:242.43, Y:14.96, Z:-0.04 [[ 9.81115756e-01 -1.93367892e-01 4.55332359e-03 2.42431934e+02] [ 1.93365526e-01 9.81126320e-01 9.58422216e-04 1.49604815e+01] [-4.65271370e-03 -5.98673257e-05 9.99989174e-01 -3.71479397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.760281693 meters 0.022487642381447542 Centerline is valid? [True, True] Translation: X:242.49, Y:14.98, Z:-0.04 [[ 9.81318952e-01 -1.92287813e-01 6.20579507e-03 2.42488140e+02] [ 1.92283390e-01 9.81338570e-01 1.30729156e-03 1.49773819e+01] [-6.34136229e-03 -8.95986676e-05 9.99979889e-01 -3.57107619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.820281693 meters 0.020314332536064943 Centerline is valid? [True, True] Translation: X:242.55, Y:14.99, Z:-0.03 [[ 9.80762312e-01 -1.95073937e-01 7.17260170e-03 2.42546595e+02] [ 1.95068094e-01 9.80788536e-01 1.51213534e-03 1.49857196e+01] [-7.32978371e-03 -8.38996121e-05 9.99973133e-01 -3.37378025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.880281693 meters 0.015353070300877052 Centerline is valid? [True, True] Translation: X:242.61, Y:14.98, Z:-0.04 [[ 9.79472931e-01 -2.01458817e-01 6.86458771e-03 2.42606982e+02] [ 2.01453619e-01 9.79496985e-01 1.44757293e-03 1.49835745e+01] [-7.01546930e-03 -3.49624654e-05 9.99975391e-01 -3.63814477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.940281693 meters 0.014777742962440107 Centerline is valid? [True, True] Translation: X:242.66, Y:14.99, Z:-0.04 [[ 9.79058703e-01 -2.03519314e-01 4.89343185e-03 2.42664756e+02] [ 2.03516697e-01 9.79070931e-01 1.03232877e-03 1.49900354e+01] [-5.00111572e-03 -1.48153772e-05 9.99987494e-01 -3.97382270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.000281693 meters 0.015614412137728797 Centerline is valid? [True, True] Translation: X:242.72, Y:15.00, Z:-0.04 [[ 9.79576646e-01 -2.01015004e-01 4.75005051e-03 2.42723185e+02] [ 2.01012504e-01 9.79588162e-01 1.00285479e-03 1.49991455e+01] [-4.85468211e-03 -2.75535823e-05 9.99988216e-01 -3.96185555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.060281693 meters 0.021279184156673438 Centerline is valid? [True, True] Translation: X:242.78, Y:15.02, Z:-0.04 [[ 9.80971870e-01 -1.94078685e-01 5.25872242e-03 2.42779148e+02] [ 1.94075519e-01 9.80985963e-01 1.11054794e-03 1.50162038e+01] [-5.37426656e-03 -6.88270014e-05 9.99985556e-01 -3.94912754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.120281693 meters 0.025646396764051976 Centerline is valid? [True, True] Translation: X:242.84, Y:15.03, Z:-0.04 [[ 9.81833948e-01 -1.89643196e-01 6.12830640e-03 2.42836636e+02] [ 1.89638809e-01 9.81853068e-01 1.29441158e-03 1.50307322e+01] [-6.26257279e-03 -1.08732506e-04 9.99980384e-01 -3.85368625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18028169299998 meters 0.027002642591006258 Centerline is valid? [True, True] Translation: X:242.89, Y:15.04, Z:-0.04 [[ 9.82398952e-01 -1.86740229e-01 4.51503613e-03 2.42893755e+02] [ 1.86737817e-01 9.82409323e-01 9.53922603e-04 1.50426962e+01] [-4.61374931e-03 -9.40045773e-05 9.99989352e-01 -4.21873286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.240281693 meters 0.02892499110706268 Centerline is valid? [True, True] Translation: X:242.95, Y:15.06, Z:-0.05 [[ 9.82662550e-01 -1.85382418e-01 2.76980904e-03 2.42950963e+02] [ 1.85381504e-01 9.82666452e-01 5.85619910e-04 1.50575062e+01] [-2.83036205e-03 -6.19953895e-05 9.99995993e-01 -4.58790311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.300281693 meters 0.02792344874595258 Centerline is valid? [True, True] Translation: X:243.01, Y:15.07, Z:-0.04 [[ 9.82520586e-01 -1.86112092e-01 3.94805472e-03 2.43009549e+02] [ 1.86110237e-01 9.82528515e-01 8.35390026e-04 1.50672971e+01] [-4.03455252e-03 -8.60145004e-05 9.99991857e-01 -4.33022575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.360281693 meters 0.027688306727449364 Centerline is valid? [True, True] Translation: X:243.07, Y:15.08, Z:-0.04 [[ 9.82364012e-01 -1.86897298e-01 5.50882761e-03 2.43066006e+02] [ 1.86893696e-01 9.82379451e-01 1.16602853e-03 1.50797930e+01] [-5.62968663e-03 -1.15899312e-04 9.99984146e-01 -4.02551765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.420281693 meters 0.026847945611365182 Centerline is valid? [True, True] Translation: X:243.12, Y:15.09, Z:-0.04 [[ 9.82131938e-01 -1.88035661e-01 7.71018983e-03 2.43122675e+02] [ 1.88028630e-01 9.82162189e-01 1.63343198e-03 1.50932179e+01] [-7.87980038e-03 -1.54509288e-04 9.99968942e-01 -3.75658420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.480281693 meters 0.027225614719627977 Centerline is valid? [True, True] Translation: X:243.18, Y:15.11, Z:-0.03 [[ 9.81911591e-01 -1.89092389e-01 9.67969759e-03 2.43177306e+02] [ 1.89081349e-01 9.81959284e-01 2.05154263e-03 1.51085049e+01] [-9.89300000e-03 -1.84183204e-04 9.99951046e-01 -3.34796419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.540281693 meters 0.024704481447338784 Centerline is valid? [True, True] Translation: X:243.24, Y:15.12, Z:-0.03 [[ 9.81625153e-01 -1.90554928e-01 1.00438553e-02 2.43235217e+02] [ 1.90543101e-01 9.81676519e-01 2.13040479e-03 1.51207764e+01] [-1.02657760e-02 -1.77471593e-04 9.99947290e-01 -3.34696254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.600281693 meters 0.024376209313880043 Centerline is valid? [True, True] Translation: X:243.29, Y:15.14, Z:-0.03 [[ 9.81390565e-01 -1.91734414e-01 1.05106461e-02 2.43291205e+02] [ 1.91721523e-01 9.81446832e-01 2.23008904e-03 1.51360517e+01] [-1.07432251e-02 -1.73471273e-04 9.99942275e-01 -3.18521515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.660281693 meters 0.02416381828050956 Centerline is valid? [True, True] Translation: X:243.35, Y:15.16, Z:-0.04 [[ 9.81610454e-01 -1.90677452e-01 9.11184238e-03 2.43347321e+02] [ 1.90667704e-01 9.81652730e-01 1.93483449e-03 1.51563678e+01] [-9.31359426e-03 -1.61919695e-04 9.99956614e-01 -3.61905057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.720281693 meters 0.02610556094517036 Centerline is valid? [True, True] Translation: X:243.40, Y:15.18, Z:-0.04 [[ 9.81605710e-01 -1.90730531e-01 8.49085443e-03 2.43401398e+02] [ 1.90722063e-01 9.81642421e-01 1.80352493e-03 1.51787210e+01] [-8.67897016e-03 -1.50957096e-04 9.99962326e-01 -3.63462996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.780281693 meters 0.02304659888226791 Centerline is valid? [True, True] Translation: X:243.46, Y:15.19, Z:-0.04 [[ 9.81011758e-01 -1.93789475e-01 7.84660761e-03 2.43458977e+02] [ 1.93782337e-01 9.81043132e-01 1.66728830e-03 1.51935672e+01] [-8.02096343e-03 -1.15095465e-04 9.99967825e-01 -3.84916783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.840281693 meters 0.02121367521428642 Centerline is valid? [True, True] Translation: X:243.52, Y:15.21, Z:-0.04 [[ 9.80661829e-01 -1.95551027e-01 7.88491492e-03 2.43516412e+02] [ 1.95543866e-01 9.80693523e-01 1.67671880e-03 1.52076258e+01] [-8.06056908e-03 -1.02447382e-04 9.99967508e-01 -3.94649028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90028169299998 meters 0.020505719161620143 Centerline is valid? [True, True] Translation: X:243.57, Y:15.23, Z:-0.04 [[ 9.80526986e-01 -1.96284119e-01 6.27492883e-03 2.43572153e+02] [ 1.96279592e-01 9.80547061e-01 1.33533089e-03 1.52305934e+01] [-6.41496726e-03 -7.76875024e-05 9.99979421e-01 -4.27290616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96028169299998 meters 0.021793390198929875 Centerline is valid? [True, True] Translation: X:243.63, Y:15.25, Z:-0.04 [[ 9.80504201e-01 -1.96369917e-01 7.09696116e-03 2.43626515e+02] [ 1.96364125e-01 9.80529881e-01 1.51072487e-03 1.52547506e+01] [-7.25544340e-03 -8.76835127e-05 9.99973675e-01 -3.98291789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.020281693 meters 0.02078510237242021 Centerline is valid? [True, True] Translation: X:243.68, Y:15.27, Z:-0.04 [[ 9.80242277e-01 -1.97657667e-01 7.51837987e-03 2.43683289e+02] [ 1.97651196e-01 9.80271105e-01 1.60159108e-03 1.52715730e+01] [-7.68661730e-03 -8.39305130e-05 9.99970454e-01 -3.98648661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.080281693 meters 0.016203828227692157 Centerline is valid? [True, True] Translation: X:243.74, Y:15.28, Z:-0.04 [[ 9.79138453e-01 -2.03079541e-01 6.82565006e-03 2.43741098e+02] [ 2.03074336e-01 9.79162243e-01 1.45437343e-03 1.52829584e+01] [-6.97877231e-03 -3.79185951e-05 9.99975647e-01 -4.27221443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.140281693 meters 0.015135712018174962 Centerline is valid? [True, True] Translation: X:243.80, Y:15.30, Z:-0.04 [[ 9.78436382e-01 -2.06413208e-01 7.47226255e-03 2.43797265e+02] [ 2.06407064e-01 9.78464914e-01 1.59257720e-03 1.52958455e+01] [-7.64007570e-03 -1.59076935e-05 9.99970814e-01 -3.96181023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.200281693 meters 0.015010837665491284 Centerline is valid? [True, True] Translation: X:243.85, Y:15.32, Z:-0.04 [[ 9.78149286e-01 -2.07667587e-01 9.90692582e-03 2.43853271e+02] [ 2.07656837e-01 9.78199455e-01 2.11310220e-03 1.53155419e+01] [-1.01297723e-02 -9.68853525e-06 9.99948692e-01 -3.69058610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.260281693 meters 0.015741609554099662 Centerline is valid? [True, True] Translation: X:243.91, Y:15.33, Z:-0.03 [[ 9.77740619e-01 -2.09491831e-01 1.16814012e-02 2.43908860e+02] [ 2.09477005e-01 9.77810397e-01 2.49232467e-03 1.53314263e+01] [-1.19443172e-02 1.01378736e-05 9.99928664e-01 -3.36775317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.320281693 meters 0.015924213337395358 Centerline is valid? [True, True] Translation: X:243.97, Y:15.34, Z:-0.04 [[ 9.77220255e-01 -2.11923327e-01 1.13611648e-02 2.43965071e+02] [ 2.11909443e-01 9.77286295e-01 2.42606424e-03 1.53434819e+01] [-1.16172502e-02 3.67389864e-05 9.99932517e-01 -3.58183659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.380281693 meters 0.01589741128417208 Centerline is valid? [True, True] Translation: X:244.02, Y:15.36, Z:-0.04 [[ 9.77135520e-01 -2.12379156e-01 1.00633298e-02 2.44021615e+02] [ 2.12368270e-01 9.77187338e-01 2.15054214e-03 1.53580318e+01] [-1.02904887e-02 3.57608238e-05 9.99947051e-01 -3.79122219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.440281693 meters 0.015551862016820526 Centerline is valid? [True, True] Translation: X:244.08, Y:15.38, Z:-0.04 [[ 9.77982078e-01 -2.08459405e-01 9.78422797e-03 2.44075494e+02] [ 2.08448913e-01 9.78031020e-01 2.09148858e-03 1.53836969e+01] [-1.00052689e-02 -5.92666369e-06 9.99949946e-01 -3.78225326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.500281693 meters 0.016828557626150327 Centerline is valid? [True, True] Translation: X:244.13, Y:15.41, Z:-0.04 [[ 9.78791922e-01 -2.04635067e-01 9.53219676e-03 2.44130295e+02] [ 2.04624914e-01 9.78838336e-01 2.03903239e-03 1.54094428e+01] [-9.74773714e-03 -4.52634925e-05 9.99952489e-01 -3.92786076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.560281693 meters 0.016026750446887603 Centerline is valid? [True, True] Translation: X:244.19, Y:15.43, Z:-0.04 [[ 9.78764672e-01 -2.04790488e-01 8.97627138e-03 2.44185850e+02] [ 2.04781475e-01 9.78805831e-01 1.92179734e-03 1.54259316e+01] [-9.17959258e-03 -4.28132534e-05 9.99957866e-01 -4.35956017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.620281693 meters 0.016855495532671315 Centerline is valid? [True, True] Translation: X:244.24, Y:15.44, Z:-0.04 [[ 9.78730082e-01 -2.04946192e-01 9.19151819e-03 2.44240254e+02] [ 2.04936741e-01 9.78773241e-01 1.96867010e-03 1.54441092e+01] [-9.39988349e-03 -4.31168604e-05 9.99955819e-01 -3.99886792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68028169299998 meters 0.017189836280590166 Centerline is valid? [True, True] Translation: X:244.29, Y:15.47, Z:-0.04 [[ 9.79283588e-01 -2.02290879e-01 9.05845228e-03 2.44294971e+02] [ 2.02281572e-01 9.79325480e-01 1.94168685e-03 1.54681058e+01] [-9.26395867e-03 -6.91041000e-05 9.99957086e-01 -4.41679633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.740281693 meters 0.02037877346238541 Centerline is valid? [True, True] Translation: X:244.35, Y:15.50, Z:-0.05 [[ 9.80183637e-01 -1.97949811e-01 7.47728517e-03 2.44348001e+02] [ 1.97943333e-01 9.80212153e-01 1.60402222e-03 1.55003545e+01] [-7.64684168e-03 -9.21575884e-05 9.99970758e-01 -5.01100882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.800281693 meters 0.019351669593013918 Centerline is valid? [True, True] Translation: X:244.40, Y:15.52, Z:-0.05 [[ 9.79678219e-01 -2.00466083e-01 6.62855417e-03 2.44403793e+02] [ 2.00461043e-01 9.79700641e-01 1.42306128e-03 1.55181227e+01] [-6.77927429e-03 -6.53752622e-05 9.99977018e-01 -5.10389572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.860281693 meters 0.014855248204542742 Centerline is valid? [True, True] Translation: X:244.46, Y:15.52, Z:-0.06 [[ 9.77914952e-01 -2.08974621e-01 3.45744142e-03 2.44461495e+02] [ 2.08973302e-01 9.77921064e-01 7.42472460e-04 1.55249325e+01] [-3.53626269e-03 -3.56197000e-06 9.99993747e-01 -5.72379767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.920281693 meters 0.016885392340879726 Centerline is valid? [True, True] Translation: X:244.52, Y:15.53, Z:-0.06 [[ 9.76623976e-01 -2.14914102e-01 4.18781261e-03 2.44519458e+02] [ 2.14912220e-01 9.76632955e-01 8.99548628e-04 1.55330416e+01] [-4.28328149e-03 2.14913486e-05 9.99990826e-01 -5.66339003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.980281693 meters 0.01667831747696751 Centerline is valid? [True, True] Translation: X:244.58, Y:15.55, Z:-0.06 [[ 9.76219483e-01 -2.16722577e-01 5.18128470e-03 2.44575363e+02] [ 2.16719721e-01 9.76233232e-01 1.11326501e-03 1.55504263e+01] [-5.29941197e-03 3.60955801e-05 9.99985957e-01 -5.78989573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.040281693 meters 0.02011325294549453 Centerline is valid? [True, True] Translation: X:244.63, Y:15.56, Z:-0.06 [[ 9.75535630e-01 -2.19808041e-01 3.82890296e-03 2.44633351e+02] [ 2.19806504e-01 9.75543143e-01 8.22914511e-04 1.55576576e+01] [-3.91614325e-03 3.88353460e-05 9.99992331e-01 -5.95333859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.100281693 meters 0.024429656216378583 Centerline is valid? [True, True] Translation: X:244.69, Y:15.56, Z:-0.06 [[ 9.74628571e-01 -2.23814652e-01 2.48012065e-03 2.44692012e+02] [ 2.23814020e-01 9.74631725e-01 5.33160236e-04 1.55629155e+01] [-2.53653334e-03 3.54525741e-05 9.99996782e-01 -6.29771317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.160281693 meters 0.025937734766921426 Centerline is valid? [True, True] Translation: X:244.75, Y:15.57, Z:-0.06 [[ 9.73629162e-01 -2.28113843e-01 3.21382698e-03 2.44751314e+02] [ 2.28112804e-01 9.73634465e-01 6.90979107e-04 1.55721687e+01] [-3.28671461e-03 6.03576762e-05 9.99994597e-01 -6.32191819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.220281693 meters 0.03439340616543379 Centerline is valid? [True, True] Translation: X:244.81, Y:15.57, Z:-0.06 [[ 9.72858532e-01 -2.31359323e-01 4.37499329e-03 2.44811714e+02] [ 2.31357430e-01 9.72868364e-01 9.40843733e-04 1.55713540e+01] [-4.47396553e-03 9.68793488e-05 9.99989987e-01 -6.05149175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.280281693 meters 0.02496970020267316 Centerline is valid? [True, True] Translation: X:244.87, Y:15.60, Z:-0.06 [[ 9.73804067e-01 -2.27329319e-01 5.19810484e-03 2.44867490e+02] [ 2.27326588e-01 9.73817936e-01 1.11798921e-03 1.55962179e+01] [-5.31615945e-03 9.29649990e-05 9.99985865e-01 -6.04216499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.340281693 meters 0.019202921630725976 Centerline is valid? [True, True] Translation: X:244.92, Y:15.62, Z:-0.06 [[ 9.75373554e-01 -2.20518798e-01 4.22971433e-03 2.44924067e+02] [ 2.20516926e-01 9.75382724e-01 9.09763772e-04 1.56200162e+01] [-4.32621030e-03 4.53640812e-05 9.99990641e-01 -6.28422341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40028169299998 meters 0.017248213258866975 Centerline is valid? [True, True] Translation: X:244.98, Y:15.64, Z:-0.06 [[ 9.75991467e-01 -2.17766500e-01 4.29046010e-03 2.44980909e+02] [ 2.17764545e-01 9.76000897e-01 9.23485902e-04 1.56355258e+01] [-4.38859720e-03 3.29957292e-05 9.99990370e-01 -6.31451309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46028169299998 meters 0.01736779959841875 Centerline is valid? [True, True] Translation: X:245.04, Y:15.65, Z:-0.06 [[ 9.75999143e-01 -2.17731490e-01 4.32107447e-03 2.45036450e+02] [ 2.17729505e-01 9.76008708e-01 9.30458197e-04 1.56464142e+01] [-4.41999636e-03 3.26990004e-05 9.99990231e-01 -6.47033415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.520281693 meters 0.019046321363071744 Centerline is valid? [True, True] Translation: X:245.09, Y:15.65, Z:-0.07 [[ 9.75218199e-01 -2.21236239e-01 1.99766579e-03 2.45094681e+02] [ 2.21235821e-01 9.75220245e-01 4.30272607e-04 1.56531181e+01] [-2.04335602e-03 2.23455564e-05 9.99997912e-01 -7.11886344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.580281693 meters 0.022853863582269627 Centerline is valid? [True, True] Translation: X:245.15, Y:15.66, Z:-0.07 [[ 9.74552483e-01 -2.24142570e-01 2.75050992e-03 2.45153142e+02] [ 2.24141790e-01 9.74556364e-01 5.92600708e-04 1.56572358e+01] [-2.81335399e-03 3.89837245e-05 9.99996042e-01 -6.83580288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.640281693 meters 0.021051782223750336 Centerline is valid? [True, True] Translation: X:245.21, Y:15.67, Z:-0.07 [[ 9.74545580e-01 -2.24142963e-01 4.56565027e-03 2.45209074e+02] [ 2.24140810e-01 9.74556272e-01 9.84540674e-04 1.56711762e+01] [-4.67016097e-03 6.38687878e-05 9.99989093e-01 -6.63595502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.700281693 meters 0.022062633278638052 Centerline is valid? [True, True] Translation: X:245.27, Y:15.68, Z:-0.07 [[ 9.74809600e-01 -2.23011269e-01 3.49525628e-03 2.45265864e+02] [ 2.23009998e-01 9.74815866e-01 7.54307050e-04 1.56845172e+01] [-3.57545024e-03 4.41713394e-05 9.99993607e-01 -6.74561469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.760281693 meters 0.018723654954630374 Centerline is valid? [True, True] Translation: X:245.32, Y:15.71, Z:-0.07 [[ 9.75313687e-01 -2.20793253e-01 3.68123176e-03 2.45321368e+02] [ 2.20791824e-01 9.75320634e-01 7.95067803e-04 1.57065938e+01] [-3.76592690e-03 3.73453660e-05 9.99992908e-01 -6.99235598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.820281693 meters 0.018976514234347465 Centerline is valid? [True, True] Translation: X:245.38, Y:15.72, Z:-0.07 [[ 9.75324627e-01 -2.20734228e-01 4.27452214e-03 2.45376422e+02] [ 2.20732300e-01 9.75333993e-01 9.23601257e-04 1.57210556e+01] [-4.37295716e-03 4.27140530e-05 9.99990438e-01 -6.99696955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.880281693 meters 0.02174119691271008 Centerline is valid? [True, True] Translation: X:245.43, Y:15.73, Z:-0.07 [[ 9.74527372e-01 -2.24247325e-01 3.08833396e-03 2.45434466e+02] [ 2.24246335e-01 9.74532265e-01 6.67773433e-04 1.57319749e+01] [-3.15942750e-03 4.17840841e-05 9.99995008e-01 -7.22567206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.940281693 meters 0.02762264474777311 Centerline is valid? [True, True] Translation: X:245.49, Y:15.74, Z:-0.07 [[ 9.73782266e-01 -2.27473430e-01 1.98410134e-03 2.45492552e+02] [ 2.27473028e-01 9.73784287e-01 4.29142713e-04 1.57377689e+01] [-2.02970527e-03 3.34379752e-05 9.99997940e-01 -7.48920575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.000281693 meters 0.02411153407842467 Centerline is valid? [True, True] Translation: X:245.55, Y:15.76, Z:-0.08 [[ 9.73815267e-01 -2.27332965e-01 -1.88376864e-03 2.45547876e+02] [ 2.27332602e-01 9.73817089e-01 -4.07882797e-04 1.57580588e+01] [ 1.92717130e-03 -3.10395318e-05 9.99998143e-01 -8.27333124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.060281693 meters 0.025119634028817027 Centerline is valid? [True, True] Translation: X:245.61, Y:15.77, Z:-0.08 [[ 9.73557736e-01 -2.28433899e-01 -1.81338538e-03 2.45605937e+02] [ 2.28433563e-01 9.73559424e-01 -3.92937644e-04 1.57676453e+01] [ 1.85519870e-03 -3.16906001e-05 9.99998279e-01 -8.27247738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.120281693 meters 0.02721680702215839 Centerline is valid? [True, True] Translation: X:245.66, Y:15.77, Z:-0.08 [[ 9.73092641e-01 -2.30407815e-01 -1.71802927e-03 2.45664758e+02] [ 2.30407517e-01 9.73094157e-01 -3.72342697e-04 1.57714499e+01] [ 1.75759491e-03 -3.35229191e-05 9.99998455e-01 -8.29495420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18028169299998 meters 0.026992464274989417 Centerline is valid? [True, True] Translation: X:245.72, Y:15.78, Z:-0.09 [[ 9.73593137e-01 -2.28260166e-01 -3.70125950e-03 2.45721711e+02] [ 2.28258765e-01 9.73600171e-01 -8.02352776e-04 1.57799199e+01] [ 3.78669206e-03 -6.36797634e-05 9.99992828e-01 -8.70898901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.240281693 meters 0.019090045320922205 Centerline is valid? [True, True] Translation: X:245.78, Y:15.80, Z:-0.08 [[ 9.75184375e-01 -2.21384425e-01 -2.09058381e-03 2.45777619e+02] [ 2.21383962e-01 9.75186616e-01 -4.53239997e-04 1.58042191e+01] [ 2.13904963e-03 -2.08291632e-05 9.99997712e-01 -8.37901987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.300281693 meters 0.016543386265452254 Centerline is valid? [True, True] Translation: X:245.83, Y:15.82, Z:-0.08 [[ 9.76144819e-01 -2.17116308e-01 -1.34186208e-03 2.45834022e+02] [ 2.17116113e-01 9.76145741e-01 -2.91192511e-04 1.58215495e+01] [ 1.37307559e-03 -7.09381717e-06 9.99999057e-01 -8.32532558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.360281693 meters 0.016021206200435664 Centerline is valid? [True, True] Translation: X:245.89, Y:15.83, Z:-0.08 [[ 9.76445120e-01 -2.15760109e-01 -1.58221194e-03 2.45891035e+02] [ 2.15759835e-01 9.76446402e-01 -3.43655194e-04 1.58329268e+01] [ 1.61909224e-03 -5.81735014e-06 9.99998689e-01 -8.48188030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.420281693 meters 0.017337130842836973 Centerline is valid? [True, True] Translation: X:245.95, Y:15.84, Z:-0.08 [[ 9.75760093e-01 -2.18840830e-01 -9.65641324e-04 2.45949522e+02] [ 2.18840730e-01 9.75760570e-01 -2.09774807e-04 1.58362983e+01] [ 9.88142022e-04 -6.63176661e-06 9.99999512e-01 -8.39356927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.480281693 meters 0.01994164451309915 Centerline is valid? [True, True] Translation: X:246.01, Y:15.84, Z:-0.09 [[ 9.74821264e-01 -2.22978798e-01 -1.98963832e-03 2.46008888e+02] [ 2.22978379e-01 9.74823294e-01 -4.32570764e-04 1.58392208e+01] [ 2.03599989e-03 -2.19671484e-05 9.99997927e-01 -8.50211001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.540281693 meters 0.020535187364706883 Centerline is valid? [True, True] Translation: X:246.07, Y:15.85, Z:-0.09 [[ 9.74705709e-01 -2.23470643e-01 -3.10694272e-03 2.46067292e+02] [ 2.23469623e-01 9.74710660e-01 -6.75969159e-04 1.58457675e+01] [ 3.17942945e-03 -3.54363201e-05 9.99994945e-01 -8.79790498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.600281693 meters 0.02176606797242914 Centerline is valid? [True, True] Translation: X:246.13, Y:15.85, Z:-0.09 [[ 9.74397273e-01 -2.24777263e-01 -5.01370794e-03 2.46125549e+02] [ 2.24774621e-01 9.74410169e-01 -1.09161125e-03 1.58532401e+01] [ 5.13077739e-03 -6.32912837e-05 9.99986835e-01 -9.29586636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.660281693 meters 0.02313894995017264 Centerline is valid? [True, True] Translation: X:246.19, Y:15.86, Z:-0.10 [[ 9.74103024e-01 -2.26010023e-01 -6.53972910e-03 2.46185151e+02] [ 2.26005549e-01 9.74124972e-01 -1.42491420e-03 1.58574187e+01] [ 6.69255832e-03 -9.00018303e-05 9.99977601e-01 -9.54182747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.720281693 meters 0.019969337226554633 Centerline is valid? [True, True] Translation: X:246.24, Y:15.88, Z:-0.10 [[ 9.75045141e-01 -2.21886273e-01 -7.31134696e-03 2.46241481e+02] [ 2.21880556e-01 9.75072550e-01 -1.59421845e-03 1.58767050e+01] [ 7.48282891e-03 -6.78107789e-05 9.99972001e-01 -9.68569802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.780281693 meters 0.017559289372662136 Centerline is valid? [True, True] Translation: X:246.30, Y:15.89, Z:-0.10 [[ 9.76078348e-01 -2.17265441e-01 -8.17234564e-03 2.46298336e+02] [ 2.17258126e-01 9.76112558e-01 -1.78327250e-03 1.58935871e+01] [ 8.36457270e-03 -3.48948153e-05 9.99965016e-01 -9.91320877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.840281693 meters 0.01652008370940441 Centerline is valid? [True, True] Translation: X:246.36, Y:15.91, Z:-0.09 [[ 9.76442807e-01 -2.15694702e-01 -5.93640141e-03 2.46355144e+02] [ 2.15690810e-01 9.76460852e-01 -1.29569312e-03 1.59059093e+01] [ 6.07613772e-03 -1.52570040e-05 9.99981540e-01 -9.47650816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90028169299998 meters 0.01612782691423719 Centerline is valid? [True, True] Translation: X:246.41, Y:15.92, Z:-0.09 [[ 9.76664299e-01 -2.14720828e-01 -4.67034087e-03 2.46413030e+02] [ 2.14718407e-01 9.76675466e-01 -1.01978206e-03 1.59188398e+01] [ 4.78037579e-03 -6.82341919e-06 9.99988574e-01 -9.23845618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96028169299998 meters 0.016581204193468143 Centerline is valid? [True, True] Translation: X:246.47, Y:15.93, Z:-0.10 [[ 9.76907531e-01 -2.13539675e-01 -7.24455298e-03 2.46470384e+02] [ 2.13533807e-01 9.76934393e-01 -1.58302642e-03 1.59334554e+01] [ 7.41549192e-03 -4.86544752e-07 9.99972505e-01 -9.79524267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02028169299996 meters 0.017800961055279195 Centerline is valid? [True, True] Translation: X:246.53, Y:15.95, Z:-0.10 [[ 9.77427437e-01 -2.11013921e-01 -1.04274094e-02 2.46526672e+02] [ 2.11001603e-01 9.77483056e-01 -2.28013870e-03 1.59506031e+01] [ 1.06737570e-02 2.84700285e-05 9.99943033e-01 -1.04913669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08028169299996 meters 0.020799458251628995 Centerline is valid? [True, True] Translation: X:246.58, Y:15.98, Z:-0.10 [[ 9.78582157e-01 -2.05601905e-01 -1.02380706e-02 2.46580869e+02] [ 2.05589728e-01 9.78635708e-01 -2.23927591e-03 1.59760117e+01] [ 1.04797409e-02 8.64732980e-05 9.99945082e-01 -1.03687349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14028169299996 meters 0.026002704465816533 Centerline is valid? [True, True] Translation: X:246.64, Y:16.01, Z:-0.10 [[ 9.80033635e-01 -1.98630704e-01 -8.93969318e-03 2.46635087e+02] [ 1.98621127e-01 9.80074397e-01 -1.95549564e-03 1.60078312e+01] [ 9.14998588e-03 1.40839558e-04 9.99958128e-01 -9.87788277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20028169299997 meters 0.03344586768187569 Centerline is valid? [True, True] Translation: X:246.69, Y:16.04, Z:-0.10 [[ 9.81760700e-01 -1.89940032e-01 -8.28934958e-03 2.46688948e+02] [ 1.89931487e-01 9.81795672e-01 -1.81328469e-03 1.60441775e+01] [ 8.48286290e-03 2.05803148e-04 9.99963999e-01 -9.67837964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26028169299997 meters 0.03394860191068359 Centerline is valid? [True, True] Translation: X:246.74, Y:16.07, Z:-0.09 [[ 9.82194016e-01 -1.87765187e-01 -6.25694844e-03 2.46744594e+02] [ 1.87760267e-01 9.82213931e-01 -1.36986711e-03 1.60667161e+01] [ 6.40287528e-03 1.70668966e-04 9.99979487e-01 -9.32505020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32028169299997 meters 0.029967713543217884 Centerline is valid? [True, True] Translation: X:246.80, Y:16.08, Z:-0.09 [[ 9.81407903e-01 -1.91918290e-01 -2.42860653e-03 2.46801136e+02] [ 1.91917561e-01 9.81410906e-01 -5.31735857e-04 1.60831530e+01] [ 2.48551077e-03 5.57575299e-05 9.99996910e-01 -8.71794074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.380281693 meters 0.02059832856525985 Centerline is valid? [True, True] Translation: X:246.86, Y:16.09, Z:-0.09 [[ 9.79301220e-01 -2.02389773e-01 -2.73875615e-03 2.46862069e+02] [ 2.02388887e-01 9.79305049e-01 -5.99651267e-04 1.60868039e+01] [ 2.80344101e-03 3.29454082e-05 9.99996070e-01 -8.74095180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.440281693 meters 0.016148056346145963 Centerline is valid? [True, True] Translation: X:246.92, Y:16.09, Z:-0.09 [[ 9.77606535e-01 -2.10424649e-01 -2.63245026e-03 2.46922191e+02] [ 2.10423859e-01 9.77610079e-01 -5.76855716e-04 1.60886883e+01] [ 2.69489457e-03 1.00075747e-05 9.99996369e-01 -8.75299585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.500281693 meters 0.015790736797958903 Centerline is valid? [True, True] Translation: X:246.98, Y:16.10, Z:-0.09 [[ 9.76932511e-01 -2.13512758e-01 -3.89515020e-03 2.46978086e+02] [ 2.13511050e-01 9.76940276e-01 -8.53838058e-04 1.60993340e+01] [ 3.98763442e-03 2.48454817e-06 9.99992049e-01 -8.99845670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.560281693 meters 0.016217170892824227 Centerline is valid? [True, True] Translation: X:247.04, Y:16.11, Z:-0.09 [[ 9.76251641e-01 -2.16564522e-01 -5.70455455e-03 2.47036313e+02] [ 2.16560907e-01 9.76268307e-01 -1.25144955e-03 1.61088378e+01] [ 5.84019539e-03 -1.36538347e-05 9.99982946e-01 -9.25201686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.620281693 meters 0.01763102518995597 Centerline is valid? [True, True] Translation: X:247.09, Y:16.12, Z:-0.09 [[ 9.75317630e-01 -2.20735609e-01 -5.59571130e-03 2.47093426e+02] [ 2.20732197e-01 9.75333681e-01 -1.22787288e-03 1.61171563e+01] [ 5.72872097e-03 -3.75875888e-05 9.99983590e-01 -9.26100867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.680281693 meters 0.022003249816299975 Centerline is valid? [True, True] Translation: X:247.15, Y:16.12, Z:-0.10 [[ 9.73918406e-01 -2.26774528e-01 -7.50012044e-03 2.47154812e+02] [ 2.26768576e-01 9.73947280e-01 -1.64591965e-03 1.61166019e+01] [ 7.67797455e-03 -9.78001884e-05 9.99970519e-01 -9.65820461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.740281693 meters 0.02587534378879593 Centerline is valid? [True, True] Translation: X:247.21, Y:16.12, Z:-0.10 [[ 9.72932454e-01 -2.30990720e-01 -6.76215358e-03 2.47214487e+02] [ 2.30985975e-01 9.72955946e-01 -1.48513657e-03 1.61190522e+01] [ 6.92233030e-03 -1.17025071e-04 9.99976034e-01 -9.60560602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.800281693 meters 0.030889470836075836 Centerline is valid? [True, True] Translation: X:247.28, Y:16.11, Z:-0.10 [[ 9.71883053e-01 -2.35369120e-01 -6.68642067e-03 2.47275324e+02] [ 2.35364583e-01 9.71906043e-01 -1.46877808e-03 1.61133085e+01] [ 6.84427766e-03 -1.46266092e-04 9.99976567e-01 -9.54988468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.860281693 meters 0.03099963153148989 Centerline is valid? [True, True] Translation: X:247.33, Y:16.12, Z:-0.10 [[ 9.71798617e-01 -2.35710792e-01 -6.91880333e-03 2.47334938e+02] [ 2.35705935e-01 9.71823234e-01 -1.52098695e-03 1.61152039e+01] [ 7.08236687e-03 -1.52709987e-04 9.99974908e-01 -9.57181963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.920281693 meters 0.025212078249932088 Centerline is valid? [True, True] Translation: X:247.39, Y:16.13, Z:-0.10 [[ 9.73258382e-01 -2.29586641e-01 -7.62215303e-03 2.47392196e+02] [ 2.29580555e-01 9.73288221e-01 -1.67581995e-03 1.61272705e+01] [ 7.80329763e-03 -1.18892309e-04 9.99969547e-01 -9.67231450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.980281693 meters 0.016973891890889353 Centerline is valid? [True, True] Translation: X:247.45, Y:16.15, Z:-0.10 [[ 9.75707514e-01 -2.18948847e-01 -7.50000200e-03 2.47447856e+02] [ 2.18942639e-01 9.75736338e-01 -1.64918589e-03 1.61541088e+01] [ 7.67911183e-03 -3.29471663e-05 9.99970515e-01 -9.51376981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04028169299994 meters 0.01631388676662402 Centerline is valid? [True, True] Translation: X:247.50, Y:16.17, Z:-0.10 [[ 9.76788715e-01 -2.14063214e-01 -7.79403753e-03 2.47503192e+02] [ 2.14056340e-01 9.76819810e-01 -1.71539015e-03 1.61724124e+01] [ 7.98057219e-03 7.21058782e-06 9.99968155e-01 -9.65099837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10028169299994 meters 0.016578117318572082 Centerline is valid? [True, True] Translation: X:247.56, Y:16.18, Z:-0.10 [[ 9.76235320e-01 -2.16516906e-01 -9.22111946e-03 2.47562482e+02] [ 2.16507380e-01 9.76278869e-01 -2.03102842e-03 1.61752428e+01] [ 9.44213606e-03 -1.36787297e-05 9.99955422e-01 -9.86706793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16028169299994 meters 0.01975633506480081 Centerline is valid? [True, True] Translation: X:247.62, Y:16.17, Z:-0.10 [[ 9.74641807e-01 -2.23587706e-01 -9.04906355e-03 2.47623165e+02] [ 2.23578832e-01 9.74683811e-01 -1.99363929e-03 1.61696343e+01] [ 9.26572898e-03 -8.00948599e-05 9.99957069e-01 -9.89522127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22028169299995 meters 0.023338005259381307 Centerline is valid? [True, True] Translation: X:247.68, Y:16.17, Z:-0.10 [[ 9.73657416e-01 -2.27834774e-01 -9.08585823e-03 2.47683071e+02] [ 2.27825998e-01 9.73699801e-01 -2.00325778e-03 1.61714318e+01] [ 9.30331013e-03 -1.19507920e-04 9.99956716e-01 -9.94503397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28028169299995 meters 0.026385195835450015 Centerline is valid? [True, True] Translation: X:247.75, Y:16.17, Z:-0.10 [[ 9.72625160e-01 -2.32209922e-01 -8.87978842e-03 2.47745015e+02] [ 2.32201720e-01 9.72665681e-01 -1.95799151e-03 1.61680395e+01] [ 9.09173051e-03 -1.57510343e-04 9.99958657e-01 -9.80574110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34028169299995 meters 0.027807314681332667 Centerline is valid? [True, True] Translation: X:247.80, Y:16.17, Z:-0.10 [[ 9.72376460e-01 -2.33211724e-01 -9.81386543e-03 2.47802823e+02] [ 2.33201751e-01 9.72425965e-01 -2.16454757e-03 1.61735073e+01] [ 1.00480554e-02 -1.83855500e-04 9.99949500e-01 -9.91628242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40028169299995 meters 0.030235469141945876 Centerline is valid? [True, True] Translation: X:247.86, Y:16.18, Z:-0.10 [[ 9.72167463e-01 -2.34150463e-01 -7.99900546e-03 2.47861013e+02] [ 2.34143864e-01 9.72200358e-01 -1.76492913e-03 1.61759937e+01] [ 8.18989494e-03 -1.57111369e-04 9.99966450e-01 -9.71867718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46028169299996 meters 0.032097395279706085 Centerline is valid? [True, True] Translation: X:247.92, Y:16.18, Z:-0.09 [[ 9.71296874e-01 -2.37784140e-01 -6.40981380e-03 2.47921116e+02] [ 2.37779979e-01 9.71318012e-01 -1.41459983e-03 1.61775238e+01] [ 6.56233700e-03 -1.50129002e-04 9.99978456e-01 -9.27458416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52028169299996 meters 0.03130810705597694 Centerline is valid? [True, True] Translation: X:247.98, Y:16.18, Z:-0.10 [[ 9.71063663e-01 -2.38693209e-01 -7.80482987e-03 2.47980322e+02] [ 2.38687059e-01 9.71095009e-01 -1.72383336e-03 1.61824690e+01] [ 7.99069865e-03 -1.88959951e-04 9.99968056e-01 -9.50094839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58028169299996 meters 0.03665059549647559 Centerline is valid? [True, True] Translation: X:248.04, Y:16.17, Z:-0.10 [[ 9.70581309e-01 -2.40548062e-01 -1.04188948e-02 2.48042271e+02] [ 2.40537205e-01 9.70637191e-01 -2.30150668e-03 1.61749068e+01] [ 1.06665898e-02 -2.72332477e-04 9.99943073e-01 -9.99325089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64028169299996 meters 0.034740892911679346 Centerline is valid? [True, True] Translation: X:248.10, Y:16.18, Z:-0.10 [[ 9.70428508e-01 -2.41157343e-01 -1.05662950e-02 2.48101735e+02] [ 2.41146203e-01 9.70485990e-01 -2.33503829e-03 1.61761909e+01] [ 1.08175528e-02 -2.82034186e-04 9.99941449e-01 -9.85556867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70028169299997 meters 0.032237049786245815 Centerline is valid? [True, True] Translation: X:248.16, Y:16.18, Z:-0.10 [[ 9.71716615e-01 -2.35989623e-01 -8.70161833e-03 2.48161919e+02] [ 2.35981859e-01 9.71755558e-01 -1.92315369e-03 1.61764429e+01] [ 8.90969029e-03 -1.84663677e-04 9.99960291e-01 -9.68392392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76028169299997 meters 0.022346877771115846 Centerline is valid? [True, True] Translation: X:248.22, Y:16.20, Z:-0.10 [[ 9.73708303e-01 -2.27589801e-01 -9.74798216e-03 2.48218936e+02] [ 2.27579634e-01 9.73757089e-01 -2.15452209e-03 1.61959730e+01] [ 9.98251398e-03 -1.20566169e-04 9.99950166e-01 -9.75196803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82028169299997 meters 0.017713385186335452 Centerline is valid? [True, True] Translation: X:248.28, Y:16.21, Z:-0.09 [[ 9.75144819e-01 -2.21406361e-01 -8.47378844e-03 2.48276323e+02] [ 2.21398439e-01 9.75181635e-01 -1.87357245e-03 1.62111374e+01] [ 8.67830372e-03 -4.90790674e-05 9.99962342e-01 -9.48911955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.880281693 meters 0.016337274173208207 Centerline is valid? [True, True] Translation: X:248.33, Y:16.23, Z:-0.09 [[ 9.76599074e-01 -2.14896922e-01 -8.57674894e-03 2.48332451e+02] [ 2.14888542e-01 9.76636735e-01 -1.89777970e-03 1.62298375e+01] [ 8.78419510e-03 1.03248166e-05 9.99961418e-01 -9.48505598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.940281693 meters 0.019267554789139135 Centerline is valid? [True, True] Translation: X:248.39, Y:16.25, Z:-0.10 [[ 9.78024872e-01 -2.08309266e-01 -8.63711032e-03 2.48387754e+02] [ 2.08300507e-01 9.78063006e-01 -1.91160842e-03 1.62501449e+01] [ 8.84584383e-03 7.04861260e-05 9.99960872e-01 -9.60461709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.000281693 meters 0.023223337836146187 Centerline is valid? [True, True] Translation: X:248.45, Y:16.27, Z:-0.09 [[ 9.79218057e-01 -2.02650365e-01 -8.05148457e-03 2.48445042e+02] [ 2.02642560e-01 9.79251151e-01 -1.78217727e-03 1.62688926e+01] [ 8.24558441e-03 1.13566723e-04 9.99965998e-01 -9.26890305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.060281693 meters 0.02335766624913612 Centerline is valid? [True, True] Translation: X:248.50, Y:16.28, Z:-0.10 [[ 9.79322986e-01 -2.02051860e-01 -1.00765020e-02 2.48502214e+02] [ 2.02039585e-01 9.79374813e-01 -2.23220943e-03 1.62809901e+01] [ 1.03196944e-02 1.50201722e-04 9.99946739e-01 -9.56625599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.120281693 meters 0.02189364866686978 Centerline is valid? [True, True] Translation: X:248.56, Y:16.29, Z:-0.10 [[ 9.78519482e-01 -2.05829095e-01 -1.15761328e-02 2.48558895e+02] [ 2.05813151e-01 9.78587946e-01 -2.56508101e-03 1.62916233e+01] [ 1.18562323e-02 1.27461374e-04 9.99929704e-01 -1.00882410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.180281693 meters 0.01727893710422968 Centerline is valid? [True, True] Translation: X:248.62, Y:16.30, Z:-0.09 [[ 9.77423280e-01 -2.11120247e-01 -8.48368972e-03 2.48618232e+02] [ 2.11111879e-01 9.77460096e-01 -1.88025683e-03 1.62962017e+01] [ 8.68942845e-03 4.67991171e-05 9.99962245e-01 -9.41909747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.240281693 meters 0.015712913515059396 Centerline is valid? [True, True] Translation: X:248.68, Y:16.30, Z:-0.09 [[ 9.76301927e-01 -2.16320746e-01 -6.31526704e-03 2.48676518e+02] [ 2.16316215e-01 9.76322352e-01 -1.40005642e-03 1.63003197e+01] [ 6.46859762e-03 7.83111096e-07 9.99979078e-01 -9.01864367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.300281693 meters 0.01870236029184411 Centerline is valid? [True, True] Translation: X:248.74, Y:16.30, Z:-0.09 [[ 9.74538497e-01 -2.24086883e-01 -7.73223143e-03 2.48736298e+02] [ 2.24080324e-01 9.74569169e-01 -1.71552386e-03 1.63041869e+01] [ 7.92002075e-03 -6.07968865e-05 9.99968634e-01 -9.35329672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.360281693 meters 0.026314706389916964 Centerline is valid? [True, True] Translation: X:248.80, Y:16.30, Z:-0.09 [[ 9.72785125e-01 -2.31596540e-01 -7.22100544e-03 2.48796408e+02] [ 2.31591024e-01 9.72811919e-01 -1.60240545e-03 1.63020248e+01] [ 7.39579171e-03 -1.13523861e-04 9.99972644e-01 -9.31040865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.420281693 meters 0.0318886111911899 Centerline is valid? [True, True] Translation: X:248.86, Y:16.31, Z:-0.10 [[ 9.71394268e-01 -2.37216725e-01 -1.10182387e-02 2.48856928e+02] [ 2.37204243e-01 9.71456725e-01 -2.44515887e-03 1.63056940e+01] [ 1.12837746e-02 -2.38359655e-04 9.99936308e-01 -9.94997676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.480281693 meters 0.02767777295192798 Centerline is valid? [True, True] Translation: X:248.91, Y:16.33, Z:-0.09 [[ 9.72398756e-01 -2.33160323e-01 -8.77061622e-03 2.48913106e+02] [ 2.33152247e-01 9.72438297e-01 -1.94657375e-03 1.63257933e+01] [ 8.98274686e-03 -1.52042986e-04 9.99959643e-01 -9.32807687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54028169299994 meters 0.020174628129063617 Centerline is valid? [True, True] Translation: X:248.97, Y:16.36, Z:-0.09 [[ 9.74067593e-01 -2.26097378e-01 -8.50296045e-03 2.48967900e+02] [ 2.26089517e-01 9.74104701e-01 -1.88726800e-03 1.63562434e+01] [ 8.70948009e-03 -8.41036267e-05 9.99962068e-01 -9.08432791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60028169299994 meters 0.018762832200657848 Centerline is valid? [True, True] Translation: X:249.02, Y:16.40, Z:-0.09 [[ 9.77585996e-01 -2.10360525e-01 -8.60643499e-03 2.49016257e+02] [ 2.10351855e-01 9.77623878e-01 -1.91076333e-03 1.64035065e+01] [ 8.81580553e-03 5.75559075e-05 9.99961138e-01 -9.22729815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66028169299994 meters 0.024450253331100555 Centerline is valid? [True, True] Translation: X:249.07, Y:16.44, Z:-0.09 [[ 9.79310916e-01 -2.02263519e-01 -6.29267942e-03 2.49069320e+02] [ 2.02258716e-01 9.79331129e-01 -1.39721592e-03 1.64397763e+01] [ 6.44522265e-03 9.55595432e-05 9.99979225e-01 -8.69664002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72028169299995 meters 0.024543376422779026 Centerline is valid? [True, True] Translation: X:249.12, Y:16.46, Z:-0.09 [[ 9.79225824e-01 -2.02660256e-01 -6.75331144e-03 2.49124581e+02] [ 2.02654724e-01 9.79249105e-01 -1.50082267e-03 1.64592027e+01] [ 6.91733129e-03 1.01053854e-04 9.99976070e-01 -8.90437161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78028169299995 meters 0.021522965096035587 Centerline is valid? [True, True] Translation: X:249.18, Y:16.47, Z:-0.09 [[ 9.78789898e-01 -2.04732863e-01 -7.40207760e-03 2.49181633e+02] [ 2.04726266e-01 9.78817882e-01 -1.64628470e-03 1.64735483e+01] [ 7.58233450e-03 9.59671295e-05 9.99971249e-01 -8.72268953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84028169299995 meters 0.0204071713591526 Centerline is valid? [True, True] Translation: X:249.24, Y:16.49, Z:-0.09 [[ 9.78311660e-01 -2.06970582e-01 -8.33508631e-03 2.49238688e+02] [ 2.06962286e-01 9.78347162e-01 -1.85522917e-03 1.64879833e+01] [ 8.53858590e-03 8.99438056e-05 9.99963542e-01 -9.03648312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90028169299995 meters 0.019283815225065015 Centerline is valid? [True, True] Translation: X:249.30, Y:16.50, Z:-0.08 [[ 9.78108078e-01 -2.08010516e-01 -6.01764754e-03 2.49296282e+02] [ 2.08006205e-01 9.78126588e-01 -1.34047431e-03 1.65016601e+01] [ 6.16485380e-03 5.94207207e-05 9.99980995e-01 -8.44993892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96028169299996 meters 0.020118241140605425 Centerline is valid? [True, True] Translation: X:249.35, Y:16.52, Z:-0.08 [[ 9.78516544e-01 -2.06130861e-01 -3.92952768e-03 2.49351388e+02] [ 2.06129005e-01 9.78524433e-01 -8.76056666e-04 1.65230193e+01] [ 4.02572116e-03 4.72463092e-05 9.99991896e-01 -8.01953116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02028169299996 meters 0.021392408667700546 Centerline is valid? [True, True] Translation: X:249.41, Y:16.54, Z:-0.08 [[ 9.78698541e-01 -2.05229429e-01 -5.48150783e-03 2.49406441e+02] [ 2.05225802e-01 9.78713889e-01 -1.22234199e-03 1.65415715e+01] [ 5.61568839e-03 7.13574890e-05 9.99984229e-01 -8.37704726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08028169299996 meters 0.017885635200367487 Centerline is valid? [True, True] Translation: X:249.46, Y:16.55, Z:-0.09 [[ 9.77549246e-01 -2.10618331e-01 -6.11479015e-03 2.49464835e+02] [ 2.10613915e-01 9.77568369e-01 -1.36465322e-03 1.65488647e+01] [ 6.26504642e-03 4.61558372e-05 9.99980373e-01 -8.51203050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14028169299996 meters 0.01587822599462941 Centerline is valid? [True, True] Translation: X:249.52, Y:16.56, Z:-0.08 [[ 9.76150449e-01 -2.17007849e-01 -6.15578967e-03 2.49523052e+02] [ 2.17003493e-01 9.76169859e-01 -1.37487497e-03 1.65571017e+01] [ 6.30745500e-03 6.25696047e-06 9.99980108e-01 -8.46303044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20028169299997 meters 0.01602045903718508 Centerline is valid? [True, True] Translation: X:249.58, Y:16.57, Z:-0.08 [[ 9.75367278e-01 -2.20521576e-01 -5.37664028e-03 2.49578855e+02] [ 2.20518304e-01 9.75382097e-01 -1.20129537e-03 1.65684933e+01] [ 5.50919022e-03 -1.39434002e-05 9.99984824e-01 -8.32138670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26028169299997 meters 0.01791756173129404 Centerline is valid? [True, True] Translation: X:249.64, Y:16.58, Z:-0.09 [[ 9.74354621e-01 -2.24922798e-01 -6.54272678e-03 2.49637108e+02] [ 2.24918045e-01 9.74376587e-01 -1.46296439e-03 1.65785022e+01] [ 6.70413383e-03 -4.61311991e-05 9.99977526e-01 -8.55443578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32028169299997 meters 0.021183893864824586 Centerline is valid? [True, True] Translation: X:249.70, Y:16.59, Z:-0.09 [[ 9.73221933e-01 -2.29695700e-01 -8.88557990e-03 2.49696978e+02] [ 2.29687131e-01 9.73262490e-01 -1.98697948e-03 1.65854780e+01] [ 9.10440226e-03 -1.07131343e-04 9.99958548e-01 -8.97048292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.380281693 meters 0.024526580990608036 Centerline is valid? [True, True] Translation: X:249.76, Y:16.59, Z:-0.09 [[ 9.72473766e-01 -2.32893041e-01 -7.45700273e-03 2.49755232e+02] [ 2.32887096e-01 9.72502349e-01 -1.66798989e-03 1.65914005e+01] [ 7.64041591e-03 -1.14563299e-04 9.99970805e-01 -8.81074537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.440281693 meters 0.023769104497900987 Centerline is valid? [True, True] Translation: X:249.81, Y:16.60, Z:-0.09 [[ 9.72557519e-01 -2.32544196e-01 -7.42082393e-03 2.49812766e+02] [ 2.32538288e-01 9.72585824e-01 -1.66117222e-03 1.66042180e+01] [ 7.60368411e-03 -1.10040157e-04 9.99971086e-01 -8.75612162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.500281693 meters 0.020673314435570692 Centerline is valid? [True, True] Translation: X:249.87, Y:16.62, Z:-0.08 [[ 9.73327372e-01 -2.29353070e-01 -5.56740497e-03 2.49870477e+02] [ 2.29349688e-01 9.73343293e-01 -1.24714734e-03 1.66184577e+01] [ 5.70503335e-03 -6.29999448e-05 9.99983724e-01 -8.38620608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.560281693 meters 0.020136897479678312 Centerline is valid? [True, True] Translation: X:249.93, Y:16.63, Z:-0.09 [[ 9.73467205e-01 -2.28732185e-01 -6.57170923e-03 2.49927839e+02] [ 2.28727450e-01 9.73489385e-01 -1.47338084e-03 1.66290339e+01] [ 6.73449880e-03 -6.88423651e-05 9.99977321e-01 -8.52838023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.620281693 meters 0.017560043103006986 Centerline is valid? [True, True] Translation: X:249.98, Y:16.65, Z:-0.08 [[ 9.74152415e-01 -2.25816660e-01 -5.82312175e-03 2.49984776e+02] [ 2.25812884e-01 9.74169818e-01 -1.30656143e-03 1.66455841e+01] [ 5.96775279e-03 -4.21459437e-05 9.99982192e-01 -8.37261238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.680281693 meters 0.015364410525940066 Centerline is valid? [True, True] Translation: X:250.04, Y:16.67, Z:-0.08 [[ 9.75789218e-01 -2.18676963e-01 -3.97348843e-03 2.50038621e+02] [ 2.18675145e-01 9.75797308e-01 -8.91775533e-04 1.66682339e+01] [ 4.07233008e-03 1.28179316e-06 9.99991708e-01 -7.96122234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.740281693 meters 0.01708787308366177 Centerline is valid? [True, True] Translation: X:250.09, Y:16.69, Z:-0.08 [[ 9.76962485e-01 -2.13356096e-01 -4.84547423e-03 2.50093313e+02] [ 2.13353322e-01 9.76974501e-01 -1.08832447e-03 1.66919116e+01] [ 4.96610543e-03 2.94541561e-05 9.99987668e-01 -8.08700728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.800281693 meters 0.018410036893694956 Centerline is valid? [True, True] Translation: X:250.15, Y:16.71, Z:-0.08 [[ 9.77392388e-01 -2.11378880e-01 -4.80517748e-03 2.50149673e+02] [ 2.11376125e-01 9.77404199e-01 -1.08008110e-03 1.67099330e+01] [ 4.92490698e-03 3.99632478e-05 9.99987872e-01 -8.10243835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.860281693 meters 0.019974822241128735 Centerline is valid? [True, True] Translation: X:250.20, Y:16.73, Z:-0.08 [[ 9.77730952e-01 -2.09794758e-01 -5.32399382e-03 2.50204448e+02] [ 2.09791350e-01 9.77745446e-01 -1.19697033e-03 1.67304730e+01] [ 5.45662881e-03 5.33870908e-05 9.99985111e-01 -8.23229539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.920281693 meters 0.018406597221817755 Centerline is valid? [True, True] Translation: X:250.26, Y:16.75, Z:-0.08 [[ 9.77281641e-01 -2.11894079e-01 -4.63609447e-03 2.50261077e+02] [ 2.11891514e-01 9.77292637e-01 -1.04311381e-03 1.67467316e+01] [ 4.75185063e-03 3.70668981e-05 9.99988709e-01 -8.33783943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.980281693 meters 0.015830249580092777 Centerline is valid? [True, True] Translation: X:250.32, Y:16.75, Z:-0.09 [[ 9.75755781e-01 -2.18766774e-01 -6.46179846e-03 2.50319841e+02] [ 2.18761935e-01 9.75777177e-01 -1.45499886e-03 1.67530846e+01] [ 6.62358087e-03 6.12800660e-06 9.99978064e-01 -8.56522460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04028169299994 meters 0.018404210627629855 Centerline is valid? [True, True] Translation: X:250.38, Y:16.75, Z:-0.09 [[ 9.73787034e-01 -2.27342856e-01 -7.35106966e-03 2.50378766e+02] [ 2.27336835e-01 9.73814778e-01 -1.65563786e-03 1.67529472e+01] [ 7.53497772e-03 -5.89302244e-05 9.99971610e-01 -8.74303046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10028169299994 meters 0.02794799295990885 Centerline is valid? [True, True] Translation: X:250.44, Y:16.75, Z:-0.09 [[ 9.71041711e-01 -2.38769236e-01 -8.20045082e-03 2.50441326e+02] [ 2.38762149e-01 9.71076323e-01 -1.84700794e-03 1.67468019e+01] [ 8.40427230e-03 -1.64435508e-04 9.99964670e-01 -8.92936519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16028169299994 meters 0.033411936401588765 Centerline is valid? [True, True] Translation: X:250.50, Y:16.75, Z:-0.09 [[ 9.69745814e-01 -2.44012024e-01 -7.15455548e-03 2.50502947e+02] [ 2.44006771e-01 9.69772189e-01 -1.61152463e-03 1.67470036e+01] [ 7.33152032e-03 -1.82990718e-04 9.99973107e-01 -8.59027209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22028169299995 meters 0.0339960714465826 Centerline is valid? [True, True] Translation: X:250.56, Y:16.75, Z:-0.09 [[ 9.69761101e-01 -2.43932935e-01 -7.75435628e-03 2.50560617e+02] [ 2.43926749e-01 9.69792083e-01 -1.74814798e-03 1.67537770e+01] [ 7.94654420e-03 -1.96209006e-04 9.99968406e-01 -8.70150372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28028169299995 meters 0.030783333037522526 Centerline is valid? [True, True] Translation: X:250.62, Y:16.77, Z:-0.09 [[ 9.70577357e-01 -2.40658127e-01 -7.95361838e-03 2.50618493e+02] [ 2.40651509e-01 9.70609930e-01 -1.79319945e-03 1.67677380e+01] [ 8.15140900e-03 -1.73611480e-04 9.99966762e-01 -8.80860050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34028169299995 meters 0.024990611211029516 Centerline is valid? [True, True] Translation: X:250.68, Y:16.78, Z:-0.08 [[ 9.71943972e-01 -2.35164427e-01 -4.75485922e-03 2.50675963e+02] [ 2.35161995e-01 9.71955599e-01 -1.07213042e-03 1.67830255e+01] [ 4.87363898e-03 -7.61114779e-05 9.99988121e-01 -8.07074728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40028169299995 meters 0.02065665248936988 Centerline is valid? [True, True] Translation: X:250.73, Y:16.80, Z:-0.08 [[ 9.72975461e-01 -2.30896952e-01 -2.31287993e-03 2.50733367e+02] [ 2.30896365e-01 9.72978210e-01 -5.21629736e-04 1.67953233e+01] [ 2.37082449e-03 -2.65026342e-05 9.99997189e-01 -7.64385805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46028169299996 meters 0.017567288423578957 Centerline is valid? [True, True] Translation: X:250.79, Y:16.81, Z:-0.07 [[ 9.73882374e-01 -2.27047263e-01 -1.63155754e-03 2.50790266e+02] [ 2.27046965e-01 9.73883741e-01 -3.68071353e-04 1.68065084e+01] [ 1.67251695e-03 -1.19819852e-05 9.99998601e-01 -7.47614353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52028169299996 meters 0.01511129106468018 Centerline is valid? [True, True] Translation: X:250.85, Y:16.82, Z:-0.08 [[ 9.75057848e-01 -2.21933403e-01 -2.78541058e-03 2.50846738e+02] [ 2.21932512e-01 9.75061826e-01 -6.28855222e-04 1.68218709e+01] [ 2.85551150e-03 -5.00294619e-06 9.99995923e-01 -7.73810282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58028169299996 meters 0.014982696804062055 Centerline is valid? [True, True] Translation: X:250.90, Y:16.84, Z:-0.07 [[ 9.75667677e-01 -2.19247347e-01 -1.78456556e-03 2.50902507e+02] [ 2.19246976e-01 9.75669309e-01 -4.03279585e-04 1.68365357e+01] [ 1.82956383e-03 2.20625420e-06 9.99998326e-01 -7.47596986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64028169299996 meters 0.015408811123045336 Centerline is valid? [True, True] Translation: X:250.96, Y:16.85, Z:-0.08 [[ 9.75964820e-01 -2.17919784e-01 -1.90757853e-03 2.50957325e+02] [ 2.17919357e-01 9.75966684e-01 -4.31351189e-04 1.68502420e+01] [ 1.95573305e-03 5.28529817e-06 9.99998088e-01 -7.53116962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70028169299997 meters 0.015089149514185843 Centerline is valid? [True, True] Translation: X:251.02, Y:16.86, Z:-0.08 [[ 9.75483937e-01 -2.20059295e-01 -2.23496920e-03 2.51015016e+02] [ 2.20058714e-01 9.75486497e-01 -5.05780248e-04 1.68574436e+01] [ 2.29148392e-03 1.55605945e-06 9.99997375e-01 -7.69145624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76028169299997 meters 0.016476734387524408 Centerline is valid? [True, True] Translation: X:251.07, Y:16.86, Z:-0.08 [[ 9.74433874e-01 -2.24639616e-01 -3.95831287e-03 2.51073626e+02] [ 2.24637830e-01 9.74441913e-01 -8.95908503e-04 1.68593223e+01] [ 4.05840251e-03 -1.61832203e-05 9.99991765e-01 -8.19307310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82028169299997 meters 0.019138733395866782 Centerline is valid? [True, True] Translation: X:251.13, Y:16.86, Z:-0.08 [[ 9.73251924e-01 -2.29699845e-01 -4.32128945e-03 2.51133221e+02] [ 2.29697763e-01 9.73261517e-01 -9.78806891e-04 1.68637269e+01] [ 4.43057651e-03 -3.99648271e-05 9.99990184e-01 -8.18923275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.880281693 meters 0.021513211039923992 Centerline is valid? [True, True] Translation: X:251.19, Y:16.87, Z:-0.08 [[ 9.72330600e-01 -2.33544365e-01 -5.49846985e-03 2.51191832e+02] [ 2.33541050e-01 9.72346144e-01 -1.24638175e-03 1.68720696e+01] [ 5.63750139e-03 -7.22233113e-05 9.99984107e-01 -8.22484863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.940281693 meters 0.02222223151056616 Centerline is valid? [True, True] Translation: X:251.25, Y:16.88, Z:-0.08 [[ 9.72283764e-01 -2.33761768e-01 -4.44046798e-03 2.51248529e+02] [ 2.33759607e-01 9.72293902e-01 -1.00679980e-03 1.68820706e+01] [ 4.55279124e-03 -5.91069554e-05 9.99989634e-01 -8.02294148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.000281693 meters 0.022793493307174388 Centerline is valid? [True, True] Translation: X:251.31, Y:16.89, Z:-0.08 [[ 9.71968846e-01 -2.35096412e-01 -2.49781168e-03 2.51307102e+02] [ 2.35095732e-01 9.71972055e-01 -5.66801899e-04 1.68909427e+01] [ 2.56105625e-03 -3.63110780e-05 9.99996720e-01 -7.73190438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.060281693 meters 0.025743295489394347 Centerline is valid? [True, True] Translation: X:251.36, Y:16.90, Z:-0.08 [[ 9.71674937e-01 -2.36307562e-01 -2.55975494e-03 2.51364584e+02] [ 2.36306851e-01 9.71678308e-01 -5.80972381e-04 1.68975894e+01] [ 2.62454652e-03 -4.03713272e-05 9.99996555e-01 -7.74657056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.120281693 meters 0.023957537834464287 Centerline is valid? [True, True] Translation: X:251.42, Y:16.91, Z:-0.08 [[ 9.71901016e-01 -2.35357148e-01 -3.92780813e-03 2.51420906e+02] [ 2.35355464e-01 9.71908951e-01 -8.92132893e-04 1.69140325e+01] [ 4.02744173e-03 -5.73662400e-05 9.99991888e-01 -8.00520928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.180281693 meters 0.021032308825538092 Centerline is valid? [True, True] Translation: X:251.48, Y:16.93, Z:-0.08 [[ 9.72293300e-01 -2.33688244e-01 -5.96178477e-03 2.51476817e+02] [ 2.33684327e-01 9.72311575e-01 -1.35512785e-03 1.69323995e+01] [ 6.11338979e-03 -7.55939332e-05 9.99981310e-01 -8.20641196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.240281693 meters 0.015688097202912345 Centerline is valid? [True, True] Translation: X:251.53, Y:16.96, Z:-0.08 [[ 9.74323850e-01 -2.25134185e-01 -2.76287165e-03 2.51531697e+02] [ 2.25133309e-01 9.74327768e-01 -6.28056635e-04 1.69601747e+01] [ 2.83333959e-03 -1.00838779e-05 9.99995986e-01 -7.56706932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.300281693 meters 0.01828664263524966 Centerline is valid? [True, True] Translation: X:251.58, Y:16.99, Z:-0.08 [[ 9.76703546e-01 -2.14538731e-01 -4.82875682e-03 2.51582950e+02] [ 2.14535924e-01 9.76715481e-01 -1.09803951e-03 1.69937407e+01] [ 4.95189354e-03 3.65172804e-05 9.99987739e-01 -8.03259239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.360281693 meters 0.02376589585318583 Centerline is valid? [True, True] Translation: X:251.64, Y:17.02, Z:-0.08 [[ 9.78023889e-01 -2.08473772e-01 -2.82127594e-03 2.51637189e+02] [ 2.08472788e-01 9.78027957e-01 -6.41640671e-04 1.70203705e+01] [ 2.89305199e-03 3.93806441e-05 9.99995814e-01 -7.59097011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.420281693 meters 0.0321366638668778 Centerline is valid? [True, True] Translation: X:251.69, Y:17.06, Z:-0.07 [[ 9.80065278e-01 -1.98669896e-01 -1.52433889e-03 2.51691029e+02] [ 1.98669597e-01 9.80066463e-01 -3.46686093e-04 1.70557328e+01] [ 1.56282951e-03 3.69352099e-05 9.99998778e-01 -7.28088994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.480281693 meters 0.04472603968882567 Centerline is valid? [True, True] Translation: X:251.74, Y:17.09, Z:-0.08 [[ 9.81493437e-01 -1.91455615e-01 -3.92175993e-03 2.51743504e+02] [ 1.91453577e-01 9.81501264e-01 -8.91994165e-04 1.70934731e+01] [ 4.01998962e-03 1.24651452e-04 9.99991912e-01 -7.81122445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54028169299994 meters 0.0475288135569206 Centerline is valid? [True, True] Translation: X:251.80, Y:17.12, Z:-0.08 [[ 9.81764533e-01 -1.90057256e-01 -4.07944994e-03 2.51798552e+02] [ 1.90055037e-01 9.81772999e-01 -9.28539739e-04 1.71180766e+01] [ 4.18156952e-03 1.36287373e-04 9.99991248e-01 -7.81508002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60028169299994 meters 0.03927787321006366 Centerline is valid? [True, True] Translation: X:251.86, Y:17.13, Z:-0.08 [[ 9.81485209e-01 -1.91481109e-01 -4.66576623e-03 2.51856682e+02] [ 1.91478218e-01 9.81496288e-01 -1.06279241e-03 1.71292994e+01] [ 4.78293690e-03 1.49722426e-04 9.99988550e-01 -7.91553221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66028169299994 meters 0.03689149170671287 Centerline is valid? [True, True] Translation: X:251.91, Y:17.15, Z:-0.07 [[ 9.80836731e-01 -1.94822034e-01 -1.91890780e-03 2.51912986e+02] [ 1.94821552e-01 9.80838606e-01 -4.37129751e-04 1.71493099e+01] [ 1.96730136e-03 5.49083202e-05 9.99998063e-01 -7.24771607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72028169299995 meters 0.03862819868298116 Centerline is valid? [True, True] Translation: X:251.97, Y:17.17, Z:-0.08 [[ 9.80083007e-01 -1.98561431e-01 -3.26443902e-03 2.51968834e+02] [ 1.98560055e-01 9.80088441e-01 -7.43715263e-04 1.71691514e+01] [ 3.34711212e-03 8.07155011e-05 9.99994395e-01 -7.64281779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78028169299995 meters 0.03042823106511323 Centerline is valid? [True, True] Translation: X:252.03, Y:17.17, Z:-0.08 [[ 9.79439917e-01 -2.01689925e-01 -4.31539779e-03 2.52027701e+02] [ 2.01687549e-01 9.79449420e-01 -9.83359320e-04 1.71741208e+01] [ 4.42504753e-03 9.27793654e-05 9.99990205e-01 -7.70554242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84028169299995 meters 0.031345090249950594 Centerline is valid? [True, True] Translation: X:252.08, Y:17.20, Z:-0.08 [[ 9.79447916e-01 -2.01659270e-01 -3.91383184e-03 2.52081400e+02] [ 2.01657314e-01 9.79455732e-01 -8.92191309e-04 1.71954690e+01] [ 4.01334368e-03 8.46021041e-05 9.99991943e-01 -7.64212490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90028169299995 meters 0.0290816333338882 Centerline is valid? [True, True] Translation: X:252.14, Y:17.21, Z:-0.08 [[ 9.78989977e-01 -2.03867628e-01 -4.07625514e-03 2.52138376e+02] [ 2.03865522e-01 9.78998460e-01 -9.29912121e-04 1.72105564e+01] [ 4.18022648e-03 7.93667630e-05 9.99991260e-01 -7.73538671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96028169299996 meters 0.026327856359050654 Centerline is valid? [True, True] Translation: X:252.20, Y:17.22, Z:-0.08 [[ 9.78511220e-01 -2.06161960e-01 -3.61093249e-03 2.52196043e+02] [ 2.06160321e-01 9.78517880e-01 -8.24367060e-04 1.72236832e+01] [ 3.70331513e-03 6.22214168e-05 9.99993141e-01 -7.59308183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02028169299996 meters 0.022694397917135865 Centerline is valid? [True, True] Translation: X:252.25, Y:17.23, Z:-0.07 [[ 9.77547883e-01 -2.10695903e-01 -2.71517156e-03 2.52253593e+02] [ 2.10694993e-01 9.77551654e-01 -6.20077996e-04 1.72321284e+01] [ 2.78486834e-03 3.40828788e-05 9.99996122e-01 -7.33691792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08028169299996 meters 0.02279570643632728 Centerline is valid? [True, True] Translation: X:252.31, Y:17.25, Z:-0.07 [[ 9.77528458e-01 -2.10784465e-01 -2.83256884e-03 2.52308760e+02] [ 2.10783473e-01 9.77532561e-01 -6.47439573e-04 1.72490022e+01] [ 2.90539848e-03 3.58319084e-05 9.99995779e-01 -7.33540307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14028169299996 meters 0.023355025684479905 Centerline is valid? [True, True] Translation: X:252.36, Y:17.26, Z:-0.07 [[ 9.77543197e-01 -2.10710572e-01 -3.21747041e-03 2.52364616e+02] [ 2.10709291e-01 9.77548491e-01 -7.35990139e-04 1.72627184e+01] [ 3.30031425e-03 4.15112448e-05 9.99994553e-01 -7.47100930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20028169299997 meters 0.021864621061004348 Centerline is valid? [True, True] Translation: X:252.42, Y:17.27, Z:-0.08 [[ 9.77416579e-01 -2.11234958e-01 -6.05180956e-03 2.52422960e+02] [ 2.11230429e-01 9.77435311e-01 -1.38531041e-03 1.72702311e+01] [ 6.20787834e-03 7.56990350e-05 9.99980728e-01 -7.96825709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26028169299997 meters 0.023764435010984037 Centerline is valid? [True, True] Translation: X:252.48, Y:17.29, Z:-0.08 [[ 9.77961781e-01 -2.08713702e-01 -5.41721518e-03 2.52479085e+02] [ 2.08710029e-01 9.77976781e-01 -1.24099097e-03 1.72881420e+01] [ 5.55692248e-03 8.30145951e-05 9.99984557e-01 -7.77281733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32028169299997 meters 0.024796501148847516 Centerline is valid? [True, True] Translation: X:252.53, Y:17.30, Z:-0.08 [[ 9.77887788e-01 -2.09040781e-01 -6.11765886e-03 2.52534504e+02] [ 2.09036100e-01 9.77906920e-01 -1.40193884e-03 1.73029021e+01] [ 6.27556332e-03 9.21273154e-05 9.99980304e-01 -7.91763966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.380281693 meters 0.022825446034559476 Centerline is valid? [True, True] Translation: X:252.59, Y:17.31, Z:-0.08 [[ 9.77329738e-01 -2.11617146e-01 -6.69076023e-03 2.52592123e+02] [ 2.11611599e-01 9.77352637e-01 -1.53439548e-03 1.73137898e+01] [ 6.86393654e-03 8.37678603e-05 9.99976439e-01 -8.04789049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.440281693 meters 0.019055731005829916 Centerline is valid? [True, True] Translation: X:252.65, Y:17.32, Z:-0.08 [[ 9.76548585e-01 -2.15234182e-01 -5.20646209e-03 2.52650603e+02] [ 2.15230870e-01 9.76562463e-01 -1.19491150e-03 1.73205787e+01] [ 5.34162124e-03 4.62977662e-05 9.99985732e-01 -7.65241618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.500281693 meters 0.01643224713922662 Centerline is valid? [True, True] Translation: X:252.71, Y:17.33, Z:-0.07 [[ 9.75319266e-01 -2.20753322e-01 -4.50553008e-03 2.52708610e+02] [ 2.20750897e-01 9.75329673e-01 -1.03481913e-03 1.73286368e+01] [ 4.62281694e-03 1.46792276e-05 9.99989315e-01 -7.49623498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.560281693 meters 0.016525414348053206 Centerline is valid? [True, True] Translation: X:252.77, Y:17.34, Z:-0.08 [[ 9.74799509e-01 -2.22975895e-01 -6.90415664e-03 2.52766925e+02] [ 2.22970249e-01 9.74823958e-01 -1.58688239e-03 1.73385171e+01] [ 7.08417383e-03 7.47065495e-06 9.99974907e-01 -7.91588711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.620281693 meters 0.01604536636504855 Centerline is valid? [True, True] Translation: X:252.82, Y:17.35, Z:-0.07 [[ 9.74365930e-01 -2.24922168e-01 -4.58838470e-03 2.52823567e+02] [ 2.24919694e-01 9.74376733e-01 -1.05487483e-03 1.73483331e+01] [ 4.70808003e-03 -4.18399366e-06 9.99988917e-01 -7.45771170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.680281693 meters 0.01592389775616486 Centerline is valid? [True, True] Translation: X:252.88, Y:17.36, Z:-0.07 [[ 9.74115742e-01 -2.26036368e-01 -2.46594465e-03 2.52882089e+02] [ 2.26035656e-01 9.74118864e-01 -5.67374135e-04 1.73565222e+01] [ 2.53037039e-03 -4.70333927e-06 9.99996799e-01 -7.25526796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.740281693 meters 0.01629401253748016 Centerline is valid? [True, True] Translation: X:252.94, Y:17.37, Z:-0.07 [[ 9.73890458e-01 -2.26980036e-01 -4.17592133e-03 2.52940594e+02] [ 2.26978000e-01 9.73899411e-01 -9.61504478e-04 1.73659510e+01] [ 4.28516964e-03 -1.14422339e-05 9.99990819e-01 -7.49356690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.800281693 meters 0.016220483695661973 Centerline is valid? [True, True] Translation: X:253.00, Y:17.38, Z:-0.08 [[ 9.74240689e-01 -2.25466219e-01 -4.47922060e-03 2.52996098e+02] [ 2.25463859e-01 9.74250986e-01 -1.03169122e-03 1.73800710e+01] [ 4.59649660e-03 -4.78679820e-06 9.99989436e-01 -7.50810139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.860281693 meters 0.018614294351435936 Centerline is valid? [True, True] Translation: X:253.05, Y:17.41, Z:-0.08 [[ 9.76116081e-01 -2.17158388e-01 -6.29532123e-03 2.53049926e+02] [ 2.17153545e-01 9.76136380e-01 -1.45111692e-03 1.74073836e+01] [ 6.46021428e-03 4.94072373e-05 9.99979131e-01 -7.71784164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.920281693 meters 0.025843299087667842 Centerline is valid? [True, True] Translation: X:253.10, Y:17.44, Z:-0.08 [[ 9.77870540e-01 -2.09069873e-01 -7.68087581e-03 2.53102183e+02] [ 2.09062411e-01 9.77900697e-01 -1.77082034e-03 1.74403235e+01] [ 7.88135899e-03 1.25850631e-04 9.99968934e-01 -8.22286772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.980281693 meters 0.026216949616157097 Centerline is valid? [True, True] Translation: X:253.16, Y:17.46, Z:-0.08 [[ 9.78129701e-01 -2.07893273e-01 -6.53259962e-03 2.53158444e+02] [ 2.07887841e-01 9.78151509e-01 -1.50727007e-03 1.74598444e+01] [ 6.70322348e-03 1.16257588e-04 9.99977526e-01 -7.98987774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04028169299994 meters 0.024758037851201918 Centerline is valid? [True, True] Translation: X:253.21, Y:17.48, Z:-0.08 [[ 9.77508755e-01 -2.10788173e-01 -6.70673353e-03 2.53213198e+02] [ 2.10782514e-01 9.77531757e-01 -1.54782085e-03 1.74781638e+01] [ 6.88230734e-03 9.93462857e-05 9.99976312e-01 -8.04771008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10028169299994 meters 0.0197552013806618 Centerline is valid? [True, True] Translation: X:253.27, Y:17.49, Z:-0.08 [[ 9.76304452e-01 -2.16313126e-01 -6.18457510e-03 2.53271664e+02] [ 2.16308417e-01 9.76324039e-01 -1.42833411e-03 1.74887852e+01] [ 6.34711675e-03 5.67132959e-05 9.99979855e-01 -7.82709228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16028169299994 meters 0.01675432641367651 Centerline is valid? [True, True] Translation: X:253.33, Y:17.50, Z:-0.07 [[ 9.75079788e-01 -2.21816980e-01 -4.07863781e-03 2.53329900e+02] [ 2.21814977e-01 9.75088318e-01 -9.42683494e-04 1.74964306e+01] [ 4.18613528e-03 1.44886686e-05 9.99991238e-01 -7.43055441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22028169299995 meters 0.016914520983617214 Centerline is valid? [True, True] Translation: X:253.39, Y:17.50, Z:-0.08 [[ 9.74001256e-01 -2.26424677e-01 -7.30879471e-03 2.53387727e+02] [ 2.26418373e-01 9.74028678e-01 -1.68961698e-03 1.75037869e+01] [ 7.50154663e-03 -9.15634409e-06 9.99971863e-01 -8.06389190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28028169299995 meters 0.01778073614013321 Centerline is valid? [True, True] Translation: X:253.45, Y:17.51, Z:-0.08 [[ 9.72921915e-01 -2.31076211e-01 -5.17024266e-03 2.53445474e+02] [ 2.31073117e-01 9.72935652e-01 -1.19626936e-03 1.75093224e+01] [ 5.30674281e-03 -3.08274044e-05 9.99985919e-01 -7.57048370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34028169299995 meters 0.0207643992281742 Centerline is valid? [True, True] Translation: X:253.51, Y:17.51, Z:-0.08 [[ 9.71680355e-01 -2.36211788e-01 -6.42487355e-03 2.53505759e+02] [ 2.36207115e-01 9.71701593e-01 -1.48763638e-03 1.75109855e+01] [ 6.59445711e-03 -7.20937930e-05 9.99978254e-01 -7.79044367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40028169299995 meters 0.022122211939875205 Centerline is valid? [True, True] Translation: X:253.56, Y:17.52, Z:-0.08 [[ 9.71113477e-01 -2.38543514e-01 -5.96718986e-03 2.53564665e+02] [ 2.38539520e-01 9.71131807e-01 -1.38269897e-03 1.75173479e+01] [ 6.12476174e-03 -8.06529977e-05 9.99981240e-01 -7.68434169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46028169299996 meters 0.020968973280990042 Centerline is valid? [True, True] Translation: X:253.62, Y:17.53, Z:-0.07 [[ 9.71327174e-01 -2.37722894e-01 -3.36858932e-03 2.53621994e+02] [ 2.37721614e-01 9.71333014e-01 -7.81167227e-04 1.75305423e+01] [ 3.45772335e-03 -4.20175358e-05 9.99994021e-01 -7.01513407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52028169299996 meters 0.020067334975715893 Centerline is valid? [True, True] Translation: X:253.68, Y:17.54, Z:-0.08 [[ 9.71881332e-01 -2.35367141e-01 -6.99895615e-03 2.53678055e+02] [ 2.35361553e-01 9.71906530e-01 -1.62336669e-03 1.75441263e+01] [ 7.18441836e-03 -6.95654093e-05 9.99974189e-01 -7.85025292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58028169299996 meters 0.01984871349156768 Centerline is valid? [True, True] Translation: X:253.73, Y:17.56, Z:-0.08 [[ 9.71943599e-01 -2.35087180e-01 -7.72390047e-03 2.53734670e+02] [ 2.35080354e-01 9.71974286e-01 -1.79305803e-03 1.75578459e+01] [ 7.92895760e-03 -7.29859767e-05 9.99968563e-01 -7.98555301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64028169299996 meters 0.02015432121369691 Centerline is valid? [True, True] Translation: X:253.79, Y:17.57, Z:-0.08 [[ 9.71653261e-01 -2.36251938e-01 -8.65801879e-03 2.53792645e+02] [ 2.36243393e-01 9.71691831e-01 -2.01141411e-03 1.75684614e+01] [ 8.88812661e-03 -9.10026503e-05 9.99960496e-01 -7.99894703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70028169299997 meters 0.02106551301963075 Centerline is valid? [True, True] Translation: X:253.85, Y:17.58, Z:-0.08 [[ 9.71488411e-01 -2.36981685e-01 -7.06743732e-03 2.53850634e+02] [ 2.36976007e-01 9.71514115e-01 -1.64230365e-03 1.75761856e+01] [ 7.25531099e-03 -7.93341101e-05 9.99973677e-01 -7.71154402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76028169299997 meters 0.020411537805352337 Centerline is valid? [True, True] Translation: X:253.91, Y:17.59, Z:-0.07 [[ 9.71390511e-01 -2.37406359e-01 -6.22050321e-03 2.53907582e+02] [ 2.37401962e-01 9.71410426e-01 -1.44677678e-03 1.75862983e+01] [ 6.38613568e-03 -7.13744337e-05 9.99979606e-01 -7.45239243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82028169299997 meters 0.020946076751351763 Centerline is valid? [True, True] Translation: X:253.97, Y:17.59, Z:-0.08 [[ 9.71305114e-01 -2.37731035e-01 -7.09447518e-03 2.53965928e+02] [ 2.37725320e-01 9.71331019e-01 -1.65042735e-03 1.75889355e+01] [ 7.28344161e-03 -8.34678637e-05 9.99973472e-01 -7.67009071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.880281693 meters 0.02102594894629326 Centerline is valid? [True, True] Translation: X:254.02, Y:17.60, Z:-0.08 [[ 9.71395335e-01 -2.37355131e-01 -7.32426058e-03 2.54022244e+02] [ 2.37349025e-01 9.71422943e-01 -1.70451224e-03 1.75972737e+01] [ 7.51952950e-03 -8.26508653e-05 9.99971725e-01 -7.73360384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.940281693 meters 0.021411661595407618 Centerline is valid? [True, True] Translation: X:254.08, Y:17.60, Z:-0.08 [[ 9.71331676e-01 -2.37585951e-01 -8.22741578e-03 2.54080993e+02] [ 2.37578243e-01 9.71366515e-01 -1.91608903e-03 1.76029623e+01] [ 8.44707203e-03 -9.34970187e-05 9.99964318e-01 -8.04934361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.000281693 meters 0.020221921220399185 Centerline is valid? [True, True] Translation: X:254.14, Y:17.61, Z:-0.08 [[ 9.71669199e-01 -2.36258374e-01 -6.39903843e-03 2.54137793e+02] [ 2.36253680e-01 9.71690268e-01 -1.49063016e-03 1.76122130e+01] [ 6.57005722e-03 -6.33969669e-05 9.99978415e-01 -7.69693576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.060281693 meters 0.018170443021098034 Centerline is valid? [True, True] Translation: X:254.20, Y:17.62, Z:-0.08 [[ 9.72183112e-01 -2.34147216e-01 -5.92270659e-03 2.54195858e+02] [ 2.34143149e-01 9.72201152e-01 -1.38073511e-03 1.76232546e+01] [ 6.08135745e-03 -4.44338147e-05 9.99981507e-01 -7.56209135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.120281693 meters 0.017149956528224937 Centerline is valid? [True, True] Translation: X:254.25, Y:17.64, Z:-0.08 [[ 9.72670047e-01 -2.32123035e-01 -5.64585755e-03 2.54253775e+02] [ 2.32119300e-01 9.72686432e-01 -1.31717036e-03 1.76357229e+01] [ 5.79739462e-03 -2.93403425e-05 9.99983195e-01 -7.50516873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.180281693 meters 0.015575884452959888 Centerline is valid? [True, True] Translation: X:254.31, Y:17.65, Z:-0.07 [[ 9.74251002e-01 -2.25452693e-01 -2.46344743e-03 2.54310112e+02] [ 2.25451959e-01 9.74254116e-01 -5.75177150e-04 1.76535032e+01] [ 2.52969904e-03 4.97786540e-06 9.99996800e-01 -6.87366305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.240281693 meters 0.019710691564223705 Centerline is valid? [True, True] Translation: X:254.36, Y:17.67, Z:-0.07 [[ 9.76004339e-01 -2.17719873e-01 -3.68605793e-03 2.54364712e+02] [ 2.17718174e-01 9.76011299e-01 -8.60921406e-04 1.76729840e+01] [ 3.78507389e-03 3.77412243e-05 9.99992836e-01 -7.17511801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.300281693 meters 0.021989519820754474 Centerline is valid? [True, True] Translation: X:254.42, Y:17.69, Z:-0.07 [[ 9.76509174e-01 -2.15444775e-01 -3.65801310e-03 2.54420290e+02] [ 2.15443085e-01 9.76516025e-01 -8.54628042e-04 1.76870132e+01] [ 3.75623355e-03 4.64584966e-05 9.99992944e-01 -7.28361666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.360281693 meters 0.02429588984204885 Centerline is valid? [True, True] Translation: X:254.48, Y:17.70, Z:-0.08 [[ 9.77378927e-01 -2.11427582e-01 -5.36753908e-03 2.54478896e+02] [ 2.11423882e-01 9.77393661e-01 -1.25413617e-03 1.76998211e+01] [ 5.51135765e-03 9.09403114e-05 9.99984808e-01 -7.51665509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.420281693 meters 0.026033138213556788 Centerline is valid? [True, True] Translation: X:254.54, Y:17.71, Z:-0.08 [[ 9.77525622e-01 -2.10742811e-01 -5.57906505e-03 2.54535084e+02] [ 2.10738800e-01 9.77541538e-01 -1.30391995e-03 1.77147045e+01] [ 5.72855958e-03 9.88896802e-05 9.99983587e-01 -7.80893808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.480281693 meters 0.02260550639275337 Centerline is valid? [True, True] Translation: X:254.60, Y:17.72, Z:-0.08 [[ 9.76690858e-01 -2.14600038e-01 -4.66823993e-03 2.54595079e+02] [ 2.14597270e-01 9.76702012e-01 -1.09181347e-03 1.77190282e+01] [ 4.79378255e-03 6.45726887e-05 9.99988508e-01 -7.55562405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54028169299994 meters 0.021823550777820087 Centerline is valid? [True, True] Translation: X:254.65, Y:17.73, Z:-0.07 [[ 9.76669210e-01 -2.14726369e-01 -3.13699062e-03 2.54651898e+02] [ 2.14725118e-01 9.76674247e-01 -7.34339432e-04 1.77311633e+01] [ 3.22149999e-03 4.36160338e-05 9.99994810e-01 -7.18091199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60028169299994 meters 0.024992407414132063 Centerline is valid? [True, True] Translation: X:254.71, Y:17.75, Z:-0.07 [[ 9.77005641e-01 -2.13211213e-01 -9.77952389e-04 2.54706954e+02] [ 2.13211091e-01 9.77006130e-01 -2.28989156e-04 1.77511867e+01] [ 1.00428854e-03 1.52134016e-05 9.99999496e-01 -6.90292560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66028169299994 meters 0.026432083966671998 Centerline is valid? [True, True] Translation: X:254.76, Y:17.77, Z:-0.07 [[ 9.77202047e-01 -2.12298574e-01 -2.33979988e-03 2.54761872e+02] [ 2.12297870e-01 9.77204847e-01 -5.48048312e-04 1.77689120e+01] [ 2.40281366e-03 3.88194018e-05 9.99997112e-01 -7.21300595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72028169299995 meters 0.02514060521621842 Centerline is valid? [True, True] Translation: X:254.82, Y:17.78, Z:-0.07 [[ 9.77045807e-01 -2.13016908e-01 -2.29957115e-03 2.54819554e+02] [ 2.13016229e-01 9.77048512e-01 -5.39028887e-04 1.77813891e+01] [ 2.36161484e-03 3.68099377e-05 9.99997211e-01 -7.31312615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78028169299995 meters 0.021281327059593225 Centerline is valid? [True, True] Translation: X:254.88, Y:17.79, Z:-0.07 [[ 9.76239286e-01 -2.16688021e-01 -1.77713633e-03 2.54878204e+02] [ 2.16687621e-01 9.76240903e-01 -4.16853145e-04 1.77912132e+01] [ 1.82524026e-03 2.18649728e-05 9.99998334e-01 -7.11370985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84028169299995 meters 0.0176289522255117 Centerline is valid? [True, True] Translation: X:254.94, Y:17.80, Z:-0.07 [[ 9.75272250e-01 -2.20999101e-01 -1.85374188e-03 2.54937164e+02] [ 2.20998673e-01 9.75274011e-01 -4.35153363e-04 1.77972475e+01] [ 1.90407478e-03 1.47185037e-05 9.99998187e-01 -7.21877225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90028169299995 meters 0.015590762124792708 Centerline is valid? [True, True] Translation: X:255.00, Y:17.80, Z:-0.07 [[ 9.74190086e-01 -2.25725333e-01 -1.32309896e-03 2.54997316e+02] [ 2.25725119e-01 9.74190984e-01 -3.10841686e-04 1.77984503e+01] [ 1.35911592e-03 4.16221882e-06 9.99999076e-01 -7.12955810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96028169299996 meters 0.015471699755450546 Centerline is valid? [True, True] Translation: X:255.06, Y:17.80, Z:-0.08 [[ 9.73770150e-01 -2.27507952e-01 -3.43910783e-03 2.55055125e+02] [ 2.27506517e-01 9.73776223e-01 -8.08046324e-04 1.78034410e+01] [ 3.53275840e-03 4.43194594e-06 9.99993760e-01 -7.50349214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02028169299996 meters 0.017852810760141113 Centerline is valid? [True, True] Translation: X:255.11, Y:17.82, Z:-0.07 [[ 9.75153257e-01 -2.21516480e-01 -2.56397927e-03 2.55110533e+02] [ 2.21515661e-01 9.75156628e-01 -6.02588509e-04 1.78207726e+01] [ 2.63376466e-03 1.96545855e-05 9.99996531e-01 -7.32878016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08028169299996 meters 0.02167111780529759 Centerline is valid? [True, True] Translation: X:255.17, Y:17.84, Z:-0.07 [[ 9.76446617e-01 -2.15741283e-01 -2.77534930e-03 2.55166901e+02] [ 2.15740300e-01 9.76450561e-01 -6.52320242e-04 1.78422720e+01] [ 2.85072379e-03 3.82012024e-05 9.99995936e-01 -7.46361845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14028169299996 meters 0.027565943839251168 Centerline is valid? [True, True] Translation: X:255.22, Y:17.87, Z:-0.08 [[ 9.77437916e-01 -2.11195416e-01 -3.40823741e-03 2.55221609e+02] [ 2.11193906e-01 9.77443856e-01 -8.01261204e-04 1.78652833e+01] [ 3.50058341e-03 6.33841111e-05 9.99993871e-01 -7.61526019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20028169299997 meters 0.025139815451602324 Centerline is valid? [True, True] Translation: X:255.28, Y:17.88, Z:-0.07 [[ 9.77122297e-01 -2.12668127e-01 -2.06989404e-03 2.55278761e+02] [ 2.12667572e-01 9.77124489e-01 -4.87021718e-04 1.78797803e+01] [ 2.12611816e-03 3.56804390e-05 9.99997739e-01 -7.45839157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26028169299997 meters 0.02262417476312359 Centerline is valid? [True, True] Translation: X:255.34, Y:17.89, Z:-0.08 [[ 9.76423191e-01 -2.15849688e-01 -2.58133453e-03 2.55335630e+02] [ 2.15848836e-01 9.76426603e-01 -6.07543576e-04 1.78899197e+01] [ 2.65162179e-03 3.60415844e-05 9.99996484e-01 -7.55722280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32028169299997 meters 0.01940897140528243 Centerline is valid? [True, True] Translation: X:255.39, Y:17.90, Z:-0.07 [[ 9.75595740e-01 -2.19571301e-01 1.18114706e-03 2.55393668e+02] [ 2.19571125e-01 9.75596455e-01 2.78113218e-04 1.79018736e+01] [-1.21338857e-03 -1.19802818e-05 9.99999264e-01 -6.86657123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.380281693 meters 0.017058698625295333 Centerline is valid? [True, True] Translation: X:255.45, Y:17.91, Z:-0.07 [[ 9.74896162e-01 -2.22651642e-01 1.92842234e-03 2.55451982e+02] [ 2.22651179e-01 9.74898070e-01 4.54427942e-04 1.79094872e+01] [-1.98119434e-03 -1.36545495e-05 9.99998037e-01 -6.81631288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.440281693 meters 0.01585848775583518 Centerline is valid? [True, True] Translation: X:255.51, Y:17.92, Z:-0.07 [[ 9.74371928e-01 -2.24942220e-01 5.85847677e-04 2.55509341e+02] [ 2.24942177e-01 9.74372104e-01 1.38093927e-04 1.79184478e+01] [-6.01896788e-04 -2.77299367e-06 9.99999819e-01 -6.92172995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.500281693 meters 0.015985678180453607 Centerline is valid? [True, True] Translation: X:255.57, Y:17.93, Z:-0.07 [[ 9.74321577e-01 -2.25159979e-01 -6.69233650e-04 2.55565592e+02] [ 2.25159924e-01 9.74321807e-01 -1.57978297e-04 1.79340222e+01] [ 6.87619329e-04 3.23706609e-06 9.99999764e-01 -7.27266647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.560281693 meters 0.015346413529246618 Centerline is valid? [True, True] Translation: X:255.62, Y:17.94, Z:-0.08 [[ 9.73672060e-01 -2.27945681e-01 -1.86725759e-03 2.55623405e+02] [ 2.27945254e-01 9.73673850e-01 -4.41042419e-04 1.79435664e+01] [ 1.91863360e-03 3.79817310e-06 9.99998159e-01 -7.56051950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.620281693 meters 0.01649843275615195 Centerline is valid? [True, True] Translation: X:255.68, Y:17.95, Z:-0.08 [[ 9.72013341e-01 -2.34918379e-01 -1.84920019e-03 2.55681857e+02] [ 2.34917973e-01 9.72015100e-01 -4.36873059e-04 1.79454832e+01] [ 1.90008002e-03 -9.76391936e-06 9.99998195e-01 -7.58268776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.680281693 meters 0.019413513286504473 Centerline is valid? [True, True] Translation: X:255.74, Y:17.95, Z:-0.08 [[ 9.70810275e-01 -2.39842055e-01 -1.78838437e-03 2.55741203e+02] [ 2.39841683e-01 9.70811922e-01 -4.22836751e-04 1.79504169e+01] [ 1.83759890e-03 -1.84348539e-05 9.99998311e-01 -7.59646694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.740281693 meters 0.02202246219045707 Centerline is valid? [True, True] Translation: X:255.80, Y:17.96, Z:-0.07 [[ 9.70066680e-01 -2.42833529e-01 -1.58543423e-03 2.55799854e+02] [ 2.42833240e-01 9.70067975e-01 -3.75121128e-04 1.79572193e+01] [ 1.62907096e-03 -2.11036227e-05 9.99998673e-01 -7.49387700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.800281693 meters 0.022069283390418446 Centerline is valid? [True, True] Translation: X:255.86, Y:17.97, Z:-0.07 [[ 9.70056542e-01 -2.42878952e-01 3.47108585e-04 2.55855729e+02] [ 2.42878938e-01 9.70056604e-01 8.21161881e-05 1.79692146e+01] [-3.56659269e-04 4.64801899e-06 9.99999936e-01 -7.04615679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.860281693 meters 0.023958635956025598 Centerline is valid? [True, True] Translation: X:255.91, Y:17.98, Z:-0.07 [[ 9.69464235e-01 -2.45231251e-01 8.54296280e-04 2.55914385e+02] [ 2.45231168e-01 9.69464612e-01 2.02256267e-04 1.79764322e+01] [-8.77809568e-04 1.34198570e-05 9.99999615e-01 -7.09170044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.920281693 meters 0.025506805760538067 Centerline is valid? [True, True] Translation: X:255.97, Y:17.98, Z:-0.07 [[ 9.68651838e-01 -2.48413826e-01 2.04645719e-03 2.55973392e+02] [ 2.48413356e-01 9.68653999e-01 4.84699958e-04 1.79841760e+01] [-2.10271511e-03 3.88617933e-05 9.99997789e-01 -6.83870458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.980281693 meters 0.021310136147743627 Centerline is valid? [True, True] Translation: X:256.03, Y:18.00, Z:-0.07 [[ 9.69689640e-01 -2.44339690e-01 3.44595984e-04 2.56029736e+02] [ 2.44339676e-01 9.69689701e-01 8.16204737e-05 1.80029218e+01] [-3.54094298e-04 5.05194340e-06 9.99999937e-01 -7.13273714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04028169299994 meters 0.01756250379327846 Centerline is valid? [True, True] Translation: X:256.08, Y:18.03, Z:-0.08 [[ 9.71194391e-01 -2.38278039e-01 -2.24275847e-03 2.56083550e+02] [ 2.38277447e-01 9.71196981e-01 -5.31736807e-04 1.80253525e+01] [ 2.30486146e-03 -1.79789570e-05 9.99997344e-01 -7.55695772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10028169299994 meters 0.01570170662349178 Centerline is valid? [True, True] Translation: X:256.14, Y:18.04, Z:-0.08 [[ 9.72050410e-01 -2.34758796e-01 -2.51163815e-03 2.56139136e+02] [ 2.34758040e-01 9.72053655e-01 -5.95947549e-04 1.80447190e+01] [ 2.58135097e-03 -1.03361898e-05 9.99996668e-01 -7.69809406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16028169299994 meters 0.014864365502885632 Centerline is valid? [True, True] Translation: X:256.19, Y:18.07, Z:-0.08 [[ 9.72686250e-01 -2.32114184e-01 -2.11282861e-03 2.56194103e+02] [ 2.32113642e-01 9.72688545e-01 -5.01702711e-04 1.80658607e+01] [ 2.17157650e-03 -2.41701400e-06 9.99997642e-01 -7.58205107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22028169299995 meters 0.014997612794405578 Centerline is valid? [True, True] Translation: X:256.25, Y:18.09, Z:-0.07 [[ 9.73623877e-01 -2.28157363e-01 -8.73479528e-04 2.56246536e+02] [ 2.28157269e-01 9.73624269e-01 -2.07493716e-04 1.80909463e+01] [ 8.97782086e-04 2.73013300e-06 9.99999597e-01 -7.33068964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28028169299995 meters 0.015341107556348342 Centerline is valid? [True, True] Translation: X:256.30, Y:18.11, Z:-0.07 [[ 9.73863142e-01 -2.27135560e-01 1.31336915e-04 2.56300826e+02] [ 2.27135558e-01 9.73863151e-01 3.11534000e-05 1.81116532e+01] [-1.34980227e-04 -5.07864562e-07 9.99999991e-01 -7.18687385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34028169299995 meters 0.014589336355844137 Centerline is valid? [True, True] Translation: X:256.36, Y:18.12, Z:-0.07 [[ 9.73257889e-01 -2.29714981e-01 -3.29372349e-04 2.56358359e+02] [ 2.29714967e-01 9.73257945e-01 -7.83380938e-05 1.81203708e+01] [ 3.38559690e-04 5.81409335e-07 9.99999943e-01 -7.31284501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40028169299995 meters 0.014484324914706683 Centerline is valid? [True, True] Translation: X:256.41, Y:18.13, Z:-0.07 [[ 9.72798880e-01 -2.31649821e-01 -8.36214091e-04 2.56414453e+02] [ 2.31649735e-01 9.72799240e-01 -1.98932891e-04 1.81317171e+01] [ 8.59551201e-04 -1.87079597e-07 9.99999631e-01 -7.41368052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46028169299996 meters 0.014611643723217514 Centerline is valid? [True, True] Translation: X:256.47, Y:18.15, Z:-0.07 [[ 9.72865919e-01 -2.31367318e-01 -1.03360085e-03 2.56470119e+02] [ 2.31367187e-01 9.72866468e-01 -2.46129348e-04 1.81475532e+01] [ 1.06250189e-03 3.09533792e-07 9.99999436e-01 -7.46172169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52028169299996 meters 0.01465433961607513 Centerline is valid? [True, True] Translation: X:256.53, Y:18.16, Z:-0.08 [[ 9.72902412e-01 -2.31212544e-01 -1.28667017e-03 2.56526424e+02] [ 2.31212341e-01 9.72903263e-01 -3.06630823e-04 1.81629999e+01] [ 1.32270250e-03 8.27845206e-07 9.99999125e-01 -7.58489379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58028169299996 meters 0.014793004668205016 Centerline is valid? [True, True] Translation: X:256.58, Y:18.17, Z:-0.08 [[ 9.72384936e-01 -2.33378015e-01 -1.49601019e-03 2.56583642e+02] [ 2.33377742e-01 9.72386087e-01 -3.56812348e-04 1.81715202e+01] [ 1.53797165e-03 -2.17652916e-06 9.99998817e-01 -7.75282920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64028169299996 meters 0.01743732448366778 Centerline is valid? [True, True] Translation: X:256.64, Y:18.17, Z:-0.08 [[ 9.71004282e-01 -2.39058070e-01 -1.38716505e-03 2.56642081e+02] [ 2.39057841e-01 9.71005272e-01 -3.30895782e-04 1.81747726e+01] [ 1.42604788e-03 -1.03114602e-05 9.99998983e-01 -7.74170357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70028169299997 meters 0.018211528059557787 Centerline is valid? [True, True] Translation: X:256.70, Y:18.18, Z:-0.07 [[ 9.70453021e-01 -2.41290108e-01 -1.36047139e-04 2.56700434e+02] [ 2.41290106e-01 9.70453030e-01 -3.25318878e-05 1.81831476e+01] [ 1.39876981e-04 -1.25615987e-06 9.99999990e-01 -7.48968404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76028169299997 meters 0.019399643061012953 Centerline is valid? [True, True] Translation: X:256.76, Y:18.19, Z:-0.08 [[ 9.70002739e-01 -2.43060175e-01 -4.05435866e-03 2.56758906e+02] [ 2.43058252e-01 9.70011211e-01 -9.68042986e-04 1.81896420e+01] [ 4.16806605e-03 -4.64409812e-05 9.99991312e-01 -8.23390734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82028169299997 meters 0.02077970716116842 Centerline is valid? [True, True] Translation: X:256.82, Y:18.20, Z:-0.09 [[ 9.69755937e-01 -2.44007832e-01 -5.79657876e-03 2.56816897e+02] [ 2.44003914e-01 9.69773258e-01 -1.38456757e-03 1.81963435e+01] [ 5.95921241e-03 -7.16952840e-05 9.99982241e-01 -8.52727995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.880281693 meters 0.021100787527688028 Centerline is valid? [True, True] Translation: X:256.87, Y:18.21, Z:-0.08 [[ 9.69866977e-01 -2.43592055e-01 -4.57794975e-03 2.56873884e+02] [ 2.43589606e-01 9.69877780e-01 -1.09376040e-03 1.82071761e+01] [ 4.70648308e-03 -5.43388831e-05 9.99988923e-01 -8.29516031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.940281693 meters 0.02023260251610283 Centerline is valid? [True, True] Translation: X:256.93, Y:18.21, Z:-0.08 [[ 9.70155815e-01 -2.42428413e-01 -5.11470324e-03 2.56931994e+02] [ 2.42425337e-01 9.70169295e-01 -1.22229799e-03 1.82147168e+01] [ 5.25844780e-03 -5.41141582e-05 9.99986173e-01 -8.34714119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.000281693 meters 0.019033544132924903 Centerline is valid? [True, True] Translation: X:256.99, Y:18.22, Z:-0.08 [[ 9.70135379e-01 -2.42509729e-01 -5.13588300e-03 2.56990709e+02] [ 2.42506623e-01 9.70148972e-01 -1.22843194e-03 1.82192653e+01] [ 5.28047831e-03 -5.37403524e-05 9.99986057e-01 -8.26081521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.060281693 meters 0.017152964432259856 Centerline is valid? [True, True] Translation: X:257.05, Y:18.23, Z:-0.07 [[ 9.70608131e-01 -2.40665429e-01 8.14797483e-05 2.57048610e+02] [ 2.40665428e-01 9.70608135e-01 1.94437499e-05 1.82295964e+01] [-8.37643449e-05 7.37096746e-07 9.99999996e-01 -7.18341855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.120281693 meters 0.014234125180094866 Centerline is valid? [True, True] Translation: X:257.10, Y:18.25, Z:-0.07 [[ 9.72815592e-01 -2.31571195e-01 2.14621082e-03 2.57103712e+02] [ 2.31570625e-01 9.72817959e-01 5.13996842e-04 1.82528036e+01] [-2.20689929e-03 -3.02476168e-06 9.99997565e-01 -6.65964197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.180281693 meters 0.018133614402955765 Centerline is valid? [True, True] Translation: X:257.16, Y:18.28, Z:-0.07 [[ 9.74928911e-01 -2.22514932e-01 8.50157522e-04 2.57157761e+02] [ 2.22514839e-01 9.74929282e-01 2.03721678e-04 1.82791144e+01] [-8.74174577e-04 -9.44148906e-06 9.99999618e-01 -6.99496732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.240281693 meters 0.022945103905157645 Centerline is valid? [True, True] Translation: X:257.21, Y:18.30, Z:-0.07 [[ 9.75695830e-01 -2.19122777e-01 -1.68984237e-03 2.57211302e+02] [ 2.19122404e-01 9.75697293e-01 -4.05286421e-04 1.83012926e+01] [ 1.73758212e-03 2.51539489e-05 9.99998490e-01 -7.40756314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.300281693 meters 0.023556643144898932 Centerline is valid? [True, True] Translation: X:257.27, Y:18.32, Z:-0.08 [[ 9.75987726e-01 -2.17789597e-01 -3.95607719e-03 2.57267435e+02] [ 2.17787537e-01 9.75995741e-01 -9.49466048e-04 1.83189273e+01] [ 4.06789832e-03 6.50829024e-05 9.99991724e-01 -7.87619621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.360281693 meters 0.01924308612040086 Centerline is valid? [True, True] Translation: X:257.33, Y:18.32, Z:-0.08 [[ 9.74856493e-01 -2.22820988e-01 -2.37181481e-03 2.57327229e+02] [ 2.22820261e-01 9.74859378e-01 -5.69641626e-04 1.83241883e+01] [ 2.43911402e-03 2.68304406e-05 9.99997025e-01 -7.67796694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.420281693 meters 0.017238058926239322 Centerline is valid? [True, True] Translation: X:257.38, Y:18.33, Z:-0.08 [[ 9.74063280e-01 -2.26258993e-01 -2.75586425e-03 2.57384963e+02] [ 2.26258025e-01 9.74067178e-01 -6.62006332e-04 1.83320239e+01] [ 2.83418180e-03 2.12996562e-05 9.99995983e-01 -7.79499739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.480281693 meters 0.015941341206109173 Centerline is valid? [True, True] Translation: X:257.45, Y:18.32, Z:-0.08 [[ 9.71065316e-01 -2.38769535e-01 -4.61103151e-03 2.57447092e+02] [ 2.38766962e-01 9.71076263e-01 -1.10860924e-03 1.83217808e+01] [ 4.74236536e-03 -2.44300020e-05 9.99988755e-01 -8.14904378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54028169299994 meters 0.022049766232582882 Centerline is valid? [True, True] Translation: X:257.51, Y:18.31, Z:-0.08 [[ 9.69006086e-01 -2.47000741e-01 -4.22367720e-03 2.57509666e+02] [ 2.46998660e-01 9.69015289e-01 -1.01565884e-03 1.83118527e+01] [ 4.34367627e-03 -5.90630126e-05 9.99990564e-01 -7.99604686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60028169299994 meters 0.0215626034879903 Centerline is valid? [True, True] Translation: X:257.57, Y:18.32, Z:-0.08 [[ 9.68783757e-01 -2.47885065e-01 -3.32069171e-03 2.57568254e+02] [ 2.47883781e-01 9.68789447e-01 -7.99154331e-04 1.83217571e+01] [ 3.41514951e-03 -4.89378826e-05 9.99994167e-01 -7.77573324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66028169299994 meters 0.021810431889366735 Centerline is valid? [True, True] Translation: X:257.63, Y:18.32, Z:-0.08 [[ 9.69039819e-01 -2.46884540e-01 -3.13900582e-03 2.57628047e+02] [ 2.46883386e-01 9.69044902e-01 -7.55980648e-04 1.83225717e+01] [ 3.22847752e-03 -4.23930350e-05 9.99994788e-01 -7.82867132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72028169299995 meters 0.019997937202856354 Centerline is valid? [True, True] Translation: X:257.69, Y:18.33, Z:-0.08 [[ 9.69357030e-01 -2.45648659e-01 -1.91953890e-03 2.57687098e+02] [ 2.45648225e-01 9.69358930e-01 -4.62642983e-04 1.83294563e+01] [ 1.97436980e-03 -2.30650947e-05 9.99998051e-01 -7.65728773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78028169299995 meters 0.01926867389298448 Centerline is valid? [True, True] Translation: X:257.75, Y:18.34, Z:-0.08 [[ 9.69588424e-01 -2.44736671e-01 -1.49973195e-03 2.57746112e+02] [ 2.44736404e-01 9.69589584e-01 -3.61729259e-04 1.83375191e+01] [ 1.54265289e-03 -1.63105015e-05 9.99998810e-01 -7.59126509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84028169299995 meters 0.01482580487066953 Centerline is valid? [True, True] Translation: X:257.80, Y:18.36, Z:-0.07 [[ 9.71292737e-01 -2.37883252e-01 -1.40631102e-03 2.57802176e+02] [ 2.37883010e-01 9.71293755e-01 -3.39227109e-04 1.83568950e+01] [ 1.44663756e-03 -5.04867223e-06 9.99998954e-01 -7.40678776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90028169299995 meters 0.01639590198167736 Centerline is valid? [True, True] Translation: X:257.86, Y:18.38, Z:-0.08 [[ 9.73515542e-01 -2.28588498e-01 -3.84558144e-03 2.57857016e+02] [ 2.28586614e-01 9.73523137e-01 -9.28289585e-04 1.83817556e+01] [ 3.95595883e-03 2.46558960e-05 9.99992175e-01 -7.90315044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96028169299996 meters 0.01878519686736527 Centerline is valid? [True, True] Translation: X:257.91, Y:18.40, Z:-0.08 [[ 9.74394716e-01 -2.24832104e-01 -2.33720819e-03 2.57912688e+02] [ 2.24831396e-01 9.74397519e-01 -5.64603503e-04 1.84010274e+01] [ 2.40431085e-03 2.46688903e-05 9.99997109e-01 -7.58618740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02028169299996 meters 0.02081889932539638 Centerline is valid? [True, True] Translation: X:257.97, Y:18.42, Z:-0.07 [[ 9.75100735e-01 -2.21761280e-01 7.00519685e-04 2.57967764e+02] [ 2.21761215e-01 9.75100987e-01 1.69242588e-04 1.84215865e+01] [-7.20608889e-04 -9.68047510e-06 9.99999740e-01 -7.04322757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08028169299996 meters 0.018017114678821472 Centerline is valid? [True, True] Translation: X:258.03, Y:18.43, Z:-0.07 [[ 9.74307218e-01 -2.25221906e-01 -7.33187426e-04 2.58025671e+02] [ 2.25221836e-01 9.74307494e-01 -1.77355934e-04 1.84339188e+01] [ 7.54294445e-04 7.66934858e-06 9.99999715e-01 -7.32784757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14028169299996 meters 0.01552004872330802 Centerline is valid? [True, True] Translation: X:258.08, Y:18.44, Z:-0.07 [[ 9.73208259e-01 -2.29920762e-01 -1.45853959e-03 2.58083516e+02] [ 2.29920491e-01 9.73209352e-01 -3.52810956e-04 1.84417747e+01] [ 1.50058294e-03 8.01039627e-06 9.99998874e-01 -7.33449168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20028169299997 meters 0.014184670684069759 Centerline is valid? [True, True] Translation: X:258.14, Y:18.45, Z:-0.07 [[ 9.72511891e-01 -2.32853048e-01 2.83969525e-04 2.58141906e+02] [ 2.32853038e-01 9.72511932e-01 6.86772190e-05 1.84507186e+01] [-2.92155451e-04 -6.66245493e-07 9.99999957e-01 -7.11962197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26028169299997 meters 0.01425069812356481 Centerline is valid? [True, True] Translation: X:258.20, Y:18.46, Z:-0.08 [[ 9.72177657e-01 -2.34233535e-01 -2.29211464e-03 2.58199485e+02] [ 2.34232876e-01 9.72180359e-01 -5.55335243e-04 1.84598066e+01] [ 2.35842697e-03 2.99591169e-06 9.99997219e-01 -7.66571516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32028169299997 meters 0.014865565281909687 Centerline is valid? [True, True] Translation: X:258.26, Y:18.48, Z:-0.08 [[ 9.72766794e-01 -2.31777634e-01 -1.97315191e-03 2.58256529e+02] [ 2.31777141e-01 9.72768795e-01 -4.78395691e-04 1.84757139e+01] [ 2.03030202e-03 8.03593501e-06 9.99997939e-01 -7.51796618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.380281693 meters 0.018067323163728843 Centerline is valid? [True, True] Translation: X:258.31, Y:18.49, Z:-0.08 [[ 9.73985544e-01 -2.26592847e-01 -2.80017371e-03 2.58312765e+02] [ 2.26591830e-01 9.73989569e-01 -6.79360188e-04 1.84944666e+01] [ 2.88127814e-03 2.71905184e-05 9.99995849e-01 -7.73156344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.440281693 meters 0.0208994028444411 Centerline is valid? [True, True] Translation: X:258.37, Y:18.51, Z:-0.08 [[ 9.74765342e-01 -2.23226286e-01 -1.59775778e-03 2.58369125e+02] [ 2.23225950e-01 9.74766651e-01 -3.87932471e-04 1.85119874e+01] [ 1.64403773e-03 2.14821289e-05 9.99998648e-01 -7.56102471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.500281693 meters 0.019730452069514907 Centerline is valid? [True, True] Translation: X:258.43, Y:18.52, Z:-0.07 [[ 9.74450906e-01 -2.24597998e-01 -1.08215295e-03 2.58427129e+02] [ 2.24597845e-01 9.74451507e-01 -2.62947696e-04 1.85236439e+01] [ 1.11356310e-03 1.31803999e-05 9.99999380e-01 -7.39835078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.560281693 meters 0.02035586408851059 Centerline is valid? [True, True] Translation: X:258.48, Y:18.54, Z:-0.07 [[ 9.74588728e-01 -2.24001435e-01 -4.09805068e-04 2.58483327e+02] [ 2.24001413e-01 9.74588814e-01 -9.96819700e-05 1.85408850e+01] [ 4.21720340e-04 5.35200999e-06 9.99999911e-01 -7.26856929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.620281693 meters 0.022710744082935313 Centerline is valid? [True, True] Translation: X:258.54, Y:18.57, Z:-0.08 [[ 9.75032041e-01 -2.22060803e-01 -1.23214666e-03 2.58536640e+02] [ 2.22060602e-01 9.75032820e-01 -2.99679569e-04 1.85650596e+01] [ 1.26793052e-03 1.85859529e-05 9.99999196e-01 -7.52125346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.680281693 meters 0.01916010960803116 Centerline is valid? [True, True] Translation: X:258.59, Y:18.58, Z:-0.08 [[ 9.73978145e-01 -2.26585767e-01 -5.04606033e-03 2.58594391e+02] [ 2.26582446e-01 9.73991215e-01 -1.22806208e-03 1.85767428e+01] [ 5.19307982e-03 5.27569378e-05 9.99986514e-01 -8.17804183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.740281693 meters 0.015731720188237545 Centerline is valid? [True, True] Translation: X:258.65, Y:18.59, Z:-0.08 [[ 9.72823313e-01 -2.31520287e-01 -3.62737045e-03 2.58651844e+02] [ 2.31518603e-01 9.72830076e-01 -8.83414689e-04 1.85881966e+01] [ 3.73334349e-03 1.96026672e-05 9.99993031e-01 -7.84521437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.800281693 meters 0.014163923734239529 Centerline is valid? [True, True] Translation: X:258.71, Y:18.60, Z:-0.07 [[ 9.72063262e-01 -2.34717582e-01 -8.19740039e-04 2.58710538e+02] [ 2.34717496e-01 9.72063607e-01 -1.99824445e-04 1.85975650e+01] [ 8.43741770e-04 1.83467192e-06 9.99999644e-01 -7.27010135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.860281693 meters 0.013809763286674598 Centerline is valid? [True, True] Translation: X:258.77, Y:18.61, Z:-0.07 [[ 9.71465972e-01 -2.37178965e-01 -5.72891744e-05 2.58767231e+02] [ 2.37178965e-01 9.71465974e-01 -1.40369930e-05 1.86083927e+01] [ 5.89837631e-05 4.86739631e-08 9.99999998e-01 -7.19597684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.920281693 meters 0.014099262664953559 Centerline is valid? [True, True] Translation: X:258.82, Y:18.62, Z:-0.08 [[ 9.71599129e-01 -2.36624772e-01 -1.96206193e-03 2.58823522e+02] [ 2.36624288e-01 9.71601110e-01 -4.78662199e-04 1.86200574e+01] [ 2.01960488e-03 7.96268138e-07 9.99997961e-01 -7.63264858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.980281693 meters 0.01565897465656508 Centerline is valid? [True, True] Translation: X:258.88, Y:18.64, Z:-0.08 [[ 9.72620045e-01 -2.32367193e-01 -3.96682645e-03 2.58879861e+02] [ 2.32365176e-01 9.72628134e-01 -9.68408761e-04 1.86390204e+01] [ 4.08327343e-03 2.01414478e-05 9.99991663e-01 -7.85516559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04028169299994 meters 0.022449290722028413 Centerline is valid? [True, True] Translation: X:258.93, Y:18.67, Z:-0.08 [[ 9.74835693e-01 -2.22905481e-01 -2.91858639e-03 2.58933909e+02] [ 2.22904346e-01 9.74840061e-01 -7.12583453e-04 1.86664219e+01] [ 3.00399369e-03 4.40861922e-05 9.99995487e-01 -7.78412786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10028169299994 meters 0.02963554074440737 Centerline is valid? [True, True] Translation: X:258.99, Y:18.69, Z:-0.08 [[ 9.75831794e-01 -2.18512084e-01 -2.18618853e-03 2.58987909e+02] [ 2.18511436e-01 9.75834242e-01 -5.33877665e-04 1.86907840e+01] [ 2.25001634e-03 4.32676057e-05 9.99997468e-01 -7.80264520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16028169299994 meters 0.03185224616074987 Centerline is valid? [True, True] Translation: X:259.05, Y:18.71, Z:-0.08 [[ 9.76982730e-01 -2.13269403e-01 -4.57232628e-03 2.59045358e+02] [ 2.13266512e-01 9.76993423e-01 -1.11660997e-03 1.87100000e+01] [ 4.70527144e-03 1.15784578e-04 9.99988923e-01 -8.08461619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22028169299995 meters 0.031499359388285166 Centerline is valid? [True, True] Translation: X:259.10, Y:18.73, Z:-0.08 [[ 9.76844276e-01 -2.13889382e-01 -5.15682686e-03 2.59101453e+02] [ 2.13885707e-01 9.76857879e-01 -1.26028342e-03 1.87263809e+01] [ 5.30704819e-03 1.28129087e-04 9.99985909e-01 -8.23225160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28028169299995 meters 0.026707261603573364 Centerline is valid? [True, True] Translation: X:259.16, Y:18.74, Z:-0.08 [[ 9.75645072e-01 -2.19334551e-01 -3.00792036e-03 2.59159143e+02] [ 2.19333327e-01 9.75649707e-01 -7.35197250e-04 1.87372785e+01] [ 3.09593078e-03 5.75543954e-05 9.99995206e-01 -7.79806163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34028169299995 meters 0.02515705052372487 Centerline is valid? [True, True] Translation: X:259.22, Y:18.75, Z:-0.08 [[ 9.75268878e-01 -2.21005105e-01 -2.71279545e-03 2.59216199e+02] [ 2.21004114e-01 9.75272650e-01 -6.63558700e-04 1.87505782e+01] [ 2.79236507e-03 4.76091929e-05 9.99996100e-01 -7.73390435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40028169299995 meters 0.02132978484007755 Centerline is valid? [True, True] Translation: X:259.27, Y:18.76, Z:-0.08 [[ 9.74412010e-01 -2.24759014e-01 -2.14949674e-03 2.59274576e+02] [ 2.24758400e-01 9.74414381e-01 -5.25848175e-04 1.87588629e+01] [ 2.21268965e-03 2.92753279e-05 9.99997552e-01 -7.66261285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46028169299996 meters 0.019193355598480174 Centerline is valid? [True, True] Translation: X:259.33, Y:18.77, Z:-0.08 [[ 9.73852002e-01 -2.27127711e-01 -5.02804945e-03 2.59332736e+02] [ 2.27124382e-01 9.73864980e-01 -1.23093572e-03 1.87694719e+01] [ 5.17622089e-03 5.67565912e-05 9.99986602e-01 -8.11853125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52028169299996 meters 0.018055219877849873 Centerline is valid? [True, True] Translation: X:259.39, Y:18.78, Z:-0.08 [[ 9.73548453e-01 -2.28463644e-01 -2.78805461e-03 2.59389992e+02] [ 2.28462624e-01 9.73552445e-01 -6.83059619e-04 1.87817892e+01] [ 2.87037168e-03 2.80253621e-05 9.99995880e-01 -7.61710504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58028169299996 meters 0.020210036926310553 Centerline is valid? [True, True] Translation: X:259.44, Y:18.80, Z:-0.07 [[ 9.74001381e-01 -2.26537888e-01 -1.37673055e-03 2.59444850e+02] [ 2.26537638e-01 9.74002354e-01 -3.37367603e-04 1.88003780e+01] [ 1.41736534e-03 1.67152253e-05 9.99998995e-01 -7.44407623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64028169299996 meters 0.022478633623609006 Centerline is valid? [True, True] Translation: X:259.50, Y:18.82, Z:-0.08 [[ 9.74469478e-01 -2.24507100e-01 -2.40807508e-03 2.59500819e+02] [ 2.24506326e-01 9.74472453e-01 -5.90516563e-04 1.88203423e+01] [ 2.47917799e-03 3.48122778e-05 9.99996926e-01 -7.62869207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70028169299997 meters 0.02093563490425094 Centerline is valid? [True, True] Translation: X:259.56, Y:18.84, Z:-0.08 [[ 9.74438303e-01 -2.24640971e-01 -2.53523828e-03 2.59556142e+02] [ 2.24640112e-01 9.74441601e-01 -6.22220726e-04 1.88362043e+01] [ 2.61021791e-03 3.67994983e-05 9.99996593e-01 -7.57493164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76028169299997 meters 0.023257249133777913 Centerline is valid? [True, True] Translation: X:259.61, Y:18.86, Z:-0.07 [[ 9.74862941e-01 -2.22802434e-01 -1.14939870e-03 2.59609754e+02] [ 2.22802256e-01 9.74863619e-01 -2.82157725e-04 1.88608298e+01] [ 1.18337240e-03 1.89764877e-05 9.99999300e-01 -7.38403224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82028169299997 meters 0.02348182786016333 Centerline is valid? [True, True] Translation: X:259.66, Y:18.88, Z:-0.08 [[ 9.74811276e-01 -2.23024068e-01 -1.80044970e-03 2.59663659e+02] [ 2.23023631e-01 9.74812938e-01 -4.42128373e-04 1.88790212e+01] [ 1.85370693e-03 2.94488932e-05 9.99998281e-01 -7.55484269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.880281693 meters 0.019985327349412958 Centerline is valid? [True, True] Translation: X:259.72, Y:18.89, Z:-0.08 [[ 9.74096257e-01 -2.26104002e-01 -3.66903855e-03 2.59720328e+02] [ 2.26102210e-01 9.74103166e-01 -9.01646493e-04 1.88934056e+01] [ 3.77788795e-03 4.87127496e-05 9.99992863e-01 -7.82480579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.940281693 meters 0.016737170459892738 Centerline is valid? [True, True] Translation: X:259.78, Y:18.90, Z:-0.08 [[ 9.72705703e-01 -2.31987258e-01 -5.05251693e-03 2.59777550e+02] [ 2.31983937e-01 9.72718824e-01 -1.24188729e-03 1.89037395e+01] [ 5.20278035e-03 3.58880796e-05 9.99986465e-01 -8.16445106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.000281693 meters 0.01487575581281594 Centerline is valid? [True, True] Translation: X:259.84, Y:18.91, Z:-0.08 [[ 9.70821476e-01 -2.39720341e-01 -6.31025486e-03 2.59835831e+02] [ 2.39715321e-01 9.70841984e-01 -1.55140628e-03 1.89070590e+01] [ 6.49816399e-03 -6.52623524e-06 9.99978887e-01 -8.42926860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.060281693 meters 0.014857651739728075 Centerline is valid? [True, True] Translation: X:259.89, Y:18.92, Z:-0.08 [[ 9.70554196e-01 -2.40820565e-01 -5.47805893e-03 2.59892090e+02] [ 2.40816795e-01 9.70569655e-01 -1.34754981e-03 1.89178281e+01] [ 5.64135547e-03 -1.13384704e-05 9.99984087e-01 -8.16938182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.120281693 meters 0.014435417898918695 Centerline is valid? [True, True] Translation: X:259.95, Y:18.93, Z:-0.08 [[ 9.70678448e-01 -2.40345744e-01 -4.15627689e-03 2.59949358e+02] [ 2.40343566e-01 9.70687346e-01 -1.02311092e-03 1.89309460e+01] [ 4.28034573e-03 -5.82269384e-06 9.99990839e-01 -7.93561578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.180281693 meters 0.014092762035580282 Centerline is valid? [True, True] Translation: X:260.00, Y:18.95, Z:-0.07 [[ 9.71469109e-01 -2.37155260e-01 -2.27022652e-03 2.60004574e+02] [ 2.37154600e-01 9.71471761e-01 -5.59347509e-04 1.89477615e+01] [ 2.33811316e-03 4.99416221e-06 9.99997267e-01 -7.45256791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.240281693 meters 0.015276224339280019 Centerline is valid? [True, True] Translation: X:260.06, Y:18.96, Z:-0.07 [[ 9.72076991e-01 -2.34649822e-01 -2.40518717e-03 2.60060905e+02] [ 2.34649073e-01 9.72079966e-01 -5.92700204e-04 1.89622097e+01] [ 2.47711126e-03 1.17752905e-05 9.99996932e-01 -7.47951045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.300281693 meters 0.01479427737107869 Centerline is valid? [True, True] Translation: X:260.12, Y:18.97, Z:-0.08 [[ 9.71877941e-01 -2.35474866e-01 -2.20361161e-03 2.60118144e+02] [ 2.35474240e-01 9.71880439e-01 -5.43158530e-04 1.89734160e+01] [ 2.26954720e-03 8.99002426e-06 9.99997425e-01 -7.51675307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.360281693 meters 0.015034094085841923 Centerline is valid? [True, True] Translation: X:260.17, Y:18.99, Z:-0.08 [[ 9.71838521e-01 -2.35635592e-01 -2.39927315e-03 2.60173589e+02] [ 2.35634849e-01 9.71841483e-01 -5.91589954e-04 1.89872038e+01] [ 2.47111282e-03 9.57753883e-06 9.99996947e-01 -7.58018393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.420281693 meters 0.014506394868059377 Centerline is valid? [True, True] Translation: X:260.23, Y:19.00, Z:-0.07 [[ 9.71794917e-01 -2.35827073e-01 -4.81005885e-04 2.60229888e+02] [ 2.35827043e-01 9.71795036e-01 -1.18757990e-04 1.89990952e+01] [ 4.95445481e-04 1.97421489e-06 9.99999877e-01 -7.09530933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.480281693 meters 0.01394323675118882 Centerline is valid? [True, True] Translation: X:260.29, Y:19.01, Z:-0.07 [[ 9.71168137e-01 -2.38393897e-01 8.94180720e-04 2.60287532e+02] [ 2.38393795e-01 9.71168549e-01 2.20679445e-04 1.90068250e+01] [-9.21008825e-04 -1.14971000e-06 9.99999576e-01 -6.88713670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54028169299994 meters 0.01380290073570402 Centerline is valid? [True, True] Translation: X:260.35, Y:19.02, Z:-0.07 [[ 9.70709561e-01 -2.40255680e-01 -3.95563860e-04 2.60345198e+02] [ 2.40255660e-01 9.70709642e-01 -9.77771449e-05 1.90160369e+01] [ 4.07469167e-04 -1.23246984e-07 9.99999917e-01 -7.11564589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60028169299994 meters 0.01437715973528719 Centerline is valid? [True, True] Translation: X:260.40, Y:19.04, Z:-0.07 [[ 9.71385371e-01 -2.37508179e-01 -5.71639407e-04 2.60399091e+02] [ 2.37508137e-01 9.71385539e-01 -1.41326503e-04 1.90358507e+01] [ 5.88848454e-04 1.51348720e-06 9.99999827e-01 -7.08898688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66028169299994 meters 0.01755233020079614 Centerline is valid? [True, True] Translation: X:260.45, Y:19.06, Z:-0.07 [[ 9.72793525e-01 -2.31657009e-01 -2.79056376e-03 2.60452915e+02] [ 2.31655982e-01 9.72797528e-01 -6.90226480e-04 1.90640173e+01] [ 2.87454933e-03 2.49970619e-05 9.99995868e-01 -7.33350596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72028169299995 meters 0.02195301648934894 Centerline is valid? [True, True] Translation: X:260.51, Y:19.09, Z:-0.07 [[ 9.74100827e-01 -2.26084088e-01 -3.68277497e-03 2.60507351e+02] [ 2.26082260e-01 9.74107788e-01 -9.10982808e-04 1.90910585e+01] [ 3.79337850e-03 5.47790196e-05 9.99992804e-01 -7.49580740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78028169299995 meters 0.02189733881826494 Centerline is valid? [True, True] Translation: X:260.56, Y:19.11, Z:-0.07 [[ 9.74047848e-01 -2.26331709e-01 -2.17867475e-03 2.60562167e+02] [ 2.26331069e-01 9.74050284e-01 -5.39071312e-04 1.91106996e+01] [ 2.24414769e-03 3.19794677e-05 9.99997481e-01 -7.23172313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84028169299995 meters 0.019130903462379608 Centerline is valid? [True, True] Translation: X:260.62, Y:19.13, Z:-0.07 [[ 9.73250641e-01 -2.29736677e-01 -2.06149178e-03 2.60619075e+02] [ 2.29736111e-01 9.73252824e-01 -5.10468964e-04 1.91260208e+01] [ 2.12362614e-03 2.32151413e-05 9.99997745e-01 -7.22343058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90028169299995 meters 0.01586332298543264 Centerline is valid? [True, True] Translation: X:260.68, Y:19.14, Z:-0.08 [[ 9.71949985e-01 -2.35167392e-01 -3.08615497e-03 2.60676630e+02] [ 2.35166151e-01 9.71954884e-01 -7.64319048e-04 1.91350362e+01] [ 3.17934631e-03 1.71207022e-05 9.99994946e-01 -7.57171914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96028169299996 meters 0.014352967140117795 Centerline is valid? [True, True] Translation: X:260.74, Y:19.14, Z:-0.07 [[ 9.70933116e-01 -2.39347217e-01 -1.33936649e-03 2.60735466e+02] [ 2.39346987e-01 9.70934040e-01 -3.31985198e-04 1.91422061e+01] [ 1.37989626e-03 1.76208788e-06 9.99999048e-01 -7.22655005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02028169299996 meters 0.014422138372303757 Centerline is valid? [True, True] Translation: X:260.79, Y:19.15, Z:-0.07 [[ 9.70601984e-01 -2.40680333e-01 -2.18313549e-03 2.60792208e+02] [ 2.40679724e-01 9.70604439e-01 -5.41527325e-04 1.91548279e+01] [ 2.24929598e-03 1.71048768e-07 9.99997470e-01 -7.42531780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08028169299996 meters 0.014532941466466125 Centerline is valid? [True, True] Translation: X:260.85, Y:19.17, Z:-0.07 [[ 9.70702373e-01 -2.40277908e-01 -1.85182790e-03 2.60848753e+02] [ 2.40277468e-01 9.70704140e-01 -4.59721250e-04 1.91670757e+01] [ 1.90803787e-03 1.29998964e-06 9.99998180e-01 -7.33495542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14028169299996 meters 0.014926567185036195 Centerline is valid? [True, True] Translation: X:260.90, Y:19.18, Z:-0.07 [[ 9.71279883e-01 -2.37935991e-01 -1.36144138e-03 2.60904437e+02] [ 2.37935751e-01 9.71280837e-01 -3.38282106e-04 1.91844935e+01] [ 1.40283141e-03 4.63102827e-06 9.99999016e-01 -7.16543582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20028169299997 meters 0.015426690068859097 Centerline is valid? [True, True] Translation: X:260.96, Y:19.20, Z:-0.07 [[ 9.71571261e-01 -2.36738229e-01 -2.07247771e-03 2.60960395e+02] [ 2.36737669e-01 9.71573472e-01 -5.15080013e-04 1.92001905e+01] [ 2.13550349e-03 9.80339623e-06 9.99997720e-01 -7.32123493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26028169299997 meters 0.01662858564736702 Centerline is valid? [True, True] Translation: X:261.02, Y:19.22, Z:-0.07 [[ 9.72077037e-01 -2.34639005e-01 -3.28215619e-03 2.61017336e+02] [ 2.34637586e-01 9.72082577e-01 -8.16308327e-04 1.92154144e+01] [ 3.38206462e-03 2.33973742e-05 9.99994281e-01 -7.49272387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32028169299997 meters 0.016752477742702634 Centerline is valid? [True, True] Translation: X:261.07, Y:19.23, Z:-0.07 [[ 9.72137954e-01 -2.34401849e-01 -1.88986230e-03 2.61073788e+02] [ 2.34401377e-01 9.72139791e-01 -4.70442038e-04 1.92279007e+01] [ 1.94748282e-03 1.43482348e-05 9.99998104e-01 -7.15695890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.380281693 meters 0.01906535235550023 Centerline is valid? [True, True] Translation: X:261.13, Y:19.24, Z:-0.07 [[ 9.72787136e-01 -2.31690118e-01 -2.20838925e-03 2.61129262e+02] [ 2.31689467e-01 9.72789642e-01 -5.49811265e-04 1.92428503e+01] [ 2.27568403e-03 2.31887967e-05 9.99997410e-01 -7.21808312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.440281693 meters 0.021467993058465643 Centerline is valid? [True, True] Translation: X:261.18, Y:19.26, Z:-0.07 [[ 9.73603647e-01 -2.28235667e-01 -2.10184653e-03 2.61184818e+02] [ 2.28235069e-01 9.73605916e-01 -5.23494379e-04 1.92609818e+01] [ 2.16585030e-03 2.99609488e-05 9.99997654e-01 -7.13062030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.500281693 meters 0.03193704080832727 Centerline is valid? [True, True] Translation: X:261.24, Y:19.29, Z:-0.07 [[ 9.75822443e-01 -2.18562944e-01 -8.93588380e-04 2.61237203e+02] [ 2.18562832e-01 9.75822852e-01 -2.22568754e-04 1.92948210e+01] [ 9.20629244e-04 2.18823780e-05 9.99999576e-01 -6.77001943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.560281693 meters 0.03328594751981616 Centerline is valid? [True, True] Translation: X:261.29, Y:19.32, Z:-0.07 [[ 9.76871788e-01 -2.13825782e-01 -2.13240534e-04 2.61293576e+02] [ 2.13825775e-01 9.76871811e-01 -5.31110717e-05 1.93188130e+01] [ 2.19665183e-04 6.28638501e-06 9.99999976e-01 -6.91754626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.620281693 meters 0.02933432193624921 Centerline is valid? [True, True] Translation: X:261.35, Y:19.33, Z:-0.07 [[ 9.75600784e-01 -2.19544852e-01 -1.77998917e-03 2.61350980e+02] [ 2.19544408e-01 9.75602407e-01 -4.43389047e-04 1.93326582e+01] [ 1.83390550e-03 4.17840324e-05 9.99998318e-01 -7.01806667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.680281693 meters 0.027814241863628776 Centerline is valid? [True, True] Translation: X:261.41, Y:19.35, Z:-0.07 [[ 9.74884364e-01 -2.22711245e-01 -4.21494123e-04 2.61406273e+02] [ 2.22711221e-01 9.74884455e-01 -1.05037665e-04 1.93493968e+01] [ 4.34301137e-04 8.52810691e-06 9.99999906e-01 -6.91003031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.740281693 meters 0.022608555728293477 Centerline is valid? [True, True] Translation: X:261.46, Y:19.36, Z:-0.07 [[ 9.73953054e-01 -2.26740964e-01 -1.99582748e-03 2.61464348e+02] [ 2.26740420e-01 9.73955099e-01 -4.97385319e-04 1.93592416e+01] [ 2.05662398e-03 3.18951877e-05 9.99997885e-01 -7.15125310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.800281693 meters 0.020272616929832326 Centerline is valid? [True, True] Translation: X:261.52, Y:19.37, Z:-0.07 [[ 9.73094398e-01 -2.30383676e-01 -3.26420856e-03 2.61521058e+02] [ 2.30382242e-01 9.73099872e-01 -8.13678824e-04 1.93722239e+01] [ 3.36385925e-03 3.97706177e-05 9.99994341e-01 -7.40659507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.860281693 meters 0.020021116125293184 Centerline is valid? [True, True] Translation: X:261.58, Y:19.39, Z:-0.07 [[ 9.72704215e-01 -2.32040650e-01 -1.90942358e-03 2.61577145e+02] [ 2.32040163e-01 9.72706089e-01 -4.76094512e-04 1.93851677e+01] [ 1.96778122e-03 2.00361816e-05 9.99998064e-01 -7.19320185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.920281693 meters 0.01679949815978358 Centerline is valid? [True, True] Translation: X:261.63, Y:19.40, Z:-0.07 [[ 9.71901409e-01 -2.35381927e-01 -1.73209791e-03 2.61634745e+02] [ 2.35381531e-01 9.71902952e-01 -4.32222162e-04 1.93962238e+01] [ 1.78516836e-03 1.23734714e-05 9.99998407e-01 -7.03363975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.980281693 meters 0.015876649854182596 Centerline is valid? [True, True] Translation: X:261.69, Y:19.41, Z:-0.07 [[ 9.71379283e-01 -2.37515292e-01 -2.96232219e-03 2.61692859e+02] [ 2.37514141e-01 9.71383799e-01 -7.39695421e-04 1.94078778e+01] [ 3.05324076e-03 1.49313975e-05 9.99995339e-01 -7.25764810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04028169299994 meters 0.01577197799694875 Centerline is valid? [True, True] Translation: X:261.75, Y:19.43, Z:-0.07 [[ 9.71297365e-01 -2.37861130e-01 -1.87380674e-03 2.61748378e+02] [ 2.37860670e-01 9.71299173e-01 -4.67992953e-04 1.94251412e+01] [ 1.93134427e-03 8.85539533e-06 9.99998135e-01 -6.98970799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10028169299994 meters 0.015710234294308272 Centerline is valid? [True, True] Translation: X:261.80, Y:19.44, Z:-0.07 [[ 9.71293008e-01 -2.37874418e-01 -2.37780617e-03 2.61804021e+02] [ 2.37873675e-01 9.71295918e-01 -5.94386836e-04 1.94409069e+01] [ 2.45094285e-03 1.17062853e-05 9.99996996e-01 -6.95663407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16028169299994 meters 0.017649217616390513 Centerline is valid? [True, True] Translation: X:261.86, Y:19.46, Z:-0.07 [[ 9.71953840e-01 -2.35163816e-01 -1.92682910e-03 2.61857428e+02] [ 2.35163323e-01 9.71955750e-01 -4.81741162e-04 1.94642814e+01] [ 1.98608071e-03 1.51106404e-05 9.99998028e-01 -6.90049780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22028169299995 meters 0.02312910106873294 Centerline is valid? [True, True] Translation: X:261.91, Y:19.50, Z:-0.07 [[ 9.73770650e-01 -2.27513311e-01 -2.90075481e-03 2.61910539e+02] [ 2.27512160e-01 9.73774969e-01 -7.25289456e-04 1.94971167e+01] [ 2.98969543e-03 4.63085935e-05 9.99995530e-01 -6.94494332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28028169299995 meters 0.027060942076683827 Centerline is valid? [True, True] Translation: X:261.96, Y:19.52, Z:-0.07 [[ 9.74594033e-01 -2.23949284e-01 -3.63178911e-03 2.61963988e+02] [ 2.23947453e-01 9.74600797e-01 -9.08259520e-04 1.95238114e+01] [ 3.74294863e-03 7.18543854e-05 9.99992993e-01 -7.20675800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34028169299995 meters 0.02695567503431613 Centerline is valid? [True, True] Translation: X:262.02, Y:19.54, Z:-0.07 [[ 9.74417856e-01 -2.24728703e-01 -2.61782131e-03 2.62018732e+02] [ 2.24727754e-01 9.74421371e-01 -6.54849125e-04 1.95449208e+01] [ 2.69802443e-03 4.97995756e-05 9.99996359e-01 -7.13356340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40028169299995 meters 0.02397996495066538 Centerline is valid? [True, True] Translation: X:262.07, Y:19.56, Z:-0.07 [[ 9.73691393e-01 -2.27868905e-01 -9.13202028e-04 2.62074500e+02] [ 2.27868791e-01 9.73691821e-01 -2.28490525e-04 1.95623965e+01] [ 9.41243231e-04 1.43890156e-05 9.99999557e-01 -6.77577726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46028169299996 meters 0.01881037712669833 Centerline is valid? [True, True] Translation: X:262.13, Y:19.57, Z:-0.07 [[ 9.72501742e-01 -2.32895601e-01 9.88242224e-07 2.62133656e+02] [ 2.32895601e-01 9.72501742e-01 2.30585235e-07 1.95684918e+01] [-1.01476956e-06 5.91272565e-09 1.00000000e+00 -6.65088933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52028169299996 meters 0.015141652736786075 Centerline is valid? [True, True] Translation: X:262.19, Y:19.57, Z:-0.07 [[ 9.70597715e-01 -2.40686492e-01 -3.17627966e-03 2.62193650e+02] [ 2.40685178e-01 9.70602912e-01 -7.95449366e-04 1.95703300e+01] [ 3.27436021e-03 7.57790027e-06 9.99994639e-01 -7.20072737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58028169299996 meters 0.015319998939878236 Centerline is valid? [True, True] Translation: X:262.25, Y:19.57, Z:-0.07 [[ 9.69338799e-01 -2.45694230e-01 -4.07898325e-03 2.62253165e+02] [ 2.45692105e-01 9.69347381e-01 -1.02171501e-03 1.95707554e+01] [ 4.20498121e-03 -1.17859859e-05 9.99991159e-01 -7.39393804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64028169299996 meters 0.014800301186317753 Centerline is valid? [True, True] Translation: X:262.31, Y:19.58, Z:-0.07 [[ 9.69540543e-01 -2.44926618e-01 -1.44511956e-03 2.62310163e+02] [ 2.44926350e-01 9.69541620e-01 -3.62269676e-04 1.95842842e+01] [ 1.48983304e-03 -2.71272060e-06 9.99998890e-01 -6.80778206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70028169299997 meters 0.015121116149271481 Centerline is valid? [True, True] Translation: X:262.36, Y:19.61, Z:-0.07 [[ 9.70356360e-01 -2.41653276e-01 -3.49700059e-03 2.62364559e+02] [ 2.41651685e-01 9.70362661e-01 -8.76736873e-04 1.96055414e+01] [ 3.60522514e-03 5.69111348e-06 9.99993501e-01 -7.32044769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76028169299997 meters 0.017857897679404502 Centerline is valid? [True, True] Translation: X:262.42, Y:19.63, Z:-0.07 [[ 9.71762120e-01 -2.35921871e-01 -4.38784588e-03 2.62418399e+02] [ 2.35919305e-01 9.71772026e-01 -1.10085412e-03 1.96339341e+01] [ 4.52370145e-03 3.45907818e-05 9.99989767e-01 -7.29272208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82028169299997 meters 0.018088975068081173 Centerline is valid? [True, True] Translation: X:262.47, Y:19.65, Z:-0.07 [[ 9.71983994e-01 -2.35019355e-01 -3.60810471e-03 2.62474079e+02] [ 2.35017611e-01 9.71990690e-01 -9.05870951e-04 1.96531872e+01] [ 3.71994140e-03 3.25239141e-05 9.99993080e-01 -7.04289014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.880281693 meters 0.014808679134257544 Centerline is valid? [True, True] Translation: X:262.53, Y:19.66, Z:-0.07 [[ 9.70256082e-01 -2.42069367e-01 -2.35734440e-03 2.62532449e+02] [ 2.42068642e-01 9.70258946e-01 -5.92276982e-04 1.96626348e+01] [ 2.43060661e-03 4.02118409e-06 9.99997046e-01 -6.88950180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.940281693 meters 0.014807766008082358 Centerline is valid? [True, True] Translation: X:262.59, Y:19.67, Z:-0.06 [[ 9.69256225e-01 -2.46053269e-01 -3.98045501e-04 2.62588848e+02] [ 2.46053249e-01 9.69256307e-01 -1.00061072e-04 1.96730965e+01] [ 4.10428467e-04 -9.55572235e-07 9.99999916e-01 -6.48331221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.000281693 meters 0.01644676870090484 Centerline is valid? [True, True] Translation: X:262.65, Y:19.68, Z:-0.07 [[ 9.68275322e-01 -2.49881403e-01 -1.47850625e-03 2.62647505e+02] [ 2.49881127e-01 9.68276450e-01 -3.71879013e-04 1.96806802e+01] [ 1.52452844e-03 -9.36953805e-06 9.99998838e-01 -6.60156057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.060281693 meters 0.01606412593393879 Centerline is valid? [True, True] Translation: X:262.70, Y:19.70, Z:-0.07 [[ 9.68713766e-01 -2.48167434e-01 -2.56184972e-03 2.62701808e+02] [ 2.48166598e-01 9.68717154e-01 -6.44443010e-04 1.96999106e+01] [ 2.64163754e-03 -1.14847141e-05 9.99996511e-01 -6.67489140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.120281693 meters 0.01568575297876975 Centerline is valid? [True, True] Translation: X:262.76, Y:19.72, Z:-0.07 [[ 9.68895167e-01 -2.47459182e-01 -2.47137099e-03 2.62757089e+02] [ 2.47458400e-01 9.68898319e-01 -6.22206286e-04 1.97169444e+01] [ 2.54847785e-03 -8.70884660e-06 9.99996753e-01 -6.67662564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.180281693 meters 0.015563214228388907 Centerline is valid? [True, True] Translation: X:262.81, Y:19.73, Z:-0.06 [[ 9.68651306e-01 -2.48422815e-01 -8.67204070e-04 2.62813181e+02] [ 2.48422719e-01 9.68651694e-01 -2.18552173e-04 1.97312065e+01] [ 8.94312038e-04 -3.73234459e-06 9.99999600e-01 -6.32606947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.240281693 meters 0.01592819850728505 Centerline is valid? [True, True] Translation: X:262.87, Y:19.75, Z:-0.06 [[ 9.68644047e-01 -2.48452617e-01 7.94062575e-05 2.62868368e+02] [ 2.48452617e-01 9.68644051e-01 1.99834164e-05 1.97469928e+01] [-8.18813310e-05 3.71875147e-07 9.99999997e-01 -6.27285465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.300281693 meters 0.015570245672879722 Centerline is valid? [True, True] Translation: X:262.92, Y:19.76, Z:-0.07 [[ 9.68837870e-01 -2.47669121e-01 -3.63159182e-03 2.62924141e+02] [ 2.47667427e-01 9.68844676e-01 -9.16065398e-04 1.97649255e+01] [ 3.74532951e-03 -1.19081532e-05 9.99992986e-01 -6.76578924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.360281693 meters 0.015539753399373211 Centerline is valid? [True, True] Translation: X:262.98, Y:19.78, Z:-0.07 [[ 9.69021222e-01 -2.46948100e-01 -3.80878091e-03 2.62979410e+02] [ 2.46946228e-01 9.69028707e-01 -9.61521608e-04 1.97845774e+01] [ 3.92826398e-03 -8.82923639e-06 9.99992284e-01 -6.87702314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.420281693 meters 0.0171467822368208 Centerline is valid? [True, True] Translation: X:263.04, Y:19.79, Z:-0.07 [[ 9.67892076e-01 -2.51343742e-01 -3.35451144e-03 2.63038618e+02] [ 2.51342315e-01 9.67897889e-01 -8.47420923e-04 1.97889793e+01] [ 3.45981848e-03 -2.29186729e-05 9.99994015e-01 -6.94637105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.480281693 meters 0.022883274874858 Centerline is valid? [True, True] Translation: X:263.10, Y:19.79, Z:-0.07 [[ 9.65819655e-01 -2.59198369e-01 -2.93233680e-03 2.63100138e+02] [ 2.59197314e-01 9.65824106e-01 -7.40800777e-04 1.97889459e+01] [ 3.02413592e-03 -4.45738708e-05 9.99995426e-01 -6.90913817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54028169299994 meters 0.03061976122438583 Centerline is valid? [True, True] Translation: X:263.16, Y:19.78, Z:-0.07 [[ 9.63394643e-01 -2.68037445e-01 -5.16622939e-03 2.63162921e+02] [ 2.68034297e-01 9.63408486e-01 -1.30521299e-03 1.97848731e+01] [ 5.32703519e-03 -1.27291461e-04 9.99985803e-01 -7.26286145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60028169299994 meters 0.0341353202540331 Centerline is valid? [True, True] Translation: X:263.22, Y:19.79, Z:-0.07 [[ 9.63103978e-01 -2.69108922e-01 -3.33394785e-03 2.63222358e+02] [ 2.69107617e-01 9.63109745e-01 -8.42523722e-04 1.97861639e+01] [ 3.43768831e-03 -8.57528111e-05 9.99994087e-01 -6.99169086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66028169299994 meters 0.03086800478396571 Centerline is valid? [True, True] Translation: X:263.28, Y:19.79, Z:-0.07 [[ 9.63883213e-01 -2.66319683e-01 -1.72561473e-03 2.63281147e+02] [ 2.66319329e-01 9.63884757e-01 -4.36227674e-04 1.97949763e+01] [ 1.77946975e-03 -3.90920243e-05 9.99998416e-01 -6.58828766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72028169299995 meters 0.023782873662923285 Centerline is valid? [True, True] Translation: X:263.34, Y:19.81, Z:-0.07 [[ 9.65246475e-01 -2.61293170e-01 -5.01220297e-03 2.63338697e+02] [ 2.61290112e-01 9.65259484e-01 -1.26705641e-03 1.98135790e+01] [ 5.16914964e-03 -8.66173389e-05 9.99986636e-01 -7.08107686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78028169299995 meters 0.02020957796715493 Centerline is valid? [True, True] Translation: X:263.39, Y:19.83, Z:-0.07 [[ 9.66616381e-01 -2.56189455e-01 -4.44237949e-03 2.63393916e+02] [ 2.56186997e-01 9.66626588e-01 -1.12343392e-03 1.98307346e+01] [ 4.58193405e-03 -5.21502303e-05 9.99989502e-01 -7.02140590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84028169299995 meters 0.01485638533490103 Centerline is valid? [True, True] Translation: X:263.45, Y:19.86, Z:-0.06 [[ 9.69330222e-01 -2.45760182e-01 -9.24445952e-04 2.63447457e+02] [ 2.45760070e-01 9.69330662e-01 -2.33838549e-04 1.98571389e+01] [ 9.53562012e-04 -5.25130153e-07 9.99999545e-01 -6.29073872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90028169299995 meters 0.019702632818488136 Centerline is valid? [True, True] Translation: X:263.50, Y:19.89, Z:-0.06 [[ 9.72240810e-01 -2.33978242e-01 -1.41080601e-03 2.63500597e+02] [ 2.33977971e-01 9.72241833e-01 -3.56882859e-04 1.98909878e+01] [ 1.45514744e-03 1.68785531e-05 9.99998941e-01 -6.44534801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96028169299996 meters 0.02468860734154835 Centerline is valid? [True, True] Translation: X:263.55, Y:19.92, Z:-0.06 [[ 9.73622351e-01 -2.28163994e-01 8.42806526e-04 2.63554216e+02] [ 2.28163895e-01 9.73622715e-01 2.13213589e-04 1.99180968e+01] [-8.69223242e-04 -1.52914967e-05 9.99999622e-01 -5.98210301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02028169299996 meters 0.027779162316351077 Centerline is valid? [True, True] Translation: X:263.61, Y:19.94, Z:-0.06 [[ 9.73987034e-01 -2.26603455e-01 3.62507369e-04 2.63608419e+02] [ 2.26603437e-01 9.73987102e-01 9.17152780e-05 1.99395208e+01] [-3.73860501e-04 -7.18407582e-06 9.99999930e-01 -6.10533690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08028169299996 meters 0.02350187776419937 Centerline is valid? [True, True] Translation: X:263.67, Y:19.95, Z:-0.06 [[ 9.73272151e-01 -2.29654302e-01 4.69952121e-04 2.63667388e+02] [ 2.29654272e-01 9.73272265e-01 1.18961599e-04 1.99486329e+01] [-4.84711408e-04 -7.85549879e-06 9.99999882e-01 -6.16510022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14028169299996 meters 0.019807158996111428 Centerline is valid? [True, True] Translation: X:263.72, Y:19.96, Z:-0.06 [[ 9.72040270e-01 -2.34814164e-01 -1.45508368e-04 2.63724376e+02] [ 2.34814161e-01 9.72040281e-01 -3.68804210e-05 1.99584439e+01] [ 1.50100040e-04 1.68182895e-06 9.99999989e-01 -6.25848115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20028169299997 meters 0.01831822594538086 Centerline is valid? [True, True] Translation: X:263.78, Y:19.97, Z:-0.07 [[ 9.71394618e-01 -2.37456479e-01 -2.62991325e-03 2.63781255e+02] [ 2.37455545e-01 9.71398178e-01 -6.66377629e-04 1.99680842e+01] [ 2.71292862e-03 2.28281601e-05 9.99996320e-01 -6.86636177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26028169299997 meters 0.015894277913258092 Centerline is valid? [True, True] Translation: X:263.84, Y:19.97, Z:-0.07 [[ 9.70410042e-01 -2.41440055e-01 -3.32413827e-03 2.63840356e+02] [ 2.41438584e-01 9.70415736e-01 -8.42898531e-04 1.99738831e+01] [ 3.42930555e-03 1.53819634e-05 9.99994120e-01 -6.84338356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32028169299997 meters 0.017611713074210777 Centerline is valid? [True, True] Translation: X:263.90, Y:19.99, Z:-0.07 [[ 9.71075544e-01 -2.38760098e-01 -2.42978859e-03 2.63895231e+02] [ 2.38759303e-01 9.71078583e-01 -6.16247719e-04 1.99935914e+01] [ 2.50665103e-03 1.82884574e-05 9.99996858e-01 -6.73536323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.380281693 meters 0.019203612443431276 Centerline is valid? [True, True] Translation: X:263.95, Y:20.01, Z:-0.07 [[ 9.71644681e-01 -2.36441409e-01 -1.43990217e-03 2.63951032e+02] [ 2.36441127e-01 9.71645748e-01 -3.65480139e-04 2.00134111e+01] [ 1.48548946e-03 1.46647420e-05 9.99998897e-01 -6.56342419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.440281693 meters 0.021247819778394465 Centerline is valid? [True, True] Translation: X:264.01, Y:20.04, Z:-0.07 [[ 9.72206595e-01 -2.34076417e-01 -4.75051059e-03 2.64005592e+02] [ 2.34073315e-01 9.72218200e-01 -1.20649096e-03 2.00364800e+01] [ 4.90094393e-03 6.09907105e-05 9.99987988e-01 -7.33021132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.500281693 meters 0.018851460289772765 Centerline is valid? [True, True] Translation: X:264.06, Y:20.05, Z:-0.07 [[ 9.71313309e-01 -2.37777789e-01 -3.48984429e-03 2.64063118e+02] [ 2.37776137e-01 9.71319578e-01 -8.86938347e-04 2.00473060e+01] [ 3.60064832e-03 3.16933257e-05 9.99993517e-01 -7.10126508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.560281693 meters 0.0169210336811118 Centerline is valid? [True, True] Translation: X:264.12, Y:20.06, Z:-0.07 [[ 9.70558080e-01 -2.40835334e-01 -3.91867046e-03 2.64120497e+02] [ 2.40833273e-01 9.70565990e-01 -9.96572971e-04 2.00588323e+01] [ 4.04333826e-03 2.34857160e-05 9.99991825e-01 -7.12795827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.620281693 meters 0.016258065886717677 Centerline is valid? [True, True] Translation: X:264.18, Y:20.07, Z:-0.07 [[ 9.70334358e-01 -2.41746104e-01 -3.17105351e-03 2.64176425e+02] [ 2.41744757e-01 9.70339539e-01 -8.07080444e-04 2.00732117e+01] [ 3.27210716e-03 1.65523233e-05 9.99994647e-01 -7.09363609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.680281693 meters 0.01500455817579004 Centerline is valid? [True, True] Translation: X:264.23, Y:20.08, Z:-0.07 [[ 9.69453855e-01 -2.45271497e-01 -1.05636293e-03 2.64234897e+02] [ 2.45271350e-01 9.69454430e-01 -2.69073741e-04 2.00824246e+01] [ 1.09009185e-03 1.75901309e-06 9.99999406e-01 -6.56189244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.740281693 meters 0.01632911207629682 Centerline is valid? [True, True] Translation: X:264.29, Y:20.10, Z:-0.07 [[ 9.70353944e-01 -2.41672676e-01 -2.74621067e-03 2.64288885e+02] [ 2.41671664e-01 9.70357830e-01 -6.99543041e-04 2.01041285e+01] [ 2.83386747e-03 1.51230452e-05 9.99995984e-01 -6.80814981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.800281693 meters 0.023753297859017846 Centerline is valid? [True, True] Translation: X:264.34, Y:20.14, Z:-0.06 [[ 9.72819222e-01 -2.31565032e-01 -6.30757967e-04 2.64341101e+02] [ 2.31564977e-01 9.72819426e-01 -1.60704254e-04 2.01387458e+01] [ 6.50827089e-04 1.02747332e-05 9.99999788e-01 -6.38095302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.860281693 meters 0.03337987024465255 Centerline is valid? [True, True] Translation: X:264.39, Y:20.18, Z:-0.06 [[ 9.74370686e-01 -2.24946607e-01 -8.88654941e-04 2.64392158e+02] [ 2.24946494e-01 9.74371091e-01 -2.26423698e-04 2.01761530e+01] [ 9.16812927e-04 2.07208006e-05 9.99999580e-01 -6.42638052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.920281693 meters 0.03395202946776932 Centerline is valid? [True, True] Translation: X:264.45, Y:20.20, Z:-0.07 [[ 9.74937724e-01 -2.22436759e-01 -4.28045910e-03 2.64448709e+02] [ 2.22434113e-01 9.74947114e-01 -1.09070683e-03 2.01968940e+01] [ 4.41583454e-03 1.11251107e-04 9.99990244e-01 -7.14434762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.980281693 meters 0.039128671747616466 Centerline is valid? [True, True] Translation: X:264.50, Y:20.23, Z:-0.07 [[ 9.75258432e-01 -2.21045655e-01 -3.13192251e-03 2.64500153e+02] [ 2.21044231e-01 9.75263457e-01 -7.98249967e-04 2.02300321e+01] [ 3.23089926e-03 8.62066096e-05 9.99994777e-01 -6.85706330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04028169299994 meters 0.03686733520423616 Centerline is valid? [True, True] Translation: X:264.56, Y:20.25, Z:-0.07 [[ 9.75292323e-01 -2.20891925e-01 -3.41218895e-03 2.64556706e+02] [ 2.20890231e-01 9.75298287e-01 -8.70288351e-04 2.02460237e+01] [ 3.52014171e-03 9.50663415e-05 9.99993800e-01 -6.90005933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10028169299994 meters 0.041558849077228406 Centerline is valid? [True, True] Translation: X:264.61, Y:20.28, Z:-0.07 [[ 9.75451866e-01 -2.20188072e-01 -3.29683786e-03 2.64608296e+02] [ 2.20186486e-01 9.75457433e-01 -8.41028884e-04 2.02791849e+01] [ 3.40110953e-03 9.44640507e-05 9.99994212e-01 -7.04967459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16028169299994 meters 0.03626291252863439 Centerline is valid? [True, True] Translation: X:264.66, Y:20.30, Z:-0.07 [[ 9.74850786e-01 -2.22831768e-01 -3.45651998e-03 2.64663897e+02] [ 2.22830039e-01 9.74856910e-01 -8.82319798e-04 2.03012875e+01] [ 3.56622127e-03 8.99136664e-05 9.99993637e-01 -6.95023371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22028169299995 meters 0.029328208241906805 Centerline is valid? [True, True] Translation: X:264.72, Y:20.32, Z:-0.07 [[ 9.73569184e-01 -2.28362197e-01 -3.70818676e-03 2.64721584e+02] [ 2.28360247e-01 9.73576243e-01 -9.46602140e-04 2.03163437e+01] [ 3.82637068e-03 7.47802269e-05 9.99992677e-01 -6.99333420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28028169299995 meters 0.020309299314283293 Centerline is valid? [True, True] Translation: X:264.78, Y:20.33, Z:-0.06 [[ 9.71579417e-01 -2.36710085e-01 1.33142163e-03 2.64781466e+02] [ 2.36709841e-01 9.71580329e-01 3.39885426e-04 2.03261548e+01] [-1.37403738e-03 -1.50650797e-05 9.99999056e-01 -5.97240901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34028169299995 meters 0.01520349103822884 Centerline is valid? [True, True] Translation: X:264.84, Y:20.33, Z:-0.06 [[ 9.69894246e-01 -2.43523084e-01 1.28832753e-03 2.64841343e+02] [ 2.43522862e-01 9.69895101e-01 3.29036478e-04 2.03317799e+01] [-1.32967053e-03 -5.39338023e-06 9.99999116e-01 -6.01785800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40028169299995 meters 0.015012057010671305 Centerline is valid? [True, True] Translation: X:264.90, Y:20.34, Z:-0.06 [[ 9.68096700e-01 -2.50576515e-01 -4.34877125e-04 2.64898699e+02] [ 2.50576490e-01 9.68096798e-01 -1.11184044e-04 2.03387317e+01] [ 4.48863263e-04 -1.33307781e-06 9.99999899e-01 -6.28617338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46028169299996 meters 0.016346140395358158 Centerline is valid? [True, True] Translation: X:264.96, Y:20.35, Z:-0.06 [[ 9.67224120e-01 -2.53923228e-01 7.04921872e-04 2.64956607e+02] [ 2.53923164e-01 9.67224376e-01 1.80177713e-04 2.03476535e+01] [-7.27568924e-04 4.72376195e-06 9.99999735e-01 -6.01949699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52028169299996 meters 0.019901822661256823 Centerline is valid? [True, True] Translation: X:265.01, Y:20.35, Z:-0.06 [[ 9.66331851e-01 -2.57286393e-01 2.54271815e-03 2.65014482e+02] [ 2.57285573e-01 9.66335196e-01 6.50185942e-04 2.03538662e+01] [-2.62440203e-03 2.59093099e-05 9.99996556e-01 -5.71817585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58028169299996 meters 0.02339983270942926 Centerline is valid? [True, True] Translation: X:265.08, Y:20.35, Z:-0.06 [[ 9.64821147e-01 -2.62907121e-01 2.98748839e-05 2.65076165e+02] [ 2.62907121e-01 9.64821147e-01 7.63216019e-06 2.03541849e+01] [-3.08304690e-05 4.90650174e-07 1.00000000e+00 -6.33445956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64028169299996 meters 0.024350931840429163 Centerline is valid? [True, True] Translation: X:265.13, Y:20.36, Z:-0.06 [[ 9.64616101e-01 -2.63654523e-01 -1.43844419e-03 2.65133584e+02] [ 2.63654268e-01 9.64617174e-01 -3.67996021e-04 2.03611941e+01] [ 1.48457178e-03 -2.42770616e-05 9.99998898e-01 -6.40625856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70028169299997 meters 0.021787776129296957 Centerline is valid? [True, True] Translation: X:265.19, Y:20.38, Z:-0.07 [[ 9.65402618e-01 -2.60749619e-01 -2.72410915e-03 2.65190419e+02] [ 2.60748689e-01 9.65406461e-01 -6.97367767e-04 2.03754354e+01] [ 2.81171095e-03 -3.70672216e-05 9.99996046e-01 -6.61599253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76028169299997 meters 0.01784007333671102 Centerline is valid? [True, True] Translation: X:265.25, Y:20.39, Z:-0.07 [[ 9.66671183e-01 -2.56011674e-01 -2.20141217e-03 2.65247475e+02] [ 2.56011055e-01 9.66673690e-01 -5.63662544e-04 2.03856230e+01] [ 2.27235141e-03 -1.87095122e-05 9.99997418e-01 -6.76186892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82028169299997 meters 0.017684539268790597 Centerline is valid? [True, True] Translation: X:265.31, Y:20.39, Z:-0.07 [[ 9.66591102e-01 -2.56296179e-01 -3.72950452e-03 2.65305945e+02] [ 2.56294400e-01 9.66598297e-01 -9.55590866e-04 2.03942935e+01] [ 3.84984700e-03 -3.21854930e-05 9.99992589e-01 -6.97083644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.880281693 meters 0.018241214841175874 Centerline is valid? [True, True] Translation: X:265.37, Y:20.40, Z:-0.07 [[ 9.66323066e-01 -2.57300608e-01 -4.01609318e-03 2.65365806e+02] [ 2.57298550e-01 9.66331411e-01 -1.02971811e-03 2.03990266e+01] [ 4.14582408e-03 -3.82945934e-05 9.99991405e-01 -6.93095535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.940281693 meters 0.01654660220841411 Centerline is valid? [True, True] Translation: X:265.42, Y:20.41, Z:-0.06 [[ 9.67146158e-01 -2.54217477e-01 -1.33560855e-03 2.65423199e+02] [ 2.54217246e-01 9.67147080e-01 -3.42531129e-04 2.04079709e+01] [ 1.37880731e-03 -8.25706287e-06 9.99999049e-01 -6.47136584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.000281693 meters 0.014430141743584363 Centerline is valid? [True, True] Translation: X:265.48, Y:20.43, Z:-0.06 [[ 9.68608232e-01 -2.48592091e-01 2.55086021e-04 2.65478714e+02] [ 2.48592083e-01 9.68608266e-01 6.54028215e-05 2.04299488e+01] [-2.63337053e-04 6.26539792e-08 9.99999965e-01 -6.19047997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.060281693 meters 0.016362323124432195 Centerline is valid? [True, True] Translation: X:265.53, Y:20.45, Z:-0.07 [[ 9.70092277e-01 -2.42726811e-01 -2.16075910e-03 2.65534561e+02] [ 2.42726177e-01 9.70094684e-01 -5.54900768e-04 2.04489617e+01] [ 2.23083021e-03 1.38321551e-05 9.99997512e-01 -6.58673918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.120281693 meters 0.01789482740521817 Centerline is valid? [True, True] Translation: X:265.59, Y:20.47, Z:-0.07 [[ 9.70655654e-01 -2.40448111e-01 -3.50820728e-03 2.65590587e+02] [ 2.40446423e-01 9.70661993e-01 -9.01517630e-04 2.04658383e+01] [ 3.62205168e-03 3.15272954e-05 9.99993440e-01 -6.83370363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.180281693 meters 0.01988048288724414 Centerline is valid? [True, True] Translation: X:265.65, Y:20.48, Z:-0.07 [[ 9.71237396e-01 -2.38104362e-01 -2.05727744e-03 2.65645712e+02] [ 2.38103776e-01 9.71239575e-01 -5.28781195e-04 2.04837937e+01] [ 2.12401437e-03 2.37265447e-05 9.99997744e-01 -6.58086728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.240281693 meters 0.02162512418125371 Centerline is valid? [True, True] Translation: X:265.70, Y:20.50, Z:-0.07 [[ 9.71634075e-01 -2.36480100e-01 -2.09453013e-03 2.65700253e+02] [ 2.36479488e-01 9.71636332e-01 -5.38556961e-04 2.05048303e+01] [ 2.16247957e-03 2.79668820e-05 9.99997661e-01 -6.55275053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.300281693 meters 0.026456275283144263 Centerline is valid? [True, True] Translation: X:265.75, Y:20.53, Z:-0.07 [[ 9.72774204e-01 -2.31732162e-01 -3.24866714e-03 2.65754927e+02] [ 2.31730664e-01 9.72779626e-01 -8.35398135e-04 2.05291223e+01] [ 3.35382583e-03 5.98379606e-05 9.99994374e-01 -6.84154335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.360281693 meters 0.02955303603303972 Centerline is valid? [True, True] Translation: X:265.81, Y:20.55, Z:-0.06 [[ 9.73382089e-01 -2.29188295e-01 -1.86286929e-04 2.65808537e+02] [ 2.29188290e-01 9.73382107e-01 -4.79345086e-05 2.05538364e+01] [ 1.92314391e-04 3.96380954e-06 9.99999982e-01 -6.26345259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.420281693 meters 0.028399763982974252 Centerline is valid? [True, True] Translation: X:265.86, Y:20.57, Z:-0.06 [[ 9.73075503e-01 -2.30485547e-01 6.91838231e-04 2.65864887e+02] [ 2.30485479e-01 9.73075748e-01 1.78005508e-04 2.05697855e+01] [-7.14238702e-04 -1.37541330e-05 9.99999745e-01 -6.10356273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.480281693 meters 0.027343909490157102 Centerline is valid? [True, True] Translation: X:265.92, Y:20.59, Z:-0.07 [[ 9.72678417e-01 -2.32152260e-01 -1.42290016e-03 2.65920019e+02] [ 2.32151972e-01 9.72679458e-01 -3.66508804e-04 2.05893142e+01] [ 1.46911161e-03 2.61661248e-05 9.99998921e-01 -6.56116088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54028169299994 meters 0.027680269968917308 Centerline is valid? [True, True] Translation: X:265.98, Y:20.61, Z:-0.07 [[ 9.72683414e-01 -2.32124716e-01 -2.25653168e-03 2.65975831e+02] [ 2.32123991e-01 9.72686031e-01 -5.81571971e-04 2.06066148e+01] [ 2.32989407e-03 4.18902714e-05 9.99997285e-01 -6.63146126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60028169299994 meters 0.027728016864544826 Centerline is valid? [True, True] Translation: X:266.03, Y:20.63, Z:-0.06 [[ 9.72861092e-01 -2.31384849e-01 -1.53217906e-03 2.66031012e+02] [ 2.31384514e-01 9.72862298e-01 -3.94960660e-04 2.06263342e+01] [ 1.58198715e-03 2.97193527e-05 9.99998748e-01 -6.49452490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66028169299994 meters 0.02722535218079428 Centerline is valid? [True, True] Translation: X:266.09, Y:20.65, Z:-0.06 [[ 9.73124747e-01 -2.30278529e-01 1.61749291e-04 2.66086358e+02] [ 2.30278525e-01 9.73124760e-01 4.16625988e-05 2.06468764e+01] [-1.66996242e-04 -3.29551782e-06 9.99999986e-01 -6.22030474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72028169299995 meters 0.029022186848385364 Centerline is valid? [True, True] Translation: X:266.14, Y:20.67, Z:-0.07 [[ 9.73003389e-01 -2.30775713e-01 -2.64124020e-03 2.66140405e+02] [ 2.30774713e-01 9.73006972e-01 -6.81468074e-04 2.06674445e+01] [ 2.72721141e-03 5.35392953e-05 9.99996280e-01 -6.96459282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78028169299995 meters 0.027444206548245687 Centerline is valid? [True, True] Translation: X:266.20, Y:20.68, Z:-0.07 [[ 9.72521212e-01 -2.32798856e-01 -2.68035483e-03 2.66196298e+02] [ 2.32797833e-01 9.72524905e-01 -6.91716974e-04 2.06817789e+01] [ 2.76774275e-03 4.87286334e-05 9.99996169e-01 -6.85450340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84028169299995 meters 0.019737999509702005 Centerline is valid? [True, True] Translation: X:266.26, Y:20.68, Z:-0.06 [[ 9.71146145e-01 -2.38485146e-01 2.23023957e-05 2.66257597e+02] [ 2.38485146e-01 9.71146145e-01 5.74430361e-06 2.06846145e+01] [-2.30288166e-05 -2.59768218e-07 1.00000000e+00 -6.40482862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90028169299995 meters 0.01533048410032443 Centerline is valid? [True, True] Translation: X:266.32, Y:20.69, Z:-0.07 [[ 9.69352803e-01 -2.45672002e-01 -6.41543365e-04 2.66317477e+02] [ 2.45671946e-01 9.69353015e-01 -1.65629873e-04 2.06889465e+01] [ 6.62572618e-04 2.94457451e-06 9.99999780e-01 -6.50655205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96028169299996 meters 0.014691162430536434 Centerline is valid? [True, True] Translation: X:266.37, Y:20.70, Z:-0.06 [[ 9.68788007e-01 -2.47890012e-01 -5.82563158e-04 2.66374210e+02] [ 2.47889967e-01 9.68788182e-01 -1.50571742e-04 2.06997439e+01] [ 6.01705534e-04 1.46053546e-06 9.99999819e-01 -6.43746742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02028169299996 meters 0.015381997382550087 Centerline is valid? [True, True] Translation: X:266.43, Y:20.70, Z:-0.06 [[ 9.67144533e-01 -2.54226958e-01 -3.25767572e-04 2.66434104e+02] [ 2.54226944e-01 9.67144588e-01 -8.42232165e-05 2.07000175e+01] [ 3.36476156e-04 -1.36287088e-06 9.99999943e-01 -6.39084755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08028169299996 meters 0.017803100394528946 Centerline is valid? [True, True] Translation: X:266.49, Y:20.70, Z:-0.06 [[ 9.66390672e-01 -2.57077864e-01 2.01200921e-04 2.66493243e+02] [ 2.57077859e-01 9.66390693e-01 5.19909954e-05 2.07027961e+01] [-2.07804432e-04 1.48068917e-06 9.99999978e-01 -6.24504386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14028169299996 meters 0.01563497764343481 Centerline is valid? [True, True] Translation: X:266.55, Y:20.72, Z:-0.06 [[ 9.66799335e-01 -2.55528498e-01 2.05726593e-03 2.66549005e+02] [ 2.55527944e-01 9.66801524e-01 5.32099468e-04 2.07203446e+01] [-2.12493442e-03 1.12555226e-05 9.99997742e-01 -5.84581484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20028169299997 meters 0.01430535034060416 Centerline is valid? [True, True] Translation: X:266.60, Y:20.74, Z:-0.06 [[ 9.67930499e-01 -2.51208488e-01 2.20100277e-03 2.66604846e+02] [ 2.51207842e-01 9.67933002e-01 5.69654838e-04 2.07398192e+01] [-2.27352535e-03 1.52286410e-06 9.99997416e-01 -5.93240652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26028169299997 meters 0.01619099056278011 Centerline is valid? [True, True] Translation: X:266.66, Y:20.77, Z:-0.06 [[ 9.69618811e-01 -2.44615234e-01 1.65778283e-03 2.66658269e+02] [ 2.44614857e-01 9.69620228e-01 4.29327391e-04 2.07683541e+01] [-1.71243979e-03 -1.07656041e-05 9.99998534e-01 -5.80739515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32028169299997 meters 0.02388772944807515 Centerline is valid? [True, True] Translation: X:266.71, Y:20.80, Z:-0.06 [[ 9.71972052e-01 -2.35095992e-01 -4.53295893e-04 2.66710544e+02] [ 2.35095963e-01 9.71972157e-01 -1.17418400e-04 2.08048059e+01] [ 4.68195582e-04 7.55936920e-06 9.99999890e-01 -6.42330849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.380281693 meters 0.028392475518874336 Centerline is valid? [True, True] Translation: X:266.76, Y:20.83, Z:-0.07 [[ 9.72947707e-01 -2.31018866e-01 -1.74453479e-03 2.66764042e+02] [ 2.31018426e-01 9.72949270e-01 -4.51952701e-04 2.08339649e+01] [ 1.80175345e-03 3.67066620e-05 9.99998376e-01 -6.60580496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.440281693 meters 0.027755717858781746 Centerline is valid? [True, True] Translation: X:266.82, Y:20.86, Z:-0.06 [[ 9.72743335e-01 -2.31884455e-01 -5.60461477e-05 2.66817473e+02] [ 2.31884454e-01 9.72743337e-01 -1.45433769e-05 2.08595027e+01] [ 5.78908998e-05 1.15074256e-06 9.99999998e-01 -6.16703652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.500281693 meters 0.023032916740302688 Centerline is valid? [True, True] Translation: X:266.87, Y:20.87, Z:-0.06 [[ 9.71311137e-01 -2.37810523e-01 -9.10816995e-04 2.66874327e+02] [ 2.37810406e-01 9.71311564e-01 -2.36043063e-04 2.08747946e+01] [ 9.40820605e-04 1.26694967e-05 9.99999557e-01 -6.44953597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.560281693 meters 0.018914383422447303 Centerline is valid? [True, True] Translation: X:266.93, Y:20.89, Z:-0.06 [[ 9.70361426e-01 -2.41658157e-01 -1.92567936e-04 2.66931090e+02] [ 2.41658152e-01 9.70361446e-01 -4.99914513e-05 2.08904437e+01] [ 1.98941342e-04 1.97416451e-06 9.99999980e-01 -6.26443623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.620281693 meters 0.015414156380524296 Centerline is valid? [True, True] Translation: X:266.99, Y:20.90, Z:-0.06 [[ 9.69028705e-01 -2.46948103e-01 -5.77855916e-05 2.66988427e+02] [ 2.46948103e-01 9.69028707e-01 -1.50078045e-05 2.08996934e+01] [ 5.97020459e-05 2.72951128e-07 9.99999998e-01 -6.29357359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.680281693 meters 0.014799493740125845 Centerline is valid? [True, True] Translation: X:267.05, Y:20.91, Z:-0.06 [[ 9.67376314e-01 -2.53342051e-01 9.34237856e-04 2.67045919e+02] [ 2.53341936e-01 9.67376765e-01 2.42350884e-04 2.09075395e+01] [-9.65157665e-04 2.23712145e-06 9.99999534e-01 -6.09861426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.740281693 meters 0.015354723459323406 Centerline is valid? [True, True] Translation: X:267.10, Y:20.92, Z:-0.06 [[ 9.66902460e-01 -2.55144533e-01 9.48530538e-04 2.67102636e+02] [ 2.55144415e-01 9.66902925e-01 2.46177689e-04 2.09224618e+01] [-9.79947843e-04 3.98245536e-06 9.99999520e-01 -6.09198502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.800281693 meters 0.014696015460825837 Centerline is valid? [True, True] Translation: X:267.16, Y:20.95, Z:-0.06 [[ 9.67290861e-01 -2.53663596e-01 1.78070727e-03 2.67155266e+02] [ 2.53663175e-01 9.67292500e-01 4.62341582e-04 2.09481487e+01] [-1.83974402e-03 4.48107337e-06 9.99998308e-01 -5.94614480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.860281693 meters 0.017032437475687886 Centerline is valid? [True, True] Translation: X:267.21, Y:20.96, Z:-0.06 [[ 9.66104653e-01 -2.58136552e-01 2.70545012e-03 2.67212203e+02] [ 2.58135596e-01 9.66108441e-01 7.02846678e-04 2.09616943e+01] [-2.79518862e-03 1.93495337e-05 9.99996093e-01 -5.87014486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.920281693 meters 0.028362870338623548 Centerline is valid? [True, True] Translation: X:267.28, Y:20.96, Z:-0.06 [[ 9.63153345e-01 -2.68944353e-01 2.13752053e-03 2.67276013e+02] [ 2.68943782e-01 9.63155716e-01 5.55346668e-04 2.09571908e+01] [-2.20812247e-03 3.99888543e-05 9.99997561e-01 -6.01894286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98028169299994 meters 0.040642870034528045 Centerline is valid? [True, True] Translation: X:267.34, Y:20.95, Z:-0.07 [[ 9.60005700e-01 -2.79979683e-01 -6.58365140e-04 2.67340336e+02] [ 2.79979631e-01 9.60005925e-01 -1.71051714e-04 2.09495102e+01] [ 6.79925440e-04 -2.01182085e-05 9.99999769e-01 -6.64985071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04028169299994 meters 0.04451589395834496 Centerline is valid? [True, True] Translation: X:267.40, Y:20.95, Z:-0.07 [[ 9.59128078e-01 -2.82965634e-01 -1.94442279e-03 2.67400819e+02] [ 2.82965191e-01 9.59130046e-01 -5.05238442e-04 2.09532561e+01] [ 2.00791944e-03 -6.56155897e-05 9.99997982e-01 -6.84716991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10028169299994 meters 0.04690231882897465 Centerline is valid? [True, True] Translation: X:267.46, Y:20.95, Z:-0.07 [[ 9.59512982e-01 -2.81639940e-01 -3.71239257e-03 2.67460659e+02] [ 2.81638313e-01 9.59520156e-01 -9.64839507e-04 2.09534711e+01] [ 3.83385284e-03 -1.19775949e-04 9.99992644e-01 -7.29139423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16028169299994 meters 0.039486175481493004 Centerline is valid? [True, True] Translation: X:267.52, Y:20.97, Z:-0.07 [[ 9.60384661e-01 -2.78673398e-01 -1.56190281e-03 2.67518794e+02] [ 2.78673106e-01 9.60385930e-01 -4.05968888e-04 2.09662671e+01] [ 1.61316221e-03 -4.53740148e-05 9.99998698e-01 -6.67408848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22028169299995 meters 0.03766283062867207 Centerline is valid? [True, True] Translation: X:267.58, Y:20.97, Z:-0.07 [[ 9.60851539e-01 -2.77063457e-01 -4.01562553e-04 2.67578649e+02] [ 2.77063438e-01 9.60851622e-01 -1.04479594e-04 2.09720356e+01] [ 4.14789509e-04 -1.08689226e-05 9.99999914e-01 -6.63902692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28028169299995 meters 0.03287549460952907 Centerline is valid? [True, True] Translation: X:267.64, Y:20.99, Z:-0.07 [[ 9.60775973e-01 -2.77324523e-01 -7.99008854e-04 2.67635147e+02] [ 2.77324446e-01 9.60776305e-01 -2.07860613e-04 2.09865651e+01] [ 8.25313619e-04 -2.18772050e-05 9.99999659e-01 -6.63524461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34028169299995 meters 0.038966253835184504 Centerline is valid? [True, True] Translation: X:267.70, Y:20.99, Z:-0.07 [[ 9.61084225e-01 -2.76252679e-01 -1.25255540e-03 2.67695096e+02] [ 2.76252489e-01 9.61085041e-01 -3.26089266e-04 2.09877204e+01] [ 1.29389529e-03 -3.26222962e-05 9.99999162e-01 -6.72686892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40028169299995 meters 0.03719940895528627 Centerline is valid? [True, True] Translation: X:267.75, Y:21.00, Z:-0.07 [[ 9.60744223e-01 -2.77433382e-01 -1.12126790e-03 2.67752752e+02] [ 2.77433230e-01 9.60744877e-01 -2.92093452e-04 2.09983009e+01] [ 1.15828886e-03 -3.04498778e-05 9.99999329e-01 -6.69908553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46028169299996 meters 0.0440343039936885 Centerline is valid? [True, True] Translation: X:267.81, Y:21.00, Z:-0.07 [[ 9.59316110e-01 -2.82332472e-01 -9.87998891e-04 2.67814124e+02] [ 2.82332357e-01 9.59316618e-01 -2.57361034e-04 2.09974271e+01] [ 1.02046513e-03 -3.20534698e-05 9.99999479e-01 -6.70930557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52028169299996 meters 0.048018574085724595 Centerline is valid? [True, True] Translation: X:267.87, Y:21.00, Z:-0.07 [[ 9.58454996e-01 -2.85243104e-01 -6.26320615e-04 2.67874500e+02] [ 2.85243059e-01 9.58455200e-01 -1.63170998e-04 2.10017688e+01] [ 6.46843652e-04 -2.22615497e-05 9.99999791e-01 -6.60765991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58028169299996 meters 0.05635098796572442 Centerline is valid? [True, True] Translation: X:267.94, Y:21.00, Z:-0.07 [[ 9.56846605e-01 -2.90579093e-01 -2.89240299e-03 2.67936479e+02] [ 2.90578140e-01 9.56850969e-01 -7.53599660e-04 2.09980425e+01] [ 2.98657891e-03 -1.19389806e-04 9.99995533e-01 -7.15077620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64028169299996 meters 0.05272066757450574 Centerline is valid? [True, True] Translation: X:268.00, Y:21.01, Z:-0.06 [[ 9.55979708e-01 -2.93432370e-01 -4.91788419e-04 2.67995481e+02] [ 2.93432343e-01 9.55979834e-01 -1.28150561e-04 2.10079657e+01] [ 5.07743335e-04 -2.17972916e-05 9.99999871e-01 -6.49237493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70028169299997 meters 0.059271155843356876 Centerline is valid? [True, True] Translation: X:268.06, Y:21.00, Z:-0.07 [[ 9.56583626e-01 -2.91457886e-01 -2.58207273e-04 2.68057119e+02] [ 2.91457879e-01 9.56583661e-01 -6.73005274e-05 2.10033592e+01] [ 2.66612128e-04 -1.08779616e-05 9.99999964e-01 -6.52338579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76028169299997 meters 0.040772041559235826 Centerline is valid? [True, True] Translation: X:268.11, Y:21.04, Z:-0.06 [[ 9.58801402e-01 -2.84076041e-01 -8.21607685e-04 2.68109640e+02] [ 2.84075961e-01 9.58801753e-01 -2.14137774e-04 2.10382557e+01] [ 8.48590300e-04 -2.80833953e-05 9.99999640e-01 -6.49129346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82028169299997 meters 0.04449217961825655 Centerline is valid? [True, True] Translation: X:268.17, Y:21.05, Z:-0.06 [[ 9.59958791e-01 -2.80141169e-01 -2.10850774e-04 2.68167761e+02] [ 2.80141164e-01 9.59958814e-01 -5.49722604e-05 2.10479245e+01] [ 2.17808052e-04 -6.29687661e-06 9.99999976e-01 -6.37831961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.880281693 meters 0.032955740925054725 Centerline is valid? [True, True] Translation: X:268.22, Y:21.08, Z:-0.06 [[ 9.62486180e-01 -2.71330707e-01 -1.53671721e-05 2.68222082e+02] [ 2.71330707e-01 9.62486180e-01 -4.01730404e-06 2.10780046e+01] [ 1.58807087e-05 -3.02986046e-07 1.00000000e+00 -6.27098818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.940281693 meters 0.029370245719325644 Centerline is valid? [True, True] Translation: X:268.28, Y:21.10, Z:-0.07 [[ 9.63285946e-01 -2.68477053e-01 -5.07453976e-04 2.68278031e+02] [ 2.68477020e-01 9.63286080e-01 -1.32326865e-04 2.10959280e+01] [ 5.24350078e-04 -8.77112195e-06 9.99999862e-01 -6.50221866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.000281693 meters 0.0276076003315037 Centerline is valid? [True, True] Translation: X:268.33, Y:21.11, Z:-0.07 [[ 9.62749080e-01 -2.70384421e-01 -2.54443562e-03 2.68334529e+02] [ 2.70383611e-01 9.62752441e-01 -6.63907247e-04 2.11119370e+01] [ 2.62917178e-03 -4.87975996e-05 9.99996543e-01 -6.83115493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.060281693 meters 0.03433162514831096 Centerline is valid? [True, True] Translation: X:268.39, Y:21.11, Z:-0.07 [[ 9.61210062e-01 -2.75794680e-01 -3.53710226e-03 2.68394865e+02] [ 2.75793150e-01 9.61216566e-01 -9.22929355e-04 2.11149943e+01] [ 3.65446030e-03 -8.83795916e-05 9.99993319e-01 -7.09921624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.120281693 meters 0.0408036177891256 Centerline is valid? [True, True] Translation: X:268.46, Y:21.12, Z:-0.07 [[ 9.59845417e-01 -2.80528380e-01 -7.77199018e-04 2.68455768e+02] [ 2.80528308e-01 9.59845731e-01 -2.02814019e-04 2.11158050e+01] [ 8.02886248e-04 -2.33562184e-05 9.99999677e-01 -6.50611287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.180281693 meters 0.04483391414595884 Centerline is valid? [True, True] Translation: X:268.52, Y:21.12, Z:-0.07 [[ 9.58810040e-01 -2.84041390e-01 -1.94825551e-03 2.68517045e+02] [ 2.84040942e-01 9.58812017e-01 -5.08442122e-04 2.11180305e+01] [ 2.01242940e-03 -6.58849180e-05 9.99997973e-01 -6.87494369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.240281693 meters 0.039540581705737904 Centerline is valid? [True, True] Translation: X:268.57, Y:21.13, Z:-0.07 [[ 9.58894474e-01 -2.83731571e-01 -4.21695048e-03 2.68573871e+02] [ 2.83729468e-01 9.58903737e-01 -1.10128435e-03 2.11342693e+01] [ 4.35611871e-03 -1.40457644e-04 9.99990502e-01 -7.14818540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.300281693 meters 0.03445077874032847 Centerline is valid? [True, True] Translation: X:268.63, Y:21.15, Z:-0.07 [[ 9.60725692e-01 -2.77469901e-01 -4.07418882e-03 2.68630355e+02] [ 2.77467882e-01 9.60734324e-01 -1.06407918e-03 2.11493761e+01] [ 4.20946299e-03 -1.08168333e-04 9.99991134e-01 -7.05479335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.360281693 meters 0.02692188638225587 Centerline is valid? [True, True] Translation: X:268.69, Y:21.17, Z:-0.07 [[ 9.62670571e-01 -2.70625151e-01 -5.23446990e-03 2.68687925e+02] [ 2.70621716e-01 9.62684797e-01 -1.36717382e-03 2.11684019e+01] [ 5.40913621e-03 -1.00423229e-04 9.99985365e-01 -7.25205477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.420281693 meters 0.02408144558934279 Centerline is valid? [True, True] Translation: X:268.75, Y:21.18, Z:-0.07 [[ 9.64197578e-01 -2.65141567e-01 -4.79382481e-03 2.68745042e+02] [ 2.65138618e-01 9.64209492e-01 -1.25220400e-03 2.11830733e+01] [ 4.95426272e-03 -6.36560237e-05 9.99987726e-01 -7.38085104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48028169299994 meters 0.01822915925358297 Centerline is valid? [True, True] Translation: X:268.80, Y:21.20, Z:-0.06 [[ 9.65137515e-01 -2.61739317e-01 -1.45138707e-03 2.68800559e+02] [ 2.61739042e-01 9.65138607e-01 -3.79206838e-04 2.12042443e+01] [ 1.50004303e-03 -1.38979158e-05 9.99998875e-01 -6.45192314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54028169299994 meters 0.01603459213848676 Centerline is valid? [True, True] Translation: X:268.86, Y:21.22, Z:-0.07 [[ 9.66203671e-01 -2.57761226e-01 -3.10092628e-03 2.68856219e+02] [ 2.57759952e-01 9.66208647e-01 -8.10755943e-04 2.12246440e+01] [ 3.20512323e-03 -1.59392408e-05 9.99994863e-01 -6.67497058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60028169299994 meters 0.014952568814703996 Centerline is valid? [True, True] Translation: X:268.91, Y:21.25, Z:-0.07 [[ 9.67417454e-01 -2.53170351e-01 -2.87098452e-03 2.68911207e+02] [ 2.53169237e-01 9.67421714e-01 -7.51144414e-04 2.12450108e+01] [ 2.96762026e-03 -1.74744426e-07 9.99995597e-01 -6.78008524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66028169299994 meters 0.016651830667961966 Centerline is valid? [True, True] Translation: X:268.96, Y:21.27, Z:-0.06 [[ 9.69072222e-01 -2.46777112e-01 -2.93719048e-04 2.68964420e+02] [ 2.46777100e-01 9.69072266e-01 -7.69510064e-05 2.12738268e+01] [ 3.03624731e-04 2.08794763e-06 9.99999954e-01 -6.08592587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72028169299995 meters 0.021637919337198174 Centerline is valid? [True, True] Translation: X:269.02, Y:21.31, Z:-0.06 [[ 9.70629013e-01 -2.40576638e-01 -1.48326375e-03 2.69017058e+02] [ 2.40576326e-01 9.70630146e-01 -3.88368732e-04 2.13050838e+01] [ 1.53313295e-03 2.01238172e-05 9.99998825e-01 -6.23362413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78028169299995 meters 0.02338174449122187 Centerline is valid? [True, True] Translation: X:269.07, Y:21.33, Z:-0.07 [[ 9.70925412e-01 -2.39363064e-01 -3.02786920e-03 2.69071661e+02] [ 2.39361754e-01 9.70930132e-01 -7.93341491e-04 2.13283813e+01] [ 3.12974609e-03 4.55193320e-05 9.99995101e-01 -6.62981250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84028169299995 meters 0.023732329252216557 Centerline is valid? [True, True] Translation: X:269.13, Y:21.35, Z:-0.06 [[ 9.71241552e-01 -2.38089837e-01 -1.75418655e-03 2.69127376e+02] [ 2.38089395e-01 9.71243136e-01 -4.59953764e-04 2.13491960e+01] [ 1.81325196e-03 2.90729928e-05 9.99998356e-01 -6.32276106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90028169299995 meters 0.025643981616347 Centerline is valid? [True, True] Translation: X:269.18, Y:21.38, Z:-0.06 [[ 9.71367943e-01 -2.37578507e-01 -8.78755424e-04 2.69179929e+02] [ 2.37578395e-01 9.71368340e-01 -2.30458258e-04 2.13753287e+01] [ 9.08347127e-04 1.50864598e-05 9.99999587e-01 -6.19806489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96028169299996 meters 0.022510216167440644 Centerline is valid? [True, True] Translation: X:269.24, Y:21.39, Z:-0.07 [[ 9.70451381e-01 -2.41266136e-01 -3.84286278e-03 2.69237093e+02] [ 2.41264034e-01 9.70458989e-01 -1.00841950e-03 2.13883751e+01] [ 3.97263820e-03 5.14775194e-05 9.99992108e-01 -6.90835206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02028169299996 meters 0.021223889304341475 Centerline is valid? [True, True] Translation: X:269.29, Y:21.40, Z:-0.07 [[ 9.70058692e-01 -2.42834882e-01 -4.16576400e-03 2.69292823e+02] [ 2.42832425e-01 9.70067636e-01 -1.09336009e-03 2.14028765e+01] [ 4.30657880e-03 4.90408847e-05 9.99990725e-01 -6.80874320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08028169299996 meters 0.019347999330386147 Centerline is valid? [True, True] Translation: X:269.35, Y:21.42, Z:-0.07 [[ 9.69470076e-01 -2.45186799e-01 -3.34756971e-03 2.69349406e+02] [ 2.45185225e-01 9.69475855e-01 -8.79204428e-04 2.14191665e+01] [ 3.46095732e-03 3.15877532e-05 9.99994010e-01 -6.78390292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14028169299996 meters 0.01631121265725303 Centerline is valid? [True, True] Translation: X:269.41, Y:21.43, Z:-0.07 [[ 9.68487902e-01 -2.49049410e-01 -2.36098111e-03 2.69407791e+02] [ 2.49048638e-01 9.68490780e-01 -6.20519534e-04 2.14272232e+01] [ 2.44112846e-03 1.29665339e-05 9.99997020e-01 -6.59385453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20028169299997 meters 0.015900725342580975 Centerline is valid? [True, True] Translation: X:269.46, Y:21.44, Z:-0.07 [[ 9.68060962e-01 -2.50705600e-01 -2.16234705e-03 2.69463795e+02] [ 2.50704956e-01 9.68063377e-01 -5.68414366e-04 2.14407288e+01] [ 2.23579366e-03 8.14863658e-06 9.99997501e-01 -6.62272544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26028169299997 meters 0.016116142464696403 Centerline is valid? [True, True] Translation: X:269.52, Y:21.45, Z:-0.08 [[ 9.67275705e-01 -2.53637116e-01 -6.77665943e-03 2.69520747e+02] [ 2.53630857e-01 9.67299443e-01 -1.78191966e-03 2.14523497e+01] [ 7.00701986e-03 4.83765899e-06 9.99975451e-01 -7.68612985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32028169299997 meters 0.015922528250958433 Centerline is valid? [True, True] Translation: X:269.58, Y:21.47, Z:-0.07 [[ 9.67000460e-01 -2.54688946e-01 -6.60693856e-03 2.69577172e+02] [ 2.54683012e-01 9.67023030e-01 -1.73863095e-03 2.14663324e+01] [ 6.83187183e-03 -1.41808092e-06 9.99976662e-01 -7.39743956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.380281693 meters 0.015217254975527318 Centerline is valid? [True, True] Translation: X:269.63, Y:21.48, Z:-0.07 [[ 9.67276760e-01 -2.53711630e-01 -2.46538391e-03 2.69632838e+02] [ 2.53710800e-01 9.67279902e-01 -6.48917786e-04 2.14832426e+01] [ 2.54935430e-03 2.18856885e-06 9.99996750e-01 -6.60561956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.440281693 meters 0.015306696451524066 Centerline is valid? [True, True] Translation: X:269.69, Y:21.50, Z:-0.07 [[ 9.67077413e-01 -2.54459193e-01 -3.43451938e-03 2.69688710e+02] [ 2.54457585e-01 9.67083512e-01 -9.04705221e-04 2.14993285e+01] [ 3.55167763e-03 9.80477591e-07 9.99993693e-01 -6.71610550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.500281693 meters 0.01526929262752796 Centerline is valid? [True, True] Translation: X:269.74, Y:21.52, Z:-0.07 [[ 9.67104927e-01 -2.54352111e-01 -3.61449433e-03 2.69744748e+02] [ 2.54350327e-01 9.67111681e-01 -9.52808159e-04 2.15154262e+01] [ 3.73796845e-03 2.11765131e-06 9.99993014e-01 -6.81844273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.560281693 meters 0.015710904890656716 Centerline is valid? [True, True] Translation: X:269.80, Y:21.52, Z:-0.07 [[ 9.66106324e-01 -2.58113084e-01 -4.02571565e-03 2.69803663e+02] [ 2.58110900e-01 9.66114712e-01 -1.06191316e-03 2.15223399e+01] [ 4.16339680e-03 -1.31600648e-05 9.99991333e-01 -6.74980909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.620281693 meters 0.019873758090743477 Centerline is valid? [True, True] Translation: X:269.87, Y:21.52, Z:-0.07 [[ 9.63964067e-01 -2.66005642e-01 -3.77845256e-03 2.69865243e+02] [ 2.66003776e-01 9.63971471e-01 -9.97360580e-04 2.15201682e+01] [ 3.90762401e-03 -4.36628860e-05 9.99992364e-01 -6.83556603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.680281693 meters 0.023362826816767976 Centerline is valid? [True, True] Translation: X:269.93, Y:21.52, Z:-0.07 [[ 9.62833804e-01 -2.70045576e-01 -5.14315109e-03 2.69926967e+02] [ 2.70042175e-01 9.62847537e-01 -1.35764317e-03 2.15201705e+01] [ 5.31869589e-03 -8.16829705e-05 9.99985852e-01 -7.12171341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.740281693 meters 0.022928218781905874 Centerline is valid? [True, True] Translation: X:269.98, Y:21.53, Z:-0.07 [[ 9.63041212e-01 -2.69294644e-01 -5.65850965e-03 2.69984449e+02] [ 2.69290508e-01 9.63057832e-01 -1.49471739e-03 2.15332742e+01] [ 5.85199142e-03 -8.43084885e-05 9.99982873e-01 -7.12812695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.800281693 meters 0.01765725154718374 Centerline is valid? [True, True] Translation: X:270.04, Y:21.55, Z:-0.07 [[ 9.65011209e-01 -2.62149635e-01 -5.56190151e-03 2.70040783e+02] [ 2.62145521e-01 9.65027236e-01 -1.46935944e-03 2.15506021e+01] [ 5.75257848e-03 -4.00792310e-05 9.99983453e-01 -7.07271788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.860281693 meters 0.015386635501686794 Centerline is valid? [True, True] Translation: X:270.10, Y:21.57, Z:-0.07 [[ 9.66642062e-01 -2.56091052e-01 -4.52739416e-03 2.70095728e+02] [ 2.56088255e-01 9.66652664e-01 -1.19689518e-03 2.15714329e+01] [ 4.68293178e-03 -2.44324374e-06 9.99989035e-01 -6.82148485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.920281693 meters 0.018026493987431932 Centerline is valid? [True, True] Translation: X:270.15, Y:21.59, Z:-0.07 [[ 9.68710993e-01 -2.48164707e-01 -3.64558761e-03 2.70149287e+02] [ 2.48162836e-01 9.68717852e-01 -9.64020979e-04 2.15931498e+01] [ 3.77078178e-03 2.91583578e-05 9.99992890e-01 -6.73907780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98028169299994 meters 0.01995258467656965 Centerline is valid? [True, True] Translation: X:270.21, Y:21.61, Z:-0.07 [[ 9.69312376e-01 -2.45806444e-01 -3.56512340e-03 2.70206442e+02] [ 2.45804636e-01 9.69318931e-01 -9.43378084e-04 2.16084940e+01] [ 3.68763002e-03 3.81041923e-05 9.99993200e-01 -6.81577632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04028169299994 meters 0.02026412708860088 Centerline is valid? [True, True] Translation: X:270.26, Y:21.62, Z:-0.07 [[ 9.69300915e-01 -2.45850092e-01 -3.66985859e-03 2.70262743e+02] [ 2.45848176e-01 9.69307862e-01 -9.71368354e-04 2.16199665e+01] [ 3.79603378e-03 3.93201943e-05 9.99992794e-01 -6.71561958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10028169299994 meters 0.023202705712063537 Centerline is valid? [True, True] Translation: X:270.32, Y:21.64, Z:-0.07 [[ 9.69988499e-01 -2.43110181e-01 -4.44430415e-03 2.70318975e+02] [ 2.43107339e-01 9.69998678e-01 -1.17711091e-03 2.16388141e+01] [ 4.59713680e-03 6.13410865e-05 9.99989431e-01 -6.91731821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16028169299994 meters 0.025991864125967507 Centerline is valid? [True, True] Translation: X:270.38, Y:21.66, Z:-0.07 [[ 9.70655676e-01 -2.40457915e-01 -2.74762254e-03 2.70375630e+02] [ 2.40456817e-01 9.70659564e-01 -7.28202671e-04 2.16558725e+01] [ 2.84210819e-03 4.61494862e-05 9.99995960e-01 -6.51172679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22028169299995 meters 0.02920780952141296 Centerline is valid? [True, True] Translation: X:270.43, Y:21.68, Z:-0.07 [[ 9.71181655e-01 -2.38314212e-01 -3.53980261e-03 2.70430282e+02] [ 2.38312374e-01 9.71188103e-01 -9.38307859e-04 2.16762922e+01] [ 3.66142628e-03 6.76886170e-05 9.99993295e-01 -6.70866202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28028169299995 meters 0.03027765600026655 Centerline is valid? [True, True] Translation: X:270.49, Y:21.69, Z:-0.06 [[ 9.71351651e-01 -2.37643303e-01 -1.27673532e-03 2.70486425e+02] [ 2.37643063e-01 9.71352490e-01 -3.38677925e-04 2.16933783e+01] [ 1.32064457e-03 2.55680706e-05 9.99999128e-01 -6.18264580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34028169299995 meters 0.026097759682586846 Centerline is valid? [True, True] Translation: X:270.54, Y:21.70, Z:-0.07 [[ 9.71290537e-01 -2.37877579e-01 -2.99179544e-03 2.70543562e+02] [ 2.37876261e-01 9.71295142e-01 -7.94182169e-04 2.17035678e+01] [ 3.09483451e-03 5.97045137e-05 9.99995209e-01 -6.55310911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40028169299995 meters 0.030419555124514608 Centerline is valid? [True, True] Translation: X:270.60, Y:21.73, Z:-0.07 [[ 9.71076639e-01 -2.38718010e-01 -4.88606248e-03 2.70596361e+02] [ 2.38714503e-01 9.71088926e-01 -1.29723897e-03 2.17284733e+01] [ 5.05447547e-03 9.33444796e-05 9.99987222e-01 -7.02971486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46028169299996 meters 0.023247218526440946 Centerline is valid? [True, True] Translation: X:270.66, Y:21.73, Z:-0.07 [[ 9.70265725e-01 -2.41981351e-01 -5.42665171e-03 2.70655583e+02] [ 2.41977075e-01 9.70280897e-01 -1.44103020e-03 2.17338286e+01] [ 5.61407892e-03 8.50569059e-05 9.99984237e-01 -6.97430834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52028169299996 meters 0.01888332189280579 Centerline is valid? [True, True] Translation: X:270.71, Y:21.74, Z:-0.07 [[ 9.68594022e-01 -2.48572942e-01 -6.09207678e-03 2.70713590e+02] [ 2.48567680e-01 9.68613179e-01 -1.61827669e-03 2.17395668e+01] [ 6.30312565e-03 5.31597344e-05 9.99980134e-01 -7.24503854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58028169299996 meters 0.0156144841338476 Centerline is valid? [True, True] Translation: X:270.77, Y:21.74, Z:-0.07 [[ 9.66683594e-01 -2.55935806e-01 -4.43765280e-03 2.70773522e+02] [ 2.55933089e-01 9.66693780e-01 -1.17920431e-03 2.17393874e+01] [ 4.59165196e-03 4.17527349e-06 9.99989458e-01 -7.02161641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64028169299996 meters 0.015786443762196005 Centerline is valid? [True, True] Translation: X:270.83, Y:21.75, Z:-0.07 [[ 9.65769685e-01 -2.59361014e-01 -4.55856184e-03 2.70831377e+02] [ 2.59358181e-01 9.65780443e-01 -1.21228832e-03 2.17467553e+01] [ 4.71699020e-03 -1.15090053e-05 9.99988875e-01 -6.88764415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70028169299997 meters 0.01889302447956008 Centerline is valid? [True, True] Translation: X:270.89, Y:21.74, Z:-0.07 [[ 9.64310463e-01 -2.64672087e-01 -7.34971434e-03 2.70892127e+02] [ 2.64664874e-01 9.64338469e-01 -1.95492782e-03 2.17431974e+01] [ 7.60502710e-03 -6.00538695e-05 9.99971080e-01 -7.31339913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76028169299997 meters 0.022993857476038753 Centerline is valid? [True, True] Translation: X:270.95, Y:21.74, Z:-0.07 [[ 9.62947090e-01 -2.69608942e-01 -6.62727055e-03 2.70952475e+02] [ 2.69603191e-01 9.62969891e-01 -1.76325501e-03 2.17394359e+01] [ 6.85725132e-03 -8.88120042e-05 9.99976485e-01 -7.34888939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82028169299997 meters 0.023886674888255178 Centerline is valid? [True, True] Translation: X:271.01, Y:21.74, Z:-0.07 [[ 9.62372298e-01 -2.71669603e-01 -5.93180470e-03 2.71012365e+02] [ 2.71665028e-01 9.62390575e-01 -1.57928431e-03 2.17447048e+01] [ 6.13775648e-03 -9.16044134e-05 9.99981160e-01 -7.12688526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.880281693 meters 0.02286976913138986 Centerline is valid? [True, True] Translation: X:271.07, Y:21.75, Z:-0.07 [[ 9.62882164e-01 -2.69888834e-01 -4.23739062e-03 2.71070231e+02] [ 2.69886480e-01 9.62891486e-01 -1.12853301e-03 2.17515733e+01] [ 4.38472581e-03 -5.69701367e-05 9.99990385e-01 -6.71364593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.940281693 meters 0.017434067050067087 Centerline is valid? [True, True] Translation: X:271.13, Y:21.77, Z:-0.06 [[ 9.64578311e-01 -2.63780768e-01 -2.89640514e-03 2.71126180e+02] [ 2.63779640e-01 9.64582659e-01 -7.71523790e-04 2.17698368e+01] [ 2.99733531e-03 -1.98175913e-05 9.99995508e-01 -6.40824020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.000281693 meters 0.015697119901454008 Centerline is valid? [True, True] Translation: X:271.18, Y:21.80, Z:-0.06 [[ 9.67107718e-01 -2.54340895e-01 -3.65670246e-03 2.71179898e+02] [ 2.54339027e-01 9.67114631e-01 -9.74702494e-04 2.17972971e+01] [ 3.78435715e-03 1.26001580e-05 9.99992839e-01 -6.39456759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.060281693 meters 0.020632971772450173 Centerline is valid? [True, True] Translation: X:271.23, Y:21.82, Z:-0.07 [[ 9.69062615e-01 -2.46778432e-01 -4.24890159e-03 2.71233598e+02] [ 2.46775838e-01 9.69071929e-01 -1.13265229e-03 2.18246822e+01] [ 4.39700541e-03 4.90847377e-05 9.99990332e-01 -6.51127083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.120281693 meters 0.02968506489538159 Centerline is valid? [True, True] Translation: X:271.29, Y:21.86, Z:-0.07 [[ 9.71506209e-01 -2.36955911e-01 -5.25187906e-03 2.71287214e+02] [ 2.36951803e-01 9.71520397e-01 -1.40008841e-03 2.18577680e+01] [ 5.43406686e-03 1.15752367e-04 9.99985229e-01 -6.58010680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.180281693 meters 0.04066429715834161 Centerline is valid? [True, True] Translation: X:271.34, Y:21.90, Z:-0.06 [[ 9.73891578e-01 -2.26982896e-01 -3.73629147e-03 2.71338281e+02] [ 2.26980743e-01 9.73898737e-01 -9.96137234e-04 2.18993421e+01] [ 3.86487565e-03 1.22063448e-04 9.99992524e-01 -6.25734083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.240281693 meters 0.04613118908625349 Centerline is valid? [True, True] Translation: X:271.39, Y:21.93, Z:-0.07 [[ 9.74824501e-01 -2.22918994e-01 -4.93086349e-03 2.71391141e+02] [ 2.22915192e-01 9.74836955e-01 -1.31473965e-03 2.19294056e+01] [ 5.09986840e-03 1.82476048e-04 9.99986979e-01 -6.59287218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.300281693 meters 0.04468764526074596 Centerline is valid? [True, True] Translation: X:271.44, Y:21.96, Z:-0.06 [[ 9.75211701e-01 -2.21229811e-01 -4.41695698e-03 2.71444876e+02] [ 2.21226742e-01 9.75221688e-01 -1.17794516e-03 2.19582086e+01] [ 4.56810882e-03 1.71596899e-04 9.99989551e-01 -6.20436130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.360281693 meters 0.05010390994050808 Centerline is valid? [True, True] Translation: X:271.49, Y:22.00, Z:-0.06 [[ 9.75341085e-01 -2.20673850e-01 -3.58039021e-03 2.71493568e+02] [ 2.20671828e-01 9.75347647e-01 -9.55118914e-04 2.19979325e+01] [ 3.70289494e-03 1.41475464e-04 9.99993134e-01 -6.16420774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.420281693 meters 0.04869697520684601 Centerline is valid? [True, True] Translation: X:271.55, Y:22.02, Z:-0.06 [[ 9.74983833e-01 -2.22243436e-01 -3.79208596e-03 2.71548196e+02] [ 2.22241178e-01 9.74991197e-01 -1.01219242e-03 2.20230786e+01] [ 3.92220355e-03 1.44113594e-04 9.99992298e-01 -6.22911053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48028169299994 meters 0.04014028214244156 Centerline is valid? [True, True] Translation: X:271.60, Y:22.05, Z:-0.06 [[ 9.73106998e-01 -2.30344887e-01 -2.00082805e-03 2.71602485e+02] [ 2.30344276e-01 9.73109053e-01 -5.34085121e-04 2.20484860e+01] [ 2.07004766e-03 5.88426818e-05 9.99997856e-01 -5.89588340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54028169299994 meters 0.0349949717841488 Centerline is valid? [True, True] Translation: X:271.66, Y:22.07, Z:-0.06 [[ 9.72026914e-01 -2.34830187e-01 -4.29673287e-03 2.71660352e+02] [ 2.34827410e-01 9.72036405e-01 -1.14697491e-03 2.20660719e+01] [ 4.44592510e-03 1.05899836e-04 9.99990111e-01 -6.48958652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60028169299994 meters 0.029336281185332817 Centerline is valid? [True, True] Translation: X:271.72, Y:22.09, Z:-0.07 [[ 9.70607436e-01 -2.40576268e-01 -6.65321744e-03 2.71716407e+02] [ 2.40569743e-01 9.70630230e-01 -1.77617208e-03 2.20856316e+01] [ 6.88511882e-03 1.23403021e-04 9.99976290e-01 -6.94964124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66028169299994 meters 0.027308081482390247 Centerline is valid? [True, True] Translation: X:271.77, Y:22.10, Z:-0.07 [[ 9.70130681e-01 -2.42502508e-01 -6.24458770e-03 2.71773522e+02] [ 2.42496793e-01 9.70150773e-01 -1.66812721e-03 2.20996998e+01] [ 6.46271662e-03 1.04008898e-04 9.99979111e-01 -6.93156205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72028169299995 meters 0.01832856667558023 Centerline is valid? [True, True] Translation: X:271.83, Y:22.10, Z:-0.06 [[ 9.68410200e-01 -2.49315052e-01 -4.86718301e-03 2.71834515e+02] [ 2.49311665e-01 9.68422430e-01 -1.30027038e-03 2.21027819e+01] [ 5.03766618e-03 4.57495987e-05 9.99987310e-01 -6.45552190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78028169299995 meters 0.01730541651883837 Centerline is valid? [True, True] Translation: X:271.89, Y:22.12, Z:-0.07 [[ 9.67733626e-01 -2.51892551e-01 -6.46311715e-03 2.71890592e+02] [ 2.51886634e-01 9.67755207e-01 -1.72704415e-03 2.21180541e+01] [ 6.68974483e-03 4.33458710e-05 9.99977622e-01 -6.80095767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84028169299995 meters 0.017513897990253526 Centerline is valid? [True, True] Translation: X:271.95, Y:22.14, Z:-0.06 [[ 9.67831901e-01 -2.51558400e-01 -4.44772879e-03 2.71945579e+02] [ 2.51555593e-01 9.67842121e-01 -1.18878622e-03 2.21351960e+01] [ 4.60374842e-03 3.16941702e-05 9.99989402e-01 -6.45718707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90028169299995 meters 0.018433668084753406 Centerline is valid? [True, True] Translation: X:272.00, Y:22.16, Z:-0.06 [[ 9.68177191e-01 -2.50229282e-01 -4.27002224e-03 2.71999656e+02] [ 2.50226679e-01 9.68186606e-01 -1.14205555e-03 2.21599334e+01] [ 4.41995409e-03 3.72386490e-05 9.99990231e-01 -6.34807360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96028169299996 meters 0.018982469542954142 Centerline is valid? [True, True] Translation: X:272.05, Y:22.18, Z:-0.07 [[ 9.68373369e-01 -2.49432759e-01 -6.02632854e-03 2.72054609e+02] [ 2.49427552e-01 9.68392118e-01 -1.61283438e-03 2.21807075e+01] [ 6.23814279e-03 5.86934837e-05 9.99980541e-01 -6.52411228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02028169299996 meters 0.01685789012513346 Centerline is valid? [True, True] Translation: X:272.11, Y:22.20, Z:-0.06 [[ 9.67566446e-01 -2.52599436e-01 -2.94926052e-03 2.72109648e+02] [ 2.52598202e-01 9.67570940e-01 -7.89859192e-04 2.22003826e+01] [ 3.05313676e-03 1.92633467e-05 9.99995339e-01 -6.05014665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08028169299996 meters 0.015355339027089493 Centerline is valid? [True, True] Translation: X:272.17, Y:22.21, Z:-0.06 [[ 9.66155271e-01 -2.57919154e-01 -4.65853869e-03 2.72166677e+02] [ 2.57916135e-01 9.66166502e-01 -1.24784120e-03 2.22112102e+01] [ 4.82276617e-03 4.09605513e-06 9.99988370e-01 -6.48999999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14028169299996 meters 0.01555957303600639 Centerline is valid? [True, True] Translation: X:272.22, Y:22.23, Z:-0.07 [[ 9.65677442e-01 -2.59682001e-01 -5.68656982e-03 2.72222144e+02] [ 2.59677527e-01 9.65694185e-01 -1.52420977e-03 2.22307654e+01] [ 5.88729725e-03 -4.77939771e-06 9.99982670e-01 -6.64591161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20028169299997 meters 0.015473334831244696 Centerline is valid? [True, True] Translation: X:272.28, Y:22.25, Z:-0.06 [[ 9.65310584e-01 -2.61057151e-01 -4.96391125e-03 2.72278168e+02] [ 2.61053755e-01 9.65323347e-01 -1.33151967e-03 2.22466348e+01] [ 5.13938216e-03 -1.05176403e-05 9.99986793e-01 -6.39308053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26028169299997 meters 0.017369119302089273 Centerline is valid? [True, True] Translation: X:272.34, Y:22.26, Z:-0.06 [[ 9.63836097e-01 -2.66486182e-01 -2.25689089e-03 2.72336579e+02] [ 2.66485494e-01 9.63838739e-01 -6.05807952e-04 2.22563368e+01] [ 2.33671831e-03 -1.75291121e-05 9.99997270e-01 -5.97235005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32028169299997 meters 0.02304397654093141 Centerline is valid? [True, True] Translation: X:272.40, Y:22.26, Z:-0.06 [[ 9.61983318e-01 -2.73093119e-01 -2.87113355e-03 2.72396711e+02] [ 2.73092035e-01 9.61987602e-01 -7.70769066e-04 2.22561213e+01] [ 2.97248660e-03 -4.26167187e-05 9.99995581e-01 -6.10569274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.380281693 meters 0.025642139199312016 Centerline is valid? [True, True] Translation: X:272.46, Y:22.26, Z:-0.07 [[ 9.61304300e-01 -2.75450452e-01 -4.59255118e-03 2.72455268e+02] [ 2.75447700e-01 9.61315267e-01 -1.23369249e-03 2.22638423e+01] [ 4.75471072e-03 -7.90537615e-05 9.99988693e-01 -6.59917423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.440281693 meters 0.02518569682399768 Centerline is valid? [True, True] Translation: X:272.51, Y:22.27, Z:-0.07 [[ 9.61423353e-01 -2.74988444e-01 -6.81848482e-03 2.72512884e+02] [ 2.74982358e-01 9.61447525e-01 -1.83293883e-03 2.22727181e+01] [ 7.05965235e-03 -1.12732840e-04 9.99975074e-01 -6.90518283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.500281693 meters 0.023811787718133037 Centerline is valid? [True, True] Translation: X:272.57, Y:22.28, Z:-0.06 [[ 9.61775042e-01 -2.73805393e-01 -4.40180861e-03 2.72572054e+02] [ 2.73802841e-01 9.61785112e-01 -1.18404151e-03 2.22799055e+01] [ 4.55779094e-03 -6.64461254e-05 9.99989611e-01 -6.44326144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.560281693 meters 0.019622007815515305 Centerline is valid? [True, True] Translation: X:272.63, Y:22.30, Z:-0.06 [[ 9.63126260e-01 -2.69017192e-01 -4.19012865e-03 2.72628924e+02] [ 2.69014834e-01 9.63135374e-01 -1.12726527e-03 2.22953019e+01] [ 4.33891486e-03 -4.15079714e-05 9.99990586e-01 -6.47123357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.620281693 meters 0.016753214423188875 Centerline is valid? [True, True] Translation: X:272.69, Y:22.31, Z:-0.07 [[ 9.64364507e-01 -2.64536704e-01 -4.62918932e-03 2.72685155e+02] [ 2.64533770e-01 9.64375618e-01 -1.24614420e-03 2.23148409e+01] [ 4.79392819e-03 -2.28396629e-05 9.99988509e-01 -6.53395909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.680281693 meters 0.015718391432859143 Centerline is valid? [True, True] Translation: X:272.74, Y:22.33, Z:-0.06 [[ 9.64930559e-01 -2.62464060e-01 -4.65114675e-03 2.72741439e+02] [ 2.62461070e-01 9.64941769e-01 -1.25288988e-03 2.23315301e+01] [ 4.81692434e-03 -1.17932205e-05 9.99988398e-01 -6.42573394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.740281693 meters 0.01643952968787013 Centerline is valid? [True, True] Translation: X:272.80, Y:22.34, Z:-0.07 [[ 9.64557506e-01 -2.63839835e-01 -4.16643043e-03 2.72798904e+02] [ 2.63837447e-01 9.64566504e-01 -1.12266416e-03 2.23369238e+01] [ 4.31500277e-03 -1.63862282e-05 9.99990690e-01 -6.63915257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.800281693 meters 0.016040257089621774 Centerline is valid? [True, True] Translation: X:272.85, Y:22.35, Z:-0.06 [[ 9.64566542e-01 -2.63811911e-01 -3.82894786e-03 2.72854826e+02] [ 2.63809891e-01 9.64574142e-01 -1.03253943e-03 2.23506283e+01] [ 3.96570030e-03 -1.41613323e-05 9.99992136e-01 -6.40362051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.860281693 meters 0.01609556602930157 Centerline is valid? [True, True] Translation: X:272.91, Y:22.36, Z:-0.07 [[ 9.64791751e-01 -2.62969941e-01 -4.86692252e-03 2.72910892e+02] [ 2.62966665e-01 9.64804027e-01 -1.31268448e-03 2.23648305e+01] [ 5.04082301e-03 -1.33712226e-05 9.99987295e-01 -6.73778191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.920281693 meters 0.015489423368289883 Centerline is valid? [True, True] Translation: X:272.97, Y:22.38, Z:-0.07 [[ 9.65020560e-01 -2.62133000e-01 -4.64852132e-03 2.72967023e+02] [ 2.62129997e-01 9.65031756e-01 -1.25476299e-03 2.23811566e+01] [ 4.81488548e-03 -7.64479205e-06 9.99988408e-01 -6.60710262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98028169299994 meters 0.01535721740978791 Centerline is valid? [True, True] Translation: X:273.02, Y:22.40, Z:-0.06 [[ 9.66038594e-01 -2.58393097e-01 -1.56295021e-03 2.73022868e+02] [ 2.58392752e-01 9.66039858e-01 -4.22193086e-04 2.24010469e+01] [ 1.61896398e-03 3.99980733e-06 9.99998689e-01 -6.01528336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04028169299994 meters 0.017837818172824756 Centerline is valid? [True, True] Translation: X:273.08, Y:22.42, Z:-0.06 [[ 9.67042523e-01 -2.54605997e-01 -2.13188238e-03 2.73076548e+02] [ 2.54605346e-01 9.67044873e-01 -5.75949415e-04 2.24244328e+01] [ 2.20826610e-03 1.41789245e-05 9.99997562e-01 -6.20977356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10028169299994 meters 0.02404112669599111 Centerline is valid? [True, True] Translation: X:273.13, Y:22.45, Z:-0.06 [[ 9.69317070e-01 -2.45804593e-01 -2.12603807e-03 2.73130516e+02] [ 2.45803924e-01 9.69319401e-01 -5.74410518e-04 2.24536875e+01] [ 2.20200269e-03 3.41974194e-05 9.99997575e-01 -6.08106001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16028169299994 meters 0.02872406516355429 Centerline is valid? [True, True] Translation: X:273.18, Y:22.48, Z:-0.06 [[ 9.70441595e-01 -2.41315772e-01 -3.13189391e-03 2.73184688e+02] [ 2.41314297e-01 9.70446647e-01 -8.46287079e-04 2.24808126e+01] [ 3.24355837e-03 6.55014050e-05 9.99994738e-01 -6.16950855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22028169299995 meters 0.028488608004071214 Centerline is valid? [True, True] Translation: X:273.24, Y:22.50, Z:-0.06 [[ 9.70211612e-01 -2.42256520e-01 -1.09822585e-03 2.73238719e+02] [ 2.42256339e-01 9.70212234e-01 -2.96840694e-04 2.25014712e+01] [ 1.13742375e-03 2.19461138e-05 9.99999353e-01 -5.78946018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28028169299995 meters 0.027088821055709773 Centerline is valid? [True, True] Translation: X:273.29, Y:22.52, Z:-0.06 [[ 9.70337501e-01 -2.41754196e-01 -2.09419479e-04 2.73294185e+02] [ 2.41754189e-01 9.70337523e-01 -5.66968895e-05 2.25233695e+01] [ 2.16914289e-04 4.38708175e-06 9.99999976e-01 -5.60404308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34028169299995 meters 0.031878051420979624 Centerline is valid? [True, True] Translation: X:273.35, Y:22.55, Z:-0.06 [[ 9.70632048e-01 -2.40555366e-01 -2.55783719e-03 2.73345480e+02] [ 2.40554377e-01 9.70635417e-01 -6.91949870e-04 2.25547732e+01] [ 2.64917962e-03 5.63297888e-05 9.99996489e-01 -6.30153326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40028169299995 meters 0.0335807272686732 Centerline is valid? [True, True] Translation: X:273.40, Y:22.58, Z:-0.07 [[ 9.70822678e-01 -2.39732378e-01 -5.63165241e-03 2.73399356e+02] [ 2.39727566e-01 9.70839003e-01 -1.52441079e-03 2.25804670e+01] [ 5.83287843e-03 1.29870243e-04 9.99982980e-01 -6.90491638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46028169299996 meters 0.025676400614615943 Centerline is valid? [True, True] Translation: X:273.46, Y:22.59, Z:-0.07 [[ 9.69743079e-01 -2.44087935e-01 -4.40923236e-03 2.73458902e+02] [ 2.44085031e-01 9.69753099e-01 -1.19353560e-03 2.25915092e+01] [ 4.56719438e-03 8.11952675e-05 9.99989567e-01 -6.52338777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52028169299996 meters 0.020309010865691823 Centerline is valid? [True, True] Translation: X:273.52, Y:22.60, Z:-0.06 [[ 9.68202740e-01 -2.50160076e-01 -1.84117215e-03 2.73518523e+02] [ 2.50159580e-01 9.68204491e-01 -4.98412506e-04 2.26010230e+01] [ 1.90731406e-03 2.19775014e-05 9.99998181e-01 -6.20411205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58028169299996 meters 0.01669600575656419 Centerline is valid? [True, True] Translation: X:273.58, Y:22.61, Z:-0.06 [[ 9.66760989e-01 -2.55677217e-01 -1.53302317e-03 2.73577148e+02] [ 2.55676880e-01 9.66762205e-01 -4.15293631e-04 2.26110480e+01] [ 1.58824998e-03 9.53109992e-06 9.99998739e-01 -6.27798802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64028169299996 meters 0.016041062334292797 Centerline is valid? [True, True] Translation: X:273.63, Y:22.62, Z:-0.07 [[ 9.65664170e-01 -2.59725976e-01 -5.92690416e-03 2.73634900e+02] [ 2.59721013e-01 9.65682358e-01 -1.60576546e-03 2.26196953e+01] [ 6.14056579e-03 1.12886241e-05 9.99981146e-01 -7.12240194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70028169299997 meters 0.016916751807108728 Centerline is valid? [True, True] Translation: X:273.69, Y:22.64, Z:-0.07 [[ 9.66260126e-01 -2.57476535e-01 -6.87034412e-03 2.73690789e+02] [ 2.57469800e-01 9.66284551e-01 -1.86257694e-03 2.26397958e+01] [ 7.11827724e-03 3.08276957e-05 9.99974664e-01 -7.24717878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76028169299997 meters 0.019422919131257307 Centerline is valid? [True, True] Translation: X:273.75, Y:22.66, Z:-0.06 [[ 9.67818005e-01 -2.51639271e-01 -2.44675074e-03 2.73745507e+02] [ 2.51638397e-01 9.67821097e-01 -6.63798118e-04 2.26619418e+01] [ 2.53505466e-03 2.67393376e-05 9.99996786e-01 -6.28233445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82028169299997 meters 0.020255618886865116 Centerline is valid? [True, True] Translation: X:273.80, Y:22.68, Z:-0.06 [[ 9.68108250e-01 -2.50525153e-01 -1.88781856e-03 2.73801557e+02] [ 2.50524630e-01 9.68110090e-01 -5.12513611e-04 2.26806675e+01] [ 1.95601375e-03 2.32236092e-05 9.99998087e-01 -6.23655701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.880281693 meters 0.02141283373157851 Centerline is valid? [True, True] Translation: X:273.86, Y:22.69, Z:-0.07 [[ 9.67986192e-01 -2.50953844e-01 -4.98996785e-03 2.73857501e+02] [ 2.50950193e-01 9.67999052e-01 -1.35487962e-03 2.26942455e+01] [ 5.17029640e-03 5.92713672e-05 9.99986632e-01 -7.07552731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.940281693 meters 0.01981740230143572 Centerline is valid? [True, True] Translation: X:273.91, Y:22.71, Z:-0.07 [[ 9.67899982e-01 -2.51309535e-01 -3.62522414e-03 2.73914708e+02] [ 2.51307608e-01 9.67906770e-01 -9.85021748e-04 2.27089669e+01] [ 3.75642435e-03 4.23561250e-05 9.99992944e-01 -6.62178995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.000281693 meters 0.02118019145295731 Centerline is valid? [True, True] Translation: X:273.97, Y:22.73, Z:-0.06 [[ 9.68259697e-01 -2.49945820e-01 -4.96862535e-04 2.73968940e+02] [ 2.49945784e-01 9.68259824e-01 -1.35048725e-04 2.27301725e+01] [ 5.14846895e-04 6.57354221e-06 9.99999867e-01 -6.05253999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.060281693 meters 0.01973150847363358 Centerline is valid? [True, True] Translation: X:274.03, Y:22.75, Z:-0.07 [[ 9.67676071e-01 -2.52175010e-01 -3.28435094e-03 2.74025528e+02] [ 2.52173430e-01 9.67681644e-01 -8.93194216e-04 2.27468081e+01] [ 3.40344738e-03 3.60966250e-05 9.99994208e-01 -6.80193931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.120281693 meters 0.017675872314138356 Centerline is valid? [True, True] Translation: X:274.08, Y:22.76, Z:-0.07 [[ 9.66825987e-01 -2.55407680e-01 -3.79826986e-03 2.74082781e+02] [ 2.55405590e-01 9.66833448e-01 -1.03361449e-03 2.27599867e+01] [ 3.93628742e-03 2.92259908e-05 9.99992252e-01 -6.80573565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.180281693 meters 0.015084828549598257 Centerline is valid? [True, True] Translation: X:274.14, Y:22.77, Z:-0.06 [[ 9.65336034e-01 -2.61003829e-01 -1.82820323e-03 2.74141354e+02] [ 2.61003354e-01 9.65337765e-01 -4.97861066e-04 2.27679305e+01] [ 1.89477726e-03 3.43605301e-06 9.99998205e-01 -6.42037305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.240281693 meters 0.015510916054505669 Centerline is valid? [True, True] Translation: X:274.20, Y:22.78, Z:-0.07 [[ 9.65164546e-01 -2.61592584e-01 -5.16908582e-03 2.74197190e+02] [ 2.61588796e-01 9.65178388e-01 -1.40783537e-03 2.27843146e+01] [ 5.35736921e-03 6.61784906e-06 9.99985649e-01 -7.06755528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.300281693 meters 0.01763038408905782 Centerline is valid? [True, True] Translation: X:274.25, Y:22.81, Z:-0.06 [[ 9.66858155e-01 -2.55293772e-01 -3.22459550e-03 2.74250534e+02] [ 2.55292261e-01 9.66863532e-01 -8.78848931e-04 2.28135593e+01] [ 3.34210845e-03 2.65079824e-05 9.99994415e-01 -6.45341531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.360281693 meters 0.02102894777580112 Centerline is valid? [True, True] Translation: X:274.30, Y:22.84, Z:-0.06 [[ 9.68182687e-01 -2.50244429e-01 1.01559209e-04 2.74302696e+02] [ 2.50244428e-01 9.68182692e-01 2.76629220e-05 2.28443489e+01] [-1.05250360e-04 -1.36813608e-06 9.99999994e-01 -5.97611946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.420281693 meters 0.022753981795627938 Centerline is valid? [True, True] Translation: X:274.36, Y:22.87, Z:-0.06 [[ 9.68585660e-01 -2.48680103e-01 -1.61903533e-04 2.74356033e+02] [ 2.48680100e-01 9.68585673e-01 -4.41646520e-05 2.28693139e+01] [ 1.67800313e-04 2.51506178e-06 9.99999986e-01 -6.01085481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48028169299994 meters 0.01957434055754117 Centerline is valid? [True, True] Translation: X:274.41, Y:22.89, Z:-0.06 [[ 9.67620379e-01 -2.52407644e-01 -1.08780316e-03 2.74412680e+02] [ 2.52407470e-01 9.67620990e-01 -2.96826177e-04 2.28872105e+01] [ 1.12750237e-03 1.26454136e-05 9.99999364e-01 -6.24612034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54028169299994 meters 0.017191505478018274 Centerline is valid? [True, True] Translation: X:274.47, Y:22.90, Z:-0.07 [[ 9.66530477e-01 -2.56535484e-01 -2.89534723e-03 2.74468788e+02] [ 2.56534268e-01 9.66534813e-01 -7.90101779e-04 2.29007490e+01] [ 3.00114304e-03 2.09016674e-05 9.99995496e-01 -6.71030645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60028169299994 meters 0.018177467670184095 Centerline is valid? [True, True] Translation: X:274.52, Y:22.92, Z:-0.06 [[ 9.66940529e-01 -2.54995586e-01 -1.80708404e-03 2.74523244e+02] [ 2.54995109e-01 9.66942217e-01 -4.93481333e-04 2.29232340e+01] [ 1.87318141e-03 1.63695105e-05 9.99998245e-01 -6.47028658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66028169299994 meters 0.017441993957854805 Centerline is valid? [True, True] Translation: X:274.58, Y:22.94, Z:-0.07 [[ 9.66696824e-01 -2.55915748e-01 -2.09315365e-03 2.74579434e+02] [ 2.55915109e-01 9.66699090e-01 -5.72021605e-04 2.29368051e+01] [ 2.16983907e-03 1.73018234e-05 9.99997646e-01 -6.62004954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72028169299995 meters 0.01706010075772426 Centerline is valid? [True, True] Translation: X:274.64, Y:22.95, Z:-0.07 [[ 9.66357530e-01 -2.57163999e-01 -4.44999783e-03 2.74636283e+02] [ 2.57161121e-01 9.66367775e-01 -1.21692511e-03 2.29487902e+01] [ 4.61328383e-03 3.16183079e-05 9.99989358e-01 -7.07697215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78028169299995 meters 0.016112286161533932 Centerline is valid? [True, True] Translation: X:274.69, Y:22.96, Z:-0.07 [[ 9.65866203e-01 -2.59017108e-01 -3.55174039e-03 2.74694649e+02] [ 2.59015287e-01 9.65872734e-01 -9.71469454e-04 2.29552912e+01] [ 3.68215640e-03 1.83544579e-05 9.99993221e-01 -6.84317529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84028169299995 meters 0.014648563256759914 Centerline is valid? [True, True] Translation: X:274.75, Y:22.96, Z:-0.06 [[ 9.65043164e-01 -2.62090993e-01 -5.38270600e-05 2.74753897e+02] [ 2.62090993e-01 9.65043165e-01 -1.47881690e-05 2.29621487e+01] [ 5.58212823e-05 1.63633762e-07 9.99999998e-01 -6.28094697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90028169299995 meters 0.015404103538677105 Centerline is valid? [True, True] Translation: X:274.81, Y:22.97, Z:-0.07 [[ 9.65227015e-01 -2.61391922e-01 -3.32768950e-03 2.74812270e+02] [ 2.61390333e-01 9.65232751e-01 -9.11353859e-04 2.29726924e+01] [ 3.45021543e-03 9.83749516e-06 9.99994048e-01 -6.81684895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96028169299996 meters 0.016761776226138572 Centerline is valid? [True, True] Translation: X:274.87, Y:22.99, Z:-0.07 [[ 9.66210198e-01 -2.57739817e-01 -2.83545404e-03 2.74867394e+02] [ 2.57738646e-01 9.66214358e-01 -7.77054405e-04 2.29928589e+01] [ 2.93993426e-03 1.99918048e-05 9.99995678e-01 -6.61303924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02028169299996 meters 0.022710625954653695 Centerline is valid? [True, True] Translation: X:274.92, Y:23.02, Z:-0.07 [[ 9.67850325e-01 -2.51504786e-01 -3.33039501e-03 2.74920446e+02] [ 2.51503134e-01 9.67856054e-01 -9.12808192e-04 2.30188761e+01] [ 3.45291860e-03 4.58569257e-05 9.99994038e-01 -6.78032127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08028169299996 meters 0.028886287226842278 Centerline is valid? [True, True] Translation: X:274.97, Y:23.05, Z:-0.06 [[ 9.69930026e-01 -2.43382489e-01 8.41356756e-04 2.74973772e+02] [ 2.43382381e-01 9.69930391e-01 2.30604697e-04 2.30503459e+01] [-8.72182633e-04 -1.88990094e-05 9.99999619e-01 -5.93915466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14028169299996 meters 0.038267501592897914 Centerline is valid? [True, True] Translation: X:275.03, Y:23.08, Z:-0.05 [[ 9.71866543e-01 -2.35521074e-01 2.29048255e-03 2.75026426e+02] [ 2.35520248e-01 9.71869239e-01 6.27834006e-04 2.30839666e+01] [-2.37391767e-03 -7.07158477e-05 9.99997180e-01 -5.49726346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20028169299997 meters 0.05025744680002523 Centerline is valid? [True, True] Translation: X:275.08, Y:23.13, Z:-0.06 [[ 9.74078086e-01 -2.26207091e-01 -1.49486657e-03 2.75075121e+02] [ 2.26206728e-01 9.74079231e-01 -4.09764012e-04 2.31304424e+01] [ 1.54881001e-03 6.09932677e-05 9.99998799e-01 -6.48144729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26028169299997 meters 0.04884833226803571 Centerline is valid? [True, True] Translation: X:275.13, Y:23.15, Z:-0.06 [[ 9.73724171e-01 -2.27730544e-01 -1.96253675e-04 2.75130331e+02] [ 2.27730538e-01 9.73724191e-01 -5.38212812e-05 2.31507872e+01] [ 2.03353700e-04 7.71412747e-06 9.99999979e-01 -6.14286225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32028169299997 meters 0.03728608642169795 Centerline is valid? [True, True] Translation: X:275.19, Y:23.16, Z:-0.07 [[ 9.72295444e-01 -2.33739410e-01 -2.73104608e-03 2.75191063e+02] [ 2.33738228e-01 9.72299275e-01 -7.48760849e-04 2.31582876e+01] [ 2.83040904e-03 8.96668905e-05 9.99995990e-01 -6.67876564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.380281693 meters 0.038660767587437965 Centerline is valid? [True, True] Translation: X:275.25, Y:23.18, Z:-0.07 [[ 9.71119330e-01 -2.38576269e-01 -2.93458241e-03 2.75245089e+02] [ 2.38574925e-01 9.71123760e-01 -8.04646726e-04 2.31832511e+01] [ 3.04181232e-03 8.12902086e-05 9.99995370e-01 -6.87422992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.440281693 meters 0.038646607313719404 Centerline is valid? [True, True] Translation: X:275.30, Y:23.20, Z:-0.07 [[ 9.71015761e-01 -2.38995223e-01 -3.11050714e-03 2.75299878e+02] [ 2.38993714e-01 9.71020739e-01 -8.53520602e-04 2.32016773e+01] [ 3.22435428e-03 8.53903029e-05 9.99994798e-01 -6.86374463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.500281693 meters 0.036834033974311266 Centerline is valid? [True, True] Translation: X:275.36, Y:23.22, Z:-0.07 [[ 9.71058769e-01 -2.38807017e-01 -4.00935941e-03 2.75355127e+02] [ 2.38804506e-01 9.71067040e-01 -1.10082400e-03 2.32219420e+01] [ 4.15624127e-03 1.11511702e-04 9.99991357e-01 -7.09012459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.560281693 meters 0.03599662487508301 Centerline is valid? [True, True] Translation: X:275.41, Y:23.24, Z:-0.07 [[ 9.71226554e-01 -2.38138242e-01 -3.02635440e-03 2.75410126e+02] [ 2.38136806e-01 9.71231265e-01 -8.31474646e-04 2.32443371e+01] [ 3.13729592e-03 8.68638847e-05 9.99995075e-01 -6.87922986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.620281693 meters 0.03192214240457615 Centerline is valid? [True, True] Translation: X:275.47, Y:23.26, Z:-0.07 [[ 9.70507350e-01 -2.41064210e-01 -1.87893373e-03 2.75467652e+02] [ 2.41063662e-01 9.70509167e-01 -5.16558918e-04 2.32593464e+01] [ 1.94804628e-03 4.83815808e-05 9.99998101e-01 -6.61041427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.680281693 meters 0.017608474416165566 Centerline is valid? [True, True] Translation: X:275.53, Y:23.26, Z:-0.07 [[ 9.66412298e-01 -2.56988940e-01 -1.98849094e-03 2.75529243e+02] [ 2.56988359e-01 9.66414344e-01 -5.46699109e-04 2.32561676e+01] [ 2.06220180e-03 1.73177171e-05 9.99997874e-01 -6.69969411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.740281693 meters 0.014537756153871945 Centerline is valid? [True, True] Translation: X:275.59, Y:23.26, Z:-0.06 [[ 9.64461200e-01 -2.64223681e-01 -6.63588788e-04 2.75588750e+02] [ 2.64223618e-01 9.64461428e-01 -1.82608797e-04 2.32628830e+01] [ 6.88255359e-04 7.83269274e-07 9.99999763e-01 -6.48930024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.800281693 meters 0.015059584474069182 Centerline is valid? [True, True] Translation: X:275.65, Y:23.27, Z:-0.06 [[ 9.63201192e-01 -2.68781226e-01 -3.41816700e-04 2.75646444e+02] [ 2.68781210e-01 9.63201252e-01 -9.40942656e-05 2.32728277e+01] [ 3.54529045e-04 -1.24219722e-06 9.99999937e-01 -6.39447224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.860281693 meters 0.014721798255933146 Centerline is valid? [True, True] Translation: X:275.70, Y:23.29, Z:-0.06 [[ 9.63555553e-01 -2.67506163e-01 -1.07218595e-03 2.75700836e+02] [ 2.67506000e-01 9.63556149e-01 -2.95319841e-04 2.32930428e+01] [ 1.11211124e-03 -2.25910110e-06 9.99999382e-01 -6.44522569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.920281693 meters 0.014567205859888284 Centerline is valid? [True, True] Translation: X:275.75, Y:23.31, Z:-0.07 [[ 9.64101087e-01 -2.65531682e-01 -1.42119612e-03 2.75754699e+02] [ 2.65531393e-01 9.64102135e-01 -3.91710878e-04 2.33144206e+01] [ 1.47418986e-03 2.76697192e-07 9.99998913e-01 -6.50580981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98028169299994 meters 0.014664276702963398 Centerline is valid? [True, True] Translation: X:275.81, Y:23.33, Z:-0.07 [[ 9.63583509e-01 -2.67399227e-01 -2.11555476e-03 2.75810877e+02] [ 2.67398590e-01 9.63585831e-01 -5.83473891e-04 2.33290183e+01] [ 2.19453906e-03 -3.47054306e-06 9.99997592e-01 -6.71189446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04028169299994 meters 0.015605299566525281 Centerline is valid? [True, True] Translation: X:275.87, Y:23.34, Z:-0.07 [[ 9.62713058e-01 -2.70515278e-01 -2.24788965e-03 2.75868278e+02] [ 2.70514568e-01 9.62715682e-01 -6.20063005e-04 2.33402408e+01] [ 2.33181513e-03 -1.11441447e-05 9.99997281e-01 -6.78348004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10028169299994 meters 0.018799213084918418 Centerline is valid? [True, True] Translation: X:275.93, Y:23.34, Z:-0.07 [[ 9.61421058e-01 -2.75078510e-01 -1.16750540e-03 2.75927366e+02] [ 2.75078322e-01 9.61421767e-01 -3.22128946e-04 2.33446828e+01] [ 1.21107586e-03 -1.14538749e-05 9.99999267e-01 -6.68566072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16028169299994 meters 0.016000417020467127 Centerline is valid? [True, True] Translation: X:275.98, Y:23.37, Z:-0.07 [[ 9.62192132e-01 -2.72362392e-01 -2.24248747e-03 2.75981952e+02] [ 2.72361688e-01 9.62194745e-01 -6.19158598e-04 2.33677851e+01] [ 2.32634518e-03 -1.50181426e-05 9.99997294e-01 -6.74286200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22028169299995 meters 0.01623736277652148 Centerline is valid? [True, True] Translation: X:276.04, Y:23.38, Z:-0.07 [[ 9.62345750e-01 -2.71820286e-01 -2.09517189e-03 2.76038606e+02] [ 2.71819670e-01 9.62348031e-01 -5.78583855e-04 2.33814684e+01] [ 2.17355537e-03 -1.27112201e-05 9.99997638e-01 -6.86822656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28028169299995 meters 0.01831533747109575 Centerline is valid? [True, True] Translation: X:276.10, Y:23.39, Z:-0.07 [[ 9.61045744e-01 -2.76385261e-01 -1.50478204e-03 2.76097169e+02] [ 2.76384949e-01 9.61046922e-01 -4.15708451e-04 2.33884808e+01] [ 1.56106184e-03 -1.63842691e-05 9.99998781e-01 -6.66887444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34028169299995 meters 0.027194401518284516 Centerline is valid? [True, True] Translation: X:276.16, Y:23.38, Z:-0.07 [[ 9.58498820e-01 -2.85085528e-01 -2.50072597e-03 2.76161212e+02] [ 2.85084695e-01 9.58502081e-01 -6.90828990e-04 2.33807215e+01] [ 2.59389639e-03 -5.07599286e-05 9.99996635e-01 -6.95722135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40028169299995 meters 0.027097098727564897 Centerline is valid? [True, True] Translation: X:276.22, Y:23.39, Z:-0.06 [[ 9.57899261e-01 -2.87102753e-01 -1.00732379e-03 2.76219407e+02] [ 2.87102619e-01 9.57899791e-01 -2.78510294e-04 2.33919611e+01] [ 1.04487632e-03 -2.24204938e-05 9.99999454e-01 -6.40611886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46028169299996 meters 0.01938044259883702 Centerline is valid? [True, True] Translation: X:276.27, Y:23.41, Z:-0.06 [[ 9.60722700e-01 -2.77509130e-01 7.59479611e-04 2.76274527e+02] [ 2.77509051e-01 9.60723000e-01 2.09949858e-04 2.34133975e+01] [-7.87912533e-04 9.05887155e-06 9.99999690e-01 -6.06235003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52028169299996 meters 0.014424016891724767 Centerline is valid? [True, True] Translation: X:276.33, Y:23.44, Z:-0.06 [[ 9.63947758e-01 -2.66086083e-01 -1.70750987e-03 2.76327265e+02] [ 2.66085664e-01 9.63949271e-01 -4.72139100e-04 2.34435029e+01] [ 1.77158254e-03 7.73528598e-07 9.99998431e-01 -6.49622397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58028169299996 meters 0.01688327810507326 Centerline is valid? [True, True] Translation: X:276.38, Y:23.47, Z:-0.07 [[ 9.65602322e-01 -2.59994395e-01 -3.88218808e-03 2.76381366e+02] [ 2.59992177e-01 9.65610125e-01 -1.07413912e-03 2.34696640e+01] [ 4.02795027e-03 2.78526923e-05 9.99991887e-01 -7.05053540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64028169299996 meters 0.017573052847111553 Centerline is valid? [True, True] Translation: X:276.44, Y:23.49, Z:-0.07 [[ 9.65900034e-01 -2.58906761e-01 -2.10082008e-03 2.76436260e+02] [ 2.58906108e-01 9.65902318e-01 -5.81711839e-04 2.34896244e+01] [ 2.17979611e-03 1.79603357e-05 9.99997624e-01 -6.76067477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70028169299997 meters 0.015667203591888237 Centerline is valid? [True, True] Translation: X:276.49, Y:23.50, Z:-0.07 [[ 9.64829632e-01 -2.62847617e-01 -3.86152750e-03 2.76494972e+02] [ 2.62845441e-01 9.64837359e-01 -1.06983932e-03 2.34986608e+01] [ 4.00695072e-03 1.72277830e-05 9.99991972e-01 -7.21123734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76028169299997 meters 0.014765424914844097 Centerline is valid? [True, True] Translation: X:276.55, Y:23.51, Z:-0.07 [[ 9.63693549e-01 -2.66976098e-01 -4.30189140e-03 2.76552021e+02] [ 2.66973434e-01 9.63703151e-01 -1.19267378e-03 2.35093726e+01] [ 4.46416169e-03 8.81305864e-07 9.99990036e-01 -7.27179685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82028169299997 meters 0.014757383166630748 Centerline is valid? [True, True] Translation: X:276.61, Y:23.52, Z:-0.06 [[ 9.62754539e-01 -2.70375984e-01 -7.24000637e-04 2.76609375e+02] [ 2.70375909e-01 9.62754812e-01 -2.00808902e-04 2.35200325e+01] [ 7.51329001e-04 -2.42264859e-06 9.99999718e-01 -6.49508155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.880281693 meters 0.016030458708319907 Centerline is valid? [True, True] Translation: X:276.67, Y:23.53, Z:-0.06 [[ 9.61931035e-01 -2.73292298e-01 -6.45422707e-05 2.76666920e+02] [ 2.73292298e-01 9.61931037e-01 -1.79668199e-05 2.35312206e+01] [ 6.69954069e-05 -3.56063772e-07 9.99999998e-01 -6.47245648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.940281693 meters 0.020627443645428217 Centerline is valid? [True, True] Translation: X:276.73, Y:23.53, Z:-0.07 [[ 9.60155274e-01 -2.79464856e-01 -1.11562252e-03 2.76728004e+02] [ 2.79464684e-01 9.60155922e-01 -3.09626755e-04 2.35324058e+01] [ 1.15770137e-03 -1.44873339e-05 9.99999330e-01 -6.63214718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.000281693 meters 0.022666111620820276 Centerline is valid? [True, True] Translation: X:276.79, Y:23.54, Z:-0.07 [[ 9.59513127e-01 -2.81658512e-01 -1.74422653e-03 2.76786221e+02] [ 2.81658096e-01 9.59514712e-01 -4.84418125e-04 2.35427253e+01] [ 1.81005151e-03 -2.64699749e-05 9.99998362e-01 -6.67980115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.060281693 meters 0.019799937633854514 Centerline is valid? [True, True] Translation: X:276.84, Y:23.56, Z:-0.06 [[ 9.59770883e-01 -2.80783395e-01 -7.32608490e-04 2.76842104e+02] [ 2.80783322e-01 9.59771163e-01 -2.03634839e-04 2.35608875e+01] [ 7.60313783e-04 -1.02614561e-05 9.99999711e-01 -6.34145466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.120281693 meters 0.019264529564711946 Centerline is valid? [True, True] Translation: X:276.90, Y:23.57, Z:-0.07 [[ 9.60551876e-01 -2.78094417e-01 -1.89411830e-03 2.76898254e+02] [ 2.78093920e-01 9.60553744e-01 -5.26540923e-04 2.35738394e+01] [ 1.96583052e-03 -2.09729109e-05 9.99998068e-01 -6.57962509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.180281693 meters 0.0160860980547867 Centerline is valid? [True, True] Translation: X:276.95, Y:23.60, Z:-0.07 [[ 9.61770451e-01 -2.73848343e-01 -2.16446282e-03 2.76952790e+02] [ 2.73847681e-01 9.61772886e-01 -6.02079430e-04 2.35967044e+01] [ 2.24660010e-03 -1.36709189e-05 9.99997476e-01 -6.59596442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.240281693 meters 0.014212605627062811 Centerline is valid? [True, True] Translation: X:277.01, Y:23.62, Z:-0.06 [[ 9.63199338e-01 -2.68783672e-01 -1.54014552e-03 2.77007655e+02] [ 2.68783330e-01 9.63200570e-01 -4.28691615e-04 2.36201965e+01] [ 1.59869435e-03 -1.04996123e-06 9.99998722e-01 -6.40388220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.300281693 meters 0.01457270210318191 Centerline is valid? [True, True] Translation: X:277.06, Y:23.64, Z:-0.07 [[ 9.63444719e-01 -2.67879129e-01 -3.87879440e-03 2.77064572e+02] [ 2.67876951e-01 9.63452527e-01 -1.08024262e-03 2.36364073e+01] [ 4.02640872e-03 1.71443278e-06 9.99991894e-01 -6.92330142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.360281693 meters 0.014923816524332674 Centerline is valid? [True, True] Translation: X:277.12, Y:23.64, Z:-0.07 [[ 9.63037375e-01 -2.69324856e-01 -4.81002119e-03 2.77122440e+02] [ 2.69321523e-01 9.63049387e-01 -1.33999993e-03 2.36449037e+01] [ 4.99318325e-03 -4.97221125e-06 9.99987534e-01 -7.23034861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.420281693 meters 0.015217914555416316 Centerline is valid? [True, True] Translation: X:277.18, Y:23.65, Z:-0.06 [[ 9.61905374e-01 -2.73381717e-01 -6.98852532e-04 2.77181176e+02] [ 2.73381648e-01 9.61905628e-01 -1.94887551e-04 2.36484664e+01] [ 7.25508877e-04 -3.59007411e-06 9.99999737e-01 -6.20645493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48028169299994 meters 0.01585992639888191 Centerline is valid? [True, True] Translation: X:277.24, Y:23.66, Z:-0.06 [[ 9.61592135e-01 -2.74482267e-01 -2.24705227e-04 2.77238794e+02] [ 2.74482260e-01 9.61592162e-01 -6.27502913e-05 2.36572344e+01] [ 2.33298627e-04 -1.33741176e-06 9.99999973e-01 -6.10859080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54028169299994 meters 0.016325221926635356 Centerline is valid? [True, True] Translation: X:277.30, Y:23.67, Z:-0.07 [[ 9.61674545e-01 -2.74183049e-01 -2.39253805e-03 2.77295270e+02] [ 2.74182237e-01 9.61677522e-01 -6.67672076e-04 2.36651416e+01] [ 2.48391443e-03 -1.39081945e-05 9.99996915e-01 -6.70873978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60028169299994 meters 0.014503354419508844 Centerline is valid? [True, True] Translation: X:277.35, Y:23.68, Z:-0.06 [[ 9.62807751e-01 -2.70182754e-01 -1.58576524e-03 2.77351639e+02] [ 2.70182391e-01 9.62809057e-01 -4.42833833e-04 2.36824579e+01] [ 1.64643520e-03 -2.08199678e-06 9.99998645e-01 -6.41726822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66028169299994 meters 0.01507179127043324 Centerline is valid? [True, True] Translation: X:277.41, Y:23.70, Z:-0.07 [[ 9.63803709e-01 -2.66590188e-01 -3.47597463e-03 2.77406300e+02] [ 2.66588421e-01 9.63809977e-01 -9.70789597e-04 2.37007697e+01] [ 3.60898201e-03 8.99602817e-06 9.99993488e-01 -6.85471722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72028169299995 meters 0.016411634963538674 Centerline is valid? [True, True] Translation: X:277.46, Y:23.72, Z:-0.07 [[ 9.64638128e-01 -2.63552626e-01 -3.64624072e-03 2.77461729e+02] [ 2.63550657e-01 9.64645019e-01 -1.01899582e-03 2.37215061e+01] [ 3.78588697e-03 2.19930770e-05 9.99992833e-01 -6.83324321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78028169299995 meters 0.01859052331895071 Centerline is valid? [True, True] Translation: X:277.52, Y:23.74, Z:-0.06 [[ 9.65408924e-01 -2.60737349e-01 -1.28241646e-03 2.77516942e+02] [ 2.60737103e-01 9.65409776e-01 -3.58466805e-04 2.37404083e+01] [ 1.33152308e-03 1.16934993e-05 9.99999113e-01 -6.46018622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84028169299995 meters 0.019743118840668022 Centerline is valid? [True, True] Translation: X:277.57, Y:23.76, Z:-0.06 [[ 9.65840852e-01 -2.59134742e-01 -7.95883672e-04 2.77572395e+02] [ 2.59134647e-01 9.65841180e-01 -2.22646257e-04 2.37618562e+01] [ 8.26392606e-04 8.79981654e-06 9.99999659e-01 -6.34639199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90028169299995 meters 0.02244872387280112 Centerline is valid? [True, True] Translation: X:277.63, Y:23.78, Z:-0.07 [[ 9.66494687e-01 -2.56677097e-01 -2.21103916e-03 2.77626658e+02] [ 2.56676353e-01 9.66497215e-01 -6.18528270e-04 2.37845816e+01] [ 2.29572523e-03 3.02828185e-05 9.99997364e-01 -6.64046140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96028169299996 meters 0.02394182716784659 Centerline is valid? [True, True] Translation: X:277.68, Y:23.80, Z:-0.07 [[ 9.66719237e-01 -2.55818990e-01 -3.24986743e-03 2.77681596e+02] [ 2.55817378e-01 9.66724698e-01 -9.09318235e-04 2.38037263e+01] [ 3.37434798e-03 4.76828644e-05 9.99994306e-01 -6.86476994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02028169299996 meters 0.020399475506255905 Centerline is valid? [True, True] Translation: X:277.74, Y:23.81, Z:-0.07 [[ 9.65999936e-01 -2.58527038e-01 -2.80967683e-03 2.77741039e+02] [ 2.58525844e-01 9.66004021e-01 -7.86678041e-04 2.38097684e+01] [ 2.91753666e-03 3.35568641e-05 9.99995743e-01 -6.80499978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08028169299996 meters 0.018340706871146202 Centerline is valid? [True, True] Translation: X:277.80, Y:23.82, Z:-0.07 [[ 9.65283200e-01 -2.61198488e-01 -1.92179672e-03 2.77799165e+02] [ 2.61197933e-01 9.65285113e-01 -5.38426142e-04 2.38183426e+01] [ 1.99571785e-03 1.77643788e-05 9.99998008e-01 -6.54911602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14028169299996 meters 0.015529318523439441 Centerline is valid? [True, True] Translation: X:277.86, Y:23.82, Z:-0.06 [[ 9.64242583e-01 -2.65021179e-01 -1.24089467e-04 2.77860095e+02] [ 2.65021176e-01 9.64242591e-01 -3.48423666e-05 2.38187147e+01] [ 1.28886314e-04 7.10157109e-07 9.99999992e-01 -6.14010757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20028169299997 meters 0.015028205268244152 Centerline is valid? [True, True] Translation: X:277.92, Y:23.83, Z:-0.06 [[ 9.63816476e-01 -2.66563859e-01 -1.22844941e-03 2.77917418e+02] [ 2.66563636e-01 9.63817259e-01 -3.44662299e-04 2.38287138e+01] [ 1.27587526e-03 4.73126099e-06 9.99999186e-01 -6.36199202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26028169299997 meters 0.014657936591576977 Centerline is valid? [True, True] Translation: X:277.98, Y:23.83, Z:-0.06 [[ 9.63311715e-01 -2.68377270e-01 -2.04486177e-03 2.77975737e+02] [ 2.68376656e-01 9.63313885e-01 -5.74105843e-04 2.38343545e+01] [ 2.12392070e-03 4.24971992e-06 9.99997744e-01 -6.43423174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32028169299997 meters 0.014456630266454449 Centerline is valid? [True, True] Translation: X:278.03, Y:23.85, Z:-0.06 [[ 9.63101052e-01 -2.69134558e-01 -1.71864791e-03 2.78032062e+02] [ 2.69134126e-01 9.63102585e-01 -4.82645287e-04 2.38459470e+01] [ 1.78513078e-03 2.28937985e-06 9.99998407e-01 -6.30655210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.380281693 meters 0.014326142354757609 Centerline is valid? [True, True] Translation: X:278.09, Y:23.86, Z:-0.06 [[ 9.62890749e-01 -2.69890951e-01 -5.29900763e-04 2.78088810e+02] [ 2.69890910e-01 9.62890894e-01 -1.48976900e-04 2.38572556e+01] [ 5.50444137e-04 4.33079260e-07 9.99999849e-01 -6.07967379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.440281693 meters 0.015207580831106956 Centerline is valid? [True, True] Translation: X:278.14, Y:23.87, Z:-0.06 [[ 9.63644776e-01 -2.67178408e-01 -2.10807256e-03 2.78144222e+02] [ 2.67177751e-01 9.63647082e-01 -5.92550392e-04 2.38738617e+01] [ 2.18975464e-03 7.77800604e-06 9.99997602e-01 -6.44105908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.500281693 meters 0.016603547236940585 Centerline is valid? [True, True] Translation: X:278.20, Y:23.89, Z:-0.06 [[ 9.64653401e-01 -2.63520139e-01 -9.75811959e-04 2.78199649e+02] [ 2.63519996e-01 9.64653895e-01 -2.74515011e-04 2.38926091e+01] [ 1.01366104e-03 7.66587571e-06 9.99999486e-01 -6.12631714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.560281693 meters 0.021885219542528703 Centerline is valid? [True, True] Translation: X:278.25, Y:23.92, Z:-0.06 [[ 9.66138674e-01 -2.58014431e-01 -2.14857589e-03 2.78252977e+02] [ 2.58013725e-01 9.66141062e-01 -6.04399168e-04 2.39198472e+01] [ 2.23177110e-03 2.95713416e-05 9.99997509e-01 -6.41566509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.620281693 meters 0.028146748806322612 Centerline is valid? [True, True] Translation: X:278.31, Y:23.95, Z:-0.07 [[ 9.67981425e-01 -2.50986653e-01 -4.20250333e-03 2.78307923e+02] [ 2.50983885e-01 9.67990543e-01 -1.18214848e-03 2.39483617e+01] [ 4.36468697e-03 8.95371579e-05 9.99990471e-01 -6.75182076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.680281693 meters 0.029021325034994848 Centerline is valid? [True, True] Translation: X:278.36, Y:23.97, Z:-0.07 [[ 9.68180405e-01 -2.50215701e-01 -4.33661411e-03 2.78363581e+02] [ 2.50212742e-01 9.68190112e-01 -1.22070330e-03 2.39693027e+01] [ 4.50410604e-03 9.67849090e-05 9.99989852e-01 -6.71659481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.740281693 meters 0.02349894206868921 Centerline is valid? [True, True] Translation: X:278.42, Y:23.98, Z:-0.06 [[ 9.66771141e-01 -2.55635116e-01 -2.06121271e-03 2.78423283e+02] [ 2.55634460e-01 9.66773338e-01 -5.80252794e-04 2.39790337e+01] [ 2.14105848e-03 3.40546577e-05 9.99997707e-01 -6.32586952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.800281693 meters 0.018520208640660556 Centerline is valid? [True, True] Translation: X:278.48, Y:23.98, Z:-0.06 [[ 9.65103025e-01 -2.61867044e-01 -1.34276340e-03 2.78482952e+02] [ 2.61866772e-01 9.65103959e-01 -3.78040431e-04 2.39835247e+01] [ 1.39490260e-03 1.32228465e-05 9.99999027e-01 -6.17745835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.860281693 meters 0.015639936753107535 Centerline is valid? [True, True] Translation: X:278.54, Y:23.99, Z:-0.06 [[ 9.63910395e-01 -2.66223334e-01 -1.37347410e-03 2.78541822e+02] [ 2.66223053e-01 9.63911374e-01 -3.86978206e-04 2.39911289e+01] [ 1.42692993e-03 7.36184777e-06 9.99998982e-01 -6.21251743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.920281693 meters 0.014563178391317811 Centerline is valid? [True, True] Translation: X:278.60, Y:23.99, Z:-0.07 [[ 9.62733975e-01 -2.70435270e-01 -2.83857672e-03 2.78602186e+02] [ 2.70434086e-01 9.62738160e-01 -8.00233826e-04 2.39934344e+01] [ 2.94921758e-03 2.76439241e-06 9.99995651e-01 -6.52875929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98028169299994 meters 0.014655013056408433 Centerline is valid? [True, True] Translation: X:278.66, Y:24.00, Z:-0.07 [[ 9.62810478e-01 -2.70156731e-01 -3.36525188e-03 2.78660127e+02] [ 2.70155065e-01 9.62816359e-01 -9.48876698e-04 2.40016262e+01] [ 3.49646499e-03 4.44858640e-06 9.99993887e-01 -6.53353009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04028169299994 meters 0.015231065950012921 Centerline is valid? [True, True] Translation: X:278.72, Y:24.02, Z:-0.07 [[ 9.63358188e-01 -2.68191833e-01 -3.76064005e-03 2.78716773e+02] [ 2.68189736e-01 9.63365528e-01 -1.06059373e-03 2.40153188e+01] [ 3.90731356e-03 1.31665917e-05 9.99992366e-01 -6.63639853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10028169299994 meters 0.022328294068224484 Centerline is valid? [True, True] Translation: X:278.77, Y:24.04, Z:-0.06 [[ 9.66017480e-01 -2.58456925e-01 -3.20103303e-03 2.78770361e+02] [ 2.58455352e-01 9.66022782e-01 -9.02884313e-04 2.40411756e+01] [ 3.32562754e-03 4.48779099e-05 9.99994469e-01 -6.39323183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16028169299994 meters 0.027608988731380006 Centerline is valid? [True, True] Translation: X:278.83, Y:24.06, Z:-0.06 [[ 9.67730509e-01 -2.51978770e-01 -2.08858221e-03 2.78826254e+02] [ 2.51978086e-01 9.67732761e-01 -5.89126417e-04 2.40646394e+01] [ 2.16963678e-03 4.38386590e-05 9.99997645e-01 -6.15445159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22028169299995 meters 0.03334609732383342 Centerline is valid? [True, True] Translation: X:278.88, Y:24.09, Z:-0.06 [[ 9.69280533e-01 -2.45954906e-01 -1.19716343e-03 2.78882196e+02] [ 2.45954676e-01 9.69281271e-01 -3.37681672e-04 2.40897824e+01] [ 1.24344255e-03 3.28603280e-05 9.99999226e-01 -5.94129427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28028169299995 meters 0.03295880209923776 Centerline is valid? [True, True] Translation: X:278.94, Y:24.11, Z:-0.06 [[ 9.69241384e-01 -2.46107512e-01 -1.49396672e-03 2.78938374e+02] [ 2.46107154e-01 9.69242535e-01 -4.21775411e-04 2.41054871e+01] [ 1.55181819e-03 4.11262841e-05 9.99998795e-01 -5.98821206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34028169299995 meters 0.02932524543762968 Centerline is valid? [True, True] Translation: X:279.00, Y:24.12, Z:-0.06 [[ 9.68376695e-01 -2.49476863e-01 -2.80565540e-03 2.78997577e+02] [ 2.49475615e-01 9.68380757e-01 -7.92043175e-04 2.41151700e+01] [ 2.91453915e-03 6.70535448e-05 9.99995750e-01 -6.33851457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40028169299995 meters 0.027099514985901324 Centerline is valid? [True, True] Translation: X:279.06, Y:24.12, Z:-0.07 [[ 9.67699078e-01 -2.52077651e-01 -3.91812462e-03 2.79056541e+02] [ 2.52075237e-01 9.67707007e-01 -1.10630242e-03 2.41230646e+01] [ 4.07047076e-03 8.29056417e-05 9.99991712e-01 -6.53426779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46028169299996 meters 0.02847000558433341 Centerline is valid? [True, True] Translation: X:279.11, Y:24.14, Z:-0.07 [[ 9.67767653e-01 -2.51806490e-01 -4.38872868e-03 2.79112167e+02] [ 2.51803457e-01 9.67777600e-01 -1.23946153e-03 2.41383242e+01] [ 4.55941776e-03 9.44137224e-05 9.99989601e-01 -6.57279048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52028169299996 meters 0.02664926918705748 Centerline is valid? [True, True] Translation: X:279.17, Y:24.15, Z:-0.06 [[ 9.67523123e-01 -2.52774089e-01 -2.06567166e-03 2.79170705e+02] [ 2.52773418e-01 9.67525327e-01 -5.83806225e-04 2.41466004e+01] [ 2.14616074e-03 4.26991359e-05 9.99997696e-01 -6.21337204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58028169299996 meters 0.02893797127327606 Centerline is valid? [True, True] Translation: X:279.23, Y:24.16, Z:-0.06 [[ 9.67810488e-01 -2.51679953e-01 2.46135635e-04 2.79226227e+02] [ 2.51679944e-01 9.67810519e-01 6.95510041e-05 2.41613575e+01] [-2.55717250e-04 -5.36478852e-06 9.99999967e-01 -5.79490745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64028169299996 meters 0.027668960351916398 Centerline is valid? [True, True] Translation: X:279.28, Y:24.17, Z:-0.06 [[ 9.67563560e-01 -2.52625771e-01 -9.88516746e-04 2.79283481e+02] [ 2.52625617e-01 9.67564065e-01 -2.79643265e-04 2.41734991e+01] [ 1.02709838e-03 2.08479806e-05 9.99999472e-01 -5.99652332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70028169299997 meters 0.023803640239382702 Centerline is valid? [True, True] Translation: X:279.34, Y:24.18, Z:-0.06 [[ 9.66397420e-01 -2.57040923e-01 -2.44777889e-03 2.79342518e+02] [ 2.57039992e-01 9.66400519e-01 -6.92763044e-04 2.41823109e+01] [ 2.54360324e-03 4.03073525e-05 9.99996764e-01 -6.37030149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76028169299997 meters 0.019522077019239508 Centerline is valid? [True, True] Translation: X:279.40, Y:24.19, Z:-0.06 [[ 9.64988461e-01 -2.62275974e-01 -2.92977798e-03 2.79401937e+02] [ 2.62274665e-01 9.64992908e-01 -8.29314062e-04 2.41851310e+01] [ 3.04472413e-03 3.18719628e-05 9.99995364e-01 -6.45363371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82028169299997 meters 0.0171218654693421 Centerline is valid? [True, True] Translation: X:279.46, Y:24.20, Z:-0.06 [[ 9.64374049e-01 -2.64535180e-01 -1.95745643e-03 2.79459687e+02] [ 2.64534599e-01 9.64376036e-01 -5.54499301e-04 2.41959965e+01] [ 2.03440864e-03 1.69297843e-05 9.99997930e-01 -6.25389074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.880281693 meters 0.018480828770703603 Centerline is valid? [True, True] Translation: X:279.52, Y:24.21, Z:-0.07 [[ 9.64318611e-01 -2.64717730e-01 -3.76022562e-03 2.79515428e+02] [ 2.64715588e-01 9.64325942e-01 -1.06532996e-03 2.42123670e+01] [ 3.90809485e-03 3.19271697e-05 9.99992363e-01 -6.76294377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.940281693 meters 0.019305745102634306 Centerline is valid? [True, True] Translation: X:279.57, Y:24.23, Z:-0.07 [[ 9.64878181e-01 -2.62675909e-01 -3.38563836e-03 2.79570806e+02] [ 2.62674158e-01 9.64884120e-01 -9.59844373e-04 2.42329852e+01] [ 3.51887669e-03 3.68131857e-05 9.99993808e-01 -6.56237466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.000281693 meters 0.020525915699979472 Centerline is valid? [True, True] Translation: X:279.63, Y:24.25, Z:-0.07 [[ 9.65152762e-01 -2.61659835e-01 -3.77835257e-03 2.79625848e+02] [ 2.61657645e-01 9.65160157e-01 -1.07137178e-03 2.42509098e+01] [ 3.92705033e-03 4.54025970e-05 9.99992288e-01 -6.63748970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.060281693 meters 0.019116380971695976 Centerline is valid? [True, True] Translation: X:279.68, Y:24.26, Z:-0.07 [[ 9.64633343e-01 -2.63526281e-01 -6.03435917e-03 2.79682351e+02] [ 2.63520725e-01 9.64652215e-01 -1.71234475e-03 2.42628397e+01] [ 6.27230578e-03 6.16061377e-05 9.99980327e-01 -7.06630733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.120281693 meters 0.017275363976142773 Centerline is valid? [True, True] Translation: X:279.74, Y:24.28, Z:-0.06 [[ 9.64083991e-01 -2.65587712e-01 -2.28589750e-03 2.79739838e+02] [ 2.65586919e-01 9.64086701e-01 -6.49101646e-04 2.42753354e+01] [ 2.37619680e-03 1.86840307e-05 9.99997177e-01 -6.27915242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.180281693 meters 0.019582389408572796 Centerline is valid? [True, True] Translation: X:279.80, Y:24.30, Z:-0.07 [[ 9.64831990e-01 -2.62840322e-01 -3.76768195e-03 2.79795053e+02] [ 2.62838145e-01 9.64839346e-01 -1.07050054e-03 2.42951892e+01] [ 3.91657849e-03 4.25626278e-05 9.99992329e-01 -6.55846435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.240281693 meters 0.02010620901295223 Centerline is valid? [True, True] Translation: X:279.85, Y:24.31, Z:-0.07 [[ 9.64829319e-01 -2.62852855e-01 -3.57248638e-03 2.79849356e+02] [ 2.62850896e-01 9.64835932e-01 -1.01552386e-03 2.43117001e+01] [ 3.71379657e-03 4.07759452e-05 9.99993103e-01 -6.58001496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.300281693 meters 0.01564775019234535 Centerline is valid? [True, True] Translation: X:279.91, Y:24.32, Z:-0.07 [[ 9.62891919e-01 -2.69868462e-01 -3.18844591e-03 2.79909343e+02] [ 2.69866940e-01 9.62897198e-01 -9.06486433e-04 2.43164949e+01] [ 3.31477773e-03 1.23923202e-05 9.99994506e-01 -6.59487368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.360281693 meters 0.015460067624800495 Centerline is valid? [True, True] Translation: X:279.97, Y:24.32, Z:-0.07 [[ 9.60927256e-01 -2.76782422e-01 -3.20914894e-03 2.79968443e+02] [ 2.76780917e-01 9.60932615e-01 -9.13078839e-04 2.43208745e+01] [ 3.33650006e-03 -1.08288410e-05 9.99994434e-01 -6.52982369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.420281693 meters 0.021892601689587267 Centerline is valid? [True, True] Translation: X:280.03, Y:24.32, Z:-0.06 [[ 9.58252417e-01 -2.85918111e-01 -1.77156973e-03 2.80029693e+02] [ 2.85917667e-01 9.58254055e-01 -5.04129065e-04 2.43194017e+01] [ 1.84175350e-03 -2.34401885e-05 9.99998304e-01 -6.25917576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48028169299994 meters 0.026505285486498015 Centerline is valid? [True, True] Translation: X:280.09, Y:24.32, Z:-0.06 [[ 9.56121109e-01 -2.92965296e-01 -1.93936714e-03 2.80090522e+02] [ 2.92964779e-01 9.56123075e-01 -5.51932904e-04 2.43249799e+01] [ 2.01597086e-03 -4.04515648e-05 9.99997967e-01 -6.30007911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54028169299994 meters 0.028318881894902698 Centerline is valid? [True, True] Translation: X:280.15, Y:24.34, Z:-0.06 [[ 9.55601740e-01 -2.94654600e-01 -1.99530846e-03 2.80148762e+02] [ 2.94654055e-01 9.55603822e-01 -5.68257755e-04 2.43352379e+01] [ 2.07416415e-03 -4.48976299e-05 9.99997848e-01 -6.17253027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60028169299994 meters 0.02345457547119194 Centerline is valid? [True, True] Translation: X:280.21, Y:24.36, Z:-0.06 [[ 9.57200971e-01 -2.89410621e-01 -2.79176115e-03 2.80205627e+02] [ 2.89409532e-01 9.57205041e-01 -7.95041872e-04 2.43555608e+01] [ 2.90238140e-03 -4.69474356e-05 9.99995787e-01 -6.31284354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66028169299994 meters 0.020967874531594734 Centerline is valid? [True, True] Translation: X:280.26, Y:24.37, Z:-0.06 [[ 9.58562955e-01 -2.84871626e-01 -2.28438900e-03 2.80260749e+02] [ 2.84870884e-01 9.58565676e-01 -6.50781319e-04 2.43724994e+01] [ 2.37512602e-03 -2.69410495e-05 9.99997179e-01 -6.26041417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72028169299995 meters 0.017762315712919256 Centerline is valid? [True, True] Translation: X:280.32, Y:24.39, Z:-0.07 [[ 9.59677856e-01 -2.81085775e-01 -3.03313788e-03 2.80316215e+02] [ 2.81084446e-01 9.59682649e-01 -8.64601647e-04 2.43922461e+01] [ 3.15387702e-03 -2.28288244e-05 9.99995026e-01 -6.60980579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78028169299995 meters 0.015695242982559518 Centerline is valid? [True, True] Translation: X:280.37, Y:24.41, Z:-0.07 [[ 9.60768612e-01 -2.77304582e-01 -5.08352650e-03 2.80371896e+02] [ 2.77300792e-01 9.60782061e-01 -1.44991953e-03 2.44100560e+01] [ 5.28623040e-03 -1.66287478e-05 9.99986028e-01 -6.96657340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84028169299995 meters 0.0158061266205728 Centerline is valid? [True, True] Translation: X:280.43, Y:24.43, Z:-0.07 [[ 9.62608400e-01 -2.70847078e-01 -5.18931266e-03 2.80426028e+02] [ 2.70843033e-01 9.62622387e-01 -1.48037511e-03 2.44321045e+01] [ 5.39630381e-03 1.95323367e-05 9.99985440e-01 -7.00451163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90028169299995 meters 0.01840312257506678 Centerline is valid? [True, True] Translation: X:280.48, Y:24.45, Z:-0.07 [[ 9.63670896e-01 -2.67056659e-01 -4.37550351e-03 2.80480835e+02] [ 2.67053743e-01 9.63680829e-01 -1.24854178e-03 2.44489109e+01] [ 4.55002024e-03 3.46887907e-05 9.99989648e-01 -6.99978826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96028169299996 meters 0.023423241114349257 Centerline is valid? [True, True] Translation: X:280.54, Y:24.47, Z:-0.07 [[ 9.64987038e-01 -2.62285444e-01 -2.52233863e-03 2.80535425e+02] [ 2.62284458e-01 9.64990334e-01 -7.20182891e-04 2.44733588e+01] [ 2.62292589e-03 3.33969341e-05 9.99996560e-01 -6.69318018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02028169299996 meters 0.026558493610079646 Centerline is valid? [True, True] Translation: X:280.59, Y:24.49, Z:-0.07 [[ 9.66300211e-01 -2.57383117e-01 -4.22282741e-03 2.80592078e+02] [ 2.57380305e-01 9.66309435e-01 -1.20573229e-03 2.44924225e+01] [ 4.39089311e-03 7.82267650e-05 9.99990357e-01 -6.89631349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08028169299996 meters 0.02759928063154807 Centerline is valid? [True, True] Translation: X:280.65, Y:24.51, Z:-0.07 [[ 9.66748143e-01 -2.55716475e-01 -2.66692378e-03 2.80647272e+02] [ 2.55715346e-01 9.66751820e-01 -7.61994949e-04 2.45122723e+01] [ 2.77310808e-03 5.46838654e-05 9.99996153e-01 -6.65063415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14028169299996 meters 0.026260635926255438 Centerline is valid? [True, True] Translation: X:280.70, Y:24.52, Z:-0.06 [[ 9.66473710e-01 -2.56765158e-01 -4.71739490e-04 2.80704726e+02] [ 2.56765122e-01 9.66473825e-01 -1.34915699e-04 2.45240142e+01] [ 4.90565520e-04 9.26622850e-06 9.99999880e-01 -6.33101560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20028169299997 meters 0.021528557085497373 Centerline is valid? [True, True] Translation: X:280.76, Y:24.53, Z:-0.07 [[ 9.65353925e-01 -2.60937474e-01 -1.85317414e-03 2.80763495e+02] [ 2.60936938e-01 9.65355703e-01 -5.29886005e-04 2.45325716e+01] [ 1.92723934e-03 2.79659502e-05 9.99998142e-01 -6.56471608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26028169299997 meters 0.019193900100625376 Centerline is valid? [True, True] Translation: X:280.82, Y:24.54, Z:-0.07 [[ 9.64437855e-01 -2.64285059e-01 -3.60984185e-03 2.80821793e+02] [ 2.64283044e-01 9.64444610e-01 -1.03286309e-03 2.45415413e+01] [ 3.75446280e-03 4.21122661e-05 9.99992951e-01 -6.94777111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32028169299997 meters 0.019640951093955764 Centerline is valid? [True, True] Translation: X:280.88, Y:24.55, Z:-0.07 [[ 9.64143775e-01 -2.65347339e-01 -4.19173388e-03 2.80878833e+02] [ 2.65344630e-01 9.64152886e-01 -1.19972531e-03 2.45536680e+01] [ 4.35981624e-03 4.44536130e-05 9.99990495e-01 -6.98573196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.380281693 meters 0.022635776025370653 Centerline is valid? [True, True] Translation: X:280.93, Y:24.58, Z:-0.07 [[ 9.64990796e-01 -2.62259348e-01 -3.57755832e-03 2.80933927e+02] [ 2.62257351e-01 9.64997426e-01 -1.02457071e-03 2.45758388e+01] [ 3.72103782e-03 5.04603397e-05 9.99993076e-01 -6.90851182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.440281693 meters 0.023227127664479288 Centerline is valid? [True, True] Translation: X:280.99, Y:24.59, Z:-0.07 [[ 9.65399752e-01 -2.60767303e-01 -1.93211919e-03 2.80990577e+02] [ 2.60766717e-01 9.65401685e-01 -5.53700085e-04 2.45915438e+01] [ 2.00965800e-03 3.07095456e-05 9.99997980e-01 -6.54206208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.500281693 meters 0.021035538113398016 Centerline is valid? [True, True] Translation: X:281.05, Y:24.60, Z:-0.06 [[ 9.65089553e-01 -2.61920047e-01 -2.09675363e-04 2.81048681e+02] [ 2.61920040e-01 9.65089576e-01 -6.01810252e-05 2.46024874e+01] [ 2.18118124e-04 3.16189911e-06 9.99999976e-01 -6.20651179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.560281693 meters 0.023728680021279553 Centerline is valid? [True, True] Translation: X:281.10, Y:24.62, Z:-0.07 [[ 9.65678757e-01 -2.59717534e-01 -3.36763934e-03 2.81103604e+02] [ 2.59715745e-01 9.65684627e-01 -9.65843067e-04 2.46213275e+01] [ 3.50292392e-03 5.80651733e-05 9.99993863e-01 -6.78127924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.620281693 meters 0.026051689918815304 Centerline is valid? [True, True] Translation: X:281.16, Y:24.64, Z:-0.07 [[ 9.66381117e-01 -2.57042684e-01 -6.04935938e-03 2.81159755e+02] [ 2.57036856e-01 9.66400043e-01 -1.73517162e-03 2.46397034e+01] [ 6.29211434e-03 1.21928774e-04 9.99980197e-01 -7.27714917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.680281693 meters 0.029606782166817835 Centerline is valid? [True, True] Translation: X:281.21, Y:24.66, Z:-0.07 [[ 9.66591068e-01 -2.56302775e-01 -3.25491042e-03 2.81213891e+02] [ 2.56301083e-01 9.66596546e-01 -9.33936559e-04 2.46590625e+01] [ 3.38555570e-03 6.84976728e-05 9.99994267e-01 -6.83453673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.740281693 meters 0.028131220087614966 Centerline is valid? [True, True] Translation: X:281.27, Y:24.67, Z:-0.07 [[ 9.66742729e-01 -2.55740478e-01 -2.30316109e-03 2.81270995e+02] [ 2.55739628e-01 9.66745471e-01 -6.61292273e-04 2.46728137e+01] [ 2.39568975e-03 5.02899349e-05 9.99997129e-01 -6.64967701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.800281693 meters 0.0328874108398278 Centerline is valid? [True, True] Translation: X:281.32, Y:24.70, Z:-0.07 [[ 9.67200166e-01 -2.54001778e-01 -2.63370279e-03 2.81323041e+02] [ 2.54000660e-01 9.67203749e-01 -7.56315981e-04 2.47003556e+01] [ 2.73943282e-03 6.25466960e-05 9.99996246e-01 -6.77050148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.860281693 meters 0.034868361839928225 Centerline is valid? [True, True] Translation: X:281.38, Y:24.72, Z:-0.07 [[ 9.68157217e-01 -2.50328786e-01 -2.66491565e-03 2.81377891e+02] [ 2.50327627e-01 9.68160882e-01 -7.65368650e-04 2.47241924e+01] [ 2.77166089e-03 7.38951732e-05 9.99996156e-01 -6.64963195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.920281693 meters 0.034038285767287645 Centerline is valid? [True, True] Translation: X:281.43, Y:24.75, Z:-0.07 [[ 9.67770653e-01 -2.51818443e-01 -2.72682362e-03 2.81431926e+02] [ 2.51817235e-01 9.67774492e-01 -7.83321192e-04 2.47451925e+01] [ 2.83620507e-03 7.14140779e-05 9.99995975e-01 -6.78858849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98028169299994 meters 0.031544255063273505 Centerline is valid? [True, True] Translation: X:281.49, Y:24.76, Z:-0.07 [[ 9.67107744e-01 -2.54347405e-01 -3.16381939e-03 2.81488196e+02] [ 2.54345792e-01 9.67112916e-01 -9.08999894e-04 2.47621962e+01] [ 3.29097236e-03 7.43966891e-05 9.99994582e-01 -6.85449331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04028169299994 meters 0.02810152000716813 Centerline is valid? [True, True] Translation: X:281.54, Y:24.78, Z:-0.07 [[ 9.66607287e-01 -2.56226709e-01 -4.26920840e-03 2.81544517e+02] [ 2.56223786e-01 9.66616711e-01 -1.22737786e-03 2.47795347e+01] [ 4.44117517e-03 9.25196485e-05 9.99990134e-01 -6.95221497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10028169299994 meters 0.029234757540580567 Centerline is valid? [True, True] Translation: X:281.60, Y:24.80, Z:-0.07 [[ 9.66874256e-01 -2.55209376e-01 -4.72731605e-03 2.81598421e+02] [ 2.55205776e-01 9.66885806e-01 -1.35991405e-03 2.48042172e+01] [ 4.91783761e-03 1.08427526e-04 9.99987901e-01 -6.99900884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16028169299994 meters 0.03230736789153437 Centerline is valid? [True, True] Translation: X:281.65, Y:24.83, Z:-0.07 [[ 9.67352553e-01 -2.53404145e-01 -3.92134967e-03 2.81651001e+02] [ 2.53401652e-01 9.67360496e-01 -1.12827894e-03 2.48302507e+01] [ 4.07926932e-03 9.77670330e-05 9.99991675e-01 -6.86988246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22028169299995 meters 0.03329384523491905 Centerline is valid? [True, True] Translation: X:281.71, Y:24.85, Z:-0.06 [[ 9.67663796e-01 -2.52238548e-01 -1.57909499e-03 2.81705091e+02] [ 2.52238142e-01 9.67665083e-01 -4.54673442e-04 2.48537633e+01] [ 1.64272126e-03 4.16630408e-05 9.99998650e-01 -6.43638900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28028169299995 meters 0.03549823075192729 Centerline is valid? [True, True] Translation: X:281.76, Y:24.88, Z:-0.06 [[ 9.67800934e-01 -2.51716791e-01 9.78165249e-05 2.81758318e+02] [ 2.51716790e-01 9.67800939e-01 2.81394358e-05 2.48776924e+01] [-1.01750093e-04 -2.61131065e-06 9.99999995e-01 -6.08202461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34028169299995 meters 0.03411831816359339 Centerline is valid? [True, True] Translation: X:281.81, Y:24.90, Z:-0.06 [[ 9.67529760e-01 -2.52756838e-01 3.81259332e-04 2.81813920e+02] [ 2.52756814e-01 9.67529835e-01 1.09806601e-04 2.48981937e+01] [-3.96634148e-04 -9.87525979e-06 9.99999921e-01 -5.91939882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40028169299995 meters 0.03364581939521807 Centerline is valid? [True, True] Translation: X:281.87, Y:24.93, Z:-0.06 [[ 9.67352080e-01 -2.53436254e-01 -1.34170101e-04 2.81867434e+02] [ 2.53436251e-01 9.67352089e-01 -3.87412140e-05 2.49254901e+01] [ 1.39608156e-04 3.47282651e-06 9.99999990e-01 -5.97216280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46028169299996 meters 0.032663411710063324 Centerline is valid? [True, True] Translation: X:281.92, Y:24.96, Z:-0.06 [[ 9.67526566e-01 -2.52761704e-01 -1.96602763e-03 2.81920184e+02] [ 2.52761073e-01 9.67528562e-01 -5.67266117e-04 2.49554575e+01] [ 2.04557104e-03 5.19097853e-05 9.99997906e-01 -6.44778426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52028169299996 meters 0.030260861087736346 Centerline is valid? [True, True] Translation: X:281.97, Y:24.99, Z:-0.06 [[ 9.66765780e-01 -2.55663640e-01 1.74007194e-04 2.81973160e+02] [ 2.55663635e-01 9.66765796e-01 5.01889724e-05 2.49855493e+01] [-1.81055699e-04 -4.03366920e-06 9.99999984e-01 -6.09284112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58028169299996 meters 0.019026991973211074 Centerline is valid? [True, True] Translation: X:282.03, Y:25.00, Z:-0.06 [[ 9.63434642e-01 -2.67938666e-01 -1.60035267e-03 2.82031509e+02] [ 2.67938268e-01 9.63435972e-01 -4.61869641e-04 2.49979864e+01] [ 1.66559006e-03 1.61854907e-05 9.99998613e-01 -6.49951082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64028169299996 meters 0.0152867991448403 Centerline is valid? [True, True] Translation: X:282.09, Y:25.00, Z:-0.07 [[ 9.59846377e-01 -2.80513099e-01 -2.70791262e-03 2.82091581e+02] [ 2.80512009e-01 9.59850197e-01 -7.82037019e-04 2.50011526e+01] [ 2.81856209e-03 -8.96661041e-06 9.99996028e-01 -6.91222945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70028169299997 meters 0.03390284478335216 Centerline is valid? [True, True] Translation: X:282.16, Y:24.98, Z:-0.06 [[ 9.53323393e-01 -3.01949113e-01 1.11394059e-03 2.82159210e+02] [ 3.01948943e-01 9.53324044e-01 3.21691787e-04 2.49833466e+01] [-1.15908090e-03 2.96768782e-05 9.99999328e-01 -6.28788528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76028169299997 meters 0.05949146763316504 Centerline is valid? [True, True] Translation: X:282.23, Y:24.95, Z:-0.07 [[ 9.46740082e-01 -3.21998726e-01 -1.92818037e-04 2.82229418e+02] [ 3.21998722e-01 9.46740102e-01 -5.57001995e-05 2.49519618e+01] [ 2.00483961e-04 -9.35354987e-06 9.99999980e-01 -6.62163673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82028169299997 meters 0.06049728837978307 Centerline is valid? [True, True] Translation: X:282.29, Y:24.95, Z:-0.07 [[ 9.44218274e-01 -3.29313471e-01 -2.11877198e-03 2.82293311e+02] [ 3.29312924e-01 9.44220643e-01 -6.11995909e-04 2.49471420e+01] [ 2.20212674e-03 -1.19881276e-04 9.99997568e-01 -6.76340883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.880281693 meters 0.06146832365112894 Centerline is valid? [True, True] Translation: X:282.36, Y:24.94, Z:-0.06 [[ 9.46606158e-01 -3.22391949e-01 -4.61820056e-04 2.82356694e+02] [ 3.22391922e-01 9.46606270e-01 -1.33421308e-04 2.49396752e+01] [ 4.80175716e-04 -2.25896235e-05 9.99999884e-01 -6.41280936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.940281693 meters 0.05364502376656876 Centerline is valid? [True, True] Translation: X:282.41, Y:24.95, Z:-0.07 [[ 9.49307071e-01 -3.14343891e-01 -2.00051238e-03 2.82414111e+02] [ 3.14343370e-01 9.49309176e-01 -5.77987135e-04 2.49517419e+01] [ 2.08079149e-03 -8.01605296e-05 9.99997832e-01 -6.74786767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.000281693 meters 0.03798799444679361 Centerline is valid? [True, True] Translation: X:282.47, Y:24.96, Z:-0.07 [[ 9.53079406e-01 -3.02717513e-01 -1.32383179e-03 2.82473709e+02] [ 3.02717274e-01 9.53080325e-01 -3.82543174e-04 2.49620015e+01] [ 1.37752055e-03 -3.61527297e-05 9.99999051e-01 -6.54801618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.060281693 meters 0.030224370625933975 Centerline is valid? [True, True] Translation: X:282.53, Y:24.98, Z:-0.06 [[ 9.53965305e-01 -2.99915474e-01 -9.51789736e-04 2.82528947e+02] [ 2.99915349e-01 9.53965779e-01 -2.75090174e-04 2.49823470e+01] [ 9.90478637e-04 -2.30298692e-05 9.99999509e-01 -6.46628117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.120281693 meters 0.02321364163591923 Centerline is valid? [True, True] Translation: X:282.59, Y:25.00, Z:-0.06 [[ 9.56527231e-01 -2.91642998e-01 -1.30336681e-04 2.82586830e+02] [ 2.91642996e-01 9.56527240e-01 -3.76824238e-05 2.49954403e+01] [ 1.35660401e-04 -1.96751564e-06 9.99999991e-01 -6.31653067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.180281693 meters 0.01692919251013868 Centerline is valid? [True, True] Translation: X:282.64, Y:25.02, Z:-0.06 [[ 9.58504346e-01 -2.85077908e-01 7.10293669e-05 2.82642284e+02] [ 2.85077908e-01 9.58504349e-01 2.04881564e-05 2.50170580e+01] [-7.39226778e-05 6.10916382e-07 9.99999997e-01 -6.20338519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.240281693 meters 0.014919044865482978 Centerline is valid? [True, True] Translation: X:282.69, Y:25.05, Z:-0.06 [[ 9.61611789e-01 -2.74411738e-01 9.81963965e-04 2.82694043e+02] [ 2.74411591e-01 9.61612291e-01 2.84094575e-04 2.50510412e+01] [-1.02222750e-03 -3.72639787e-06 9.99999478e-01 -6.04182616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.300281693 meters 0.01804379517473424 Centerline is valid? [True, True] Translation: X:282.75, Y:25.08, Z:-0.06 [[ 9.63196504e-01 -2.68785862e-01 2.57956397e-03 2.82747416e+02] [ 2.68784827e-01 9.63199958e-01 7.46594101e-04 2.50761584e+01] [-2.68530984e-03 -2.57691752e-05 9.99996394e-01 -5.79465172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.360281693 meters 0.017479990196391616 Centerline is valid? [True, True] Translation: X:282.80, Y:25.10, Z:-0.06 [[ 9.62964292e-01 -2.69623082e-01 1.77958067e-03 2.82802805e+02] [ 2.69622590e-01 9.62965936e-01 5.15330346e-04 2.50976827e+01] [-1.85262052e-03 -1.64295733e-05 9.99998284e-01 -5.94871169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.420281693 meters 0.019164093544286852 Centerline is valid? [True, True] Translation: X:282.86, Y:25.12, Z:-0.07 [[ 9.63382060e-01 -2.68128726e-01 -1.41157517e-03 2.82855852e+02] [ 2.68128415e-01 9.63383094e-01 -4.08919896e-04 2.51213028e+01] [ 1.46953083e-03 1.54626782e-05 9.99998920e-01 -6.51665713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48028169299994 meters 0.022755528815960598 Centerline is valid? [True, True] Translation: X:282.91, Y:25.15, Z:-0.07 [[ 9.64354256e-01 -2.64596905e-01 -3.05724228e-03 2.82907780e+02] [ 2.64595426e-01 9.64359101e-01 -8.85925730e-04 2.51507596e+01] [ 3.18269262e-03 4.54139258e-05 9.99994934e-01 -6.85715916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54028169299994 meters 0.021917261508071145 Centerline is valid? [True, True] Translation: X:282.96, Y:25.17, Z:-0.08 [[ 9.63867411e-01 -2.66310830e-01 -6.17699435e-03 2.82962770e+02] [ 2.66304824e-01 9.63887201e-01 -1.79030087e-03 2.51677633e+01] [ 6.43070231e-03 8.06492740e-05 9.99979320e-01 -7.53735629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60028169299994 meters 0.019457843507882787 Centerline is valid? [True, True] Translation: X:283.02, Y:25.18, Z:-0.08 [[ 9.63161771e-01 -2.68815834e-01 -7.57965662e-03 2.83019423e+02] [ 2.68806857e-01 9.63191591e-01 -2.19823116e-03 2.51821893e+01] [ 7.89158087e-03 7.97885438e-05 9.99968858e-01 -7.60350980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66028169299994 meters 0.01559063624701858 Centerline is valid? [True, True] Translation: X:283.08, Y:25.19, Z:-0.06 [[ 9.61663156e-01 -2.74230825e-01 -1.19538254e-03 2.83077641e+02] [ 2.74230606e-01 9.61663899e-01 -3.46749894e-04 2.51924944e+01] [ 1.24464575e-03 5.64611826e-06 9.99999225e-01 -6.28179773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72028169299995 meters 0.01453714343428366 Centerline is valid? [True, True] Translation: X:283.14, Y:25.20, Z:-0.06 [[ 9.60561108e-01 -2.78060453e-01 2.17760671e-03 2.83135489e+02] [ 2.78059735e-01 9.60563576e-01 6.31969793e-04 2.52032880e+01] [-2.26745550e-03 -1.54085854e-06 9.99997429e-01 -5.68001071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78028169299995 meters 0.015296656215585668 Centerline is valid? [True, True] Translation: X:283.19, Y:25.23, Z:-0.06 [[ 9.61263955e-01 -2.75628126e-01 -8.63013215e-04 2.83189222e+02] [ 2.75628012e-01 9.61264343e-01 -2.50727676e-04 2.52256440e+01] [ 8.98691431e-04 3.14486071e-06 9.99999596e-01 -6.13348707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84028169299995 meters 0.016298867413403025 Centerline is valid? [True, True] Translation: X:283.24, Y:25.25, Z:-0.06 [[ 9.61835414e-01 -2.73610870e-01 -3.11902474e-03 2.83243362e+02] [ 2.73609369e-01 9.61840471e-01 -9.06533651e-04 2.52517182e+01] [ 3.24804169e-03 1.85417783e-05 9.99994725e-01 -6.48674596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90028169299995 meters 0.01522176519693299 Centerline is valid? [True, True] Translation: X:283.30, Y:25.27, Z:-0.06 [[ 9.61123901e-01 -2.76115009e-01 -1.16131962e-03 2.83298280e+02] [ 2.76114803e-01 9.61124603e-01 -3.37606525e-04 2.52689025e+01] [ 1.20939109e-03 3.82416195e-06 9.99999269e-01 -6.27322843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96028169299996 meters 0.015380429791422965 Centerline is valid? [True, True] Translation: X:283.36, Y:25.28, Z:-0.06 [[ 9.59363424e-01 -2.82162986e-01 -2.42298224e-03 2.83355659e+02] [ 2.82162106e-01 9.59366483e-01 -7.04877441e-04 2.52809656e+01] [ 2.52341827e-03 -7.44013564e-06 9.99996816e-01 -6.49583976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02028169299996 meters 0.017589536017328617 Centerline is valid? [True, True] Translation: X:283.41, Y:25.29, Z:-0.07 [[ 9.57943526e-01 -2.86933339e-01 -3.66877461e-03 2.83413770e+02] [ 2.86931355e-01 9.57950551e-01 -1.06745210e-03 2.52903426e+01] [ 3.82079225e-03 -3.01276407e-05 9.99992700e-01 -6.76607142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08028169299996 meters 0.024027327283686478 Centerline is valid? [True, True] Translation: X:283.48, Y:25.29, Z:-0.07 [[ 9.55619480e-01 -2.94577048e-01 -3.97146818e-03 2.83475323e+02] [ 2.94574788e-01 9.55627730e-01 -1.15560843e-03 2.52926805e+01] [ 4.13566084e-03 -6.55724730e-05 9.99991446e-01 -6.85309696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14028169299996 meters 0.024785220189537653 Centerline is valid? [True, True] Translation: X:283.53, Y:25.30, Z:-0.07 [[ 9.54950080e-01 -2.96732276e-01 -4.50557705e-03 2.83533810e+02] [ 2.96729388e-01 9.54960706e-01 -1.31189977e-03 2.53032432e+01] [ 4.69193205e-03 -8.41383253e-05 9.99988989e-01 -6.79162220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20028169299997 meters 0.025651959023310047 Centerline is valid? [True, True] Translation: X:283.59, Y:25.31, Z:-0.07 [[ 9.54897496e-01 -2.96910300e-01 -3.87882140e-03 2.83590752e+02] [ 2.96908159e-01 9.54905372e-01 -1.12973481e-03 2.53124400e+01] [ 4.03933729e-03 -7.28727813e-05 9.99991839e-01 -6.85237576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26028169299997 meters 0.0258521539999889 Centerline is valid? [True, True] Translation: X:283.65, Y:25.32, Z:-0.07 [[ 9.55240643e-01 -2.95800639e-01 -4.15892254e-03 2.83647801e+02] [ 2.95798166e-01 9.55249693e-01 -1.21156673e-03 2.53225004e+01] [ 4.33119170e-03 -7.28638837e-05 9.99990618e-01 -6.98003476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32028169299997 meters 0.024419636678275573 Centerline is valid? [True, True] Translation: X:283.70, Y:25.34, Z:-0.07 [[ 9.55575096e-01 -2.94731103e-01 -3.13251820e-03 2.83704881e+02] [ 2.94729692e-01 9.55580229e-01 -9.13140100e-04 2.53354169e+01] [ 3.26250324e-03 -5.06721855e-05 9.99994677e-01 -6.79765105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.380281693 meters 0.02276632748657891 Centerline is valid? [True, True] Translation: X:283.76, Y:25.35, Z:-0.07 [[ 9.55675021e-01 -2.94414299e-01 -2.33999458e-03 2.83761647e+02] [ 2.94413510e-01 9.55677885e-01 -6.82556089e-04 2.53506868e+01] [ 2.43723534e-03 -3.66242126e-05 9.99997029e-01 -6.63524703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.440281693 meters 0.024121344585101213 Centerline is valid? [True, True] Translation: X:283.82, Y:25.36, Z:-0.07 [[ 9.55491689e-01 -2.95003277e-01 -2.94938992e-03 2.83819171e+02] [ 2.95002027e-01 9.55496240e-01 -8.60445733e-04 2.53594279e+01] [ 3.07196529e-03 -4.79272565e-05 9.99995280e-01 -6.94082566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.500281693 meters 0.02350168111535802 Centerline is valid? [True, True] Translation: X:283.88, Y:25.37, Z:-0.07 [[ 9.55384827e-01 -2.95320924e-01 -5.03829770e-03 2.83876497e+02] [ 2.95317273e-01 9.55398108e-01 -1.47080442e-03 2.53745936e+01] [ 5.24793941e-03 -8.27121084e-05 9.99986226e-01 -7.29024979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.560281693 meters 0.02334538569632692 Centerline is valid? [True, True] Translation: X:283.93, Y:25.39, Z:-0.07 [[ 9.55679907e-01 -2.94394051e-01 -2.83882093e-03 2.83933674e+02] [ 2.94392887e-01 9.55684122e-01 -8.28991556e-04 2.53859649e+01] [ 2.95706627e-03 -4.34781168e-05 9.99995627e-01 -6.89330840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.620281693 meters 0.0216977642017103 Centerline is valid? [True, True] Translation: X:283.99, Y:25.40, Z:-0.07 [[ 9.55889063e-01 -2.93706951e-01 -3.51080934e-03 2.83989665e+02] [ 2.93705163e-01 9.55895509e-01 -1.02588948e-03 2.54028814e+01] [ 3.65727775e-03 -5.05062986e-05 9.99993311e-01 -6.83215679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.680281693 meters 0.020451790001504547 Centerline is valid? [True, True] Translation: X:284.04, Y:25.42, Z:-0.07 [[ 9.56601345e-01 -2.91335367e-01 -6.12956048e-03 2.84044623e+02] [ 2.91329868e-01 9.56620980e-01 -1.79142290e-03 2.54199288e+01] [ 6.38557100e-03 -7.20464929e-05 9.99979609e-01 -7.42127341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.740281693 meters 0.01952365296926441 Centerline is valid? [True, True] Translation: X:284.10, Y:25.44, Z:-0.06 [[ 9.56985682e-01 -2.90130772e-01 -1.59364843e-03 2.84100368e+02] [ 2.90130398e-01 9.56987009e-01 -4.66095907e-04 2.54372234e+01] [ 1.66032961e-03 -1.63187437e-05 9.99998622e-01 -6.45124976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.800281693 meters 0.016318886825853356 Centerline is valid? [True, True] Translation: X:284.16, Y:25.46, Z:-0.06 [[ 9.58220958e-01 -2.86025004e-01 -1.51449187e-03 2.84155382e+02] [ 2.86024660e-01 9.58222154e-01 -4.43218702e-04 2.54599682e+01] [ 1.57799129e-03 -8.48057214e-06 9.99998755e-01 -6.48367848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.860281693 meters 0.014976768418556507 Centerline is valid? [True, True] Translation: X:284.21, Y:25.48, Z:-0.06 [[ 9.59216689e-01 -2.82669329e-01 1.18043234e-03 2.84209155e+02] [ 2.82669118e-01 9.59217416e-01 3.45462879e-04 2.54810835e+01] [-1.22994302e-03 2.29800763e-06 9.99999244e-01 -5.86338027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.920281693 meters 0.01485656894320707 Centerline is valid? [True, True] Translation: X:284.26, Y:25.50, Z:-0.06 [[ 9.59352117e-01 -2.82204477e-01 2.03694343e-03 2.84263840e+02] [ 2.82203846e-01 9.59354279e-01 5.96508678e-04 2.54990136e+01] [-2.12248782e-03 2.57140745e-06 9.99997748e-01 -5.85967842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98028169299994 meters 0.014764251966684983 Centerline is valid? [True, True] Translation: X:284.32, Y:25.51, Z:-0.06 [[ 9.59472414e-01 -2.81800321e-01 1.12503444e-03 2.84319082e+02] [ 2.81800129e-01 9.59473074e-01 3.29567296e-04 2.55148531e+01] [-1.17231242e-03 8.24121443e-07 9.99999313e-01 -6.10777958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04028169299994 meters 0.01549437282554552 Centerline is valid? [True, True] Translation: X:284.37, Y:25.54, Z:-0.07 [[ 9.60559343e-01 -2.78060374e-01 -2.85950209e-03 2.84373862e+02] [ 2.78059110e-01 9.60563599e-01 -8.38316147e-04 2.55363926e+01] [ 2.97983612e-03 1.01418010e-05 9.99995560e-01 -6.65581360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10028169299994 meters 0.020977609542684697 Centerline is valid? [True, True] Translation: X:284.42, Y:25.57, Z:-0.07 [[ 9.63134651e-01 -2.69008650e-01 -2.44764115e-03 2.84424733e+02] [ 2.69007695e-01 9.63137760e-01 -7.17626851e-04 2.55715328e+01] [ 2.55046344e-03 3.27369822e-05 9.99996747e-01 -6.57658540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16028169299994 meters 0.02818989812052598 Centerline is valid? [True, True] Translation: X:284.48, Y:25.61, Z:-0.07 [[ 9.65361538e-01 -2.60900156e-01 -2.86530377e-03 2.84477010e+02] [ 2.60898812e-01 9.65365788e-01 -8.40118592e-04 2.56067741e+01] [ 2.98525330e-03 6.34638269e-05 9.99995542e-01 -6.80019995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22028169299995 meters 0.029709553081065977 Centerline is valid? [True, True] Translation: X:284.53, Y:25.63, Z:-0.07 [[ 9.65323290e-01 -2.61019968e-01 -4.41826434e-03 2.84529930e+02] [ 2.61016770e-01 9.65333397e-01 -1.29574389e-03 2.56312846e+01] [ 4.60331315e-03 9.75706633e-05 9.99989400e-01 -7.16263538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28028169299995 meters 0.02602797572510931 Centerline is valid? [True, True] Translation: X:284.59, Y:25.65, Z:-0.07 [[ 9.64561010e-01 -2.63827920e-01 -4.10922873e-03 2.84586606e+02] [ 2.63825178e-01 9.64569760e-01 -1.20531784e-03 2.56467938e+01] [ 4.28163427e-03 7.84845914e-05 9.99990831e-01 -6.98251222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34028169299995 meters 0.023132249588154002 Centerline is valid? [True, True] Translation: X:284.64, Y:25.67, Z:-0.07 [[ 9.63237501e-01 -2.68637378e-01 -2.73414051e-03 2.84641683e+02] [ 2.68636183e-01 9.63241381e-01 -8.02081149e-04 2.56669336e+01] [ 2.84910626e-03 3.81055705e-05 9.99995941e-01 -6.86805086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40028169299995 meters 0.02062161781274615 Centerline is valid? [True, True] Translation: X:284.70, Y:25.68, Z:-0.07 [[ 9.62823534e-01 -2.70098925e-01 -4.17288605e-03 2.84698097e+02] [ 2.70096152e-01 9.62832575e-01 -1.22492859e-03 2.56849199e+01] [ 4.34864252e-03 5.23096074e-05 9.99990543e-01 -7.14119600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46028169299996 meters 0.018581639849463857 Centerline is valid? [True, True] Translation: X:284.75, Y:25.70, Z:-0.07 [[ 9.62217226e-01 -2.72277145e-01 -1.77921383e-03 2.84754064e+02] [ 2.72276644e-01 9.62218871e-01 -5.22608157e-04 2.57047011e+01] [ 1.85428738e-03 1.84241994e-05 9.99998281e-01 -6.60237898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52028169299996 meters 0.01756096478458152 Centerline is valid? [True, True] Translation: X:284.81, Y:25.72, Z:-0.07 [[ 9.61578255e-01 -2.74527545e-01 -1.37331114e-03 2.84809344e+02] [ 2.74527249e-01 9.61579236e-01 -4.03448159e-04 2.57209811e+01] [ 1.43130511e-03 1.09356483e-05 9.99998976e-01 -6.54994322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58028169299996 meters 0.017371675506409116 Centerline is valid? [True, True] Translation: X:284.87, Y:25.74, Z:-0.07 [[ 9.61544298e-01 -2.74641873e-01 -2.09842663e-03 2.84865015e+02] [ 2.74641181e-01 9.61546588e-01 -6.16935341e-04 2.57380925e+01] [ 2.18717124e-03 1.68962917e-05 9.99997608e-01 -6.75037132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64028169299996 meters 0.017635397081868218 Centerline is valid? [True, True] Translation: X:284.92, Y:25.76, Z:-0.06 [[ 9.61711960e-01 -2.74060386e-01 -1.00537776e-03 2.84919886e+02] [ 2.74060227e-01 9.61712485e-01 -2.95825100e-04 2.57578543e+01] [ 1.04795828e-03 8.96448162e-06 9.99999451e-01 -6.38064828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70028169299997 meters 0.01906475611209797 Centerline is valid? [True, True] Translation: X:284.97, Y:25.78, Z:-0.06 [[ 9.62121204e-01 -2.72621805e-01 -3.74572605e-04 2.84973834e+02] [ 2.72621782e-01 9.62121277e-01 -1.10243843e-04 2.57775092e+01] [ 3.90439148e-04 3.95128759e-06 9.99999924e-01 -6.31535194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76028169299997 meters 0.02055492141746755 Centerline is valid? [True, True] Translation: X:285.03, Y:25.80, Z:-0.07 [[ 9.62742254e-01 -2.70414651e-01 -1.80786436e-03 2.85029434e+02] [ 2.70414128e-01 9.62743951e-01 -5.32349562e-04 2.57960125e+01] [ 1.88446560e-03 2.36433524e-05 9.99998224e-01 -6.62358103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82028169299997 meters 0.022468149176112492 Centerline is valid? [True, True] Translation: X:285.08, Y:25.82, Z:-0.07 [[ 9.63281535e-01 -2.68485325e-01 -2.07699001e-03 2.85084994e+02] [ 2.68484629e-01 9.63283774e-01 -6.11959166e-04 2.58170318e+01] [ 2.16503283e-03 3.18490719e-05 9.99997656e-01 -6.52841596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.880281693 meters 0.032094882744748844 Centerline is valid? [True, True] Translation: X:285.14, Y:25.85, Z:-0.07 [[ 9.65485032e-01 -2.60427599e-01 -4.01477568e-03 2.85136010e+02] [ 2.60424930e-01 9.65493375e-01 -1.18289864e-03 2.58523737e+01] [ 4.18429877e-03 9.65232516e-05 9.99991241e-01 -6.92437738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.940281693 meters 0.03473697787080767 Centerline is valid? [True, True] Translation: X:285.19, Y:25.88, Z:-0.07 [[ 9.66204046e-01 -2.57733413e-01 -4.81971085e-03 2.85191059e+02] [ 2.57729533e-01 9.66216058e-01 -1.42017874e-03 2.58777226e+01] [ 5.02290953e-03 1.30000617e-04 9.99987377e-01 -7.13329354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.000281693 meters 0.028700184672467016 Centerline is valid? [True, True] Translation: X:285.25, Y:25.89, Z:-0.06 [[ 9.65192341e-01 -2.61535145e-01 -1.76422874e-03 2.85250053e+02] [ 2.61534632e-01 9.65193953e-01 -5.19872503e-04 2.58909322e+01] [ 1.83878784e-03 4.03700451e-05 9.99998309e-01 -6.47312964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.060281693 meters 0.018341317796694952 Centerline is valid? [True, True] Translation: X:285.31, Y:25.89, Z:-0.07 [[ 9.61838260e-01 -2.73610625e-01 -2.09470054e-03 2.85313287e+02] [ 2.73609929e-01 9.61840541e-01 -6.17288635e-04 2.58899488e+01] [ 2.18366463e-03 2.06009601e-05 9.99997616e-01 -6.62508636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.120281693 meters 0.015178924160016045 Centerline is valid? [True, True] Translation: X:285.37, Y:25.90, Z:-0.06 [[ 9.60092537e-01 -2.79680426e-01 -1.08618200e-03 2.85371343e+02] [ 2.79680243e-01 9.60093151e-01 -3.20174964e-04 2.58963319e+01] [ 1.13238257e-03 3.61394740e-06 9.99999359e-01 -6.49446032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.180281693 meters 0.015818179358683803 Centerline is valid? [True, True] Translation: X:285.43, Y:25.91, Z:-0.06 [[ 9.60626612e-01 -2.77842574e-01 1.25371124e-04 2.85427569e+02] [ 2.77842571e-01 9.60626621e-01 3.69168256e-05 2.59149588e+01] [-1.30691905e-04 -6.29849843e-07 9.99999991e-01 -6.12965774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.240281693 meters 0.017794997276425525 Centerline is valid? [True, True] Translation: X:285.48, Y:25.93, Z:-0.07 [[ 9.61369603e-01 -2.75253882e-01 -1.94567651e-03 2.85482110e+02] [ 2.75253284e-01 9.61371572e-01 -5.73978494e-04 2.59346832e+01] [ 2.02850790e-03 1.62516268e-05 9.99997942e-01 -6.52638888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.300281693 meters 0.021040966733472274 Centerline is valid? [True, True] Translation: X:285.54, Y:25.96, Z:-0.06 [[ 9.62499333e-01 -2.71283993e-01 1.71999053e-04 2.85535555e+02] [ 2.71283988e-01 9.62499348e-01 5.07283932e-05 2.59599964e+01] [-1.79310778e-04 -2.16545551e-06 9.99999984e-01 -6.33285904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.360281693 meters 0.016019942270402498 Centerline is valid? [True, True] Translation: X:285.60, Y:25.96, Z:-0.06 [[ 9.60597931e-01 -2.77938983e-01 1.24008942e-03 2.85596209e+02] [ 2.77938742e-01 9.60598731e-01 3.65936560e-04 2.59612029e+01] [-1.29293635e-03 -6.84901043e-06 9.99999164e-01 -6.14634438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.420281693 meters 0.018661783454074064 Centerline is valid? [True, True] Translation: X:285.66, Y:25.95, Z:-0.07 [[ 9.56496776e-01 -2.91712163e-01 -4.23468530e-03 2.85661590e+02] [ 2.91709485e-01 9.56506149e-01 -1.25045951e-03 2.59485994e+01] [ 4.41527678e-03 -3.92373775e-05 9.99990252e-01 -7.25639266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48028169299994 meters 0.025314981079411634 Centerline is valid? [True, True] Translation: X:285.73, Y:25.94, Z:-0.07 [[ 9.53766649e-01 -3.00522549e-01 -3.92134917e-03 2.85726638e+02] [ 3.00520327e-01 9.53774707e-01 -1.15799711e-03 2.59394843e+01] [ 4.08808790e-03 -7.39861146e-05 9.99991641e-01 -7.00999851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54028169299994 meters 0.020516119678845715 Centerline is valid? [True, True] Translation: X:285.79, Y:25.95, Z:-0.07 [[ 9.55357569e-01 -2.95443894e-01 -2.19591538e-03 2.85786040e+02] [ 2.95443183e-01 9.55360092e-01 -6.48717520e-04 2.59508254e+01] [ 2.28954955e-03 -2.90110370e-05 9.99997379e-01 -6.50707820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60028169299994 meters 0.015006700790283966 Centerline is valid? [True, True] Translation: X:285.84, Y:25.98, Z:-0.07 [[ 9.59557128e-01 -2.81496719e-01 -3.11688401e-03 2.85837980e+02] [ 2.81495212e-01 9.59562190e-01 -9.21051754e-04 2.59782004e+01] [ 3.25011710e-03 6.41384890e-06 9.99994718e-01 -6.79966081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66028169299994 meters 0.02268809087387725 Centerline is valid? [True, True] Translation: X:285.89, Y:26.01, Z:-0.06 [[ 9.63187794e-01 -2.68829384e-01 1.86846165e-04 2.85890668e+02] [ 2.68829379e-01 9.63187812e-01 5.52086584e-05 2.60110088e+01] [-1.94809658e-04 -2.94656754e-06 9.99999981e-01 -6.12266176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72028169299995 meters 0.026673588225294913 Centerline is valid? [True, True] Translation: X:285.95, Y:26.03, Z:-0.06 [[ 9.64474749e-01 -2.64175038e-01 -8.37537306e-05 2.85946890e+02] [ 2.64175037e-01 9.64474753e-01 -2.47612859e-05 2.60313035e+01] [ 8.73196723e-05 1.75599017e-06 9.99999996e-01 -6.31920674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78028169299995 meters 0.027826327509901966 Centerline is valid? [True, True] Translation: X:286.00, Y:26.05, Z:-0.06 [[ 9.64583581e-01 -2.63776280e-01 7.68007574e-04 2.86001877e+02] [ 2.63776183e-01 9.64583886e-01 2.27006868e-04 2.60500881e+01] [-8.00686758e-04 -1.63849911e-05 9.99999679e-01 -6.09236250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84028169299995 meters 0.029719163500001596 Centerline is valid? [True, True] Translation: X:286.06, Y:26.07, Z:-0.06 [[ 9.64916037e-01 -2.62558421e-01 3.41817180e-04 2.86055213e+02] [ 2.62558402e-01 9.64916098e-01 1.01043887e-04 2.60724208e+01] [-3.56354823e-04 -7.75189448e-06 9.99999936e-01 -6.14750816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90028169299995 meters 0.029686558292788323 Centerline is valid? [True, True] Translation: X:286.11, Y:26.09, Z:-0.06 [[ 9.65071076e-01 -2.61986925e-01 -8.17564053e-04 2.86110685e+02] [ 2.61986814e-01 9.65071423e-01 -2.41929601e-04 2.60918305e+01] [ 8.52390096e-04 1.92882585e-05 9.99999637e-01 -6.40528596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96028169299996 meters 0.02968182174739184 Centerline is valid? [True, True] Translation: X:286.17, Y:26.11, Z:-0.07 [[ 9.65212260e-01 -2.61461094e-01 -1.84128427e-03 2.86165469e+02] [ 2.61460530e-01 9.65214015e-01 -5.45121710e-04 2.61127328e+01] [ 1.91976150e-03 4.47349970e-05 9.99998156e-01 -6.66240765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02028169299996 meters 0.029807902996163323 Centerline is valid? [True, True] Translation: X:286.22, Y:26.13, Z:-0.07 [[ 9.64855031e-01 -2.62780107e-01 -1.17653236e-03 2.86220050e+02] [ 2.62779877e-01 9.64855748e-01 -3.48376101e-04 2.61332059e+01] [ 1.22673032e-03 2.69634041e-05 9.99999247e-01 -6.54317868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08028169299996 meters 0.03117000350621378 Centerline is valid? [True, True] Translation: X:286.27, Y:26.16, Z:-0.07 [[ 9.65208274e-01 -2.61472517e-01 -2.26077665e-03 2.86272813e+02] [ 2.61471665e-01 9.65210920e-01 -6.69545517e-04 2.61606909e+01] [ 2.35719406e-03 5.51218367e-05 9.99997220e-01 -6.62414437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14028169299996 meters 0.03454804806706458 Centerline is valid? [True, True] Translation: X:286.33, Y:26.19, Z:-0.07 [[ 9.66263101e-01 -2.57551920e-01 -1.62129509e-03 2.86325351e+02] [ 2.57551477e-01 9.66264460e-01 -4.80192679e-04 2.61941087e+01] [ 1.69027437e-03 4.64255235e-05 9.99998570e-01 -6.50421677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20028169299997 meters 0.03479102769748667 Centerline is valid? [True, True] Translation: X:286.38, Y:26.22, Z:-0.07 [[ 9.65962578e-01 -2.58675803e-01 -1.76848492e-03 2.86376296e+02] [ 2.58675277e-01 9.65964195e-01 -5.23908842e-04 2.62243753e+01] [ 1.84381565e-03 4.86130090e-05 9.99998299e-01 -6.54601700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26028169299997 meters 0.028883845290068155 Centerline is valid? [True, True] Translation: X:286.43, Y:26.24, Z:-0.07 [[ 9.64316993e-01 -2.64737181e-01 -2.63861405e-03 2.86432255e+02] [ 2.64736032e-01 9.64320601e-01 -7.81722312e-04 2.62442111e+01] [ 2.75142085e-03 5.52918953e-05 9.99996213e-01 -6.76176821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32028169299997 meters 0.023741520795415885 Centerline is valid? [True, True] Translation: X:286.49, Y:26.26, Z:-0.07 [[ 9.63021463e-01 -2.69416269e-01 -2.12991756e-03 2.86489957e+02] [ 2.69415532e-01 9.63023817e-01 -6.31038392e-04 2.62611918e+01] [ 2.22117335e-03 3.38706425e-05 9.99997533e-01 -6.58245759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.380281693 meters 0.017627166239910737 Centerline is valid? [True, True] Translation: X:286.55, Y:26.28, Z:-0.06 [[ 9.61220916e-01 -2.75778279e-01 -8.31535877e-04 2.86547622e+02] [ 2.75778169e-01 9.61221276e-01 -2.46553100e-04 2.62757860e+01] [ 8.67283966e-04 7.67255508e-06 9.99999624e-01 -6.37730782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.440281693 meters 0.01542350523626807 Centerline is valid? [True, True] Translation: X:286.60, Y:26.29, Z:-0.07 [[ 9.59866066e-01 -2.80447455e-01 -2.52211630e-03 2.86604391e+02] [ 2.80446458e-01 9.59869379e-01 -7.47830242e-04 2.62884118e+01] [ 2.63062930e-03 1.04982878e-05 9.99996540e-01 -6.64528427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.500281693 meters 0.014750966740782743 Centerline is valid? [True, True] Translation: X:286.66, Y:26.30, Z:-0.07 [[ 9.58177912e-01 -2.86165522e-01 -2.09366493e-03 2.86662075e+02] [ 2.86164848e-01 9.58180199e-01 -6.20924869e-04 2.62967350e+01] [ 2.18379557e-03 -4.17681270e-06 9.99997616e-01 -6.74274934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.560281693 meters 0.017151730951738112 Centerline is valid? [True, True] Translation: X:286.72, Y:26.30, Z:-0.07 [[ 9.56533122e-01 -2.91619937e-01 -1.48310473e-03 2.86721402e+02] [ 2.91619605e-01 9.56534271e-01 -4.40148488e-04 2.63026179e+01] [ 1.54699658e-03 -1.14858101e-05 9.99998803e-01 -6.75169270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.620281693 meters 0.02012008777477692 Centerline is valid? [True, True] Translation: X:286.78, Y:26.30, Z:-0.06 [[ 9.55020943e-01 -2.96538046e-01 4.31597441e-04 2.86782041e+02] [ 2.96538018e-01 9.55021040e-01 1.28088646e-04 2.63040257e+01] [-4.50167794e-04 5.65771017e-06 9.99999899e-01 -6.29540855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.680281693 meters 0.0224442365243392 Centerline is valid? [True, True] Translation: X:286.84, Y:26.31, Z:-0.06 [[ 9.54188908e-01 -2.99204639e-01 3.34964856e-04 2.86841430e+02] [ 2.99204622e-01 9.54188967e-01 9.94569330e-05 2.63102364e+01] [-3.49377746e-04 5.32233111e-06 9.99999939e-01 -6.33544973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.740281693 meters 0.021830706364443436 Centerline is valid? [True, True] Translation: X:286.90, Y:26.32, Z:-0.06 [[ 9.54414301e-01 -2.98485074e-01 3.84170735e-05 2.86901734e+02] [ 2.98485074e-01 9.54414302e-01 1.13656079e-05 2.63155337e+01] [-4.00582687e-05 6.19424349e-07 9.99999999e-01 -6.29523315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.800281693 meters 0.016482346381574003 Centerline is valid? [True, True] Translation: X:286.96, Y:26.33, Z:-0.07 [[ 9.56619611e-01 -2.91329791e-01 -2.42336763e-03 2.86957963e+02] [ 2.91328900e-01 9.56622680e-01 -7.20497480e-04 2.63307111e+01] [ 2.52815082e-03 -1.67550090e-05 9.99996804e-01 -6.72816656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.860281693 meters 0.015388171044094713 Centerline is valid? [True, True] Translation: X:287.01, Y:26.36, Z:-0.06 [[ 9.59816035e-01 -2.80626638e-01 -1.36676694e-03 2.87010549e+02] [ 2.80626344e-01 9.59817008e-01 -4.06452646e-04 2.63551390e+01] [ 1.42590760e-03 6.56895680e-06 9.99998983e-01 -6.46408678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.920281693 meters 0.025700841755839667 Centerline is valid? [True, True] Translation: X:287.06, Y:26.39, Z:-0.06 [[ 9.63315010e-01 -2.68372470e-01 -6.39259351e-04 2.87063554e+02] [ 2.68372403e-01 9.63315222e-01 -1.90111320e-04 2.63876591e+01] [ 6.66828908e-04 1.15775202e-05 9.99999778e-01 -6.30110246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98028169299994 meters 0.03797030473395156 Centerline is valid? [True, True] Translation: X:287.12, Y:26.42, Z:-0.07 [[ 9.65468265e-01 -2.60505761e-01 -2.78902566e-03 2.87115147e+02] [ 2.60504451e-01 9.65472290e-01 -8.29492221e-04 2.64204102e+01] [ 2.90881450e-03 7.42948154e-05 9.99995767e-01 -6.81409562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04028169299994 meters 0.040100949915265534 Centerline is valid? [True, True] Translation: X:287.17, Y:26.44, Z:-0.07 [[ 9.66301874e-01 -2.57395911e-01 -2.83423380e-03 2.87170380e+02] [ 2.57394545e-01 9.66306027e-01 -8.43041270e-04 2.64420973e+01] [ 2.95573258e-03 8.51160411e-05 9.99995628e-01 -6.80839455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10028169299994 meters 0.03748102889652369 Centerline is valid? [True, True] Translation: X:287.23, Y:26.46, Z:-0.07 [[ 9.65607515e-01 -2.59973034e-01 -4.01851373e-03 2.87228237e+02] [ 2.59970306e-01 9.65615871e-01 -1.19595436e-03 2.64558796e+01] [ 4.19125652e-03 1.10128272e-04 9.99991211e-01 -7.24012743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16028169299994 meters 0.03625112247242495 Centerline is valid? [True, True] Translation: X:287.28, Y:26.47, Z:-0.07 [[ 9.65221233e-01 -2.61417384e-01 -2.98694431e-03 2.87284657e+02] [ 2.61415882e-01 9.65225852e-01 -8.89452656e-04 2.64710141e+01] [ 3.11559425e-03 7.76839082e-05 9.99995144e-01 -6.95904088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22028169299995 meters 0.03644226679903536 Centerline is valid? [True, True] Translation: X:287.34, Y:26.49, Z:-0.07 [[ 9.65714650e-01 -2.59570353e-01 -4.29501771e-03 2.87340320e+02] [ 2.59567229e-01 9.65724193e-01 -1.27906123e-03 2.64911315e+01] [ 4.47980889e-03 1.20362317e-04 9.99989958e-01 -7.02374710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28028169299995 meters 0.03250975014944556 Centerline is valid? [True, True] Translation: X:287.40, Y:26.51, Z:-0.07 [[ 9.65479495e-01 -2.60459947e-01 -3.15614698e-03 2.87397395e+02] [ 2.60458263e-01 9.65484650e-01 -9.40526207e-04 2.65068020e+01] [ 3.29218087e-03 8.60142072e-05 9.99994577e-01 -6.73657961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34028169299995 meters 0.03182589032104325 Centerline is valid? [True, True] Translation: X:287.45, Y:26.52, Z:-0.07 [[ 9.64513591e-01 -2.63983987e-01 -5.09779945e-03 2.87452809e+02] [ 2.63979641e-01 9.64527055e-01 -1.51952835e-03 2.65230083e+01] [ 5.31809665e-03 1.19890478e-04 9.99985852e-01 -7.25838870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40028169299995 meters 0.023955753530163645 Centerline is valid? [True, True] Translation: X:287.51, Y:26.53, Z:-0.07 [[ 9.63158580e-01 -2.68882871e-01 -5.24894632e-03 2.87513337e+02] [ 2.68878335e-01 9.63172878e-01 -1.56474556e-03 2.65302494e+01] [ 5.47637601e-03 9.57701697e-05 9.99985000e-01 -7.21698177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46028169299996 meters 0.019823982242294428 Centerline is valid? [True, True] Translation: X:287.57, Y:26.54, Z:-0.07 [[ 9.61652833e-01 -2.74239714e-01 -4.05070047e-03 2.87573503e+02] [ 2.74237059e-01 9.61661363e-01 -1.20769863e-03 2.65396620e+01] [ 4.22660106e-03 5.05346218e-05 9.99991067e-01 -6.82563962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52028169299996 meters 0.018483025019979428 Centerline is valid? [True, True] Translation: X:287.63, Y:26.55, Z:-0.07 [[ 9.60895071e-01 -2.76869877e-01 -4.87166298e-03 2.87630552e+02] [ 2.76866066e-01 9.60907420e-01 -1.45340009e-03 2.65524311e+01] [ 5.08361981e-03 4.77668143e-05 9.99987077e-01 -7.18153155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58028169299996 meters 0.018340880415995034 Centerline is valid? [True, True] Translation: X:287.69, Y:26.57, Z:-0.07 [[ 9.60762298e-01 -2.77320918e-01 -5.37726094e-03 2.87687684e+02] [ 2.77316276e-01 9.60777345e-01 -1.60535263e-03 2.65653295e+01] [ 5.61154835e-03 5.11603022e-05 9.99984254e-01 -7.20310253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64028169299996 meters 0.019316980476294775 Centerline is valid? [True, True] Translation: X:287.74, Y:26.58, Z:-0.07 [[ 9.61053464e-01 -2.76340612e-01 -3.47919132e-03 2.87742112e+02] [ 2.76338660e-01 9.61059761e-01 -1.03918274e-03 2.65816708e+01] [ 3.63087918e-03 3.72751037e-05 9.99993408e-01 -6.82349499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70028169299997 meters 0.021501028366027363 Centerline is valid? [True, True] Translation: X:287.80, Y:26.60, Z:-0.06 [[ 9.62001293e-01 -2.73043642e-01 -8.25645579e-04 2.87797977e+02] [ 2.73043531e-01 9.62001647e-01 -2.46806578e-04 2.66012186e+01] [ 8.61661374e-04 1.19910633e-05 9.99999629e-01 -6.18023687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76028169299997 meters 0.023854196745178358 Centerline is valid? [True, True] Translation: X:287.85, Y:26.63, Z:-0.06 [[ 9.62805377e-01 -2.70195719e-01 -2.81325831e-04 2.87852111e+02] [ 2.70195706e-01 9.62805418e-01 -8.41867895e-05 2.66255337e+01] [ 2.93608944e-04 5.04246205e-06 9.99999957e-01 -6.00035963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82028169299997 meters 0.025946643285521168 Centerline is valid? [True, True] Translation: X:287.91, Y:26.65, Z:-0.06 [[ 9.63437060e-01 -2.67933839e-01 7.00089647e-04 2.87906498e+02] [ 2.67933758e-01 9.63437314e-01 2.09375482e-04 2.66474164e+01] [-7.30591266e-04 -1.41424491e-05 9.99999733e-01 -5.79824215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.880281693 meters 0.02956457117105464 Centerline is valid? [True, True] Translation: X:287.96, Y:26.68, Z:-0.06 [[ 9.64500745e-01 -2.64075260e-01 -1.60334654e-03 2.87959829e+02] [ 2.64074827e-01 9.64502076e-01 -4.79636499e-04 2.66762903e+01] [ 1.67309120e-03 3.92063002e-05 9.99998600e-01 -6.17882241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.940281693 meters 0.03559970868956888 Centerline is valid? [True, True] Translation: X:288.01, Y:26.71, Z:-0.06 [[ 9.65100248e-01 -2.61863834e-01 -2.97403451e-03 2.88011741e+02] [ 2.61862334e-01 9.65104827e-01 -8.89776902e-04 2.67074860e+01] [ 3.10325545e-03 7.99362898e-05 9.99995182e-01 -6.33579318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.000281693 meters 0.033665776035045496 Centerline is valid? [True, True] Translation: X:288.07, Y:26.73, Z:-0.06 [[ 9.64804302e-01 -2.62968922e-01 7.23355404e-05 2.88065028e+02] [ 2.62968921e-01 9.64804305e-01 2.15968161e-05 2.67349507e+01] [-7.54689321e-05 -1.81470205e-06 9.99999997e-01 -5.79057092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.060281693 meters 0.03124616560557551 Centerline is valid? [True, True] Translation: X:288.12, Y:26.75, Z:-0.06 [[ 9.64104420e-01 -2.65521356e-01 -1.03733913e-03 2.88121126e+02] [ 2.65521175e-01 9.64104978e-01 -3.10592724e-04 2.67532882e+01] [ 1.08257282e-03 2.40083127e-05 9.99999414e-01 -5.98339403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.120281693 meters 0.025313697598842208 Centerline is valid? [True, True] Translation: X:288.18, Y:26.77, Z:-0.06 [[ 9.62910832e-01 -2.69811814e-01 -2.07708917e-03 2.88178935e+02] [ 2.69811100e-01 9.62913072e-01 -6.21905570e-04 2.67703139e+01] [ 2.16785378e-03 3.84178971e-05 9.99997649e-01 -6.00190662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.180281693 meters 0.0216539450980014 Centerline is valid? [True, True] Translation: X:288.23, Y:26.79, Z:-0.06 [[ 9.61762161e-01 -2.73854668e-01 -4.14316309e-03 2.88234601e+02] [ 2.73851863e-01 9.61771084e-01 -1.24073354e-03 2.67887199e+01] [ 4.32455512e-03 5.86776406e-05 9.99990647e-01 -6.42192878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.240281693 meters 0.018866654223129508 Centerline is valid? [True, True] Translation: X:288.29, Y:26.80, Z:-0.07 [[ 9.60576983e-01 -2.77969866e-01 -4.96112972e-03 2.88290042e+02] [ 2.77965898e-01 9.60589793e-01 -1.48600374e-03 2.68046252e+01] [ 5.17867484e-03 4.83961113e-05 9.99986589e-01 -6.72904524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.300281693 meters 0.018369441156952434 Centerline is valid? [True, True] Translation: X:288.34, Y:26.83, Z:-0.06 [[ 9.60528592e-01 -2.78160958e-01 -3.36220248e-03 2.88344661e+02] [ 2.78159135e-01 9.60534476e-01 -1.00773450e-03 2.68259198e+01] [ 3.50982379e-03 3.27304714e-05 9.99993840e-01 -6.26165052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.360281693 meters 0.019530447634497964 Centerline is valid? [True, True] Translation: X:288.40, Y:26.85, Z:-0.06 [[ 9.61022657e-01 -2.76461020e-01 -2.18130481e-03 2.88398122e+02] [ 2.76460247e-01 9.61025132e-01 -6.54207504e-04 2.68518751e+01] [ 2.27715161e-03 2.56641671e-05 9.99997407e-01 -5.96267041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.420281693 meters 0.020760157454707384 Centerline is valid? [True, True] Translation: X:288.45, Y:26.87, Z:-0.06 [[ 9.61164692e-01 -2.75963194e-01 -2.59822293e-03 2.88451701e+02] [ 2.75962095e-01 9.61168203e-01 -7.79364236e-04 2.68740481e+01] [ 2.71240511e-03 3.20863427e-05 9.99996321e-01 -6.08872156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48028169299994 meters 0.015489370992278343 Centerline is valid? [True, True] Translation: X:288.51, Y:26.88, Z:-0.06 [[ 9.59137559e-01 -2.82930044e-01 -2.39441418e-03 2.88511242e+02] [ 2.82929132e-01 9.59140548e-01 -7.18353517e-04 2.68808687e+01] [ 2.49982352e-03 1.15503139e-05 9.99996875e-01 -6.05485077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54028169299994 meters 0.014764571861060536 Centerline is valid? [True, True] Translation: X:288.57, Y:26.89, Z:-0.06 [[ 9.58109435e-01 -2.86390756e-01 -2.57788757e-03 2.88567873e+02] [ 2.86389712e-01 9.58112903e-01 -7.73567550e-04 2.68930622e+01] [ 2.69144994e-03 2.88188891e-06 9.99996378e-01 -6.15404117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60028169299994 meters 0.014815883401582554 Centerline is valid? [True, True] Translation: X:288.62, Y:26.91, Z:-0.06 [[ 9.57625564e-01 -2.88002536e-01 -2.79608368e-03 2.88623518e+02] [ 2.88001312e-01 9.57629646e-01 -8.39639435e-04 2.69079813e+01] [ 2.91943091e-03 -1.21558197e-06 9.99995738e-01 -6.08957519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66028169299994 meters 0.015230329367829304 Centerline is valid? [True, True] Translation: X:288.68, Y:26.92, Z:-0.07 [[ 9.57260403e-01 -2.89182853e-01 -5.07918456e-03 2.88680068e+02] [ 2.89178826e-01 9.57273878e-01 -1.52608027e-03 2.69239224e+01] [ 5.30348695e-03 -7.93641200e-06 9.99985936e-01 -6.59521272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72028169299995 meters 0.014898555964901012 Centerline is valid? [True, True] Translation: X:288.74, Y:26.94, Z:-0.06 [[ 9.57299865e-01 -2.89072127e-01 -3.77817425e-03 2.88736542e+02] [ 2.89069895e-01 9.57307320e-01 -1.13596989e-03 2.69386038e+01] [ 3.94525110e-03 -4.69261313e-06 9.99992217e-01 -6.35171452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78028169299995 meters 0.014561048767306075 Centerline is valid? [True, True] Translation: X:288.79, Y:26.96, Z:-0.06 [[ 9.57774607e-01 -2.87513903e-01 -1.88609126e-03 2.88790674e+02] [ 2.87513343e-01 9.57776464e-01 -5.67501773e-04 2.69597518e+01] [ 1.96961847e-03 1.26238465e-06 9.99998060e-01 -6.00367341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84028169299995 meters 0.01474722317795859 Centerline is valid? [True, True] Translation: X:288.85, Y:26.98, Z:-0.06 [[ 9.58109022e-01 -2.86400463e-01 -1.36964068e-03 2.88845233e+02] [ 2.86400166e-01 9.58110001e-01 -4.12408714e-04 2.69781782e+01] [ 1.43038048e-03 2.86719294e-06 9.99998977e-01 -5.95255039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90028169299995 meters 0.015107883478544517 Centerline is valid? [True, True] Translation: X:288.90, Y:26.99, Z:-0.06 [[ 9.58513083e-01 -2.85044097e-01 -1.59102544e-03 2.88900212e+02] [ 2.85043695e-01 9.58514404e-01 -4.79112207e-04 2.69944807e+01] [ 1.66158890e-03 5.72355026e-06 9.99998620e-01 -6.01838131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96028169299996 meters 0.016614337129930892 Centerline is valid? [True, True] Translation: X:288.96, Y:27.01, Z:-0.06 [[ 9.59334229e-01 -2.82241376e-01 -4.20030717e-03 2.88955471e+02] [ 2.82238540e-01 9.59343424e-01 -1.26560462e-03 2.70135404e+01] [ 4.38674305e-03 2.86492740e-05 9.99990378e-01 -6.30891475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02028169299996 meters 0.01638293284890023 Centerline is valid? [True, True] Translation: X:289.01, Y:27.03, Z:-0.07 [[ 9.59027074e-01 -2.83280827e-01 -4.36391770e-03 2.89011495e+02] [ 2.83277775e-01 9.59037003e-01 -1.31513578e-03 2.70274026e+01] [ 4.55771130e-03 2.50499183e-05 9.99989613e-01 -6.60036027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08028169299996 meters 0.016105442655189595 Centerline is valid? [True, True] Translation: X:289.07, Y:27.04, Z:-0.06 [[ 9.58971297e-01 -2.83490432e-01 -2.68839868e-03 2.89068473e+02] [ 2.83489273e-01 9.58975065e-01 -8.10705952e-04 2.70409068e+01] [ 2.80793468e-03 1.53115500e-05 9.99996058e-01 -6.23509899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14028169299996 meters 0.015378689846980329 Centerline is valid? [True, True] Translation: X:289.12, Y:27.05, Z:-0.06 [[ 9.58661935e-01 -2.84546274e-01 -8.43306644e-04 2.89124399e+02] [ 2.84546161e-01 9.58662306e-01 -2.54359366e-04 2.70542350e+01] [ 8.80823302e-04 3.88497466e-06 9.99999612e-01 -5.78001758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20028169299997 meters 0.01464654016719357 Centerline is valid? [True, True] Translation: X:289.18, Y:27.07, Z:-0.06 [[ 9.57968181e-01 -2.86863763e-01 -2.47886934e-03 2.89181606e+02] [ 2.86862788e-01 9.57971389e-01 -7.48218392e-04 2.70664836e+01] [ 2.58932265e-03 5.67404374e-06 9.99996648e-01 -6.16457053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26028169299997 meters 0.01468188213759775 Centerline is valid? [True, True] Translation: X:289.24, Y:27.08, Z:-0.06 [[ 9.57762966e-01 -2.87545734e-01 -2.74811685e-03 2.89237600e+02] [ 2.87544537e-01 9.57766908e-01 -8.29692085e-04 2.70781609e+01] [ 2.87062980e-03 4.44236313e-06 9.99995880e-01 -6.19358261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32028169299997 meters 0.014871323367493151 Centerline is valid? [True, True] Translation: X:289.29, Y:27.10, Z:-0.06 [[ 9.57935068e-01 -2.86979432e-01 -1.79175233e-03 2.89292230e+02] [ 2.86978922e-01 9.57936744e-01 -5.41113494e-04 2.70954045e+01] [ 1.87167384e-03 4.15643929e-06 9.99998248e-01 -6.07551602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.380281693 meters 0.016121225357891573 Centerline is valid? [True, True] Translation: X:289.35, Y:27.12, Z:-0.06 [[ 9.59031256e-01 -2.83300213e-01 -1.99425786e-04 2.89346677e+02] [ 2.83300206e-01 9.59031277e-01 -6.03192230e-05 2.71196319e+01] [ 2.08344015e-04 1.35065372e-06 9.99999978e-01 -5.78980558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.440281693 meters 0.018810032983109914 Centerline is valid? [True, True] Translation: X:289.40, Y:27.14, Z:-0.06 [[ 9.60119678e-01 -2.79588606e-01 6.43780341e-04 2.89400335e+02] [ 2.79588538e-01 9.60119894e-01 1.94584765e-04 2.71445927e+01] [-6.72509996e-04 -6.83105737e-06 9.99999774e-01 -5.69754267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.500281693 meters 0.015038981712678185 Centerline is valid? [True, True] Translation: X:289.46, Y:27.15, Z:-0.06 [[ 9.58273210e-01 -2.85850518e-01 1.39186228e-03 2.89459260e+02] [ 2.85850208e-01 9.58274220e-01 4.20889610e-04 2.71484561e+01] [-1.45409726e-03 -5.46311492e-06 9.99998943e-01 -5.63263087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.560281693 meters 0.017957185728829195 Centerline is valid? [True, True] Translation: X:289.52, Y:27.14, Z:-0.06 [[ 9.54597207e-01 -2.97898632e-01 -7.59565886e-04 2.89521116e+02] [ 2.97898544e-01 9.54597509e-01 -2.29766474e-04 2.71434657e+01] [ 7.93526821e-04 -6.93913665e-06 9.99999685e-01 -6.11086085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.620281693 meters 0.02249095231538208 Centerline is valid? [True, True] Translation: X:289.58, Y:27.14, Z:-0.06 [[ 9.52981978e-01 -3.03024399e-01 1.25040545e-03 2.89583113e+02] [ 3.03024163e-01 9.52982798e-01 3.78232919e-04 2.71447151e+01] [-1.30622869e-03 1.84539097e-05 9.99999147e-01 -5.62666770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.680281693 meters 0.022408611815050054 Centerline is valid? [True, True] Translation: X:289.64, Y:27.16, Z:-0.06 [[ 9.53012870e-01 -3.02927585e-01 1.16114047e-03 2.89638781e+02] [ 3.02927382e-01 9.53013577e-01 3.51401371e-04 2.71602481e+01] [-1.21303181e-03 1.68512151e-05 9.99999264e-01 -5.60969085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.740281693 meters 0.01815211329465298 Centerline is valid? [True, True] Translation: X:289.69, Y:27.18, Z:-0.06 [[ 9.54476168e-01 -2.98274934e-01 -2.70351661e-03 2.89694493e+02] [ 2.98273812e-01 9.54479996e-01 -8.18480771e-04 2.71785237e+01] [ 2.82458482e-03 -2.51678156e-05 9.99996011e-01 -6.48762885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.800281693 meters 0.017222278077422923 Centerline is valid? [True, True] Translation: X:289.75, Y:27.19, Z:-0.06 [[ 9.54639498e-01 -2.97751889e-01 -2.69106492e-03 2.89750632e+02] [ 2.97750774e-01 9.54643290e-01 -8.15326928e-04 2.71943211e+01] [ 2.81177220e-03 -2.29233719e-05 9.99996047e-01 -6.37354567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.860281693 meters 0.016508211220552124 Centerline is valid? [True, True] Translation: X:289.81, Y:27.21, Z:-0.06 [[ 9.54789768e-01 -2.97271169e-01 -2.52015774e-03 2.89806504e+02] [ 2.97270188e-01 9.54793094e-01 -7.64100033e-04 2.72098491e+01] [ 2.63337412e-03 -1.96128711e-05 9.99996532e-01 -6.38661538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.920281693 meters 0.01505122743431604 Centerline is valid? [True, True] Translation: X:289.86, Y:27.23, Z:-0.06 [[ 9.55874709e-01 -2.93773172e-01 9.29821266e-04 2.89860756e+02] [ 2.93773037e-01 9.55875161e-01 2.81950190e-04 2.72290170e+01] [-9.71622454e-04 3.64736142e-06 9.99999528e-01 -5.70276304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98028169299994 meters 0.014469708901808492 Centerline is valid? [True, True] Translation: X:289.91, Y:27.25, Z:-0.06 [[ 9.57412665e-01 -2.88721263e-01 1.01053138e-03 2.89914039e+02] [ 2.88721101e-01 9.57413198e-01 3.06600470e-04 2.72530523e+01] [-1.05601815e-03 -1.78144188e-06 9.99999442e-01 -5.85183636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04028169299994 meters 0.015199393601237954 Centerline is valid? [True, True] Translation: X:289.97, Y:27.27, Z:-0.06 [[ 9.58013736e-01 -2.86722307e-01 -3.52482334e-05 2.89968825e+02] [ 2.86722307e-01 9.58013736e-01 -1.07202162e-05 2.72713181e+01] [ 3.68420169e-05 1.63659623e-07 9.99999999e-01 -5.99207256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10028169299994 meters 0.01590961286714322 Centerline is valid? [True, True] Translation: X:290.02, Y:27.29, Z:-0.06 [[ 9.58681391e-01 -2.84478568e-01 1.39133981e-03 2.90024653e+02] [ 2.84478255e-01 9.58682400e-01 4.22391436e-04 2.72882751e+01] [-1.45401429e-03 -9.13288959e-06 9.99998943e-01 -5.78198307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16028169299994 meters 0.017274229449813862 Centerline is valid? [True, True] Translation: X:290.08, Y:27.31, Z:-0.06 [[ 9.59100390e-01 -2.83066141e-01 3.07960967e-05 2.90079414e+02] [ 2.83066141e-01 9.59100391e-01 9.33063510e-06 2.73078471e+01] [-3.21777352e-05 -2.31683514e-07 9.99999999e-01 -6.03312565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22028169299995 meters 0.018577275642233135 Centerline is valid? [True, True] Translation: X:290.13, Y:27.33, Z:-0.06 [[ 9.59746883e-01 -2.80862748e-01 1.42765889e-03 2.90134238e+02] [ 2.80862414e-01 9.59747944e-01 4.33726627e-04 2.73291982e+01] [-1.49201033e-03 -1.52920574e-05 9.99998887e-01 -5.78177276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28028169299995 meters 0.017710305166714367 Centerline is valid? [True, True] Translation: X:290.19, Y:27.34, Z:-0.06 [[ 9.59389811e-01 -2.82071487e-01 2.62032619e-03 2.90191399e+02] [ 2.82070364e-01 9.59393389e-01 7.96315095e-04 2.73408288e+01] [-2.73854141e-03 -2.48602244e-05 9.99996250e-01 -5.52949754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34028169299995 meters 0.015091432075974218 Centerline is valid? [True, True] Translation: X:290.25, Y:27.35, Z:-0.06 [[ 9.57892957e-01 -2.87125354e-01 3.38770056e-04 2.90252197e+02] [ 2.87125335e-01 9.57893017e-01 1.02955985e-04 2.73450003e+01] [-3.54066744e-04 -1.35134671e-06 9.99999937e-01 -6.16047169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40028169299995 meters 0.014387252126133109 Centerline is valid? [True, True] Translation: X:290.31, Y:27.34, Z:-0.06 [[ 9.56225480e-01 -2.92630617e-01 -3.92281433e-04 2.90313536e+02] [ 2.92630592e-01 9.56225560e-01 -1.19325939e-04 2.73413944e+01] [ 4.10027956e-04 -6.91044494e-07 9.99999916e-01 -6.20247827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46028169299996 meters 0.014207676754940375 Centerline is valid? [True, True] Translation: X:290.37, Y:27.35, Z:-0.06 [[ 9.57200890e-01 -2.89424201e-01 -2.98457353e-04 2.90369815e+02] [ 2.89424187e-01 9.57200936e-01 -9.08246601e-05 2.73526565e+01] [ 3.11970513e-04 5.56668723e-07 9.99999951e-01 -6.20407896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52028169299996 meters 0.020554669204188056 Centerline is valid? [True, True] Translation: X:290.42, Y:27.38, Z:-0.06 [[ 9.60141429e-01 -2.79514279e-01 -4.52818960e-04 2.90423868e+02] [ 2.79514245e-01 9.60141535e-01 -1.37784689e-04 2.73776795e+01] [ 4.73283079e-04 5.72343831e-06 9.99999888e-01 -6.15001989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58028169299996 meters 0.02869700486018121 Centerline is valid? [True, True] Translation: X:290.48, Y:27.40, Z:-0.07 [[ 9.62124437e-01 -2.72596462e-01 -2.78150516e-03 2.90477935e+02] [ 2.72595154e-01 9.62128456e-01 -8.46397160e-04 2.74023995e+01] [ 2.90689013e-03 5.61145643e-05 9.99995773e-01 -6.69716330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64028169299996 meters 0.0321696341654553 Centerline is valid? [True, True] Translation: X:290.53, Y:27.42, Z:-0.06 [[ 9.62844329e-01 -2.70056993e-01 1.36905975e-04 2.90532959e+02] [ 2.70056990e-01 9.62844339e-01 4.16391053e-05 2.74187254e+01] [-1.43064075e-04 -3.11956091e-06 9.99999990e-01 -6.03667383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70028169299997 meters 0.0355234794989817 Centerline is valid? [True, True] Translation: X:290.59, Y:27.44, Z:-0.06 [[ 9.63535415e-01 -2.67580413e-01 4.76898750e-04 2.90589246e+02] [ 2.67580374e-01 9.63535533e-01 1.45168602e-04 2.74395372e+01] [-4.98353165e-04 -1.22663428e-05 9.99999876e-01 -5.93243722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76028169299997 meters 0.03856634048427861 Centerline is valid? [True, True] Translation: X:290.64, Y:27.46, Z:-0.05 [[ 9.64434139e-01 -2.64296260e-01 3.77879371e-03 2.90643471e+02] [ 2.64293779e-01 9.64441535e-01 1.15045218e-03 2.74646857e+01] [-3.94848581e-03 -1.10823688e-04 9.99992199e-01 -5.17654520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82028169299997 meters 0.04116428433026499 Centerline is valid? [True, True] Translation: X:290.70, Y:27.49, Z:-0.05 [[ 9.65723906e-01 -2.59540577e-01 4.00332849e-03 2.90699129e+02] [ 2.59537752e-01 9.65732194e-01 1.21882703e-03 2.74896951e+01] [-4.18247828e-03 -1.38035518e-04 9.99991244e-01 -5.14483728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.880281693 meters 0.04895716476221622 Centerline is valid? [True, True] Translation: X:290.75, Y:27.53, Z:-0.06 [[ 9.67370060e-01 -2.53362734e-01 1.57875340e-03 2.90749013e+02] [ 2.53362286e-01 9.67371346e-01 4.80684793e-04 2.75309992e+01] [-1.64902842e-03 -6.50035054e-05 9.99998638e-01 -5.77476729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.940281693 meters 0.044921371767953334 Centerline is valid? [True, True] Translation: X:290.80, Y:27.55, Z:-0.06 [[ 9.67015612e-01 -2.54712303e-01 1.56489010e-03 2.90804669e+02] [ 2.54711864e-01 9.67016876e-01 4.76533387e-04 2.75511496e+01] [-1.63465405e-03 -6.22191502e-05 9.99998662e-01 -5.69887807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.000281693 meters 0.041395594304439155 Centerline is valid? [True, True] Translation: X:290.86, Y:27.57, Z:-0.06 [[ 9.66044658e-01 -2.58375132e-01 -1.00383520e-04 2.90860395e+02] [ 2.58375130e-01 9.66044663e-01 -3.05748309e-05 2.75737956e+01] [ 1.04874740e-04 3.60004699e-06 9.99999994e-01 -6.14960113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.060281693 meters 0.035625509673832684 Centerline is valid? [True, True] Translation: X:290.92, Y:27.59, Z:-0.06 [[ 9.64608605e-01 -2.63684687e-01 -7.90874742e-04 2.90917658e+02] [ 2.63684578e-01 9.64608929e-01 -2.40865374e-04 2.75933233e+01] [ 8.26397348e-04 2.37993400e-05 9.99999658e-01 -6.36424955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.120281693 meters 0.03495478309259743 Centerline is valid? [True, True] Translation: X:290.97, Y:27.62, Z:-0.06 [[ 9.63384651e-01 -2.68121675e-01 -8.83852409e-04 2.90972416e+02] [ 2.68121541e-01 9.63385056e-01 -2.69208511e-04 2.76169717e+01] [ 9.23670839e-04 2.23714782e-05 9.99999573e-01 -6.16322639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.180281693 meters 0.03355305005164456 Centerline is valid? [True, True] Translation: X:291.03, Y:27.64, Z:-0.07 [[ 9.62852370e-01 -2.70017327e-01 -2.44082960e-03 2.91025600e+02] [ 2.70016309e-01 9.62855462e-01 -7.43579290e-04 2.76403728e+01] [ 2.55094540e-03 5.68932821e-05 9.99996745e-01 -6.61777497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.240281693 meters 0.025957716050810115 Centerline is valid? [True, True] Translation: X:291.08, Y:27.65, Z:-0.06 [[ 9.61719366e-01 -2.74036175e-01 -1.87064795e-04 2.91083681e+02] [ 2.74036169e-01 9.61719385e-01 -5.69992094e-05 2.76540845e+01] [ 1.95523685e-04 3.55472366e-06 9.99999981e-01 -6.07093552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.300281693 meters 0.018233085845719747 Centerline is valid? [True, True] Translation: X:291.14, Y:27.66, Z:-0.06 [[ 9.59249538e-01 -2.82560006e-01 -4.07743817e-04 2.91142064e+02] [ 2.82559979e-01 9.59249625e-01 -1.24241057e-04 2.76642686e+01] [ 4.26233657e-04 3.96609285e-06 9.99999909e-01 -6.18385376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.360281693 meters 0.014141210096317549 Centerline is valid? [True, True] Translation: X:291.20, Y:27.67, Z:-0.05 [[ 9.57287910e-01 -2.89128708e-01 2.10886254e-03 2.91200626e+02] [ 2.89127994e-01 9.57290233e-01 6.42842343e-04 2.76735662e+01] [-2.20465768e-03 -5.65400939e-06 9.99997570e-01 -5.46808384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.420281693 meters 0.013757101774226108 Centerline is valid? [True, True] Translation: X:291.26, Y:27.69, Z:-0.05 [[ 9.56401191e-01 -2.92016779e-01 4.79194996e-03 2.91258562e+02] [ 2.92013121e-01 9.56413196e-01 1.46162948e-03 2.76856322e+01] [-5.00990451e-03 1.40809189e-06 9.99987450e-01 -5.01383640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48028169299994 meters 0.014029111897808467 Centerline is valid? [True, True] Translation: X:291.32, Y:27.70, Z:-0.06 [[ 9.55730960e-01 -2.94234267e-01 2.12786588e-03 2.91315808e+02] [ 2.94233550e-01 9.55733329e-01 6.49228665e-04 2.76961039e+01] [-2.22469766e-03 5.60159639e-06 9.99997525e-01 -5.64770446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54028169299994 meters 0.015042606617482697 Centerline is valid? [True, True] Translation: X:291.38, Y:27.70, Z:-0.06 [[ 9.54731034e-01 -2.97467601e-01 1.29612920e-03 2.91375065e+02] [ 2.97467338e-01 9.54731913e-01 3.95653971e-04 2.77034921e+01] [-1.35515014e-03 7.81297641e-06 9.99999082e-01 -5.82223748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60028169299994 meters 0.017252836482914535 Centerline is valid? [True, True] Translation: X:291.43, Y:27.71, Z:-0.06 [[ 9.53859176e-01 -3.00250982e-01 1.42141416e-03 2.91434194e+02] [ 3.00250668e-01 9.53860235e-01 4.34034686e-04 2.77087806e+01] [-1.48614978e-03 1.27725815e-05 9.99998896e-01 -5.74860899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66028169299994 meters 0.01938163742069821 Centerline is valid? [True, True] Translation: X:291.49, Y:27.71, Z:-0.06 [[ 9.53108022e-01 -3.02630281e-01 -1.04844332e-04 2.91494987e+02] [ 3.02630279e-01 9.53108028e-01 -3.20909585e-05 2.77110472e+01] [ 1.09639670e-04 -1.14291929e-06 9.99999994e-01 -6.21245720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72028169299995 meters 0.0164074008928349 Centerline is valid? [True, True] Translation: X:291.55, Y:27.72, Z:-0.07 [[ 9.54162833e-01 -2.99277376e-01 -2.51788973e-03 2.91553088e+02] [ 2.99276387e-01 9.54166155e-01 -7.69823425e-04 2.77219877e+01] [ 2.63287590e-03 -1.90080408e-05 9.99996534e-01 -6.58602668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78028169299995 meters 0.014584980729654166 Centerline is valid? [True, True] Translation: X:291.61, Y:27.74, Z:-0.07 [[ 9.55126239e-01 -2.96187110e-01 -2.65779470e-03 2.91610179e+02] [ 2.96185994e-01 9.55129937e-01 -8.13078009e-04 2.77373868e+01] [ 2.77936251e-03 -1.06094233e-05 9.99996138e-01 -6.63648339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84028169299995 meters 0.01527128990577588 Centerline is valid? [True, True] Translation: X:291.66, Y:27.76, Z:-0.06 [[ 9.57978812e-01 -2.86838665e-01 4.20131824e-04 2.91664922e+02] [ 2.86838636e-01 9.57978904e-01 1.28534381e-04 2.77592010e+01] [-4.39346055e-04 -2.62317450e-06 9.99999903e-01 -6.09002028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90028169299995 meters 0.023164534336066248 Centerline is valid? [True, True] Translation: X:291.72, Y:27.79, Z:-0.06 [[ 9.60771414e-01 -2.77341156e-01 -4.15204532e-04 2.91718032e+02] [ 2.77341127e-01 9.60771504e-01 -1.27117977e-04 2.77859320e+01] [ 4.34171730e-04 6.97802591e-06 9.99999906e-01 -6.23236373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96028169299996 meters 0.030902257842341244 Centerline is valid? [True, True] Translation: X:291.77, Y:27.81, Z:-0.06 [[ 9.62076330e-01 -2.72772137e-01 -2.12048803e-03 2.91770113e+02] [ 2.72771368e-01 9.62078666e-01 -6.49275522e-04 2.78147702e+01] [ 2.21718057e-03 4.62441907e-05 9.99997541e-01 -6.47622063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02028169299996 meters 0.033307872705881925 Centerline is valid? [True, True] Translation: X:291.82, Y:27.84, Z:-0.06 [[ 9.63362214e-01 -2.68202356e-01 -8.60276128e-04 2.91824675e+02] [ 2.68202228e-01 9.63362598e-01 -2.63433360e-04 2.78393222e+01] [ 8.99411293e-04 2.30537705e-05 9.99999595e-01 -6.16130850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08028169299996 meters 0.029001020682219828 Centerline is valid? [True, True] Translation: X:291.88, Y:27.86, Z:-0.06 [[ 9.62067989e-01 -2.72797202e-01 2.62141500e-03 2.91881119e+02] [ 2.72796027e-01 9.62071558e-01 8.02757848e-04 2.78563923e+01] [-2.74097891e-03 -5.71960306e-05 9.99996242e-01 -5.59466681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14028169299996 meters 0.024711180625060877 Centerline is valid? [True, True] Translation: X:291.94, Y:27.87, Z:-0.06 [[ 9.61277724e-01 -2.75578996e-01 1.16378863e-03 2.91938783e+02] [ 2.75578766e-01 9.61278428e-01 3.56433792e-04 2.78687395e+01] [-1.21695057e-03 -2.19164299e-05 9.99999259e-01 -5.91980370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20028169299997 meters 0.025045153302207586 Centerline is valid? [True, True] Translation: X:291.99, Y:27.89, Z:-0.06 [[ 9.61085862e-01 -2.76249678e-01 2.83815380e-04 2.91992939e+02] [ 2.76249664e-01 9.61085904e-01 8.69253643e-05 2.78890701e+01] [-2.96784065e-04 -5.13883530e-06 9.99999956e-01 -6.11247048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26028169299997 meters 0.026834108098668364 Centerline is valid? [True, True] Translation: X:292.05, Y:27.91, Z:-0.06 [[ 9.61718199e-01 -2.74036757e-01 -1.40030420e-03 2.92048606e+02] [ 2.74036422e-01 9.61719218e-01 -4.29286205e-04 2.79082854e+01] [ 1.46433966e-03 2.91180026e-05 9.99998927e-01 -6.37043450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32028169299997 meters 0.032843224286665786 Centerline is valid? [True, True] Translation: X:292.10, Y:27.94, Z:-0.07 [[ 9.63244963e-01 -2.68600267e-01 -3.61087565e-03 2.92102238e+02] [ 2.68598003e-01 9.63251726e-01 -1.10692010e-03 2.79374109e+01] [ 3.77550123e-03 9.63612190e-05 9.99992868e-01 -6.92672006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.380281693 meters 0.0373697205218638 Centerline is valid? [True, True] Translation: X:292.16, Y:27.97, Z:-0.06 [[ 9.64547528e-01 -2.63906823e-01 -1.12005827e-03 2.92156382e+02] [ 2.63906602e-01 9.64548178e-01 -3.43371608e-04 2.79657136e+01] [ 1.17096827e-03 3.56074636e-05 9.99999314e-01 -6.34406016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.440281693 meters 0.03930696430654828 Centerline is valid? [True, True] Translation: X:292.21, Y:27.99, Z:-0.06 [[ 9.64657007e-01 -2.63508667e-01 -2.03711379e-04 2.92209079e+02] [ 2.63508660e-01 9.64657028e-01 -6.24835834e-05 2.79920736e+01] [ 2.12976579e-04 6.59551411e-06 9.99999977e-01 -6.27789769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.500281693 meters 0.03126134574254108 Centerline is valid? [True, True] Translation: X:292.27, Y:28.00, Z:-0.07 [[ 9.63091663e-01 -2.69163638e-01 -2.32051869e-03 2.92268049e+02] [ 2.69162705e-01 9.63094457e-01 -7.11561331e-04 2.80037042e+01] [ 2.42640512e-03 6.07016999e-05 9.99997054e-01 -6.61958922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.560281693 meters 0.027148091062044376 Centerline is valid? [True, True] Translation: X:292.33, Y:28.02, Z:-0.07 [[ 9.62026461e-01 -2.72937064e-01 -3.23209421e-03 2.92325703e+02] [ 2.72935274e-01 9.62031888e-01 -9.91172990e-04 2.80192965e+01] [ 3.37990554e-03 7.13821264e-05 9.99994286e-01 -6.72520319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.620281693 meters 0.024465456060770954 Centerline is valid? [True, True] Translation: X:292.38, Y:28.03, Z:-0.06 [[ 9.61036569e-01 -2.76421049e-01 -3.42640701e-04 2.92381576e+02] [ 2.76421029e-01 9.61036630e-01 -1.05136911e-04 2.80340987e+01] [ 3.58352320e-04 6.32732147e-06 9.99999936e-01 -6.27326013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.680281693 meters 0.022281957052905175 Centerline is valid? [True, True] Translation: X:292.44, Y:28.05, Z:-0.06 [[ 9.60271794e-01 -2.79063576e-01 1.26603889e-03 2.92439006e+02] [ 2.79063306e-01 9.60272628e-01 3.88530274e-04 2.80483577e+01] [-1.32416714e-03 -1.97896632e-05 9.99999123e-01 -5.89763254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.740281693 meters 0.019648219420979118 Centerline is valid? [True, True] Translation: X:292.50, Y:28.06, Z:-0.06 [[ 9.59607319e-01 -2.81342515e-01 -4.28231770e-04 2.92496332e+02] [ 2.81342484e-01 9.59607414e-01 -1.31578549e-04 2.80621376e+01] [ 4.47953022e-04 5.78394892e-06 9.99999900e-01 -6.22198649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.800281693 meters 0.02044306869809827 Centerline is valid? [True, True] Translation: X:292.55, Y:28.08, Z:-0.06 [[ 9.59294275e-01 -2.82407134e-01 -8.39282250e-04 2.92550454e+02] [ 2.82407016e-01 9.59294642e-01 -2.57972263e-04 2.80845359e+01] [ 8.77972173e-04 1.04521199e-05 9.99999615e-01 -6.29903655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.860281693 meters 0.018750343226826588 Centerline is valid? [True, True] Translation: X:292.61, Y:28.10, Z:-0.06 [[ 9.59050296e-01 -2.83233570e-01 1.12924207e-03 2.92606471e+02] [ 2.83233357e-01 9.59050960e-01 3.47160480e-04 2.81036888e+01] [-1.18132819e-03 -1.31053389e-05 9.99999302e-01 -5.83979533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.920281693 meters 0.014573537283887853 Centerline is valid? [True, True] Translation: X:292.67, Y:28.11, Z:-0.06 [[ 9.56904161e-01 -2.90402909e-01 -7.59931837e-04 2.92665647e+02] [ 2.90402815e-01 9.56904463e-01 -2.33758063e-04 2.81134680e+01] [ 7.95066188e-04 2.99771812e-06 9.99999684e-01 -6.34634339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98028169299994 meters 0.017826414939664293 Centerline is valid? [True, True] Translation: X:292.73, Y:28.11, Z:-0.07 [[ 9.53007643e-01 -3.02937784e-01 -2.26531316e-03 2.92728874e+02] [ 3.02936983e-01 9.53010335e-01 -6.96900195e-04 2.81057451e+01] [ 2.36998426e-03 -2.20959233e-05 9.99997191e-01 -6.75829549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04028169299994 meters 0.023667328100175508 Centerline is valid? [True, True] Translation: X:292.79, Y:28.11, Z:-0.06 [[ 9.50980908e-01 -3.09247364e-01 -1.17516847e-03 2.92789118e+02] [ 3.09247153e-01 9.50981634e-01 -3.61593103e-04 2.81074900e+01] [ 1.22938534e-03 -1.95493657e-05 9.99999244e-01 -6.34974440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10028169299994 meters 0.022362500371698246 Centerline is valid? [True, True] Translation: X:292.85, Y:28.12, Z:-0.06 [[ 9.50970591e-01 -3.09280857e-01 5.34282998e-04 2.92846259e+02] [ 3.09280814e-01 9.50970742e-01 1.64430792e-04 2.81181076e+01] [-5.58942795e-04 8.87463336e-06 9.99999844e-01 -6.05351591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16028169299994 meters 0.02097247877724518 Centerline is valid? [True, True] Translation: X:292.90, Y:28.13, Z:-0.06 [[ 9.51505342e-01 -3.07628493e-01 1.51506071e-03 2.92904406e+02] [ 3.07628140e-01 9.51506547e-01 4.66682373e-04 2.81296848e+01] [-1.58515499e-03 2.20245382e-05 9.99998743e-01 -6.08273685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22028169299995 meters 0.019831704839293623 Centerline is valid? [True, True] Translation: X:292.96, Y:28.14, Z:-0.06 [[ 9.51849116e-01 -3.06566737e-01 3.09772047e-04 2.92961870e+02] [ 3.06566722e-01 9.51849166e-01 9.54274680e-05 2.81445761e+01] [-3.24111152e-04 4.13325005e-06 9.99999947e-01 -6.25524233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28028169299995 meters 0.018336901873440083 Centerline is valid? [True, True] Translation: X:293.02, Y:28.16, Z:-0.07 [[ 9.52796971e-01 -3.03593618e-01 -2.97443030e-03 2.93016408e+02] [ 3.03592234e-01 9.52801613e-01 -9.17037197e-04 2.81649339e+01] [ 3.11244862e-03 -2.92636758e-05 9.99995156e-01 -6.78463128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34028169299995 meters 0.015869208106609255 Centerline is valid? [True, True] Translation: X:293.07, Y:28.19, Z:-0.07 [[ 9.53765854e-01 -3.00543890e-01 -2.01628248e-03 2.93070268e+02] [ 3.00543247e-01 9.53767985e-01 -6.22031201e-04 2.81888137e+01] [ 2.11001335e-03 -1.27079625e-05 9.99997774e-01 -6.70650485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40028169299995 meters 0.01400723814010128 Centerline is valid? [True, True] Translation: X:293.12, Y:28.22, Z:-0.06 [[ 9.54975829e-01 -2.96680891e-01 -1.27051165e-03 2.93122733e+02] [ 2.96680632e-01 9.54976674e-01 -3.92210675e-04 2.82184464e+01] [ 1.32967040e-03 -2.38448459e-06 9.99999116e-01 -6.44157700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46028169299996 meters 0.01382399432591589 Centerline is valid? [True, True] Translation: X:293.18, Y:28.24, Z:-0.06 [[ 9.55575803e-01 -2.94744100e-01 -8.94520097e-04 2.93176371e+02] [ 2.94743970e-01 9.55576222e-01 -2.76352443e-04 2.82425107e+01] [ 9.36235387e-04 4.21302914e-07 9.99999562e-01 -6.41311041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52028169299996 meters 0.013971532451972123 Centerline is valid? [True, True] Translation: X:293.23, Y:28.27, Z:-0.06 [[ 9.55762499e-01 -2.94139309e-01 -3.34996571e-04 2.93230187e+02] [ 2.94139291e-01 9.55762558e-01 -1.03605132e-04 2.82654340e+01] [ 3.50651522e-04 4.86246445e-07 9.99999939e-01 -6.33545646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58028169299996 meters 0.014034424192678871 Centerline is valid? [True, True] Translation: X:293.28, Y:28.29, Z:-0.06 [[ 9.55994183e-01 -2.93385085e-01 5.60690794e-04 2.93284265e+02] [ 2.93385034e-01 9.55994347e-01 1.73339396e-04 2.82871591e+01] [-5.86872423e-04 -1.21316659e-06 9.99999828e-01 -6.12163792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64028169299996 meters 0.014580742152640132 Centerline is valid? [True, True] Translation: X:293.34, Y:28.31, Z:-0.07 [[ 9.56364483e-01 -2.92174518e-01 -1.01343464e-03 2.93337600e+02] [ 2.92174350e-01 9.56365020e-01 -3.13513564e-04 2.83108489e+01] [ 1.06081412e-03 3.73362914e-06 9.99999437e-01 -6.51114156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70028169299997 meters 0.014751355043350902 Centerline is valid? [True, True] Translation: X:293.39, Y:28.33, Z:-0.07 [[ 9.56413935e-01 -2.92009932e-01 -1.60745581e-03 2.93392100e+02] [ 2.92009508e-01 9.56415286e-01 -4.97634420e-04 2.83301627e+01] [ 1.68270950e-03 6.55211320e-06 9.99998584e-01 -6.68756411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76028169299997 meters 0.015580136200539756 Centerline is valid? [True, True] Translation: X:293.45, Y:28.36, Z:-0.06 [[ 9.56914389e-01 -2.90370195e-01 -3.81855677e-05 2.93445013e+02] [ 2.90370194e-01 9.56914390e-01 -1.18426978e-05 2.83556692e+01] [ 3.99790858e-05 2.44497242e-07 9.99999999e-01 -6.34581021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82028169299997 meters 0.017806307670683277 Centerline is valid? [True, True] Translation: X:293.50, Y:28.38, Z:-0.06 [[ 9.57892194e-01 -2.87127986e-01 2.53071311e-04 2.93498596e+02] [ 2.87127975e-01 9.57892228e-01 7.83372734e-05 2.83813184e+01] [-2.64907866e-04 -2.37480952e-06 9.99999965e-01 -6.35580277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.880281693 meters 0.023008972828722322 Centerline is valid? [True, True] Translation: X:293.55, Y:28.41, Z:-0.07 [[ 9.59222076e-01 -2.82641657e-01 -2.58890662e-03 2.93549530e+02] [ 2.82640521e-01 9.59225569e-01 -8.02130049e-04 2.84129694e+01] [ 2.71006079e-03 3.76909338e-05 9.99996327e-01 -6.80283522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.940281693 meters 0.02623686207081837 Centerline is valid? [True, True] Translation: X:293.60, Y:28.44, Z:-0.07 [[ 9.60305164e-01 -2.78934915e-01 -3.05043071e-03 2.93604511e+02] [ 2.78933319e-01 9.60310007e-01 -9.45189327e-04 2.84382126e+01] [ 3.19300544e-03 5.68034293e-05 9.99994901e-01 -6.90050962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.000281693 meters 0.03211280731997472 Centerline is valid? [True, True] Translation: X:293.66, Y:28.47, Z:-0.07 [[ 9.61714845e-01 -2.74038057e-01 -2.77510811e-03 2.93657288e+02] [ 2.74036716e-01 9.61718846e-01 -8.59965992e-04 2.84696615e+01] [ 2.90453718e-03 6.65605484e-05 9.99995780e-01 -6.89683000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.060281693 meters 0.03576700359163589 Centerline is valid? [True, True] Translation: X:293.71, Y:28.50, Z:-0.07 [[ 9.62528405e-01 -2.71167873e-01 -2.65599185e-03 2.93711279e+02] [ 2.71166634e-01 9.62532067e-01 -8.23153258e-04 2.84956291e+01] [ 2.77969004e-03 7.20920246e-05 9.99996134e-01 -6.86569898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.120281693 meters 0.0342223535611331 Centerline is valid? [True, True] Translation: X:293.77, Y:28.52, Z:-0.07 [[ 9.62966488e-01 -2.69619448e-01 -9.46673994e-04 2.93765574e+02] [ 2.69619290e-01 9.62966953e-01 -2.93622653e-04 2.85180615e+01] [ 9.90782149e-04 2.75072049e-05 9.99999509e-01 -6.55558576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.180281693 meters 0.03735811491445154 Centerline is valid? [True, True] Translation: X:293.82, Y:28.55, Z:-0.06 [[ 9.63263827e-01 -2.68556867e-01 -9.17443813e-05 2.93817089e+02] [ 2.68556866e-01 9.63263832e-01 -2.84901802e-05 2.85479988e+01] [ 9.60252778e-05 2.80497654e-06 9.99999995e-01 -6.35414103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.240281693 meters 0.03481214101289525 Centerline is valid? [True, True] Translation: X:293.87, Y:28.57, Z:-0.06 [[ 9.62752914e-01 -2.70382162e-01 5.60052386e-04 2.93870871e+02] [ 2.70382106e-01 9.62753077e-01 1.73765597e-04 2.85719474e+01] [-5.86175275e-04 -1.58651915e-05 9.99999828e-01 -6.23903732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.300281693 meters 0.030521727553145105 Centerline is valid? [True, True] Translation: X:293.93, Y:28.59, Z:-0.07 [[ 9.61435836e-01 -2.75019543e-01 -2.32025765e-03 2.93926594e+02] [ 2.75018605e-01 9.61438635e-01 -7.20236791e-04 2.85902018e+01] [ 2.42886454e-03 5.43474410e-05 9.99997049e-01 -6.91636107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.360281693 meters 0.020757334363514054 Centerline is valid? [True, True] Translation: X:293.99, Y:28.60, Z:-0.06 [[ 9.58703028e-01 -2.84408925e-01 2.60015495e-04 2.93986692e+02] [ 2.84408914e-01 9.58703063e-01 8.07097121e-05 2.85978576e+01] [-2.72232214e-04 -3.42592086e-06 9.99999963e-01 -6.24902521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.420281693 meters 0.01879536145304514 Centerline is valid? [True, True] Translation: X:294.05, Y:28.61, Z:-0.07 [[ 9.56860675e-01 -2.90529142e-01 -3.23522068e-03 2.94045075e+02] [ 2.90527407e-01 9.56866144e-01 -1.00445555e-03 2.86063479e+01] [ 3.38749675e-03 2.12037402e-05 9.99994262e-01 -6.66855828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48028169299994 meters 0.013738172880736296 Centerline is valid? [True, True] Translation: X:294.10, Y:28.61, Z:-0.06 [[ 9.54863585e-01 -2.97044648e-01 1.09326029e-04 2.94104520e+02] [ 2.97044646e-01 9.54863591e-01 3.39046143e-05 2.86125905e+01] [-1.14462628e-04 1.00429939e-07 9.99999993e-01 -6.39435895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54028169299994 meters 0.020932456826305984 Centerline is valid? [True, True] Translation: X:294.17, Y:28.60, Z:-0.07 [[ 9.51267206e-01 -3.08367380e-01 -5.10742045e-04 2.94168487e+02] [ 3.08367339e-01 9.51267344e-01 -1.58688169e-04 2.86043607e+01] [ 5.34786483e-04 -6.54131393e-06 9.99999857e-01 -6.56278615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60028169299994 meters 0.03242612714020952 Centerline is valid? [True, True] Translation: X:294.23, Y:28.60, Z:-0.07 [[ 9.48086625e-01 -3.18010577e-01 -1.01227878e-03 2.94232511e+02] [ 3.18010422e-01 9.48087165e-01 -3.14540232e-04 2.85968066e+01] [ 1.05975564e-03 -2.37038161e-05 9.99999438e-01 -6.65114801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66028169299994 meters 0.03189609744198369 Centerline is valid? [True, True] Translation: X:294.29, Y:28.61, Z:-0.07 [[ 9.48273119e-01 -3.17453553e-01 -1.15467946e-03 2.94290142e+02] [ 3.17453351e-01 9.48273822e-01 -3.59017829e-04 2.86088508e+01] [ 1.20892379e-03 -2.61099065e-05 9.99999269e-01 -6.60858580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72028169299995 meters 0.026366636621811195 Centerline is valid? [True, True] Translation: X:294.35, Y:28.63, Z:-0.07 [[ 9.49822275e-01 -3.12789197e-01 -7.51132254e-04 2.94346189e+02] [ 3.12789110e-01 9.49822572e-01 -2.33654800e-04 2.86304786e+01] [ 7.86527066e-04 -1.30154563e-05 9.99999691e-01 -6.56902433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78028169299995 meters 0.019205932799179423 Centerline is valid? [True, True] Translation: X:294.40, Y:28.65, Z:-0.07 [[ 9.51994674e-01 -3.06108981e-01 -1.85251958e-03 2.94400171e+02] [ 3.06108440e-01 9.51996476e-01 -5.76236226e-04 2.86533801e+01] [ 1.93998319e-03 -1.84980584e-05 9.99998118e-01 -6.87507439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84028169299995 meters 0.01746448710852543 Centerline is valid? [True, True] Translation: X:294.46, Y:28.67, Z:-0.07 [[ 9.52606244e-01 -3.04196839e-01 -2.37215277e-03 2.94456710e+02] [ 3.04195944e-01 9.52609197e-01 -7.38090132e-04 2.86711585e+01] [ 2.48425923e-03 -1.84899828e-05 9.99996914e-01 -6.91678378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90028169299995 meters 0.014407932325886021 Centerline is valid? [True, True] Translation: X:294.51, Y:28.69, Z:-0.07 [[ 9.54119803e-01 -2.99412455e-01 -2.75370145e-03 2.94511329e+02] [ 2.99411228e-01 9.54123777e-01 -8.57268962e-04 2.86944555e+01] [ 2.88404904e-03 -6.55183945e-06 9.99995841e-01 -6.99767582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96028169299996 meters 0.01711965481511834 Centerline is valid? [True, True] Translation: X:294.56, Y:28.73, Z:-0.07 [[ 9.56774986e-01 -2.90825020e-01 -1.55989717e-03 2.94562354e+02] [ 2.90824614e-01 9.56776258e-01 -4.85893192e-04 2.87284865e+01] [ 1.63378248e-03 1.12339582e-05 9.99998665e-01 -6.78008169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02028169299996 meters 0.02425363774144763 Centerline is valid? [True, True] Translation: X:294.62, Y:28.76, Z:-0.07 [[ 9.59462875e-01 -2.81814684e-01 -3.38736773e-03 2.94615080e+02] [ 2.81812715e-01 9.59468853e-01 -1.05510531e-03 2.87602648e+01] [ 3.54741800e-03 5.77310816e-05 9.99993706e-01 -7.08418130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08028169299996 meters 0.0319904427009352 Centerline is valid? [True, True] Translation: X:294.67, Y:28.79, Z:-0.07 [[ 9.61386402e-01 -2.75167125e-01 -4.38627866e-03 2.94667932e+02] [ 2.75163754e-01 9.61396402e-01 -1.36629712e-03 2.87933457e+01] [ 4.59291257e-03 1.06594572e-04 9.99989447e-01 -7.22514972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14028169299996 meters 0.036349281726420726 Centerline is valid? [True, True] Translation: X:294.72, Y:28.83, Z:-0.07 [[ 9.62510074e-01 -2.71242190e-01 -1.42572730e-03 2.94720069e+02] [ 2.71241829e-01 9.62511129e-01 -4.44168755e-04 2.88256100e+01] [ 1.49275570e-03 4.08000211e-05 9.99998885e-01 -6.60980668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20028169299997 meters 0.03760284872966544 Centerline is valid? [True, True] Translation: X:294.77, Y:28.85, Z:-0.07 [[ 9.63327100e-01 -2.68328954e-01 -6.86638126e-04 2.94773225e+02] [ 2.68328869e-01 9.63327344e-01 -2.13947151e-04 2.88545214e+01] [ 7.18865497e-04 2.18562565e-05 9.99999741e-01 -6.55268952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26028169299997 meters 0.04183850945418164 Centerline is valid? [True, True] Translation: X:294.82, Y:28.88, Z:-0.06 [[ 9.63296691e-01 -2.68438517e-01 4.97214513e-04 2.94823719e+02] [ 2.68438473e-01 9.63296819e-01 1.54930972e-04 2.88833078e+01] [-5.20554599e-04 -1.57729886e-05 9.99999864e-01 -6.28544528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32028169299997 meters 0.03069333344256431 Centerline is valid? [True, True] Translation: X:294.88, Y:28.89, Z:-0.06 [[ 9.61414780e-01 -2.75102779e-01 2.86325617e-04 2.94883621e+02] [ 2.75102764e-01 9.61414823e-01 8.92346843e-05 2.88928844e+01] [-2.99826402e-04 -7.02257550e-06 9.99999955e-01 -6.32505251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.380281693 meters 0.0154908198339799 Centerline is valid? [True, True] Translation: X:294.95, Y:28.89, Z:-0.06 [[ 9.56620052e-01 -2.91335310e-01 1.34677211e-03 2.94948634e+02] [ 2.91335008e-01 9.56621000e-01 4.19769455e-04 2.88858742e+01] [-1.41064415e-03 -9.19801438e-06 9.99999005e-01 -6.29006619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.440281693 meters 0.015029731684698821 Centerline is valid? [True, True] Translation: X:295.01, Y:28.88, Z:-0.07 [[ 9.53079727e-01 -3.02719312e-01 -2.30233534e-04 2.95010390e+02] [ 3.02719303e-01 9.53079754e-01 -7.17974624e-05 2.88830710e+01] [ 2.41165399e-04 -1.26742917e-06 9.99999971e-01 -6.63687152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.500281693 meters 0.023731205671919806 Centerline is valid? [True, True] Translation: X:295.07, Y:28.88, Z:-0.07 [[ 9.49489815e-01 -3.13789066e-01 -2.34794688e-03 2.95074563e+02] [ 3.13788215e-01 9.49492717e-01 -7.32030005e-04 2.88783838e+01] [ 2.45906148e-03 -4.17030263e-05 9.99996976e-01 -6.94671866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.560281693 meters 0.024818373343065765 Centerline is valid? [True, True] Translation: X:295.13, Y:28.89, Z:-0.07 [[ 9.49341434e-01 -3.14230851e-01 -3.13275229e-03 2.95131117e+02] [ 3.14229337e-01 9.49346601e-01 -9.76922957e-04 2.88905374e+01] [ 3.28104707e-03 -5.69692357e-05 9.99994616e-01 -7.02629083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.620281693 meters 0.015987782945998015 Centerline is valid? [True, True] Translation: X:295.18, Y:28.92, Z:-0.08 [[ 9.52933782e-01 -3.03134359e-01 -5.17373824e-03 2.95183708e+02] [ 3.03130066e-01 9.52947826e-01 -1.61352144e-03 2.89181592e+01] [ 5.41941640e-03 -3.07365244e-05 9.99985314e-01 -7.53493862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.680281693 meters 0.015327245823741883 Centerline is valid? [True, True] Translation: X:295.23, Y:28.95, Z:-0.07 [[ 9.55806196e-01 -2.93946345e-01 -5.48294024e-03 2.95234308e+02] [ 2.93941366e-01 9.55821922e-01 -1.71109828e-03 2.89492565e+01] [ 5.74368556e-03 2.38153945e-05 9.99983505e-01 -7.43244079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.740281693 meters 0.020018475400541375 Centerline is valid? [True, True] Translation: X:295.29, Y:28.98, Z:-0.07 [[ 9.57784663e-01 -2.87444499e-01 -4.91925397e-03 2.95286252e+02] [ 2.87440404e-01 9.57797294e-01 -1.53545076e-03 2.89767709e+01] [ 5.15300501e-03 5.66388428e-05 9.99986722e-01 -7.24485935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.800281693 meters 0.03777072524393858 Centerline is valid? [True, True] Translation: X:295.33, Y:29.03, Z:-0.07 [[ 9.62354394e-01 -2.71777401e-01 -3.32621417e-03 2.95333030e+02] [ 2.71775434e-01 9.62360138e-01 -1.03828688e-03 2.90263713e+01] [ 3.48319884e-03 9.52166390e-05 9.99993929e-01 -6.90979077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.860281693 meters 0.04669250140645483 Centerline is valid? [True, True] Translation: X:295.38, Y:29.07, Z:-0.07 [[ 9.65712670e-01 -2.59607884e-01 -1.66917006e-03 2.95383410e+02] [ 2.59607371e-01 9.65714110e-01 -5.21068526e-04 2.90658015e+01] [ 1.74721458e-03 6.98736256e-05 9.99998471e-01 -6.51147340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.920281693 meters 0.05720701931198379 Centerline is valid? [True, True] Translation: X:295.43, Y:29.11, Z:-0.06 [[ 9.67245646e-01 -2.53841473e-01 -6.05663750e-04 2.95432588e+02] [ 2.53841404e-01 9.67245835e-01 -1.89069173e-04 2.91057553e+01] [ 6.33819337e-04 2.91337977e-05 9.99999799e-01 -6.41974778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98028169299994 meters 0.05333266338672445 Centerline is valid? [True, True] Translation: X:295.49, Y:29.13, Z:-0.07 [[ 9.67569399e-01 -2.52591012e-01 -2.69033048e-03 2.95486270e+02] [ 2.52589651e-01 9.67573131e-01 -8.39953627e-04 2.91321813e+01] [ 2.81525622e-03 1.33163789e-04 9.99996028e-01 -6.81285394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04028169299994 meters 0.049158376951145714 Centerline is valid? [True, True] Translation: X:295.54, Y:29.16, Z:-0.07 [[ 9.65884226e-01 -2.58967399e-01 -1.88359107e-03 2.95539881e+02] [ 2.58966743e-01 9.65886059e-01 -5.88144838e-04 2.91573724e+01] [ 1.97164469e-03 8.02923769e-05 9.99998053e-01 -6.69539582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10028169299994 meters 0.04166749730890907 Centerline is valid? [True, True] Translation: X:295.60, Y:29.18, Z:-0.07 [[ 9.63862806e-01 -2.66394214e-01 -1.61646594e-03 2.95596444e+02] [ 2.66393742e-01 9.63864160e-01 -5.04742560e-04 2.91786971e+01] [ 1.69251409e-03 5.58861692e-05 9.99998566e-01 -6.73644433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16028169299994 meters 0.036849587254562 Centerline is valid? [True, True] Translation: X:295.65, Y:29.20, Z:-0.07 [[ 9.63016756e-01 -2.69418947e-01 -3.48694967e-03 2.95651470e+02] [ 2.69416769e-01 9.63023063e-01 -1.08884583e-03 2.92044246e+01] [ 3.65136865e-03 1.09134069e-04 9.99993328e-01 -6.99058303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22028169299995 meters 0.03462357436141624 Centerline is valid? [True, True] Translation: X:295.70, Y:29.23, Z:-0.07 [[ 9.62267582e-01 -2.72098741e-01 -1.83728955e-03 2.95704496e+02] [ 2.72098141e-01 9.62269335e-01 -5.73798926e-04 2.92309679e+01] [ 1.92409736e-03 5.22250344e-05 9.99998148e-01 -6.71558393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28028169299995 meters 0.029353827676433478 Centerline is valid? [True, True] Translation: X:295.76, Y:29.25, Z:-0.07 [[ 9.60810599e-01 -2.77201706e-01 -1.48573523e-03 2.95760764e+02] [ 2.77201320e-01 9.60811747e-01 -4.64018817e-04 2.92522592e+01] [ 1.55613867e-03 3.39864309e-05 9.99998789e-01 -6.77424566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34028169299995 meters 0.026457036795115095 Centerline is valid? [True, True] Translation: X:295.82, Y:29.27, Z:-0.07 [[ 9.59957074e-01 -2.80134823e-01 -2.62623417e-03 2.95815789e+02] [ 2.80133627e-01 9.59960665e-01 -8.20357149e-04 2.92729543e+01] [ 2.75089211e-03 5.18111463e-05 9.99996215e-01 -6.99099291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40028169299995 meters 0.021483719296003984 Centerline is valid? [True, True] Translation: X:295.87, Y:29.29, Z:-0.07 [[ 9.58488688e-01 -2.85130340e-01 -3.53194302e-04 2.95870994e+02] [ 2.85130319e-01 9.58488753e-01 -1.10342212e-04 2.92936900e+01] [ 3.69994679e-04 5.05535762e-06 9.99999932e-01 -6.52603722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46028169299996 meters 0.016444947959136955 Centerline is valid? [True, True] Translation: X:295.93, Y:29.31, Z:-0.06 [[ 9.56760921e-01 -2.90875386e-01 -2.24370826e-04 2.95928903e+02] [ 2.90875378e-01 9.56760947e-01 -7.01793532e-05 2.93076068e+01] [ 2.35082691e-04 1.88091368e-06 9.99999972e-01 -6.47113024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52028169299996 meters 0.014136038508059215 Centerline is valid? [True, True] Translation: X:295.99, Y:29.31, Z:-0.06 [[ 9.53095745e-01 -3.02666845e-01 1.13233253e-03 2.95989969e+02] [ 3.02666638e-01 9.53096417e-01 3.54051678e-04 2.93081012e+01] [-1.18638178e-03 5.27413228e-06 9.99999296e-01 -6.33429147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58028169299996 meters 0.026190591408181873 Centerline is valid? [True, True] Translation: X:296.05, Y:29.30, Z:-0.07 [[ 9.48426236e-01 -3.16996932e-01 -7.87348759e-04 2.96054520e+02] [ 3.16996837e-01 9.48426563e-01 -2.46247231e-04 2.92990213e+01] [ 8.24802094e-04 -1.60397313e-05 9.99999660e-01 -6.71572980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64028169299996 meters 0.033957525848232056 Centerline is valid? [True, True] Translation: X:296.12, Y:29.30, Z:-0.07 [[ 9.45020104e-01 -3.27002909e-01 -2.46993062e-03 2.96118469e+02] [ 3.27002006e-01 9.45023329e-01 -7.72485566e-04 2.92972065e+01] [ 2.58674709e-03 -7.76578792e-05 9.99996651e-01 -6.82837462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70028169299997 meters 0.03829207734549378 Centerline is valid? [True, True] Translation: X:296.18, Y:29.29, Z:-0.07 [[ 9.43631406e-01 -3.30995517e-01 -1.31825963e-03 2.96182337e+02] [ 3.30995263e-01 9.43632326e-01 -4.12321259e-04 2.92944124e+01] [ 1.38042889e-03 -4.72584046e-05 9.99999046e-01 -6.70689882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76028169299997 meters 0.04608641509357245 Centerline is valid? [True, True] Translation: X:296.25, Y:29.29, Z:-0.07 [[ 9.42829230e-01 -3.33265976e-01 -2.61394047e-03 2.96246000e+02] [ 3.33264988e-01 9.42832848e-01 -8.17681220e-04 2.92873977e+01] [ 2.73701427e-03 -1.00201084e-04 9.99996249e-01 -6.93176471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82028169299997 meters 0.04793005801664673 Centerline is valid? [True, True] Translation: X:296.31, Y:29.29, Z:-0.07 [[ 9.42455436e-01 -3.34317668e-01 -3.07367962e-03 2.96307473e+02] [ 3.34316305e-01 9.42460441e-01 -9.62051350e-04 2.92866638e+01] [ 3.21845222e-03 -1.20890690e-04 9.99994813e-01 -7.11278057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.880281693 meters 0.04410629862140767 Centerline is valid? [True, True] Translation: X:296.37, Y:29.30, Z:-0.07 [[ 9.42471670e-01 -3.34282644e-01 -1.50492303e-03 2.96366455e+02] [ 3.34282317e-01 9.42472870e-01 -4.71332622e-04 2.92955287e+01] [ 1.57590744e-03 -5.88515142e-05 9.99998757e-01 -6.70179647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.940281693 meters 0.039179364541083596 Centerline is valid? [True, True] Translation: X:296.43, Y:29.31, Z:-0.06 [[ 9.43966444e-01 -3.30041360e-01 -2.30762042e-04 2.96426118e+02] [ 3.30041352e-01 9.43966472e-01 -7.22825542e-05 2.93053059e+01] [ 2.41687863e-04 -7.92871065e-06 9.99999971e-01 -6.33908741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.000281693 meters 0.03541189842693587 Centerline is valid? [True, True] Translation: X:296.48, Y:29.32, Z:-0.06 [[ 9.45496309e-01 -3.25632124e-01 6.70456258e-04 2.96482844e+02] [ 3.25632057e-01 9.45496547e-01 2.09988370e-04 2.93206595e+01] [-7.02293036e-04 1.97788211e-05 9.99999753e-01 -6.07933901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.060281693 meters 0.025148030168027195 Centerline is valid? [True, True] Translation: X:296.54, Y:29.34, Z:-0.07 [[ 9.48599449e-01 -3.16470985e-01 -2.28079589e-03 2.96538213e+02] [ 3.16470181e-01 9.48602189e-01 -7.14441114e-04 2.93439130e+01] [ 2.38966786e-03 -4.40854416e-05 9.99997144e-01 -6.65802803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.120281693 meters 0.022766088426586107 Centerline is valid? [True, True] Translation: X:296.59, Y:29.36, Z:-0.07 [[ 9.49502289e-01 -3.13749799e-01 -2.54292131e-03 2.96593357e+02] [ 3.13748790e-01 9.49505693e-01 -7.96721980e-04 2.93623223e+01] [ 2.66448962e-03 -4.13491410e-05 9.99996449e-01 -6.64529493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.180281693 meters 0.018495878425058215 Centerline is valid? [True, True] Translation: X:296.65, Y:29.39, Z:-0.06 [[ 9.50708193e-01 -3.10086973e-01 -1.07459372e-05 2.96647208e+02] [ 3.10086973e-01 9.50708193e-01 -3.38440081e-06 2.93872279e+01] [ 1.12657092e-05 -1.14597552e-07 1.00000000e+00 -6.08299933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.240281693 meters 0.01409551370061106 Centerline is valid? [True, True] Translation: X:296.70, Y:29.42, Z:-0.06 [[ 9.52945050e-01 -3.03142874e-01 3.60538262e-04 2.96699795e+02] [ 3.03142853e-01 9.52945118e-01 1.12977527e-04 2.94156486e+01] [-3.77821509e-04 1.63322172e-06 9.99999929e-01 -6.12991051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.300281693 meters 0.013704195425425792 Centerline is valid? [True, True] Translation: X:296.75, Y:29.44, Z:-0.07 [[ 9.53991367e-01 -2.99820340e-01 -2.86988311e-03 2.96752121e+02] [ 2.99818990e-01 9.53995683e-01 -8.99725754e-04 2.94376272e+01] [ 3.00761218e-03 -2.11485415e-06 9.99995477e-01 -6.76503686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.360281693 meters 0.014106263715330768 Centerline is valid? [True, True] Translation: X:296.81, Y:29.46, Z:-0.07 [[ 9.54683545e-01 -2.97589202e-01 -4.47175302e-03 2.96806265e+02] [ 2.97585898e-01 9.54694017e-01 -1.40217401e-03 2.94576795e+01] [ 4.68642770e-03 7.90181173e-06 9.99989019e-01 -7.11183294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.420281693 meters 0.01460596348407349 Centerline is valid? [True, True] Translation: X:296.86, Y:29.48, Z:-0.06 [[ 9.55679264e-01 -2.94408698e-01 -8.14151057e-04 2.96859850e+02] [ 2.94408587e-01 9.55679611e-01 -2.55518853e-04 2.94815061e+01] [ 8.53294539e-04 4.50100678e-06 9.99999636e-01 -6.17494764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48028169299994 meters 0.01379345286784927 Centerline is valid? [True, True] Translation: X:296.92, Y:29.50, Z:-0.06 [[ 9.55132666e-01 -2.96175938e-01 1.18511976e-03 2.96915367e+02] [ 2.96175705e-01 9.55133401e-01 3.71901969e-04 2.94981279e+01] [-1.24209588e-03 -4.21203948e-06 9.99999229e-01 -5.92142039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54028169299994 meters 0.013759930450403902 Centerline is valid? [True, True] Translation: X:296.97, Y:29.51, Z:-0.07 [[ 9.54132258e-01 -2.99368779e-01 -3.15732396e-03 2.96972526e+02] [ 2.99367137e-01 9.54137482e-01 -9.91558755e-04 2.95104432e+01] [ 3.30936286e-03 8.79158938e-07 9.99994524e-01 -6.87459518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60028169299994 meters 0.013452964899867952 Centerline is valid? [True, True] Translation: X:297.03, Y:29.53, Z:-0.06 [[ 9.53975236e-01 -2.99880040e-01 -1.79174751e-03 2.97027262e+02] [ 2.99879511e-01 9.53976919e-01 -5.62793349e-04 2.95285780e+01] [ 1.87805626e-03 -4.17449268e-07 9.99998236e-01 -6.48807913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66028169299994 meters 0.0134078432811708 Centerline is valid? [True, True] Translation: X:297.08, Y:29.55, Z:-0.06 [[ 9.53982690e-01 -2.99858889e-01 -1.29400941e-03 2.97082549e+02] [ 2.99858613e-01 9.53983567e-01 -4.06758064e-04 2.95475641e+01] [ 1.35643373e-03 2.02848934e-08 9.99999080e-01 -6.41488405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72028169299995 meters 0.014704206005580823 Centerline is valid? [True, True] Translation: X:297.14, Y:29.55, Z:-0.06 [[ 9.52544629e-01 -3.04397558e-01 -9.25116577e-04 2.97142530e+02] [ 3.04397419e-01 9.52545078e-01 -2.90971889e-04 2.95539668e+01] [ 9.69786375e-04 -4.43938831e-06 9.99999530e-01 -6.39327082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78028169299995 meters 0.017597343905549387 Centerline is valid? [True, True] Translation: X:297.20, Y:29.56, Z:-0.06 [[ 9.51243583e-01 -3.08439268e-01 -9.29290897e-04 2.97201215e+02] [ 3.08439130e-01 9.51244037e-01 -2.92342542e-04 2.95608635e+01] [ 9.74152344e-04 -8.54070803e-06 9.99999525e-01 -6.49199649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84028169299995 meters 0.017000870705781965 Centerline is valid? [True, True] Translation: X:297.26, Y:29.58, Z:-0.07 [[ 9.51628604e-01 -3.07221912e-01 -4.20676064e-03 2.97257306e+02] [ 3.07219060e-01 9.51637902e-01 -1.32411613e-03 2.95765468e+01] [ 4.41011035e-03 -3.23302613e-05 9.99990275e-01 -6.99975985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90028169299995 meters 0.013965076169391794 Centerline is valid? [True, True] Translation: X:297.31, Y:29.60, Z:-0.07 [[ 9.53539102e-01 -3.01234146e-01 -4.60103775e-03 2.97311909e+02] [ 3.01230661e-01 9.53550203e-01 -1.44894016e-03 2.96007003e+01] [ 4.82379073e-03 -4.35254091e-06 9.99988365e-01 -7.01382450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96028169299996 meters 0.014285781476491687 Centerline is valid? [True, True] Translation: X:297.37, Y:29.62, Z:-0.07 [[ 9.54752882e-01 -2.97381781e-01 -3.31837477e-03 2.97367126e+02] [ 2.97379942e-01 9.54758648e-01 -1.04568984e-03 2.96188581e+01] [ 3.47921612e-03 1.15572869e-05 9.99993947e-01 -6.82712487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02028169299996 meters 0.014461681178274387 Centerline is valid? [True, True] Translation: X:297.42, Y:29.63, Z:-0.07 [[ 9.54901842e-01 -2.96915617e-01 -1.89459420e-03 2.97423323e+02] [ 2.96915016e-01 9.54903721e-01 -5.97425315e-04 2.96329831e+01] [ 1.98653996e-03 7.94906700e-06 9.99998027e-01 -6.50440880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08028169299996 meters 0.01533176710863542 Centerline is valid? [True, True] Translation: X:297.48, Y:29.65, Z:-0.07 [[ 9.55175989e-01 -2.96006193e-01 -4.37767325e-03 2.97480597e+02] [ 2.96002972e-01 9.55186020e-01 -1.38107797e-03 2.96473870e+01] [ 4.59029992e-03 2.33682214e-05 9.99989464e-01 -7.00501008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14028169299996 meters 0.01447949848140812 Centerline is valid? [True, True] Translation: X:297.54, Y:29.66, Z:-0.06 [[ 9.54982380e-01 -2.96650036e-01 -2.72200451e-03 2.97538677e+02] [ 2.96648792e-01 9.54986259e-01 -8.59267534e-04 2.96582886e+01] [ 2.85437865e-03 1.31060049e-05 9.99995926e-01 -6.44689664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20028169299997 meters 0.016095508772313256 Centerline is valid? [True, True] Translation: X:297.59, Y:29.68, Z:-0.06 [[ 9.55614191e-01 -2.94619887e-01 -8.00444195e-04 2.97593172e+02] [ 2.94619779e-01 9.55614526e-01 -2.52735368e-04 2.96787847e+01] [ 8.39376966e-04 5.69081300e-06 9.99999648e-01 -6.20008243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26028169299997 meters 0.01882660403359876 Centerline is valid? [True, True] Translation: X:297.65, Y:29.70, Z:-0.07 [[ 9.56929042e-01 -2.90293373e-01 -4.07023369e-03 2.97646626e+02] [ 2.90290532e-01 9.56937697e-01 -1.28533198e-03 2.97030816e+01] [ 4.26808341e-03 4.84211972e-05 9.99990891e-01 -6.81315806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32028169299997 meters 0.02297969482187518 Centerline is valid? [True, True] Translation: X:297.70, Y:29.73, Z:-0.06 [[ 9.58312548e-01 -2.85699457e-01 -3.58893891e-03 2.97698474e+02] [ 2.85697215e-01 9.58319267e-01 -1.13347813e-03 2.97338006e+01] [ 3.76318339e-03 6.08764635e-05 9.99992917e-01 -6.45881639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.380281693 meters 0.02909076537980883 Centerline is valid? [True, True] Translation: X:297.75, Y:29.77, Z:-0.07 [[ 9.58803659e-01 -2.84033407e-01 -4.53519412e-03 2.97748690e+02] [ 2.84029807e-01 9.58814381e-01 -1.43262450e-03 2.97670905e+01] [ 4.75532256e-03 8.54752977e-05 9.99988690e-01 -6.89726178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.440281693 meters 0.023607795965634032 Centerline is valid? [True, True] Translation: X:297.81, Y:29.78, Z:-0.06 [[ 9.58254007e-01 -2.85912926e-01 -1.74838105e-03 2.97805320e+02] [ 2.85912393e-01 9.58255602e-01 -5.52655918e-04 2.97842169e+01] [ 1.83340741e-03 2.97009374e-05 9.99998319e-01 -6.24933225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.500281693 meters 0.02430570907187219 Centerline is valid? [True, True] Translation: X:297.86, Y:29.81, Z:-0.07 [[ 9.58228198e-01 -2.85980925e-01 -3.69215089e-03 2.97859011e+02] [ 2.85978548e-01 9.58235309e-01 -1.16765604e-03 2.98090284e+01] [ 3.87187670e-03 6.30049868e-05 9.99992502e-01 -6.71383717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.560281693 meters 0.023571717131664865 Centerline is valid? [True, True] Translation: X:297.91, Y:29.83, Z:-0.06 [[ 9.58324503e-01 -2.85677692e-01 -1.55027166e-03 2.97912782e+02] [ 2.85677272e-01 9.58325757e-01 -4.90644762e-04 2.98316742e+01] [ 1.62583152e-03 2.73195191e-05 9.99998678e-01 -6.26594664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.620281693 meters 0.02032441167668464 Centerline is valid? [True, True] Translation: X:297.97, Y:29.85, Z:-0.06 [[ 9.57306719e-01 -2.89073546e-01 5.75452345e-04 2.97970215e+02] [ 2.89073489e-01 9.57306892e-01 1.82140598e-04 2.98467914e+01] [-6.03536525e-04 -8.01640080e-06 9.99999818e-01 -5.83445844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.680281693 meters 0.015583795818926816 Centerline is valid? [True, True] Translation: X:298.03, Y:29.86, Z:-0.06 [[ 9.55429315e-01 -2.95216594e-01 -1.40917440e-03 2.98027956e+02] [ 2.95216257e-01 9.55430355e-01 -4.46252595e-04 2.98576485e+01] [ 1.47810917e-03 1.03516176e-05 9.99998908e-01 -6.32395268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.740281693 meters 0.013645259575140895 Centerline is valid? [True, True] Translation: X:298.09, Y:29.87, Z:-0.06 [[ 9.53936966e-01 -2.99998758e-01 -2.23846894e-03 2.98085831e+02] [ 2.99997919e-01 9.53939592e-01 -7.09299535e-04 2.98701914e+01] [ 2.34815313e-03 5.09102240e-06 9.99997243e-01 -6.41494773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.800281693 meters 0.013644591176734002 Centerline is valid? [True, True] Translation: X:298.14, Y:29.89, Z:-0.07 [[ 9.53618592e-01 -3.00982371e-01 -4.60352748e-03 2.98140602e+02] [ 3.00978835e-01 9.53629704e-01 -1.45889983e-03 2.98875419e+01] [ 4.82916368e-03 5.66966818e-06 9.99988340e-01 -6.78755165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.860281693 meters 0.013971439490921276 Centerline is valid? [True, True] Translation: X:298.19, Y:29.91, Z:-0.07 [[ 9.54143682e-01 -2.99321542e-01 -4.05573602e-03 2.98194128e+02] [ 2.99318778e-01 9.54152302e-01 -1.28619262e-03 2.99099148e+01] [ 4.25477501e-03 1.32546094e-05 9.99990948e-01 -6.70353036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.920281693 meters 0.015111265098106058 Centerline is valid? [True, True] Translation: X:298.25, Y:29.94, Z:-0.06 [[ 9.54951952e-01 -2.96755512e-01 -1.71302691e-03 2.98246666e+02] [ 2.96755015e-01 9.54953489e-01 -5.43420970e-04 2.99363663e+01] [ 1.79712419e-03 1.05915901e-05 9.99998385e-01 -6.23595847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98028169299994 meters 0.017010092263663266 Centerline is valid? [True, True] Translation: X:298.30, Y:29.96, Z:-0.07 [[ 9.55864627e-01 -2.93775280e-01 -4.34738404e-03 2.98299717e+02] [ 2.93772042e-01 9.55874512e-01 -1.37988882e-03 2.99633069e+01] [ 4.56093082e-03 4.18470281e-05 9.99989598e-01 -6.68585147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04028169299994 meters 0.022226996880587577 Centerline is valid? [True, True] Translation: X:298.35, Y:29.99, Z:-0.07 [[ 9.57641048e-01 -2.87909927e-01 -5.61231283e-03 2.98352478e+02] [ 2.87904429e-01 9.57657489e-01 -1.78154077e-03 2.99935059e+01] [ 5.88759669e-03 9.02668477e-05 9.99982664e-01 -6.91705408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10028169299994 meters 0.02690567823022386 Centerline is valid? [True, True] Translation: X:298.41, Y:30.02, Z:-0.06 [[ 9.59157057e-01 -2.82859662e-01 -2.85511088e-03 2.98405773e+02] [ 2.82858217e-01 9.59161304e-01 -9.06387363e-04 3.00230588e+01] [ 2.99489230e-03 6.17762633e-05 9.99995513e-01 -6.29131778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16028169299994 meters 0.03538766446612492 Centerline is valid? [True, True] Translation: X:298.46, Y:30.06, Z:-0.06 [[ 9.61592921e-01 -2.74475658e-01 -1.47219365e-03 2.98456627e+02] [ 2.74475264e-01 9.61594047e-01 -4.67376928e-04 3.00629756e+01] [ 1.54393624e-03 4.53456032e-05 9.99998807e-01 -6.13633678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22028169299995 meters 0.036775908169184635 Centerline is valid? [True, True] Translation: X:298.51, Y:30.09, Z:-0.06 [[ 9.61716713e-01 -2.74042311e-01 -1.33252523e-03 2.98510569e+02] [ 2.74041987e-01 9.61717635e-01 -4.23141113e-04 3.00856268e+01] [ 1.39747158e-03 4.17740196e-05 9.99999023e-01 -6.20471625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28028169299995 meters 0.0349791462006919 Centerline is valid? [True, True] Translation: X:298.57, Y:30.11, Z:-0.06 [[ 9.61089316e-01 -2.76228070e-01 -2.31929789e-03 2.98566150e+02] [ 2.76227096e-01 9.61092112e-01 -7.36679251e-04 3.01070041e+01] [ 2.43255039e-03 6.73616380e-05 9.99997039e-01 -6.47399902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34028169299995 meters 0.03816939527352962 Centerline is valid? [True, True] Translation: X:298.62, Y:30.13, Z:-0.07 [[ 9.60316565e-01 -2.78898553e-01 -2.77358735e-03 2.98618024e+02] [ 2.78897171e-01 9.60320567e-01 -8.81139804e-04 3.01346969e+01] [ 2.90928160e-03 7.26274839e-05 9.99995765e-01 -6.60820056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40028169299995 meters 0.03498303486551419 Centerline is valid? [True, True] Translation: X:298.67, Y:30.15, Z:-0.06 [[ 9.59567457e-01 -2.81478349e-01 -4.83327954e-04 2.98673525e+02] [ 2.81478308e-01 9.59567579e-01 -1.53581921e-04 3.01539143e+01] [ 5.07015820e-04 1.13258791e-05 9.99999871e-01 -6.03742026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46028169299996 meters 0.02817523094855929 Centerline is valid? [True, True] Translation: X:298.73, Y:30.17, Z:-0.06 [[ 9.59030539e-01 -2.83302665e-01 1.56386861e-04 2.98731318e+02] [ 2.83302661e-01 9.59030552e-01 4.96577774e-05 3.01672601e+01] [-1.64047958e-04 -3.31851119e-06 9.99999987e-01 -5.95707798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52028169299996 meters 0.031546860447477 Centerline is valid? [True, True] Translation: X:298.78, Y:30.19, Z:-0.06 [[ 9.58631742e-01 -2.84647586e-01 -9.66975356e-04 2.98784521e+02] [ 2.84647421e-01 9.58632229e-01 -3.07487800e-04 3.01907056e+01] [ 1.01449940e-03 1.95205239e-05 9.99999485e-01 -6.25629180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58028169299996 meters 0.02658273164931717 Centerline is valid? [True, True] Translation: X:298.84, Y:30.20, Z:-0.07 [[ 9.58226388e-01 -2.85952671e-01 -5.76702480e-03 2.98840899e+02] [ 2.85946805e-01 9.58243736e-01 -1.83493840e-03 3.02035127e+01] [ 6.05092092e-03 1.09224082e-04 9.99981687e-01 -6.98322354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64028169299996 meters 0.02504949559875435 Centerline is valid? [True, True] Translation: X:298.90, Y:30.23, Z:-0.07 [[ 9.57831169e-01 -2.87315797e-01 -3.01401680e-03 2.98895731e+02] [ 2.87314199e-01 9.57835910e-01 -9.59536862e-04 3.02260791e+01] [ 3.16262362e-03 5.31044910e-05 9.99994997e-01 -6.56646383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70028169299997 meters 0.02153428865482391 Centerline is valid? [True, True] Translation: X:298.95, Y:30.24, Z:-0.06 [[ 9.56912113e-01 -2.90374092e-01 -1.44734376e-03 2.98951760e+02] [ 2.90373727e-01 9.56913207e-01 -4.60833640e-04 3.02430951e+01] [ 1.51879651e-03 2.07066896e-05 9.99998846e-01 -6.33946779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76028169299997 meters 0.01582579186591091 Centerline is valid? [True, True] Translation: X:299.01, Y:30.26, Z:-0.06 [[ 9.55341782e-01 -2.95497960e-01 -1.74233863e-03 2.99009033e+02] [ 2.95497439e-01 9.55343370e-01 -5.54848705e-04 3.02568750e+01] [ 1.82848832e-03 1.52135476e-05 9.99998328e-01 -6.39791115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82028169299997 meters 0.015291662533191131 Centerline is valid? [True, True] Translation: X:299.06, Y:30.28, Z:-0.07 [[ 9.54637009e-01 -2.97756797e-01 -3.01182534e-03 2.99063953e+02] [ 2.97755252e-01 9.54641760e-01 -9.59302912e-04 3.02756649e+01] [ 3.16085321e-03 1.89992485e-05 9.99995004e-01 -6.69122833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.880281693 meters 0.015399840633499584 Centerline is valid? [True, True] Translation: X:299.12, Y:30.29, Z:-0.07 [[ 9.54682026e-01 -2.97592838e-01 -4.55324231e-03 2.99119749e+02] [ 2.97589302e-01 9.54692883e-01 -1.45108531e-03 3.02930641e+01] [ 4.77878063e-03 3.03288651e-05 9.99988581e-01 -7.00074596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.940281693 meters 0.015054027215240311 Centerline is valid? [True, True] Translation: X:299.18, Y:30.31, Z:-0.06 [[ 9.54850743e-01 -2.97084170e-01 -1.02655019e-03 2.99175176e+02] [ 2.97083990e-01 9.54851295e-01 -3.27420837e-04 3.03085807e+01] [ 1.07747432e-03 7.66640497e-06 9.99999419e-01 -6.29716575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.000281693 meters 0.016303417045185103 Centerline is valid? [True, True] Translation: X:299.23, Y:30.33, Z:-0.06 [[ 9.55164992e-01 -2.96067776e-01 -1.92605498e-03 2.99229041e+02] [ 2.96067139e-01 9.55166934e-01 -6.14337449e-04 3.03298038e+01] [ 2.02158955e-03 1.65520374e-05 9.99997956e-01 -6.45928591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.060281693 meters 0.017465284221702775 Centerline is valid? [True, True] Translation: X:299.28, Y:30.35, Z:-0.07 [[ 9.55705313e-01 -2.94309819e-01 -3.01398981e-03 2.99283602e+02] [ 2.94308250e-01 9.55710065e-01 -9.61528538e-04 3.03507779e+01] [ 3.16348769e-03 3.18958647e-05 9.99994996e-01 -6.65900418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.120281693 meters 0.01788016720141384 Centerline is valid? [True, True] Translation: X:299.34, Y:30.37, Z:-0.06 [[ 9.55989780e-01 -2.93399861e-01 -2.48255931e-04 2.99338764e+02] [ 2.93399850e-01 9.55989813e-01 -7.93023783e-05 3.03712854e+01] [ 2.60597448e-04 2.97401026e-06 9.99999966e-01 -6.16498693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.180281693 meters 0.015190707730697127 Centerline is valid? [True, True] Translation: X:299.40, Y:30.39, Z:-0.07 [[ 9.54691654e-01 -2.97591742e-01 -1.73249472e-03 2.99395197e+02] [ 2.97591228e-01 9.54693225e-01 -5.53138619e-04 3.03853856e+01] [ 1.81861046e-03 1.25015895e-05 9.99998346e-01 -6.57441327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.240281693 meters 0.014176276969223231 Centerline is valid? [True, True] Translation: X:299.45, Y:30.40, Z:-0.07 [[ 9.54169304e-01 -2.99258009e-01 -2.36281227e-03 2.99450559e+02] [ 2.99257058e-01 9.54172230e-01 -7.54844542e-04 3.04044177e+01] [ 2.48042313e-03 1.31612441e-05 9.99996924e-01 -6.71967061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.300281693 meters 0.013384640636286365 Centerline is valid? [True, True] Translation: X:299.51, Y:30.42, Z:-0.07 [[ 9.53494365e-01 -3.01406271e-01 -1.65983218e-03 2.99505380e+02] [ 3.01405805e-01 9.53495810e-01 -5.30350216e-04 3.04222348e+01] [ 1.74249391e-03 5.40288851e-06 9.99998482e-01 -6.69281771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.360281693 meters 0.013573000079485923 Centerline is valid? [True, True] Translation: X:299.56, Y:30.43, Z:-0.06 [[ 9.51361894e-01 -3.08075450e-01 -2.53514357e-04 2.99562964e+02] [ 3.08075439e-01 9.51361928e-01 -8.10493775e-05 3.04308088e+01] [ 2.66153231e-04 -9.94257553e-07 9.99999965e-01 -6.37993216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.420281693 meters 0.0164328083065124 Centerline is valid? [True, True] Translation: X:299.62, Y:30.44, Z:-0.07 [[ 9.49813844e-01 -3.12812769e-01 -1.35414811e-03 2.99620820e+02] [ 3.12812470e-01 9.49814809e-01 -4.33067547e-04 3.04431093e+01] [ 1.42165899e-03 -1.22608631e-05 9.99998989e-01 -6.53889838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48028169299994 meters 0.021349252283663325 Centerline is valid? [True, True] Translation: X:299.68, Y:30.45, Z:-0.07 [[ 9.48122325e-01 -3.17901389e-01 -1.66252725e-03 2.99678558e+02] [ 3.17900945e-01 9.48123782e-01 -5.31719663e-04 3.04537611e+01] [ 1.74531604e-03 -2.43836995e-05 9.99998477e-01 -6.62240045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54028169299994 meters 0.03064259328549725 Centerline is valid? [True, True] Translation: X:299.74, Y:30.45, Z:-0.07 [[ 9.45378909e-01 -3.25972802e-01 -6.70985157e-04 2.99741478e+02] [ 3.25972731e-01 9.45379147e-01 -2.14607532e-04 3.04530627e+01] [ 7.04291594e-04 -1.58374297e-05 9.99999752e-01 -6.50685084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60028169299994 meters 0.035623024998074425 Centerline is valid? [True, True] Translation: X:299.80, Y:30.46, Z:-0.07 [[ 9.43252900e-01 -3.32069119e-01 -2.01684295e-03 2.99802299e+02] [ 3.32068498e-01 9.43255054e-01 -6.45087864e-04 3.04609426e+01] [ 2.11661106e-03 -6.12490111e-05 9.99997758e-01 -6.70271245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66028169299994 meters 0.04172603796480662 Centerline is valid? [True, True] Translation: X:299.86, Y:30.46, Z:-0.07 [[ 9.42585566e-01 -3.33955437e-01 -2.49352756e-03 2.99862924e+02] [ 3.33954494e-01 9.42588860e-01 -7.97691675e-04 3.04624534e+01] [ 2.61676478e-03 -8.08320781e-05 9.99996573e-01 -6.84241639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72028169299995 meters 0.039070692723491895 Centerline is valid? [True, True] Translation: X:299.92, Y:30.47, Z:-0.07 [[ 9.42523490e-01 -3.34137071e-01 -1.37430461e-03 2.99921170e+02] [ 3.34136784e-01 9.42524491e-01 -4.39970668e-04 3.04708879e+01] [ 1.44232626e-03 -4.45230319e-05 9.99998959e-01 -6.56986702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78028169299995 meters 0.043318383145696825 Centerline is valid? [True, True] Translation: X:299.98, Y:30.47, Z:-0.07 [[ 9.42438953e-01 -3.34370065e-01 -2.34097957e-03 2.99981401e+02] [ 3.34369234e-01 9.42441857e-01 -7.49494646e-04 3.04715802e+01] [ 2.45684571e-03 -7.63985946e-05 9.99996979e-01 -6.82036130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84028169299995 meters 0.03934842918554656 Centerline is valid? [True, True] Translation: X:300.04, Y:30.49, Z:-0.07 [[ 9.42421194e-01 -3.34418122e-01 -2.61032581e-03 3.00037353e+02] [ 3.34417087e-01 9.42424805e-01 -8.36280922e-04 3.04865091e+01] [ 2.73970329e-03 -8.48086886e-05 9.99996243e-01 -6.75853972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90028169299995 meters 0.04348921847059553 Centerline is valid? [True, True] Translation: X:300.10, Y:30.49, Z:-0.07 [[ 9.42804389e-01 -3.33336412e-01 -2.59227871e-03 3.00098269e+02] [ 3.33335386e-01 9.42807950e-01 -8.30693816e-04 3.04865199e+01] [ 2.72092147e-03 -8.09164503e-05 9.99996295e-01 -6.87234190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96028169299996 meters 0.03842104956730351 Centerline is valid? [True, True] Translation: X:300.16, Y:30.50, Z:-0.07 [[ 9.43383236e-01 -3.31690873e-01 -3.03899263e-03 3.00156366e+02] [ 3.31689455e-01 9.43388126e-01 -9.74076146e-04 3.04999339e+01] [ 3.19004173e-03 -8.90747027e-05 9.99994908e-01 -6.91111662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02028169299996 meters 0.03383379288966151 Centerline is valid? [True, True] Translation: X:300.21, Y:30.52, Z:-0.07 [[ 9.44864940e-01 -3.27441211e-01 -3.53528722e-03 3.00212262e+02] [ 3.27439261e-01 9.44871550e-01 -1.13328549e-03 3.05165605e+01] [ 3.71147668e-03 -8.67901099e-05 9.99993109e-01 -7.05990770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08028169299996 meters 0.027126049915021214 Centerline is valid? [True, True] Translation: X:300.27, Y:30.54, Z:-0.07 [[ 9.46714392e-01 -3.22066420e-01 -2.25429009e-03 3.00268157e+02] [ 3.22065611e-01 9.46717075e-01 -7.22970919e-04 3.05385340e+01] [ 2.36701958e-03 -4.15823413e-05 9.99997198e-01 -6.71861359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14028169299996 meters 0.02261013884156523 Centerline is valid? [True, True] Translation: X:300.32, Y:30.56, Z:-0.06 [[ 9.47795883e-01 -3.18877335e-01 -4.58384900e-04 3.00323273e+02] [ 3.18877301e-01 9.47795994e-01 -1.47062071e-04 3.05603307e+01] [ 4.81350133e-04 -6.78371427e-06 9.99999884e-01 -6.40418819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20028169299997 meters 0.021292740069113122 Centerline is valid? [True, True] Translation: X:300.38, Y:30.58, Z:-0.07 [[ 9.48438725e-01 -3.16953079e-01 -2.17499554e-03 3.00377675e+02] [ 3.16952312e-01 9.48441218e-01 -6.97820209e-04 3.05801657e+01] [ 2.28403168e-03 -2.75301556e-05 9.99997391e-01 -6.80873245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26028169299997 meters 0.021071602583839225 Centerline is valid? [True, True] Translation: X:300.43, Y:30.60, Z:-0.07 [[ 9.47684049e-01 -3.19196105e-01 -2.96459536e-03 3.00432777e+02] [ 3.19194691e-01 9.47688685e-01 -9.51338470e-04 3.05991403e+01] [ 3.11317702e-03 -4.47148068e-05 9.99995153e-01 -6.89797623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32028169299997 meters 0.03152791667315087 Centerline is valid? [True, True] Translation: X:300.50, Y:30.60, Z:-0.07 [[ 9.44777796e-01 -3.27696619e-01 -3.13711969e-03 3.00496197e+02] [ 3.27695081e-01 9.44783002e-01 -1.00678947e-03 3.05953053e+01] [ 3.29381886e-03 -7.68263499e-05 9.99994572e-01 -7.11982137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.380281693 meters 0.038074913217489494 Centerline is valid? [True, True] Translation: X:300.56, Y:30.60, Z:-0.07 [[ 9.41461325e-01 -3.37114792e-01 -2.04716087e-03 3.00557522e+02] [ 3.37114160e-01 9.41463548e-01 -6.57052349e-04 3.05984551e+01] [ 2.14882940e-03 -7.15375400e-05 9.99997689e-01 -6.84447160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.440281693 meters 0.04527635557880929 Centerline is valid? [True, True] Translation: X:300.62, Y:30.60, Z:-0.07 [[ 9.40247700e-01 -3.40490574e-01 -6.56432680e-04 3.00619253e+02] [ 3.40490509e-01 9.40247929e-01 -2.10714657e-04 3.05992738e+01] [ 6.88955822e-04 -2.53851264e-05 9.99999762e-01 -6.54132436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.500281693 meters 0.04111442771138417 Centerline is valid? [True, True] Translation: X:300.68, Y:30.61, Z:-0.06 [[ 9.40810428e-01 -3.38931045e-01 1.21856420e-03 3.00676806e+02] [ 3.38930822e-01 9.40811216e-01 3.91215429e-04 3.06134887e+01] [-1.27903392e-03 4.49494104e-05 9.99999181e-01 -6.14150480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.560281693 meters 0.03457283199554563 Centerline is valid? [True, True] Translation: X:300.73, Y:30.63, Z:-0.07 [[ 9.43053860e-01 -3.32639666e-01 -5.19678672e-04 3.00733287e+02] [ 3.32639625e-01 9.43054003e-01 -1.66862642e-04 3.06341989e+01] [ 5.45590186e-04 -1.55052600e-05 9.99999851e-01 -6.55016707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.620281693 meters 0.03369778106827183 Centerline is valid? [True, True] Translation: X:300.79, Y:30.65, Z:-0.07 [[ 9.43298986e-01 -3.31930670e-01 -3.00874586e-03 3.00790703e+02] [ 3.31929274e-01 9.43303781e-01 -9.66654181e-04 3.06464588e+01] [ 3.15902352e-03 -8.68469214e-05 9.99995007e-01 -7.08104221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.680281693 meters 0.033919158752140126 Centerline is valid? [True, True] Translation: X:300.85, Y:30.66, Z:-0.07 [[ 9.43179592e-01 -3.32275902e-01 -2.23189466e-03 3.00847878e+02] [ 3.32275134e-01 9.43182231e-01 -7.17549939e-04 3.06569408e+01] [ 2.34350794e-03 -6.48246376e-05 9.99997252e-01 -6.93250267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.740281693 meters 0.03125313988727271 Centerline is valid? [True, True] Translation: X:300.91, Y:30.67, Z:-0.07 [[ 9.43589810e-01 -3.31116416e-01 4.34233589e-04 3.00907629e+02] [ 3.31116387e-01 9.43589910e-01 1.39610100e-04 3.06651398e+01] [-4.55965630e-04 1.20471892e-05 9.99999896e-01 -6.54086083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.800281693 meters 0.03130683936615745 Centerline is valid? [True, True] Translation: X:300.96, Y:30.68, Z:-0.07 [[ 9.43990540e-01 -3.29968341e-01 -1.65949588e-03 3.00964432e+02] [ 3.29967912e-01 9.43991998e-01 -5.33887966e-04 3.06768228e+01] [ 1.74271696e-03 -4.35952006e-05 9.99998481e-01 -6.89994614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.860281693 meters 0.02686127725352928 Centerline is valid? [True, True] Translation: X:301.02, Y:30.69, Z:-0.07 [[ 9.45671404e-01 -3.25093248e-01 -4.46947872e-03 3.01021828e+02] [ 3.25090081e-01 9.45681961e-01 -1.43801577e-03 3.06921347e+01] [ 4.69419461e-03 -9.30928033e-05 9.99988978e-01 -7.38506653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.920281693 meters 0.02348982082626587 Centerline is valid? [True, True] Translation: X:301.08, Y:30.71, Z:-0.07 [[ 9.46539836e-01 -3.22577229e-01 -2.50378610e-03 3.01079115e+02] [ 3.22576226e-01 9.46543147e-01 -8.05712636e-04 3.07055810e+01] [ 2.62984612e-03 -4.50227646e-05 9.99996541e-01 -7.05131474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98028169299994 meters 0.02255096531686282 Centerline is valid? [True, True] Translation: X:301.14, Y:30.72, Z:-0.07 [[ 9.46954241e-01 -3.21368317e-01 2.65734007e-04 3.01136276e+02] [ 3.21368305e-01 9.46954278e-01 8.55066836e-05 3.07176394e+01] [-2.79117094e-04 4.42757075e-06 9.99999961e-01 -6.58141471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04028169299994 meters 0.024298744449827946 Centerline is valid? [True, True] Translation: X:301.20, Y:30.72, Z:-0.06 [[ 9.46337972e-01 -3.23166857e-01 2.76149197e-03 3.01196997e+02] [ 3.23165638e-01 9.46341999e-01 8.89236533e-04 3.07215551e+01] [-2.90068761e-03 5.09010167e-05 9.99995792e-01 -6.20465323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10028169299994 meters 0.022328609947757965 Centerline is valid? [True, True] Translation: X:301.25, Y:30.73, Z:-0.07 [[ 9.47016736e-01 -3.21184109e-01 -2.66067505e-04 3.01254830e+02] [ 3.21184097e-01 9.47016773e-01 -8.57897924e-05 3.07326728e+01] [ 2.79524708e-04 -4.21228225e-06 9.99999961e-01 -6.74829390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16028169299994 meters 0.017104658870259255 Centerline is valid? [True, True] Translation: X:301.31, Y:30.75, Z:-0.07 [[ 9.49149419e-01 -3.14819555e-01 -2.00688747e-03 3.01309540e+02] [ 3.14818891e-01 9.49151541e-01 -6.46757356e-04 3.07527934e+01] [ 2.10845220e-03 -1.79367199e-05 9.99997777e-01 -7.05321860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22028169299995 meters 0.013318704155369092 Centerline is valid? [True, True] Translation: X:301.36, Y:30.78, Z:-0.07 [[ 9.51667006e-01 -3.07131739e-01 7.13740991e-05 3.01363804e+02] [ 3.07131738e-01 9.51667008e-01 2.29535639e-05 3.07771799e+01] [-7.49741433e-05 7.71017177e-08 9.99999997e-01 -6.62588445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28028169299995 meters 0.014802425830949664 Centerline is valid? [True, True] Translation: X:301.42, Y:30.80, Z:-0.07 [[ 9.53431185e-01 -3.01610631e-01 5.12244252e-05 3.01416834e+02] [ 3.01610631e-01 9.53431186e-01 1.64659891e-05 3.08030300e+01] [-5.38052818e-05 -2.49356359e-07 9.99999999e-01 -6.72048919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34028169299995 meters 0.023368594680229733 Centerline is valid? [True, True] Translation: X:301.47, Y:30.84, Z:-0.07 [[ 9.56743321e-01 -2.90928163e-01 -1.73827728e-03 3.01466426e+02] [ 2.90927624e-01 9.56744900e-01 -5.60870230e-04 3.08417434e+01] [ 1.82626087e-03 3.08959662e-05 9.99998332e-01 -6.87307320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40028169299995 meters 0.03243553992368115 Centerline is valid? [True, True] Translation: X:301.52, Y:30.88, Z:-0.06 [[ 9.59853841e-01 -2.80499808e-01 6.78750573e-04 3.01516936e+02] [ 2.80499723e-01 9.59854081e-01 2.19012462e-04 3.08816744e+01] [-7.12934462e-04 -1.98306048e-05 9.99999746e-01 -6.42201761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46028169299996 meters 0.035376430406638515 Centerline is valid? [True, True] Translation: X:301.57, Y:30.91, Z:-0.07 [[ 9.60503268e-01 -2.78267743e-01 7.30947982e-04 3.01567865e+02] [ 2.78267644e-01 9.60503546e-01 2.35887100e-04 3.09133653e+01] [-7.67717900e-04 -2.31711574e-05 9.99999705e-01 -6.52452282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52028169299996 meters 0.039436931320132936 Centerline is valid? [True, True] Translation: X:301.62, Y:30.95, Z:-0.07 [[ 9.60881575e-01 -2.76959460e-01 2.37117488e-04 3.01617736e+02] [ 2.76959450e-01 9.60881604e-01 7.65208326e-05 3.09467456e+01] [-2.49035001e-04 -7.85552921e-06 9.99999969e-01 -6.65527233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58028169299996 meters 0.040632240172778514 Centerline is valid? [True, True] Translation: X:301.67, Y:30.98, Z:-0.06 [[ 9.61492583e-01 -2.74830772e-01 2.43830204e-04 3.01669654e+02] [ 2.74830761e-01 9.61492614e-01 7.87055978e-05 3.09786267e+01] [-2.56071660e-04 -8.66280813e-06 9.99999967e-01 -6.49467697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64028169299996 meters 0.04319507099365514 Centerline is valid? [True, True] Translation: X:301.72, Y:31.01, Z:-0.06 [[ 9.62088325e-01 -2.72734740e-01 1.34780246e-03 3.01720645e+02] [ 2.72734398e-01 9.62089268e-01 4.35163807e-04 3.10136715e+01] [-1.41539057e-03 -5.10739244e-05 9.99998997e-01 -6.36415303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70028169299997 meters 0.041028050555687874 Centerline is valid? [True, True] Translation: X:301.77, Y:31.04, Z:-0.06 [[ 9.61440270e-01 -2.75013291e-01 5.44641849e-04 3.01774108e+02] [ 2.75013235e-01 9.61440424e-01 1.75858570e-04 3.10422892e+01] [-5.72004134e-04 -1.92937942e-05 9.99999836e-01 -6.45222225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76028169299997 meters 0.032275564823522715 Centerline is valid? [True, True] Translation: X:301.83, Y:31.06, Z:-0.07 [[ 9.59032767e-01 -2.83294856e-01 -4.19279544e-04 3.01831644e+02] [ 2.83294824e-01 9.59032859e-01 -1.35393586e-04 3.10606528e+01] [ 4.40459166e-04 1.10671608e-05 9.99999903e-01 -6.79053906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82028169299997 meters 0.026479111764706225 Centerline is valid? [True, True] Translation: X:301.89, Y:31.08, Z:-0.06 [[ 9.57462977e-01 -2.88554369e-01 1.01209845e-03 3.01888058e+02] [ 2.88554184e-01 9.57463512e-01 3.26837013e-04 3.10803490e+01] [-1.06335758e-03 -2.08890968e-05 9.99999434e-01 -6.33960675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.880281693 meters 0.029647011631873756 Centerline is valid? [True, True] Translation: X:301.94, Y:31.12, Z:-0.06 [[ 9.58418911e-01 -2.85361821e-01 1.35018109e-03 3.01939533e+02] [ 2.85361489e-01 9.58419861e-01 4.36051920e-04 3.11159102e+01] [-1.41847294e-03 -3.26307201e-05 9.99998993e-01 -6.20028192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.940281693 meters 0.03582694621751998 Centerline is valid? [True, True] Translation: X:301.99, Y:31.15, Z:-0.06 [[ 9.59489344e-01 -2.81744081e-01 6.86182904e-04 3.01990000e+02] [ 2.81743994e-01 9.59489590e-01 2.21632458e-04 3.11511421e+01] [-7.20828987e-04 -1.93260698e-05 9.99999740e-01 -6.38147736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.000281693 meters 0.03719876775663238 Centerline is valid? [True, True] Translation: X:302.04, Y:31.19, Z:-0.06 [[ 9.59928472e-01 -2.80243595e-01 9.25035859e-04 3.02040292e+02] [ 2.80243437e-01 9.59928918e-01 2.98909792e-04 3.11879934e+01] [-9.71736226e-04 -2.76967919e-05 9.99999527e-01 -6.31963483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.060281693 meters 0.032738964957280375 Centerline is valid? [True, True] Translation: X:302.10, Y:31.21, Z:-0.06 [[ 9.58936671e-01 -2.83617367e-01 1.28460613e-03 3.02096170e+02] [ 2.83617065e-01 9.58937531e-01 4.15191319e-04 3.12100594e+01] [-1.34961250e-03 -3.38059619e-05 9.99999089e-01 -6.35726104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.120281693 meters 0.022451127757985988 Centerline is valid? [True, True] Translation: X:302.16, Y:31.22, Z:-0.06 [[ 9.55883168e-01 -2.93740585e-01 1.95914974e-03 3.02155114e+02] [ 2.93739904e-01 9.55885175e-01 6.33266949e-04 3.12240870e+01] [-2.05873839e-03 -2.98487621e-05 9.99997880e-01 -6.31262553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.180281693 meters 0.014426128618477498 Centerline is valid? [True, True] Translation: X:302.22, Y:31.23, Z:-0.07 [[ 9.52376188e-01 -3.04924154e-01 9.25266744e-04 3.02215142e+02] [ 3.04924008e-01 9.52376638e-01 2.99099210e-04 3.12298473e+01] [-9.72405004e-04 -2.71892200e-06 9.99999527e-01 -6.58696490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.240281693 meters 0.015476431739783568 Centerline is valid? [True, True] Translation: X:302.27, Y:31.23, Z:-0.06 [[ 9.49829347e-01 -3.12764243e-01 1.65523507e-03 3.02273890e+02] [ 3.12763786e-01 9.49830789e-01 5.35163667e-04 3.12348766e+01] [-1.73957329e-03 9.38342903e-06 9.99998487e-01 -6.37292301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.300281693 meters 0.017376207231372336 Centerline is valid? [True, True] Translation: X:302.33, Y:31.25, Z:-0.06 [[ 9.48980372e-01 -3.15331913e-01 1.42732964e-03 3.02330832e+02] [ 3.15331576e-01 9.48981446e-01 4.61562745e-04 3.12471806e+01] [-1.50005481e-03 1.20681197e-05 9.99998875e-01 -6.44306519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.360281693 meters 0.020012764445666957 Centerline is valid? [True, True] Translation: X:302.39, Y:31.25, Z:-0.07 [[ 9.47997419e-01 -3.18273401e-01 -1.71358439e-03 3.02390647e+02] [ 3.18272919e-01 9.47998967e-01 -5.54501436e-04 3.12539942e+01] [ 1.80095929e-03 -1.97215750e-05 9.99998378e-01 -7.09207087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.420281693 meters 0.019483824181217666 Centerline is valid? [True, True] Translation: X:302.45, Y:31.27, Z:-0.07 [[ 9.48268929e-01 -3.17466255e-01 -1.10224083e-03 3.02446208e+02] [ 3.17466055e-01 9.48269570e-01 -3.56726108e-04 3.12701113e+01] [ 1.15846994e-03 -1.16517629e-05 9.99999329e-01 -6.99428405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48028169299994 meters 0.016918463687954546 Centerline is valid? [True, True] Translation: X:302.50, Y:31.29, Z:-0.07 [[ 9.49326674e-01 -3.14282443e-01 -2.32634877e-03 3.02499985e+02] [ 3.14281541e-01 9.49329524e-01 -7.53008918e-04 3.12912901e+01] [ 2.44512905e-03 -1.62770243e-05 9.99997011e-01 -7.17423316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54028169299994 meters 0.014736584200573876 Centerline is valid? [True, True] Translation: X:302.55, Y:31.32, Z:-0.07 [[ 9.50259915e-01 -3.11457936e-01 -2.18817925e-04 3.02553196e+02] [ 3.11457928e-01 9.50259940e-01 -7.09266394e-05 3.13183970e+01] [ 2.30024573e-04 -7.53835164e-07 9.99999974e-01 -6.65279216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60028169299994 meters 0.018184617757500125 Centerline is valid? [True, True] Translation: X:302.61, Y:31.32, Z:-0.07 [[ 9.48769060e-01 -3.15970164e-01 -3.55750601e-04 3.02611543e+02] [ 3.15970143e-01 9.48769126e-01 -1.15266950e-04 3.13244304e+01] [ 3.73946105e-04 -3.04485266e-06 9.99999930e-01 -6.82976540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66028169299994 meters 0.02966490168200401 Centerline is valid? [True, True] Translation: X:302.68, Y:31.32, Z:-0.07 [[ 9.45160675e-01 -3.26605599e-01 2.85548568e-04 3.02677341e+02] [ 3.26605586e-01 9.45160718e-01 9.24993233e-05 3.13162855e+01] [-3.00100086e-04 5.83503441e-06 9.99999955e-01 -6.69725275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72028169299995 meters 0.03170299541024619 Centerline is valid? [True, True] Translation: X:302.74, Y:31.32, Z:-0.07 [[ 9.43372868e-01 -3.31734268e-01 -8.43345218e-05 3.02738613e+02] [ 3.31734267e-01 9.43372872e-01 -2.73270060e-05 3.13216949e+01] [ 8.86242044e-05 -2.19709469e-06 9.99999996e-01 -6.63558765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78028169299995 meters 0.031079908665942863 Centerline is valid? [True, True] Translation: X:302.80, Y:31.33, Z:-0.07 [[ 9.43873856e-01 -3.30303709e-01 -1.26605491e-03 3.02796426e+02] [ 3.30303456e-01 9.43874705e-01 -4.10318257e-04 3.13320463e+01] [ 1.33052685e-03 -3.08936361e-05 9.99999114e-01 -6.90328353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84028169299995 meters 0.027348061899080317 Centerline is valid? [True, True] Translation: X:302.85, Y:31.34, Z:-0.07 [[ 9.45243893e-01 -3.26364223e-01 -6.14510500e-04 3.02854798e+02] [ 3.26364162e-01 9.45244092e-01 -1.99171847e-04 3.13437411e+01] [ 6.45864985e-04 -1.22882325e-05 9.99999791e-01 -6.74902428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90028169299995 meters 0.0242067131546435 Centerline is valid? [True, True] Translation: X:302.91, Y:31.35, Z:-0.06 [[ 9.46251980e-01 -3.23427182e-01 1.43134121e-03 3.02913059e+02] [ 3.23426850e-01 9.46253062e-01 4.63949891e-04 3.13537203e+01] [-1.50446501e-03 2.39206770e-05 9.99998868e-01 -6.33168980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96028169299996 meters 0.01975703648390263 Centerline is valid? [True, True] Translation: X:302.97, Y:31.37, Z:-0.07 [[ 9.47663509e-01 -3.19267585e-01 -1.44313065e-03 3.02969735e+02] [ 3.19267243e-01 9.47664608e-01 -4.67878306e-04 3.13688204e+01] [ 1.51698222e-03 -1.73531459e-05 9.99998849e-01 -6.91733331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02028169299996 meters 0.01661842798242219 Centerline is valid? [True, True] Translation: X:303.02, Y:31.39, Z:-0.07 [[ 9.49352397e-01 -3.14206056e-01 -2.14012336e-03 3.03023822e+02] [ 3.14205290e-01 9.49354809e-01 -6.94054736e-04 3.13898613e+01] [ 2.24981260e-03 -1.35355524e-05 9.99997469e-01 -7.14621069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08028169299996 meters 0.01607327708533806 Centerline is valid? [True, True] Translation: X:303.08, Y:31.40, Z:-0.07 [[ 9.49481800e-01 -3.13821575e-01 -5.75341549e-04 3.03082194e+02] [ 3.13821519e-01 9.49481974e-01 -1.86760137e-04 3.13990476e+01] [ 6.04885790e-04 -3.22920758e-06 9.99999817e-01 -6.77165633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14028169299996 meters 0.018122763074762425 Centerline is valid? [True, True] Translation: X:303.14, Y:31.41, Z:-0.07 [[ 9.48444006e-01 -3.16941425e-01 -1.44920856e-03 3.03141348e+02] [ 3.16941075e-01 9.48445113e-01 -4.70571550e-04 3.14078827e+01] [ 1.52363839e-03 -1.30029529e-05 9.99998839e-01 -7.02341098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20028169299997 meters 0.017614503403399925 Centerline is valid? [True, True] Translation: X:303.20, Y:31.42, Z:-0.07 [[ 9.48401118e-01 -3.17073012e-01 -1.58688077e-04 3.03198102e+02] [ 3.17073007e-01 9.48401131e-01 -5.16223323e-05 3.14193441e+01] [ 1.66868000e-04 -1.35702805e-06 9.99999986e-01 -6.70639821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26028169299997 meters 0.016575294754575805 Centerline is valid? [True, True] Translation: X:303.25, Y:31.44, Z:-0.07 [[ 9.49155387e-01 -3.14802952e-01 -1.77538115e-03 3.03253710e+02] [ 3.14802423e-01 9.49157048e-01 -5.76915249e-04 3.14356465e+01] [ 1.86673016e-03 -1.13120722e-05 9.99998258e-01 -7.04534069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32028169299997 meters 0.01674498498069607 Centerline is valid? [True, True] Translation: X:303.31, Y:31.45, Z:-0.07 [[ 9.49280375e-01 -3.14419422e-01 -2.68258620e-03 3.03309160e+02] [ 3.14418213e-01 9.49284166e-01 -8.71943855e-04 3.14479487e+01] [ 2.82069268e-03 -1.57347682e-05 9.99996022e-01 -7.19282124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.380281693 meters 0.015268531359388412 Centerline is valid? [True, True] Translation: X:303.36, Y:31.47, Z:-0.07 [[ 9.49943339e-01 -3.12417426e-01 -1.73367442e-03 3.03364593e+02] [ 3.12416917e-01 9.49944921e-01 -5.63858568e-04 3.14684022e+01] [ 1.82305445e-03 -5.99552772e-06 9.99998338e-01 -7.04636588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.440281693 meters 0.01480840520906717 Centerline is valid? [True, True] Translation: X:303.42, Y:31.49, Z:-0.07 [[ 9.51471832e-01 -3.07731236e-01 -1.68520017e-03 3.03416457e+02] [ 3.07730748e-01 9.51473324e-01 -5.48312517e-04 3.14940774e+01] [ 1.77215590e-03 3.11600674e-06 9.99998430e-01 -6.90385486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.500281693 meters 0.016783939262718955 Centerline is valid? [True, True] Translation: X:303.47, Y:31.53, Z:-0.07 [[ 9.52887711e-01 -3.03323259e-01 1.00762721e-04 3.03467343e+02] [ 3.03323257e-01 9.52887717e-01 3.27430029e-05 3.15268320e+01] [-1.05947273e-04 -6.36728577e-07 9.99999994e-01 -6.54087391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.560281693 meters 0.017057574103023342 Centerline is valid? [True, True] Translation: X:303.52, Y:31.55, Z:-0.07 [[ 9.52879012e-01 -3.03348208e-01 -1.20553457e-03 3.03519922e+02] [ 3.03347954e-01 9.52879774e-01 -3.92551711e-04 3.15503563e+01] [ 1.26780937e-03 8.35784051e-06 9.99999196e-01 -6.84710648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.620281693 meters 0.016121484140346365 Centerline is valid? [True, True] Translation: X:303.57, Y:31.57, Z:-0.07 [[ 9.52093034e-01 -3.05789404e-01 -3.41984724e-03 3.03573542e+02] [ 3.05787375e-01 9.52099175e-01 -1.11423268e-03 3.15732086e+01] [ 3.59675428e-03 1.51070635e-05 9.99993532e-01 -7.24205346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.680281693 meters 0.015536441182297814 Centerline is valid? [True, True] Translation: X:303.63, Y:31.60, Z:-0.07 [[ 9.51857222e-01 -3.06541411e-01 -4.38135985e-04 3.03626600e+02] [ 3.06541377e-01 9.51857323e-01 -1.42872002e-04 3.15998096e+01] [ 4.60839131e-04 1.68693821e-06 9.99999894e-01 -6.58229176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.740281693 meters 0.01586433447327291 Centerline is valid? [True, True] Translation: X:303.68, Y:31.63, Z:-0.07 [[ 9.51888580e-01 -3.06440317e-01 -1.56971188e-03 3.03679482e+02] [ 3.06439889e-01 9.51889874e-01 -5.12034081e-04 3.16252621e+01] [ 1.65110073e-03 6.37706028e-06 9.99998637e-01 -6.94139571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.800281693 meters 0.018064430976284965 Centerline is valid? [True, True] Translation: X:303.73, Y:31.66, Z:-0.07 [[ 9.52908682e-01 -3.03252594e-01 -1.70511849e-03 3.03728915e+02] [ 3.03252084e-01 9.52910208e-01 -5.56280125e-04 3.16586077e+01] [ 1.79351821e-03 1.30034235e-05 9.99998392e-01 -6.85321610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.860281693 meters 0.0198369077591679 Centerline is valid? [True, True] Translation: X:303.78, Y:31.69, Z:-0.07 [[ 9.53518538e-01 -3.01329868e-01 -1.64543624e-03 3.03781261e+02] [ 3.01329390e-01 9.53519958e-01 -5.36902549e-04 3.16861212e+01] [ 1.73074107e-03 1.61282342e-05 9.99998502e-01 -6.83827627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.920281693 meters 0.020150776007134635 Centerline is valid? [True, True] Translation: X:303.83, Y:31.71, Z:-0.07 [[ 9.53556243e-01 -3.01212877e-01 -1.13736059e-03 3.03834008e+02] [ 3.01212648e-01 9.53556922e-01 -3.71224506e-04 3.17088113e+01] [ 1.19635566e-03 1.13960500e-05 9.99999284e-01 -6.77017668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98028169299994 meters 0.019977661330512944 Centerline is valid? [True, True] Translation: X:303.89, Y:31.73, Z:-0.07 [[ 9.53411289e-01 -3.01669912e-01 -1.47581092e-03 3.03886436e+02] [ 3.01669527e-01 9.53412431e-01 -4.81992611e-04 3.17348227e+01] [ 1.55245915e-03 1.43300135e-05 9.99998795e-01 -6.89451122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04028169299994 meters 0.01788991985255603 Centerline is valid? [True, True] Translation: X:303.94, Y:31.75, Z:-0.07 [[ 9.52578598e-01 -3.04283925e-01 -2.30397737e-03 3.03942394e+02] [ 3.04282994e-01 9.52581384e-01 -7.52799798e-04 3.17529661e+01] [ 2.42379083e-03 1.60398447e-05 9.99997062e-01 -7.20619387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10028169299994 meters 0.014892021833803296 Centerline is valid? [True, True] Translation: X:304.00, Y:31.76, Z:-0.07 [[ 9.50588374e-01 -3.10450701e-01 -1.45087990e-03 3.04001662e+02] [ 3.10450339e-01 9.50589481e-01 -4.74314953e-04 3.17618177e+01] [ 1.52644258e-03 4.52123400e-07 9.99998835e-01 -7.00564273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16028169299994 meters 0.016007469018567262 Centerline is valid? [True, True] Translation: X:304.06, Y:31.77, Z:-0.07 [[ 9.48647338e-01 -3.16335351e-01 -4.15900737e-04 3.04061585e+02] [ 3.16335322e-01 9.48647430e-01 -1.36087066e-04 3.17681605e+01] [ 4.37592315e-04 -2.46546055e-06 9.99999904e-01 -6.59458980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22028169299995 meters 0.0187015344250045 Centerline is valid? [True, True] Translation: X:304.12, Y:31.78, Z:-0.07 [[ 9.48068149e-01 -3.18067135e-01 -2.86316895e-04 3.04119699e+02] [ 3.18067121e-01 9.48068193e-01 -9.36839298e-05 3.17754276e+01] [ 3.01245720e-04 -2.24924038e-06 9.99999955e-01 -6.74015764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28028169299995 meters 0.01706126814411065 Centerline is valid? [True, True] Translation: X:304.18, Y:31.79, Z:-0.07 [[ 9.48131843e-01 -3.17872063e-01 -1.83296346e-03 3.04175998e+02] [ 3.17871497e-01 9.48133615e-01 -6.00061704e-04 3.17885301e+01] [ 1.92863712e-03 -1.37092287e-05 9.99998140e-01 -6.96559143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34028169299995 meters 0.019730586516759206 Centerline is valid? [True, True] Translation: X:304.24, Y:31.79, Z:-0.07 [[ 9.46894645e-01 -3.21536508e-01 -2.19208373e-03 3.04236429e+02] [ 3.21535708e-01 9.46897182e-01 -7.17708485e-04 3.17912395e+01] [ 2.30644739e-03 -2.52388743e-05 9.99997340e-01 -7.10156523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40028169299995 meters 0.022148963705738305 Centerline is valid? [True, True] Translation: X:304.30, Y:31.79, Z:-0.07 [[ 9.46199586e-01 -3.23583341e-01 -4.05087202e-04 3.04296019e+02] [ 3.23583314e-01 9.46199673e-01 -1.32672047e-04 3.17945870e+01] [ 4.26223843e-04 -5.54522372e-06 9.99999909e-01 -6.72559487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46028169299996 meters 0.019669143642251162 Centerline is valid? [True, True] Translation: X:304.35, Y:31.81, Z:-0.07 [[ 9.46729460e-01 -3.22024593e-01 -1.86870987e-03 3.04351626e+02] [ 3.22024011e-01 9.46731304e-01 -6.12337319e-04 3.18133931e+01] [ 1.96635381e-03 -2.20516696e-05 9.99998066e-01 -6.93470877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52028169299996 meters 0.015988198671187434 Centerline is valid? [True, True] Translation: X:304.40, Y:31.84, Z:-0.07 [[ 9.49008505e-01 -3.15230083e-01 -3.58497021e-03 3.04404283e+02] [ 3.15227892e-01 9.49015276e-01 -1.17530993e-03 3.18397859e+01] [ 3.77268454e-03 -1.47034856e-05 9.99992883e-01 -7.22179804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58028169299996 meters 0.015233260481695236 Centerline is valid? [True, True] Translation: X:304.46, Y:31.87, Z:-0.07 [[ 9.50925975e-01 -3.09413365e-01 -1.77735028e-03 3.04456212e+02] [ 3.09412816e-01 9.50927636e-01 -5.83031833e-04 3.18706598e+01] [ 1.87052934e-03 4.48515887e-06 9.99998251e-01 -6.90165791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64028169299996 meters 0.015126288314074228 Centerline is valid? [True, True] Translation: X:304.51, Y:31.89, Z:-0.07 [[ 9.50680178e-01 -3.10168922e-01 -1.56193458e-03 3.04510613e+02] [ 3.10168498e-01 9.50681461e-01 -5.12727408e-04 3.18901302e+01] [ 1.64393435e-03 2.97688101e-06 9.99998649e-01 -6.83783012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70028169299997 meters 0.015054067591365138 Centerline is valid? [True, True] Translation: X:304.57, Y:31.91, Z:-0.07 [[ 9.49722454e-01 -3.13083957e-01 -2.38663670e-03 3.04566404e+02] [ 3.13082976e-01 9.49725453e-01 -7.83924908e-04 3.19069772e+01] [ 2.51208393e-03 -2.70423351e-06 9.99996845e-01 -7.02160856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76028169299997 meters 0.017398751093340898 Centerline is valid? [True, True] Translation: X:304.62, Y:31.91, Z:-0.07 [[ 9.47928318e-01 -3.18483371e-01 -4.97128369e-04 3.04624789e+02] [ 3.18483329e-01 9.47928448e-01 -1.63370622e-04 3.19130565e+01] [ 5.23272950e-04 -3.46345942e-06 9.99999863e-01 -6.77297056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82028169299997 meters 0.022981817212420354 Centerline is valid? [True, True] Translation: X:304.69, Y:31.92, Z:-0.07 [[ 9.45407450e-01 -3.25880433e-01 -2.58793251e-03 3.04686303e+02] [ 3.25879325e-01 9.45410991e-01 -8.50380349e-04 3.19153007e+01] [ 2.72378215e-03 -3.93977825e-05 9.99996290e-01 -7.19561733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.880281693 meters 0.027535271614705616 Centerline is valid? [True, True] Translation: X:304.75, Y:31.92, Z:-0.07 [[ 9.43563194e-01 -3.31184441e-01 -2.31623094e-03 3.04747174e+02] [ 3.31183570e-01 9.43566036e-01 -7.61238190e-04 3.19204168e+01] [ 2.43762709e-03 -4.88212921e-05 9.99997028e-01 -7.13349918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.940281693 meters 0.03187446506093376 Centerline is valid? [True, True] Translation: X:304.81, Y:31.92, Z:-0.07 [[ 9.42002535e-01 -3.35598483e-01 -2.20952039e-03 3.04809263e+02] [ 3.35597702e-01 9.42005125e-01 -7.26249099e-04 3.19204062e+01] [ 2.32510762e-03 -5.73814717e-05 9.99997295e-01 -7.16942124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.000281693 meters 0.0313684512033775 Centerline is valid? [True, True] Translation: X:304.87, Y:31.93, Z:-0.07 [[ 9.42325286e-01 -3.34690609e-01 -2.29145033e-03 3.04868744e+02] [ 3.34689766e-01 9.42328071e-01 -7.53415319e-04 3.19251867e+01] [ 2.41145900e-03 -5.69626686e-05 9.99997091e-01 -7.13538903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.060281693 meters 0.03211249032767209 Centerline is valid? [True, True] Translation: X:304.93, Y:31.93, Z:-0.07 [[ 9.42670431e-01 -3.33709545e-01 -3.22453914e-03 3.04927097e+02] [ 3.33707869e-01 9.42675943e-01 -1.06039094e-03 3.19338947e+01] [ 3.39355805e-03 -7.64549032e-05 9.99994239e-01 -7.44854697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.120281693 meters 0.02519275393490127 Centerline is valid? [True, True] Translation: X:304.99, Y:31.94, Z:-0.07 [[ 9.44827179e-01 -3.27567618e-01 -1.02831480e-03 3.04985980e+02] [ 3.27567444e-01 9.44827739e-01 -3.38208071e-04 3.19442544e+01] [ 1.08236636e-03 -1.72942729e-05 9.99999414e-01 -6.95293050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.180281693 meters 0.019638510272445522 Centerline is valid? [True, True] Translation: X:305.04, Y:31.97, Z:-0.07 [[ 9.46633016e-01 -3.22306590e-01 -2.09639267e-03 3.05041188e+02] [ 3.22305853e-01 9.46635337e-01 -6.89870085e-04 3.19665595e+01] [ 2.20686905e-03 -2.26258273e-05 9.99997565e-01 -7.17602659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.240281693 meters 0.01602265484644034 Centerline is valid? [True, True] Translation: X:305.10, Y:31.99, Z:-0.08 [[ 9.49145617e-01 -3.14780743e-01 -5.97343853e-03 3.05096094e+02] [ 3.14774600e-01 9.49164413e-01 -1.96668846e-03 3.19886140e+01] [ 6.28885093e-03 -1.36129949e-05 9.99980225e-01 -8.04295981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.300281693 meters 0.019591852534254845 Centerline is valid? [True, True] Translation: X:305.15, Y:32.02, Z:-0.08 [[ 9.53028383e-01 -3.02844552e-01 -4.69880948e-03 3.05147836e+02] [ 3.02840601e-01 9.53039965e-01 -1.54790060e-03 3.20204211e+01] [ 4.94692648e-03 5.22029199e-05 9.99987763e-01 -7.57360985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.360281693 meters 0.03077115226805449 Centerline is valid? [True, True] Translation: X:305.20, Y:32.06, Z:-0.07 [[ 9.55983433e-01 -2.93410344e-01 -2.45883207e-03 3.05198012e+02] [ 2.93409230e-01 9.55986594e-01 -8.10060805e-04 3.20554150e+01] [ 2.58829072e-03 5.29606835e-05 9.99996649e-01 -7.19558264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.420281693 meters 0.027899234856530727 Centerline is valid? [True, True] Translation: X:305.26, Y:32.07, Z:-0.08 [[ 9.56152613e-01 -2.92845401e-01 -3.70845051e-03 3.05256464e+02] [ 2.92842861e-01 9.56159801e-01 -1.22246641e-03 3.20674393e+01] [ 3.90386497e-03 8.28711917e-05 9.99992376e-01 -7.55927171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48028169299994 meters 0.03236344598050496 Centerline is valid? [True, True] Translation: X:305.31, Y:32.09, Z:-0.07 [[ 9.56297317e-01 -2.92386778e-01 -2.32655504e-03 3.05309886e+02] [ 2.92385777e-01 9.56300146e-01 -7.67067691e-04 3.20891540e+01] [ 2.44916538e-03 5.32931719e-05 9.99996999e-01 -7.31063483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54028169299994 meters 0.03233684734354509 Centerline is valid? [True, True] Translation: X:305.37, Y:32.11, Z:-0.08 [[ 9.56551577e-01 -2.91525024e-01 -4.71602022e-03 3.05366414e+02] [ 2.91520895e-01 9.56563196e-01 -1.55569330e-03 3.21067507e+01] [ 4.96469490e-03 1.13282446e-04 9.99987669e-01 -7.82714700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60028169299994 meters 0.028640356030030262 Centerline is valid? [True, True] Translation: X:305.42, Y:32.12, Z:-0.08 [[ 9.55879607e-01 -2.93726169e-01 -4.37193066e-03 3.05424906e+02] [ 2.93722640e-01 9.55889601e-01 -1.44296782e-03 3.21176828e+01] [ 4.60292047e-03 9.51684997e-05 9.99989402e-01 -7.64683491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66028169299994 meters 0.02884317201148774 Centerline is valid? [True, True] Translation: X:305.48, Y:32.14, Z:-0.07 [[ 9.55874910e-01 -2.93773578e-01 -4.91120206e-04 3.05479304e+02] [ 2.93773534e-01 9.55875036e-01 -1.62140442e-04 3.21367683e+01] [ 5.17082122e-04 1.07078623e-05 9.99999866e-01 -6.80238424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72028169299995 meters 0.032616516192340274 Centerline is valid? [True, True] Translation: X:305.53, Y:32.17, Z:-0.07 [[ 9.57127172e-01 -2.89664812e-01 -1.36873566e-03 3.05532486e+02] [ 2.89664462e-01 9.57128150e-01 -4.51865612e-04 3.21659088e+01] [ 1.44094500e-03 3.60187757e-05 9.99998961e-01 -6.82210106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78028169299995 meters 0.039754684150865215 Centerline is valid? [True, True] Translation: X:305.58, Y:32.20, Z:-0.07 [[ 9.59199342e-01 -2.82717301e-01 -2.74765370e-03 3.05583868e+02] [ 2.82715861e-01 9.59203273e-01 -9.07172975e-04 3.22025986e+01] [ 2.89203192e-03 9.33544394e-05 9.99995814e-01 -6.92718628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84028169299995 meters 0.03927549080533868 Centerline is valid? [True, True] Translation: X:305.64, Y:32.22, Z:-0.07 [[ 9.59817647e-01 -2.80616349e-01 -2.13303718e-03 3.05640007e+02] [ 2.80615476e-01 9.59820014e-01 -7.04306757e-04 3.22236542e+01] [ 2.24497176e-03 7.74428120e-05 9.99997477e-01 -6.77034062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90028169299995 meters 0.04056637678620711 Centerline is valid? [True, True] Translation: X:305.69, Y:32.25, Z:-0.07 [[ 9.60122457e-01 -2.79578325e-01 -9.10117344e-04 3.05692767e+02] [ 2.79578165e-01 9.60122887e-01 -3.00629706e-04 3.22497449e+01] [ 9.57874042e-04 3.41923944e-05 9.99999541e-01 -6.52331857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96028169299996 meters 0.045908391957484036 Centerline is valid? [True, True] Translation: X:305.74, Y:32.28, Z:-0.07 [[ 9.60280317e-01 -2.79030073e-01 -1.98268878e-03 3.05743344e+02] [ 2.79029314e-01 9.60282361e-01 -6.54999980e-04 3.22822629e+01] [ 2.08670575e-03 7.57552989e-05 9.99997820e-01 -6.69348160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02028169299996 meters 0.043455104494221235 Centerline is valid? [True, True] Translation: X:305.80, Y:32.31, Z:-0.07 [[ 9.60411411e-01 -2.78572808e-01 -2.66669910e-03 3.05797593e+02] [ 2.78571433e-01 9.60415108e-01 -8.81481482e-04 3.23063928e+01] [ 2.80669487e-03 1.03718686e-04 9.99996056e-01 -6.85191839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08028169299996 meters 0.04150157100841488 Centerline is valid? [True, True] Translation: X:305.85, Y:32.33, Z:-0.07 [[ 9.59550326e-01 -2.81532517e-01 -1.61685394e-03 3.05852801e+02] [ 2.81532015e-01 9.59551686e-01 -5.34467407e-04 3.23275698e+01] [ 1.70192488e-03 5.76522259e-05 9.99998550e-01 -6.72182478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14028169299996 meters 0.038276311653984256 Centerline is valid? [True, True] Translation: X:305.91, Y:32.34, Z:-0.07 [[ 9.58765738e-01 -2.84178373e-01 -3.30344782e-03 3.05910598e+02] [ 2.84176296e-01 9.58771422e-01 -1.09201729e-03 3.23444622e+01] [ 3.47757906e-03 1.08227199e-04 9.99993947e-01 -7.11962799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20028169299997 meters 0.03482815197706255 Centerline is valid? [True, True] Translation: X:305.97, Y:32.36, Z:-0.07 [[ 9.57372535e-01 -2.88813053e-01 -4.98489345e-03 3.05966527e+02] [ 2.88808384e-01 9.57385503e-01 -1.64797915e-03 3.23631908e+01] [ 5.24842261e-03 1.38050960e-04 9.99986217e-01 -7.48323522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26028169299997 meters 0.033275440912463684 Centerline is valid? [True, True] Translation: X:306.02, Y:32.38, Z:-0.07 [[ 9.56821621e-01 -2.90658857e-01 -3.13284098e-03 3.06021438e+02] [ 2.90657023e-01 9.56826746e-01 -1.03586735e-03 3.23827271e+01] [ 3.29867006e-03 8.05580489e-05 9.99994556e-01 -7.09191550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32028169299997 meters 0.032548940343173925 Centerline is valid? [True, True] Translation: X:306.08, Y:32.40, Z:-0.07 [[ 9.56731616e-01 -2.90940176e-01 -4.29301311e-03 3.06077302e+02] [ 2.90936729e-01 9.56741241e-01 -1.42038604e-03 3.23998849e+01] [ 4.52055005e-03 1.09933033e-04 9.99989776e-01 -7.23341723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.380281693 meters 0.03464661280167247 Centerline is valid? [True, True] Translation: X:306.13, Y:32.43, Z:-0.07 [[ 9.57192517e-01 -2.89431294e-01 -3.46585548e-03 3.06130162e+02] [ 2.89429036e-01 9.57198787e-01 -1.14732594e-03 3.24270612e+01] [ 3.64958470e-03 9.50925903e-05 9.99993336e-01 -7.03131957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.440281693 meters 0.03757469973962626 Centerline is valid? [True, True] Translation: X:306.18, Y:32.45, Z:-0.07 [[ 9.57901263e-01 -2.87095998e-01 -1.02883248e-03 3.06182992e+02] [ 2.87095797e-01 9.57901815e-01 -3.40614868e-04 3.24548960e+01] [ 1.08330967e-03 3.09019296e-05 9.99999413e-01 -6.50779393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.500281693 meters 0.03365776281260092 Centerline is valid? [True, True] Translation: X:306.24, Y:32.47, Z:-0.07 [[ 9.57127336e-01 -2.89659943e-01 -2.09300096e-03 3.06239817e+02] [ 2.89659120e-01 9.57129622e-01 -6.93026181e-04 3.24705661e+01] [ 2.20401514e-03 5.70574866e-05 9.99997570e-01 -6.70392017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.560281693 meters 0.024283008986973637 Centerline is valid? [True, True] Translation: X:306.30, Y:32.48, Z:-0.07 [[ 9.54924194e-01 -2.96846228e-01 -1.44903167e-03 3.06300160e+02] [ 2.96845842e-01 9.54925293e-01 -4.79812251e-04 3.24780427e+01] [ 1.52614745e-03 2.80453022e-05 9.99998835e-01 -6.62568873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.620281693 meters 0.02037606285753078 Centerline is valid? [True, True] Translation: X:306.36, Y:32.49, Z:-0.07 [[ 9.52976727e-01 -3.03037548e-01 -1.89820813e-03 3.06356868e+02] [ 3.03036897e-01 9.52978617e-01 -6.28599540e-04 3.24942432e+01] [ 1.99944102e-03 2.38136303e-05 9.99998001e-01 -6.71095538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.680281693 meters 0.018184519468517495 Centerline is valid? [True, True] Translation: X:306.41, Y:32.51, Z:-0.07 [[ 9.51726188e-01 -3.06891495e-01 -5.90542208e-03 3.06412852e+02] [ 3.06885266e-01 9.51744508e-01 -1.95597354e-03 3.25091409e+01] [ 6.22072467e-03 4.92642187e-05 9.99980650e-01 -7.49087400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.740281693 meters 0.015810712288877135 Centerline is valid? [True, True] Translation: X:306.47, Y:32.52, Z:-0.07 [[ 9.50549651e-01 -3.10552545e-01 -3.53234443e-03 3.06470156e+02] [ 3.10550339e-01 9.50556214e-01 -1.17058693e-03 3.25245629e+01] [ 3.72122070e-03 1.57302386e-05 9.99993076e-01 -7.03980179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.800281693 meters 0.015394948767761318 Centerline is valid? [True, True] Translation: X:306.52, Y:32.54, Z:-0.07 [[ 9.50009545e-01 -3.12189416e-01 -4.43100751e-03 3.06524057e+02] [ 3.12185961e-01 9.50019878e-01 -1.46874235e-03 3.25445034e+01] [ 4.66807103e-03 1.20209140e-05 9.99989104e-01 -7.17852368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.860281693 meters 0.015232316405701727 Centerline is valid? [True, True] Translation: X:306.58, Y:32.57, Z:-0.07 [[ 9.50004160e-01 -3.12212243e-01 -3.95106457e-03 3.06578032e+02] [ 3.12209493e-01 9.50012376e-01 -1.31049010e-03 3.25671557e+01] [ 4.16271130e-03 1.14111828e-05 9.99991336e-01 -7.03322614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.920281693 meters 0.014645801848951744 Centerline is valid? [True, True] Translation: X:306.63, Y:32.59, Z:-0.07 [[ 9.49359753e-01 -3.14178378e-01 -2.82953647e-03 3.06633727e+02] [ 3.14176975e-01 9.49363970e-01 -9.39003922e-04 3.25851212e+01] [ 2.98127471e-03 2.47732343e-06 9.99995556e-01 -6.82798041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98028169299994 meters 0.01882341004316027 Centerline is valid? [True, True] Translation: X:306.69, Y:32.59, Z:-0.06 [[ 9.46137249e-01 -3.23765821e-01 -5.30041948e-06 3.06693830e+02] [ 3.23765821e-01 9.46137249e-01 -1.77938369e-06 3.25869784e+01] [ 5.59102794e-06 -3.25534769e-08 1.00000000e+00 -6.18076147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04028169299994 meters 0.024671281937952618 Centerline is valid? [True, True] Translation: X:306.75, Y:32.60, Z:-0.06 [[ 9.43788725e-01 -3.30548870e-01 -5.35079075e-04 3.06753942e+02] [ 3.30548822e-01 9.43788877e-01 -1.77614152e-04 3.25951350e+01] [ 5.63711837e-04 -9.23952441e-06 9.99999841e-01 -6.29427021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10028169299994 meters 0.036078299241478 Centerline is valid? [True, True] Translation: X:306.82, Y:32.59, Z:-0.06 [[ 9.40370882e-01 -3.40147090e-01 -1.60032741e-03 3.06819215e+02] [ 3.40146678e-01 9.40372243e-01 -5.31253224e-04 3.25856482e+01] [ 1.68560771e-03 -4.47709900e-05 9.99998578e-01 -6.36077712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16028169299994 meters 0.03610513669557173 Centerline is valid? [True, True] Translation: X:306.88, Y:32.60, Z:-0.06 [[ 9.39592583e-01 -3.42294861e-01 -7.93655310e-05 3.06877802e+02] [ 3.42294860e-01 9.39592586e-01 -2.64194269e-05 3.25964913e+01] [ 8.36144987e-05 -2.34291571e-06 9.99999997e-01 -6.14912403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22028169299995 meters 0.03627662397045827 Centerline is valid? [True, True] Translation: X:306.94, Y:32.60, Z:-0.06 [[ 9.39562206e-01 -3.42377246e-01 -8.26174187e-04 3.06937607e+02] [ 3.42377137e-01 9.39562569e-01 -2.74641895e-04 3.26009567e+01] [ 8.70273477e-04 -2.48200073e-05 9.99999621e-01 -6.38302023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28028169299995 meters 0.03155690207075637 Centerline is valid? [True, True] Translation: X:306.99, Y:32.62, Z:-0.08 [[ 9.41804290e-01 -3.36076329e-01 -7.57498222e-03 3.06994124e+02] [ 3.36066943e-01 9.41834736e-01 -2.51782089e-03 3.26163342e+01] [ 7.98056139e-03 -1.74406595e-04 9.99968140e-01 -7.68345954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34028169299995 meters 0.024071215760520803 Centerline is valid? [True, True] Translation: X:307.05, Y:32.64, Z:-0.08 [[ 9.44237924e-01 -3.29167505e-01 -7.96849950e-03 3.07048714e+02] [ 3.29156861e-01 9.44271539e-01 -2.64988282e-03 3.26409456e+01] [ 8.39668260e-03 -1.20766427e-04 9.99964740e-01 -7.69301029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40028169299995 meters 0.015095890974879138 Centerline is valid? [True, True] Translation: X:307.10, Y:32.67, Z:-0.06 [[ 9.47873207e-01 -3.18638254e-01 -2.45910103e-03 3.07100080e+02] [ 3.18637205e-01 9.47876396e-01 -8.17843794e-04 3.26741944e+01] [ 2.59152014e-03 -8.34885895e-06 9.99996642e-01 -6.41948244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46028169299996 meters 0.016376537988852788 Centerline is valid? [True, True] Translation: X:307.15, Y:32.71, Z:-0.07 [[ 9.50588172e-01 -3.10421969e-01 -4.50878325e-03 3.07150502e+02] [ 3.10418344e-01 9.50598864e-01 -1.50037381e-03 3.27092954e+01] [ 4.75179323e-03 2.66285628e-05 9.99988710e-01 -6.88666491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52028169299996 meters 0.021264858756058262 Centerline is valid? [True, True] Translation: X:307.20, Y:32.75, Z:-0.07 [[ 9.52808563e-01 -3.03535568e-01 -4.69048201e-03 3.07200526e+02] [ 3.03531561e-01 9.52820106e-01 -1.56090298e-03 3.27483750e+01] [ 4.94297514e-03 6.35323987e-05 9.99987781e-01 -6.98428198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58028169299996 meters 0.02516941682691299 Centerline is valid? [True, True] Translation: X:307.25, Y:32.79, Z:-0.07 [[ 9.53928366e-01 -2.99985156e-01 -5.43869325e-03 3.07250136e+02] [ 2.99979710e-01 9.53943865e-01 -1.81010052e-03 3.27855909e+01] [ 5.73121135e-03 9.52086050e-05 9.99983572e-01 -7.00809747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64028169299996 meters 0.026014395624915455 Centerline is valid? [True, True] Translation: X:307.30, Y:32.82, Z:-0.07 [[ 9.54040766e-01 -2.99629263e-01 -5.34065289e-03 3.07300883e+02] [ 2.99624000e-01 9.54055709e-01 -1.77844502e-03 3.28180237e+01] [ 5.62815455e-03 9.65212685e-05 9.99984157e-01 -6.95985525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70028169299997 meters 0.02271039663954628 Centerline is valid? [True, True] Translation: X:307.35, Y:32.84, Z:-0.06 [[ 9.53001981e-01 -3.02953738e-01 -2.50126679e-03 3.07354039e+02] [ 3.02952595e-01 9.53005263e-01 -8.33038202e-04 3.28424330e+01] [ 2.63609245e-03 3.61217937e-05 9.99996525e-01 -6.42018962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76028169299997 meters 0.021876632715269354 Centerline is valid? [True, True] Translation: X:307.41, Y:32.86, Z:-0.06 [[ 9.52622952e-01 -3.04142634e-01 -2.60177538e-03 3.07409335e+02] [ 3.04141401e-01 9.52626504e-01 -8.66996171e-04 3.28623165e+01] [ 2.74221068e-03 3.46128453e-05 9.99996240e-01 -6.45952327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82028169299997 meters 0.019133382384638253 Centerline is valid? [True, True] Translation: X:307.47, Y:32.88, Z:-0.07 [[ 9.51520680e-01 -3.07552651e-01 -4.44542445e-03 3.07465608e+02] [ 3.07549083e-01 9.51531064e-01 -1.48207727e-03 3.28801677e+01] [ 4.68577625e-03 4.30409584e-05 9.99989021e-01 -7.08971946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.880281693 meters 0.016626602381648033 Centerline is valid? [True, True] Translation: X:307.52, Y:32.89, Z:-0.07 [[ 9.50472284e-01 -3.10789136e-01 -3.54258174e-03 3.07522360e+02] [ 3.10786890e-01 9.50478886e-01 -1.18168401e-03 3.28945719e+01] [ 3.73440370e-03 2.21699371e-05 9.99993027e-01 -6.87193866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.940281693 meters 0.01517735277326711 Centerline is valid? [True, True] Translation: X:307.58, Y:32.90, Z:-0.07 [[ 9.49123246e-01 -3.14869847e-01 -4.69505159e-03 3.07580534e+02] [ 3.14865951e-01 9.49134858e-01 -1.56633359e-03 3.29019563e+01] [ 4.94942834e-03 8.33173512e-06 9.99987751e-01 -7.24411373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.000281693 meters 0.015251228258494358 Centerline is valid? [True, True] Translation: X:307.64, Y:32.92, Z:-0.07 [[ 9.48697546e-01 -3.16137222e-01 -5.49760311e-03 3.07637318e+02] [ 3.16131896e-01 9.48713475e-01 -1.83519047e-03 3.29164435e+01] [ 5.79582217e-03 3.07300757e-06 9.99983204e-01 -7.46153355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.060281693 meters 0.014947914505172737 Centerline is valid? [True, True] Translation: X:307.69, Y:32.93, Z:-0.07 [[ 9.48558074e-01 -3.16565658e-01 -4.87480731e-03 3.07693322e+02] [ 3.16561471e-01 9.48570601e-01 -1.62824822e-03 3.29328961e+01] [ 5.13954636e-03 1.31182540e-06 9.99986792e-01 -7.25661426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.120281693 meters 0.015599834594144194 Centerline is valid? [True, True] Translation: X:307.75, Y:32.94, Z:-0.07 [[ 9.47470299e-01 -3.19795021e-01 -5.58359650e-03 3.07752161e+02] [ 3.19789577e-01 9.47486752e-01 -1.86594683e-03 3.29415354e+01] [ 5.88710422e-03 -1.76467600e-05 9.99982671e-01 -7.37523942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.180281693 meters 0.015630111536470422 Centerline is valid? [True, True] Translation: X:307.81, Y:32.95, Z:-0.07 [[ 9.47200724e-01 -3.20586616e-01 -5.91685059e-03 3.07809155e+02] [ 3.20580511e-01 9.47219204e-01 -1.97857136e-03 3.29547981e+01] [ 6.23885800e-03 -2.27227608e-05 9.99980538e-01 -7.30361322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.240281693 meters 0.015016552607075078 Centerline is valid? [True, True] Translation: X:307.86, Y:32.98, Z:-0.06 [[ 9.49515863e-01 -3.13709153e-01 -2.48880119e-03 3.07862889e+02] [ 3.13708048e-01 9.49519124e-01 -8.32731824e-04 3.29802062e+01] [ 2.62439992e-03 9.93511481e-06 9.99996556e-01 -6.41416546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.300281693 meters 0.02626732824675628 Centerline is valid? [True, True] Translation: X:307.91, Y:33.02, Z:-0.07 [[ 9.54020144e-01 -2.99681875e-01 -6.02811459e-03 3.07912256e+02] [ 2.99675111e-01 9.54039182e-01 -2.01694201e-03 3.30224173e+01] [ 6.35549847e-03 1.17727404e-04 9.99979797e-01 -7.09271335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.360281693 meters 0.03994020190008243 Centerline is valid? [True, True] Translation: X:307.96, Y:33.07, Z:-0.06 [[ 9.57673165e-01 -2.87842407e-01 -2.97611077e-03 3.07960315e+02] [ 2.87840701e-01 9.57677785e-01 -9.95876826e-04 3.30657063e+01] [ 3.13681075e-03 9.70787025e-05 9.99995075e-01 -6.46454075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.420281693 meters 0.047350137849667705 Centerline is valid? [True, True] Translation: X:308.01, Y:33.10, Z:-0.07 [[ 9.59519521e-01 -2.81618487e-01 -3.64907842e-03 3.08010777e+02] [ 2.81615876e-01 9.59526449e-01 -1.22111305e-03 3.31048697e+01] [ 3.84527527e-03 1.44043393e-04 9.99992597e-01 -6.60206010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48028169299994 meters 0.04626629072920621 Centerline is valid? [True, True] Translation: X:308.06, Y:33.13, Z:-0.07 [[ 9.59068875e-01 -2.83135008e-01 -4.63263691e-03 3.08064455e+02] [ 2.83130814e-01 9.59080047e-01 -1.55108064e-03 3.31297583e+01] [ 4.88223485e-03 1.75950903e-04 9.99988066e-01 -6.92986522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54028169299994 meters 0.041703311897918004 Centerline is valid? [True, True] Translation: X:308.12, Y:33.15, Z:-0.06 [[ 9.57797586e-01 -2.87436857e-01 -1.95891164e-03 3.08122010e+02] [ 2.87436116e-01 9.57799587e-01 -6.55884447e-04 3.31472235e+01] [ 2.06477012e-03 6.51425871e-05 9.99997866e-01 -6.36312872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60028169299994 meters 0.03613629638704371 Centerline is valid? [True, True] Translation: X:308.18, Y:33.16, Z:-0.06 [[ 9.56297490e-01 -2.92392351e-01 -1.35026076e-03 3.08179629e+02] [ 2.92392003e-01 9.56298443e-01 -4.52133292e-04 3.31628445e+01] [ 1.42345258e-03 3.75684843e-05 9.99998986e-01 -6.40258239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66028169299994 meters 0.03103920025554783 Centerline is valid? [True, True] Translation: X:308.24, Y:33.18, Z:-0.07 [[ 9.55067672e-01 -2.96380275e-01 -2.11512439e-03 3.08236713e+02] [ 2.96379432e-01 9.55070013e-01 -7.08295100e-04 3.31795820e+01] [ 2.23001657e-03 4.95903869e-05 9.99997512e-01 -6.57303057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72028169299995 meters 0.02914548314192614 Centerline is valid? [True, True] Translation: X:308.29, Y:33.20, Z:-0.07 [[ 9.54055755e-01 -2.99597735e-01 -4.33741550e-03 3.08291730e+02] [ 2.99594225e-01 9.54065611e-01 -1.45274827e-03 3.31979231e+01] [ 4.57341906e-03 8.65382102e-05 9.99989538e-01 -7.12037737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78028169299995 meters 0.024116004596961775 Centerline is valid? [True, True] Translation: X:308.35, Y:33.21, Z:-0.07 [[ 9.53436913e-01 -3.01523493e-01 -6.45260704e-03 3.08348519e+02] [ 3.01515761e-01 9.53458741e-01 -2.16243396e-03 3.32131984e+01] [ 6.80431922e-03 1.16181641e-04 9.99976844e-01 -7.29799407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84028169299995 meters 0.025651274403842725 Centerline is valid? [True, True] Translation: X:308.40, Y:33.24, Z:-0.07 [[ 9.53712079e-01 -3.00685218e-01 -4.65519044e-03 3.08400939e+02] [ 3.00681183e-01 9.53723436e-01 -1.56035714e-03 3.32378274e+01] [ 4.90894055e-03 8.84032821e-05 9.99987947e-01 -6.97584916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90028169299995 meters 0.027756262242786548 Centerline is valid? [True, True] Translation: X:308.45, Y:33.27, Z:-0.07 [[ 9.54481133e-01 -2.98246525e-01 -3.84403441e-03 3.08453814e+02] [ 2.98243750e-01 9.54488870e-01 -1.28921765e-03 3.32657746e+01] [ 4.05359274e-03 8.40746837e-05 9.99991781e-01 -6.83490275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96028169299996 meters 0.03015418438218495 Centerline is valid? [True, True] Translation: X:308.51, Y:33.29, Z:-0.07 [[ 9.55016166e-01 -2.96522220e-01 -4.32396209e-03 3.08507159e+02] [ 2.96518688e-01 9.55025949e-01 -1.45095200e-03 3.32913736e+01] [ 4.55973551e-03 1.03547051e-04 9.99989599e-01 -6.92684509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02028169299996 meters 0.03410005405165737 Centerline is valid? [True, True] Translation: X:308.56, Y:33.33, Z:-0.07 [[ 9.56044987e-01 -2.93205392e-01 -2.92930435e-03 3.08559012e+02] [ 2.93203756e-01 9.56049471e-01 -9.83003024e-04 3.33250408e+01] [ 3.08878166e-03 8.09120777e-05 9.99995226e-01 -6.61500759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08028169299996 meters 0.037966252107297094 Centerline is valid? [True, True] Translation: X:308.61, Y:33.36, Z:-0.07 [[ 9.56912546e-01 -2.90360682e-01 -3.00908377e-03 3.08609635e+02] [ 2.90358940e-01 9.56917272e-01 -1.00989376e-03 3.33592178e+01] [ 3.17267768e-03 9.26656287e-05 9.99994963e-01 -6.70402741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14028169299996 meters 0.04197898910401944 Centerline is valid? [True, True] Translation: X:308.66, Y:33.39, Z:-0.06 [[ 9.57798512e-01 -2.87438467e-01 -1.06625983e-03 3.08659755e+02] [ 2.87438247e-01 9.57799105e-01 -3.57924002e-04 3.33942908e+01] [ 1.12414384e-03 3.63352188e-05 9.99999367e-01 -6.33590110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20028169299997 meters 0.035190191931348605 Centerline is valid? [True, True] Translation: X:308.72, Y:33.41, Z:-0.06 [[ 9.56923372e-01 -2.90338946e-01 -9.77781646e-04 3.08717007e+02] [ 2.90338762e-01 9.56923871e-01 -3.28255220e-04 3.34133372e+01] [ 1.03096787e-03 3.02271789e-05 9.99999468e-01 -6.35135530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26028169299997 meters 0.027761716277182984 Centerline is valid? [True, True] Translation: X:308.77, Y:33.43, Z:-0.06 [[ 9.54264446e-01 -2.98962280e-01 9.59873566e-04 3.08773846e+02] [ 2.98962107e-01 9.54264929e-01 3.22251738e-04 3.34293530e+01] [-1.01231479e-03 -2.05475518e-05 9.99999487e-01 -6.11201634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32028169299997 meters 0.017958829422000496 Centerline is valid? [True, True] Translation: X:308.84, Y:33.44, Z:-0.07 [[ 9.51249076e-01 -3.08419216e-01 -1.66803707e-03 3.08835014e+02] [ 3.08418708e-01 9.51250538e-01 -5.60071137e-04 3.34358469e+01] [ 1.75945786e-03 1.83133130e-05 9.99998452e-01 -6.67281824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.380281693 meters 0.01650339226688947 Centerline is valid? [True, True] Translation: X:308.89, Y:33.45, Z:-0.07 [[ 9.49752418e-01 -3.12957498e-01 -5.28665691e-03 3.08890002e+02] [ 3.12952462e-01 9.49767131e-01 -1.77561413e-03 3.34537973e+01] [ 5.57678472e-03 3.19215137e-05 9.99984449e-01 -7.47105781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.440281693 meters 0.014256724089210257 Centerline is valid? [True, True] Translation: X:308.95, Y:33.47, Z:-0.07 [[ 9.48477743e-01 -3.16830714e-01 -2.87566243e-03 3.08947579e+02] [ 3.16829240e-01 9.48482103e-01 -9.66408739e-04 3.34658821e+01] [ 3.03370232e-03 5.52323718e-06 9.99995398e-01 -7.00623731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.500281693 meters 0.01460271676318002 Centerline is valid? [True, True] Translation: X:309.01, Y:33.48, Z:-0.07 [[ 9.46872537e-01 -3.21595885e-01 -2.91281997e-03 3.09005037e+02] [ 3.21594394e-01 9.46877018e-01 -9.79512684e-04 3.34778584e+01] [ 3.07308953e-03 -9.27291054e-06 9.99995278e-01 -7.03263692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.560281693 meters 0.019898437557615067 Centerline is valid? [True, True] Translation: X:309.07, Y:33.48, Z:-0.07 [[ 9.43989038e-01 -3.29958352e-01 -3.49027286e-03 3.09066078e+02] [ 3.29956267e-01 9.43995490e-01 -1.17381110e-03 3.34791746e+01] [ 3.68211062e-03 -4.35725898e-05 9.99993220e-01 -7.13973236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.620281693 meters 0.026060937319346174 Centerline is valid? [True, True] Translation: X:309.13, Y:33.48, Z:-0.07 [[ 9.41351983e-01 -3.37423613e-01 -1.32271069e-03 3.09129212e+02] [ 3.37423320e-01 9.41352912e-01 -4.44860685e-04 3.34799360e+01] [ 1.39524406e-03 -2.75429445e-05 9.99999026e-01 -6.81323145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.680281693 meters 0.027297817929618332 Centerline is valid? [True, True] Translation: X:309.19, Y:33.49, Z:-0.07 [[ 9.40918650e-01 -3.38626622e-01 -2.02592715e-03 3.09187416e+02] [ 3.38625938e-01 9.40920830e-01 -6.81789986e-04 3.34920090e+01] [ 2.13710929e-03 -4.45225669e-05 9.99997715e-01 -6.88506737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.740281693 meters 0.02144227859852076 Centerline is valid? [True, True] Translation: X:309.24, Y:33.52, Z:-0.07 [[ 9.43156013e-01 -3.32343196e-01 -2.17618051e-03 3.09242093e+02] [ 3.32342390e-01 9.43158523e-01 -7.32358522e-04 3.35164389e+01] [ 2.29587757e-03 -3.25086890e-05 9.99997364e-01 -6.77940366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.800281693 meters 0.016150529883232536 Centerline is valid? [True, True] Translation: X:309.29, Y:33.54, Z:-0.07 [[ 9.45625420e-01 -3.25245208e-01 -2.84966568e-03 3.09294938e+02] [ 3.25243794e-01 9.45629713e-01 -9.59162466e-04 3.35439258e+01] [ 3.00669153e-03 -1.98276661e-05 9.99995480e-01 -6.97181302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.860281693 meters 0.014332892504916416 Centerline is valid? [True, True] Translation: X:309.35, Y:33.57, Z:-0.07 [[ 9.48258604e-01 -3.17495437e-01 -1.50587933e-03 3.09347798e+02] [ 3.17495032e-01 9.48259800e-01 -5.07191111e-04 3.35723819e+01] [ 1.58899570e-03 2.83912967e-06 9.99998738e-01 -6.76171616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.920281693 meters 0.0163592731212588 Centerline is valid? [True, True] Translation: X:309.40, Y:33.60, Z:-0.07 [[ 9.50009869e-01 -3.12219487e-01 -4.90944225e-04 3.09398949e+02] [ 3.12219444e-01 9.50009996e-01 -1.65414888e-04 3.36034078e+01] [ 5.18047673e-04 3.86344278e-06 9.99999866e-01 -6.66462844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98028169299994 meters 0.02111904375972026 Centerline is valid? [True, True] Translation: X:309.45, Y:33.64, Z:-0.07 [[ 9.51683283e-01 -3.07077735e-01 -1.48070456e-03 3.09448392e+02] [ 3.07077331e-01 9.51684435e-01 -4.98870141e-04 3.36395410e+01] [ 1.56235540e-03 2.00755694e-05 9.99998779e-01 -6.74592503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04028169299994 meters 0.020887995723971677 Centerline is valid? [True, True] Translation: X:309.50, Y:33.67, Z:-0.07 [[ 9.51927616e-01 -3.06317577e-01 -1.83190597e-03 3.09500973e+02] [ 3.06316956e-01 9.51929378e-01 -6.17322834e-04 3.36661812e+01] [ 1.93294195e-03 2.65027919e-05 9.99998132e-01 -6.89109212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10028169299994 meters 0.01627336502092437 Centerline is valid? [True, True] Translation: X:309.56, Y:33.68, Z:-0.07 [[ 9.49774199e-01 -3.12916989e-01 -3.45371655e-03 3.09556638e+02] [ 3.12914825e-01 9.49780478e-01 -1.16400603e-03 3.36846521e+01] [ 3.64450982e-03 2.48237818e-05 9.99993358e-01 -7.15264689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16028169299994 meters 0.014128007668184086 Centerline is valid? [True, True] Translation: X:309.61, Y:33.70, Z:-0.07 [[ 9.47086212e-01 -3.20973062e-01 -2.00039491e-03 3.09613431e+02] [ 3.20972353e-01 9.47088324e-01 -6.74407915e-04 3.36973420e+01] [ 2.11101743e-03 -3.34902336e-06 9.99997772e-01 -6.89709953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22028169299995 meters 0.01710589141069458 Centerline is valid? [True, True] Translation: X:309.67, Y:33.71, Z:-0.07 [[ 9.45137642e-01 -3.26669761e-01 -1.30593152e-03 3.09671069e+02] [ 3.26669465e-01 9.45138544e-01 -4.40362448e-04 3.37076950e+01] [ 1.37813931e-03 -1.04048243e-05 9.99999050e-01 -6.77615062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28028169299995 meters 0.02269349298830978 Centerline is valid? [True, True] Translation: X:309.73, Y:33.72, Z:-0.07 [[ 9.42231879e-01 -3.34960420e-01 -7.76756138e-04 3.09731221e+02] [ 3.34960318e-01 9.42232199e-01 -2.61940200e-04 3.37165392e+01] [ 8.19624243e-04 -1.33740764e-05 9.99999664e-01 -6.72002598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34028169299995 meters 0.02933011895742555 Centerline is valid? [True, True] Translation: X:309.79, Y:33.72, Z:-0.07 [[ 9.39826641e-01 -3.41645483e-01 -2.06139329e-03 3.09792222e+02] [ 3.41644779e-01 9.39828900e-01 -6.95178360e-04 3.37238407e+01] [ 2.17486153e-03 -5.09171131e-05 9.99997634e-01 -6.89998423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40028169299995 meters 0.032731292245542845 Centerline is valid? [True, True] Translation: X:309.85, Y:33.74, Z:-0.07 [[ 9.38671950e-01 -3.44803814e-01 -2.30199043e-03 3.09850665e+02] [ 3.44802946e-01 9.38674771e-01 -7.76376808e-04 3.37365638e+01] [ 2.42851802e-03 -6.49699494e-05 9.99997049e-01 -7.01940517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46028169299996 meters 0.03855016130293759 Centerline is valid? [True, True] Translation: X:309.91, Y:33.74, Z:-0.07 [[ 9.37142565e-01 -3.48935797e-01 -2.76083958e-03 3.09910742e+02] [ 3.48934566e-01 9.37146627e-01 -9.31229952e-04 3.37414534e+01] [ 2.91225096e-03 -9.06571346e-05 9.99995755e-01 -7.15042150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52028169299996 meters 0.049330963865064394 Centerline is valid? [True, True] Translation: X:309.97, Y:33.74, Z:-0.07 [[ 9.33459494e-01 -3.58662643e-01 -3.80558300e-03 3.09974963e+02] [ 3.58660384e-01 9.33467236e-01 -1.28374003e-03 3.37365056e+01] [ 4.01281664e-03 -1.66592537e-04 9.99991935e-01 -7.39776642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58028169299996 meters 0.060906403114899074 Centerline is valid? [True, True] Translation: X:310.04, Y:33.73, Z:-0.07 [[ 9.30206469e-01 -3.67028069e-01 -2.51420390e-03 3.10040163e+02] [ 3.67027113e-01 9.30209857e-01 -8.48241863e-04 3.37276799e+01] [ 2.65006582e-03 -1.33740928e-04 9.99996480e-01 -7.04407475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64028169299996 meters 0.059046548779423336 Centerline is valid? [True, True] Translation: X:310.10, Y:33.74, Z:-0.07 [[ 9.29522698e-01 -3.68756778e-01 -2.44811628e-03 3.10098607e+02] [ 3.68755877e-01 9.29525912e-01 -8.26102925e-04 3.37411004e+01] [ 2.58021857e-03 -1.34875846e-04 9.99996662e-01 -6.92672862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70028169299997 meters 0.058256067077545666 Centerline is valid? [True, True] Translation: X:310.16, Y:33.75, Z:-0.07 [[ 9.31361229e-01 -3.64084890e-01 -2.90746176e-03 3.10158896e+02] [ 3.64083597e-01 9.31365756e-01 -9.81179480e-04 3.37474532e+01] [ 3.06514294e-03 -1.44726608e-04 9.99995292e-01 -6.97782240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76028169299997 meters 0.04757590646773644 Centerline is valid? [True, True] Translation: X:310.21, Y:33.77, Z:-0.07 [[ 9.33387549e-01 -3.58851522e-01 -3.64260389e-03 3.10214823e+02] [ 3.58849451e-01 9.33394643e-01 -1.22937131e-03 3.37679575e+01] [ 3.84114872e-03 -1.59666530e-04 9.99992610e-01 -7.10941649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82028169299997 meters 0.04631462785229797 Centerline is valid? [True, True] Translation: X:310.27, Y:33.78, Z:-0.06 [[ 9.33902923e-01 -3.57526130e-01 -6.30492914e-04 3.10274494e+02] [ 3.57526068e-01 9.33903135e-01 -2.12837833e-04 3.37751749e+01] [ 6.64914395e-04 -2.66477779e-05 9.99999779e-01 -6.47351371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.880281693 meters 0.05241475802532979 Centerline is valid? [True, True] Translation: X:310.34, Y:33.77, Z:-0.07 [[ 9.34233531e-01 -3.56658798e-01 -1.48699381e-03 3.10337267e+02] [ 3.56658449e-01 9.34234713e-01 -5.02255437e-04 3.37716464e+01] [ 1.56833506e-03 -6.11250361e-05 9.99998768e-01 -6.88993912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.940281693 meters 0.048566034527717065 Centerline is valid? [True, True] Translation: X:310.40, Y:33.78, Z:-0.07 [[ 9.35504473e-01 -3.53289847e-01 -4.20290125e-03 3.10395514e+02] [ 3.53287030e-01 9.35513901e-01 -1.41962319e-03 3.37835863e+01] [ 4.43341101e-03 -1.56766658e-04 9.99990160e-01 -7.35035493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.000281693 meters 0.03404030935956474 Centerline is valid? [True, True] Translation: X:310.45, Y:33.81, Z:-0.07 [[ 9.38306020e-01 -3.45785606e-01 -3.75860422e-03 3.10450524e+02] [ 3.45783290e-01 9.38313542e-01 -1.27010387e-03 3.38083454e+01] [ 3.96593287e-03 -1.07916422e-04 9.99992130e-01 -7.12426071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.060281693 meters 0.026267095126184643 Centerline is valid? [True, True] Translation: X:310.50, Y:33.83, Z:-0.07 [[ 9.40178046e-01 -3.40675532e-01 -2.32887570e-03 3.10504983e+02] [ 3.40674626e-01 9.40180929e-01 -7.87348419e-04 3.38333459e+01] [ 2.45779486e-03 -5.31411603e-05 9.99996978e-01 -6.88919996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.120281693 meters 0.024047503446478345 Centerline is valid? [True, True] Translation: X:310.56, Y:33.85, Z:-0.07 [[ 9.41902593e-01 -3.35858251e-01 -4.32907834e-03 3.10562201e+02] [ 3.35855070e-01 9.41912538e-01 -1.46361226e-03 3.38482676e+01] [ 4.56917942e-03 -7.53627227e-05 9.99989558e-01 -7.35214653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.180281693 meters 0.02034996657575055 Centerline is valid? [True, True] Translation: X:310.62, Y:33.87, Z:-0.07 [[ 9.43212163e-01 -3.32179437e-01 -2.76343787e-03 3.10617401e+02] [ 3.32178125e-01 9.43216211e-01 -9.34439393e-04 3.38692966e+01] [ 2.91692095e-03 -3.65790102e-05 9.99995745e-01 -6.92819500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.240281693 meters 0.01603874773259348 Centerline is valid? [True, True] Translation: X:310.67, Y:33.89, Z:-0.07 [[ 9.44864890e-01 -3.27458494e-01 -1.12866498e-03 3.10672126e+02] [ 3.27458272e-01 9.44865564e-01 -3.81719183e-04 3.38919842e+01] [ 1.19143386e-03 -8.91763047e-06 9.99999290e-01 -6.64815279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.300281693 meters 0.014540371443691191 Centerline is valid? [True, True] Translation: X:310.73, Y:33.91, Z:-0.07 [[ 9.45772718e-01 -3.24826979e-01 -1.18322141e-03 3.10726795e+02] [ 3.24826733e-01 9.45773458e-01 -4.00248969e-04 3.39115080e+01] [ 1.24907107e-03 -5.79738865e-06 9.99999220e-01 -6.76896323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.360281693 meters 0.013593121910780541 Centerline is valid? [True, True] Translation: X:310.78, Y:33.93, Z:-0.07 [[ 9.46362815e-01 -3.23100698e-01 -1.83323201e-03 3.10780939e+02] [ 3.23100102e-01 9.46364591e-01 -6.20547033e-04 3.39313559e+01] [ 1.93540504e-03 -5.05481362e-06 9.99998127e-01 -6.84573198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.420281693 meters 0.013406059003039598 Centerline is valid? [True, True] Translation: X:310.83, Y:33.96, Z:-0.07 [[ 9.47470669e-01 -3.19824061e-01 -3.44983504e-03 3.10833591e+02] [ 3.19821927e-01 9.47476949e-01 -1.16845300e-03 3.39553069e+01] [ 3.64233857e-03 3.74205316e-06 9.99993367e-01 -7.06862334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48028169299994 meters 0.013998116969201108 Centerline is valid? [True, True] Translation: X:310.89, Y:33.98, Z:-0.07 [[ 9.47865760e-01 -3.18629761e-01 -5.05742818e-03 3.10887564e+02] [ 3.18625155e-01 9.47879252e-01 -1.71319767e-03 3.39757956e+01] [ 5.33970700e-03 1.24575777e-05 9.99985744e-01 -7.47267619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54028169299994 meters 0.014289235320638667 Centerline is valid? [True, True] Translation: X:310.94, Y:34.00, Z:-0.07 [[ 9.48316567e-01 -3.17292034e-01 -4.63177939e-03 3.10941311e+02] [ 3.17288150e-01 9.48327878e-01 -1.57004749e-03 3.39973418e+01] [ 4.89060909e-03 1.92933324e-05 9.99988041e-01 -7.29696784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60028169299994 meters 0.01699310535856955 Centerline is valid? [True, True] Translation: X:310.99, Y:34.03, Z:-0.07 [[ 9.49786250e-01 -3.12891327e-01 -2.25778814e-03 3.10991742e+02] [ 3.12890391e-01 9.49788933e-01 -7.65464536e-04 3.40287896e+01] [ 2.38392940e-03 2.05874761e-05 9.99997158e-01 -6.81949518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66028169299994 meters 0.018967243182975525 Centerline is valid? [True, True] Translation: X:311.04, Y:34.06, Z:-0.07 [[ 9.50683543e-01 -3.10155828e-01 -2.04063457e-03 3.11044115e+02] [ 3.10155056e-01 9.50685732e-01 -6.92250407e-04 3.40567217e+01] [ 2.15470767e-03 2.51979394e-05 9.99997678e-01 -6.74372864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72028169299995 meters 0.020116491746219673 Centerline is valid? [True, True] Translation: X:311.10, Y:34.09, Z:-0.06 [[ 9.51254253e-01 -3.08406810e-01 -7.65364483e-04 3.11096137e+02] [ 3.08406701e-01 9.51254561e-01 -2.59816214e-04 3.40853844e+01] [ 8.08185545e-04 1.11077435e-05 9.99999673e-01 -6.48553711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78028169299995 meters 0.021903817287189837 Centerline is valid? [True, True] Translation: X:311.15, Y:34.11, Z:-0.07 [[ 9.51083426e-01 -3.08928473e-01 -1.87490202e-03 3.11147946e+02] [ 3.08927819e-01 9.51085274e-01 -6.36463004e-04 3.41140095e+01] [ 1.97981324e-03 2.61200227e-05 9.99998040e-01 -6.77429884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84028169299995 meters 0.017426814463668807 Centerline is valid? [True, True] Translation: X:311.20, Y:34.13, Z:-0.07 [[ 9.50046683e-01 -3.12082188e-01 -4.00104073e-03 3.11203392e+02] [ 3.12079232e-01 9.50055107e-01 -1.35897080e-03 3.41326976e+01] [ 4.22531976e-03 4.24439793e-05 9.99991072e-01 -7.07163727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90028169299995 meters 0.018538460566576234 Centerline is valid? [True, True] Translation: X:311.25, Y:34.16, Z:-0.07 [[ 9.50294581e-01 -3.11348561e-01 -1.51121691e-03 3.11254646e+02] [ 3.11348138e-01 9.50295782e-01 -5.13437957e-04 3.41588613e+01] [ 1.59596122e-03 1.74027380e-05 9.99998726e-01 -6.58291277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96028169299996 meters 0.02025993807736174 Centerline is valid? [True, True] Translation: X:311.31, Y:34.19, Z:-0.07 [[ 9.51161116e-01 -3.08682451e-01 -2.77036583e-03 3.11307123e+02] [ 3.08681017e-01 9.51165150e-01 -9.41762092e-04 3.41881887e+01] [ 2.92578086e-03 4.06081402e-05 9.99995719e-01 -6.78277765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02028169299996 meters 0.021999820502619134 Centerline is valid? [True, True] Translation: X:311.36, Y:34.22, Z:-0.07 [[ 9.51332185e-01 -3.08154519e-01 -2.80457858e-03 3.11358711e+02] [ 3.08153047e-01 9.51336318e-01 -9.53537869e-04 3.42159507e+01] [ 2.96193446e-03 4.28918317e-05 9.99995613e-01 -6.89906409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08028169299996 meters 0.018185488490464318 Centerline is valid? [True, True] Translation: X:311.42, Y:34.23, Z:-0.06 [[ 9.50496174e-01 -3.10735280e-01 -7.80549428e-04 3.11416386e+02] [ 3.10735166e-01 9.50496494e-01 -2.65571320e-04 3.42302766e+01] [ 8.24431874e-04 9.88036682e-06 9.99999660e-01 -6.49135133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14028169299996 meters 0.013421096446987732 Centerline is valid? [True, True] Translation: X:311.48, Y:34.24, Z:-0.07 [[ 9.47763717e-01 -3.18971907e-01 -9.26911718e-04 3.11475413e+02] [ 3.18971751e-01 9.47764170e-01 -3.15384897e-04 3.42357896e+01] [ 9.79092637e-04 3.25170869e-06 9.99999521e-01 -6.70836903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20028169299997 meters 0.013913458370866143 Centerline is valid? [True, True] Translation: X:311.53, Y:34.26, Z:-0.07 [[ 9.47838939e-01 -3.18732949e-01 -3.26380607e-03 3.11530116e+02] [ 3.18731014e-01 9.47844558e-01 -1.11068216e-03 3.42553335e+01] [ 3.44759182e-03 1.24715838e-05 9.99994057e-01 -7.06386925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26028169299997 meters 0.018269133642634282 Centerline is valid? [True, True] Translation: X:311.58, Y:34.28, Z:-0.07 [[ 9.50024484e-01 -3.12141771e-01 -4.58201579e-03 3.11582444e+02] [ 3.12137877e-01 9.50035532e-01 -1.56014569e-03 3.42845603e+01] [ 4.84006444e-03 5.19559234e-05 9.99988285e-01 -7.13857207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32028169299997 meters 0.026539774473325468 Centerline is valid? [True, True] Translation: X:311.63, Y:34.32, Z:-0.07 [[ 9.52887148e-01 -3.03314885e-01 -2.48277582e-03 3.11633609e+02] [ 3.03313711e-01 9.52890381e-01 -8.45400980e-04 3.43205812e+01] [ 2.62223589e-03 5.25117816e-05 9.99996561e-01 -6.84147158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.380281693 meters 0.031216426265702615 Centerline is valid? [True, True] Translation: X:311.69, Y:34.35, Z:-0.07 [[ 9.53786090e-01 -3.00477470e-01 -2.32035728e-03 3.11686195e+02] [ 3.00476437e-01 9.53788911e-01 -7.90191954e-04 3.43488400e+01] [ 2.45056592e-03 5.64614079e-05 9.99996996e-01 -6.87428251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.440281693 meters 0.032100778672454006 Centerline is valid? [True, True] Translation: X:311.74, Y:34.37, Z:-0.07 [[ 9.54136849e-01 -2.99355790e-01 -2.99747876e-03 3.11739750e+02] [ 2.99354058e-01 9.54141554e-01 -1.02136098e-03 3.43733160e+01] [ 3.16576937e-03 7.72107158e-05 9.99994986e-01 -6.93932427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.500281693 meters 0.033399501204706396 Centerline is valid? [True, True] Translation: X:311.79, Y:34.39, Z:-0.07 [[ 9.54589144e-01 -2.97921308e-01 -1.56872534e-03 3.11794615e+02] [ 2.97920831e-01 9.54590432e-01 -5.34836972e-04 3.43941362e+01] [ 1.65682953e-03 4.31936100e-05 9.99998627e-01 -6.72271846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.560281693 meters 0.03525904302264461 Centerline is valid? [True, True] Translation: X:311.85, Y:34.42, Z:-0.06 [[ 9.55055723e-01 -2.96423224e-01 1.35583719e-03 3.11848114e+02] [ 2.96422866e-01 9.55056685e-01 4.62388770e-04 3.44195453e+01] [-1.43196414e-03 -3.97058962e-05 9.99998974e-01 -6.08790079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.620281693 meters 0.03387495052629663 Centerline is valid? [True, True] Translation: X:311.90, Y:34.44, Z:-0.07 [[ 9.54969018e-01 -2.96705413e-01 -2.68598406e-04 3.11902249e+02] [ 2.96705399e-01 9.54969056e-01 -9.17377943e-05 3.44397657e+01] [ 2.83722267e-04 7.91215402e-06 9.99999960e-01 -6.51580109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.680281693 meters 0.032925304525180075 Centerline is valid? [True, True] Translation: X:311.96, Y:34.46, Z:-0.07 [[ 9.54039660e-01 -2.99671318e-01 -2.32982634e-03 3.11956065e+02] [ 2.99670269e-01 9.54042503e-01 -7.95223953e-04 3.44642306e+01] [ 2.46105916e-03 6.04955041e-05 9.99996970e-01 -6.85262581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.740281693 meters 0.029307842462751404 Centerline is valid? [True, True] Translation: X:312.01, Y:34.48, Z:-0.07 [[ 9.53366308e-01 -3.01812424e-01 -1.39413688e-03 3.12013086e+02] [ 3.01812050e-01 9.53367327e-01 -4.76135162e-04 3.44804557e+01] [ 1.47282806e-03 3.31639118e-05 9.99998915e-01 -6.64962890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.800281693 meters 0.029344933417626354 Centerline is valid? [True, True] Translation: X:312.07, Y:34.50, Z:-0.07 [[ 9.53443767e-01 -3.01566997e-01 -1.52619653e-03 3.12067228e+02] [ 3.01566548e-01 9.53444988e-01 -5.21515510e-04 3.45034918e+01] [ 1.61241630e-03 3.69858923e-05 9.99998699e-01 -6.56935947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.860281693 meters 0.03422933581162024 Centerline is valid? [True, True] Translation: X:312.12, Y:34.54, Z:-0.06 [[ 9.54362187e-01 -2.98651325e-01 -4.49010292e-04 3.12117530e+02] [ 2.98651286e-01 9.54362293e-01 -1.53459889e-04 3.45360647e+01] [ 4.74349491e-04 1.23588144e-05 9.99999887e-01 -6.49310210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.920281693 meters 0.03223061574117789 Centerline is valid? [True, True] Translation: X:312.17, Y:34.56, Z:-0.06 [[ 9.53712590e-01 -3.00719008e-01 -6.10978323e-04 3.12172968e+02] [ 3.00718936e-01 9.53712786e-01 -2.08836753e-04 3.45565327e+01] [ 6.45499020e-04 1.54374896e-05 9.99999792e-01 -6.41722951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98028169299994 meters 0.02440933206638858 Centerline is valid? [True, True] Translation: X:312.23, Y:34.57, Z:-0.06 [[ 9.51665692e-01 -3.07135230e-01 6.00701687e-04 3.12233226e+02] [ 3.07135161e-01 9.51665882e-01 2.05311460e-04 3.45652724e+01] [-6.34725683e-04 -1.08912631e-05 9.99999799e-01 -6.25924865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04028169299994 meters 0.02154638096925092 Centerline is valid? [True, True] Translation: X:312.29, Y:34.58, Z:-0.07 [[ 9.50738377e-01 -3.09993555e-01 -7.30823819e-04 3.12289593e+02] [ 3.09993455e-01 9.50738658e-01 -2.49966922e-04 3.45838031e+01] [ 7.72310592e-04 1.11025455e-05 9.99999702e-01 -6.51380964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10028169299994 meters 0.022448560378087224 Centerline is valid? [True, True] Translation: X:312.34, Y:34.61, Z:-0.07 [[ 9.51132798e-01 -3.08769744e-01 -2.76514436e-03 3.12343992e+02] [ 3.08768298e-01 9.51136816e-01 -9.46139698e-04 3.46057598e+01] [ 2.92216991e-03 4.61155819e-05 9.99995729e-01 -6.84343354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16028169299994 meters 0.021247321710775043 Centerline is valid? [True, True] Translation: X:312.40, Y:34.62, Z:-0.07 [[ 9.50887093e-01 -3.09537893e-01 -1.68827051e-04 3.12399816e+02] [ 3.09537887e-01 9.50887108e-01 -5.78566806e-05 3.46240194e+01] [ 1.78444302e-04 2.75680209e-06 9.99999984e-01 -6.50809169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22028169299995 meters 0.019659019487606982 Centerline is valid? [True, True] Translation: X:312.46, Y:34.64, Z:-0.07 [[ 9.50171387e-01 -3.11719349e-01 -2.32011734e-03 3.12456577e+02] [ 3.11718338e-01 9.50174219e-01 -7.94746860e-04 3.46388543e+01] [ 2.45225365e-03 3.19226069e-05 9.99996993e-01 -6.88975023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28028169299995 meters 0.0187976303236762 Centerline is valid? [True, True] Translation: X:312.51, Y:34.65, Z:-0.07 [[ 9.49548697e-01 -3.13575265e-01 -5.27505931e-03 3.12513243e+02] [ 3.13570062e-01 9.49563347e-01 -1.80736523e-03 3.46529306e+01] [ 5.57574801e-03 6.20806240e-05 9.99984453e-01 -7.47204624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34028169299995 meters 0.016548175616509165 Centerline is valid? [True, True] Translation: X:312.57, Y:34.66, Z:-0.07 [[ 9.48924818e-01 -3.15483436e-01 -3.44846483e-03 3.12571566e+02] [ 3.15481222e-01 9.48931083e-01 -1.18223135e-03 3.46629146e+01] [ 3.64532988e-03 3.39227643e-05 9.99993355e-01 -7.05766217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40028169299995 meters 0.015288414641652124 Centerline is valid? [True, True] Translation: X:312.63, Y:34.67, Z:-0.07 [[ 9.48192476e-01 -3.17694451e-01 -1.12462970e-03 3.12628438e+02] [ 3.17694217e-01 9.48193143e-01 -3.85632332e-04 3.46741570e+01] [ 1.18887942e-03 8.36532456e-06 9.99999293e-01 -6.70019522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46028169299996 meters 0.014103901729110383 Centerline is valid? [True, True] Translation: X:312.69, Y:34.69, Z:-0.07 [[ 9.47413639e-01 -3.20008388e-01 -1.42412127e-03 3.12686351e+02] [ 3.20008015e-01 9.47414709e-01 -4.88626312e-04 3.46852301e+01] [ 1.50559796e-03 7.20101177e-06 9.99998867e-01 -6.70084209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52028169299996 meters 0.014135040341717038 Centerline is valid? [True, True] Translation: X:312.74, Y:34.70, Z:-0.07 [[ 9.47435878e-01 -3.19942493e-01 -1.43480321e-03 3.12743038e+02] [ 3.19942113e-01 9.47436964e-01 -4.92607095e-04 3.46991994e+01] [ 1.51699154e-03 7.65966538e-06 9.99998849e-01 -6.69361803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58028169299996 meters 0.015396155926910448 Centerline is valid? [True, True] Translation: X:312.80, Y:34.72, Z:-0.07 [[ 9.47914778e-01 -3.18522547e-01 -9.79617017e-04 3.12798109e+02] [ 3.18522370e-01 9.47915285e-01 -3.36410943e-04 3.47172007e+01] [ 1.03574841e-03 6.85897116e-06 9.99999464e-01 -6.66527697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64028169299996 meters 0.017403901299460362 Centerline is valid? [True, True] Translation: X:312.85, Y:34.74, Z:-0.07 [[ 9.48697445e-01 -3.16184425e-01 -7.53551701e-04 3.12853627e+02] [ 3.16184319e-01 9.48697744e-01 -2.58942458e-04 3.47371010e+01] [ 7.96766370e-04 7.39681703e-06 9.99999683e-01 -6.51157960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70028169299997 meters 0.018414365368540637 Centerline is valid? [True, True] Translation: X:312.91, Y:34.76, Z:-0.07 [[ 9.49476694e-01 -3.13829184e-01 -2.29144399e-03 3.12908723e+02] [ 3.13828196e-01 9.49479459e-01 -7.87728339e-04 3.47577282e+01] [ 2.42289114e-03 2.88099645e-05 9.99997064e-01 -6.70291247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76028169299997 meters 0.02329930800671489 Centerline is valid? [True, True] Translation: X:312.96, Y:34.79, Z:-0.06 [[ 9.51185716e-01 -3.08618435e-01 -6.28832740e-04 3.12961749e+02] [ 3.08618360e-01 9.51185924e-01 -2.16194815e-04 3.47861905e+01] [ 6.64858556e-04 1.15720908e-05 9.99999779e-01 -6.36500563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82028169299997 meters 0.030156954785167844 Centerline is valid? [True, True] Translation: X:313.01, Y:34.82, Z:-0.07 [[ 9.53064879e-01 -3.02746316e-01 -3.46469020e-03 3.13012499e+02] [ 3.02743985e-01 9.53071173e-01 -1.19119513e-03 3.48202317e+01] [ 3.66272629e-03 8.63721263e-05 9.99993288e-01 -6.88015395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.880281693 meters 0.031804575909459974 Centerline is valid? [True, True] Translation: X:313.07, Y:34.85, Z:-0.07 [[ 9.53507069e-01 -3.01351370e-01 -3.40902550e-03 3.13065401e+02] [ 3.01349103e-01 9.53513159e-01 -1.17229381e-03 3.48457954e+01] [ 3.60382302e-03 9.04836546e-05 9.99993502e-01 -6.99781617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.940281693 meters 0.030165900192117876 Centerline is valid? [True, True] Translation: X:313.12, Y:34.87, Z:-0.07 [[ 9.53048235e-01 -3.02804407e-01 -2.92439076e-03 3.13119262e+02] [ 3.02802744e-01 9.53052719e-01 -1.00621764e-03 3.48711163e+01] [ 3.09178570e-03 7.34604023e-05 9.99995218e-01 -6.94322058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.000281693 meters 0.023727141979707673 Centerline is valid? [True, True] Translation: X:313.18, Y:34.89, Z:-0.07 [[ 9.51109124e-01 -3.08832962e-01 -3.69270955e-03 3.13176123e+02] [ 3.08830356e-01 9.51116290e-01 -1.27055654e-03 3.48911445e+01] [ 3.90458594e-03 6.80171135e-05 9.99992375e-01 -7.07036044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.060281693 meters 0.015036330211166769 Centerline is valid? [True, True] Translation: X:313.24, Y:34.90, Z:-0.07 [[ 9.47515579e-01 -3.19704187e-01 -1.86000726e-03 3.13235494e+02] [ 3.19703547e-01 9.47517405e-01 -6.40031378e-04 3.49009469e+01] [ 1.96700997e-03 1.17887825e-05 9.99998065e-01 -6.81999268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.120281693 meters 0.015208596843214923 Centerline is valid? [True, True] Translation: X:313.30, Y:34.90, Z:-0.07 [[ 9.43324335e-01 -3.31864470e-01 -2.27445644e-03 3.13296496e+02] [ 3.31863547e-01 9.43327076e-01 -7.83115128e-04 3.49031350e+01] [ 2.40544443e-03 -1.60776215e-05 9.99997107e-01 -6.85256662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.180281693 meters 0.021767982857230805 Centerline is valid? [True, True] Translation: X:313.36, Y:34.91, Z:-0.07 [[ 9.40432397e-01 -3.39965956e-01 -3.17116493e-03 3.13358128e+02] [ 3.39964206e-01 9.40437742e-01 -1.09186762e-03 3.49079770e+01] [ 3.35348101e-03 -5.12548869e-05 9.99994376e-01 -6.94401740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.240281693 meters 0.024115235902352154 Centerline is valid? [True, True] Translation: X:313.42, Y:34.92, Z:-0.07 [[ 9.39486855e-01 -3.42544229e-01 -5.28205335e-03 3.13415768e+02] [ 3.42539410e-01 9.39501699e-01 -1.81969401e-03 3.49209158e+01] [ 5.58582377e-03 -9.97328371e-05 9.99984394e-01 -7.23001107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.300281693 meters 0.019837283573371403 Centerline is valid? [True, True] Translation: X:313.47, Y:34.94, Z:-0.07 [[ 9.41184657e-01 -3.37870240e-01 -3.89120915e-03 3.13471932e+02] [ 3.37867585e-01 9.41192700e-01 -1.34061929e-03 3.49397230e+01] [ 4.11533301e-03 -5.29431328e-05 9.99991531e-01 -6.95909739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.360281693 meters 0.018049940553771168 Centerline is valid? [True, True] Translation: X:313.53, Y:34.96, Z:-0.07 [[ 9.42355687e-01 -3.34598671e-01 -3.08030058e-03 3.13526481e+02] [ 3.34596989e-01 9.42360721e-01 -1.06145368e-03 3.49598203e+01] [ 3.25791527e-03 -3.03923922e-05 9.99994693e-01 -6.89573240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.420281693 meters 0.015656574013505193 Centerline is valid? [True, True] Translation: X:313.58, Y:34.98, Z:-0.07 [[ 9.43040176e-01 -3.32640431e-01 -5.05668765e-03 3.13581457e+02] [ 3.32635864e-01 9.43053732e-01 -1.74347048e-03 3.49813548e+01] [ 5.34867694e-03 -3.78729606e-05 9.99985695e-01 -7.24355764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48028169299994 meters 0.01624386105431043 Centerline is valid? [True, True] Translation: X:313.64, Y:35.00, Z:-0.07 [[ 9.43036486e-01 -3.32646735e-01 -5.32309298e-03 3.13635838e+02] [ 3.32641672e-01 9.43051509e-01 -1.83577912e-03 3.49986861e+01] [ 5.63061680e-03 -3.94758545e-05 9.99984147e-01 -7.30111569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54028169299994 meters 0.014491685914257223 Centerline is valid? [True, True] Translation: X:313.69, Y:35.02, Z:-0.07 [[ 9.43636760e-01 -3.30959164e-01 -3.96181474e-03 3.13689601e+02] [ 3.30956342e-01 9.43645077e-01 -1.36708209e-03 3.50221524e+01] [ 4.19099532e-03 -2.11587959e-05 9.99991218e-01 -6.94212137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60028169299994 meters 0.014736976742125358 Centerline is valid? [True, True] Translation: X:313.74, Y:35.04, Z:-0.07 [[ 9.43351998e-01 -3.31778644e-01 -3.15263105e-03 3.13744602e+02] [ 3.31776859e-01 9.43357266e-01 -1.08854063e-03 3.50411818e+01] [ 3.33521194e-03 -1.90930457e-05 9.99994438e-01 -6.84228991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66028169299994 meters 0.016254154861126177 Centerline is valid? [True, True] Translation: X:313.80, Y:35.05, Z:-0.07 [[ 9.42347072e-01 -3.34631161e-01 -1.99559936e-03 3.13802097e+02] [ 3.34630451e-01 9.42349185e-01 -6.89426595e-04 3.50538777e+01] [ 2.11125506e-03 -1.81091825e-05 9.99997771e-01 -6.70751445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72028169299995 meters 0.02100126555199717 Centerline is valid? [True, True] Translation: X:313.86, Y:35.06, Z:-0.07 [[ 9.40558711e-01 -3.39599344e-01 -4.64721338e-03 3.13861527e+02] [ 3.39595555e-01 9.40570189e-01 -1.60560946e-03 3.50600755e+01] [ 4.91629428e-03 -6.80030395e-05 9.99987913e-01 -7.16411546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78028169299995 meters 0.02431863959748783 Centerline is valid? [True, True] Translation: X:313.92, Y:35.07, Z:-0.07 [[ 9.39516981e-01 -3.42492012e-01 -2.65790354e-03 3.13920509e+02] [ 3.42490783e-01 9.39520739e-01 -9.18484904e-04 3.50659203e+01] [ 2.81172924e-03 -4.73753015e-05 9.99996046e-01 -6.70990548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84028169299995 meters 0.023359244375210243 Centerline is valid? [True, True] Translation: X:313.98, Y:35.08, Z:-0.07 [[ 9.39006065e-01 -3.43895587e-01 -1.85317661e-03 3.13978277e+02] [ 3.43894992e-01 9.39007893e-01 -6.40793977e-04 3.50799408e+01] [ 1.96051369e-03 -3.55887258e-05 9.99998078e-01 -6.50179724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90028169299995 meters 0.027020140790686542 Centerline is valid? [True, True] Translation: X:314.04, Y:35.08, Z:-0.07 [[ 9.38227479e-01 -3.46003403e-01 -3.29286430e-03 3.14038380e+02] [ 3.46001537e-01 9.38233255e-01 -1.13874283e-03 3.50839767e+01] [ 3.48348369e-03 -7.09362933e-05 9.99993930e-01 -6.82907326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96028169299996 meters 0.024947139669283802 Centerline is valid? [True, True] Translation: X:314.10, Y:35.10, Z:-0.07 [[ 9.38829522e-01 -3.44319140e-01 -6.59228333e-03 3.14096189e+02] [ 3.44311608e-01 9.38852658e-01 -2.28099875e-03 3.50954126e+01] [ 6.97457425e-03 -1.28330706e-04 9.99975669e-01 -7.34282261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02028169299996 meters 0.016896982733544626 Centerline is valid? [True, True] Translation: X:314.15, Y:35.12, Z:-0.07 [[ 9.42379115e-01 -3.34499662e-01 -5.61955870e-03 3.14150632e+02] [ 3.34494009e-01 9.42395869e-01 -1.94523677e-03 3.51209882e+01] [ 5.94652995e-03 -4.65582084e-05 9.99982318e-01 -7.07513867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08028169299996 meters 0.015379443464626294 Centerline is valid? [True, True] Translation: X:314.20, Y:35.15, Z:-0.07 [[ 9.46552561e-01 -3.22503248e-01 -5.46853023e-03 3.14200463e+02] [ 3.22497692e-01 9.46568357e-01 -1.89329394e-03 3.51530545e+01] [ 5.78693112e-03 2.85138476e-05 9.99983255e-01 -7.03117363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14028169299996 meters 0.021476662304289632 Centerline is valid? [True, True] Translation: X:314.25, Y:35.18, Z:-0.07 [[ 9.49184121e-01 -3.14675762e-01 -5.35431171e-03 3.14251685e+02] [ 3.14670309e-01 9.49199220e-01 -1.85394914e-03 3.51839440e+01] [ 5.66570136e-03 7.48961605e-05 9.99983947e-01 -7.14760995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20028169299997 meters 0.032257124889455924 Centerline is valid? [True, True] Translation: X:314.30, Y:35.22, Z:-0.07 [[ 9.52674167e-01 -3.03975413e-01 -3.29847549e-03 3.14302090e+02] [ 3.03973280e-01 9.52679873e-01 -1.14217281e-03 3.52212484e+01] [ 3.48958366e-03 8.54701170e-05 9.99993908e-01 -6.60074356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26028169299997 meters 0.03424326390239107 Centerline is valid? [True, True] Translation: X:314.36, Y:35.24, Z:-0.07 [[ 9.53080572e-01 -3.02699419e-01 -3.23797139e-03 3.14356707e+02] [ 3.02697353e-01 9.53086069e-01 -1.12184913e-03 3.52434950e+01] [ 3.42564850e-03 8.90872419e-05 9.99994128e-01 -6.65833333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32028169299997 meters 0.035470432448645464 Centerline is valid? [True, True] Translation: X:314.41, Y:35.26, Z:-0.06 [[ 9.53247563e-01 -3.02186759e-01 -1.49867792e-03 3.14410711e+02] [ 3.02186315e-01 9.53248740e-01 -5.19386693e-04 3.52648621e+01] [ 1.58556462e-03 4.22241424e-05 9.99998742e-01 -6.36662420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.380281693 meters 0.03692320304623037 Centerline is valid? [True, True] Translation: X:314.47, Y:35.29, Z:-0.06 [[ 9.53391837e-01 -3.01726196e-01 -2.30401321e-03 3.14465176e+02] [ 3.01725146e-01 9.53394618e-01 -7.98896744e-04 3.52865421e+01] [ 2.43768187e-03 6.64829125e-05 9.99997027e-01 -6.48211859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.440281693 meters 0.03711099868205003 Centerline is valid? [True, True] Translation: X:314.52, Y:35.31, Z:-0.06 [[ 9.54308672e-01 -2.98807614e-01 -2.99489978e-03 3.14520938e+02] [ 2.98805825e-01 9.54313366e-01 -1.03846874e-03 3.53076952e+01] [ 3.16837526e-03 9.61262244e-05 9.99994976e-01 -6.47311417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.500281693 meters 0.049619782203726044 Centerline is valid? [True, True] Translation: X:314.57, Y:35.35, Z:-0.06 [[ 9.56444837e-01 -2.91903826e-01 -2.33017157e-03 3.14568722e+02] [ 2.91902722e-01 9.56447671e-01 -8.08073794e-04 3.53492096e+01] [ 2.46456700e-03 9.26945844e-05 9.99996959e-01 -6.41770042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.560281693 meters 0.049601658139253685 Centerline is valid? [True, True] Translation: X:314.62, Y:35.37, Z:-0.07 [[ 9.57287938e-01 -2.89120344e-01 -3.03807856e-03 3.14624014e+02] [ 2.89118454e-01 9.57292750e-01 -1.05358376e-03 3.53738802e+01] [ 3.21294308e-03 1.30218455e-04 9.99994830e-01 -6.61759639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.620281693 meters 0.04297373060837332 Centerline is valid? [True, True] Translation: X:314.68, Y:35.39, Z:-0.07 [[ 9.56322977e-01 -2.92292692e-01 -3.36845342e-03 3.14681442e+02] [ 2.92290388e-01 9.56328900e-01 -1.16820049e-03 3.53925447e+01] [ 3.56280582e-03 1.32610410e-04 9.99993644e-01 -6.59956874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.680281693 meters 0.04194004797636892 Centerline is valid? [True, True] Translation: X:314.74, Y:35.42, Z:-0.06 [[ 9.55020175e-01 -2.96537391e-01 -1.42845220e-03 3.14735193e+02] [ 2.96536981e-01 9.55021242e-01 -4.95462036e-04 3.54165145e+01] [ 1.51112521e-03 4.95873377e-05 9.99998857e-01 -6.19040683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.740281693 meters 0.03601774204546916 Centerline is valid? [True, True] Translation: X:314.79, Y:35.44, Z:-0.06 [[ 9.54166990e-01 -2.99266791e-01 -2.17800555e-03 3.14791862e+02] [ 2.99265845e-01 9.54169473e-01 -7.55493229e-04 3.54357451e+01] [ 2.30428044e-03 6.90640299e-05 9.99997343e-01 -6.29518031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.800281693 meters 0.03604728500281928 Centerline is valid? [True, True] Translation: X:314.84, Y:35.46, Z:-0.07 [[ 9.53681448e-01 -3.00802815e-01 -3.05989040e-03 3.14844565e+02] [ 3.00800956e-01 9.53686352e-01 -1.06160576e-03 3.54603440e+01] [ 3.23750972e-03 9.20157597e-05 9.99994755e-01 -6.53278136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.860281693 meters 0.03592778945335852 Centerline is valid? [True, True] Translation: X:314.90, Y:35.48, Z:-0.06 [[ 9.53383409e-01 -3.01752490e-01 -2.34736167e-03 3.14898846e+02] [ 3.01751398e-01 9.53386296e-01 -8.14862002e-04 3.54816351e+01] [ 2.48382909e-03 6.85562467e-05 9.99996913e-01 -6.41996472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.920281693 meters 0.03329510204005461 Centerline is valid? [True, True] Translation: X:314.95, Y:35.50, Z:-0.07 [[ 9.52358045e-01 -3.04968837e-01 -2.85691558e-03 3.14954179e+02] [ 3.04967233e-01 9.52362328e-01 -9.91797444e-04 3.55011130e+01] [ 3.02328609e-03 7.32806352e-05 9.99995427e-01 -6.57053465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98028169299994 meters 0.03167971670325213 Centerline is valid? [True, True] Translation: X:315.01, Y:35.52, Z:-0.07 [[ 9.52367491e-01 -3.04933952e-01 -3.38327222e-03 3.15009433e+02] [ 3.04931700e-01 9.52373497e-01 -1.17518907e-03 3.55205813e+01] [ 3.58049384e-03 8.75449173e-05 9.99993586e-01 -6.53768397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04028169299994 meters 0.035231822811934335 Centerline is valid? [True, True] Translation: X:315.06, Y:35.55, Z:-0.06 [[ 9.52891516e-01 -3.03300107e-01 -2.60838966e-03 3.15059908e+02] [ 3.03298762e-01 9.52895083e-01 -9.06174480e-04 3.55524025e+01] [ 2.76036450e-03 7.23646186e-05 9.99996188e-01 -6.36409196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10028169299994 meters 0.03619428129074895 Centerline is valid? [True, True] Translation: X:315.11, Y:35.58, Z:-0.06 [[ 9.53678792e-01 -3.00820247e-01 -1.98524284e-03 3.15113898e+02] [ 3.00819463e-01 9.53680856e-01 -6.89732939e-04 3.55785218e+01] [ 2.10077372e-03 6.05839922e-05 9.99997792e-01 -6.33520233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16028169299994 meters 0.03380936465356165 Centerline is valid? [True, True] Translation: X:315.17, Y:35.60, Z:-0.06 [[ 9.52846800e-01 -3.03448121e-01 -1.48761427e-03 3.15167947e+02] [ 3.03447684e-01 9.52847961e-01 -5.16929185e-04 3.56002947e+01] [ 1.57433141e-03 4.11412166e-05 9.99998760e-01 -6.22916203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22028169299995 meters 0.028373953925989463 Centerline is valid? [True, True] Translation: X:315.22, Y:35.62, Z:-0.07 [[ 9.51110461e-01 -3.08840969e-01 -2.47936016e-03 3.15224268e+02] [ 3.08839772e-01 9.51113691e-01 -8.61593561e-04 3.56179444e+01] [ 2.62424878e-03 5.37456228e-05 9.99996555e-01 -6.51688437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28028169299995 meters 0.027360951159609594 Centerline is valid? [True, True] Translation: X:315.28, Y:35.64, Z:-0.06 [[ 9.50608367e-01 -3.10391891e-01 -7.79356836e-04 3.15277727e+02] [ 3.10391773e-01 9.50608686e-01 -2.70899291e-04 3.56408483e+01] [ 8.24948321e-04 1.56131821e-05 9.99999660e-01 -6.06892742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34028169299995 meters 0.027764688652070074 Centerline is valid? [True, True] Translation: X:315.33, Y:35.67, Z:-0.06 [[ 9.50712724e-01 -3.10069212e-01 1.54947364e-03 3.15329874e+02] [ 3.10068745e-01 9.50713986e-01 5.38622382e-04 3.56684820e+01] [-1.64011647e-03 -3.16318050e-05 9.99998655e-01 -5.61280115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40028169299995 meters 0.02426658562272397 Centerline is valid? [True, True] Translation: X:315.38, Y:35.69, Z:-0.06 [[ 9.50229617e-01 -3.11550225e-01 3.64024620e-04 3.15383611e+02] [ 3.11550199e-01 9.50229687e-01 1.26552778e-04 3.56936852e+01] [-3.85334547e-04 -6.84225518e-06 9.99999926e-01 -5.97608896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46028169299996 meters 0.018655703567555873 Centerline is valid? [True, True] Translation: X:315.44, Y:35.71, Z:-0.06 [[ 9.47738809e-01 -3.19047159e-01 -2.45102480e-04 3.15440475e+02] [ 3.19047147e-01 9.47738841e-01 -8.52657689e-05 3.57096987e+01] [ 2.59496942e-04 2.61043114e-06 9.99999966e-01 -6.17444923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52028169299996 meters 0.013602495651968886 Centerline is valid? [True, True] Translation: X:315.50, Y:35.72, Z:-0.07 [[ 9.44713074e-01 -3.27887920e-01 -2.59227606e-03 3.15500470e+02] [ 3.27886679e-01 9.44716631e-01 -9.02200441e-04 3.57174196e+01] [ 2.74478693e-03 2.34776576e-06 9.99996233e-01 -6.58279039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58028169299996 meters 0.01384143882364006 Centerline is valid? [True, True] Translation: X:315.56, Y:35.74, Z:-0.07 [[ 9.43704973e-01 -3.30772140e-01 -3.27352204e-03 3.15555382e+02] [ 3.30770176e-01 9.43710650e-01 -1.13998450e-03 3.57353881e+01] [ 3.46633272e-03 -6.97442100e-06 9.99993992e-01 -6.66102453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64028169299996 meters 0.01444110031070871 Centerline is valid? [True, True] Translation: X:315.61, Y:35.75, Z:-0.06 [[ 9.42737586e-01 -3.33534066e-01 -9.33194705e-04 3.15609723e+02] [ 3.33533907e-01 9.42738048e-01 -3.25228435e-04 3.57546948e+01] [ 9.88232917e-04 -4.64700584e-06 9.99999512e-01 -6.33698518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70028169299997 meters 0.017351863968695376 Centerline is valid? [True, True] Translation: X:315.67, Y:35.77, Z:-0.07 [[ 9.40953903e-01 -3.38521446e-01 -2.99705267e-03 3.15667821e+02] [ 3.38519836e-01 9.40958676e-01 -1.04462017e-03 3.57654797e+01] [ 3.17372904e-03 -3.16223514e-05 9.99994963e-01 -6.76973506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76028169299997 meters 0.02687093401629084 Centerline is valid? [True, True] Translation: X:315.73, Y:35.77, Z:-0.07 [[ 9.38774559e-01 -3.44517161e-01 -3.20211751e-03 3.15728941e+02] [ 3.44515357e-01 9.38780018e-01 -1.11628099e-03 3.57670675e+01] [ 3.39066189e-03 -5.52424620e-05 9.99994250e-01 -7.00780582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82028169299997 meters 0.031210819518441606 Centerline is valid? [True, True] Translation: X:315.79, Y:35.77, Z:-0.07 [[ 9.37659010e-01 -3.47553058e-01 -1.56627039e-03 3.15789087e+02] [ 3.47552630e-01 9.37660318e-01 -5.46069078e-04 3.57746071e+01] [ 1.65841757e-03 -3.23348010e-05 9.99998624e-01 -6.50719687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.880281693 meters 0.026581476345491694 Centerline is valid? [True, True] Translation: X:315.85, Y:35.79, Z:-0.07 [[ 9.37246660e-01 -3.48661441e-01 -1.97427124e-03 3.15845691e+02] [ 3.48660763e-01 9.37248738e-01 -6.88725633e-04 3.57904042e+01] [ 2.09051530e-03 -4.28451186e-05 9.99997814e-01 -6.54357677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.940281693 meters 0.024974182340628887 Centerline is valid? [True, True] Translation: X:315.90, Y:35.80, Z:-0.06 [[ 9.37770489e-01 -3.47254671e-01 -8.39272995e-04 3.15903013e+02] [ 3.47254548e-01 9.37770864e-01 -2.92969623e-04 3.58043247e+01] [ 8.88780832e-04 -1.67030983e-05 9.99999605e-01 -6.23708729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.000281693 meters 0.018455573595255244 Centerline is valid? [True, True] Translation: X:315.96, Y:35.83, Z:-0.06 [[ 9.40400140e-01 -3.40069899e-01 2.00799225e-04 3.15957547e+02] [ 3.40069892e-01 9.40400162e-01 7.00763538e-05 3.58281360e+01] [-2.12662482e-04 2.38595789e-06 9.99999977e-01 -6.02456879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.060281693 meters 0.013305780133503779 Centerline is valid? [True, True] Translation: X:316.01, Y:35.86, Z:-0.06 [[ 9.44156528e-01 -3.29490745e-01 -2.07349656e-03 3.16007952e+02] [ 3.29489950e-01 9.44158805e-01 -7.23869147e-04 3.58590183e+01] [ 2.19621822e-03 2.49502683e-07 9.99997588e-01 -6.34778078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.120281693 meters 0.01678397071553013 Centerline is valid? [True, True] Translation: X:316.06, Y:35.89, Z:-0.07 [[ 9.46818558e-01 -3.21738383e-01 -4.36249082e-03 3.16059662e+02] [ 3.21734777e-01 9.46828607e-01 -1.52379388e-03 3.58895558e+01] [ 4.62079409e-03 3.91913122e-05 9.99989323e-01 -6.81109260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.180281693 meters 0.02062986057692131 Centerline is valid? [True, True] Translation: X:316.11, Y:35.92, Z:-0.07 [[ 9.48091616e-01 -3.17978849e-01 -3.42626910e-03 3.16111275e+02] [ 3.17976599e-01 9.48097806e-01 -1.19697670e-03 3.59164375e+01] [ 3.62905149e-03 4.53701773e-05 9.99993414e-01 -6.74635211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.240281693 meters 0.023109001430218417 Centerline is valid? [True, True] Translation: X:316.16, Y:35.94, Z:-0.07 [[ 9.48810360e-01 -3.15837674e-01 -2.33767124e-03 3.16163667e+02] [ 3.15836620e-01 9.48813239e-01 -8.16824229e-04 3.59434892e+01] [ 2.47599728e-03 3.66891083e-05 9.99996934e-01 -6.57902111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.300281693 meters 0.024372173617636675 Centerline is valid? [True, True] Translation: X:316.22, Y:35.97, Z:-0.07 [[ 9.49073728e-01 -3.15038827e-01 -3.09782760e-03 3.16218065e+02] [ 3.15036970e-01 9.49078782e-01 -1.08300792e-03 3.59653738e+01] [ 3.28127199e-03 5.19241417e-05 9.99994615e-01 -6.75585903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.360281693 meters 0.02704420350914667 Centerline is valid? [True, True] Translation: X:316.27, Y:35.99, Z:-0.07 [[ 9.49657792e-01 -3.13261603e-01 -4.15285907e-03 3.16270015e+02] [ 3.13258247e-01 9.49666869e-01 -1.45205028e-03 3.59918748e+01] [ 4.39870427e-03 7.80335128e-05 9.99990323e-01 -7.08466800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.420281693 meters 0.023273383907067697 Centerline is valid? [True, True] Translation: X:316.33, Y:36.01, Z:-0.07 [[ 9.49154127e-01 -3.14790059e-01 -3.69614485e-03 3.16326137e+02] [ 3.14787410e-01 9.49161322e-01 -1.29308707e-03 3.60089218e+01] [ 3.91528869e-03 6.38390663e-05 9.99992333e-01 -6.84239670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48028169299994 meters 0.020353211746178334 Centerline is valid? [True, True] Translation: X:316.38, Y:36.03, Z:-0.06 [[ 9.48228089e-01 -3.17589519e-01 -6.24104427e-04 3.16381037e+02] [ 3.17589444e-01 9.48228294e-01 -2.18381585e-04 3.60299620e+01] [ 6.61149179e-04 8.86657495e-06 9.99999781e-01 -6.22725187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54028169299994 meters 0.01711042135707795 Centerline is valid? [True, True] Translation: X:316.44, Y:36.05, Z:-0.06 [[ 9.46786454e-01 -3.21862390e-01 -1.14794305e-04 3.16435858e+02] [ 3.21862387e-01 9.46786461e-01 -4.02073178e-05 3.60474057e+01] [ 1.21626917e-04 1.11977488e-06 9.99999993e-01 -6.23663083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60028169299994 meters 0.014300571818929434 Centerline is valid? [True, True] Translation: X:316.49, Y:36.06, Z:-0.06 [[ 9.45195601e-01 -3.26504322e-01 4.51665267e-04 3.16491982e+02] [ 3.26504284e-01 9.45195709e-01 1.58086070e-04 3.60612967e+01] [-4.78527857e-04 -1.95161313e-06 9.99999886e-01 -6.23689978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66028169299994 meters 0.01386086603165684 Centerline is valid? [True, True] Translation: X:316.55, Y:36.07, Z:-0.06 [[ 9.42648204e-01 -3.33787009e-01 7.72499057e-04 3.16549252e+02] [ 3.33786899e-01 9.42648520e-01 2.70522697e-04 3.60730718e+01] [-8.18492055e-04 2.84233022e-06 9.99999665e-01 -6.06043004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72028169299995 meters 0.01591526010169911 Centerline is valid? [True, True] Translation: X:316.61, Y:36.09, Z:-0.06 [[ 9.41129424e-01 -3.38045818e-01 -6.57250778e-04 3.16605979e+02] [ 3.38045739e-01 9.41129654e-01 -2.30400433e-04 3.60884813e+01] [ 6.96444100e-04 -5.34419835e-06 9.99999757e-01 -6.35481331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78028169299995 meters 0.016209790955051248 Centerline is valid? [True, True] Translation: X:316.66, Y:36.11, Z:-0.06 [[ 9.40956303e-01 -3.38527963e-01 -2.31497446e-04 3.16659895e+02] [ 3.38527953e-01 9.40956332e-01 -8.12473469e-05 3.61088115e+01] [ 2.45333486e-04 -1.91815316e-06 9.99999970e-01 -6.27384320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84028169299995 meters 0.014075202466106959 Centerline is valid? [True, True] Translation: X:316.71, Y:36.14, Z:-0.07 [[ 9.42324177e-01 -3.34691876e-01 -2.54830527e-03 3.16712432e+02] [ 3.34690682e-01 9.42327622e-01 -8.94139176e-04 3.61364391e+01] [ 2.70059956e-03 -1.03250653e-05 9.99996353e-01 -6.59587162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90028169299995 meters 0.01373857908687851 Centerline is valid? [True, True] Translation: X:316.76, Y:36.17, Z:-0.06 [[ 9.44457270e-01 -3.28630138e-01 -1.64225702e-03 3.16761229e+02] [ 3.28629632e-01 9.44458698e-01 -5.76599033e-04 3.61709090e+01] [ 1.74053175e-03 4.87882723e-06 9.99998485e-01 -6.48396345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96028169299996 meters 0.015138279409397356 Centerline is valid? [True, True] Translation: X:316.81, Y:36.20, Z:-0.07 [[ 9.45652087e-01 -3.25169332e-01 -2.65250456e-03 3.16814207e+02] [ 3.25167998e-01 9.45655807e-01 -9.31759459e-04 3.61982823e+01] [ 2.81133594e-03 1.86106794e-05 9.99996048e-01 -6.63693604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02028169299996 meters 0.016778566257954333 Centerline is valid? [True, True] Translation: X:316.87, Y:36.23, Z:-0.07 [[ 9.46408544e-01 -3.22966009e-01 -1.95563919e-03 3.16866048e+02] [ 3.22965279e-01 9.46410565e-01 -6.87152806e-04 3.62252480e+01] [ 2.07276459e-03 1.87237312e-05 9.99997852e-01 -6.56452122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08028169299996 meters 0.01634394705225602 Centerline is valid? [True, True] Translation: X:316.92, Y:36.25, Z:-0.07 [[ 9.46169841e-01 -3.23668370e-01 -1.19108741e-03 3.16920057e+02] [ 3.23668099e-01 9.46170591e-01 -4.18815840e-04 3.62475969e+01] [ 1.26252932e-03 1.07539185e-05 9.99999203e-01 -6.51999821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14028169299996 meters 0.013794422874558381 Centerline is valid? [True, True] Translation: X:316.98, Y:36.26, Z:-0.06 [[ 9.44656237e-01 -3.28061858e-01 1.06085707e-04 3.16976104e+02] [ 3.28061856e-01 9.44656243e-01 3.72555618e-05 3.62638322e+01] [-1.12436655e-04 -3.91024777e-07 9.99999994e-01 -6.20795761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20028169299997 meters 0.014176296142235992 Centerline is valid? [True, True] Translation: X:317.04, Y:36.27, Z:-0.06 [[ 9.41734759e-01 -3.36356423e-01 -1.22342545e-05 3.17035816e+02] [ 3.36356423e-01 9.41734759e-01 -4.35132559e-06 3.62671203e+01] [ 1.29850190e-05 -1.72755180e-08 1.00000000e+00 -6.27023688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26028169299997 meters 0.018169278080706612 Centerline is valid? [True, True] Translation: X:317.10, Y:36.27, Z:-0.07 [[ 9.39634363e-01 -3.42176319e-01 -1.62204840e-03 3.17096150e+02] [ 3.42175844e-01 9.39635762e-01 -5.70912769e-04 3.62712702e+01] [ 1.71948751e-03 -1.85765234e-05 9.99998522e-01 -6.51927769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32028169299997 meters 0.01671140953399218 Centerline is valid? [True, True] Translation: X:317.15, Y:36.29, Z:-0.07 [[ 9.40481492e-01 -3.39834266e-01 -2.68971146e-03 3.17151470e+02] [ 3.39832948e-01 9.40485338e-01 -9.46855908e-04 3.62871391e+01] [ 2.85140828e-03 -2.35521176e-05 9.99995934e-01 -6.74365410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.380281693 meters 0.013310272035583182 Centerline is valid? [True, True] Translation: X:317.20, Y:36.31, Z:-0.07 [[ 9.42831755e-01 -3.33258997e-01 -2.59270079e-03 3.17204430e+02] [ 3.33257746e-01 9.42835320e-01 -9.13190028e-04 3.63129087e+01] [ 2.74881867e-03 -3.05306415e-06 9.99996222e-01 -6.67344804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.440281693 meters 0.013436174928904025 Centerline is valid? [True, True] Translation: X:317.26, Y:36.33, Z:-0.07 [[ 9.43958070e-01 -3.30055332e-01 -2.57676727e-03 3.17258546e+02] [ 3.30054083e-01 9.43961587e-01 -9.08141334e-04 3.63341736e+01] [ 2.73210621e-03 6.77478288e-06 9.99996268e-01 -6.57219794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.500281693 meters 0.014011552319791041 Centerline is valid? [True, True] Translation: X:317.31, Y:36.35, Z:-0.06 [[ 9.44623983e-01 -3.28154570e-01 3.31327834e-04 3.17313424e+02] [ 3.28154549e-01 9.44624041e-01 1.16762734e-04 3.63534228e+01] [-3.51296462e-04 -1.57014346e-06 9.99999938e-01 -6.08749260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.560281693 meters 0.014173151744002552 Centerline is valid? [True, True] Translation: X:317.37, Y:36.37, Z:-0.06 [[ 9.44527197e-01 -3.28431976e-01 -9.01121696e-04 3.17367045e+02] [ 3.28431822e-01 9.44527627e-01 -3.17729604e-04 3.63718384e+01] [ 9.55486898e-04 4.14721217e-06 9.99999544e-01 -6.30868127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.620281693 meters 0.013312391623893622 Centerline is valid? [True, True] Translation: X:317.42, Y:36.38, Z:-0.07 [[ 9.43761011e-01 -3.30623399e-01 -1.82254575e-03 3.17423710e+02] [ 3.30622774e-01 9.43762771e-01 -6.42991830e-04 3.63842033e+01] [ 1.93263897e-03 4.25548843e-06 9.99998132e-01 -6.53351174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.680281693 meters 0.013059471170437969 Centerline is valid? [True, True] Translation: X:317.48, Y:36.40, Z:-0.06 [[ 9.43528237e-01 -3.31292012e-01 -2.60702413e-04 3.17479056e+02] [ 3.31291999e-01 9.43528273e-01 -9.20855144e-05 3.64007628e+01] [ 2.76487293e-04 5.16659336e-07 9.99999962e-01 -6.07657617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.740281693 meters 0.013907151675163546 Centerline is valid? [True, True] Translation: X:317.53, Y:36.42, Z:-0.06 [[ 9.44345223e-01 -3.28954534e-01 -1.00692635e-03 3.17532493e+02] [ 3.28954342e-01 9.44345760e-01 -3.55496069e-04 3.64246156e+01] [ 1.06782867e-03 4.47822062e-06 9.99999430e-01 -6.16538787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.800281693 meters 0.017922937410148575 Centerline is valid? [True, True] Translation: X:317.58, Y:36.46, Z:-0.06 [[ 9.46681196e-01 -3.22165536e-01 -2.01983952e-03 3.17584463e+02] [ 3.22164747e-01 9.46683351e-01 -7.13160816e-04 3.64550855e+01] [ 2.14190428e-03 2.44148459e-05 9.99997706e-01 -6.35804808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.860281693 meters 0.02134108802204134 Centerline is valid? [True, True] Translation: X:317.64, Y:36.48, Z:-0.06 [[ 9.47311821e-01 -3.20312771e-01 -2.05484899e-04 3.17636004e+02] [ 3.20312763e-01 9.47311843e-01 -7.26050367e-05 3.64822816e+01] [ 2.17914599e-04 2.96017387e-06 9.99999976e-01 -5.97202657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.920281693 meters 0.0206052817366163 Centerline is valid? [True, True] Translation: X:317.69, Y:36.50, Z:-0.06 [[ 9.47391927e-01 -3.20072022e-01 -1.56104919e-03 3.17690867e+02] [ 3.20071547e-01 9.47393213e-01 -5.51672759e-04 3.65048010e+01] [ 1.65550242e-03 2.30028883e-05 9.99998629e-01 -6.35028083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98028169299994 meters 0.018399499654348686 Centerline is valid? [True, True] Translation: X:317.75, Y:36.52, Z:-0.07 [[ 9.46499270e-01 -3.22694524e-01 -2.71591279e-03 3.17746501e+02] [ 3.22693097e-01 9.46503166e-01 -9.60266627e-04 3.65228351e+01] [ 2.88049284e-03 3.24853533e-05 9.99995851e-01 -6.70862162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04028169299994 meters 0.014630174308055629 Centerline is valid? [True, True] Translation: X:317.80, Y:36.53, Z:-0.06 [[ 9.44611000e-01 -3.28188814e-01 -1.46962763e-03 3.17804266e+02] [ 3.28188403e-01 9.44612144e-01 -5.19703605e-04 3.65334049e+01] [ 1.55878901e-03 8.60299842e-06 9.99998785e-01 -6.37694818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10028169299994 meters 0.013627066885567364 Centerline is valid? [True, True] Translation: X:317.86, Y:36.55, Z:-0.06 [[ 9.43877866e-01 -3.30293822e-01 -7.51438324e-04 3.17861472e+02] [ 3.30293715e-01 9.43878165e-01 -2.65922261e-04 3.65474276e+01] [ 7.97098707e-04 2.80278025e-06 9.99999682e-01 -6.13162997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16028169299994 meters 0.013862612263589444 Centerline is valid? [True, True] Translation: X:317.92, Y:36.57, Z:-0.06 [[ 9.44022875e-01 -3.29878379e-01 -1.03280354e-03 3.17916520e+02] [ 3.29878176e-01 9.44023440e-01 -3.65698039e-04 3.65670969e+01] [ 1.09562662e-03 4.52796697e-06 9.99999400e-01 -6.17142532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22028169299995 meters 0.017230509728654978 Centerline is valid? [True, True] Translation: X:317.97, Y:36.59, Z:-0.06 [[ 9.45967270e-01 -3.24262028e-01 -2.45551355e-04 3.17970750e+02] [ 3.24262017e-01 9.45967302e-01 -8.70376621e-05 3.65897759e+01] [ 2.60506561e-04 2.71180225e-06 9.99999966e-01 -6.07741012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28028169299995 meters 0.028459927253071095 Centerline is valid? [True, True] Translation: X:318.02, Y:36.63, Z:-0.06 [[ 9.49723871e-01 -3.13077801e-01 -2.61909677e-03 3.18020007e+02] [ 3.13076433e-01 9.49727480e-01 -9.27782966e-04 3.66260430e+01] [ 2.77789642e-03 6.11601584e-05 9.99996140e-01 -6.46394594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34028169299995 meters 0.04118951036239643 Centerline is valid? [True, True] Translation: X:318.07, Y:36.67, Z:-0.07 [[ 9.53338704e-01 -3.01863242e-01 -4.88860335e-03 3.18070055e+02] [ 3.01858325e-01 9.53351222e-01 -1.73179079e-03 3.66657302e+01] [ 5.18331996e-03 1.75317566e-04 9.99986551e-01 -6.94238505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40028169299995 meters 0.04971518241853723 Centerline is valid? [True, True] Translation: X:318.12, Y:36.70, Z:-0.06 [[ 9.55296075e-01 -2.95650442e-01 4.74117020e-04 3.18120145e+02] [ 2.95650395e-01 9.55296193e-01 1.67961310e-04 3.66998036e+01] [-5.02580020e-04 -2.02798955e-05 9.99999874e-01 -5.94979094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46028169299996 meters 0.04956141757454437 Centerline is valid? [True, True] Translation: X:318.17, Y:36.72, Z:-0.06 [[ 9.55559562e-01 -2.94797782e-01 4.36892954e-04 3.18174434e+02] [ 2.94797742e-01 9.55559662e-01 1.54805697e-04 3.67223310e+01] [-4.63113659e-04 -1.91310074e-05 9.99999893e-01 -5.94907810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52028169299996 meters 0.048398948535424126 Centerline is valid? [True, True] Translation: X:318.23, Y:36.74, Z:-0.06 [[ 9.54920060e-01 -2.96862655e-01 4.92127968e-04 3.18230964e+02] [ 2.96862605e-01 9.54920187e-01 1.74446136e-04 3.67428183e+01] [-5.21729474e-04 -2.04877248e-05 9.99999864e-01 -5.96629806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58028169299996 meters 0.04674671285239024 Centerline is valid? [True, True] Translation: X:318.29, Y:36.76, Z:-0.06 [[ 9.53967881e-01 -2.99907066e-01 -1.01678344e-03 3.18286040e+02] [ 2.99906852e-01 9.53968422e-01 -3.60453139e-04 3.67623892e+01] [ 1.07808174e-03 3.89203965e-05 9.99999418e-01 -6.19205039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64028169299996 meters 0.04609407432044596 Centerline is valid? [True, True] Translation: X:318.34, Y:36.78, Z:-0.06 [[ 9.53547660e-01 -3.01237407e-01 -1.69861384e-03 3.18341089e+02] [ 3.01236811e-01 9.53549170e-01 -6.02509211e-04 3.67835599e+01] [ 1.80121013e-03 6.28362317e-05 9.99998376e-01 -6.30203466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70028169299997 meters 0.04399506734604997 Centerline is valid? [True, True] Translation: X:318.40, Y:36.80, Z:-0.07 [[ 9.52802678e-01 -3.03582269e-01 -2.20521229e-03 3.18397261e+02] [ 3.03581270e-01 9.52805227e-01 -7.82537625e-04 3.68030773e+01] [ 2.33870234e-03 7.61427985e-05 9.99997262e-01 -6.50671395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76028169299997 meters 0.04032017411095392 Centerline is valid? [True, True] Translation: X:318.45, Y:36.82, Z:-0.07 [[ 9.52462967e-01 -3.04646578e-01 -2.18164485e-03 3.18454567e+02] [ 3.04645602e-01 9.52465462e-01 -7.74544967e-04 3.68186564e+01] [ 2.31390385e-03 7.30968865e-05 9.99997320e-01 -6.52906524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82028169299997 meters 0.04243062562692925 Centerline is valid? [True, True] Translation: X:318.51, Y:36.85, Z:-0.06 [[ 9.52785652e-01 -3.03640524e-01 -1.39058179e-03 3.18506912e+02] [ 3.03640127e-01 9.52786665e-01 -4.93770260e-04 3.68450710e+01] [ 1.47485644e-03 4.82207887e-05 9.99998911e-01 -6.35884334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.880281693 meters 0.044709759428061595 Centerline is valid? [True, True] Translation: X:318.56, Y:36.87, Z:-0.06 [[ 9.53141941e-01 -3.02518309e-01 -1.76450557e-03 3.18559457e+02] [ 3.02517667e-01 9.53143572e-01 -6.26649007e-04 3.68703347e+01] [ 1.87139994e-03 6.34913427e-05 9.99998247e-01 -6.44336262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.940281693 meters 0.03935802500168181 Centerline is valid? [True, True] Translation: X:318.62, Y:36.89, Z:-0.06 [[ 9.52796798e-01 -3.03608596e-01 -2.88059824e-04 3.18615811e+02] [ 3.03608579e-01 9.52796841e-01 -1.02405033e-04 3.68889030e+01] [ 3.05553539e-04 1.01137541e-05 9.99999953e-01 -6.20226956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.000281693 meters 0.03707721126027008 Centerline is valid? [True, True] Translation: X:318.67, Y:36.91, Z:-0.07 [[ 9.51046336e-01 -3.09041373e-01 -2.07265726e-03 3.18672362e+02] [ 3.09040501e-01 9.51048593e-01 -7.36481118e-04 3.69055263e+01] [ 2.19880091e-03 5.98926306e-05 9.99997581e-01 -6.65747862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.060281693 meters 0.03204623860596796 Centerline is valid? [True, True] Translation: X:318.73, Y:36.92, Z:-0.07 [[ 9.49847541e-01 -3.12707126e-01 -1.97548235e-03 3.18730267e+02] [ 3.12706342e-01 9.49849594e-01 -7.02020276e-04 3.69221903e+01] [ 2.09593785e-03 4.90663718e-05 9.99997802e-01 -6.54603689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.120281693 meters 0.03372614237713518 Centerline is valid? [True, True] Translation: X:318.78, Y:36.95, Z:-0.06 [[ 9.49694308e-01 -3.13178389e-01 -1.37680823e-04 3.18782586e+02] [ 3.13178385e-01 9.49694318e-01 -4.89701562e-05 3.69481785e+01] [ 1.46091090e-04 3.38802067e-06 9.99999989e-01 -6.18779158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.180281693 meters 0.027822001650180228 Centerline is valid? [True, True] Translation: X:318.84, Y:36.96, Z:-0.07 [[ 9.48818467e-01 -3.15813440e-01 -2.32093463e-03 3.18839999e+02] [ 3.15812366e-01 9.48821305e-01 -8.25126943e-04 3.69624147e+01] [ 2.46273840e-03 4.99158243e-05 9.99996966e-01 -6.66121057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.240281693 meters 0.020412078690148095 Centerline is valid? [True, True] Translation: X:318.90, Y:36.97, Z:-0.06 [[ 9.46384842e-01 -3.23040310e-01 -8.29958968e-04 3.18899910e+02] [ 3.23040175e-01 9.46385206e-01 -2.95086527e-04 3.69713328e+01] [ 8.80785732e-04 1.11553254e-05 9.99999612e-01 -6.32129595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.300281693 meters 0.015906762373309073 Centerline is valid? [True, True] Translation: X:318.96, Y:36.98, Z:-0.06 [[ 9.44737118e-01 -3.27824436e-01 1.70780831e-03 3.18959116e+02] [ 3.27823874e-01 9.44738662e-01 6.07254678e-04 3.69808473e+01] [-1.81250546e-03 -1.38356984e-05 9.99998357e-01 -5.77902716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.360281693 meters 0.014041841428983431 Centerline is valid? [True, True] Translation: X:319.02, Y:36.99, Z:-0.06 [[ 9.43674523e-01 -3.30866711e-01 2.36953851e-03 3.19018406e+02] [ 3.30865637e-01 9.43677498e-01 8.42956934e-04 3.69899264e+01] [-2.51498656e-03 -1.14781131e-05 9.99996837e-01 -5.84233212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.420281693 meters 0.01313455797642302 Centerline is valid? [True, True] Translation: X:319.08, Y:37.00, Z:-0.06 [[ 9.42569884e-01 -3.34006850e-01 1.19893437e-03 3.19077684e+02] [ 3.34006578e-01 9.42570647e-01 4.26606473e-04 3.69952333e+01] [-1.27256983e-03 -1.65444733e-06 9.99999190e-01 -5.85098109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48028169299994 meters 0.013142356910062446 Centerline is valid? [True, True] Translation: X:319.13, Y:37.01, Z:-0.06 [[ 9.42401339e-01 -3.34484175e-01 -2.31282430e-04 3.19134074e+02] [ 3.34484165e-01 9.42401367e-01 -8.23490844e-05 3.70064657e+01] [ 2.45505344e-04 2.45576875e-07 9.99999970e-01 -6.15082438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54028169299994 meters 0.013995403929074784 Centerline is valid? [True, True] Translation: X:319.19, Y:37.02, Z:-0.06 [[ 9.43250536e-01 -3.32080441e-01 -1.00301219e-03 3.19192370e+02] [ 3.32080249e-01 9.43251070e-01 -3.57243686e-04 3.70194999e+01] [ 1.06472596e-03 3.88976101e-06 9.99999433e-01 -6.43562829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60028169299994 meters 0.016076839350095344 Centerline is valid? [True, True] Translation: X:319.25, Y:37.03, Z:-0.06 [[ 9.44449182e-01 -3.28654632e-01 -1.36921400e-03 3.19248778e+02] [ 3.28654271e-01 9.44450175e-01 -4.87724381e-04 3.70321583e+01] [ 1.45344728e-03 1.06328650e-05 9.99998944e-01 -6.45260673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66028169299994 meters 0.019877738722969825 Centerline is valid? [True, True] Translation: X:319.30, Y:37.05, Z:-0.06 [[ 9.45931733e-01 -3.24365776e-01 1.90344817e-05 3.19303220e+02] [ 3.24365776e-01 9.45931733e-01 6.76025174e-06 3.70512914e+01] [-2.01981145e-05 -2.20602219e-07 1.00000000e+00 -6.19630334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72028169299995 meters 0.02816896659815007 Centerline is valid? [True, True] Translation: X:319.36, Y:37.08, Z:-0.06 [[ 9.48462150e-01 -3.16889901e-01 5.82867301e-04 3.19355683e+02] [ 3.16889834e-01 9.48462329e-01 2.07654324e-04 3.70811626e+01] [-6.18631236e-04 -1.22475444e-05 9.99999809e-01 -5.99210357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78028169299995 meters 0.03635609643647341 Centerline is valid? [True, True] Translation: X:319.41, Y:37.11, Z:-0.06 [[ 9.50678596e-01 -3.10177222e-01 5.45836723e-04 3.19408741e+02] [ 3.10177161e-01 9.50678753e-01 1.94472733e-04 3.71121542e+01] [-5.79236387e-04 -1.55749793e-05 9.99999832e-01 -6.07290213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84028169299995 meters 0.046750245291175226 Centerline is valid? [True, True] Translation: X:319.46, Y:37.15, Z:-0.06 [[ 9.53257435e-01 -3.02158102e-01 -8.62958966e-04 3.19459617e+02] [ 3.02157947e-01 9.53257825e-01 -3.07493935e-04 3.71471868e+01] [ 9.15534170e-04 3.23709702e-05 9.99999580e-01 -6.39460650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90028169299995 meters 0.04979993886473812 Centerline is valid? [True, True] Translation: X:319.51, Y:37.18, Z:-0.07 [[ 9.54317785e-01 -2.98789227e-01 -1.60069925e-03 3.19513082e+02] [ 2.98788690e-01 9.54319126e-01 -5.70380198e-04 3.71751152e+01] [ 1.69800137e-03 6.60531350e-05 9.99998556e-01 -6.56546438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96028169299996 meters 0.05344255429184988 Centerline is valid? [True, True] Translation: X:319.57, Y:37.21, Z:-0.06 [[ 9.55085048e-01 -2.96331226e-01 -5.96040675e-04 3.19565523e+02] [ 2.96331151e-01 9.55085234e-01 -2.12403412e-04 3.72065985e+01] [ 6.32211411e-04 2.62379038e-05 9.99999800e-01 -6.48128158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02028169299996 meters 0.05312348371484008 Centerline is valid? [True, True] Translation: X:319.62, Y:37.24, Z:-0.07 [[ 9.54708090e-01 -2.97542554e-01 -9.44474846e-04 3.19616742e+02] [ 2.97542366e-01 9.54708556e-01 -3.36780312e-04 3.72365324e+01] [ 1.00190469e-03 4.05056076e-05 9.99999497e-01 -6.56255396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08028169299996 meters 0.04731738024102262 Centerline is valid? [True, True] Translation: X:319.67, Y:37.25, Z:-0.07 [[ 9.54165255e-01 -2.99273741e-01 -1.97319405e-03 3.19673427e+02] [ 2.99272925e-01 9.54167292e-01 -7.03601887e-04 3.72526711e+01] [ 2.09332679e-03 8.08289195e-05 9.99997806e-01 -6.81222791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14028169299996 meters 0.03740616098243946 Centerline is valid? [True, True] Translation: X:319.73, Y:37.27, Z:-0.07 [[ 9.51705477e-01 -3.06999601e-01 -2.81612971e-03 3.19730586e+02] [ 3.06997973e-01 9.51709639e-01 -1.00422340e-03 3.72696651e+01] [ 2.98843397e-03 9.11787988e-05 9.99995530e-01 -6.96140201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20028169299997 meters 0.030877223423969116 Centerline is valid? [True, True] Translation: X:319.79, Y:37.29, Z:-0.07 [[ 9.49212376e-01 -3.14635478e-01 -6.17129360e-04 3.19786647e+02] [ 3.14635402e-01 9.49212577e-01 -2.20095379e-04 3.72867586e+01] [ 6.55036765e-04 1.47465137e-05 9.99999785e-01 -6.54022210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26028169299997 meters 0.01946362196603763 Centerline is valid? [True, True] Translation: X:319.85, Y:37.29, Z:-0.06 [[ 9.45731672e-01 -3.24947801e-01 7.28921527e-04 3.19847851e+02] [ 3.24947697e-01 9.45731953e-01 2.59963252e-04 3.72935659e+01] [-7.73838866e-04 -8.99410991e-06 9.99999701e-01 -6.33446934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32028169299997 meters 0.015266136976457144 Centerline is valid? [True, True] Translation: X:319.90, Y:37.31, Z:-0.06 [[ 9.43703799e-01 -3.30791645e-01 1.65272513e-04 3.19904747e+02] [ 3.30791640e-01 9.43703814e-01 5.89306459e-05 3.73057793e+01] [-1.75462066e-04 -9.42308775e-07 9.99999985e-01 -6.46332621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.380281693 meters 0.014204990099205115 Centerline is valid? [True, True] Translation: X:319.96, Y:37.32, Z:-0.07 [[ 9.42880298e-01 -3.33131272e-01 -5.47403211e-04 3.19961768e+02] [ 3.33131215e-01 9.42880457e-01 -1.95438265e-04 3.73208886e+01] [ 5.81242388e-04 1.91779241e-06 9.99999831e-01 -6.58227448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.440281693 meters 0.014152095344830836 Centerline is valid? [True, True] Translation: X:320.02, Y:37.34, Z:-0.07 [[ 9.42834673e-01 -3.33257777e-01 -1.42626087e-03 3.20016772e+02] [ 3.33257388e-01 9.42835751e-01 -5.09218120e-04 3.73376449e+01] [ 1.51443064e-03 4.79652628e-06 9.99998853e-01 -6.82594388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.500281693 meters 0.014299221125144715 Centerline is valid? [True, True] Translation: X:320.07, Y:37.36, Z:-0.07 [[ 9.42976702e-01 -3.32858538e-01 3.64971685e-04 3.20071020e+02] [ 3.32858513e-01 9.42976772e-01 1.30306459e-04 3.73578431e+01] [-3.87533439e-04 -1.39202289e-06 9.99999925e-01 -6.52855636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.560281693 meters 0.015369480852657862 Centerline is valid? [True, True] Translation: X:320.13, Y:37.38, Z:-0.07 [[ 9.43466659e-01 -3.31461038e-01 -2.06019445e-03 3.20125143e+02] [ 3.31460221e-01 9.43468908e-01 -7.36072863e-04 3.73784304e+01] [ 2.18770889e-03 1.15876953e-05 9.99997607e-01 -7.01728795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.620281693 meters 0.016589965146750964 Centerline is valid? [True, True] Translation: X:320.18, Y:37.40, Z:-0.07 [[ 9.43916892e-01 -3.30170402e-01 -2.89953840e-03 3.20180734e+02] [ 3.30168776e-01 9.43921345e-01 -1.03648484e-03 3.73987450e+01] [ 3.07915281e-03 2.10185027e-05 9.99995259e-01 -7.19301379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.680281693 meters 0.019804403208186383 Centerline is valid? [True, True] Translation: X:320.23, Y:37.42, Z:-0.07 [[ 9.45093590e-01 -3.26796242e-01 -1.52373003e-03 3.20233368e+02] [ 3.26795788e-01 9.45094819e-01 -5.44820526e-04 3.74231718e+01] [ 1.61811466e-03 1.69578305e-05 9.99998691e-01 -6.87216816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.740281693 meters 0.023210762283927714 Centerline is valid? [True, True] Translation: X:320.29, Y:37.45, Z:-0.07 [[ 9.46086571e-01 -3.23912335e-01 -9.99391226e-04 3.20285214e+02] [ 3.23912138e-01 9.46087099e-01 -3.57546012e-04 3.74527530e+01] [ 1.06132471e-03 1.45545322e-05 9.99999437e-01 -6.87214240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.800281693 meters 0.02433596373600454 Centerline is valid? [True, True] Translation: X:320.34, Y:37.48, Z:-0.07 [[ 9.46274894e-01 -3.23360298e-01 -1.39376471e-03 3.20339122e+02] [ 3.23359914e-01 9.46275920e-01 -4.98851718e-04 3.74764610e+01] [ 1.48019482e-03 2.13632207e-05 9.99998904e-01 -6.93476251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.860281693 meters 0.02112493682292618 Centerline is valid? [True, True] Translation: X:320.39, Y:37.50, Z:-0.07 [[ 9.45228703e-01 -3.26408383e-01 -5.16787689e-04 3.20393520e+02] [ 3.26408331e-01 9.45228844e-01 -1.84996953e-04 3.74951714e+01] [ 5.48867186e-04 6.18062291e-06 9.99999849e-01 -6.63504473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.920281693 meters 0.016290599240572495 Centerline is valid? [True, True] Translation: X:320.45, Y:37.51, Z:-0.06 [[ 9.43517250e-01 -3.31322077e-01 9.38067597e-04 3.20451044e+02] [ 3.31321907e-01 9.43517716e-01 3.35868866e-04 3.75091103e+01] [-9.96364167e-04 -6.09572427e-06 9.99999504e-01 -6.46139919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98028169299994 meters 0.015170376420782809 Centerline is valid? [True, True] Translation: X:320.51, Y:37.53, Z:-0.07 [[ 9.42807924e-01 -3.33332346e-01 -1.66268659e-03 3.20507405e+02] [ 3.33331814e-01 9.42809391e-01 -5.95587132e-04 3.75276536e+01] [ 1.76612498e-03 7.29793032e-06 9.99998440e-01 -6.89661778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04028169299994 meters 0.014941433744372937 Centerline is valid? [True, True] Translation: X:320.56, Y:37.55, Z:-0.07 [[ 9.42683116e-01 -3.33689244e-01 -1.75670465e-04 3.20561540e+02] [ 3.33689238e-01 9.42683132e-01 -6.30177859e-05 3.75477817e+01] [ 1.86629942e-04 7.86458983e-07 9.99999983e-01 -6.61173343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10028169299994 meters 0.013779772684470148 Centerline is valid? [True, True] Translation: X:320.62, Y:37.56, Z:-0.07 [[ 9.41002804e-01 -3.38398635e-01 2.93504478e-04 3.20619830e+02] [ 3.38398619e-01 9.41002850e-01 1.05178832e-04 3.75565644e+01] [-3.11780923e-04 3.47934177e-07 9.99999951e-01 -6.69598704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16028169299994 meters 0.014813412444078567 Centerline is valid? [True, True] Translation: X:320.68, Y:37.57, Z:-0.07 [[ 9.39649762e-01 -3.42136509e-01 -9.66508038e-04 3.20677934e+02] [ 3.42136333e-01 9.39650259e-01 -3.46826189e-04 3.75692960e+01] [ 1.02684143e-03 -4.78237012e-06 9.99999473e-01 -6.84376279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22028169299995 meters 0.017329119098540503 Centerline is valid? [True, True] Translation: X:320.74, Y:37.58, Z:-0.07 [[ 9.38007162e-01 -3.46609463e-01 -2.10802347e-03 3.20736119e+02] [ 3.46608637e-01 9.38009531e-01 -7.56770450e-04 3.75806833e+01] [ 2.23964990e-03 -2.08030393e-05 9.99997492e-01 -7.07165066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28028169299995 meters 0.018489458452629 Centerline is valid? [True, True] Translation: X:320.79, Y:37.60, Z:-0.07 [[ 9.37495888e-01 -3.47990194e-01 -2.06977662e-03 3.20791497e+02] [ 3.47989401e-01 9.37498173e-01 -7.43255872e-04 3.75961609e+01] [ 2.19905755e-03 -2.34610027e-05 9.99997582e-01 -7.01741625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34028169299995 meters 0.01696676074834998 Centerline is valid? [True, True] Translation: X:320.85, Y:37.62, Z:-0.07 [[ 9.38084736e-01 -3.46394801e-01 -2.76949466e-03 3.20846213e+02] [ 3.46393373e-01 9.38088824e-01 -9.95058228e-04 3.76176303e+01] [ 2.94271498e-03 -2.58856610e-05 9.99995670e-01 -7.04086450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40028169299995 meters 0.016332090026687483 Centerline is valid? [True, True] Translation: X:320.90, Y:37.63, Z:-0.07 [[ 9.38645791e-01 -3.44874200e-01 -2.42204833e-03 3.20901528e+02] [ 3.44873102e-01 9.38648915e-01 -8.70353800e-04 3.76346613e+01] [ 2.57361560e-03 -1.83453887e-05 9.99996688e-01 -6.96258795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46028169299996 meters 0.015723877831772603 Centerline is valid? [True, True] Translation: X:320.96, Y:37.65, Z:-0.07 [[ 9.39101673e-01 -3.43628156e-01 -2.78174681e-03 3.20956372e+02] [ 3.43626702e-01 9.39105793e-01 -9.99783482e-04 3.76533416e+01] [ 2.95590830e-03 -1.69841443e-05 9.99995631e-01 -7.05547211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52028169299996 meters 0.013942486482655864 Centerline is valid? [True, True] Translation: X:321.01, Y:37.68, Z:-0.07 [[ 9.40690213e-01 -3.39260672e-01 -2.02969026e-03 3.21011096e+02] [ 3.39259887e-01 9.40692403e-01 -7.29915906e-04 3.76759227e+01] [ 2.15694596e-03 -1.96773746e-06 9.99997674e-01 -6.78004761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58028169299996 meters 0.01487689844006128 Centerline is valid? [True, True] Translation: X:321.06, Y:37.70, Z:-0.06 [[ 9.42423030e-01 -3.34422858e-01 -4.29545655e-04 3.21063983e+02] [ 3.34422822e-01 9.42423128e-01 -1.54510367e-04 3.76991960e+01] [ 4.56485559e-04 1.96425816e-06 9.99999896e-01 -6.47718887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64028169299996 meters 0.01576801165854727 Centerline is valid? [True, True] Translation: X:321.12, Y:37.72, Z:-0.06 [[ 9.43163152e-01 -3.32329679e-01 5.02749244e-04 3.21119341e+02] [ 3.32329630e-01 9.43163286e-01 1.80849963e-04 3.77198403e+01] [-5.34276439e-04 -3.49255068e-06 9.99999857e-01 -6.28155948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70028169299997 meters 0.016042838247465302 Centerline is valid? [True, True] Translation: X:321.17, Y:37.74, Z:-0.06 [[ 9.43336502e-01 -3.31836925e-01 7.07277490e-04 3.21173576e+02] [ 3.31836827e-01 9.43336767e-01 2.54592726e-04 3.77411953e+01] [-7.51684128e-04 -5.46589312e-06 9.99999717e-01 -6.30703092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76028169299997 meters 0.015705557059222105 Centerline is valid? [True, True] Translation: X:321.23, Y:37.76, Z:-0.06 [[ 9.43029097e-01 -3.32707790e-01 1.28408883e-03 3.21228110e+02] [ 3.32707469e-01 9.43029971e-01 4.62417697e-04 3.77616806e+01] [-1.36478423e-03 -8.84739763e-06 9.99999069e-01 -6.16150224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82028169299997 meters 0.01585151312032595 Centerline is valid? [True, True] Translation: X:321.28, Y:37.79, Z:-0.07 [[ 9.42992219e-01 -3.32812001e-01 -1.35920916e-03 3.21280526e+02] [ 3.32811641e-01 9.42993198e-01 -4.89650092e-04 3.77855912e+01] [ 1.44468642e-03 9.37559717e-06 9.99998956e-01 -6.59629298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.880281693 meters 0.01742011642316808 Centerline is valid? [True, True] Translation: X:321.33, Y:37.81, Z:-0.07 [[ 9.43748962e-01 -3.30658163e-01 -1.75385953e-03 3.21331939e+02] [ 3.30657560e-01 9.43750591e-01 -6.31919431e-04 3.78149761e+01] [ 1.86415529e-03 1.64463936e-05 9.99998262e-01 -6.76771889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.940281693 meters 0.018623523936349244 Centerline is valid? [True, True] Translation: X:321.38, Y:37.84, Z:-0.07 [[ 9.44176459e-01 -3.29432887e-01 -2.18783894e-03 3.21382493e+02] [ 3.29431945e-01 9.44178994e-01 -7.88502347e-04 3.78439335e+01] [ 2.32547017e-03 2.37413181e-05 9.99997296e-01 -6.85857835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.000281693 meters 0.01884927797239946 Centerline is valid? [True, True] Translation: X:321.44, Y:37.87, Z:-0.07 [[ 9.44229956e-01 -3.29268391e-01 -3.48107000e-03 3.21437173e+02] [ 3.29266000e-01 9.44236372e-01 -1.25524503e-03 3.78661854e+01] [ 3.70026542e-03 3.90419596e-05 9.99993153e-01 -7.03802225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.060281693 meters 0.02062703681454484 Centerline is valid? [True, True] Translation: X:321.49, Y:37.90, Z:-0.07 [[ 9.44517446e-01 -3.28436416e-01 -4.03916205e-03 3.21487492e+02] [ 3.28433189e-01 9.44526081e-01 -1.45670625e-03 3.78978250e+01] [ 4.29352928e-03 4.92895891e-05 9.99990782e-01 -7.20263290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.120281693 meters 0.01998223343903989 Centerline is valid? [True, True] Translation: X:321.54, Y:37.92, Z:-0.07 [[ 9.44357003e-01 -3.28901735e-01 -3.67427366e-03 3.21539028e+02] [ 3.28899065e-01 9.44364150e-01 -1.32591444e-03 3.79246969e+01] [ 3.90594788e-03 4.36714109e-05 9.99992371e-01 -7.12127691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.180281693 meters 0.01933981241662501 Centerline is valid? [True, True] Translation: X:321.59, Y:37.95, Z:-0.07 [[ 9.44267655e-01 -3.29164316e-01 -3.07398432e-03 3.21592518e+02] [ 3.29162446e-01 9.44272658e-01 -1.10995513e-03 3.79482658e+01] [ 3.26803697e-03 3.62545294e-05 9.99994659e-01 -6.98904830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.240281693 meters 0.01854034165097302 Centerline is valid? [True, True] Translation: X:321.65, Y:37.97, Z:-0.07 [[ 9.43562716e-01 -3.31191318e-01 -1.30869548e-03 3.21647082e+02] [ 3.31190981e-01 9.43563623e-01 -4.72672821e-04 3.79667175e+01] [ 1.39138259e-03 1.25683093e-05 9.99999032e-01 -6.73596277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.300281693 meters 0.01497701766258111 Centerline is valid? [True, True] Translation: X:321.71, Y:37.98, Z:-0.07 [[ 9.42100527e-01 -3.35328347e-01 -1.22327084e-03 3.21706095e+02] [ 3.35328056e-01 9.42101321e-01 -4.42087224e-04 3.79766008e+01] [ 1.30068945e-03 6.29357401e-06 9.99999154e-01 -6.62976067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.360281693 meters 0.015523899197226658 Centerline is valid? [True, True] Translation: X:321.76, Y:37.99, Z:-0.06 [[ 9.42453555e-01 -3.34336528e-01 -6.18226084e-04 3.21760866e+02] [ 3.34336453e-01 9.42453758e-01 -2.23457965e-04 3.79945459e+01] [ 6.57359656e-04 3.90323775e-06 9.99999784e-01 -6.46400617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.420281693 meters 0.020906279673409724 Centerline is valid? [True, True] Translation: X:321.81, Y:38.02, Z:-0.07 [[ 9.44853810e-01 -3.27472338e-01 -3.62569510e-03 3.21813590e+02] [ 3.27469720e-01 9.44860765e-01 -1.31048407e-03 3.80236704e+01] [ 3.85492432e-03 5.09105114e-05 9.99992568e-01 -7.01447256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48028169299994 meters 0.03261202056125258 Centerline is valid? [True, True] Translation: X:321.86, Y:38.06, Z:-0.07 [[ 9.47338926e-01 -3.20211107e-01 -3.71561665e-03 3.21863349e+02] [ 3.20208301e-01 9.47346209e-01 -1.34308377e-03 3.80598905e+01] [ 3.95004569e-03 8.25842466e-05 9.99992195e-01 -7.17786957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54028169299994 meters 0.029702795028641944 Centerline is valid? [True, True] Translation: X:321.92, Y:38.08, Z:-0.07 [[ 9.47749084e-01 -3.19015265e-01 -9.66600142e-04 3.21919971e+02] [ 3.19015075e-01 9.47749577e-01 -3.49636439e-04 3.80770611e+01] [ 1.02763424e-03 2.30075980e-05 9.99999472e-01 -6.64090700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60028169299994 meters 0.02558543152506712 Centerline is valid? [True, True] Translation: X:321.98, Y:38.09, Z:-0.07 [[ 9.46995430e-01 -3.21241557e-01 -1.87537418e-03 3.21976345e+02] [ 3.21240843e-01 9.46997286e-01 -6.78671747e-04 3.80933157e+01] [ 1.99399183e-03 4.02522603e-05 9.99998011e-01 -6.79465922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66028169299994 meters 0.025165087852165757 Centerline is valid? [True, True] Translation: X:322.03, Y:38.11, Z:-0.07 [[ 9.45990118e-01 -3.24173062e-01 -3.81076597e-03 3.22031238e+02] [ 3.24170134e-01 9.45997791e-01 -1.37935392e-03 3.81120172e+01] [ 4.05212558e-03 6.95186644e-05 9.99991788e-01 -7.08415335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72028169299995 meters 0.021612608701620146 Centerline is valid? [True, True] Translation: X:322.09, Y:38.12, Z:-0.07 [[ 9.44729482e-01 -3.27840211e-01 -2.64602347e-03 3.22089585e+02] [ 3.27838812e-01 9.44733187e-01 -9.58243051e-04 3.81249792e+01] [ 2.81393679e-03 3.78112693e-05 9.99996040e-01 -6.92328159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78028169299995 meters 0.01666543126780703 Centerline is valid? [True, True] Translation: X:322.15, Y:38.13, Z:-0.07 [[ 9.42558484e-01 -3.34038351e-01 -1.37254746e-03 3.22149177e+02] [ 3.34037981e-01 9.42559484e-01 -4.97119739e-04 3.81320469e+01] [ 1.45976469e-03 1.00814440e-05 9.99998934e-01 -6.67698409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84028169299995 meters 0.014781090977325034 Centerline is valid? [True, True] Translation: X:322.21, Y:38.14, Z:-0.06 [[ 9.41457080e-01 -3.37131695e-01 -8.87242788e-04 3.22207452e+02] [ 3.37131542e-01 9.41457498e-01 -3.21564217e-04 3.81429750e+01] [ 9.43710865e-04 3.62137921e-06 9.99999555e-01 -6.38870370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90028169299995 meters 0.014288012866482925 Centerline is valid? [True, True] Translation: X:322.26, Y:38.16, Z:-0.07 [[ 9.40828851e-01 -3.38879474e-01 -1.33207825e-03 3.22264584e+02] [ 3.38879130e-01 9.40829794e-01 -4.83051598e-04 3.81565062e+01] [ 1.41695518e-03 3.05536177e-06 9.99998996e-01 -6.54956002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96028169299996 meters 0.01591976629917804 Centerline is valid? [True, True] Translation: X:322.32, Y:38.18, Z:-0.07 [[ 9.42072127e-01 -3.35405589e-01 -1.78870779e-03 3.22316880e+02] [ 3.35404962e-01 9.42073825e-01 -6.48685710e-04 3.81814057e+01] [ 1.90266760e-03 1.11672599e-05 9.99998190e-01 -6.56466187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02028169299996 meters 0.01808073498536147 Centerline is valid? [True, True] Translation: X:322.37, Y:38.21, Z:-0.07 [[ 9.43148103e-01 -3.32367000e-01 -1.95789792e-03 3.22370727e+02] [ 3.32366241e-01 9.43150135e-01 -7.10437929e-04 3.82066402e+01] [ 2.08271781e-03 1.93090112e-05 9.99997831e-01 -6.67216185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08028169299996 meters 0.020095202252018874 Centerline is valid? [True, True] Translation: X:322.42, Y:38.24, Z:-0.07 [[ 9.43754210e-01 -3.30631327e-01 -3.30418720e-03 3.22422146e+02] [ 3.30629155e-01 9.43759993e-01 -1.19908426e-03 3.82352849e+01] [ 3.51481450e-03 3.91801956e-05 9.99993822e-01 -7.03070451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14028169299996 meters 0.018731400512653734 Centerline is valid? [True, True] Translation: X:322.48, Y:38.26, Z:-0.08 [[ 9.42970844e-01 -3.32817346e-01 -6.21296278e-03 3.22476140e+02] [ 3.32809705e-01 9.42991310e-01 -2.25598290e-03 3.82559472e+01] [ 6.60960015e-03 5.95917888e-05 9.99978155e-01 -7.60669445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20028169299997 meters 0.015481252809526102 Centerline is valid? [True, True] Translation: X:322.53, Y:38.27, Z:-0.07 [[ 9.41217739e-01 -3.37760416e-01 -5.20272731e-03 3.22532287e+02] [ 3.37755129e-01 9.41232118e-01 -1.89009466e-03 3.82745569e+01] [ 5.53537321e-03 2.17427902e-05 9.99984679e-01 -7.36872659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26028169299997 meters 0.015037538752998451 Centerline is valid? [True, True] Translation: X:322.59, Y:38.28, Z:-0.07 [[ 9.38238308e-01 -3.45982056e-01 -2.30094608e-03 3.22590911e+02] [ 3.45981045e-01 9.38241129e-01 -8.36371684e-04 3.82848221e+01] [ 2.44821184e-03 -1.13677767e-05 9.99997003e-01 -6.63000786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32028169299997 meters 0.01987217161776835 Centerline is valid? [True, True] Translation: X:322.65, Y:38.30, Z:-0.07 [[ 9.35599579e-01 -3.53042866e-01 -3.76334721e-03 3.22650424e+02] [ 3.53040219e-01 9.35607146e-01 -1.36794823e-03 3.82965869e+01] [ 4.00395891e-03 -4.87611333e-05 9.99991983e-01 -6.95306545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.380281693 meters 0.02316732602004118 Centerline is valid? [True, True] Translation: X:322.71, Y:38.31, Z:-0.07 [[ 9.34372136e-01 -3.56276238e-01 -3.99421891e-03 3.22706940e+02] [ 3.56273284e-01 9.34380671e-01 -1.45213810e-03 3.83103267e+01] [ 4.24948324e-03 -6.61961060e-05 9.99990969e-01 -7.02352355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.440281693 meters 0.02689275788694599 Centerline is valid? [True, True] Translation: X:322.77, Y:38.32, Z:-0.06 [[ 9.32943269e-01 -3.60021009e-01 -1.31546781e-03 3.22766885e+02] [ 3.60020692e-01 9.32944196e-01 -4.78307667e-04 3.83185527e+01] [ 1.39945887e-03 -2.73617134e-05 9.99999020e-01 -6.33822673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.500281693 meters 0.02914902028087742 Centerline is valid? [True, True] Translation: X:322.83, Y:38.33, Z:-0.07 [[ 9.32296323e-01 -3.61687472e-01 -2.39571596e-03 3.22825849e+02] [ 3.61686426e-01 9.32299399e-01 -8.71547383e-04 3.83288756e+01] [ 2.54875232e-03 -5.39575249e-05 9.99996750e-01 -6.59868013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.560281693 meters 0.03397020061879912 Centerline is valid? [True, True] Translation: X:322.89, Y:38.33, Z:-0.06 [[ 9.30781984e-01 -3.65570851e-01 -1.68830712e-03 3.22887185e+02] [ 3.65570338e-01 9.30783515e-01 -6.14231441e-04 3.83318632e+01] [ 1.79599354e-03 -4.54794445e-05 9.99998386e-01 -6.37419980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.620281693 meters 0.035616164302970814 Centerline is valid? [True, True] Translation: X:322.95, Y:38.34, Z:-0.07 [[ 9.29331013e-01 -3.69212266e-01 -5.11570790e-03 3.22949071e+02] [ 3.69207609e-01 9.29345080e-01 -1.86130280e-03 3.83366739e+01] [ 5.44147379e-03 -1.58991868e-04 9.99985182e-01 -6.92540751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.680281693 meters 0.03974266485856435 Centerline is valid? [True, True] Translation: X:323.01, Y:38.34, Z:-0.07 [[ 9.29317197e-01 -3.69246081e-01 -5.18443106e-03 3.23008244e+02] [ 3.69241295e-01 9.29331645e-01 -1.88679608e-03 3.83414388e+01] [ 5.51474790e-03 -1.60873999e-04 9.99984781e-01 -6.96611467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.740281693 meters 0.0349999942802553 Centerline is valid? [True, True] Translation: X:323.07, Y:38.35, Z:-0.07 [[ 9.31031874e-01 -3.64911944e-01 -4.35008266e-03 3.23066139e+02] [ 3.64908527e-01 9.31042029e-01 -1.58330152e-03 3.83529804e+01] [ 4.62787542e-03 -1.13278069e-04 9.99989285e-01 -6.67683955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.800281693 meters 0.024518047873717284 Centerline is valid? [True, True] Translation: X:323.12, Y:38.38, Z:-0.07 [[ 9.34431299e-01 -3.56102559e-01 -5.39578198e-03 3.23121408e+02] [ 3.56097151e-01 9.34446874e-01 -1.96454511e-03 3.83755560e+01] [ 5.74165114e-03 -8.56901463e-05 9.99983513e-01 -6.92287016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.860281693 meters 0.014563719513184704 Centerline is valid? [True, True] Translation: X:323.17, Y:38.41, Z:-0.07 [[ 9.38676102e-01 -3.44771199e-01 -4.47167824e-03 3.23173061e+02] [ 3.44767354e-01 9.38686753e-01 -1.62824315e-03 3.84051953e+01] [ 4.75887647e-03 -1.32957450e-05 9.99988676e-01 -6.62748344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92028169299994 meters 0.013983730452954441 Centerline is valid? [True, True] Translation: X:323.23, Y:38.43, Z:-0.07 [[ 9.39690875e-01 -3.42001379e-01 -4.01445662e-03 3.23226775e+02] [ 3.41998252e-01 9.39699450e-01 -1.46252769e-03 3.84285797e+01] [ 4.27256916e-03 1.38677495e-06 9.99990873e-01 -6.58427591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98028169299994 meters 0.01722444225511254 Centerline is valid? [True, True] Translation: X:323.28, Y:38.45, Z:-0.06 [[ 9.42017557e-01 -3.35549968e-01 -3.02349383e-03 3.23280105e+02] [ 3.35548159e-01 9.42022409e-01 -1.10202003e-03 3.84544073e+01] [ 3.21798173e-03 2.35944279e-05 9.99994822e-01 -6.39178669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04028169299994 meters 0.021128759250282726 Centerline is valid? [True, True] Translation: X:323.33, Y:38.48, Z:-0.07 [[ 9.43219791e-01 -3.32147211e-01 -3.82837350e-03 3.23332920e+02] [ 3.32144282e-01 9.43227559e-01 -1.39556463e-03 3.84800913e+01] [ 4.07456029e-03 4.47518140e-05 9.99991698e-01 -6.59896137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10028169299994 meters 0.022058228820785303 Centerline is valid? [True, True] Translation: X:323.39, Y:38.50, Z:-0.06 [[ 9.44567201e-01 -3.28301040e-01 -3.35114554e-03 3.23387758e+02] [ 3.28298769e-01 9.44573144e-01 -1.22227518e-03 3.85008095e+01] [ 3.56667629e-03 5.43440883e-05 9.99993638e-01 -6.40617933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16028169299994 meters 0.02899023445072841 Centerline is valid? [True, True] Translation: X:323.44, Y:38.53, Z:-0.07 [[ 9.45183960e-01 -3.26520987e-01 -3.36551188e-03 3.23437838e+02] [ 3.26518684e-01 9.45189950e-01 -1.22788091e-03 3.85307861e+01] [ 3.58197689e-03 6.16708365e-05 9.99993583e-01 -6.59372424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22028169299995 meters 0.022693637477138012 Centerline is valid? [True, True] Translation: X:323.50, Y:38.54, Z:-0.07 [[ 9.44102988e-01 -3.29627307e-01 -3.92262554e-03 3.23497348e+02] [ 3.29624202e-01 9.44111135e-01 -1.43184027e-03 3.85385548e+01] [ 4.17536811e-03 5.88123581e-05 9.99991281e-01 -6.66805472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28028169299995 meters 0.02007454057551022 Centerline is valid? [True, True] Translation: X:323.55, Y:38.55, Z:-0.07 [[ 9.43504209e-01 -3.31327989e-01 -4.64441331e-03 3.23554596e+02] [ 3.31323653e-01 9.43515638e-01 -1.69616569e-03 3.85525940e+01] [ 4.94406375e-03 6.15354822e-05 9.99987776e-01 -6.74540604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34028169299995 meters 0.025108374076212265 Centerline is valid? [True, True] Translation: X:323.61, Y:38.58, Z:-0.07 [[ 9.44609608e-01 -3.28155615e-01 -5.15562305e-03 3.23605158e+02] [ 3.28150223e-01 9.44623674e-01 -1.88322795e-03 3.85811200e+01] [ 5.48811541e-03 8.70963635e-05 9.99984936e-01 -6.73451253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40028169299995 meters 0.03385862089794529 Centerline is valid? [True, True] Translation: X:323.65, Y:38.62, Z:-0.07 [[ 9.45827907e-01 -3.24646103e-01 -3.80500426e-03 3.23654839e+02] [ 3.24643137e-01 9.45835557e-01 -1.39001137e-03 3.86167854e+01] [ 4.05017010e-03 7.94430221e-05 9.99991795e-01 -6.67277309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46028169299996 meters 0.0286278912620412 Centerline is valid? [True, True] Translation: X:323.71, Y:38.63, Z:-0.06 [[ 9.46403380e-01 -3.22971290e-01 -3.19179873e-03 3.23710632e+02] [ 3.22969192e-01 9.46408760e-01 -1.16633873e-03 3.86339740e+01] [ 3.39744021e-03 7.29742568e-05 9.99994226e-01 -6.40075964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52028169299996 meters 0.026986237689585947 Centerline is valid? [True, True] Translation: X:323.76, Y:38.66, Z:-0.07 [[ 9.45495395e-01 -3.25610003e-01 -4.07241317e-03 3.23763987e+02] [ 3.25606612e-01 9.45504161e-01 -1.48831921e-03 3.86574164e+01] [ 4.33509522e-03 8.11943077e-05 9.99990600e-01 -6.51559171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58028169299996 meters 0.021450353944306087 Centerline is valid? [True, True] Translation: X:323.82, Y:38.67, Z:-0.06 [[ 9.43825943e-01 -3.30435487e-01 -2.23110970e-03 3.23821813e+02] [ 3.30434482e-01 9.43828580e-01 -8.15611965e-04 3.86742185e+01] [ 2.37529224e-03 3.25601539e-05 9.99997178e-01 -6.24860483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64028169299996 meters 0.015193064876851636 Centerline is valid? [True, True] Translation: X:323.88, Y:38.68, Z:-0.06 [[ 9.41117197e-01 -3.38069818e-01 -2.68687225e-03 3.23882161e+02] [ 3.38068390e-01 9.41121032e-01 -9.82695713e-04 3.86814289e+01] [ 2.86089175e-03 1.64852580e-05 9.99995908e-01 -6.36637035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70028169299997 meters 0.013802149860420035 Centerline is valid? [True, True] Translation: X:323.94, Y:38.69, Z:-0.07 [[ 9.39793614e-01 -3.41726840e-01 -3.27566744e-03 3.23939971e+02] [ 3.41724740e-01 9.39799323e-01 -1.19820653e-03 3.86925868e+01] [ 3.48792937e-03 6.69023818e-06 9.99993917e-01 -6.50509441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76028169299997 meters 0.014067354521698475 Centerline is valid? [True, True] Translation: X:323.99, Y:38.71, Z:-0.06 [[ 9.39902323e-01 -3.41422653e-01 -3.76762270e-03 3.23994523e+02] [ 3.41419869e-01 9.39909874e-01 -1.37896583e-03 3.87118728e+01] [ 4.01203595e-03 9.75194322e-06 9.99991952e-01 -6.45985951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82028169299997 meters 0.019309046856175658 Centerline is valid? [True, True] Translation: X:324.04, Y:38.75, Z:-0.06 [[ 9.42782305e-01 -3.33399828e-01 -2.46593399e-03 3.24043520e+02] [ 3.33398607e-01 9.42785529e-01 -9.02678091e-04 3.87476269e+01] [ 2.62579960e-03 2.88899719e-05 9.99996552e-01 -6.06053895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.880281693 meters 0.02779394566633046 Centerline is valid? [True, True] Translation: X:324.09, Y:38.79, Z:-0.06 [[ 9.46093350e-01 -3.23879919e-01 -3.02857186e-03 3.24092538e+02] [ 3.23878028e-01 9.46098195e-01 -1.10868120e-03 3.87881242e+01] [ 3.22440595e-03 6.80280227e-05 9.99994799e-01 -6.15367055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.940281693 meters 0.03336084112499733 Centerline is valid? [True, True] Translation: X:324.14, Y:38.82, Z:-0.06 [[ 9.47054114e-01 -3.21053798e-01 -3.60050584e-03 3.24141984e+02] [ 3.21051105e-01 9.47060954e-01 -1.31819933e-03 3.88236556e+01] [ 3.83311139e-03 9.24597186e-05 9.99992649e-01 -6.28021407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.000281693 meters 0.030525173548881984 Centerline is valid? [True, True] Translation: X:324.20, Y:38.85, Z:-0.06 [[ 9.46578686e-01 -3.22458570e-01 -3.04321702e-03 3.24195705e+02] [ 3.22456651e-01 9.46583575e-01 -1.11477006e-03 3.88475252e+01] [ 3.24012640e-03 7.39120103e-05 9.99994748e-01 -6.06709158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.060281693 meters 0.027284999269218246 Centerline is valid? [True, True] Translation: X:324.25, Y:38.87, Z:-0.06 [[ 9.45490867e-01 -3.25646227e-01 -1.24700374e-03 3.24249473e+02] [ 3.25645908e-01 9.45491689e-01 -4.57034432e-04 3.88731046e+01] [ 1.32786321e-03 2.60402147e-05 9.99999118e-01 -5.75928984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.120281693 meters 0.021546830347908483 Centerline is valid? [True, True] Translation: X:324.31, Y:38.89, Z:-0.06 [[ 9.43470337e-01 -3.31444897e-01 -2.82889729e-03 3.24306599e+02] [ 3.31443278e-01 9.43474578e-01 -1.03676513e-03 3.88909666e+01] [ 3.01262319e-03 4.05381526e-05 9.99995461e-01 -6.14268204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.180281693 meters 0.013589522184288607 Centerline is valid? [True, True] Translation: X:324.37, Y:38.89, Z:-0.06 [[ 9.39685571e-01 -3.42032538e-01 -2.18407985e-03 3.24369568e+02] [ 3.42031601e-01 9.39688109e-01 -8.00503193e-04 3.88925836e+01] [ 2.32615200e-03 5.19697232e-06 9.99997294e-01 -5.92382557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.240281693 meters 0.014090153293713062 Centerline is valid? [True, True] Translation: X:324.43, Y:38.90, Z:-0.06 [[ 9.37537318e-01 -3.47873337e-01 -2.81420346e-03 3.24429418e+02] [ 3.47871806e-01 9.37541541e-01 -1.03202469e-03 3.89015104e+01] [ 2.99744652e-03 -1.14203778e-05 9.99995508e-01 -5.97791189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.300281693 meters 0.0142588341609106 Centerline is valid? [True, True] Translation: X:324.48, Y:38.92, Z:-0.06 [[ 9.37338892e-01 -3.48409048e-01 -2.63367433e-03 3.24484735e+02] [ 3.48407709e-01 9.37342592e-01 -9.66034966e-04 3.89162935e+01] [ 2.80523045e-03 -1.20902963e-05 9.99996065e-01 -5.88902437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.360281693 meters 0.014132501259799228 Centerline is valid? [True, True] Translation: X:324.53, Y:38.95, Z:-0.06 [[ 9.39659614e-01 -3.42080081e-01 -4.58569556e-03 3.24534188e+02] [ 3.42075942e-01 9.39670803e-01 -1.68276998e-03 3.89454707e+01] [ 4.88468632e-03 1.25748571e-05 9.99988070e-01 -6.41465234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42028169299994 meters 0.014570073226385677 Centerline is valid? [True, True] Translation: X:324.59, Y:38.97, Z:-0.06 [[ 9.40419530e-01 -3.40013103e-01 -1.48247779e-03 3.24587894e+02] [ 3.40012667e-01 9.40420698e-01 -5.44365216e-04 3.89677712e+01] [ 1.57924411e-03 7.87045238e-06 9.99998753e-01 -5.72587977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48028169299994 meters 0.015037686005963351 Centerline is valid? [True, True] Translation: X:324.64, Y:38.99, Z:-0.06 [[ 9.40578144e-01 -3.39569861e-01 -2.25058870e-03 3.24643017e+02] [ 3.39568855e-01 9.40580836e-01 -8.26772851e-04 3.89883548e+01] [ 2.39760775e-03 1.34146443e-05 9.99997126e-01 -5.93856789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54028169299994 meters 0.015328428255815318 Centerline is valid? [True, True] Translation: X:324.70, Y:39.01, Z:-0.06 [[ 9.40694378e-01 -3.39243981e-01 -2.75838295e-03 3.24697347e+02] [ 3.39242467e-01 9.40698422e-01 -1.01388056e-03 3.90089655e+01] [ 2.93875937e-03 1.79911098e-05 9.99995682e-01 -6.01040436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60028169299994 meters 0.015238845545261937 Centerline is valid? [True, True] Translation: X:324.75, Y:39.03, Z:-0.06 [[ 9.40589338e-01 -3.39539560e-01 -2.14099492e-03 3.24751740e+02] [ 3.39538647e-01 9.40591775e-01 -7.87404146e-04 3.90277271e+01] [ 2.28115707e-03 1.36734265e-05 9.99997398e-01 -5.92559521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66028169299994 meters 0.013955505631543477 Centerline is valid? [True, True] Translation: X:324.81, Y:39.04, Z:-0.06 [[ 9.39698733e-01 -3.42000417e-01 -1.41628038e-03 3.24808885e+02] [ 3.42000020e-01 9.39699800e-01 -5.21142286e-04 3.90416717e+01] [ 1.50910927e-03 5.34882680e-06 9.99998861e-01 -5.80333558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72028169299995 meters 0.01330240898724172 Centerline is valid? [True, True] Translation: X:324.87, Y:39.05, Z:-0.06 [[ 9.38520873e-01 -3.45212774e-01 -2.59065317e-03 3.24867191e+02] [ 3.45211457e-01 9.38524449e-01 -9.53814504e-04 3.90516549e+01] [ 2.76066029e-03 8.51667600e-07 9.99996189e-01 -6.02254991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78028169299995 meters 0.013671964754243753 Centerline is valid? [True, True] Translation: X:324.92, Y:39.07, Z:-0.06 [[ 9.38324977e-01 -3.45736863e-01 -3.50143611e-03 3.24922062e+02] [ 3.45734459e-01 9.38331509e-01 -1.28930698e-03 3.90700519e+01] [ 3.73126878e-03 -7.78173392e-07 9.99993039e-01 -6.27441276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84028169299995 meters 0.013747339488648388 Centerline is valid? [True, True] Translation: X:324.98, Y:39.09, Z:-0.06 [[ 9.38784420e-01 -3.44486848e-01 -3.55304581e-03 3.24976350e+02] [ 3.44484361e-01 9.38791144e-01 -1.30909017e-03 3.90897756e+01] [ 3.78653229e-03 4.98473593e-06 9.99992831e-01 -6.17874768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90028169299995 meters 0.015297141372350569 Centerline is valid? [True, True] Translation: X:325.03, Y:39.12, Z:-0.06 [[ 9.40581285e-01 -3.39567316e-01 -9.39890405e-04 3.25028547e+02] [ 3.39567140e-01 9.40581755e-01 -3.46514864e-04 3.91176569e+01] [ 1.00170889e-03 6.76949936e-06 9.99999498e-01 -5.72448585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96028169299996 meters 0.01802707664108338 Centerline is valid? [True, True] Translation: X:325.08, Y:39.14, Z:-0.06 [[ 9.41147191e-01 -3.37988455e-01 -2.40195952e-03 3.25080991e+02] [ 3.37987296e-01 9.41150256e-01 -8.85569797e-04 3.91425011e+01] [ 2.55991719e-03 2.16197236e-05 9.99996723e-01 -6.31140946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02028169299996 meters 0.016680016448258658 Centerline is valid? [True, True] Translation: X:325.14, Y:39.16, Z:-0.06 [[ 9.40719679e-01 -3.39173096e-01 -2.84534835e-03 3.25137961e+02] [ 3.39171473e-01 9.40723982e-01 -1.04958040e-03 3.91578486e+01] [ 3.03267686e-03 2.22999432e-05 9.99995401e-01 -6.36275523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08028169299996 meters 0.016274590005495655 Centerline is valid? [True, True] Translation: X:325.19, Y:39.18, Z:-0.06 [[ 9.40864439e-01 -3.38779785e-01 -1.53813850e-03 3.25191428e+02] [ 3.38779309e-01 9.40865696e-01 -5.67759090e-04 3.91810564e+01] [ 1.63952705e-03 1.30948380e-05 9.99998656e-01 -5.83299099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14028169299996 meters 0.019125462032534044 Centerline is valid? [True, True] Translation: X:325.24, Y:39.21, Z:-0.06 [[ 9.42171788e-01 -3.35126712e-01 -1.55187796e-03 3.25242857e+02] [ 3.35126223e-01 9.42173066e-01 -5.73120506e-04 3.92117211e+01] [ 1.65420561e-03 1.99029713e-05 9.99998632e-01 -5.84989287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20028169299997 meters 0.019285144801688567 Centerline is valid? [True, True] Translation: X:325.30, Y:39.24, Z:-0.06 [[ 9.41765902e-01 -3.36269131e-01 -2.40172987e-04 3.25295433e+02] [ 3.36269119e-01 9.41765932e-01 -8.87263596e-05 3.92359776e+01] [ 2.56022672e-04 2.79670138e-06 9.99999967e-01 -5.71313071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26028169299997 meters 0.015126491793965672 Centerline is valid? [True, True] Translation: X:325.35, Y:39.25, Z:-0.06 [[ 9.39875744e-01 -3.41516095e-01 -5.86106935e-04 3.25354099e+02] [ 3.41516026e-01 9.39875926e-01 -2.16641221e-04 3.92475909e+01] [ 6.24854263e-04 3.45091702e-06 9.99999805e-01 -5.82245636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32028169299997 meters 0.01468479750995391 Centerline is valid? [True, True] Translation: X:325.41, Y:39.25, Z:-0.06 [[ 9.36401937e-01 -3.50928522e-01 -7.64194854e-04 3.25414327e+02] [ 3.50928408e-01 9.36402249e-01 -2.82460117e-04 3.92519076e+01] [ 8.14717091e-04 -3.68148286e-06 9.99999668e-01 -5.66995070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.380281693 meters 0.01925528742813237 Centerline is valid? [True, True] Translation: X:325.48, Y:39.26, Z:-0.06 [[ 9.33838574e-01 -3.57689662e-01 -1.90328192e-03 3.25475879e+02] [ 3.57688971e-01 9.33840514e-01 -7.03492815e-04 3.92579293e+01] [ 2.02899387e-03 -2.38342249e-05 9.99997941e-01 -5.91868193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.440281693 meters 0.022150895462455557 Centerline is valid? [True, True] Translation: X:325.53, Y:39.27, Z:-0.06 [[ 9.32991595e-01 -3.59894237e-01 -1.67989927e-03 3.25534518e+02] [ 3.59893702e-01 9.32993107e-01 -6.21049758e-04 3.92673124e+01] [ 1.79084666e-03 -2.51509608e-05 9.99998396e-01 -5.96359011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.500281693 meters 0.020561141045982178 Centerline is valid? [True, True] Translation: X:325.59, Y:39.29, Z:-0.06 [[ 9.33326866e-01 -3.59026528e-01 -9.55793474e-04 3.25590358e+02] [ 3.59026354e-01 9.33327355e-01 -3.53572563e-04 3.92871386e+01] [ 1.01901012e-03 -1.31562749e-05 9.99999481e-01 -5.76794011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.560281693 meters 0.015015002782985966 Centerline is valid? [True, True] Translation: X:325.64, Y:39.32, Z:-0.06 [[ 9.36310920e-01 -3.51162083e-01 -2.65568007e-03 3.25639995e+02] [ 3.51160709e-01 9.36314686e-01 -9.82432020e-04 3.93189323e+01] [ 2.83154512e-03 -1.27086681e-05 9.99995991e-01 -6.00909986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.620281693 meters 0.014061141181756748 Centerline is valid? [True, True] Translation: X:325.69, Y:39.35, Z:-0.06 [[ 9.37994227e-01 -3.46639604e-01 -2.79553719e-03 3.25690985e+02] [ 3.46638061e-01 9.37998393e-01 -1.03434604e-03 3.93474762e+01] [ 2.98075469e-03 1.17102764e-06 9.99995558e-01 -6.13369708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.680281693 meters 0.014343746520280296 Centerline is valid? [True, True] Translation: X:325.74, Y:39.37, Z:-0.05 [[ 9.39099592e-01 -3.43645070e-01 1.46518601e-04 3.25743602e+02] [ 3.43645065e-01 9.39099604e-01 5.41724275e-05 3.93736280e+01] [-1.56211647e-04 -5.22910424e-07 9.99999988e-01 -5.47346679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.740281693 meters 0.015692821915929227 Centerline is valid? [True, True] Translation: X:325.80, Y:39.40, Z:-0.05 [[ 9.39691989e-01 -3.42021601e-01 4.34762151e-04 3.25795508e+02] [ 3.42021564e-01 9.39692090e-01 1.60963080e-04 3.93993536e+01] [-4.63595405e-04 -2.55768587e-06 9.99999893e-01 -5.49971275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.800281693 meters 0.01583423067883545 Centerline is valid? [True, True] Translation: X:325.85, Y:39.42, Z:-0.05 [[ 9.40060522e-01 -3.41006109e-01 1.02399112e-03 3.25849709e+02] [ 3.41005898e-01 9.40061080e-01 3.79322323e-04 3.94214307e+01] [-1.09196543e-03 -7.39893006e-06 9.99999404e-01 -5.49148764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.860281693 meters 0.016380996637145075 Centerline is valid? [True, True] Translation: X:325.90, Y:39.45, Z:-0.06 [[ 9.40117315e-01 -3.40851039e-01 -5.41781136e-05 3.25901419e+02] [ 3.40851039e-01 9.40117317e-01 -2.01077953e-05 3.94472823e+01] [ 5.77875457e-05 4.37020234e-07 9.99999998e-01 -5.76094324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92028169299994 meters 0.014228456207895814 Centerline is valid? [True, True] Translation: X:325.96, Y:39.46, Z:-0.06 [[ 9.38697742e-01 -3.44741006e-01 4.33137027e-04 3.25957388e+02] [ 3.44740968e-01 9.38697842e-01 1.60522112e-04 3.94625417e+01] [-4.61923348e-04 -1.36166619e-06 9.99999893e-01 -5.65310996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98028169299994 meters 0.014112227774058154 Centerline is valid? [True, True] Translation: X:326.01, Y:39.48, Z:-0.06 [[ 9.36795880e-01 -3.49873174e-01 -1.49701123e-03 3.26014537e+02] [ 3.49872734e-01 9.36797076e-01 -5.55242162e-04 3.94756287e+01] [ 1.59666008e-03 -3.61484203e-06 9.99998725e-01 -6.15308709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04028169299994 meters 0.015803370349158585 Centerline is valid? [True, True] Translation: X:326.07, Y:39.49, Z:-0.06 [[ 9.35411698e-01 -3.53551744e-01 -2.47364511e-03 3.26072149e+02] [ 3.53550553e-01 9.35414969e-01 -9.17874273e-04 3.94890328e+01] [ 2.63840071e-03 -1.59682620e-05 9.99996519e-01 -6.32736197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10028169299994 meters 0.01562302929635618 Centerline is valid? [True, True] Translation: X:326.13, Y:39.50, Z:-0.06 [[ 9.35512231e-01 -3.53291309e-01 -1.45503866e-03 3.26128324e+02] [ 3.53290896e-01 9.35513362e-01 -5.39987638e-04 3.95045740e+01] [ 1.55198105e-03 -8.88687347e-06 9.99998796e-01 -6.06033113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16028169299994 meters 0.014423612070964256 Centerline is valid? [True, True] Translation: X:326.18, Y:39.53, Z:-0.06 [[ 9.36134425e-01 -3.51637880e-01 -1.77173094e-03 3.26181621e+02] [ 3.51637264e-01 9.36136102e-01 -6.57889014e-04 3.95292775e+01] [ 1.88991999e-03 -7.13406613e-06 9.99998214e-01 -6.11751699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22028169299995 meters 0.01407359658378275 Centerline is valid? [True, True] Translation: X:326.23, Y:39.55, Z:-0.06 [[ 9.36596623e-01 -3.50409088e-01 -4.86039713e-04 3.26234945e+02] [ 3.50409041e-01 9.36596750e-01 -1.80636326e-04 3.95514273e+01] [ 5.18519826e-04 -1.12933734e-06 9.99999866e-01 -6.02309544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28028169299995 meters 0.013937372120710391 Centerline is valid? [True, True] Translation: X:326.29, Y:39.57, Z:-0.06 [[ 9.36538289e-01 -3.50565086e-01 3.90888727e-04 3.26288876e+02] [ 3.50565056e-01 9.36538371e-01 1.45223753e-04 3.95688531e+01] [-4.16992669e-04 1.02432275e-06 9.99999913e-01 -5.75697452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34028169299995 meters 0.013959521525605822 Centerline is valid? [True, True] Translation: X:326.34, Y:39.59, Z:-0.06 [[ 9.36680088e-01 -3.50185939e-01 -4.69994036e-04 3.26344097e+02] [ 3.50185895e-01 9.36680206e-01 -1.74817361e-04 3.95872072e+01] [ 5.01452692e-04 -8.37340970e-07 9.99999874e-01 -6.00683584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40028169299995 meters 0.013761202775422515 Centerline is valid? [True, True] Translation: X:326.40, Y:39.61, Z:-0.06 [[ 9.37750549e-01 -3.47308903e-01 -6.59037647e-04 3.26398911e+02] [ 3.47308817e-01 9.37750780e-01 -2.45244018e-04 3.96070840e+01] [ 7.03188499e-04 1.08812689e-06 9.99999753e-01 -6.08355639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46028169299996 meters 0.014290842002922341 Centerline is valid? [True, True] Translation: X:326.45, Y:39.63, Z:-0.06 [[ 9.38352781e-01 -3.45677467e-01 -1.07084852e-03 3.26453343e+02] [ 3.45677238e-01 9.38353392e-01 -3.98468855e-04 3.96267874e+01] [ 1.14257604e-03 3.73640103e-06 9.99999347e-01 -6.16903410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52028169299996 meters 0.017177713826006864 Centerline is valid? [True, True] Translation: X:326.51, Y:39.65, Z:-0.06 [[ 9.39972737e-01 -3.41246013e-01 -1.55350537e-03 3.26506527e+02] [ 3.41245523e-01 9.39974020e-01 -5.78219317e-04 3.96512717e+01] [ 1.65756973e-03 1.33836399e-05 9.99998626e-01 -6.20045788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58028169299996 meters 0.021151911903420195 Centerline is valid? [True, True] Translation: X:326.56, Y:39.68, Z:-0.06 [[ 9.41565137e-01 -3.36830777e-01 3.47721544e-04 3.26558186e+02] [ 3.36830753e-01 9.41565201e-01 1.29420327e-04 3.96819600e+01] [-3.70995255e-04 -4.73435886e-06 9.99999931e-01 -5.91845236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64028169299996 meters 0.02392255182742633 Centerline is valid? [True, True] Translation: X:326.61, Y:39.71, Z:-0.06 [[ 9.43032056e-01 -3.32701592e-01 -4.38309912e-04 3.26610079e+02] [ 3.32701552e-01 9.43032158e-01 -1.63231769e-04 3.97137116e+01] [ 4.67647811e-04 8.10640294e-06 9.99999891e-01 -6.03275587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70028169299997 meters 0.02520704256980767 Centerline is valid? [True, True] Translation: X:326.66, Y:39.74, Z:-0.06 [[ 9.43312582e-01 -3.31902150e-01 -1.52840435e-03 3.26663212e+02] [ 3.31901663e-01 9.43313819e-01 -5.69515035e-04 3.97390740e+01] [ 1.63078821e-03 2.99507550e-05 9.99998670e-01 -6.19263221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76028169299997 meters 0.023586628135575258 Centerline is valid? [True, True] Translation: X:326.72, Y:39.77, Z:-0.06 [[ 9.42619545e-01 -3.33868063e-01 -7.14733292e-04 3.26715568e+02] [ 3.33867957e-01 9.42619815e-01 -2.66489983e-04 3.97659885e+01] [ 7.62694259e-04 1.25721227e-05 9.99999709e-01 -6.09525167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82028169299997 meters 0.01703247992506187 Centerline is valid? [True, True] Translation: X:326.77, Y:39.78, Z:-0.06 [[ 9.39854833e-01 -3.41574098e-01 -1.68137806e-04 3.26773598e+02] [ 3.41574092e-01 9.39854848e-01 -6.26893440e-05 3.97812183e+01] [ 1.79438189e-04 1.48736441e-06 9.99999984e-01 -6.13056733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.880281693 meters 0.014286815939293148 Centerline is valid? [True, True] Translation: X:326.83, Y:39.79, Z:-0.07 [[ 9.37565958e-01 -3.47799165e-01 -2.41162492e-03 3.26831609e+02] [ 3.47798002e-01 9.37569059e-01 -8.99552318e-04 3.97937157e+01] [ 2.57392845e-03 4.63130249e-06 9.99996687e-01 -6.66719051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.940281693 meters 0.016345648866972564 Centerline is valid? [True, True] Translation: X:326.89, Y:39.80, Z:-0.06 [[ 9.34518430e-01 -3.55913599e-01 -9.01951080e-04 3.26890309e+02] [ 3.55913440e-01 9.34518866e-01 -3.36492122e-04 3.98023689e+01] [ 9.62652422e-04 -6.55842130e-06 9.99999537e-01 -6.31775429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.000281693 meters 0.01808895750443242 Centerline is valid? [True, True] Translation: X:326.95, Y:39.82, Z:-0.06 [[ 9.33374749e-01 -3.58901084e-01 -1.26102630e-03 3.26947103e+02] [ 3.58900776e-01 9.33375600e-01 -4.70716827e-04 3.98187415e+01] [ 1.34595196e-03 -1.32281178e-05 9.99999094e-01 -6.44440046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.060281693 meters 0.02161101434155146 Centerline is valid? [True, True] Translation: X:327.01, Y:39.83, Z:-0.07 [[ 9.31805471e-01 -3.62948086e-01 -2.69275846e-03 3.27005612e+02] [ 3.62946696e-01 9.31809361e-01 -1.00514646e-03 3.98315296e+01] [ 2.87395352e-03 -4.07268196e-05 9.99995869e-01 -6.73468302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.120281693 meters 0.025215431903491226 Centerline is valid? [True, True] Translation: X:327.06, Y:39.84, Z:-0.06 [[ 9.30557871e-01 -3.66144689e-01 -3.38572061e-04 3.27062950e+02] [ 3.66144668e-01 9.30557933e-01 -1.26431872e-04 3.98421808e+01] [ 3.61353276e-04 -6.31418128e-06 9.99999935e-01 -6.19561639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.180281693 meters 0.025543989473734142 Centerline is valid? [True, True] Translation: X:327.12, Y:39.86, Z:-0.06 [[ 9.30483630e-01 -3.66332152e-01 9.84610901e-04 3.27117912e+02] [ 3.66331968e-01 9.30484150e-01 3.67741359e-04 3.98601986e+01] [-1.05088032e-03 1.85171343e-05 9.99999448e-01 -5.90043102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.240281693 meters 0.017740135409491355 Centerline is valid? [True, True] Translation: X:327.17, Y:39.89, Z:-0.06 [[ 9.33537650e-01 -3.58474836e-01 1.80219206e-03 3.27169250e+02] [ 3.58474204e-01 9.33539390e-01 6.73288920e-04 3.98945330e+01] [-1.92377441e-03 1.74988070e-05 9.99998149e-01 -5.67555706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.300281693 meters 0.014256381286010289 Centerline is valid? [True, True] Translation: X:327.22, Y:39.93, Z:-0.06 [[ 9.35474368e-01 -3.53394011e-01 6.15732903e-04 3.27220560e+02] [ 3.53393936e-01 9.35474571e-01 2.30093647e-04 3.99260811e+01] [-6.57316190e-04 2.34956513e-06 9.99999784e-01 -5.92512114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.360281693 meters 0.014270909348990257 Centerline is valid? [True, True] Translation: X:327.27, Y:39.95, Z:-0.06 [[ 9.35667339e-01 -3.52881895e-01 -9.99445937e-04 3.27273325e+02] [ 3.52881697e-01 9.35667873e-01 -3.73702186e-04 3.99485663e+01] [ 1.06702219e-03 -3.02524814e-06 9.99999431e-01 -6.29648754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42028169299994 meters 0.015986970006389895 Centerline is valid? [True, True] Translation: X:327.33, Y:39.96, Z:-0.06 [[ 9.34241213e-01 -3.56641661e-01 -2.85480143e-04 3.27331430e+02] [ 3.56641645e-01 9.34241257e-01 -1.06794120e-04 3.99596099e+01] [ 3.04794560e-04 -2.04263967e-06 9.99999954e-01 -6.22165400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48028169299994 meters 0.015408504053090669 Centerline is valid? [True, True] Translation: X:327.39, Y:39.98, Z:-0.06 [[ 9.34604649e-01 -3.55687472e-01 -7.56047406e-04 3.27385562e+02] [ 3.55687359e-01 9.34604955e-01 -2.82813121e-04 3.99809546e+01] [ 8.07198736e-04 -4.59804774e-06 9.99999674e-01 -6.28651024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54028169299994 meters 0.014123691857837567 Centerline is valid? [True, True] Translation: X:327.44, Y:40.01, Z:-0.07 [[ 9.36989241e-01 -3.49341214e-01 -3.44644122e-03 3.27436311e+02] [ 3.49338833e-01 9.36995579e-01 -1.28980374e-03 4.00120797e+01] [ 3.67988180e-03 4.55647476e-06 9.99993229e-01 -6.81268327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60028169299994 meters 0.015861080304885374 Centerline is valid? [True, True] Translation: X:327.49, Y:40.04, Z:-0.07 [[ 9.38768498e-01 -3.44526197e-01 -3.92520145e-03 3.27488354e+02] [ 3.44523063e-01 9.38776704e-01 -1.46971112e-03 4.00397083e+01] [ 4.19124166e-03 2.73960732e-05 9.99991216e-01 -6.85092400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66028169299994 meters 0.019258423266671248 Centerline is valid? [True, True] Translation: X:327.54, Y:40.07, Z:-0.06 [[ 9.40441389e-01 -3.39950774e-01 -1.86127773e-03 3.27538870e+02] [ 3.39950060e-01 9.40443231e-01 -6.97108042e-04 4.00708218e+01] [ 1.98740846e-03 2.28477775e-05 9.99998025e-01 -6.45945134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72028169299995 meters 0.024110146855199195 Centerline is valid? [True, True] Translation: X:327.59, Y:40.11, Z:-0.06 [[ 9.42060272e-01 -3.35436383e-01 -2.20835220e-03 3.27588108e+02] [ 3.35435366e-01 9.42062860e-01 -8.27159870e-04 4.01062649e+01] [ 2.35786610e-03 3.84750258e-05 9.99997219e-01 -6.48321454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78028169299995 meters 0.029738512392569222 Centerline is valid? [True, True] Translation: X:327.64, Y:40.14, Z:-0.07 [[ 9.43733755e-01 -3.30695301e-01 -2.68650807e-03 3.27637565e+02] [ 3.30693776e-01 9.43737577e-01 -1.00632018e-03 4.01446028e+01] [ 2.86814398e-03 6.12868279e-05 9.99995885e-01 -6.64597805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84028169299995 meters 0.02919675793253889 Centerline is valid? [True, True] Translation: X:327.69, Y:40.17, Z:-0.06 [[ 9.43458920e-01 -3.31489415e-01 -1.83117119e-04 3.27690393e+02] [ 3.31489408e-01 9.43458938e-01 -6.86833087e-05 4.01703655e+01] [ 1.95531273e-04 4.09849485e-06 9.99999981e-01 -6.22340409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90028169299995 meters 0.02467827212102703 Centerline is valid? [True, True] Translation: X:327.75, Y:40.19, Z:-0.06 [[ 9.42239008e-01 -3.34941260e-01 -6.67821144e-05 3.27746529e+02] [ 3.34941259e-01 9.42239010e-01 -2.50941485e-05 4.01893017e+01] [ 7.13297791e-05 1.27660009e-06 9.99999997e-01 -6.16201482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96028169299996 meters 0.021083969086789413 Centerline is valid? [True, True] Translation: X:327.80, Y:40.21, Z:-0.06 [[ 9.40924202e-01 -3.38617131e-01 2.89555784e-04 3.27801116e+02] [ 3.38617114e-01 9.40924247e-01 1.08560458e-04 4.02090156e+01] [-3.09210489e-04 -4.09861900e-06 9.99999952e-01 -6.17658963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02028169299996 meters 0.020081215899285423 Centerline is valid? [True, True] Translation: X:327.86, Y:40.23, Z:-0.06 [[ 9.40176876e-01 -3.40685491e-01 -9.15829570e-04 3.27855740e+02] [ 3.40685317e-01 9.40177322e-01 -3.43575329e-04 4.02288963e+01] [ 9.78093322e-04 1.10118911e-05 9.99999522e-01 -6.45590502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08028169299996 meters 0.015538158405989419 Centerline is valid? [True, True] Translation: X:327.92, Y:40.24, Z:-0.07 [[ 9.38350875e-01 -3.45680072e-01 -1.70980431e-03 3.27915031e+02] [ 3.45679477e-01 9.38352432e-01 -6.41740859e-04 4.02392682e+01] [ 1.82623606e-03 1.11338359e-05 9.99998332e-01 -6.54894574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14028169299996 meters 0.01358554931116762 Centerline is valid? [True, True] Translation: X:327.98, Y:40.24, Z:-0.07 [[ 9.35741469e-01 -3.52679716e-01 -2.21822064e-03 3.27975099e+02] [ 3.52678733e-01 9.35744098e-01 -8.32649714e-04 4.02434467e+01] [ 2.36934554e-03 -3.17437741e-06 9.99997193e-01 -6.77737558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20028169299997 meters 0.014526552538325079 Centerline is valid? [True, True] Translation: X:328.03, Y:40.26, Z:-0.06 [[ 9.34423842e-01 -3.56160981e-01 -1.19973579e-03 3.28033532e+02] [ 3.56160696e-01 9.34424612e-01 -4.50615752e-04 4.02560094e+01] [ 1.28155439e-03 -6.23263015e-06 9.99999179e-01 -6.46427810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26028169299997 meters 0.017259535894077346 Centerline is valid? [True, True] Translation: X:328.09, Y:40.26, Z:-0.07 [[ 9.32645909e-01 -3.60786016e-01 -2.24936917e-03 3.28094445e+02] [ 3.60785026e-01 9.32648621e-01 -8.45221582e-04 4.02616953e+01] [ 2.40281518e-03 -2.32462642e-05 9.99997113e-01 -6.64620104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32028169299997 meters 0.02048398194661801 Centerline is valid? [True, True] Translation: X:328.15, Y:40.27, Z:-0.07 [[ 9.31984552e-01 -3.62494962e-01 -1.48192144e-03 3.28154437e+02] [ 3.62494535e-01 9.31985731e-01 -5.56925307e-04 4.02673697e+01] [ 1.58301226e-03 -1.81426407e-05 9.99998747e-01 -6.50887077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.380281693 meters 0.016928897359691202 Centerline is valid? [True, True] Translation: X:328.21, Y:40.29, Z:-0.06 [[ 9.32438712e-01 -3.61327794e-01 5.22858186e-04 3.28210831e+02] [ 3.61327740e-01 9.32438859e-01 1.96527853e-04 4.02853224e+01] [-5.58544265e-04 5.67298850e-06 9.99999844e-01 -6.08277218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.440281693 meters 0.013836583642580471 Centerline is valid? [True, True] Translation: X:328.27, Y:40.31, Z:-0.06 [[ 9.34654739e-01 -3.55554541e-01 -1.21942931e-03 3.28265626e+02] [ 3.55554245e-01 9.34655535e-01 -4.58788364e-04 4.03055247e+01] [ 1.30287064e-03 -4.76454862e-06 9.99999151e-01 -6.41411618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.500281693 meters 0.013824569354148351 Centerline is valid? [True, True] Translation: X:328.32, Y:40.33, Z:-0.06 [[ 9.37164774e-01 -3.48883577e-01 -1.56114895e-03 3.28317705e+02] [ 3.48883082e-01 9.37166074e-01 -5.87679168e-04 4.03327560e+01] [ 1.66808744e-03 6.09375803e-06 9.99998609e-01 -6.39904189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.560281693 meters 0.023051310357834264 Centerline is valid? [True, True] Translation: X:328.37, Y:40.37, Z:-0.06 [[ 9.41463223e-01 -3.37112969e-01 -1.35869836e-03 3.28367026e+02] [ 3.37112582e-01 9.41464203e-01 -5.11460545e-04 4.03715089e+01] [ 1.45158585e-03 2.34869815e-05 9.99998946e-01 -6.31112072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.620281693 meters 0.030685603647545596 Centerline is valid? [True, True] Translation: X:328.42, Y:40.41, Z:-0.06 [[ 9.43664978e-01 -3.30902042e-01 -4.97900431e-04 3.28416885e+02] [ 3.30901989e-01 9.43665109e-01 -1.87453721e-04 4.04060046e+01] [ 5.31880084e-04 1.21372684e-05 9.99999858e-01 -6.19321012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.680281693 meters 0.03391744274025715 Centerline is valid? [True, True] Translation: X:328.47, Y:40.44, Z:-0.06 [[ 9.45135520e-01 -3.26678500e-01 8.48189931e-05 3.28468331e+02] [ 3.26678499e-01 9.45135523e-01 3.19236169e-05 4.04377846e+01] [-9.05942027e-05 -2.46360291e-06 9.99999996e-01 -6.14289325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.740281693 meters 0.034306028406961106 Centerline is valid? [True, True] Translation: X:328.52, Y:40.46, Z:-0.06 [[ 9.45230994e-01 -3.26402076e-01 -2.28621181e-04 3.28520838e+02] [ 3.26402065e-01 9.45231022e-01 -8.61783928e-05 4.04641944e+01] [ 2.44228639e-04 6.83606217e-06 9.99999970e-01 -6.20504536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.800281693 meters 0.0318666873391592 Centerline is valid? [True, True] Translation: X:328.57, Y:40.49, Z:-0.06 [[ 9.44480052e-01 -3.28566266e-01 -1.28068576e-03 3.28573787e+02] [ 3.28565913e-01 9.44480920e-01 -4.82499547e-04 4.04906110e+01] [ 1.36811634e-03 3.49215096e-05 9.99999064e-01 -6.41846769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.860281693 meters 0.026843775515949377 Centerline is valid? [True, True] Translation: X:328.63, Y:40.51, Z:-0.06 [[ 9.42681780e-01 -3.33692327e-01 -7.02424172e-04 3.28630095e+02] [ 3.33692222e-01 9.42682041e-01 -2.64656776e-04 4.05104359e+01] [ 7.50476588e-04 1.50936378e-05 9.99999718e-01 -6.35045907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92028169299994 meters 0.021131993344936567 Centerline is valid? [True, True] Translation: X:328.69, Y:40.52, Z:-0.07 [[ 9.40598760e-01 -3.39511185e-01 -2.47537771e-03 3.28688625e+02] [ 3.39509906e-01 9.40602017e-01 -9.32729579e-04 4.05248897e+01] [ 2.64501739e-03 3.69090336e-05 9.99996501e-01 -6.72624315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98028169299994 meters 0.019710147026749593 Centerline is valid? [True, True] Translation: X:328.74, Y:40.55, Z:-0.07 [[ 9.39892448e-01 -3.41464822e-01 -1.99043750e-03 3.28743072e+02] [ 3.41463999e-01 9.39894555e-01 -7.50220045e-04 4.05450447e+01] [ 2.12697513e-03 2.54634059e-05 9.99997738e-01 -6.63486585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04028169299994 meters 0.020776035353006456 Centerline is valid? [True, True] Translation: X:328.80, Y:40.57, Z:-0.07 [[ 9.40128119e-01 -3.40814683e-01 -2.11483157e-03 3.28795471e+02] [ 3.40813752e-01 9.40130497e-01 -7.97230682e-04 4.05690001e+01] [ 2.25992558e-03 2.87352995e-05 9.99997446e-01 -6.62354709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10028169299994 meters 0.023511498744815694 Centerline is valid? [True, True] Translation: X:328.85, Y:40.60, Z:-0.07 [[ 9.40918556e-01 -3.38617573e-01 -3.22650705e-03 3.28847508e+02] [ 3.38615391e-01 9.40924086e-01 -1.21690682e-03 4.05967135e+01] [ 3.44796424e-03 5.24652655e-05 9.99994054e-01 -6.82349424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16028169299994 meters 0.021709185143251705 Centerline is valid? [True, True] Translation: X:328.90, Y:40.62, Z:-0.06 [[ 9.40237460e-01 -3.40519109e-01 -5.04719302e-04 3.28901533e+02] [ 3.40519056e-01 9.40237596e-01 -1.90403124e-04 4.06177091e+01] [ 5.39391966e-04 7.15760995e-06 9.99999855e-01 -6.37225270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22028169299995 meters 0.014148768689160604 Centerline is valid? [True, True] Translation: X:328.96, Y:40.62, Z:-0.06 [[ 9.37121458e-01 -3.49003002e-01 -5.27056254e-04 3.28964046e+02] [ 3.49002945e-01 9.37121606e-01 -1.98837142e-04 4.06198232e+01] [ 5.63310563e-04 2.39036790e-06 9.99999841e-01 -6.48808549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28028169299995 meters 0.014459503479464123 Centerline is valid? [True, True] Translation: X:329.03, Y:40.62, Z:-0.07 [[ 9.33611825e-01 -3.58282742e-01 -1.56113326e-03 3.29026976e+02] [ 3.58282257e-01 9.33613130e-01 -5.89276051e-04 4.06186217e+01] [ 1.66862195e-03 -9.17125984e-06 9.99998608e-01 -6.62836664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34028169299995 meters 0.01604572986539851 Centerline is valid? [True, True] Translation: X:329.09, Y:40.63, Z:-0.07 [[ 9.32652459e-01 -3.60773565e-01 -1.35083384e-03 3.29085476e+02] [ 3.60773204e-01 9.32653438e-01 -5.10154446e-04 4.06294409e+01] [ 1.44391006e-03 -1.15478549e-05 9.99998957e-01 -6.54947119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40028169299995 meters 0.014664527612745375 Centerline is valid? [True, True] Translation: X:329.14, Y:40.65, Z:-0.07 [[ 9.33652690e-01 -3.58175093e-01 -1.80460358e-03 3.29140665e+02] [ 3.58174445e-01 9.33654434e-01 -6.81584397e-04 4.06460781e+01] [ 1.92900269e-03 -9.99978069e-06 9.99998139e-01 -6.67791275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46028169299996 meters 0.013415997801017277 Centerline is valid? [True, True] Translation: X:329.20, Y:40.67, Z:-0.07 [[ 9.34992977e-01 -3.54660056e-01 -2.09246403e-03 3.29195854e+02] [ 3.54659174e-01 9.34995318e-01 -7.90733641e-04 4.06667588e+01] [ 2.23688571e-03 -2.78116604e-06 9.99997498e-01 -6.71529673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52028169299996 meters 0.013922021973866506 Centerline is valid? [True, True] Translation: X:329.25, Y:40.68, Z:-0.07 [[ 9.34981677e-01 -3.54665708e-01 -4.63683128e-03 3.29251446e+02] [ 3.54661378e-01 9.34993174e-01 -1.75243344e-03 4.06832968e+01] [ 4.95693364e-03 -6.01181777e-06 9.99987714e-01 -7.32774863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58028169299996 meters 0.014476971464422351 Centerline is valid? [True, True] Translation: X:329.31, Y:40.70, Z:-0.07 [[ 9.34018702e-01 -3.57210524e-01 -3.11556577e-03 3.29307296e+02] [ 3.57208581e-01 9.34023898e-01 -1.17819299e-03 4.06990948e+01] [ 3.33087582e-03 -1.24525357e-05 9.99994453e-01 -7.06996412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64028169299996 meters 0.014659031884004583 Centerline is valid? [True, True] Translation: X:329.36, Y:40.72, Z:-0.07 [[ 9.33399736e-01 -3.58833456e-01 -1.86658749e-03 3.29363522e+02] [ 3.58832761e-01 9.33401602e-01 -7.06307597e-04 4.07150769e+01] [ 1.99572255e-03 -1.05254171e-05 9.99998008e-01 -6.80275861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70028169299997 meters 0.014427291180717202 Centerline is valid? [True, True] Translation: X:329.42, Y:40.73, Z:-0.07 [[ 9.33257796e-01 -3.59206063e-01 -9.44072935e-04 3.29418742e+02] [ 3.59205885e-01 9.33258273e-01 -3.57484079e-04 4.07327787e+01] [ 1.00947433e-03 -5.49175118e-06 9.99999490e-01 -6.56944177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76028169299997 meters 0.013488912920228002 Centerline is valid? [True, True] Translation: X:329.47, Y:40.76, Z:-0.07 [[ 9.34739517e-01 -3.55330425e-01 -1.52443633e-03 3.29470920e+02] [ 3.55329956e-01 9.34740760e-01 -5.77256592e-04 4.07581523e+01] [ 1.63006961e-03 -2.09334821e-06 9.99998671e-01 -6.65659136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82028169299997 meters 0.014877691070584814 Centerline is valid? [True, True] Translation: X:329.52, Y:40.79, Z:-0.07 [[ 9.37043594e-01 -3.49209752e-01 -1.36129316e-03 3.29521162e+02] [ 3.49209371e-01 9.37044582e-01 -5.15571086e-04 4.07892158e+01] [ 1.45563483e-03 7.73625395e-06 9.99998941e-01 -6.57740453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.880281693 meters 0.01784546537354271 Centerline is valid? [True, True] Translation: X:329.57, Y:40.82, Z:-0.07 [[ 9.38718798e-01 -3.44676254e-01 -2.30200742e-03 3.29573200e+02] [ 3.44675151e-01 9.38721620e-01 -8.72317432e-04 4.08176257e+01] [ 2.46161124e-03 2.54160148e-05 9.99996970e-01 -6.68271287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.940281693 meters 0.019282075479614854 Centerline is valid? [True, True] Translation: X:329.63, Y:40.84, Z:-0.07 [[ 9.39235183e-01 -3.43271133e-01 -1.48338699e-03 3.29626547e+02] [ 3.43270672e-01 9.39236354e-01 -5.62413027e-04 4.08432808e+01] [ 1.58631115e-03 1.90348527e-05 9.99998742e-01 -6.54958415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.000281693 meters 0.01913884355037565 Centerline is valid? [True, True] Translation: X:329.68, Y:40.86, Z:-0.06 [[ 9.38900985e-01 -3.44187135e-01 -3.96262038e-04 3.29680571e+02] [ 3.44187103e-01 9.38901068e-01 -1.50294530e-04 4.08649343e+01] [ 4.23780294e-04 4.72339945e-06 9.99999910e-01 -6.28740881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.060281693 meters 0.01755384283872598 Centerline is valid? [True, True] Translation: X:329.74, Y:40.88, Z:-0.06 [[ 9.38644881e-01 -3.44882729e-01 -1.30025985e-03 3.29735753e+02] [ 3.44882377e-01 9.38645781e-01 -4.93420154e-04 4.08840774e+01] [ 1.39065551e-03 1.47095946e-05 9.99999033e-01 -6.41047119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.120281693 meters 0.01961029018208377 Centerline is valid? [True, True] Translation: X:329.79, Y:40.91, Z:-0.07 [[ 9.39298649e-01 -3.43095740e-01 -1.83358682e-03 3.29788392e+02] [ 3.43095035e-01 9.39300438e-01 -6.95853343e-04 4.09083825e+01] [ 1.96103322e-03 2.45195725e-05 9.99998077e-01 -6.59387459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.180281693 meters 0.020558980312636137 Centerline is valid? [True, True] Translation: X:329.84, Y:40.93, Z:-0.06 [[ 9.39711615e-01 -3.41967884e-01 2.15316890e-04 3.29842842e+02] [ 3.41967874e-01 9.39711640e-01 8.16904511e-05 4.09310228e+01] [-2.30271299e-04 -3.13400660e-06 9.99999973e-01 -6.16179647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.240281693 meters 0.020697327865085713 Centerline is valid? [True, True] Translation: X:329.90, Y:40.95, Z:-0.06 [[ 9.39385093e-01 -3.42863887e-01 -3.57661328e-05 3.29898756e+02] [ 3.42863887e-01 9.39385094e-01 -1.36158357e-05 4.09462615e+01] [ 3.82665504e-05 5.27597823e-07 9.99999999e-01 -6.26840911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.300281693 meters 0.01889194058588726 Centerline is valid? [True, True] Translation: X:329.96, Y:40.96, Z:-0.06 [[ 9.38954222e-01 -3.44041987e-01 2.83500887e-04 3.29956742e+02] [ 3.44041971e-01 9.38954265e-01 1.07661295e-04 4.09602820e+01] [-3.03234373e-04 -3.55282324e-06 9.99999954e-01 -6.18517241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.360281693 meters 0.01907495309430612 Centerline is valid? [True, True] Translation: X:330.01, Y:40.98, Z:-0.06 [[ 9.38812310e-01 -3.44429048e-01 -2.76857556e-04 3.30012130e+02] [ 3.44429032e-01 9.38812351e-01 -1.05238263e-04 4.09786256e+01] [ 2.96164408e-04 3.44119638e-06 9.99999956e-01 -6.26412690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42028169299994 meters 0.017287567122334865 Centerline is valid? [True, True] Translation: X:330.07, Y:40.99, Z:-0.06 [[ 9.38104445e-01 -3.46352459e-01 -1.58853566e-04 3.30071344e+02] [ 3.46352454e-01 9.38104458e-01 -6.04610324e-05 4.09878191e+01] [ 1.69962065e-04 1.69944095e-06 9.99999986e-01 -6.39269393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48028169299994 meters 0.016097960390211784 Centerline is valid? [True, True] Translation: X:330.13, Y:41.00, Z:-0.07 [[ 9.37244330e-01 -3.48673039e-01 -4.22051369e-04 3.30128602e+02] [ 3.48673002e-01 9.37244425e-01 -1.60613817e-04 4.10013154e+01] [ 4.51567000e-04 3.37647135e-06 9.99999898e-01 -6.50125563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54028169299994 meters 0.016571765696868482 Centerline is valid? [True, True] Translation: X:330.18, Y:41.02, Z:-0.07 [[ 9.37309651e-01 -3.48493775e-01 -1.64527845e-03 3.30184151e+02] [ 3.48493212e-01 9.37311095e-01 -6.26291811e-04 4.10181977e+01] [ 1.76039654e-03 1.36609879e-05 9.99998450e-01 -6.74955212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60028169299994 meters 0.019273966860886203 Centerline is valid? [True, True] Translation: X:330.24, Y:41.04, Z:-0.07 [[ 9.38486478e-01 -3.45304928e-01 -2.76374440e-03 3.30239024e+02] [ 3.45303325e-01 9.38490546e-01 -1.05250067e-03 4.10392828e+01] [ 2.95718166e-03 3.34275179e-05 9.99995627e-01 -6.99854805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66028169299994 meters 0.022468784526970265 Centerline is valid? [True, True] Translation: X:330.29, Y:41.06, Z:-0.07 [[ 9.39643824e-01 -3.42148701e-01 -1.93673376e-03 3.30292640e+02] [ 3.42147907e-01 9.39645819e-01 -7.37927164e-04 4.10632802e+01] [ 2.07232460e-03 3.07392994e-05 9.99997852e-01 -6.86151627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72028169299995 meters 0.027917432237789676 Centerline is valid? [True, True] Translation: X:330.35, Y:41.09, Z:-0.07 [[ 9.41394658e-01 -3.37295818e-01 -2.76209162e-03 3.30345218e+02] [ 3.37294181e-01 9.41398708e-01 -1.05239787e-03 4.10925164e+01] [ 2.95519888e-03 5.90842959e-05 9.99995632e-01 -7.00667596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78028169299995 meters 0.030957069641065697 Centerline is valid? [True, True] Translation: X:330.40, Y:41.12, Z:-0.07 [[ 9.42272947e-01 -3.34833222e-01 -2.89924177e-03 3.30397081e+02] [ 3.34831407e-01 9.42277405e-01 -1.10481478e-03 4.11224887e+01] [ 3.10181871e-03 7.02798764e-05 9.99995187e-01 -6.99657085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84028169299995 meters 0.027067214644829318 Centerline is valid? [True, True] Translation: X:330.45, Y:41.14, Z:-0.07 [[ 9.41250509e-01 -3.37704813e-01 -1.71402350e-03 3.30452094e+02] [ 3.37704183e-01 9.41252069e-01 -6.53259602e-04 4.11424074e+01] [ 1.83393708e-03 3.60480267e-05 9.99998318e-01 -6.68420286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90028169299995 meters 0.02548994890089988 Centerline is valid? [True, True] Translation: X:330.51, Y:41.17, Z:-0.06 [[ 9.40332921e-01 -3.40255525e-01 -4.19221677e-04 3.30505257e+02] [ 3.40255487e-01 9.40333014e-01 -1.59837902e-04 4.11654161e+01] [ 4.48593713e-04 7.65836534e-06 9.99999899e-01 -6.42474054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96028169299996 meters 0.027246388344336188 Centerline is valid? [True, True] Translation: X:330.56, Y:41.19, Z:-0.06 [[ 9.41144605e-01 -3.38003552e-01 -6.57362633e-04 3.30558122e+02] [ 3.38003459e-01 9.41144834e-01 -2.50768231e-04 4.11926999e+01] [ 7.03433999e-04 1.38183235e-05 9.99999752e-01 -6.45833383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02028169299996 meters 0.03873113937558728 Centerline is valid? [True, True] Translation: X:330.60, Y:41.24, Z:-0.07 [[ 9.43736001e-01 -3.30698653e-01 -8.72600556e-04 3.30603065e+02] [ 3.30698486e-01 9.43736404e-01 -3.32837530e-04 4.12411149e+01] [ 9.33573833e-04 2.55430771e-05 9.99999564e-01 -6.51561161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08028169299996 meters 0.036349110652782485 Centerline is valid? [True, True] Translation: X:330.66, Y:41.26, Z:-0.07 [[ 9.42971702e-01 -3.32868153e-01 -1.77810570e-03 3.30658080e+02] [ 3.32867466e-01 9.42973377e-01 -6.78307181e-04 4.12614177e+01] [ 1.90249319e-03 4.77509398e-05 9.99998189e-01 -6.75228860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14028169299996 meters 0.01837290177132323 Centerline is valid? [True, True] Translation: X:330.72, Y:41.26, Z:-0.06 [[ 9.38190632e-01 -3.46118770e-01 3.68550491e-04 3.30723580e+02] [ 3.46118741e-01 9.38190704e-01 1.40591018e-04 4.12582050e+01] [-3.94431835e-04 -4.33894402e-06 9.99999922e-01 -6.41504847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20028169299997 meters 0.013234158815330636 Centerline is valid? [True, True] Translation: X:330.78, Y:41.26, Z:-0.07 [[ 9.34513193e-01 -3.55924666e-01 -1.65078194e-03 3.30784325e+02] [ 3.55924108e-01 9.34514651e-01 -6.29849369e-04 4.12639476e+01] [ 1.76685883e-03 1.04945472e-06 9.99998439e-01 -6.87202134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26028169299997 meters 0.013743799371946221 Centerline is valid? [True, True] Translation: X:330.84, Y:41.28, Z:-0.07 [[ 9.34611008e-01 -3.55641482e-01 -4.62597411e-03 3.30839229e+02] [ 3.55637101e-01 9.34622456e-01 -1.76530391e-03 4.12824858e+01] [ 4.95135458e-03 4.70444519e-06 9.99987742e-01 -7.36535250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32028169299997 meters 0.015112288031042238 Centerline is valid? [True, True] Translation: X:330.89, Y:41.31, Z:-0.07 [[ 9.36016500e-01 -3.51918377e-01 -5.15447059e-03 3.30891529e+02] [ 3.51912879e-01 9.36030691e-01 -1.96731358e-03 4.13073132e+01] [ 5.51707647e-03 2.75133860e-05 9.99984780e-01 -7.49675847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.380281693 meters 0.016305408327543368 Centerline is valid? [True, True] Translation: X:330.95, Y:41.33, Z:-0.07 [[ 9.36662477e-01 -3.50199189e-01 -4.89198589e-03 3.30946109e+02] [ 3.50194209e-01 9.36675251e-01 -1.86805434e-03 4.13305147e+01] [ 5.23639323e-03 3.65912764e-05 9.99986289e-01 -7.48154854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.440281693 meters 0.016775604273515713 Centerline is valid? [True, True] Translation: X:331.00, Y:41.35, Z:-0.07 [[ 9.37342564e-01 -3.48403327e-01 -2.00980047e-03 3.31000537e+02] [ 3.48402481e-01 9.37344719e-01 -7.67949512e-04 4.13512120e+01] [ 2.15143202e-03 1.96122959e-05 9.99997685e-01 -6.75102798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.500281693 meters 0.016993979789382083 Centerline is valid? [True, True] Translation: X:331.06, Y:41.37, Z:-0.07 [[ 9.37358319e-01 -3.48361148e-01 -1.97283822e-03 3.31055692e+02] [ 3.48360332e-01 9.37360395e-01 -7.54253889e-04 4.13704644e+01] [ 2.11201316e-03 1.97475810e-05 9.99997770e-01 -6.90419637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.560281693 meters 0.01706692412822969 Centerline is valid? [True, True] Translation: X:331.11, Y:41.39, Z:-0.07 [[ 9.37304662e-01 -3.48508096e-01 -1.44168137e-03 3.31110578e+02] [ 3.48507660e-01 9.37305770e-01 -5.51510776e-04 4.13885364e+01] [ 1.54350224e-03 1.44966205e-05 9.99998809e-01 -6.69390382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.620281693 meters 0.022124948632778422 Centerline is valid? [True, True] Translation: X:331.16, Y:41.41, Z:-0.07 [[ 9.39007682e-01 -3.43884150e-01 -2.87472281e-03 3.31163398e+02] [ 3.43882394e-01 9.39012082e-01 -1.09974746e-03 4.14137838e+01] [ 3.07758517e-03 4.41047502e-05 9.99995263e-01 -6.95107253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.680281693 meters 0.02645190773971306 Centerline is valid? [True, True] Translation: X:331.22, Y:41.44, Z:-0.07 [[ 9.40619276e-01 -3.39441083e-01 -3.88962946e-03 3.31216271e+02] [ 3.39437830e-01 9.40627314e-01 -1.48815146e-03 4.14413582e+01] [ 4.16383146e-03 7.94965662e-05 9.99991328e-01 -7.16519447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.740281693 meters 0.03081788128526456 Centerline is valid? [True, True] Translation: X:331.27, Y:41.47, Z:-0.07 [[ 9.41981252e-01 -3.35658280e-01 -2.19982562e-03 3.31269961e+02] [ 3.35657229e-01 9.41983819e-01 -8.41700245e-04 4.14684779e+01] [ 2.35472380e-03 5.44784776e-05 9.99997226e-01 -6.86010247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.800281693 meters 0.027860247576008537 Centerline is valid? [True, True] Translation: X:331.33, Y:41.48, Z:-0.07 [[ 9.40869179e-01 -3.38756637e-01 -3.02141412e-03 3.31326053e+02] [ 3.38754670e-01 9.40874028e-01 -1.15621853e-03 4.14849950e+01] [ 3.23444678e-03 6.43322345e-05 9.99994767e-01 -7.07355108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.860281693 meters 0.024622707619499352 Centerline is valid? [True, True] Translation: X:331.38, Y:41.50, Z:-0.07 [[ 9.39731674e-01 -3.41906473e-01 -2.08434533e-03 3.31383169e+02] [ 3.41905545e-01 9.39733985e-01 -7.97737746e-04 4.15009726e+01] [ 2.23148184e-03 3.70102025e-05 9.99997510e-01 -6.72007716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92028169299994 meters 0.02332638589427937 Centerline is valid? [True, True] Translation: X:331.44, Y:41.52, Z:-0.07 [[ 9.39418112e-01 -3.42769533e-01 -1.63041026e-03 3.31438921e+02] [ 3.42768965e-01 9.39419526e-01 -6.24348822e-04 4.15206194e+01] [ 1.74564699e-03 2.76705526e-05 9.99998476e-01 -6.67193482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98028169299994 meters 0.02654817913322866 Centerline is valid? [True, True] Translation: X:331.49, Y:41.55, Z:-0.07 [[ 9.39906649e-01 -3.41420558e-01 -2.73747183e-03 3.31489813e+02] [ 3.41418952e-01 9.39910634e-01 -1.04842552e-03 4.15478801e+01] [ 2.93093291e-03 5.07973484e-05 9.99995704e-01 -6.87510435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04028169299994 meters 0.027018382801670383 Centerline is valid? [True, True] Translation: X:331.54, Y:41.57, Z:-0.07 [[ 9.40004249e-01 -3.41154080e-01 -2.43004386e-03 3.31544436e+02] [ 3.41152812e-01 9.40007389e-01 -9.31143816e-04 4.15696661e+01] [ 2.60192270e-03 4.62628466e-05 9.99996614e-01 -6.94251039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10028169299994 meters 0.023226707886763003 Centerline is valid? [True, True] Translation: X:331.60, Y:41.58, Z:-0.07 [[ 9.38562101e-01 -3.45085148e-01 -4.17418539e-03 3.31601728e+02] [ 3.45081446e-01 9.38571381e-01 -1.59958891e-03 4.15829732e+01] [ 4.46976532e-03 6.08795995e-05 9.99990009e-01 -7.37045691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16028169299994 meters 0.02064960095355691 Centerline is valid? [True, True] Translation: X:331.66, Y:41.60, Z:-0.06 [[ 9.37773654e-01 -3.47246761e-01 -5.09586554e-04 3.31658411e+02] [ 3.47246707e-01 9.37773793e-01 -1.95418655e-04 4.16003020e+01] [ 5.45735411e-04 6.30621364e-06 9.99999851e-01 -6.47121881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22028169299995 meters 0.01798580841708254 Centerline is valid? [True, True] Translation: X:331.71, Y:41.62, Z:-0.07 [[ 9.37436581e-01 -3.48153005e-01 -1.46383082e-03 3.31714272e+02] [ 3.48152552e-01 9.37437723e-01 -5.61590228e-04 4.16157388e+01] [ 1.56776955e-03 1.68187888e-05 9.99998771e-01 -6.63396562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28028169299995 meters 0.01758030021807222 Centerline is valid? [True, True] Translation: X:331.77, Y:41.63, Z:-0.07 [[ 9.37145249e-01 -3.48934499e-01 -1.87010004e-03 3.31769079e+02] [ 3.48933761e-01 9.37147115e-01 -7.17841065e-04 4.16349477e+01] [ 2.00303837e-03 2.01803015e-05 9.99997994e-01 -6.68664432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34028169299995 meters 0.020009858321858028 Centerline is valid? [True, True] Translation: X:331.82, Y:41.66, Z:-0.07 [[ 9.37137727e-01 -3.48950316e-01 -2.56058166e-03 3.31821774e+02] [ 3.48948933e-01 9.37141225e-01 -9.82981281e-04 4.16586568e+01] [ 2.74263826e-03 2.76766074e-05 9.99996239e-01 -6.88559862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40028169299995 meters 0.01804112686621845 Centerline is valid? [True, True] Translation: X:331.88, Y:41.68, Z:-0.07 [[ 9.37153915e-01 -3.48902606e-01 -3.08414678e-03 3.31877111e+02] [ 3.48900596e-01 9.37158989e-01 -1.18468179e-03 4.16762776e+01] [ 3.30367444e-03 3.41685290e-05 9.99994542e-01 -6.86890189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46028169299996 meters 0.01865410124501113 Centerline is valid? [True, True] Translation: X:331.93, Y:41.70, Z:-0.07 [[ 9.37318748e-01 -3.48469299e-01 -1.64706007e-03 3.31929285e+02] [ 3.48468725e-01 9.37320195e-01 -6.32919829e-04 4.17007275e+01] [ 1.76437580e-03 1.92986974e-05 9.99998443e-01 -6.64939097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52028169299996 meters 0.017389855677094144 Centerline is valid? [True, True] Translation: X:331.98, Y:41.72, Z:-0.07 [[ 9.36586754e-01 -3.50427479e-01 -2.41542019e-03 3.31984009e+02] [ 3.50426250e-01 9.36589868e-01 -9.28376973e-04 4.17203863e+01] [ 2.58758688e-03 2.30789371e-05 9.99996652e-01 -6.87686054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58028169299996 meters 0.015435180543320158 Centerline is valid? [True, True] Translation: X:332.04, Y:41.74, Z:-0.07 [[ 9.35563719e-01 -3.53130882e-01 -4.37116925e-03 3.32040814e+02] [ 3.53126883e-01 9.35573930e-01 -1.68089659e-03 4.17363585e+01] [ 4.68312849e-03 2.90084935e-05 9.99989034e-01 -7.13019043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64028169299996 meters 0.01516917440961097 Centerline is valid? [True, True] Translation: X:332.09, Y:41.76, Z:-0.07 [[ 9.35745815e-01 -3.52671936e-01 -1.50812574e-03 3.32094502e+02] [ 3.52671459e-01 9.35747031e-01 -5.80323757e-04 4.17574933e+01] [ 1.61588809e-03 1.11626217e-05 9.99998694e-01 -6.62724348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70028169299997 meters 0.01591546670702942 Centerline is valid? [True, True] Translation: X:332.15, Y:41.78, Z:-0.07 [[ 9.36013808e-01 -3.51956593e-01 -2.17001566e-03 3.32148561e+02] [ 3.51955602e-01 9.36016323e-01 -8.35085120e-04 4.17783310e+01] [ 2.32508379e-03 1.79020338e-05 9.99997297e-01 -6.72528562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76028169299997 meters 0.015634857136679094 Centerline is valid? [True, True] Translation: X:332.20, Y:41.80, Z:-0.07 [[ 9.35807394e-01 -3.52499787e-01 -2.90192441e-03 3.32203670e+02] [ 3.52498016e-01 9.35811893e-01 -1.11741947e-03 4.17954214e+01] [ 3.10954550e-03 2.27668032e-05 9.99995165e-01 -6.90066006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82028169299997 meters 0.013902464719025917 Centerline is valid? [True, True] Translation: X:332.26, Y:41.81, Z:-0.06 [[ 9.34735640e-01 -3.55343651e-01 4.17259177e-04 3.32261052e+02] [ 3.55343614e-01 9.34735733e-01 1.60669804e-04 4.18081918e+01] [-4.47120057e-04 -1.91340832e-06 9.99999900e-01 -6.20740904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.880281693 meters 0.01485296495069421 Centerline is valid? [True, True] Translation: X:332.31, Y:41.83, Z:-0.06 [[ 9.35280147e-01 -3.53907447e-01 -7.51729888e-04 3.32314039e+02] [ 3.53907328e-01 9.35280450e-01 -2.89625133e-04 4.18317329e+01] [ 8.05578759e-04 4.83792081e-06 9.99999676e-01 -6.41108497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.940281693 meters 0.017563016680589374 Centerline is valid? [True, True] Translation: X:332.37, Y:41.86, Z:-0.07 [[ 9.36521053e-01 -3.50602285e-01 -2.52096356e-03 3.32366860e+02] [ 3.50600939e-01 9.36524446e-01 -9.71691058e-04 4.18591948e+01] [ 2.70162111e-03 2.61569391e-05 9.99996350e-01 -6.76269952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.000281693 meters 0.021352172349069668 Centerline is valid? [True, True] Translation: X:332.42, Y:41.89, Z:-0.07 [[ 9.37937351e-01 -3.46801417e-01 -1.51758879e-03 3.32418304e+02] [ 3.46800924e-01 9.37938578e-01 -5.85247332e-04 4.18899910e+01] [ 1.62636967e-03 2.26241380e-05 9.99998677e-01 -6.68864488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.060281693 meters 0.019236401913683095 Centerline is valid? [True, True] Translation: X:332.47, Y:41.91, Z:-0.07 [[ 9.36977489e-01 -3.49386326e-01 -1.54258467e-03 3.32472794e+02] [ 3.49385820e-01 9.36978759e-01 -5.94947299e-04 4.19103026e+01] [ 1.65323552e-03 1.84950164e-05 9.99998633e-01 -6.77155951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.120281693 meters 0.014056039303404754 Centerline is valid? [True, True] Translation: X:332.53, Y:41.92, Z:-0.07 [[ 9.34140566e-01 -3.56893775e-01 -2.86996850e-03 3.32532983e+02] [ 3.56892057e-01 9.34144974e-01 -1.10739509e-03 4.19187086e+01] [ 3.07618907e-03 1.01937151e-05 9.99995268e-01 -7.12954356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.180281693 meters 0.013434597579815381 Centerline is valid? [True, True] Translation: X:332.59, Y:41.93, Z:-0.07 [[ 9.32158006e-01 -3.62047362e-01 -1.77734035e-03 3.32591176e+02] [ 3.62046712e-01 9.32159701e-01 -6.86214081e-04 4.19293081e+01] [ 1.90520704e-03 -3.82027870e-06 9.99998185e-01 -6.87319309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.240281693 meters 0.015527038039072318 Centerline is valid? [True, True] Translation: X:332.65, Y:41.94, Z:-0.07 [[ 9.30332658e-01 -3.66701892e-01 -3.29677014e-03 3.32650620e+02] [ 3.66699682e-01 9.30338499e-01 -1.27341537e-03 4.19377045e+01] [ 3.53407601e-03 -2.42246546e-05 9.99993755e-01 -7.10594924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.300281693 meters 0.016836658916109477 Centerline is valid? [True, True] Translation: X:332.71, Y:41.95, Z:-0.07 [[ 9.29343195e-01 -3.69214630e-01 -1.33505159e-03 3.32710659e+02] [ 3.69214270e-01 9.29344154e-01 -5.15972854e-04 4.19456723e+01] [ 1.43122712e-03 -1.34042365e-05 9.99998976e-01 -6.78427270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.360281693 meters 0.01781112678270932 Centerline is valid? [True, True] Translation: X:332.77, Y:41.95, Z:-0.07 [[ 9.28900543e-01 -3.70324923e-01 -1.79780926e-03 3.32770651e+02] [ 3.70324271e-01 9.28902283e-01 -6.95139029e-04 4.19546979e+01] [ 1.92741644e-03 -2.00573841e-05 9.99998142e-01 -6.89961249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42028169299994 meters 0.015603165208977712 Centerline is valid? [True, True] Translation: X:332.83, Y:41.97, Z:-0.07 [[ 9.29986458e-01 -3.67589823e-01 -1.70588664e-03 3.32827390e+02] [ 3.67589231e-01 9.29988023e-01 -6.59926434e-04 4.19702581e+01] [ 1.82903638e-03 -1.33429093e-05 9.99998327e-01 -6.97238178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48028169299994 meters 0.013577805244530826 Centerline is valid? [True, True] Translation: X:332.88, Y:41.99, Z:-0.07 [[ 9.31585160e-01 -3.63514312e-01 -2.53664026e-03 3.32880938e+02] [ 3.63512988e-01 9.31588613e-01 -9.81407523e-04 4.19918174e+01] [ 2.71986086e-03 -7.83699621e-06 9.99996301e-01 -7.00584888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54028169299994 meters 0.014851461110956242 Centerline is valid? [True, True] Translation: X:332.93, Y:42.02, Z:-0.07 [[ 9.34564579e-01 -3.55788222e-01 -1.94663265e-03 3.32933596e+02] [ 3.55787425e-01 9.34566606e-01 -7.53272264e-04 4.20167792e+01] [ 2.08726327e-03 1.13941579e-05 9.99997822e-01 -6.92692773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60028169299994 meters 0.022472029223663252 Centerline is valid? [True, True] Translation: X:332.99, Y:42.04, Z:-0.07 [[ 9.37984953e-01 -3.46674964e-01 -8.35511699e-04 3.32986383e+02] [ 3.46674813e-01 9.37985325e-01 -3.23347362e-04 4.20443881e+01] [ 8.95794147e-04 1.36440983e-05 9.99999599e-01 -6.60189256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66028169299994 meters 0.029000280187812814 Centerline is valid? [True, True] Translation: X:333.04, Y:42.07, Z:-0.07 [[ 9.40882716e-01 -3.38726305e-01 -2.05062660e-03 3.33039681e+02] [ 3.38725379e-01 9.40884949e-01 -7.93635242e-04 4.20719526e+01] [ 2.19822883e-03 5.21184110e-05 9.99997583e-01 -6.85030848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72028169299995 meters 0.03658969198886482 Centerline is valid? [True, True] Translation: X:333.09, Y:42.10, Z:-0.07 [[ 9.42653068e-01 -3.33773164e-01 -8.18136815e-04 3.33091321e+02] [ 3.33773015e-01 9.42653422e-01 -3.16679676e-04 4.21014157e+01] [ 8.76918646e-04 2.54470766e-05 9.99999615e-01 -6.63027969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78028169299995 meters 0.04063810197530087 Centerline is valid? [True, True] Translation: X:333.14, Y:42.13, Z:-0.06 [[ 9.44558432e-01 -3.28342739e-01 6.43828299e-04 3.33143671e+02] [ 3.28342645e-01 9.44558651e-01 2.49210604e-04 4.21311548e+01] [-6.89960082e-04 -2.39976906e-05 9.99999762e-01 -6.26551052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84028169299995 meters 0.049965676597212204 Centerline is valid? [True, True] Translation: X:333.19, Y:42.17, Z:-0.06 [[ 9.45596965e-01 -3.25340375e-01 -1.45098274e-04 3.33192329e+02] [ 3.25340370e-01 9.45596976e-01 -5.61860924e-05 4.21679448e+01] [ 1.55484094e-04 5.92307223e-06 9.99999988e-01 -6.41512540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90028169299995 meters 0.04813394489068357 Centerline is valid? [True, True] Translation: X:333.25, Y:42.19, Z:-0.06 [[ 9.45859019e-01 -3.24576068e-01 1.04517302e-03 3.33245670e+02] [ 3.24575819e-01 9.45859595e-01 4.04670335e-04 4.21919718e+01] [-1.11993324e-03 -4.35231970e-05 9.99999372e-01 -6.19993786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96028169299996 meters 0.04520976878960999 Centerline is valid? [True, True] Translation: X:333.30, Y:42.22, Z:-0.06 [[ 9.45492958e-01 -3.25642499e-01 1.73993134e-04 3.33298750e+02] [ 3.25642492e-01 9.45492974e-01 6.73429225e-05 4.22171453e+01] [-1.86439003e-04 -7.01270131e-06 9.99999983e-01 -6.43225755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02028169299996 meters 0.03951772814578053 Centerline is valid? [True, True] Translation: X:333.35, Y:42.24, Z:-0.07 [[ 9.43996500e-01 -3.29949841e-01 -1.92648296e-03 3.33353686e+02] [ 3.29949004e-01 9.43998463e-01 -7.46363817e-04 4.22401624e+01] [ 2.06485957e-03 6.89236969e-05 9.99997866e-01 -6.83778529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08028169299996 meters 0.03660322799527197 Centerline is valid? [True, True] Translation: X:333.41, Y:42.27, Z:-0.07 [[ 9.42498713e-01 -3.34205532e-01 -1.68463139e-03 3.33406789e+02] [ 3.34204899e-01 9.42500217e-01 -6.52714893e-04 4.22665443e+01] [ 1.80590637e-03 5.21708850e-05 9.99998368e-01 -6.78343663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14028169299996 meters 0.027432829666715883 Centerline is valid? [True, True] Translation: X:333.46, Y:42.28, Z:-0.07 [[ 9.40003298e-01 -3.41160963e-01 -1.73131454e-03 3.33464024e+02] [ 3.41160306e-01 9.40004891e-01 -6.70839107e-04 4.22839792e+01] [ 1.85630825e-03 3.99351752e-05 9.99998276e-01 -6.67849530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20028169299997 meters 0.02022827211424458 Centerline is valid? [True, True] Translation: X:333.52, Y:42.30, Z:-0.07 [[ 9.37412605e-01 -3.48219695e-01 -8.07075475e-04 3.33522253e+02] [ 3.48219555e-01 9.37412953e-01 -3.12758417e-04 4.23002101e+01] [ 8.65471644e-04 1.21442197e-05 9.99999625e-01 -6.61291241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26028169299997 meters 0.016321612582216403 Centerline is valid? [True, True] Translation: X:333.58, Y:42.32, Z:-0.06 [[ 9.35744408e-01 -3.52678811e-01 2.43001417e-04 3.33578655e+02] [ 3.52678798e-01 9.35744440e-01 9.41601178e-05 4.23182557e+01] [-2.60595504e-04 -2.40835583e-06 9.99999966e-01 -6.42425666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32028169299997 meters 0.014430101630127794 Centerline is valid? [True, True] Translation: X:333.63, Y:42.34, Z:-0.06 [[ 9.34531515e-01 -3.55880384e-01 1.66780021e-05 3.33632863e+02] [ 3.55880384e-01 9.34531515e-01 6.44273165e-06 4.23374131e+01] [-1.78789603e-05 -8.55619715e-08 1.00000000e+00 -6.40808533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.380281693 meters 0.013469142563673745 Centerline is valid? [True, True] Translation: X:333.69, Y:42.36, Z:-0.06 [[ 9.33788252e-01 -3.57823983e-01 1.22377369e-03 3.33687297e+02] [ 3.57823668e-01 9.33789054e-01 4.74543908e-04 4.23589174e+01] [-1.31254967e-03 -5.22833501e-06 9.99999139e-01 -6.17745712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.440281693 meters 0.01322504311472395 Centerline is valid? [True, True] Translation: X:333.74, Y:42.38, Z:-0.06 [[ 9.33360024e-01 -3.58940307e-01 9.60257141e-04 3.33740835e+02] [ 3.58940114e-01 9.33360518e-01 3.72545851e-04 4.23813741e+01] [-1.02998782e-03 -3.04459709e-06 9.99999470e-01 -6.21705255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.500281693 meters 0.013430820695403396 Centerline is valid? [True, True] Translation: X:333.79, Y:42.41, Z:-0.06 [[ 9.33505679e-01 -3.58562563e-01 -1.87741333e-04 3.33793377e+02] [ 3.58562556e-01 9.33505698e-01 -7.29635903e-05 4.24061795e+01] [ 2.01419616e-04 7.94913851e-07 9.99999980e-01 -6.39574558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.560281693 meters 0.01363845137904827 Centerline is valid? [True, True] Translation: X:333.85, Y:42.43, Z:-0.07 [[ 9.33507377e-01 -3.58556728e-01 -1.02438095e-03 3.33845247e+02] [ 3.58556507e-01 9.33507939e-01 -3.97854169e-04 4.24312305e+01] [ 1.09892104e-03 4.10134473e-06 9.99999396e-01 -6.52024534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.620281693 meters 0.01315147854958837 Centerline is valid? [True, True] Translation: X:333.90, Y:42.45, Z:-0.06 [[ 9.33063523e-01 -3.59711636e-01 -5.92708222e-06 3.33898899e+02] [ 3.59711636e-01 9.33063524e-01 -2.37317734e-06 4.24531123e+01] [ 6.38400374e-06 8.22847730e-08 1.00000000e+00 -6.35834640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.680281693 meters 0.01441167117996979 Centerline is valid? [True, True] Translation: X:333.95, Y:42.48, Z:-0.07 [[ 9.34238574e-01 -3.56647830e-01 -7.83077033e-04 3.33951008e+02] [ 3.56647700e-01 9.34238902e-01 -3.04399163e-04 4.24799769e+01] [ 8.40144328e-04 5.09881687e-06 9.99999647e-01 -6.55518079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.740281693 meters 0.018186727341285184 Centerline is valid? [True, True] Translation: X:334.00, Y:42.51, Z:-0.07 [[ 9.35699878e-01 -3.52782916e-01 -3.15468687e-03 3.34000411e+02] [ 3.52780786e-01 9.35705195e-01 -1.22640294e-03 4.25125769e+01] [ 3.38451090e-03 3.46321662e-05 9.99994272e-01 -7.05007344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.800281693 meters 0.020653165155680015 Centerline is valid? [True, True] Translation: X:334.05, Y:42.54, Z:-0.07 [[ 9.36619591e-01 -3.50336671e-01 -2.82100976e-03 3.34052835e+02] [ 3.50334955e-01 9.36623839e-01 -1.09724483e-03 4.25401271e+01] [ 3.02663009e-03 3.94026781e-05 9.99995419e-01 -7.07838186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.860281693 meters 0.0234162274137337 Centerline is valid? [True, True] Translation: X:334.11, Y:42.57, Z:-0.07 [[ 9.37943263e-01 -3.46759645e-01 -4.49275245e-03 3.34105190e+02] [ 3.46755251e-01 9.37954019e-01 -1.74751419e-03 4.25706217e+01] [ 4.81996261e-03 8.11836593e-05 9.99988381e-01 -7.38236507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92028169299994 meters 0.024742846972459615 Centerline is valid? [True, True] Translation: X:334.16, Y:42.60, Z:-0.08 [[ 9.38302648e-01 -3.45779513e-01 -4.96674467e-03 3.34158694e+02] [ 3.45774124e-01 9.38315789e-01 -1.93287536e-03 4.25962703e+01] [ 5.32872364e-03 9.62502815e-05 9.99985798e-01 -7.53882627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98028169299994 meters 0.02888205803441804 Centerline is valid? [True, True] Translation: X:334.21, Y:42.63, Z:-0.07 [[ 9.39288937e-01 -3.43111521e-01 -3.28286489e-03 3.34208055e+02] [ 3.43109149e-01 9.39294671e-01 -1.27781971e-03 4.26274088e+01] [ 3.52201216e-03 7.38609423e-05 9.99993795e-01 -7.21202087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04028169299994 meters 0.031891820427488185 Centerline is valid? [True, True] Translation: X:334.26, Y:42.66, Z:-0.07 [[ 9.40215046e-01 -3.40571032e-01 -2.65332572e-03 3.34260752e+02] [ 3.40569473e-01 9.40218787e-01 -1.03283498e-03 4.26568705e+01] [ 2.84646036e-03 6.74452418e-05 9.99995947e-01 -7.07868956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10028169299994 meters 0.03284050461055159 Centerline is valid? [True, True] Translation: X:334.31, Y:42.68, Z:-0.07 [[ 9.40708313e-01 -3.39212872e-01 -1.58053172e-03 3.34313678e+02] [ 3.39212316e-01 9.40709640e-01 -6.15585270e-04 4.26826007e+01] [ 1.69563588e-03 4.29503541e-05 9.99998561e-01 -6.89746607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16028169299994 meters 0.037534462620356784 Centerline is valid? [True, True] Translation: X:334.36, Y:42.71, Z:-0.07 [[ 9.41937515e-01 -3.35783207e-01 -1.83174891e-03 3.34364138e+02] [ 3.35782454e-01 9.41939295e-01 -7.13444586e-04 4.27149737e+01] [ 1.96495899e-03 5.69510760e-05 9.99998068e-01 -6.88350289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22028169299995 meters 0.03904218228104554 Centerline is valid? [True, True] Translation: X:334.42, Y:42.74, Z:-0.07 [[ 9.42488373e-01 -3.34234317e-01 -1.75709002e-03 3.34416116e+02] [ 3.34233621e-01 9.42490009e-01 -6.84734746e-04 4.27445831e+01] [ 1.88490164e-03 5.80759750e-05 9.99998222e-01 -6.93479709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28028169299995 meters 0.0377008494459607 Centerline is valid? [True, True] Translation: X:334.47, Y:42.77, Z:-0.07 [[ 9.42748955e-01 -3.33502735e-01 -5.77278267e-04 3.34469778e+02] [ 3.33502660e-01 9.42749132e-01 -2.25115989e-04 4.27698708e+01] [ 6.19305383e-04 1.97040256e-05 9.99999808e-01 -6.61594451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34028169299995 meters 0.039646303601743926 Centerline is valid? [True, True] Translation: X:334.52, Y:42.80, Z:-0.07 [[ 9.43292600e-01 -3.31946116e-01 -3.29331725e-03 3.34520943e+02] [ 3.31943654e-01 9.43298342e-01 -1.28401425e-03 4.28037516e+01] [ 3.53280425e-03 1.18005377e-04 9.99993753e-01 -7.12979057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40028169299995 meters 0.043660147178785476 Centerline is valid? [True, True] Translation: X:334.57, Y:42.83, Z:-0.07 [[ 9.42998520e-01 -3.32780365e-01 -3.31965102e-03 3.34571837e+02] [ 3.32777867e-01 9.43004356e-01 -1.29451818e-03 4.28331166e+01] [ 3.56123560e-03 1.16022347e-04 9.99993652e-01 -7.26733350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46028169299996 meters 0.03772281558285142 Centerline is valid? [True, True] Translation: X:334.63, Y:42.85, Z:-0.07 [[ 9.42098499e-01 -3.35325095e-01 -2.73832294e-03 3.34627945e+02] [ 3.35323407e-01 9.42102475e-01 -1.06784854e-03 4.28541561e+01] [ 2.93785723e-03 8.77947340e-05 9.99995681e-01 -7.15988162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52028169299996 meters 0.03403196670528776 Centerline is valid? [True, True] Translation: X:334.68, Y:42.88, Z:-0.07 [[ 9.40697164e-01 -3.39243210e-01 -1.70017067e-03 3.34682709e+02] [ 3.39242565e-01 9.40698699e-01 -6.63056540e-04 4.28768005e+01] [ 1.82428576e-03 4.69651491e-05 9.99998335e-01 -6.94411806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58028169299996 meters 0.025804063238345207 Centerline is valid? [True, True] Translation: X:334.74, Y:42.89, Z:-0.06 [[ 9.37982908e-01 -3.46679501e-01 1.17828119e-03 3.34742274e+02] [ 3.46679197e-01 9.37983648e-01 4.59544185e-04 4.28901483e+01] [-1.26452303e-03 -2.25590147e-05 9.99999200e-01 -6.44426531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64028169299996 meters 0.021325524009913357 Centerline is valid? [True, True] Translation: X:334.80, Y:42.90, Z:-0.07 [[ 9.36393291e-01 -3.50951435e-01 8.33536697e-04 3.34800608e+02] [ 3.50951284e-01 9.36393662e-01 3.25183328e-04 4.29040000e+01] [-8.94642036e-04 -1.19687130e-05 9.99999600e-01 -6.66286467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70028169299997 meters 0.018975989431998342 Centerline is valid? [True, True] Translation: X:334.86, Y:42.92, Z:-0.07 [[ 9.35535916e-01 -3.53231549e-01 1.50324217e-04 3.34858051e+02] [ 3.53231544e-01 9.35535928e-01 5.86235629e-05 4.29196567e+01] [-1.61341398e-04 -1.74519332e-06 9.99999987e-01 -6.67627688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76028169299997 meters 0.020395836667356955 Centerline is valid? [True, True] Translation: X:334.91, Y:42.94, Z:-0.07 [[ 9.36064645e-01 -3.51827387e-01 -6.85086400e-04 3.34911995e+02] [ 3.51827285e-01 9.36064896e-01 -2.67626231e-04 4.29424472e+01] [ 7.35443567e-04 9.48336415e-06 9.99999730e-01 -6.85711190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82028169299997 meters 0.02516087583576607 Centerline is valid? [True, True] Translation: X:334.96, Y:42.97, Z:-0.07 [[ 9.37504551e-01 -3.47967390e-01 -1.97816489e-03 3.34962978e+02] [ 3.47966534e-01 9.37506637e-01 -7.72680319e-04 4.29737143e+01] [ 2.12341027e-03 3.60561349e-05 9.99997745e-01 -7.08811830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.880281693 meters 0.02845661881381256 Centerline is valid? [True, True] Translation: X:335.01, Y:43.00, Z:-0.07 [[ 9.38466310e-01 -3.45366214e-01 -1.77861203e-03 3.35013604e+02] [ 3.45365517e-01 9.38467995e-01 -6.94858390e-04 4.30040924e+01] [ 1.90915108e-03 3.78299261e-05 9.99998177e-01 -7.04115115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.940281693 meters 0.027392842905709244 Centerline is valid? [True, True] Translation: X:335.07, Y:43.03, Z:-0.07 [[ 9.38072767e-01 -3.46438242e-01 -1.66672182e-04 3.35066069e+02] [ 3.46438236e-01 9.38072782e-01 -6.52008122e-05 4.30315453e+01] [ 1.78938692e-04 3.42148959e-06 9.99999984e-01 -6.77752167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.000281693 meters 0.020491035776247817 Centerline is valid? [True, True] Translation: X:335.12, Y:43.05, Z:-0.07 [[ 9.36261135e-01 -3.51297335e-01 -2.29561583e-03 3.35123418e+02] [ 3.51296191e-01 9.36263948e-01 -8.97318083e-04 4.30482004e+01] [ 2.46452779e-03 3.36829485e-05 9.99996962e-01 -7.24642118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.060281693 meters 0.01908597805339224 Centerline is valid? [True, True] Translation: X:335.18, Y:43.07, Z:-0.07 [[ 9.35621611e-01 -3.52995314e-01 -2.55143275e-03 3.35176481e+02] [ 3.52993905e-01 9.35625089e-01 -9.97845616e-04 4.30742260e+01] [ 2.73941932e-03 3.29657140e-05 9.99996247e-01 -7.19203821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.120281693 meters 0.014906475581977977 Centerline is valid? [True, True] Translation: X:335.23, Y:43.09, Z:-0.07 [[ 9.33707879e-01 -3.58029923e-01 -2.04236560e-03 3.35232358e+02] [ 3.58029032e-01 9.33710112e-01 -7.99169439e-04 4.30931898e+01] [ 2.19310399e-03 1.49646233e-05 9.99997595e-01 -7.20511761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.180281693 meters 0.01361667457809114 Centerline is valid? [True, True] Translation: X:335.29, Y:43.10, Z:-0.07 [[ 9.29894766e-01 -3.67822515e-01 -1.52346891e-03 3.35291598e+02] [ 3.67822032e-01 9.29896014e-01 -5.96208500e-04 4.30997631e+01] [ 1.63596658e-03 -5.95426588e-06 9.99998662e-01 -7.18610759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.240281693 meters 0.015614033406981094 Centerline is valid? [True, True] Translation: X:335.35, Y:43.11, Z:-0.07 [[ 9.28520770e-01 -3.71279785e-01 -7.07177434e-04 3.35347704e+02] [ 3.71279682e-01 9.28521040e-01 -2.76813397e-04 4.31140339e+01] [ 7.59404345e-04 -5.53362444e-06 9.99999712e-01 -6.98574078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.300281693 meters 0.019933501351251146 Centerline is valid? [True, True] Translation: X:335.41, Y:43.13, Z:-0.07 [[ 9.26094794e-01 -3.77290654e-01 4.41038688e-04 3.35407077e+02] [ 3.77290615e-01 9.26094899e-01 1.72627119e-04 4.31256842e+01] [-4.73574278e-04 6.53068163e-06 9.99999888e-01 -6.70277719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.360281693 meters 0.024021456913966274 Centerline is valid? [True, True] Translation: X:335.47, Y:43.14, Z:-0.07 [[ 9.24185253e-01 -3.81932647e-01 -3.01176289e-03 3.35466847e+02] [ 3.81930832e-01 9.24190159e-01 -1.17898652e-03 4.31362446e+01] [ 3.23373506e-03 -6.06831495e-05 9.99994770e-01 -7.39852042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42028169299994 meters 0.02322315983942571 Centerline is valid? [True, True] Translation: X:335.52, Y:43.16, Z:-0.07 [[ 9.24454365e-01 -3.81290714e-01 -1.23232349e-03 3.35522669e+02] [ 3.81290409e-01 9.24455186e-01 -4.82700915e-04 4.31554700e+01] [ 1.32327722e-03 -2.36381585e-05 9.99999124e-01 -7.03366962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48028169299994 meters 0.02323109111331089 Centerline is valid? [True, True] Translation: X:335.58, Y:43.17, Z:-0.07 [[ 9.24444176e-01 -3.81316664e-01 -7.53672578e-04 3.35578411e+02] [ 3.81316549e-01 9.24444483e-01 -2.95411214e-04 4.31714857e+01] [ 8.09373675e-04 -1.42966505e-05 9.99999672e-01 -7.03791928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54028169299994 meters 0.023605259532604374 Centerline is valid? [True, True] Translation: X:335.64, Y:43.19, Z:-0.07 [[ 9.23710886e-01 -3.83090317e-01 -8.59686729e-05 3.35635922e+02] [ 3.83090315e-01 9.23710890e-01 -3.37686758e-05 4.31857226e+01] [ 9.23466522e-05 -1.74127255e-06 9.99999996e-01 -6.83365302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60028169299994 meters 0.02458160240919608 Centerline is valid? [True, True] Translation: X:335.69, Y:43.20, Z:-0.07 [[ 9.23797305e-01 -3.82879805e-01 -1.26260045e-03 3.35691986e+02] [ 3.82879486e-01 9.23798167e-01 -4.95131937e-04 4.32018070e+01] [ 1.35596400e-03 -2.60222621e-05 9.99999080e-01 -7.00822934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66028169299994 meters 0.02354684351603048 Centerline is valid? [True, True] Translation: X:335.75, Y:43.22, Z:-0.07 [[ 9.24775891e-01 -3.80505321e-01 -2.29199126e-03 3.35747483e+02] [ 3.80504261e-01 9.24778730e-01 -8.99026514e-04 4.32182047e+01] [ 2.46166914e-03 -4.07143956e-05 9.99996969e-01 -7.21693891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72028169299995 meters 0.017979698756370014 Centerline is valid? [True, True] Translation: X:335.80, Y:43.24, Z:-0.07 [[ 9.26676534e-01 -3.75858960e-01 -8.02380564e-04 3.35800760e+02] [ 3.75858828e-01 9.26676881e-01 -3.14918214e-04 4.32447495e+01] [ 8.61912351e-04 -9.75449996e-06 9.99999629e-01 -6.99563046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78028169299995 meters 0.01710436461128695 Centerline is valid? [True, True] Translation: X:335.86, Y:43.26, Z:-0.07 [[ 9.27203402e-01 -3.74552912e-01 -1.99184996e-03 3.35856326e+02] [ 3.74552097e-01 9.27205541e-01 -7.81776317e-04 4.32616536e+01] [ 2.13967092e-03 -2.11859196e-05 9.99997711e-01 -7.18370383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84028169299995 meters 0.015257811579378508 Centerline is valid? [True, True] Translation: X:335.91, Y:43.28, Z:-0.07 [[ 9.28214710e-01 -3.72044624e-01 -5.00718330e-04 3.35911353e+02] [ 3.72044572e-01 9.28214845e-01 -1.96674368e-04 4.32816952e+01] [ 5.37945828e-04 -3.73349577e-06 9.99999855e-01 -6.85690711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90028169299995 meters 0.01317002021085155 Centerline is valid? [True, True] Translation: X:335.97, Y:43.31, Z:-0.07 [[ 9.29948684e-01 -3.67687462e-01 -1.17284401e-03 3.35965003e+02] [ 3.67687173e-01 9.29949424e-01 -4.60813339e-04 4.33064618e+01] [ 1.26012090e-03 -2.70694101e-06 9.99999206e-01 -6.97574276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96028169299996 meters 0.017376901543320226 Centerline is valid? [True, True] Translation: X:336.01, Y:43.34, Z:-0.07 [[ 9.34177773e-01 -3.56799342e-01 -2.47340373e-03 3.36012253e+02] [ 3.56798019e-01 9.34181047e-01 -9.72006175e-04 4.33427186e+01] [ 2.65741805e-03 2.55210124e-05 9.99996469e-01 -7.14024690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02028169299996 meters 0.02765217609675753 Centerline is valid? [True, True] Translation: X:336.06, Y:43.38, Z:-0.07 [[ 9.38221410e-01 -3.46023260e-01 -2.91364514e-03 3.36061926e+02] [ 3.46021372e-01 9.38225932e-01 -1.14504206e-03 4.33807438e+01] [ 3.12986861e-03 6.61194910e-05 9.99995100e-01 -7.19540094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08028169299996 meters 0.03189256638932981 Centerline is valid? [True, True] Translation: X:336.11, Y:43.41, Z:-0.07 [[ 9.39083027e-01 -3.43681447e-01 -2.47611639e-03 3.36113636e+02] [ 3.43680074e-01 9.39086290e-01 -9.73203166e-04 4.34094612e+01] [ 2.65975883e-03 6.29267095e-05 9.99996461e-01 -7.21060890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14028169299996 meters 0.02537543409943352 Centerline is valid? [True, True] Translation: X:336.17, Y:43.42, Z:-0.07 [[ 9.37772011e-01 -3.47248014e-01 -1.57251724e-03 3.36172220e+02] [ 3.47247465e-01 9.37773329e-01 -6.18100658e-04 4.34227196e+01] [ 1.68929895e-03 3.35848706e-05 9.99998573e-01 -7.06429360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20028169299997 meters 0.02215988013432778 Centerline is valid? [True, True] Translation: X:336.23, Y:43.44, Z:-0.07 [[ 9.35710781e-01 -3.52760551e-01 -2.30801396e-03 3.36228492e+02] [ 3.52759386e-01 9.35713627e-01 -9.07257649e-04 4.34409916e+01] [ 2.47968483e-03 3.47571740e-05 9.99996925e-01 -7.19366810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26028169299997 meters 0.018760519463481718 Centerline is valid? [True, True] Translation: X:336.28, Y:43.46, Z:-0.07 [[ 9.34392411e-01 -3.56233357e-01 -2.93545693e-03 3.36284640e+02] [ 3.56231488e-01 9.34397022e-01 -1.15443357e-03 4.34604108e+01] [ 3.15412995e-03 3.29917776e-05 9.99995025e-01 -7.34727949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32028169299997 meters 0.01579533954329277 Centerline is valid? [True, True] Translation: X:336.34, Y:43.47, Z:-0.07 [[ 9.33209478e-01 -3.59329319e-01 -1.58446649e-03 3.36342171e+02] [ 3.59328779e-01 9.33210823e-01 -6.23447769e-04 4.34746727e+01] [ 1.70266434e-03 1.24629560e-05 9.99998550e-01 -7.05424270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.380281693 meters 0.013289901563923453 Centerline is valid? [True, True] Translation: X:336.40, Y:43.49, Z:-0.07 [[ 9.31539359e-01 -3.63640222e-01 -4.59988881e-04 3.36399691e+02] [ 3.63640177e-01 9.31539473e-01 -1.81027731e-04 4.34864444e+01] [ 4.94326764e-04 1.36401898e-06 9.99999878e-01 -6.87358682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.440281693 meters 0.012845746133321219 Centerline is valid? [True, True] Translation: X:336.46, Y:43.50, Z:-0.07 [[ 9.30394327e-01 -3.66557065e-01 -1.52124970e-03 3.36456535e+02] [ 3.66556576e-01 9.30395571e-01 -5.98776260e-04 4.34987997e+01] [ 1.63484965e-03 -5.26044681e-07 9.99998664e-01 -7.07968041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.500281693 meters 0.013238238354877153 Centerline is valid? [True, True] Translation: X:336.51, Y:43.52, Z:-0.07 [[ 9.31116862e-01 -3.64709413e-01 -2.90406149e-03 3.36511304e+02] [ 3.64707621e-01 9.31121390e-01 -1.14359124e-03 4.35201897e+01] [ 3.12111227e-03 5.68373266e-06 9.99995129e-01 -7.22439425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.560281693 meters 0.012988374191696808 Centerline is valid? [True, True] Translation: X:336.57, Y:43.54, Z:-0.07 [[ 9.30745896e-01 -3.65660554e-01 -2.10603171e-03 3.36567463e+02] [ 3.65659613e-01 9.30748279e-01 -8.29805745e-04 4.35366323e+01] [ 2.26361262e-03 2.24755320e-06 9.99997438e-01 -7.00305790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.620281693 meters 0.012973896688963553 Centerline is valid? [True, True] Translation: X:336.62, Y:43.55, Z:-0.07 [[ 9.30963152e-01 -3.65109950e-01 -1.52773368e-03 3.36622576e+02] [ 3.65109453e-01 9.30964406e-01 -6.02295477e-04 4.35536010e+01] [ 1.64216975e-03 2.92488747e-06 9.99998652e-01 -6.91987511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.680281693 meters 0.013038722280284498 Centerline is valid? [True, True] Translation: X:336.68, Y:43.57, Z:-0.07 [[ 9.31179316e-01 -3.64560990e-01 -6.05372533e-04 3.36676672e+02] [ 3.64560912e-01 9.31179513e-01 -2.38839348e-04 4.35743832e+01] [ 6.50782009e-04 1.70709767e-06 9.99999788e-01 -6.57922494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.740281693 meters 0.01712966987578756 Centerline is valid? [True, True] Translation: X:336.73, Y:43.61, Z:-0.07 [[ 9.33470771e-01 -3.58648943e-01 -1.80413940e-03 3.36726797e+02] [ 3.58648237e-01 9.33472514e-01 -7.11725924e-04 4.36053839e+01] [ 1.93937429e-03 1.73239316e-05 9.99998119e-01 -6.86713632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.800281693 meters 0.01956173562408668 Centerline is valid? [True, True] Translation: X:336.78, Y:43.63, Z:-0.06 [[ 9.34568989e-01 -3.55781961e-01 -3.23594646e-05 3.36779551e+02] [ 3.55781961e-01 9.34568990e-01 -1.28308717e-05 4.36330743e+01] [ 3.48071449e-05 4.78420971e-07 9.99999999e-01 -6.44621571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.860281693 meters 0.01938690923331866 Centerline is valid? [True, True] Translation: X:336.83, Y:43.66, Z:-0.06 [[ 9.34746679e-01 -3.55314510e-01 4.94900833e-04 3.36832281e+02] [ 3.55314457e-01 9.34746810e-01 1.95355324e-04 4.36591792e+01] [-5.32019556e-04 -6.76231948e-06 9.99999858e-01 -6.23111132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92028169299994 meters 0.020789084413524648 Centerline is valid? [True, True] Translation: X:336.88, Y:43.69, Z:-0.06 [[ 9.34611675e-01 -3.55669662e-01 3.28092273e-04 3.36884217e+02] [ 3.55669639e-01 9.34611733e-01 1.29551061e-04 4.36863581e+01] [-3.52716270e-04 -4.38747337e-06 9.99999938e-01 -6.46740184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98028169299994 meters 0.017479025417396724 Centerline is valid? [True, True] Translation: X:336.94, Y:43.70, Z:-0.06 [[ 9.33647934e-01 -3.58192034e-01 -3.03813345e-05 3.36939935e+02] [ 3.58192034e-01 9.33647935e-01 -1.20644417e-05 4.37044091e+01] [ 3.26868572e-05 3.81589093e-07 9.99999999e-01 -6.41069657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04028169299994 meters 0.01673410683401044 Centerline is valid? [True, True] Translation: X:336.99, Y:43.73, Z:-0.07 [[ 9.33265696e-01 -3.59177564e-01 -2.57248505e-03 3.36994097e+02] [ 3.59176125e-01 9.33269241e-01 -1.01706040e-03 4.37256162e+01] [ 2.76612645e-03 2.52123740e-05 9.99996174e-01 -6.90428433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10028169299994 meters 0.017786006042437595 Centerline is valid? [True, True] Translation: X:337.05, Y:43.75, Z:-0.07 [[ 9.33430760e-01 -3.58747753e-01 -2.65799663e-03 3.37045952e+02] [ 3.58746215e-01 9.33434544e-01 -1.05099693e-03 4.37516846e+01] [ 2.85810866e-03 2.74866307e-05 9.99995915e-01 -6.94539873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16028169299994 meters 0.01747198798068437 Centerline is valid? [True, True] Translation: X:337.10, Y:43.77, Z:-0.07 [[ 9.33537606e-01 -3.58470467e-01 -2.54198544e-03 3.37099546e+02] [ 3.58469058e-01 9.33541067e-01 -1.00573439e-03 4.37736986e+01] [ 2.73357387e-03 2.76677487e-05 9.99996263e-01 -6.87796393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22028169299995 meters 0.018441669330802702 Centerline is valid? [True, True] Translation: X:337.15, Y:43.80, Z:-0.07 [[ 9.33849451e-01 -3.57646996e-01 -3.71876447e-03 3.37152137e+02] [ 3.57643970e-01 9.33856854e-01 -1.47200143e-03 4.38017773e+01] [ 3.99925058e-03 4.46340405e-05 9.99992002e-01 -7.17165815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28028169299995 meters 0.02472025025680827 Centerline is valid? [True, True] Translation: X:337.20, Y:43.83, Z:-0.07 [[ 9.33343559e-01 -3.58946577e-01 -5.21104412e-03 3.37204465e+02] [ 3.58940649e-01 9.33358105e-01 -2.06382754e-03 4.38274668e+01] [ 5.60457410e-03 5.58045882e-05 9.99984293e-01 -6.77155773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34028169299995 meters 0.018218642529407584 Centerline is valid? [True, True] Translation: X:337.25, Y:43.86, Z:-0.07 [[ 9.33164755e-01 -3.59436435e-01 -2.99825653e-03 3.37254444e+02] [ 3.59434474e-01 9.33169571e-01 -1.18764140e-03 4.38580892e+01] [ 3.22476336e-03 3.05883369e-05 9.99994800e-01 -7.00187844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40028169299995 meters 0.016922436700874087 Centerline is valid? [True, True] Translation: X:337.31, Y:43.89, Z:-0.07 [[ 9.33154586e-01 -3.59468828e-01 -2.16339562e-03 3.37306158e+02] [ 3.59467806e-01 9.33157094e-01 -8.57478189e-04 4.38853531e+01] [ 2.32702464e-03 2.24886302e-05 9.99997292e-01 -6.78229200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46028169299996 meters 0.016874422504107096 Centerline is valid? [True, True] Translation: X:337.36, Y:43.91, Z:-0.07 [[ 9.33027240e-01 -3.59797296e-01 -2.46486481e-03 3.37358390e+02] [ 3.59795969e-01 9.33030495e-01 -9.77499944e-04 4.39111614e+01] [ 2.65149587e-03 2.51856505e-05 9.99996484e-01 -6.78191987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52028169299996 meters 0.016034521030989336 Centerline is valid? [True, True] Translation: X:337.41, Y:43.94, Z:-0.07 [[ 9.31987714e-01 -3.62485585e-01 -1.76102884e-03 3.37410691e+02] [ 3.62484912e-01 9.31989378e-01 -6.98722155e-04 4.39374752e+01] [ 1.89453688e-03 1.28540810e-05 9.99998205e-01 -6.83735775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58028169299996 meters 0.012955923552360159 Centerline is valid? [True, True] Translation: X:337.47, Y:43.95, Z:-0.06 [[ 9.28745547e-01 -3.70717828e-01 -1.58948719e-05 3.37470578e+02] [ 3.70717828e-01 9.28745547e-01 -6.37006457e-06 4.39457020e+01] [ 1.71237880e-05 2.36567333e-08 1.00000000e+00 -6.49737855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64028169299996 meters 0.018392355574141678 Centerline is valid? [True, True] Translation: X:337.53, Y:43.95, Z:-0.06 [[ 9.25393051e-01 -3.79008841e-01 2.35880019e-05 3.37530825e+02] [ 3.79008840e-01 9.25393051e-01 9.35073901e-06 4.39521704e+01] [-2.53721858e-05 2.86952377e-07 1.00000000e+00 -6.45435854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70028169299997 meters 0.03037718659650416 Centerline is valid? [True, True] Translation: X:337.60, Y:43.95, Z:-0.07 [[ 9.19723310e-01 -3.92555316e-01 -3.05880397e-03 3.37595801e+02] [ 3.92553447e-01 9.19728393e-01 -1.21435263e-03 4.39499732e+01] [ 3.28996944e-03 -8.38756237e-05 9.99994585e-01 -7.08432273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76028169299997 meters 0.03833257787240878 Centerline is valid? [True, True] Translation: X:337.66, Y:43.95, Z:-0.07 [[ 9.16177594e-01 -4.00758116e-01 -3.39833656e-03 3.37658393e+02] [ 4.00755864e-01 9.16183888e-01 -1.34932356e-03 4.39527126e+01] [ 3.65425357e-03 -1.25683290e-04 9.99993315e-01 -7.04103400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82028169299997 meters 0.038747302852036244 Centerline is valid? [True, True] Translation: X:337.72, Y:43.96, Z:-0.07 [[ 9.16197272e-01 -4.00705409e-01 -4.21105604e-03 3.37717039e+02] [ 4.00701947e-01 9.16206937e-01 -1.67298751e-03 4.39614631e+01] [ 4.52857390e-03 -1.54591757e-04 9.99989734e-01 -7.14493187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.880281693 meters 0.03396621463685789 Centerline is valid? [True, True] Translation: X:337.77, Y:43.98, Z:-0.07 [[ 9.19273809e-01 -3.93596656e-01 -4.16365574e-03 3.37771604e+02] [ 3.93593197e-01 9.19283231e-01 -1.65429372e-03 4.39818525e+01] [ 4.47870338e-03 -1.18037686e-04 9.99989964e-01 -7.12828210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.940281693 meters 0.027067553336680965 Centerline is valid? [True, True] Translation: X:337.83, Y:44.01, Z:-0.07 [[ 9.21925164e-01 -3.87348379e-01 -3.90189382e-03 3.37825103e+02] [ 3.87345283e-01 9.21933418e-01 -1.55094599e-03 4.40092506e+01] [ 4.19804272e-03 -8.15240313e-05 9.99991185e-01 -7.05684151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.000281693 meters 0.018082818034375375 Centerline is valid? [True, True] Translation: X:337.88, Y:44.04, Z:-0.07 [[ 9.25121498e-01 -3.79657039e-01 -3.27825730e-03 3.37875305e+02] [ 3.79654803e-01 9.25127306e-01 -1.30361203e-03 4.40433838e+01] [ 3.52773082e-03 -3.86066123e-05 9.99993777e-01 -6.90402744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.060281693 meters 0.01702709779272606 Centerline is valid? [True, True] Translation: X:337.93, Y:44.06, Z:-0.07 [[ 9.25564251e-01 -3.78583815e-01 -2.26124049e-03 3.37930541e+02] [ 3.78582747e-01 9.25567012e-01 -8.99605535e-04 4.40649011e+01] [ 2.43350570e-03 -2.34239123e-05 9.99997039e-01 -6.78208583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.120281693 meters 0.02061964861151681 Centerline is valid? [True, True] Translation: X:337.99, Y:44.08, Z:-0.07 [[ 9.23995946e-01 -3.82400862e-01 -1.03608765e-03 3.37988456e+02] [ 3.82400640e-01 9.23996526e-01 -4.12258476e-04 4.40764195e+01] [ 1.11498939e-03 -1.52754205e-05 9.99999378e-01 -6.55219143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.180281693 meters 0.026383972466578885 Centerline is valid? [True, True] Translation: X:338.05, Y:44.08, Z:-0.07 [[ 9.21940936e-01 -3.87323344e-01 -2.35341224e-03 3.38050078e+02] [ 3.87322215e-01 9.21943938e-01 -9.36477877e-04 4.40802383e+01] [ 2.53243389e-03 -4.81515504e-05 9.99996792e-01 -6.86914932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.240281693 meters 0.022911987558398284 Centerline is valid? [True, True] Translation: X:338.11, Y:44.10, Z:-0.07 [[ 9.23431051e-01 -3.83739708e-01 -4.35084092e-03 3.38106379e+02] [ 3.83735807e-01 9.23441298e-01 -1.73168256e-03 4.40988298e+01] [ 4.68226155e-03 -7.04840015e-05 9.99989036e-01 -7.15481229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.300281693 meters 0.01373440797458552 Centerline is valid? [True, True] Translation: X:338.16, Y:44.14, Z:-0.07 [[ 9.27943070e-01 -3.72705709e-01 -3.48037618e-03 3.38155526e+02] [ 3.72703134e-01 9.27949597e-01 -1.38536498e-03 4.41355546e+01] [ 3.74594711e-03 -1.16072725e-05 9.99992984e-01 -6.91482084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.360281693 meters 0.01583092008515892 Centerline is valid? [True, True] Translation: X:338.20, Y:44.17, Z:-0.07 [[ 9.31584191e-01 -3.63510445e-01 -3.32427914e-03 3.38203058e+02] [ 3.63508035e-01 9.31590122e-01 -1.32388200e-03 4.41748069e+01] [ 3.57811054e-03 2.49053670e-05 9.99993598e-01 -6.75533810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42028169299994 meters 0.027361214264993453 Centerline is valid? [True, True] Translation: X:338.25, Y:44.22, Z:-0.07 [[ 9.36246454e-01 -3.51338569e-01 -1.94627497e-03 3.38248302e+02] [ 3.51337716e-01 9.36248476e-01 -7.75272098e-04 4.42219081e+01] [ 2.09457996e-03 4.20459486e-05 9.99997805e-01 -6.53422381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48028169299994 meters 0.03324222368103869 Centerline is valid? [True, True] Translation: X:338.30, Y:44.26, Z:-0.07 [[ 9.37965790e-01 -3.46723599e-01 -1.70934121e-03 3.38295975e+02] [ 3.46722934e-01 9.37967347e-01 -6.80960793e-04 4.42602255e+01] [ 1.83941142e-03 4.60501291e-05 9.99998307e-01 -6.50714892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54028169299994 meters 0.03251807632622793 Centerline is valid? [True, True] Translation: X:338.35, Y:44.29, Z:-0.07 [[ 9.38070193e-01 -3.46439868e-01 -1.93130338e-03 3.38348252e+02] [ 3.46439017e-01 9.38072180e-01 -7.69791769e-04 4.42882421e+01] [ 2.07838853e-03 5.30398681e-05 9.99997839e-01 -6.53036600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60028169299994 meters 0.029262719293027626 Centerline is valid? [True, True] Translation: X:338.40, Y:44.31, Z:-0.06 [[ 9.36839687e-01 -3.49758902e-01 -3.34586477e-04 3.38402212e+02] [ 3.49758876e-01 9.36839747e-01 -1.33368688e-04 4.43140965e+01] [ 3.60100796e-04 7.92048957e-06 9.99999935e-01 -6.21968177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66028169299994 meters 0.02360749886460011 Centerline is valid? [True, True] Translation: X:338.46, Y:44.33, Z:-0.06 [[ 9.34814272e-01 -3.55136974e-01 -7.67012058e-05 3.38459515e+02] [ 3.55136973e-01 9.34814275e-01 -3.06104490e-05 4.43331033e+01] [ 8.25722844e-05 1.37565055e-06 9.99999997e-01 -6.23399700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72028169299995 meters 0.019744935280323346 Centerline is valid? [True, True] Translation: X:338.51, Y:44.35, Z:-0.06 [[ 9.33296550e-01 -3.59106593e-01 -6.14310627e-05 3.38514767e+02] [ 3.59106592e-01 9.33296552e-01 -2.45113977e-05 4.43540982e+01] [ 6.61356035e-05 8.16103329e-07 9.99999998e-01 -6.25496513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78028169299995 meters 0.017531151882278266 Centerline is valid? [True, True] Translation: X:338.57, Y:44.38, Z:-0.06 [[ 9.32110173e-01 -3.62174705e-01 -3.29994151e-04 3.38568276e+02] [ 3.62174681e-01 9.32110231e-01 -1.31621672e-04 4.43750630e+01] [ 3.55260965e-04 3.17037290e-06 9.99999937e-01 -6.35098478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84028169299995 meters 0.015681863539327216 Centerline is valid? [True, True] Translation: X:338.62, Y:44.40, Z:-0.07 [[ 9.31187129e-01 -3.64539357e-01 -1.26017439e-03 3.38622853e+02] [ 3.64539011e-01 9.31187982e-01 -5.02834477e-04 4.43963003e+01] [ 1.35676220e-03 8.85026911e-06 9.99999080e-01 -6.59394798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90028169299995 meters 0.014335700890708908 Centerline is valid? [True, True] Translation: X:338.68, Y:44.42, Z:-0.07 [[ 9.29976302e-01 -3.67592827e-01 -4.42622487e-03 3.38676322e+02] [ 3.67588580e-01 9.29986835e-01 -1.76690625e-03 4.44182968e+01] [ 4.76583292e-03 1.61512245e-05 9.99988643e-01 -7.26304018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96028169299996 meters 0.013486948242559499 Centerline is valid? [True, True] Translation: X:338.73, Y:44.44, Z:-0.07 [[ 9.29334277e-01 -3.69226307e-01 -3.12022846e-03 3.38730832e+02] [ 3.69224204e-01 9.29339515e-01 -1.24617969e-03 4.44411908e+01] [ 3.35987393e-03 6.05362963e-06 9.99994356e-01 -6.78475205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02028169299996 meters 0.013102162152054382 Centerline is valid? [True, True] Translation: X:338.78, Y:44.46, Z:-0.07 [[ 9.28540306e-01 -3.71227857e-01 -1.66652689e-03 3.38784529e+02] [ 3.71227260e-01 9.28541802e-01 -6.65989494e-04 4.44642337e+01] [ 1.79467374e-03 -2.62122242e-07 9.99998390e-01 -6.62271664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08028169299996 meters 0.01465749519224021 Centerline is valid? [True, True] Translation: X:338.84, Y:44.48, Z:-0.07 [[ 9.26786320e-01 -3.75575738e-01 -3.15935104e-03 3.38839622e+02] [ 3.75573616e-01 9.26791705e-01 -1.26266410e-03 4.44820259e+01] [ 3.40228634e-03 -1.63490818e-05 9.99994212e-01 -7.05166286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14028169299996 meters 0.017767749866251032 Centerline is valid? [True, True] Translation: X:338.90, Y:44.50, Z:-0.07 [[ 9.25038057e-01 -3.79852043e-01 -4.12524986e-03 3.38896775e+02] [ 3.79848464e-01 9.25047255e-01 -1.64947137e-03 4.44970009e+01] [ 4.44260613e-03 -4.11460295e-05 9.99990131e-01 -7.19869780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20028169299997 meters 0.02055582648343171 Centerline is valid? [True, True] Translation: X:338.95, Y:44.51, Z:-0.07 [[ 9.23251720e-01 -3.84190995e-01 -1.88171030e-03 3.38953648e+02] [ 3.84190259e-01 9.23253637e-01 -7.52788143e-04 4.45139259e+01] [ 2.02651030e-03 -2.79218176e-05 9.99997946e-01 -6.61226397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26028169299997 meters 0.02041178107161001 Centerline is valid? [True, True] Translation: X:339.01, Y:44.53, Z:-0.06 [[ 9.23281876e-01 -3.84122706e-01 -5.69718450e-04 3.39007476e+02] [ 3.84122638e-01 9.23282052e-01 -2.28090602e-04 4.45342126e+01] [ 6.13625599e-04 -8.24983500e-06 9.99999812e-01 -6.33742335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32028169299997 meters 0.022731332997423945 Centerline is valid? [True, True] Translation: X:339.06, Y:44.55, Z:-0.07 [[ 9.22454026e-01 -3.86105695e-01 -9.81459600e-04 3.39063624e+02] [ 3.86105495e-01 9.22454548e-01 -3.92966091e-04 4.45480783e+01] [ 1.05707832e-03 -1.64537917e-05 9.99999441e-01 -6.63337897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.380281693 meters 0.02891243461351717 Centerline is valid? [True, True] Translation: X:339.12, Y:44.55, Z:-0.07 [[ 9.20234004e-01 -3.91361789e-01 -2.30835493e-03 3.39123925e+02] [ 3.91360701e-01 9.20236897e-01 -9.24283803e-04 4.45546552e+01] [ 2.48596274e-03 -5.28420189e-05 9.99996909e-01 -6.76871425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.440281693 meters 0.0320896343266386 Centerline is valid? [True, True] Translation: X:339.18, Y:44.57, Z:-0.07 [[ 9.18591934e-01 -3.95196205e-01 -2.96961055e-03 3.39182897e+02] [ 3.95194424e-01 9.18596731e-01 -1.18922632e-03 4.45659608e+01] [ 3.19785227e-03 -8.11598284e-05 9.99994884e-01 -6.84698844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.500281693 meters 0.03730036437418654 Centerline is valid? [True, True] Translation: X:339.25, Y:44.57, Z:-0.07 [[ 9.16045129e-01 -4.01066549e-01 -2.63527482e-03 3.39246376e+02] [ 4.01065169e-01 9.16048915e-01 -1.05581100e-03 4.45680422e+01] [ 2.83749111e-03 -8.97464182e-05 9.99995970e-01 -6.87471443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.560281693 meters 0.04351814158087826 Centerline is valid? [True, True] Translation: X:339.31, Y:44.57, Z:-0.07 [[ 9.14682791e-01 -4.04165668e-01 -2.34619679e-03 3.39310644e+02] [ 4.04164585e-01 9.14685796e-01 -9.40049499e-04 4.45658812e+01] [ 2.52596861e-03 -8.84025537e-05 9.99996806e-01 -6.72060448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.620281693 meters 0.044244729731029594 Centerline is valid? [True, True] Translation: X:339.37, Y:44.57, Z:-0.07 [[ 9.13909225e-01 -4.05911003e-01 -2.48701853e-03 3.39373579e+02] [ 4.05909791e-01 9.13912604e-01 -9.96906190e-04 4.45701333e+01] [ 2.67757278e-03 -9.84234095e-05 9.99996410e-01 -6.74451657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.680281693 meters 0.04249786762279355 Centerline is valid? [True, True] Translation: X:339.43, Y:44.58, Z:-0.06 [[ 9.15076194e-01 -4.03278834e-01 -1.31933024e-03 3.39432911e+02] [ 4.03278490e-01 9.15077144e-01 -5.28915714e-04 4.45782445e+01] [ 1.42058946e-03 -4.80593277e-05 9.99998990e-01 -6.42707589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.740281693 meters 0.03720668161994916 Centerline is valid? [True, True] Translation: X:339.49, Y:44.60, Z:-0.06 [[ 9.17065219e-01 -3.98735546e-01 -1.16077700e-03 3.39489101e+02] [ 3.98735276e-01 9.17065953e-01 -4.65421455e-04 4.45989476e+01] [ 1.25008914e-03 -3.60209087e-05 9.99999218e-01 -6.35247102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.800281693 meters 0.02405824393438616 Centerline is valid? [True, True] Translation: X:339.54, Y:44.64, Z:-0.07 [[ 9.22171799e-01 -3.86764936e-01 -3.47228295e-03 3.39537872e+02] [ 3.86762434e-01 9.22178335e-01 -1.39234552e-03 4.46352028e+01] [ 3.74057453e-03 -5.89668335e-05 9.99993002e-01 -6.80603478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.860281693 meters 0.013404763143660533 Centerline is valid? [True, True] Translation: X:339.58, Y:44.68, Z:-0.06 [[ 9.27624537e-01 -3.73509973e-01 -1.73718833e-03 3.39584135e+02] [ 3.73509322e-01 9.27626164e-01 -6.96932837e-04 4.46807350e+01] [ 1.87177271e-03 -2.36403605e-06 9.99998248e-01 -6.35685097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92028169299994 meters 0.01460552841227665 Centerline is valid? [True, True] Translation: X:339.63, Y:44.72, Z:-0.06 [[ 9.29831380e-01 -3.67984825e-01 -8.79177072e-04 3.39632566e+02] [ 3.67984656e-01 9.29831796e-01 -3.52766774e-04 4.47158248e+01] [ 9.47299615e-04 4.48994377e-06 9.99999551e-01 -6.20450212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98028169299994 meters 0.015790668359062406 Centerline is valid? [True, True] Translation: X:339.68, Y:44.75, Z:-0.07 [[ 9.30359482e-01 -3.66639905e-01 -2.53255877e-03 3.39682691e+02] [ 3.66638496e-01 9.30362929e-01 -1.01629808e-03 4.47453037e+01] [ 2.72881423e-03 1.69890126e-05 9.99996277e-01 -6.62406444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04028169299994 meters 0.015477958995677854 Centerline is valid? [True, True] Translation: X:339.74, Y:44.77, Z:-0.07 [[ 9.30117288e-01 -3.67255274e-01 -2.32245280e-03 3.39735844e+02] [ 3.67254091e-01 9.30120188e-01 -9.32496151e-04 4.47689045e+01] [ 2.50262437e-03 1.44004981e-05 9.99996868e-01 -6.62198749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10028169299994 meters 0.01689974522821747 Centerline is valid? [True, True] Translation: X:339.79, Y:44.80, Z:-0.07 [[ 9.31267452e-01 -3.64322179e-01 -3.20678087e-03 3.39788268e+02] [ 3.64319903e-01 9.31272972e-01 -1.28816092e-03 4.47960309e+01] [ 3.45569394e-03 3.13282448e-05 9.99994029e-01 -6.61995186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16028169299994 meters 0.021306247761114255 Centerline is valid? [True, True] Translation: X:339.84, Y:44.83, Z:-0.07 [[ 9.32771285e-01 -3.60446800e-01 -3.97933464e-03 3.39837382e+02] [ 3.60443258e-01 9.32779771e-01 -1.59893671e-03 4.48276995e+01] [ 4.28817448e-03 5.71179056e-05 9.99990804e-01 -6.85173660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22028169299995 meters 0.022336636608041263 Centerline is valid? [True, True] Translation: X:339.89, Y:44.85, Z:-0.06 [[ 9.33458490e-01 -3.58684164e-01 9.58149837e-04 3.39890560e+02] [ 3.58683957e-01 9.33458982e-01 3.85105196e-04 4.48521693e+01] [-1.03252471e-03 -1.58067391e-05 9.99999467e-01 -5.89252622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28028169299995 meters 0.021124686385260927 Centerline is valid? [True, True] Translation: X:339.95, Y:44.87, Z:-0.06 [[ 9.33137742e-01 -3.59518401e-01 6.89045190e-04 3.39945432e+02] [ 3.59518294e-01 9.33137996e-01 2.77059561e-04 4.48732552e+01] [-7.42582258e-04 -1.08103817e-05 9.99999724e-01 -5.93336341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34028169299995 meters 0.018513293735093136 Centerline is valid? [True, True] Translation: X:340.00, Y:44.89, Z:-0.07 [[ 9.31777126e-01 -3.63022610e-01 -2.44391502e-03 3.40001292e+02] [ 3.63021280e-01 9.31780330e-01 -9.83173223e-04 4.48885450e+01] [ 2.63410606e-03 2.89051586e-05 9.99996530e-01 -6.55876136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40028169299995 meters 0.015298394530832744 Centerline is valid? [True, True] Translation: X:340.06, Y:44.90, Z:-0.07 [[ 9.30043714e-01 -3.67442551e-01 -2.15926071e-03 3.40059543e+02] [ 3.67441523e-01 9.30046220e-01 -8.69070632e-04 4.49024104e+01] [ 2.32754579e-03 1.48716339e-05 9.99997291e-01 -6.56228271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46028169299996 meters 0.01469583199172533 Centerline is valid? [True, True] Translation: X:340.12, Y:44.92, Z:-0.06 [[ 9.29546577e-01 -3.68701329e-01 -1.57812454e-03 3.40116237e+02] [ 3.68700781e-01 9.29547917e-01 -6.35490921e-04 4.49192293e+01] [ 1.70124872e-03 8.86266023e-06 9.99998553e-01 -6.34677094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52028169299996 meters 0.014803119729586095 Centerline is valid? [True, True] Translation: X:340.17, Y:44.94, Z:-0.06 [[ 9.29534389e-01 -3.68734022e-01 -1.02051702e-03 3.40169918e+02] [ 3.68733793e-01 9.29534949e-01 -4.11200017e-04 4.49412516e+01] [ 1.10022968e-03 5.92544326e-06 9.99999395e-01 -6.21407207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58028169299996 meters 0.014534716589079956 Centerline is valid? [True, True] Translation: X:340.22, Y:44.96, Z:-0.06 [[ 9.29373193e-01 -3.69138777e-01 -1.42546787e-03 3.40224528e+02] [ 3.69138330e-01 9.29374286e-01 -5.74663316e-04 4.49618285e+01] [ 1.53692370e-03 7.88185210e-06 9.99998819e-01 -6.23361643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64028169299996 meters 0.01439413064362245 Centerline is valid? [True, True] Translation: X:340.28, Y:44.98, Z:-0.06 [[ 9.28964100e-01 -3.70168433e-01 -1.01538217e-03 3.40277841e+02] [ 3.70168207e-01 9.28964655e-01 -4.09382613e-04 4.49842159e+01] [ 1.09479467e-03 4.43955152e-06 9.99999401e-01 -6.15292258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70028169299997 meters 0.014496181938909638 Centerline is valid? [True, True] Translation: X:340.33, Y:45.00, Z:-0.06 [[ 9.29213114e-01 -3.69542483e-01 -1.15821135e-03 3.40332285e+02] [ 3.69542188e-01 9.29213836e-01 -4.67268462e-04 4.50043955e+01] [ 1.24890156e-03 6.18402503e-06 9.99999220e-01 -6.10419920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76028169299997 meters 0.014795854625339567 Centerline is valid? [True, True] Translation: X:340.38, Y:45.03, Z:-0.06 [[ 9.29213766e-01 -3.69542011e-01 -6.92498048e-04 3.40383742e+02] [ 3.69541905e-01 9.29214024e-01 -2.79489493e-04 4.50286464e+01] [ 7.46762007e-04 3.79843594e-06 9.99999721e-01 -5.97121853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82028169299997 meters 0.014174482202931354 Centerline is valid? [True, True] Translation: X:340.44, Y:45.05, Z:-0.06 [[ 9.28586213e-01 -3.71116535e-01 -4.02794033e-04 3.40438387e+02] [ 3.71116500e-01 9.28586300e-01 -1.62688961e-04 4.50492607e+01] [ 4.34405585e-04 1.58721475e-06 9.99999906e-01 -6.04092669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.880281693 meters 0.013818266899121178 Centerline is valid? [True, True] Translation: X:340.49, Y:45.07, Z:-0.06 [[ 9.28125802e-01 -3.72265763e-01 -8.35279325e-04 3.40492251e+02] [ 3.72265610e-01 9.28126178e-01 -3.37488053e-04 4.50709573e+01] [ 9.00879855e-04 2.28560210e-06 9.99999594e-01 -6.07882405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.940281693 meters 0.013636223286086262 Centerline is valid? [True, True] Translation: X:340.55, Y:45.09, Z:-0.06 [[ 9.27674181e-01 -3.73390030e-01 -7.07019352e-04 3.40546447e+02] [ 3.73389920e-01 9.27674450e-01 -2.85842324e-04 4.50916889e+01] [ 7.62614463e-04 1.17464399e-06 9.99999709e-01 -5.98516135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.000281693 meters 0.013667855154212588 Centerline is valid? [True, True] Translation: X:340.60, Y:45.11, Z:-0.06 [[ 9.27191791e-01 -3.74581260e-01 -2.06460172e-03 3.40599013e+02] [ 3.74580330e-01 9.27194089e-01 -8.34724608e-04 4.51129442e+01] [ 2.22695870e-03 5.90610998e-07 9.99997520e-01 -6.24306335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.060281693 meters 0.01389035161612662 Centerline is valid? [True, True] Translation: X:340.65, Y:45.14, Z:-0.06 [[ 9.27498562e-01 -3.73820801e-01 -2.10385571e-03 3.40651055e+02] [ 3.73819833e-01 9.27500948e-01 -8.50793663e-04 4.51372764e+01] [ 2.26937253e-03 2.64690817e-06 9.99997425e-01 -6.33168282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.120281693 meters 0.014603621389687278 Centerline is valid? [True, True] Translation: X:340.70, Y:45.17, Z:-0.06 [[ 9.28644826e-01 -3.70961320e-01 -2.54661821e-03 3.40702405e+02] [ 3.70959890e-01 9.28648318e-01 -1.03000641e-03 4.51659391e+01] [ 2.74700525e-03 1.18169100e-05 9.99996227e-01 -6.30782088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.180281693 meters 0.015670168152426434 Centerline is valid? [True, True] Translation: X:340.76, Y:45.19, Z:-0.06 [[ 9.29378486e-01 -3.69121663e-01 -2.19721379e-03 3.40755247e+02] [ 3.69120593e-01 9.29381083e-01 -8.89148799e-04 4.51920775e+01] [ 2.37025302e-03 1.53189077e-05 9.99997191e-01 -6.36080753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.240281693 meters 0.014662576845014727 Centerline is valid? [True, True] Translation: X:340.81, Y:45.21, Z:-0.07 [[ 9.28462317e-01 -3.71411032e-01 -3.40161752e-03 3.40810900e+02] [ 3.71408479e-01 9.28468548e-01 -1.37716477e-03 4.52120721e+01] [ 3.66978907e-03 1.52560035e-05 9.99993266e-01 -6.51174751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.300281693 meters 0.013714016339626146 Centerline is valid? [True, True] Translation: X:340.87, Y:45.23, Z:-0.06 [[ 9.27291691e-01 -3.74333858e-01 -2.06935213e-03 3.40868574e+02] [ 3.74332919e-01 9.27294000e-01 -8.38181392e-04 4.52276595e+01] [ 2.23265749e-03 2.61201699e-06 9.99997508e-01 -6.27265091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.360281693 meters 0.014148281162395753 Centerline is valid? [True, True] Translation: X:340.92, Y:45.25, Z:-0.06 [[ 9.28003051e-01 -3.72570208e-01 -1.33346951e-03 3.40920334e+02] [ 3.72569817e-01 9.28004009e-01 -5.40191911e-04 4.52541303e+01] [ 1.43872446e-03 4.48925115e-06 9.99998965e-01 -6.05463304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42028169299994 meters 0.015492285896398695 Centerline is valid? [True, True] Translation: X:340.97, Y:45.28, Z:-0.06 [[ 9.29070664e-01 -3.69895810e-01 -2.18869719e-03 3.40972720e+02] [ 3.69894746e-01 9.29073242e-01 -8.87087573e-04 4.52807983e+01] [ 2.36158997e-03 1.45794505e-05 9.99997211e-01 -6.29792720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48028169299994 meters 0.016138574548108835 Centerline is valid? [True, True] Translation: X:341.03, Y:45.31, Z:-0.06 [[ 9.29433641e-01 -3.68988869e-01 -5.67478330e-04 3.41025158e+02] [ 3.68988797e-01 9.29433814e-01 -2.30044956e-04 4.53057700e+01] [ 6.12317577e-04 4.41837463e-06 9.99999813e-01 -5.99574579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54028169299994 meters 0.015336410312785502 Centerline is valid? [True, True] Translation: X:341.08, Y:45.33, Z:-0.06 [[ 9.28928214e-01 -3.70259821e-01 1.97128849e-04 3.41079068e+02] [ 3.70259812e-01 9.28928235e-01 7.98966879e-05 4.53263201e+01] [-2.12701087e-04 -1.22939675e-06 9.99999977e-01 -5.77789540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60028169299994 meters 0.01601037748287565 Centerline is valid? [True, True] Translation: X:341.13, Y:45.35, Z:-0.06 [[ 9.29360003e-01 -3.69172065e-01 -1.40376419e-03 3.41131970e+02] [ 3.69171626e-01 9.29361064e-01 -5.69429719e-04 4.53524536e+01] [ 1.51482133e-03 1.09752969e-05 9.99998853e-01 -6.12005001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66028169299994 meters 0.015104230989782969 Centerline is valid? [True, True] Translation: X:341.19, Y:45.37, Z:-0.07 [[ 9.28315197e-01 -3.71783427e-01 -2.82478271e-03 3.41186647e+02] [ 3.71781661e-01 9.28319494e-01 -1.14594778e-03 4.53706906e+01] [ 3.04834525e-03 1.35983324e-05 9.99995354e-01 -6.50851830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72028169299995 meters 0.01402381454300757 Centerline is valid? [True, True] Translation: X:341.24, Y:45.38, Z:-0.07 [[ 9.26959975e-01 -3.75139763e-01 -3.91947270e-03 3.41243775e+02] [ 3.75136389e-01 9.26968262e-01 -1.59091321e-03 4.53842075e+01] [ 4.23004160e-03 4.37603341e-06 9.99991053e-01 -6.73635787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78028169299995 meters 0.014117290422571448 Centerline is valid? [True, True] Translation: X:341.30, Y:45.40, Z:-0.07 [[ 9.27200891e-01 -3.74537918e-01 -4.45609226e-03 3.41298648e+02] [ 3.74533549e-01 9.27211598e-01 -1.80896472e-03 4.54020563e+01] [ 4.80926631e-03 8.31764783e-06 9.99988435e-01 -6.70490532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84028169299995 meters 0.01821015015523503 Centerline is valid? [True, True] Translation: X:341.35, Y:45.44, Z:-0.06 [[ 9.30065402e-01 -3.67387921e-01 -2.11244811e-03 3.41347118e+02] [ 3.67386920e-01 9.30067801e-01 -8.57993538e-04 4.54390075e+01] [ 2.27993643e-03 2.19043010e-05 9.99997401e-01 -6.13992968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90028169299995 meters 0.024045827662004384 Centerline is valid? [True, True] Translation: X:341.40, Y:45.48, Z:-0.06 [[ 9.32318022e-01 -3.61638898e-01 -6.43230827e-04 3.41396087e+02] [ 3.61638803e-01 9.32318244e-01 -2.61275877e-04 4.54764948e+01] [ 6.94183355e-04 1.09749817e-05 9.99999759e-01 -5.94937679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96028169299996 meters 0.022236617408383706 Centerline is valid? [True, True] Translation: X:341.45, Y:45.50, Z:-0.06 [[ 9.32068262e-01 -3.62279678e-01 -1.47994586e-03 3.41448732e+02] [ 3.62279179e-01 9.32069437e-01 -6.01507169e-04 4.55003515e+01] [ 1.59732613e-03 2.44921702e-05 9.99998724e-01 -6.04944766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02028169299996 meters 0.021303916356121538 Centerline is valid? [True, True] Translation: X:341.50, Y:45.53, Z:-0.06 [[ 9.31471780e-01 -3.63812798e-01 -7.55733828e-04 3.41499705e+02] [ 3.63812668e-01 9.31472087e-01 -3.07327186e-04 4.55298016e+01] [ 8.15754529e-04 1.13210602e-05 9.99999667e-01 -5.81048113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08028169299996 meters 0.0221863153327625 Centerline is valid? [True, True] Translation: X:341.55, Y:45.56, Z:-0.06 [[ 9.31646115e-01 -3.63365306e-01 -1.08213919e-03 3.41550847e+02] [ 3.63365039e-01 9.31646743e-01 -4.40238608e-04 4.55589718e+01] [ 1.16813889e-03 1.69350388e-05 9.99999318e-01 -5.91892017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14028169299996 meters 0.022299120484425453 Centerline is valid? [True, True] Translation: X:341.60, Y:45.59, Z:-0.06 [[ 9.31898141e-01 -3.62716160e-01 -1.68564533e-03 3.41601559e+02] [ 3.62715513e-01 9.31899665e-01 -6.86049396e-04 4.55892374e+01] [ 1.81969353e-03 2.79184454e-05 9.99998344e-01 -6.04537823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20028169299997 meters 0.01908426076907535 Centerline is valid? [True, True] Translation: X:341.65, Y:45.62, Z:-0.06 [[ 9.30688127e-01 -3.65813309e-01 -4.83452975e-04 3.41654933e+02] [ 3.65813256e-01 9.30688252e-01 -1.96891276e-04 4.56151194e+01] [ 5.21969454e-04 6.39086658e-06 9.99999864e-01 -5.89201270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26028169299997 meters 0.01462349109536591 Centerline is valid? [True, True] Translation: X:341.71, Y:45.63, Z:-0.06 [[ 9.27953733e-01 -3.72694849e-01 -6.47311119e-04 3.41710572e+02] [ 3.72694756e-01 9.27953959e-01 -2.63613343e-04 4.56316158e+01] [ 6.98922250e-04 3.37152649e-06 9.99999756e-01 -5.89867874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32028169299997 meters 0.013761459534882451 Centerline is valid? [True, True] Translation: X:341.77, Y:45.65, Z:-0.06 [[ 9.25639787e-01 -3.78400082e-01 -2.08894308e-03 3.41767428e+02] [ 3.78399125e-01 9.25642144e-01 -8.51077170e-04 4.56492509e+01] [ 2.25566142e-03 -2.66334380e-06 9.99997456e-01 -6.17245124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.380281693 meters 0.014440197097093575 Centerline is valid? [True, True] Translation: X:341.82, Y:45.67, Z:-0.06 [[ 9.24615079e-01 -3.80898438e-01 -1.82664695e-03 3.41822946e+02] [ 3.80897711e-01 9.24616883e-01 -7.44309545e-04 4.56674932e+01] [ 1.97245495e-03 -7.56581188e-06 9.99998055e-01 -6.12522391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.440281693 meters 0.013830051985816081 Centerline is valid? [True, True] Translation: X:341.88, Y:45.69, Z:-0.06 [[ 9.25132180e-01 -3.79644444e-01 -7.39017086e-04 3.41875560e+02] [ 3.79644324e-01 9.25132475e-01 -3.01352456e-04 4.56925460e+01] [ 7.98095491e-04 -1.77278781e-06 9.99999682e-01 -5.85001131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.500281693 meters 0.01425677575182552 Centerline is valid? [True, True] Translation: X:341.92, Y:45.73, Z:-0.06 [[ 9.27306562e-01 -3.74299487e-01 -1.55989706e-03 3.41924966e+02] [ 3.74298947e-01 9.27307874e-01 -6.36065818e-04 4.57254479e+01] [ 1.68458393e-03 5.96018199e-06 9.99998581e-01 -5.99383970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.560281693 meters 0.01756238239805843 Centerline is valid? [True, True] Translation: X:341.97, Y:45.76, Z:-0.06 [[ 9.29532083e-01 -3.68736626e-01 -1.84591961e-03 3.41973680e+02] [ 3.68735858e-01 9.29533916e-01 -7.52817829e-04 4.57605505e+01] [ 1.99343639e-03 1.91115749e-05 9.99998013e-01 -6.04822742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.620281693 meters 0.01782071646091024 Centerline is valid? [True, True] Translation: X:342.03, Y:45.79, Z:-0.06 [[ 9.29507497e-01 -3.68795808e-01 -2.33771967e-03 3.42025916e+02] [ 3.68794575e-01 9.29510436e-01 -9.53941347e-04 4.57872015e+01] [ 2.52474440e-03 2.45573015e-05 9.99996813e-01 -6.25984621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.680281693 meters 0.01660672556277183 Centerline is valid? [True, True] Translation: X:342.08, Y:45.81, Z:-0.06 [[ 9.28909318e-01 -3.70303862e-01 -1.59041361e-03 3.42079441e+02] [ 3.70303293e-01 9.28910679e-01 -6.49313907e-04 4.58118717e+01] [ 1.71779564e-03 1.42183412e-05 9.99998524e-01 -6.07043242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.740281693 meters 0.01632302490280375 Centerline is valid? [True, True] Translation: X:342.13, Y:45.84, Z:-0.06 [[ 9.28777922e-01 -3.70630877e-01 -2.07970579e-03 3.42131257e+02] [ 3.70629904e-01 9.28780250e-01 -8.49537229e-04 4.58378564e+01] [ 2.24645439e-03 1.82302654e-05 9.99997477e-01 -6.13740738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.800281693 meters 0.015796741979673314 Centerline is valid? [True, True] Translation: X:342.18, Y:45.87, Z:-0.06 [[ 9.28196685e-01 -3.72085668e-01 -1.78028423e-03 3.42181827e+02] [ 3.72084957e-01 9.28198392e-01 -7.27384002e-04 4.58660486e+01] [ 1.92310612e-03 1.27384375e-05 9.99998151e-01 -6.18611113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.860281693 meters 0.014726911880755067 Centerline is valid? [True, True] Translation: X:342.24, Y:45.89, Z:-0.06 [[ 9.27471222e-01 -3.73891347e-01 -1.54706750e-03 3.42236653e+02] [ 3.73890812e-01 9.27472512e-01 -6.32421042e-04 4.58865869e+01] [ 1.67131934e-03 8.11799302e-06 9.99998603e-01 -6.15411254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92028169299994 meters 0.013576212051532822 Centerline is valid? [True, True] Translation: X:342.29, Y:45.90, Z:-0.06 [[ 9.25472638e-01 -3.78811825e-01 -1.41347491e-03 3.42293774e+02] [ 3.78811384e-01 9.25473717e-01 -5.78080791e-04 4.59024077e+01] [ 1.52711772e-03 -4.42432078e-07 9.99998834e-01 -6.10813990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98028169299994 meters 0.020125745148804716 Centerline is valid? [True, True] Translation: X:342.36, Y:45.90, Z:-0.06 [[ 9.20930329e-01 -3.89721929e-01 -2.03664536e-03 3.42357041e+02] [ 3.89721039e-01 9.20932580e-01 -8.32951092e-04 4.59025715e+01] [ 2.20023237e-03 -2.66336214e-05 9.99997579e-01 -6.21170041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04028169299994 meters 0.022103976801600284 Centerline is valid? [True, True] Translation: X:342.41, Y:45.92, Z:-0.06 [[ 9.20114181e-01 -3.91644567e-01 -2.10433434e-03 3.42413645e+02] [ 3.91643622e-01 9.20116586e-01 -8.60778816e-04 4.59182995e+01] [ 2.27335228e-03 -3.21343285e-05 9.99997415e-01 -6.16176330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10028169299994 meters 0.021256224718016345 Centerline is valid? [True, True] Translation: X:342.47, Y:45.94, Z:-0.06 [[ 9.20454551e-01 -3.90838411e-01 -2.95917159e-03 3.42469622e+02] [ 3.90836537e-01 9.20459306e-01 -1.21101290e-03 4.59373559e+01] [ 3.19710739e-03 -4.18700404e-05 9.99994888e-01 -6.20858047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16028169299994 meters 0.019867517539991563 Centerline is valid? [True, True] Translation: X:342.52, Y:45.96, Z:-0.06 [[ 9.21111091e-01 -3.89289341e-01 -2.85777551e-03 3.42524680e+02] [ 3.89287585e-01 9.21115523e-01 -1.17003281e-03 4.59570297e+01] [ 3.08782269e-03 -3.47663301e-05 9.99995232e-01 -6.29504779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22028169299995 meters 0.02056239274863446 Centerline is valid? [True, True] Translation: X:342.58, Y:45.97, Z:-0.06 [[ 9.20758678e-01 -3.90131673e-01 -8.56937390e-04 3.42581250e+02] [ 3.90131515e-01 9.20759077e-01 -3.50905815e-04 4.59722669e+01] [ 9.25932353e-04 -1.12187079e-05 9.99999571e-01 -5.80176316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28028169299995 meters 0.022888528607830125 Centerline is valid? [True, True] Translation: X:342.64, Y:45.99, Z:-0.06 [[ 9.19975372e-01 -3.91976049e-01 3.02899026e-04 3.42638253e+02] [ 3.91976030e-01 9.19975422e-01 1.24025339e-04 4.59850521e+01] [-3.27274621e-04 4.62890007e-06 9.99999946e-01 -5.52030972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34028169299995 meters 0.024795471048827452 Centerline is valid? [True, True] Translation: X:342.70, Y:46.00, Z:-0.05 [[ 9.19330092e-01 -3.93486590e-01 6.97043931e-04 3.42695597e+02] [ 3.93486486e-01 9.19330356e-01 2.85524028e-04 4.60005061e+01] [-7.53163521e-04 1.17865365e-05 9.99999716e-01 -5.47163106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40028169299995 meters 0.02609806644804616 Centerline is valid? [True, True] Translation: X:342.75, Y:46.01, Z:-0.06 [[ 9.18894742e-01 -3.94502709e-01 -2.58583158e-04 3.42753691e+02] [ 3.94502694e-01 9.18894778e-01 -1.05995393e-04 4.60126110e+01] [ 2.79426183e-04 -4.61314325e-06 9.99999961e-01 -5.73912547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46028169299996 meters 0.024129667238593725 Centerline is valid? [True, True] Translation: X:342.81, Y:46.03, Z:-0.06 [[ 9.18366398e-01 -3.95729639e-01 -1.10054623e-03 3.42810925e+02] [ 3.95729382e-01 9.18367058e-01 -4.51142131e-04 4.60266376e+01] [ 1.18923571e-03 -2.12047044e-05 9.99999293e-01 -5.83957469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52028169299996 meters 0.022515347773145893 Centerline is valid? [True, True] Translation: X:342.87, Y:46.04, Z:-0.06 [[ 9.19121761e-01 -3.93964506e-01 -2.67523652e-03 3.42868619e+02] [ 3.93962982e-01 9.19125653e-01 -1.09687056e-03 4.60424837e+01] [ 2.89100658e-03 -4.57865587e-05 9.99995820e-01 -6.10912470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58028169299996 meters 0.017409964477876485 Centerline is valid? [True, True] Translation: X:342.92, Y:46.07, Z:-0.06 [[ 9.21493577e-01 -3.88383194e-01 -2.84280267e-03 3.42921775e+02] [ 3.88381446e-01 9.21497962e-01 -1.16571222e-03 4.60683234e+01] [ 3.07237990e-03 -2.98954897e-05 9.99995280e-01 -6.00642191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64028169299996 meters 0.014814010877885461 Centerline is valid? [True, True] Translation: X:342.97, Y:46.09, Z:-0.06 [[ 9.23109099e-01 -3.84534785e-01 -1.60922147e-03 3.42974170e+02] [ 3.84534219e-01 9.23110502e-01 -6.60233274e-04 4.60943779e+01] [ 1.73937190e-03 -9.33337843e-06 9.99998487e-01 -5.78424402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70028169299997 meters 0.013517287766421235 Centerline is valid? [True, True] Translation: X:343.03, Y:46.12, Z:-0.06 [[ 9.25503547e-01 -3.78729784e-01 -2.63328731e-03 3.43025259e+02] [ 3.78728242e-01 9.25507294e-01 -1.08086061e-03 4.61240959e+01] [ 2.84648072e-03 3.04005247e-06 9.99995949e-01 -6.02106745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76028169299997 meters 0.01475197872294748 Centerline is valid? [True, True] Translation: X:343.07, Y:46.16, Z:-0.06 [[ 9.27016032e-01 -3.75011863e-01 -2.71635780e-03 3.43074706e+02] [ 3.75010205e-01 9.27020012e-01 -1.11510258e-03 4.61554711e+01] [ 2.93629474e-03 1.50560756e-05 9.99995689e-01 -5.97922496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82028169299997 meters 0.014605125084314765 Centerline is valid? [True, True] Translation: X:343.13, Y:46.18, Z:-0.06 [[ 9.26952680e-01 -3.75175784e-01 -1.36378307e-03 3.43127531e+02] [ 3.75175366e-01 9.26953683e-01 -5.60211570e-04 4.61801630e+01] [ 1.47434155e-03 7.63180483e-06 9.99998913e-01 -5.78818743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.880281693 meters 0.013594564812288813 Centerline is valid? [True, True] Translation: X:343.19, Y:46.19, Z:-0.06 [[ 9.24805828e-01 -3.80426859e-01 -3.09612471e-03 3.43186230e+02] [ 3.80424731e-01 9.24811010e-01 -1.27232008e-03 4.61919244e+01] [ 3.34735495e-03 -1.19338624e-06 9.99994398e-01 -6.22202072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.940281693 meters 0.014016617449725476 Centerline is valid? [True, True] Translation: X:343.24, Y:46.20, Z:-0.06 [[ 9.23530776e-01 -3.83513679e-01 -2.85726899e-03 3.43243249e+02] [ 3.83511880e-01 9.23535196e-01 -1.17481227e-03 4.62049119e+01] [ 3.08934505e-03 -1.08213114e-05 9.99995228e-01 -6.07755753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.000281693 meters 0.013491469548241266 Centerline is valid? [True, True] Translation: X:343.29, Y:46.23, Z:-0.06 [[ 9.25078842e-01 -3.79764930e-01 -2.78112098e-03 3.43294152e+02] [ 3.79763207e-01 9.25083022e-01 -1.14375400e-03 4.62328995e+01] [ 3.00712546e-03 1.89520083e-06 9.99995479e-01 -6.00164392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.060281693 meters 0.01537189551768726 Centerline is valid? [True, True] Translation: X:343.34, Y:46.27, Z:-0.06 [[ 9.27158472e-01 -3.74651407e-01 -3.67308419e-03 3.43344278e+02] [ 3.74648360e-01 9.27165747e-01 -1.51131629e-03 4.62656832e+01] [ 3.97177462e-03 2.51147367e-05 9.99992112e-01 -6.10211808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.120281693 meters 0.01910120877241443 Centerline is valid? [True, True] Translation: X:343.39, Y:46.30, Z:-0.06 [[ 9.29079186e-01 -3.69870213e-01 -2.80926990e-03 3.43391801e+02] [ 3.69868408e-01 9.29083432e-01 -1.15610555e-03 4.63008677e+01] [ 3.03765513e-03 3.50534124e-05 9.99995386e-01 -6.09430490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.180281693 meters 0.016205266930776997 Centerline is valid? [True, True] Translation: X:343.45, Y:46.32, Z:-0.06 [[ 9.27759476e-01 -3.73173461e-01 -1.98069213e-03 3.43446447e+02] [ 3.73172570e-01 9.27761590e-01 -8.15523050e-04 4.63239400e+01] [ 2.14194164e-03 1.74692622e-05 9.99997706e-01 -5.94866860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.240281693 meters 0.01361133035487719 Centerline is valid? [True, True] Translation: X:343.50, Y:46.34, Z:-0.06 [[ 9.25378304e-01 -3.79042264e-01 -1.39890124e-03 3.43502329e+02] [ 3.79041826e-01 9.25379361e-01 -5.76278556e-04 4.63434018e+01] [ 1.51294826e-03 3.03359274e-06 9.99998855e-01 -5.89520421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.300281693 meters 0.013517038143572455 Centerline is valid? [True, True] Translation: X:343.56, Y:46.36, Z:-0.06 [[ 9.24780349e-01 -3.80498366e-01 -1.51675522e-03 3.43555207e+02] [ 3.80497853e-01 9.24781592e-01 -6.24939427e-04 4.63635526e+01] [ 1.64045574e-03 8.09598355e-07 9.99998654e-01 -5.84756076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.360281693 meters 0.014718941498624592 Centerline is valid? [True, True] Translation: X:343.61, Y:46.39, Z:-0.06 [[ 9.26130829e-01 -3.77182678e-01 -3.86195828e-03 3.43605787e+02] [ 3.77179321e-01 9.26138881e-01 -1.59142625e-03 4.63931742e+01] [ 4.17696813e-03 1.72181167e-05 9.99991276e-01 -6.36531080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42028169299994 meters 0.0160213389104074 Centerline is valid? [True, True] Translation: X:343.66, Y:46.42, Z:-0.06 [[ 9.27054938e-01 -3.74906441e-01 -3.78190743e-03 3.43657988e+02] [ 3.74903199e-01 9.27062652e-01 -1.55919894e-03 4.64203487e+01] [ 4.09061885e-03 2.76138769e-05 9.99991633e-01 -6.29561487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48028169299994 meters 0.014749920955729072 Centerline is valid? [True, True] Translation: X:343.71, Y:46.44, Z:-0.06 [[ 9.26385117e-01 -3.76573879e-01 -1.65163944e-03 3.43713814e+02] [ 3.76573263e-01 9.26386590e-01 -6.81290693e-04 4.64394441e+01] [ 1.78661291e-03 9.17430518e-06 9.99998404e-01 -5.91517471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54028169299994 meters 0.013705943926324673 Centerline is valid? [True, True] Translation: X:343.77, Y:46.45, Z:-0.06 [[ 9.23886228e-01 -3.82662185e-01 -1.97213146e-03 3.43773631e+02] [ 3.82661320e-01 9.23888333e-01 -8.13859837e-04 4.64487973e+01] [ 2.13346263e-03 -2.74453084e-06 9.99997724e-01 -6.03034792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60028169299994 meters 0.01575155316875342 Centerline is valid? [True, True] Translation: X:343.83, Y:46.46, Z:-0.06 [[ 9.21715166e-01 -3.87856079e-01 -2.96889987e-03 3.43832598e+02] [ 3.87854143e-01 9.21719947e-01 -1.22575340e-03 4.64598481e+01] [ 3.21191014e-03 -2.17046158e-05 9.99994842e-01 -6.21669562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66028169299994 meters 0.01706645761841301 Centerline is valid? [True, True] Translation: X:343.89, Y:46.47, Z:-0.06 [[ 9.20690831e-01 -3.90286109e-01 -2.26855977e-03 3.43890632e+02] [ 3.90284984e-01 9.20693626e-01 -9.37065888e-04 4.64734129e+01] [ 2.45437232e-03 -2.26368438e-05 9.99996988e-01 -6.11119032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72028169299995 meters 0.020001059333687513 Centerline is valid? [True, True] Translation: X:343.95, Y:46.49, Z:-0.06 [[ 9.19101263e-01 -3.94010527e-01 -2.92800220e-03 3.43949591e+02] [ 3.94008671e-01 9.19105926e-01 -1.21001487e-03 4.64854165e+01] [ 3.16790277e-03 -4.15320571e-05 9.99994981e-01 -6.29939355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78028169299995 meters 0.023180058446662263 Centerline is valid? [True, True] Translation: X:344.01, Y:46.50, Z:-0.06 [[ 9.18382262e-01 -3.95687925e-01 -2.25536855e-03 3.44005768e+02] [ 3.95686829e-01 9.18385031e-01 -9.32175188e-04 4.64999567e+01] [ 2.44014718e-03 -3.63264695e-05 9.99997022e-01 -6.23145673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84028169299995 meters 0.02690856648044432 Centerline is valid? [True, True] Translation: X:344.07, Y:46.51, Z:-0.06 [[ 9.15975317e-01 -4.01233471e-01 -9.59766548e-04 3.44067300e+02] [ 4.01233275e-01 9.15975819e-01 -3.96792039e-04 4.65078287e+01] [ 1.03832920e-03 -2.16385617e-05 9.99999461e-01 -5.79854782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90028169299995 meters 0.028301422444871938 Centerline is valid? [True, True] Translation: X:344.12, Y:46.52, Z:-0.06 [[ 9.15519485e-01 -4.02272400e-01 -9.94383044e-04 3.44124943e+02] [ 4.02272190e-01 9.15520025e-01 -4.11324044e-04 4.65223895e+01] [ 1.07584190e-03 -2.34374681e-05 9.99999421e-01 -5.82007457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96028169299996 meters 0.025027117828941157 Centerline is valid? [True, True] Translation: X:344.18, Y:46.54, Z:-0.06 [[ 9.17103101e-01 -3.98629416e-01 -4.06083764e-03 3.44179933e+02] [ 3.98625885e-01 9.17112088e-01 -1.67974326e-03 4.65435651e+01] [ 4.39383836e-03 -7.82572467e-05 9.99990344e-01 -6.45934125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02028169299996 meters 0.01751461895700318 Centerline is valid? [True, True] Translation: X:344.23, Y:46.58, Z:-0.07 [[ 9.20842565e-01 -3.89898582e-01 -5.29784853e-03 3.44229810e+02] [ 3.89892425e-01 9.20857803e-01 -2.19167889e-03 4.65756309e+01] [ 5.73309765e-03 -4.73998036e-05 9.99983565e-01 -6.53917668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08028169299996 meters 0.014396007809193067 Centerline is valid? [True, True] Translation: X:344.28, Y:46.60, Z:-0.06 [[ 9.23080485e-01 -3.84596505e-01 -2.81890549e-03 3.44282950e+02] [ 3.84594735e-01 9.23084789e-01 -1.16674027e-03 4.66012116e+01] [ 3.05081301e-03 -7.14103862e-06 9.99995346e-01 -6.03999511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14028169299996 meters 0.014370642135597573 Centerline is valid? [True, True] Translation: X:344.34, Y:46.62, Z:-0.06 [[ 9.23062716e-01 -3.84639360e-01 -2.79025739e-03 3.44337885e+02] [ 3.84637626e-01 9.23066933e-01 -1.15511287e-03 4.66183765e+01] [ 3.01989620e-03 -6.99635274e-06 9.99995440e-01 -6.14748844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20028169299997 meters 0.01489255558159187 Centerline is valid? [True, True] Translation: X:344.40, Y:46.63, Z:-0.06 [[ 9.21976469e-01 -3.87243410e-01 -1.39023271e-03 3.44397556e+02] [ 3.87242982e-01 9.21977517e-01 -5.75852788e-04 4.66279665e+01] [ 1.50475850e-03 -7.43514185e-06 9.99998868e-01 -5.80551621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26028169299997 meters 0.014884616366143199 Centerline is valid? [True, True] Translation: X:344.45, Y:46.64, Z:-0.06 [[ 9.22095538e-01 -3.86954976e-01 -2.37994627e-03 3.44453612e+02] [ 3.86953720e-01 9.22098610e-01 -9.85961074e-04 4.66414042e+01] [ 2.57606770e-03 -1.17787582e-05 9.99996682e-01 -5.99795403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32028169299997 meters 0.014141992620368155 Centerline is valid? [True, True] Translation: X:344.51, Y:46.67, Z:-0.06 [[ 9.24383223e-01 -3.81457878e-01 -2.35458888e-03 3.44506086e+02] [ 3.81456630e-01 9.24386222e-01 -9.75608706e-04 4.66651368e+01] [ 2.54870315e-03 3.66277997e-06 9.99996752e-01 -6.12179049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.380281693 meters 0.016026988149795234 Centerline is valid? [True, True] Translation: X:344.56, Y:46.69, Z:-0.06 [[ 9.26418444e-01 -3.76486296e-01 -2.63348012e-03 3.44560220e+02] [ 3.76484714e-01 9.26422187e-01 -1.09171437e-03 4.66885846e+01] [ 2.85072991e-03 1.99193193e-05 9.99995936e-01 -6.14266707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.440281693 meters 0.017058615157104398 Centerline is valid? [True, True] Translation: X:344.61, Y:46.71, Z:-0.06 [[ 9.27039357e-01 -3.74950828e-01 -3.14757855e-03 3.44614963e+02] [ 3.74948556e-01 9.27044700e-01 -1.30543717e-03 4.67106925e+01] [ 3.40742076e-03 3.00116030e-05 9.99994194e-01 -6.21844133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.500281693 meters 0.01918305145851605 Centerline is valid? [True, True] Translation: X:344.67, Y:46.73, Z:-0.06 [[ 9.27905835e-01 -3.72810202e-01 -1.82080016e-03 3.44669169e+02] [ 3.72809437e-01 9.27907621e-01 -7.55275881e-04 4.67315792e+01] [ 1.97110890e-03 2.20134129e-05 9.99998057e-01 -6.01776564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.560281693 meters 0.02155350237351361 Centerline is valid? [True, True] Translation: X:344.72, Y:46.76, Z:-0.06 [[ 9.28946976e-01 -3.70204575e-01 -2.46755182e-03 3.44722671e+02] [ 3.70203160e-01 9.28950252e-01 -1.02404943e-03 4.67557468e+01] [ 2.67134067e-03 3.77921421e-05 9.99996431e-01 -6.19404272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.620281693 meters 0.02543903912910957 Centerline is valid? [True, True] Translation: X:344.78, Y:46.78, Z:-0.07 [[ 9.30255100e-01 -3.66890659e-01 -4.08588162e-03 3.44775198e+02] [ 3.66886748e-01 9.30264069e-01 -1.69574323e-03 4.67821361e+01] [ 4.42310122e-03 7.84179665e-05 9.99990215e-01 -6.51259001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.680281693 meters 0.03037408172730577 Centerline is valid? [True, True] Translation: X:344.83, Y:46.81, Z:-0.06 [[ 9.31287082e-01 -3.64279048e-01 -2.26858635e-03 3.44825878e+02] [ 3.64277834e-01 9.31289844e-01 -9.41684049e-04 4.68114709e+01] [ 2.45574720e-03 5.05824664e-05 9.99996983e-01 -6.22232633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.740281693 meters 0.02897190129331378 Centerline is valid? [True, True] Translation: X:344.88, Y:46.83, Z:-0.06 [[ 9.31116508e-01 -3.64717896e-01 -1.70413109e-03 3.44880583e+02] [ 3.64717211e-01 9.31118067e-01 -7.07731768e-04 4.68325673e+01] [ 1.84486969e-03 3.74547933e-05 9.99998298e-01 -6.09167791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.800281693 meters 0.02649523046118565 Centerline is valid? [True, True] Translation: X:344.94, Y:46.85, Z:-0.06 [[ 9.30206998e-01 -3.67025749e-01 -2.65340451e-03 3.44936662e+02] [ 3.67024097e-01 9.30210781e-01 -1.10238009e-03 4.68522040e+01] [ 2.87282736e-03 5.15782820e-05 9.99995872e-01 -6.26155323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.860281693 meters 0.024459319217148785 Centerline is valid? [True, True] Translation: X:344.99, Y:46.87, Z:-0.06 [[ 9.29344748e-01 -3.69210557e-01 -1.37989265e-03 3.44993079e+02] [ 3.69210112e-01 9.29345772e-01 -5.73566284e-04 4.68703948e+01] [ 1.49416413e-03 2.35704927e-05 9.99998883e-01 -5.97731085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92028169299994 meters 0.02424778473607905 Centerline is valid? [True, True] Translation: X:345.05, Y:46.89, Z:-0.06 [[ 9.29294219e-01 -3.69339825e-01 5.90394436e-04 3.45046998e+02] [ 3.69339744e-01 9.29294406e-01 2.45435076e-04 4.68916530e+01] [-6.39299195e-04 -1.00252670e-05 9.99999796e-01 -5.68331872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98028169299994 meters 0.02390742620805488 Centerline is valid? [True, True] Translation: X:345.10, Y:46.91, Z:-0.06 [[ 9.28897961e-01 -3.70330613e-01 -1.95315284e-03 3.45101623e+02] [ 3.70329723e-01 9.28900014e-01 -8.12579335e-04 4.69122574e+01] [ 2.11520670e-03 3.14927399e-05 9.99997762e-01 -6.26579291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04028169299994 meters 0.021645805049095374 Centerline is valid? [True, True] Translation: X:345.16, Y:46.93, Z:-0.06 [[ 9.28588272e-01 -3.71108144e-01 -1.60205443e-03 3.45158066e+02] [ 3.71107545e-01 9.28589654e-01 -6.66827392e-04 4.69289024e+01] [ 1.73511625e-03 2.46736068e-05 9.99998494e-01 -6.18152547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10028169299994 meters 0.02414945519983396 Centerline is valid? [True, True] Translation: X:345.21, Y:46.95, Z:-0.06 [[ 9.28785958e-01 -3.70615171e-01 -1.01990119e-03 3.45210992e+02] [ 3.70614928e-01 9.28786517e-01 -4.24567192e-04 4.69528880e+01] [ 1.10462151e-03 1.63414405e-05 9.99999390e-01 -6.01168768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16028169299994 meters 0.02793485172447752 Centerline is valid? [True, True] Translation: X:345.26, Y:46.98, Z:-0.06 [[ 9.29855018e-01 -3.67923964e-01 -1.26589957e-03 3.45263228e+02] [ 3.67923587e-01 9.29855879e-01 -5.27043368e-04 4.69781959e+01] [ 1.37101604e-03 2.43196098e-05 9.99999060e-01 -6.03388190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22028169299995 meters 0.0334761393605038 Centerline is valid? [True, True] Translation: X:345.31, Y:47.01, Z:-0.06 [[ 9.31424741e-01 -3.63933974e-01 -1.24020340e-04 3.45313937e+02] [ 3.63933970e-01 9.31424749e-01 -5.16542599e-05 4.70082672e+01] [ 1.34314354e-04 2.97684102e-06 9.99999991e-01 -5.79161133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28028169299995 meters 0.03360463132239907 Centerline is valid? [True, True] Translation: X:345.37, Y:47.03, Z:-0.06 [[ 9.32701466e-01 -3.60648237e-01 -9.08461952e-04 3.45367463e+02] [ 3.60648039e-01 9.32701908e-01 -3.78306822e-04 4.70332217e+01] [ 9.83759884e-04 2.52123057e-05 9.99999516e-01 -5.88856752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34028169299995 meters 0.03987368465990455 Centerline is valid? [True, True] Translation: X:345.42, Y:47.07, Z:-0.06 [[ 9.32834095e-01 -3.60305262e-01 8.17695734e-04 3.45416003e+02] [ 3.60305102e-01 9.32834453e-01 3.40555076e-04 4.70658362e+01] [-8.85478539e-04 -2.30614417e-05 9.99999608e-01 -5.50645419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40028169299995 meters 0.03522889384048074 Centerline is valid? [True, True] Translation: X:345.47, Y:47.09, Z:-0.05 [[ 9.32766592e-01 -3.60476874e-01 1.70551216e-03 3.45469910e+02] [ 3.60476176e-01 9.32768150e-01 7.10675692e-04 4.70876123e+01] [-1.84702957e-03 -4.80980407e-05 9.99998293e-01 -5.38295089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46028169299996 meters 0.0359911422256002 Centerline is valid? [True, True] Translation: X:345.52, Y:47.12, Z:-0.06 [[ 9.32753719e-01 -3.60513543e-01 -6.95553399e-04 3.45519488e+02] [ 3.60513427e-01 9.32753979e-01 -2.90066964e-04 4.71192253e+01] [ 7.53353269e-04 1.98046998e-05 9.99999716e-01 -5.73041436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52028169299996 meters 0.0374065870442026 Centerline is valid? [True, True] Translation: X:345.57, Y:47.15, Z:-0.05 [[ 9.32962431e-01 -3.59973033e-01 7.19133299e-04 3.45568520e+02] [ 3.59972909e-01 9.32962708e-01 2.99904280e-04 4.71545447e+01] [-7.78882003e-04 -2.09309207e-05 9.99999696e-01 -5.42222793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58028169299996 meters 0.034701811054068964 Centerline is valid? [True, True] Translation: X:345.62, Y:47.18, Z:-0.06 [[ 9.31915760e-01 -3.62674243e-01 -6.39422276e-04 3.45620143e+02] [ 3.62674145e-01 9.31915980e-01 -2.66756485e-04 4.71827780e+01] [ 6.92633543e-04 1.66926454e-05 9.99999760e-01 -5.80337094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64028169299996 meters 0.033813161146351696 Centerline is valid? [True, True] Translation: X:345.67, Y:47.21, Z:-0.06 [[ 9.31596183e-01 -3.63492396e-01 -1.35256797e-03 3.45673020e+02] [ 3.63491959e-01 9.31597165e-01 -5.64532109e-04 4.72077456e+01] [ 1.46525161e-03 3.42683768e-05 9.99998926e-01 -5.93786299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70028169299997 meters 0.04023194414813049 Centerline is valid? [True, True] Translation: X:345.72, Y:47.25, Z:-0.06 [[ 9.31857196e-01 -3.62817756e-01 -2.33268549e-03 3.45717706e+02] [ 3.62816455e-01 9.31860114e-01 -9.73679334e-04 4.72513800e+01] [ 2.52700472e-03 6.09934146e-05 9.99996805e-01 -6.16404471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76028169299997 meters 0.0362999895626012 Centerline is valid? [True, True] Translation: X:345.77, Y:47.28, Z:-0.06 [[ 9.31761360e-01 -3.63056505e-01 -3.27761990e-03 3.45768708e+02] [ 3.63053935e-01 9.31767121e-01 -1.36878076e-03 4.72796320e+01] [ 3.55092322e-03 8.54242217e-05 9.99993692e-01 -6.35319738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82028169299997 meters 0.026102839021753078 Centerline is valid? [True, True] Translation: X:345.83, Y:47.30, Z:-0.06 [[ 9.29410563e-01 -3.69030216e-01 -3.56444027e-03 3.45825384e+02] [ 3.69027220e-01 9.29417396e-01 -1.48865280e-03 4.72974156e+01] [ 3.86221066e-03 6.81941512e-05 9.99992539e-01 -6.43222566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.880281693 meters 0.01880798964793492 Centerline is valid? [True, True] Translation: X:345.88, Y:47.31, Z:-0.06 [[ 9.26559769e-01 -3.76137783e-01 -2.71329597e-03 3.45882669e+02] [ 3.76136077e-01 9.26563742e-01 -1.13329846e-03 4.73123580e+01] [ 2.94031803e-03 2.95002580e-05 9.99995677e-01 -6.29199209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.940281693 meters 0.01357528737115819 Centerline is valid? [True, True] Translation: X:345.94, Y:47.32, Z:-0.06 [[ 9.22705005e-01 -3.85498317e-01 -2.55380466e-03 3.45942200e+02] [ 3.85496840e-01 9.22708539e-01 -1.06685303e-03 4.73194225e+01] [ 2.76768742e-03 -9.30022593e-08 9.99996170e-01 -6.15784537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.000281693 meters 0.014689150391801947 Centerline is valid? [True, True] Translation: X:346.00, Y:47.34, Z:-0.06 [[ 9.20991077e-01 -3.89577561e-01 -2.18186888e-03 3.45996964e+02] [ 3.89576494e-01 9.20993661e-01 -9.11618575e-04 4.73374759e+01] [ 2.36463355e-03 -1.04122570e-05 9.99997204e-01 -6.01162285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.060281693 meters 0.01628031615606106 Centerline is valid? [True, True] Translation: X:346.05, Y:47.36, Z:-0.06 [[ 9.20027665e-01 -3.91846265e-01 -2.36652776e-03 3.46052882e+02] [ 3.91845017e-01 9.20030708e-01 -9.89224099e-04 4.73553743e+01] [ 2.56490198e-03 -1.71985754e-05 9.99996710e-01 -6.16037340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.120281693 meters 0.01741090485066909 Centerline is valid? [True, True] Translation: X:346.11, Y:47.38, Z:-0.06 [[ 9.19021790e-01 -3.94197735e-01 -2.66359521e-03 3.46107821e+02] [ 3.94196162e-01 9.19025650e-01 -1.11390177e-03 4.73756146e+01] [ 2.88700987e-03 -2.62790069e-05 9.99995832e-01 -6.10148502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.180281693 meters 0.018899009964224098 Centerline is valid? [True, True] Translation: X:346.16, Y:47.39, Z:-0.06 [[ 9.17970942e-01 -3.96637748e-01 -2.80098816e-03 3.46164073e+02] [ 3.96636019e-01 9.17975215e-01 -1.17190151e-03 4.73929309e+01] [ 3.03605809e-03 -3.52012632e-05 9.99995391e-01 -6.08086387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.240281693 meters 0.019151745827408976 Centerline is valid? [True, True] Translation: X:346.22, Y:47.41, Z:-0.06 [[ 9.17736392e-01 -3.97184856e-01 -2.02622248e-03 3.46219332e+02] [ 3.97183951e-01 9.17738628e-01 -8.48224361e-04 4.74120476e+01] [ 2.19644451e-03 -2.63366879e-05 9.99997587e-01 -6.03117802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.300281693 meters 0.018913936717967234 Centerline is valid? [True, True] Translation: X:346.27, Y:47.43, Z:-0.06 [[ 9.17856626e-01 -3.96900707e-01 -3.00723627e-03 3.46274477e+02] [ 3.96898710e-01 9.17861551e-01 -1.25953072e-03 4.74313678e+01] [ 3.26013518e-03 -3.74995784e-05 9.99994685e-01 -6.26134959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.360281693 meters 0.01942528108621812 Centerline is valid? [True, True] Translation: X:346.33, Y:47.45, Z:-0.06 [[ 9.17792135e-01 -3.97049403e-01 -3.06079688e-03 3.46329690e+02] [ 3.97047334e-01 9.17797238e-01 -1.28221515e-03 4.74459225e+01] [ 3.31829368e-03 -3.84742612e-05 9.99994494e-01 -6.30323470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42028169299994 meters 0.017430840243888506 Centerline is valid? [True, True] Translation: X:346.39, Y:47.46, Z:-0.06 [[ 9.18238200e-01 -3.96022494e-01 -2.18913507e-03 3.46386188e+02] [ 3.96021432e-01 9.18240809e-01 -9.17506899e-04 4.74645916e+01] [ 2.37350653e-03 -2.44545239e-05 9.99997183e-01 -6.17535005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48028169299994 meters 0.016696552942827857 Centerline is valid? [True, True] Translation: X:346.44, Y:47.48, Z:-0.06 [[ 9.19349377e-01 -3.93428415e-01 -3.28700716e-03 3.46442337e+02] [ 3.93426003e-01 9.19355253e-01 -1.37781184e-03 4.74798487e+01] [ 3.56399762e-03 -2.65036325e-05 9.99993649e-01 -6.37006571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54028169299994 meters 0.013762475276863789 Centerline is valid? [True, True] Translation: X:346.49, Y:47.51, Z:-0.06 [[ 9.21062589e-01 -3.89409271e-01 -2.03144359e-03 3.46494494e+02] [ 3.89408339e-01 9.21064829e-01 -8.51951061e-04 4.75068984e+01] [ 2.20284888e-03 -6.36082418e-06 9.99997574e-01 -6.01187712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60028169299994 meters 0.015386286252018043 Centerline is valid? [True, True] Translation: X:346.54, Y:47.54, Z:-0.06 [[ 9.24879461e-01 -3.80259757e-01 -7.06729341e-04 3.46543450e+02] [ 3.80259641e-01 9.24879731e-01 -2.96569632e-04 4.75413536e+01] [ 7.66413139e-04 5.55051535e-06 9.99999706e-01 -5.65968704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66028169299994 meters 0.01957850760275164 Centerline is valid? [True, True] Translation: X:346.59, Y:47.57, Z:-0.06 [[ 9.26964665e-01 -3.75148247e-01 -5.49806854e-04 3.46594518e+02] [ 3.75148176e-01 9.26964828e-01 -2.30713355e-04 4.75724053e+01] [ 5.96203327e-04 7.60408899e-06 9.99999822e-01 -5.79070917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72028169299995 meters 0.02309061130892888 Centerline is valid? [True, True] Translation: X:346.64, Y:47.60, Z:-0.06 [[ 9.28249580e-01 -3.71957444e-01 -6.14234540e-04 3.46645000e+02] [ 3.71957355e-01 9.28249783e-01 -2.57794904e-04 4.76013910e+01] [ 6.66051812e-04 1.08289566e-05 9.99999778e-01 -5.89221359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78028169299995 meters 0.023976658027165768 Centerline is valid? [True, True] Translation: X:346.70, Y:47.63, Z:-0.06 [[ 9.28318591e-01 -3.71778636e-01 -2.28899951e-03 3.46696995e+02] [ 3.71777397e-01 9.28321412e-01 -9.60790008e-04 4.76274860e+01] [ 2.48212846e-03 4.09209477e-05 9.99996919e-01 -6.22008642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84028169299995 meters 0.024284315794341847 Centerline is valid? [True, True] Translation: X:346.75, Y:47.65, Z:-0.06 [[ 9.28265518e-01 -3.71910786e-01 -2.34410261e-03 3.46748612e+02] [ 3.71909486e-01 9.28268477e-01 -9.84461686e-04 4.76542452e+01] [ 2.54208848e-03 4.20478413e-05 9.99996768e-01 -6.05579701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90028169299995 meters 0.023380628958848116 Centerline is valid? [True, True] Translation: X:346.80, Y:47.68, Z:-0.06 [[ 9.27951425e-01 -3.72699553e-01 -1.09343171e-03 3.46801397e+02] [ 3.72699270e-01 9.27952069e-01 -4.59444094e-04 4.76799484e+01] [ 1.18588682e-03 1.88206027e-05 9.99999297e-01 -5.86059561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96028169299996 meters 0.02603711901052342 Centerline is valid? [True, True] Translation: X:346.85, Y:47.71, Z:-0.06 [[ 9.28731208e-01 -3.70751573e-01 -1.27052229e-03 3.46850844e+02] [ 3.70751189e-01 9.28732077e-01 -5.33890571e-04 4.77118756e+01] [ 1.37791557e-03 2.47931847e-05 9.99999050e-01 -5.82476314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02028169299996 meters 0.029032409358257887 Centerline is valid? [True, True] Translation: X:346.90, Y:47.75, Z:-0.06 [[ 9.29581018e-01 -3.68604940e-01 -3.08684200e-03 3.46900260e+02] [ 3.68602662e-01 9.29586141e-01 -1.29770521e-03 4.77455889e+01] [ 3.34782609e-03 6.85039525e-05 9.99994394e-01 -6.18386359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08028169299996 meters 0.030327174725211754 Centerline is valid? [True, True] Translation: X:346.95, Y:47.78, Z:-0.06 [[ 9.29782695e-01 -3.68093555e-01 -3.35772038e-03 3.46948846e+02] [ 3.68090856e-01 9.29788755e-01 -1.41175614e-03 4.77785848e+01] [ 3.64162899e-03 7.66802563e-05 9.99993366e-01 -6.27682588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14028169299996 meters 0.02599801763482598 Centerline is valid? [True, True] Translation: X:347.00, Y:47.80, Z:-0.06 [[ 9.28248762e-01 -3.71958464e-01 -1.06628391e-03 3.47002967e+02] [ 3.71958194e-01 9.28249374e-01 -4.48533048e-04 4.78031208e+01] [ 1.15661303e-03 1.97372107e-05 9.99999331e-01 -5.83041953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20028169299997 meters 0.023748464767197993 Centerline is valid? [True, True] Translation: X:347.06, Y:47.83, Z:-0.06 [[ 9.27357404e-01 -3.74173560e-01 -1.54649833e-03 3.47056439e+02] [ 3.74172995e-01 9.27358694e-01 -6.50796223e-04 4.78271821e+01] [ 1.67766941e-03 2.48627826e-05 9.99998592e-01 -5.96159314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26028169299997 meters 0.021193510948539857 Centerline is valid? [True, True] Translation: X:347.11, Y:47.85, Z:-0.06 [[ 9.27071026e-01 -3.74878676e-01 -2.30005677e-03 3.47109265e+02] [ 3.74877427e-01 9.27073879e-01 -9.68403400e-04 4.78520563e+01] [ 2.49535633e-03 3.55393696e-05 9.99996886e-01 -5.97101705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32028169299997 meters 0.022187001410186567 Centerline is valid? [True, True] Translation: X:347.16, Y:47.88, Z:-0.06 [[ 9.27386971e-01 -3.74093743e-01 -2.69791196e-03 3.47160406e+02] [ 3.74092019e-01 9.27390894e-01 -1.13641565e-03 4.78825547e+01] [ 2.92714497e-03 4.46297382e-05 9.99995715e-01 -6.03516691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.380281693 meters 0.024550803909229566 Centerline is valid? [True, True] Translation: X:347.21, Y:47.91, Z:-0.06 [[ 9.27213737e-01 -3.74517207e-01 -3.39802797e-03 3.47210342e+02] [ 3.74514475e-01 9.27219962e-01 -1.43159691e-03 4.79116827e+01] [ 3.68687704e-03 5.47856582e-05 9.99993202e-01 -6.31244239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.440281693 meters 0.019705192209988603 Centerline is valid? [True, True] Translation: X:347.27, Y:47.93, Z:-0.06 [[ 9.26313410e-01 -3.76740373e-01 -3.18727768e-03 3.47265839e+02] [ 3.76737980e-01 9.26318892e-01 -1.34347020e-03 4.79318714e+01] [ 3.45857499e-03 4.37059035e-05 9.99994018e-01 -6.13797733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.500281693 meters 0.02166130778860405 Centerline is valid? [True, True] Translation: X:347.32, Y:47.96, Z:-0.06 [[ 9.27107184e-01 -3.74784457e-01 -2.97987945e-03 3.47316191e+02] [ 3.74782354e-01 9.27111972e-01 -1.25664114e-03 4.79638315e+01] [ 3.23365148e-03 4.82347968e-05 9.99994771e-01 -6.08021455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.560281693 meters 0.023735277151452627 Centerline is valid? [True, True] Translation: X:347.37, Y:47.99, Z:-0.06 [[ 9.27402525e-01 -3.74052601e-01 -3.03441613e-03 3.47367627e+02] [ 3.74050415e-01 9.27407488e-01 -1.27980928e-03 4.79917804e+01] [ 3.29285623e-03 5.18737458e-05 9.99994577e-01 -6.11266721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.620281693 meters 0.022454467200005122 Centerline is valid? [True, True] Translation: X:347.42, Y:48.02, Z:-0.06 [[ 9.27352295e-01 -3.74181615e-01 -2.41647450e-03 3.47420402e+02] [ 3.74180228e-01 9.27355443e-01 -1.01977698e-03 4.80169107e+01] [ 2.62251258e-03 4.14955432e-05 9.99996560e-01 -6.00651714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.680281693 meters 0.020954884014884916 Centerline is valid? [True, True] Translation: X:347.48, Y:48.04, Z:-0.06 [[ 9.26215250e-01 -3.76988491e-01 -2.23349563e-03 3.47475105e+02] [ 3.76987314e-01 9.26217942e-01 -9.42668605e-04 4.80365540e+01] [ 2.42407895e-03 3.11145186e-05 9.99997061e-01 -6.04800363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.740281693 meters 0.014475618383260334 Centerline is valid? [True, True] Translation: X:347.54, Y:48.04, Z:-0.06 [[ 9.23096048e-01 -3.84559625e-01 -2.75325403e-03 3.47536977e+02] [ 3.84557868e-01 9.23100154e-01 -1.16256503e-03 4.80428284e+01] [ 2.98860479e-03 1.43736850e-05 9.99995534e-01 -6.16529473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.800281693 meters 0.013281228045591516 Centerline is valid? [True, True] Translation: X:347.60, Y:48.05, Z:-0.06 [[ 9.20737546e-01 -3.90180646e-01 -1.19778785e-03 3.47596548e+02] [ 3.90180318e-01 9.20738325e-01 -5.05846647e-04 4.80511670e+01] [ 1.30022075e-03 -1.60124495e-06 9.99999155e-01 -5.79247367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.860281693 meters 0.0132847388530168 Centerline is valid? [True, True] Translation: X:347.65, Y:48.07, Z:-0.06 [[ 9.20404311e-01 -3.90967633e-01 -4.62373706e-04 3.47652499e+02] [ 3.90967584e-01 9.20404427e-01 -1.95432999e-04 4.80689663e+01] [ 5.01978783e-04 -8.95756418e-07 9.99999874e-01 -5.57452126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92028169299994 meters 0.01314626595243248 Centerline is valid? [True, True] Translation: X:347.71, Y:48.09, Z:-0.06 [[ 9.21219878e-01 -3.89042305e-01 -1.46599119e-04 3.47705934e+02] [ 3.89042300e-01 9.21219889e-01 -6.19858383e-05 4.80888391e+01] [ 1.59165137e-04 6.93279422e-08 9.99999987e-01 -5.62794468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98028169299994 meters 0.013216869934660898 Centerline is valid? [True, True] Translation: X:347.76, Y:48.11, Z:-0.06 [[ 9.21289570e-01 -3.88876181e-01 -9.19091458e-04 3.47760278e+02] [ 3.88875987e-01 9.21290028e-01 -3.88688992e-04 4.81090140e+01] [ 9.97901686e-04 6.82516110e-07 9.99999502e-01 -5.88327871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04028169299994 meters 0.013938016039890169 Centerline is valid? [True, True] Translation: X:347.81, Y:48.13, Z:-0.06 [[ 9.22130509e-01 -3.86868100e-01 -2.89767404e-03 3.47813241e+02] [ 3.86866158e-01 9.22135062e-01 -1.22583590e-03 4.81337992e+01] [ 3.14628364e-03 9.36866211e-06 9.99995050e-01 -6.18031513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10028169299994 meters 0.015271657705808074 Centerline is valid? [True, True] Translation: X:347.86, Y:48.16, Z:-0.06 [[ 9.23441372e-01 -3.83730137e-01 -2.68589304e-03 3.47864949e+02] [ 3.83728453e-01 9.23445278e-01 -1.13677622e-03 4.81632684e+01] [ 2.91649054e-03 1.90926102e-05 9.99995747e-01 -6.14052165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16028169299994 meters 0.021225350522409283 Centerline is valid? [True, True] Translation: X:347.91, Y:48.20, Z:-0.06 [[ 9.25879227e-01 -3.77807382e-01 -3.03951634e-03 3.47912281e+02] [ 3.77805194e-01 9.25884215e-01 -1.28651262e-03 4.82021638e+01] [ 3.30029416e-03 4.28102530e-05 9.99994553e-01 -6.22598400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22028169299995 meters 0.024275967396664166 Centerline is valid? [True, True] Translation: X:347.96, Y:48.24, Z:-0.06 [[ 9.26947460e-01 -3.75170115e-01 -3.97381395e-03 3.47961603e+02] [ 3.75166348e-01 9.26955975e-01 -1.68274812e-03 4.82373818e+01] [ 4.31486739e-03 6.89778312e-05 9.99990689e-01 -6.43398224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28028169299995 meters 0.019829835114220838 Centerline is valid? [True, True] Translation: X:348.02, Y:48.26, Z:-0.06 [[ 9.25666167e-01 -3.78318520e-01 -4.15266261e-03 3.48016210e+02] [ 3.78314434e-01 9.25675480e-01 -1.75923844e-03 4.82606268e+01] [ 4.50957043e-03 5.74552966e-05 9.99989830e-01 -6.33697609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34028169299995 meters 0.018573171524807076 Centerline is valid? [True, True] Translation: X:348.07, Y:48.29, Z:-0.06 [[ 9.24443230e-01 -3.81296126e-01 -4.24021501e-03 3.48068702e+02] [ 3.81291896e-01 9.24452953e-01 -1.79658598e-03 4.82851367e+01] [ 4.60491057e-03 4.40821214e-05 9.99989396e-01 -6.49050908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40028169299995 meters 0.01482127848898948 Centerline is valid? [True, True] Translation: X:348.12, Y:48.31, Z:-0.06 [[ 9.22583274e-01 -3.85787424e-01 -2.85769140e-03 3.48123147e+02] [ 3.85785524e-01 9.22587699e-01 -1.21099791e-03 4.83055070e+01] [ 3.10365870e-03 1.47904424e-05 9.99995184e-01 -6.21693736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46028169299996 meters 0.01417753504806175 Centerline is valid? [True, True] Translation: X:348.18, Y:48.33, Z:-0.06 [[ 9.22174809e-01 -3.86761443e-01 -3.03438088e-03 3.48176878e+02] [ 3.86759303e-01 9.22179801e-01 -1.28658480e-03 4.83277728e+01] [ 3.29584615e-03 1.28810563e-05 9.99994569e-01 -6.09015655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52028169299996 meters 0.014177436383042717 Centerline is valid? [True, True] Translation: X:348.23, Y:48.35, Z:-0.06 [[ 9.22373642e-01 -3.86294541e-01 -1.84162368e-03 3.48227541e+02] [ 3.86293752e-01 9.22375481e-01 -7.81014898e-04 4.83542124e+01] [ 2.00037032e-03 8.97983644e-06 9.99997999e-01 -5.71840532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58028169299996 meters 0.014913037273367874 Centerline is valid? [True, True] Translation: X:348.28, Y:48.38, Z:-0.05 [[ 9.22649761e-01 -3.85638732e-01 4.31011053e-04 3.48278065e+02] [ 3.85638689e-01 9.22649862e-01 1.82791082e-04 4.83809035e+01] [-4.68163609e-04 -2.43761067e-06 9.99999890e-01 -5.34121469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64028169299996 meters 0.01300316528144132 Centerline is valid? [True, True] Translation: X:348.33, Y:48.40, Z:-0.05 [[ 9.21293380e-01 -3.88868228e-01 -9.47918124e-05 3.48334526e+02] [ 3.88868226e-01 9.21293385e-01 -4.02836920e-05 4.83986494e+01] [ 1.02996118e-04 2.51574835e-07 9.99999995e-01 -5.42695823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70028169299997 meters 0.013388786012142728 Centerline is valid? [True, True] Translation: X:348.39, Y:48.41, Z:-0.06 [[ 9.19682717e-01 -3.92654827e-01 -2.42639849e-03 3.48390654e+02] [ 3.92653476e-01 9.19685917e-01 -1.03022409e-03 4.84148765e+01] [ 2.63604698e-03 -5.25450724e-06 9.99996526e-01 -5.86580765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76028169299997 meters 0.0160045047618079 Centerline is valid? [True, True] Translation: X:348.45, Y:48.43, Z:-0.06 [[ 9.17619708e-01 -3.97452427e-01 -2.37468554e-03 3.48449677e+02] [ 3.97451148e-01 9.17622781e-01 -1.00869340e-03 4.84273315e+01] [ 2.57997319e-03 -1.82245478e-05 9.99996672e-01 -5.93926350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82028169299997 meters 0.01958610513851919 Centerline is valid? [True, True] Translation: X:348.51, Y:48.44, Z:-0.06 [[ 9.15417833e-01 -4.02491910e-01 -3.23311270e-03 3.48509107e+02] [ 4.02489569e-01 9.15423541e-01 -1.37339410e-03 4.84391537e+01] [ 3.51244749e-03 -4.40646868e-05 9.99993830e-01 -6.00035721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.880281693 meters 0.02146837231402723 Centerline is valid? [True, True] Translation: X:348.57, Y:48.46, Z:-0.06 [[ 9.14280771e-01 -4.05068384e-01 -3.20575084e-03 3.48565324e+02] [ 4.05066096e-01 9.14286389e-01 -1.36244427e-03 4.84573828e+01] [ 3.48285746e-03 -5.28843826e-05 9.99993933e-01 -5.95044773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.940281693 meters 0.02443077168035438 Centerline is valid? [True, True] Translation: X:348.63, Y:48.47, Z:-0.06 [[ 9.12668598e-01 -4.08686594e-01 -3.36123965e-03 3.48625062e+02] [ 4.08684101e-01 9.12674785e-01 -1.42900003e-03 4.84701789e+01] [ 3.65173183e-03 -6.94817473e-05 9.99993330e-01 -6.03144732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.000281693 meters 0.026685818873109182 Centerline is valid? [True, True] Translation: X:348.69, Y:48.48, Z:-0.05 [[ 9.11172770e-01 -4.12021830e-01 -1.48174096e-03 3.48685050e+02] [ 4.12021349e-01 9.11173974e-01 -6.30196001e-04 4.84822306e+01] [ 1.60977831e-03 -3.62914734e-05 9.99998704e-01 -5.48953437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.060281693 meters 0.028841915806219903 Centerline is valid? [True, True] Translation: X:348.74, Y:48.50, Z:-0.05 [[ 9.11031738e-01 -4.12335321e-01 -8.69244061e-04 3.48742222e+02] [ 4.12335156e-01 9.11032152e-01 -3.69795856e-04 4.84959907e+01] [ 9.44389181e-04 -2.15241238e-05 9.99999554e-01 -5.47151045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.120281693 meters 0.02954937676189501 Centerline is valid? [True, True] Translation: X:348.80, Y:48.51, Z:-0.06 [[ 9.11577386e-01 -4.11128309e-01 -4.28323997e-04 3.48800481e+02] [ 4.11128269e-01 9.11577486e-01 -1.82344509e-04 4.85078852e+01] [ 4.65417502e-04 -9.87497303e-06 9.99999892e-01 -5.52084629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.180281693 meters 0.026590537491839154 Centerline is valid? [True, True] Translation: X:348.86, Y:48.53, Z:-0.06 [[ 9.11755537e-01 -4.10731619e-01 -1.17374344e-03 3.48856430e+02] [ 4.10731316e-01 9.11756292e-01 -4.99806233e-04 4.85261106e+01] [ 1.27545419e-03 -2.63920873e-05 9.99999186e-01 -5.65858825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.240281693 meters 0.026341084921218078 Centerline is valid? [True, True] Translation: X:348.91, Y:48.54, Z:-0.06 [[ 9.12271002e-01 -4.09565884e-01 -4.17191515e-03 3.48914290e+02] [ 4.09562040e-01 9.12280537e-01 -1.77658397e-03 4.85385689e+01] [ 4.53358518e-03 -8.79320379e-05 9.99989719e-01 -6.17494561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.300281693 meters 0.019920658185393892 Centerline is valid? [True, True] Translation: X:348.97, Y:48.56, Z:-0.06 [[ 9.14669737e-01 -4.04197898e-01 -1.82495724e-03 3.48968270e+02] [ 4.04197152e-01 9.14671558e-01 -7.77246180e-04 4.85627144e+01] [ 1.98339775e-03 -2.67189587e-05 9.99998033e-01 -5.70348099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.360281693 meters 0.014133084720085357 Centerline is valid? [True, True] Translation: X:349.02, Y:48.59, Z:-0.06 [[ 9.18258296e-01 -3.95968175e-01 -3.30251620e-03 3.49018374e+02] [ 3.95965677e-01 9.18264234e-01 -1.40670427e-03 4.85934445e+01] [ 3.58959263e-03 -1.59651969e-05 9.99993557e-01 -6.02409805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42028169299994 meters 0.013206881036428213 Centerline is valid? [True, True] Translation: X:349.07, Y:48.62, Z:-0.06 [[ 9.20307512e-01 -3.91169592e-01 -4.52030724e-03 3.49069135e+02] [ 3.91164849e-01 9.20318613e-01 -1.92643605e-03 4.86225495e+01] [ 4.91368609e-03 4.72827029e-06 9.99987928e-01 -6.34379689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48028169299994 meters 0.013469558704530473 Centerline is valid? [True, True] Translation: X:349.12, Y:48.65, Z:-0.06 [[ 9.20915578e-01 -3.89739838e-01 -4.16612165e-03 3.49121720e+02] [ 3.89735790e-01 9.20925002e-01 -1.77642534e-03 4.86473179e+01] [ 4.52902931e-03 1.22510584e-05 9.99989744e-01 -6.21414675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54028169299994 meters 0.013676278751547163 Centerline is valid? [True, True] Translation: X:349.17, Y:48.67, Z:-0.06 [[ 9.21359623e-01 -3.88696803e-01 -3.35274164e-03 3.49173703e+02] [ 3.88694172e-01 9.21365723e-01 -1.43037966e-03 4.86725294e+01] [ 3.64508523e-03 1.47029302e-05 9.99993357e-01 -5.98274854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60028169299994 meters 0.013928124103291844 Centerline is valid? [True, True] Translation: X:349.23, Y:48.70, Z:-0.06 [[ 9.21858132e-01 -3.87520836e-01 -2.27743268e-03 3.49225684e+02] [ 3.87519617e-01 9.21860945e-01 -9.72178960e-04 4.86978821e+01] [ 2.47621585e-03 1.36612374e-05 9.99996934e-01 -5.72258718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66028169299994 meters 0.018156175739003896 Centerline is valid? [True, True] Translation: X:349.27, Y:48.73, Z:-0.05 [[ 9.23564902e-01 -3.83441683e-01 -5.89829589e-04 3.49273888e+02] [ 3.83441600e-01 9.23565090e-01 -2.51862295e-04 4.87325053e+01] [ 6.41320520e-04 6.44597411e-06 9.99999794e-01 -5.34401911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72028169299995 meters 0.022066951062098522 Centerline is valid? [True, True] Translation: X:349.32, Y:48.76, Z:-0.05 [[ 9.24932495e-01 -3.80131305e-01 2.64052172e-04 3.49323632e+02] [ 3.80131289e-01 9.24932533e-01 1.12733727e-04 4.87630390e+01] [-2.87084063e-04 -3.89659517e-06 9.99999959e-01 -5.23060421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78028169299995 meters 0.022855151337855588 Centerline is valid? [True, True] Translation: X:349.38, Y:48.79, Z:-0.06 [[ 9.26218988e-01 -3.76984930e-01 -8.65079378e-04 3.49375669e+02] [ 3.76984749e-01 9.26219392e-01 -3.69484222e-04 4.87898510e+01] [ 9.40543280e-04 1.61015702e-05 9.99999558e-01 -5.54247549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84028169299995 meters 0.022986272553143165 Centerline is valid? [True, True] Translation: X:349.43, Y:48.82, Z:-0.06 [[ 9.26267078e-01 -3.76857245e-01 -2.81362752e-03 3.49428201e+02] [ 3.76855331e-01 9.26271350e-01 -1.20227760e-03 4.88163533e+01] [ 3.05926958e-03 5.32996340e-05 9.99995319e-01 -5.89347737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90028169299995 meters 0.022545045464532017 Centerline is valid? [True, True] Translation: X:349.48, Y:48.84, Z:-0.06 [[ 9.25885445e-01 -3.77798204e-01 -2.15885308e-03 3.49480658e+02] [ 3.77797079e-01 9.25887961e-01 -9.22698836e-04 4.88407634e+01] [ 2.34745004e-03 3.87050354e-05 9.99997244e-01 -5.69194249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96028169299996 meters 0.02251541082034953 Centerline is valid? [True, True] Translation: X:349.53, Y:48.87, Z:-0.06 [[ 9.25652607e-01 -3.78365672e-01 -2.58251094e-03 3.49531924e+02] [ 3.78364063e-01 9.25656209e-01 -1.10437314e-03 4.88681094e+01] [ 2.80837417e-03 4.51365409e-05 9.99996055e-01 -5.86258814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02028169299996 meters 0.024738328273189857 Centerline is valid? [True, True] Translation: X:349.58, Y:48.90, Z:-0.06 [[ 9.26487350e-01 -3.76320388e-01 -2.03860301e-03 3.49581612e+02] [ 3.76319380e-01 9.26489592e-01 -8.72180207e-04 4.89008430e+01] [ 2.21696366e-03 4.08981096e-05 9.99997542e-01 -5.72479697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08028169299996 meters 0.027259060375404147 Centerline is valid? [True, True] Translation: X:349.63, Y:48.93, Z:-0.06 [[ 9.27298963e-01 -3.74303411e-01 -3.68650850e-03 3.49631227e+02] [ 3.74300097e-01 9.27306287e-01 -1.57737199e-03 4.89330528e+01] [ 4.00893822e-03 8.28349206e-05 9.99991961e-01 -5.96169083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14028169299996 meters 0.030504647959715525 Centerline is valid? [True, True] Translation: X:349.68, Y:48.97, Z:-0.06 [[ 9.27910620e-01 -3.72782639e-01 -3.87099355e-03 3.49678782e+02] [ 3.72778970e-01 9.27918690e-01 -1.65657163e-03 4.89686063e+01] [ 4.20950841e-03 9.41254162e-05 9.99991136e-01 -6.13970255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20028169299997 meters 0.025094139245286605 Centerline is valid? [True, True] Translation: X:349.73, Y:49.00, Z:-0.06 [[ 9.26252787e-01 -3.76896173e-01 -2.24684943e-03 3.49732848e+02] [ 3.76894949e-01 9.26255512e-01 -9.61637921e-04 4.89952590e+01] [ 2.44359432e-03 4.38936052e-05 9.99997013e-01 -5.68699998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26028169299997 meters 0.020446475176617122 Centerline is valid? [True, True] Translation: X:349.79, Y:49.02, Z:-0.06 [[ 9.24347406e-01 -3.81543717e-01 -2.50296762e-03 3.49787726e+02] [ 3.81542215e-01 9.24350794e-01 -1.07137718e-03 4.90156016e+01] [ 2.72239734e-03 3.53369054e-05 9.99996294e-01 -5.75813147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32028169299997 meters 0.014789058490364576 Centerline is valid? [True, True] Translation: X:349.84, Y:49.03, Z:-0.06 [[ 9.21569499e-01 -3.88201742e-01 -3.01091988e-03 3.49843876e+02] [ 3.88199603e-01 9.21574418e-01 -1.28896030e-03 4.90327123e+01] [ 3.27516336e-03 1.90285951e-05 9.99994636e-01 -5.95835669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.380281693 meters 0.012242843977385266 Centerline is valid? [True, True] Translation: X:349.90, Y:49.04, Z:-0.05 [[ 9.18722477e-01 -3.94903629e-01 -3.65632780e-04 3.49903473e+02] [ 3.94903598e-01 9.18722550e-01 -1.56651103e-04 4.90439924e+01] [ 3.97777169e-04 -4.70811319e-07 9.99999921e-01 -5.33141947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.440281693 meters 0.013622134341473857 Centerline is valid? [True, True] Translation: X:349.96, Y:49.06, Z:-0.06 [[ 9.17402072e-01 -3.97960163e-01 -1.07104224e-03 3.49959704e+02] [ 3.97959898e-01 9.17402697e-01 -4.58793214e-04 4.90598405e+01] [ 1.16515846e-03 -5.33401701e-06 9.99999321e-01 -5.53853026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.500281693 meters 0.013621773526019003 Centerline is valid? [True, True] Translation: X:350.01, Y:49.08, Z:-0.06 [[ 9.17198929e-01 -3.98419986e-01 -2.76393858e-03 3.50014814e+02] [ 3.98418225e-01 9.17203094e-01 -1.18451133e-03 4.90793746e+01] [ 3.00702600e-03 -1.47709814e-05 9.99995479e-01 -5.89128177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.560281693 meters 0.01272697175272807 Centerline is valid? [True, True] Translation: X:350.07, Y:49.11, Z:-0.06 [[ 9.18765400e-01 -3.94780356e-01 -4.31392520e-03 3.50065663e+02] [ 3.94776026e-01 9.18775528e-01 -1.84899354e-03 4.91065227e+01] [ 4.69347523e-03 -4.24295509e-06 9.99988986e-01 -6.13266271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.620281693 meters 0.01320078871063893 Centerline is valid? [True, True] Translation: X:350.12, Y:49.13, Z:-0.06 [[ 9.19962871e-01 -3.91978543e-01 -4.59758582e-03 3.50116679e+02] [ 3.91973588e-01 9.19974359e-01 -1.97087943e-03 4.91344319e+01] [ 5.00220352e-03 1.10036864e-05 9.99987489e-01 -6.24632267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.680281693 meters 0.013545482418507617 Centerline is valid? [True, True] Translation: X:350.17, Y:49.16, Z:-0.06 [[ 9.20767815e-01 -3.90098399e-01 -3.14153056e-03 3.50167788e+02] [ 3.90096072e-01 9.20773175e-01 -1.34744364e-03 4.91615138e+01] [ 3.41827267e-03 1.51840027e-05 9.99994158e-01 -5.97520123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.740281693 meters 0.015127390741813476 Centerline is valid? [True, True] Translation: X:350.22, Y:49.19, Z:-0.06 [[ 9.21621534e-01 -3.88082900e-01 -2.32590553e-03 3.50217738e+02] [ 3.88081618e-01 9.21624469e-01 -9.97738289e-04 4.91921453e+01] [ 2.53081662e-03 1.68959102e-05 9.99996797e-01 -5.87384819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.800281693 meters 0.014871837338577937 Centerline is valid? [True, True] Translation: X:350.27, Y:49.22, Z:-0.06 [[ 9.21674194e-01 -3.87946055e-01 -3.81296724e-03 3.50270497e+02] [ 3.87942604e-01 9.21682081e-01 -1.63642104e-03 4.92172623e+01] [ 4.14918667e-03 2.90346047e-05 9.99991392e-01 -6.03758301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.860281693 meters 0.01472388364158426 Centerline is valid? [True, True] Translation: X:350.32, Y:49.24, Z:-0.06 [[ 9.21442763e-01 -3.88489360e-01 -4.38773771e-03 3.50323344e+02] [ 3.88484793e-01 9.21453209e-01 -1.88408883e-03 4.92414888e+01] [ 4.77504345e-03 3.15106445e-05 9.99988599e-01 -6.18444211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92028169299994 meters 0.013111980147699183 Centerline is valid? [True, True] Translation: X:350.38, Y:49.26, Z:-0.06 [[ 9.20288226e-01 -3.91234445e-01 -2.27800773e-03 3.50377900e+02] [ 3.91233221e-01 9.20291046e-01 -9.78643904e-04 4.92622074e+01] [ 2.47930932e-03 9.40216167e-06 9.99996926e-01 -5.81941314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98028169299994 meters 0.012666369197039316 Centerline is valid? [True, True] Translation: X:350.43, Y:49.28, Z:-0.06 [[ 9.19879384e-01 -3.92196859e-01 -1.88202209e-03 3.50432032e+02] [ 3.92196025e-01 9.19881310e-01 -8.08962989e-04 4.92838247e+01] [ 2.04850969e-03 6.02679375e-06 9.99997902e-01 -5.71198059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04028169299994 meters 0.01338385163451365 Centerline is valid? [True, True] Translation: X:350.49, Y:49.31, Z:-0.06 [[ 9.20311400e-01 -3.91172773e-01 -3.28458936e-03 3.50485212e+02] [ 3.91170224e-01 9.20317261e-01 -1.41240785e-03 4.93092443e+01] [ 3.57535978e-03 1.50214950e-05 9.99993608e-01 -6.06433279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10028169299994 meters 0.012503276370606596 Centerline is valid? [True, True] Translation: X:350.54, Y:49.33, Z:-0.06 [[ 9.19314956e-01 -3.93513882e-01 -2.61467956e-03 3.50540068e+02] [ 3.93512275e-01 9.19318674e-01 -1.12449009e-03 4.93279717e+01] [ 2.84622621e-03 4.85205786e-06 9.99995949e-01 -5.99449767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16028169299994 meters 0.01263941316771431 Centerline is valid? [True, True] Translation: X:350.60, Y:49.34, Z:-0.06 [[ 9.17687887e-01 -3.97295388e-01 -2.30576606e-03 3.50596472e+02] [ 3.97294149e-01 9.17690784e-01 -9.92181523e-04 4.93427110e+01] [ 2.51016940e-03 -5.55439713e-06 9.99996850e-01 -6.01796648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22028169299995 meters 0.017329871632782365 Centerline is valid? [True, True] Translation: X:350.66, Y:49.35, Z:-0.06 [[ 9.14712916e-01 -4.04093982e-01 -2.88709015e-03 3.50658215e+02] [ 4.04092072e-01 9.14717471e-01 -1.24283877e-03 4.93490145e+01] [ 3.14309547e-03 -2.98095688e-05 9.99995060e-01 -6.18696263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28028169299995 meters 0.022819992419705774 Centerline is valid? [True, True] Translation: X:350.72, Y:49.36, Z:-0.06 [[ 9.12451667e-01 -4.09172059e-01 -3.19085347e-03 3.50719659e+02] [ 4.09169755e-01 9.12457245e-01 -1.37403276e-03 4.93566321e+01] [ 3.47373318e-03 -5.18622530e-05 9.99993965e-01 -6.23789006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34028169299995 meters 0.02457480278789789 Centerline is valid? [True, True] Translation: X:350.78, Y:49.37, Z:-0.06 [[ 9.11900569e-01 -4.10403567e-01 -2.50271479e-03 3.50777108e+02] [ 4.10402154e-01 9.11904003e-01 -1.07794818e-03 4.93701939e+01] [ 2.72462941e-03 -4.41379813e-05 9.99996287e-01 -6.04510643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40028169299995 meters 0.02213741691650122 Centerline is valid? [True, True] Translation: X:350.83, Y:49.39, Z:-0.06 [[ 9.11935393e-01 -4.10327222e-01 -2.32590310e-03 3.50830341e+02] [ 4.10326000e-01 9.11938358e-01 -1.00234766e-03 4.93937941e+01] [ 2.53237078e-03 -4.03022080e-05 9.99996793e-01 -5.95876240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46028169299996 meters 0.02382038949126529 Centerline is valid? [True, True] Translation: X:350.89, Y:49.41, Z:-0.06 [[ 9.12252614e-01 -4.09618039e-01 -2.86879660e-03 3.50887805e+02] [ 4.09616175e-01 9.12257124e-01 -1.23654579e-03 4.94057446e+01] [ 3.12359160e-03 -4.70633575e-05 9.99995120e-01 -6.21368910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52028169299996 meters 0.02305423457149425 Centerline is valid? [True, True] Translation: X:350.94, Y:49.43, Z:-0.06 [[ 9.12446289e-01 -4.09187553e-01 -2.70491734e-03 3.50943813e+02] [ 4.09185893e-01 9.12450297e-01 -1.16641589e-03 4.94250445e+01] [ 2.94538550e-03 -4.25221721e-05 9.99995661e-01 -6.13162690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58028169299996 meters 0.019834295500301916 Centerline is valid? [True, True] Translation: X:351.00, Y:49.45, Z:-0.06 [[ 9.12972943e-01 -4.08018366e-01 -1.19074170e-03 3.50998969e+02] [ 4.08018043e-01 9.12973720e-01 -5.13734132e-04 4.94451325e+01] [ 1.29672884e-03 -1.68187349e-05 9.99999159e-01 -5.68953442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64028169299996 meters 0.017279849298574335 Centerline is valid? [True, True] Translation: X:351.05, Y:49.47, Z:-0.06 [[ 9.13802158e-01 -4.06155085e-01 -1.91393454e-03 3.51053409e+02] [ 4.06154245e-01 9.13804162e-01 -8.26091091e-04 4.94674568e+01] [ 2.08448245e-03 -2.24688165e-05 9.99997827e-01 -5.91350730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70028169299997 meters 0.016230260324340506 Centerline is valid? [True, True] Translation: X:351.11, Y:49.48, Z:-0.06 [[ 9.14466879e-01 -4.04644865e-01 -3.58618400e-03 3.51110385e+02] [ 4.04641904e-01 9.14473910e-01 -1.54851229e-03 4.94834612e+01] [ 3.90606925e-03 -3.50571203e-05 9.99992371e-01 -6.27516250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76028169299997 meters 0.016319813659500807 Centerline is valid? [True, True] Translation: X:351.17, Y:49.50, Z:-0.06 [[ 9.14508150e-01 -4.04552137e-01 -3.52306279e-03 3.51165903e+02] [ 4.04549277e-01 9.14514936e-01 -1.52156739e-03 4.94977687e+01] [ 3.83744688e-03 -3.37667190e-05 9.99992636e-01 -6.32953528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82028169299997 meters 0.014921752642509025 Centerline is valid? [True, True] Translation: X:351.22, Y:49.51, Z:-0.06 [[ 9.15247882e-01 -4.02879577e-01 -3.05972738e-03 3.51221623e+02] [ 4.02877409e-01 9.15252996e-01 -1.32177312e-03 4.95135382e+01] [ 3.33294004e-03 -2.29449937e-05 9.99994445e-01 -6.25627777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.880281693 meters 0.013045102042993946 Centerline is valid? [True, True] Translation: X:351.28, Y:49.53, Z:-0.06 [[ 9.16188688e-01 -4.00743273e-01 -1.76570516e-03 3.51276811e+02] [ 4.00742546e-01 9.16190389e-01 -7.63165430e-04 4.95347614e+01] [ 1.92355551e-03 -8.38964694e-06 9.99998150e-01 -5.89440960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.940281693 meters 0.01199062681476545 Centerline is valid? [True, True] Translation: X:351.33, Y:49.56, Z:-0.06 [[ 9.17691698e-01 -3.97292933e-01 -5.22996637e-04 3.51330363e+02] [ 3.97292869e-01 9.17691847e-01 -2.26087733e-04 4.95567242e+01] [ 5.69772808e-04 -3.03998151e-07 9.99999838e-01 -5.67658001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.000281693 meters 0.012361813833155155 Centerline is valid? [True, True] Translation: X:351.39, Y:49.57, Z:-0.06 [[ 9.18414467e-01 -3.95608051e-01 -3.02286121e-03 3.51385785e+02] [ 3.95605892e-01 9.18419441e-01 -1.30685522e-03 4.95738301e+01] [ 3.29325695e-03 4.37303973e-06 9.99994577e-01 -6.26321880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.060281693 meters 0.013506726526333506 Centerline is valid? [True, True] Translation: X:351.44, Y:49.60, Z:-0.06 [[ 9.19782506e-01 -3.92416389e-01 -3.08535094e-03 3.51439820e+02] [ 3.92414121e-01 9.19787680e-01 -1.33451997e-03 4.95973960e+01] [ 3.36155529e-03 1.67328473e-05 9.99994350e-01 -6.22566065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.120281693 meters 0.016942427537777395 Centerline is valid? [True, True] Translation: X:351.49, Y:49.63, Z:-0.06 [[ 9.22039920e-01 -3.87093021e-01 -1.17382179e-03 3.51490554e+02] [ 3.87092688e-01 9.22040668e-01 -5.07799811e-04 4.96272354e+01] [ 1.27887719e-03 1.38338657e-05 9.99999182e-01 -5.76867022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.180281693 meters 0.029156485214702686 Centerline is valid? [True, True] Translation: X:351.54, Y:49.67, Z:-0.06 [[ 9.25734588e-01 -3.78173849e-01 1.10891731e-04 3.51535093e+02] [ 3.78173846e-01 9.25734595e-01 4.79582134e-05 4.96707205e+01] [-1.20792854e-04 -2.46022442e-06 9.99999993e-01 -5.55476489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.240281693 meters 0.030036715383419836 Centerline is valid? [True, True] Translation: X:351.59, Y:49.70, Z:-0.06 [[ 9.27128064e-01 -3.74744509e-01 -3.27156132e-04 3.51588015e+02] [ 3.74744482e-01 9.27128121e-01 -1.41579599e-04 4.96974727e+01] [ 3.56371828e-04 8.66246462e-06 9.99999936e-01 -5.63683607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.300281693 meters 0.02911854433470045 Centerline is valid? [True, True] Translation: X:351.64, Y:49.72, Z:-0.06 [[ 9.26667529e-01 -3.75881802e-01 -4.02438501e-04 3.51640957e+02] [ 3.75881762e-01 9.26667616e-01 -1.74274391e-04 4.97225362e+01] [ 4.38433298e-04 1.02251265e-05 9.99999904e-01 -5.66309431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.360281693 meters 0.028223390695556537 Centerline is valid? [True, True] Translation: X:351.69, Y:49.75, Z:-0.06 [[ 9.26223195e-01 -3.76970973e-01 -1.86487308e-03 3.51694607e+02] [ 3.76970111e-01 9.26225072e-01 -8.07712696e-04 4.97476030e+01] [ 2.03177644e-03 4.51208242e-05 9.99997935e-01 -5.87081817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42028169299994 meters 0.029215483597321578 Centerline is valid? [True, True] Translation: X:351.75, Y:49.78, Z:-0.05 [[ 9.26623748e-01 -3.75989888e-01 -1.82001176e-04 3.51746373e+02] [ 3.75989880e-01 9.26623766e-01 -7.89186478e-05 4.97772045e+01] [ 1.98319229e-04 4.69729275e-06 9.99999980e-01 -5.41643996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48028169299994 meters 0.03200009910083069 Centerline is valid? [True, True] Translation: X:351.80, Y:49.81, Z:-0.05 [[ 9.27174779e-01 -3.74628445e-01 6.76343775e-04 3.51797277e+02] [ 3.74628330e-01 9.27175026e-01 2.93070545e-04 4.98060447e+01] [-7.36881619e-04 -1.83500784e-05 9.99999728e-01 -5.25851166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54028169299994 meters 0.030100598016967448 Centerline is valid? [True, True] Translation: X:351.85, Y:49.83, Z:-0.06 [[ 9.26271209e-01 -3.76857326e-01 -4.50387206e-04 3.51851870e+02] [ 3.76857276e-01 9.26271319e-01 -1.95306904e-04 4.98293416e+01] [ 4.90783589e-04 1.11754667e-05 9.99999880e-01 -5.61651350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60028169299994 meters 0.02575618762607674 Centerline is valid? [True, True] Translation: X:351.91, Y:49.85, Z:-0.05 [[ 9.24638432e-01 -3.80845433e-01 7.26187255e-04 3.51908400e+02] [ 3.80845303e-01 9.24638717e-01 3.14884392e-04 4.98487338e+01] [-7.91383134e-04 -1.45892058e-05 9.99999687e-01 -5.19438340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66028169299994 meters 0.026597216549436663 Centerline is valid? [True, True] Translation: X:351.96, Y:49.88, Z:-0.05 [[ 9.24806869e-01 -3.80436920e-01 -6.97593187e-05 3.51959381e+02] [ 3.80436918e-01 9.24806872e-01 -3.03254719e-05 4.98779797e+01] [ 7.60508265e-05 1.50618443e-06 9.99999997e-01 -5.34639750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72028169299995 meters 0.028477264325251155 Centerline is valid? [True, True] Translation: X:352.01, Y:49.91, Z:-0.05 [[ 9.25331132e-01 -3.79159097e-01 -8.22393641e-04 3.52010679e+02] [ 3.79158929e-01 9.25331497e-01 -3.57023316e-04 4.99080523e+01] [ 8.96355377e-04 1.85468969e-05 9.99999598e-01 -5.44309222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78028169299995 meters 0.026881725508089097 Centerline is valid? [True, True] Translation: X:352.06, Y:49.94, Z:-0.05 [[ 9.25136348e-01 -3.79634494e-01 -6.23585222e-04 3.52060446e+02] [ 3.79634398e-01 9.25136558e-01 -2.70875377e-04 4.99378961e+01] [ 6.79735123e-04 1.38622563e-05 9.99999769e-01 -5.44771881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84028169299995 meters 0.02313550295690568 Centerline is valid? [True, True] Translation: X:352.11, Y:49.96, Z:-0.06 [[ 9.23703409e-01 -3.83103486e-01 -1.93184051e-03 3.52113969e+02] [ 3.83102568e-01 9.23705428e-01 -8.39348563e-04 4.99632438e+01] [ 2.10600893e-03 3.52160680e-05 9.99997782e-01 -5.71227491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90028169299995 meters 0.019630670509937356 Centerline is valid? [True, True] Translation: X:352.17, Y:49.99, Z:-0.06 [[ 9.22257036e-01 -3.86569508e-01 -2.44430757e-03 3.52168624e+02] [ 3.86568049e-01 9.22260275e-01 -1.06243205e-03 4.99864246e+01] [ 2.66499160e-03 3.49442247e-05 9.99996448e-01 -5.80750818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96028169299996 meters 0.01621518235296547 Centerline is valid? [True, True] Translation: X:352.22, Y:50.01, Z:-0.06 [[ 9.20338995e-01 -3.91115713e-01 -2.15224317e-03 3.52222474e+02] [ 3.91114595e-01 9.20341512e-01 -9.35666477e-04 5.00079697e+01] [ 2.34675259e-03 1.93566316e-05 9.99997246e-01 -5.81689052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02028169299996 meters 0.01365046674902393 Centerline is valid? [True, True] Translation: X:352.28, Y:50.03, Z:-0.06 [[ 9.18937614e-01 -3.94398748e-01 -1.81369887e-03 3.52278792e+02] [ 3.94397960e-01 9.18939403e-01 -7.88852002e-04 5.00272584e+01] [ 1.97780160e-03 9.58664176e-06 9.99998044e-01 -5.72873539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08028169299996 meters 0.013358931288110318 Centerline is valid? [True, True] Translation: X:352.33, Y:50.05, Z:-0.06 [[ 9.18516974e-01 -3.95379058e-01 -1.40335457e-03 3.52332446e+02] [ 3.95378586e-01 9.18518046e-01 -6.10694069e-04 5.00505443e+01] [ 1.53046214e-03 6.07652293e-06 9.99998829e-01 -5.70376551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14028169299996 meters 0.013559871606692244 Centerline is valid? [True, True] Translation: X:352.38, Y:50.08, Z:-0.06 [[ 9.18781992e-01 -3.94762118e-01 -1.58806640e-03 3.52384503e+02] [ 3.94761513e-01 9.18783364e-01 -6.91432906e-04 5.00771024e+01] [ 1.73204051e-03 8.36860718e-06 9.99998500e-01 -5.76290477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20028169299997 meters 0.01387628588680258 Centerline is valid? [True, True] Translation: X:352.44, Y:50.10, Z:-0.05 [[ 9.19020997e-01 -3.94208570e-01 1.00056328e-04 3.52437207e+02] [ 3.94208567e-01 9.19021003e-01 4.35103534e-05 5.01022112e+01] [-1.09106021e-04 -5.43866604e-07 9.99999994e-01 -5.46908151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26028169299997 meters 0.013886391520247137 Centerline is valid? [True, True] Translation: X:352.49, Y:50.12, Z:-0.05 [[ 9.18956675e-01 -3.94358437e-01 -2.29155810e-04 3.52489128e+02] [ 3.94358424e-01 9.18956704e-01 -9.98673632e-05 5.01244952e+01] [ 2.49967805e-04 1.40425596e-06 9.99999969e-01 -5.43796351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32028169299997 meters 0.013498905472037765 Centerline is valid? [True, True] Translation: X:352.54, Y:50.14, Z:-0.06 [[ 9.18481848e-01 -3.95455720e-01 -2.42236930e-03 3.52543543e+02] [ 3.95454311e-01 9.18485042e-01 -1.05597452e-03 5.01447372e+01] [ 2.64250113e-03 1.19570491e-05 9.99996509e-01 -5.96414001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.380281693 meters 0.014495470463206374 Centerline is valid? [True, True] Translation: X:352.60, Y:50.17, Z:-0.06 [[ 9.19035291e-01 -3.94169694e-01 -2.09452603e-03 3.52596189e+02] [ 3.94168637e-01 9.19037677e-01 -9.13165683e-04 5.01678656e+01] [ 2.28489057e-03 1.36350201e-05 9.99997390e-01 -5.94968550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.440281693 meters 0.015721396022386352 Centerline is valid? [True, True] Translation: X:352.65, Y:50.19, Z:-0.06 [[ 9.19656282e-01 -3.92713132e-01 -2.95286730e-03 3.52650346e+02] [ 3.92711021e-01 9.19661022e-01 -1.28797429e-03 5.01919159e+01] [ 3.22144137e-03 2.48701156e-05 9.99994811e-01 -6.11095998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.500281693 meters 0.01966337155950268 Centerline is valid? [True, True] Translation: X:352.70, Y:50.22, Z:-0.06 [[ 9.21404933e-01 -3.88601137e-01 -1.45076205e-03 3.52700548e+02] [ 3.88600623e-01 9.21406075e-01 -6.32902734e-04 5.02204587e+01] [ 1.58268769e-03 1.93926665e-05 9.99998747e-01 -5.74911655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.560281693 meters 0.02627043590985413 Centerline is valid? [True, True] Translation: X:352.75, Y:50.25, Z:-0.06 [[ 9.23377779e-01 -3.83883693e-01 -2.60522431e-03 3.52750927e+02] [ 3.83882013e-01 9.23381453e-01 -1.13666276e-03 5.02522642e+01] [ 2.84196210e-03 4.94703800e-05 9.99995960e-01 -6.00155577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.620281693 meters 0.027467205299028113 Centerline is valid? [True, True] Translation: X:352.81, Y:50.28, Z:-0.06 [[ 9.24204691e-01 -3.81891250e-01 -2.18216379e-03 3.52805059e+02] [ 3.81890065e-01 9.24207266e-01 -9.52533826e-04 5.02754945e+01] [ 2.38053596e-03 4.69895609e-05 9.99997165e-01 -5.98301758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.680281693 meters 0.024872035223544506 Centerline is valid? [True, True] Translation: X:352.86, Y:50.29, Z:-0.06 [[ 9.24139483e-01 -3.82053581e-01 -1.13022245e-03 3.52860660e+02] [ 3.82053263e-01 9.24140174e-01 -4.93652341e-04 5.02928549e+01] [ 1.23308561e-03 2.43984456e-05 9.99999239e-01 -5.74440579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.740281693 meters 0.024026015581180966 Centerline is valid? [True, True] Translation: X:352.92, Y:50.31, Z:-0.06 [[ 9.23363490e-01 -3.83921095e-01 -2.11154752e-03 3.52915951e+02] [ 3.83919990e-01 9.23365903e-01 -9.22306813e-04 5.03101677e+01] [ 2.30382402e-03 4.09591355e-05 9.99997345e-01 -5.92055159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.800281693 meters 0.022786608205321513 Centerline is valid? [True, True] Translation: X:352.97, Y:50.33, Z:-0.05 [[ 9.22909563e-01 -3.85014546e-01 1.31862909e-03 3.52973159e+02] [ 3.85014115e-01 9.22910504e-01 5.76148400e-04 5.03253620e+01] [-1.43880216e-03 -2.40420540e-05 9.99998965e-01 -5.29339859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.860281693 meters 0.026237110377989724 Centerline is valid? [True, True] Translation: X:353.03, Y:50.35, Z:-0.05 [[ 9.24091389e-01 -3.82167915e-01 1.67026096e-03 3.53025721e+02] [ 3.82167220e-01 9.24092897e-01 7.29944842e-04 5.03505590e+01] [-1.82243779e-03 -3.62167562e-05 9.99998339e-01 -5.15727078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92028169299994 meters 0.029791504557158715 Centerline is valid? [True, True] Translation: X:353.08, Y:50.38, Z:-0.06 [[ 9.25629049e-01 -3.78430876e-01 -9.67755110e-04 3.53078800e+02] [ 3.78430640e-01 9.25629554e-01 -4.23021836e-04 5.03787611e+01] [ 1.05586726e-03 2.53331139e-05 9.99999442e-01 -5.68565520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98028169299994 meters 0.032203694165319895 Centerline is valid? [True, True] Translation: X:353.13, Y:50.40, Z:-0.06 [[ 9.26279057e-01 -3.76832702e-01 -2.05503197e-03 3.53132119e+02] [ 3.76831635e-01 9.26281335e-01 -8.98411110e-04 5.04021896e+01] [ 2.24208845e-03 5.77783365e-05 9.99997485e-01 -6.03666479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04028169299994 meters 0.0301874734300487 Centerline is valid? [True, True] Translation: X:353.19, Y:50.42, Z:-0.06 [[ 9.25364082e-01 -3.79079062e-01 -6.16808343e-04 3.53188162e+02] [ 3.79078966e-01 9.25364287e-01 -2.69737156e-04 5.04185720e+01] [ 6.73024121e-04 1.57860065e-05 9.99999773e-01 -5.71969037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10028169299994 meters 0.03397502782106463 Centerline is valid? [True, True] Translation: X:353.24, Y:50.45, Z:-0.05 [[ 9.26330771e-01 -3.76710581e-01 6.63533084e-04 3.53239025e+02] [ 3.76710470e-01 9.26331009e-01 2.90151655e-04 5.04480611e+01] [-7.23954470e-04 -1.88165466e-05 9.99999738e-01 -5.37147995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16028169299994 meters 0.03801087793340851 Centerline is valid? [True, True] Translation: X:353.29, Y:50.48, Z:-0.05 [[ 9.27577564e-01 -3.73630350e-01 4.74268055e-04 3.53290551e+02] [ 3.73630293e-01 9.27577685e-01 2.07409170e-04 5.04794254e+01] [-5.17414826e-04 -1.51871801e-05 9.99999866e-01 -5.37414163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22028169299995 meters 0.04351951602479383 Centerline is valid? [True, True] Translation: X:353.34, Y:50.52, Z:-0.06 [[ 9.29680255e-01 -3.68363489e-01 -1.72174526e-03 3.53340320e+02] [ 3.68362724e-01 9.29681847e-01 -7.53368739e-04 5.05150048e+01] [ 1.87818885e-03 6.61652660e-05 9.99998234e-01 -5.81555426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28028169299995 meters 0.04713483180525441 Centerline is valid? [True, True] Translation: X:353.39, Y:50.55, Z:-0.06 [[ 9.30304824e-01 -3.66773856e-01 -3.14206321e-03 3.53390251e+02] [ 3.66771301e-01 9.30310122e-01 -1.37493803e-03 5.05460877e+01] [ 3.42738452e-03 1.26692868e-04 9.99994118e-01 -6.12569336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34028169299995 meters 0.04276616040890951 Centerline is valid? [True, True] Translation: X:353.44, Y:50.57, Z:-0.06 [[ 9.29939864e-01 -3.67710701e-01 -8.30805649e-04 3.53443512e+02] [ 3.67710523e-01 9.29940234e-01 -3.63770008e-04 5.05709600e+01] [ 9.06361725e-04 3.27882519e-05 9.99999589e-01 -5.67679574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40028169299995 meters 0.035689283570426465 Centerline is valid? [True, True] Translation: X:353.50, Y:50.59, Z:-0.05 [[ 9.28011868e-01 -3.72549423e-01 9.48212138e-04 3.53500344e+02] [ 3.72549193e-01 9.28012352e-01 4.15192451e-04 5.05904008e+01] [-1.03463229e-03 -3.20478546e-05 9.99999464e-01 -5.45394319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46028169299996 meters 0.03328095977669056 Centerline is valid? [True, True] Translation: X:353.56, Y:50.61, Z:-0.06 [[ 9.25713144e-01 -3.78226095e-01 4.43389589e-04 3.53555379e+02] [ 3.78226046e-01 9.25713250e-01 1.94171469e-04 5.06114223e+01] [-4.83892334e-04 -1.20455906e-05 9.99999883e-01 -5.64129616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52028169299996 meters 0.028989362026267108 Centerline is valid? [True, True] Translation: X:353.61, Y:50.63, Z:-0.06 [[ 9.24361813e-01 -3.81516948e-01 -2.37950972e-04 3.53612098e+02] [ 3.81516934e-01 9.24361844e-01 -1.04233910e-04 5.06290974e+01] [ 2.59719802e-04 5.56752045e-06 9.99999966e-01 -5.72582517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58028169299996 meters 0.02373053673866416 Centerline is valid? [True, True] Translation: X:353.67, Y:50.64, Z:-0.06 [[ 9.22808418e-01 -3.85259154e-01 -8.91863165e-05 3.53669596e+02] [ 3.85259152e-01 9.22808422e-01 -3.90842483e-05 5.06444271e+01] [ 9.73594484e-05 1.70742873e-06 9.99999995e-01 -5.74954274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64028169299996 meters 0.024527974732735616 Centerline is valid? [True, True] Translation: X:353.72, Y:50.67, Z:-0.06 [[ 9.22447783e-01 -3.86121836e-01 -1.25370032e-04 3.53722694e+02] [ 3.86121832e-01 9.22447791e-01 -5.49482720e-05 5.06663108e+01] [ 1.36864036e-04 2.27880547e-06 9.99999991e-01 -5.67344889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70028169299997 meters 0.025547641316652388 Centerline is valid? [True, True] Translation: X:353.78, Y:50.69, Z:-0.06 [[ 9.22733809e-01 -3.85437498e-01 5.01854976e-04 3.53775843e+02] [ 3.85437436e-01 9.22733946e-01 2.19904391e-04 5.06927248e+01] [-5.47838020e-04 -9.47952119e-06 9.99999850e-01 -5.56573376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76028169299997 meters 0.02666320268693374 Centerline is valid? [True, True] Translation: X:353.83, Y:50.72, Z:-0.06 [[ 9.23366951e-01 -3.83918368e-01 4.00987023e-04 3.53828332e+02] [ 3.83918328e-01 9.23367038e-01 1.75768391e-04 5.07198331e+01] [-4.37738913e-04 -8.35245566e-06 9.99999904e-01 -5.59340214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82028169299997 meters 0.02678803419215542 Centerline is valid? [True, True] Translation: X:353.88, Y:50.75, Z:-0.06 [[ 9.24832152e-01 -3.80373793e-01 -1.12597992e-03 3.53881033e+02] [ 3.80373474e-01 9.24832837e-01 -4.93771630e-04 5.07488642e+01] [ 1.22916099e-03 2.83629870e-05 9.99999244e-01 -5.82952504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.880281693 meters 0.02824416462476683 Centerline is valid? [True, True] Translation: X:353.93, Y:50.78, Z:-0.06 [[ 9.24347368e-01 -3.81551709e-01 -4.86793167e-04 3.53932040e+02] [ 3.81551649e-01 9.24347496e-01 -2.13526328e-04 5.07770528e+01] [ 5.31437381e-04 1.16357637e-05 9.99999859e-01 -5.87608864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.940281693 meters 0.02557115092307383 Centerline is valid? [True, True] Translation: X:353.99, Y:50.80, Z:-0.06 [[ 9.22909322e-01 -3.85017355e-01 -1.38679231e-04 3.53986315e+02] [ 3.85017350e-01 9.22909333e-01 -6.08484652e-05 5.07986869e+01] [ 1.51416071e-04 2.76370584e-06 9.99999989e-01 -5.81136927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.000281693 meters 0.020059392921083847 Centerline is valid? [True, True] Translation: X:354.04, Y:50.82, Z:-0.06 [[ 9.20628170e-01 -3.90437352e-01 -1.56414450e-03 3.54043055e+02] [ 3.90436749e-01 9.20629499e-01 -6.86188056e-04 5.08159830e+01] [ 1.70791102e-03 2.10245586e-05 9.99998541e-01 -6.06317433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.060281693 meters 0.017840218959528437 Centerline is valid? [True, True] Translation: X:354.10, Y:50.84, Z:-0.06 [[ 9.19931369e-01 -3.92078163e-01 -9.94816813e-04 3.54096787e+02] [ 3.92077920e-01 9.19931907e-01 -4.36675073e-04 5.08399005e+01] [ 1.08637449e-03 1.16653908e-05 9.99999410e-01 -5.89144824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.120281693 meters 0.017610501659353017 Centerline is valid? [True, True] Translation: X:354.15, Y:50.86, Z:-0.06 [[ 9.19693991e-01 -3.92634959e-01 -8.66945994e-04 3.54149349e+02] [ 3.92634774e-01 9.19694400e-01 -3.80758835e-04 5.08635046e+01] [ 9.46824605e-04 9.78846788e-06 9.99999552e-01 -5.91178943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.180281693 meters 0.01681096996017912 Centerline is valid? [True, True] Translation: X:354.20, Y:50.89, Z:-0.06 [[ 9.19131456e-01 -3.93949642e-01 -1.02259334e-03 3.54204038e+02] [ 3.93949386e-01 9.19132025e-01 -4.49296536e-04 5.08859713e+01] [ 1.11689850e-03 1.01125608e-05 9.99999376e-01 -5.99288260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.240281693 meters 0.01335629823096087 Centerline is valid? [True, True] Translation: X:354.26, Y:50.90, Z:-0.06 [[ 9.16516631e-01 -3.99994281e-01 1.35696316e-03 3.54263044e+02] [ 3.99993836e-01 9.16517635e-01 5.96334151e-04 5.08988442e+01] [-1.48221092e-03 -3.77326681e-06 9.99998902e-01 -5.58720680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.300281693 meters 0.013172809454444745 Centerline is valid? [True, True] Translation: X:354.32, Y:50.91, Z:-0.06 [[ 9.15711467e-01 -4.01836031e-01 5.59264490e-04 3.54318858e+02] [ 4.01835956e-01 9.15711638e-01 2.45818847e-04 5.09147397e+01] [-6.10903872e-04 -3.66556369e-07 9.99999813e-01 -5.66717793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.360281693 meters 0.014237912352340888 Centerline is valid? [True, True] Translation: X:354.37, Y:50.94, Z:-0.06 [[ 9.17313329e-01 -3.98166106e-01 -9.35933342e-05 3.54371377e+02] [ 3.98166104e-01 9.17313334e-01 -4.11697094e-05 5.09392959e+01] [ 1.02246796e-04 4.99829957e-07 9.99999995e-01 -5.78272116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42028169299994 meters 0.017553720410214604 Centerline is valid? [True, True] Translation: X:354.42, Y:50.97, Z:-0.06 [[ 9.19111175e-01 -3.93997825e-01 -6.01972508e-04 3.54423393e+02] [ 3.93997736e-01 9.19111372e-01 -2.64830318e-04 5.09678249e+01] [ 6.57622347e-04 6.23269983e-06 9.99999784e-01 -5.84710645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48028169299994 meters 0.02647220820336502 Centerline is valid? [True, True] Translation: X:354.47, Y:51.00, Z:-0.06 [[ 9.22534422e-01 -3.85914700e-01 -2.90649904e-04 3.54471096e+02] [ 3.85914678e-01 9.22534468e-01 -1.27869590e-04 5.10047955e+01] [ 3.17481309e-04 5.79803435e-06 9.99999950e-01 -5.76947562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54028169299994 meters 0.030846404985864415 Centerline is valid? [True, True] Translation: X:354.52, Y:51.04, Z:-0.06 [[ 9.24847972e-01 -3.80335604e-01 -1.02800800e-03 3.54520274e+02] [ 3.80335336e-01 9.24848543e-01 -4.52255580e-04 5.10400156e+01] [ 1.12276060e-03 2.72798878e-05 9.99999369e-01 -5.99147237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60028169299994 meters 0.03442096588476012 Centerline is valid? [True, True] Translation: X:354.57, Y:51.07, Z:-0.06 [[ 9.24861843e-01 -3.80296652e-01 -2.24226269e-03 3.54570275e+02] [ 3.80295377e-01 9.24864559e-01 -9.86599298e-04 5.10705069e+01] [ 2.44898971e-03 5.97459081e-05 9.99996999e-01 -6.22397717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66028169299994 meters 0.027134025067378133 Centerline is valid? [True, True] Translation: X:354.63, Y:51.09, Z:-0.06 [[ 9.23071733e-01 -3.84623639e-01 -1.79781715e-03 3.54627026e+02] [ 3.84622828e-01 9.23073483e-01 -7.91119659e-04 5.10882569e+01] [ 1.96380066e-03 3.87786770e-05 9.99998071e-01 -6.13335491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72028169299995 meters 0.023201537813933613 Centerline is valid? [True, True] Translation: X:354.68, Y:51.11, Z:-0.06 [[ 9.21773211e-01 -3.87729150e-01 5.03514030e-04 3.54682252e+02] [ 3.87729087e-01 9.21773348e-01 2.21598577e-04 5.11100836e+01] [-5.50046041e-04 -9.03659715e-06 9.99999849e-01 -5.69926587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78028169299995 meters 0.023318961330916967 Centerline is valid? [True, True] Translation: X:354.74, Y:51.14, Z:-0.06 [[ 9.21940028e-01 -3.87332652e-01 4.78966944e-05 3.54735131e+02] [ 3.87332652e-01 9.21940029e-01 2.10317055e-05 5.11369413e+01] [-5.23041461e-05 -8.38017534e-07 9.99999999e-01 -5.62905300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84028169299995 meters 0.026222418499234592 Centerline is valid? [True, True] Translation: X:354.79, Y:51.17, Z:-0.06 [[ 9.22677312e-01 -3.85568939e-01 -1.78098097e-03 3.54785069e+02] [ 3.85568143e-01 9.22679030e-01 -7.84520672e-04 5.11660994e+01] [ 1.94576060e-03 3.71698986e-05 9.99998106e-01 -6.03843117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90028169299995 meters 0.02282668057921627 Centerline is valid? [True, True] Translation: X:354.84, Y:51.19, Z:-0.06 [[ 9.21594656e-01 -3.88153641e-01 -2.00550510e-04 3.54839885e+02] [ 3.88153631e-01 9.21594678e-01 -8.83689883e-05 5.11874038e+01] [ 2.19127027e-04 3.59597870e-06 9.99999976e-01 -5.80525602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96028169299996 meters 0.021338017595664244 Centerline is valid? [True, True] Translation: X:354.89, Y:51.21, Z:-0.06 [[ 9.20401459e-01 -3.90971147e-01 -1.64842834e-03 3.54893658e+02] [ 3.90970473e-01 9.20402935e-01 -7.26404518e-04 5.12095650e+01] [ 1.80122149e-03 2.40969707e-05 9.99998378e-01 -5.99525158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02028169299996 meters 0.021514989984828096 Centerline is valid? [True, True] Translation: X:354.95, Y:51.24, Z:-0.06 [[ 9.20709596e-01 -3.90232191e-01 -3.56053902e-03 3.54945405e+02] [ 3.90229038e-01 9.20716478e-01 -1.56969704e-03 5.12371278e+01] [ 3.89079326e-03 5.58094070e-05 9.99992429e-01 -6.40553601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08028169299996 meters 0.0192654827930528 Centerline is valid? [True, True] Translation: X:355.00, Y:51.26, Z:-0.06 [[ 9.19746877e-01 -3.92511176e-01 -8.11465343e-04 3.55000166e+02] [ 3.92511013e-01 9.19747235e-01 -3.57951526e-04 5.12590388e+01] [ 8.86842980e-04 1.07157146e-05 9.99999607e-01 -5.84197905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14028169299996 meters 0.017421890352964084 Centerline is valid? [True, True] Translation: X:355.05, Y:51.28, Z:-0.06 [[ 9.18755621e-01 -3.94826681e-01 3.32680009e-05 3.55054411e+02] [ 3.94826681e-01 9.18755621e-01 1.46159461e-05 5.12808213e+01] [-3.63359283e-05 -2.93388287e-07 9.99999999e-01 -5.64198796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20028169299997 meters 0.016303244814288236 Centerline is valid? [True, True] Translation: X:355.11, Y:51.30, Z:-0.06 [[ 9.17830339e-01 -3.96970216e-01 -1.45484470e-03 3.55107475e+02] [ 3.96969697e-01 9.17831492e-01 -6.42122013e-04 5.13047607e+01] [ 1.59020559e-03 1.18298050e-05 9.99998736e-01 -5.94173144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26028169299997 meters 0.01573760917412615 Centerline is valid? [True, True] Translation: X:355.16, Y:51.33, Z:-0.06 [[ 9.17282529e-01 -3.98235409e-01 -1.14901681e-03 3.55159921e+02] [ 3.98235086e-01 9.17283249e-01 -5.07214680e-04 5.13298050e+01] [ 1.25596472e-03 7.68035764e-06 9.99999211e-01 -5.91582621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32028169299997 meters 0.014099312363040326 Centerline is valid? [True, True] Translation: X:355.22, Y:51.35, Z:-0.06 [[ 9.15759162e-01 -4.01724625e-01 -1.57581133e-03 3.55215559e+02] [ 4.01724022e-01 9.15760518e-01 -6.95965908e-04 5.13500405e+01] [ 1.72265245e-03 4.29589098e-06 9.99998516e-01 -6.01884972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.380281693 meters 0.013735285439080107 Centerline is valid? [True, True] Translation: X:355.27, Y:51.37, Z:-0.06 [[ 9.14963008e-01 -4.03537475e-01 -4.46821106e-04 3.55268778e+02] [ 4.03537426e-01 9.14963118e-01 -1.97377192e-04 5.13717866e+01] [ 4.88473925e-04 2.83790473e-07 9.99999881e-01 -5.70589558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.440281693 meters 0.013719479467057254 Centerline is valid? [True, True] Translation: X:355.32, Y:51.39, Z:-0.05 [[ 9.14246106e-01 -4.05154825e-01 1.90404950e-03 3.55321473e+02] [ 4.05153952e-01 9.14248089e-01 8.41147978e-04 5.13925645e+01] [-2.08156878e-03 2.41691812e-06 9.99997834e-01 -5.25807577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.500281693 meters 0.01462596361940452 Centerline is valid? [True, True] Translation: X:355.38, Y:51.41, Z:-0.06 [[ 9.13009159e-01 -4.07938466e-01 -6.95696633e-04 3.55377268e+02] [ 4.07938350e-01 9.13009424e-01 -3.07546486e-04 5.14123164e+01] [ 7.60637624e-04 -3.00857829e-06 9.99999711e-01 -5.83942168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.560281693 meters 0.018430650681380834 Centerline is valid? [True, True] Translation: X:355.44, Y:51.42, Z:-0.06 [[ 9.10736426e-01 -4.12984429e-01 -1.73900795e-03 3.55435073e+02] [ 4.12983714e-01 9.10738086e-01 -7.68750395e-04 5.14243281e+01] [ 1.90126271e-03 -1.80529731e-05 9.99998192e-01 -6.06130075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.620281693 meters 0.020989702247746593 Centerline is valid? [True, True] Translation: X:355.49, Y:51.44, Z:-0.06 [[ 9.09234469e-01 -4.16282903e-01 -1.10660647e-03 3.55491848e+02] [ 4.16282616e-01 9.09235142e-01 -4.89446499e-04 5.14410492e+01] [ 1.20991370e-03 -1.56394084e-05 9.99999268e-01 -5.89871585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.680281693 meters 0.024170711875010784 Centerline is valid? [True, True] Translation: X:355.55, Y:51.46, Z:-0.05 [[ 9.07781838e-01 -4.19441768e-01 8.58910899e-04 3.55549203e+02] [ 4.19441596e-01 9.07782244e-01 3.79948057e-04 5.14574396e+01] [-9.39070148e-04 1.53530133e-05 9.99999559e-01 -5.47011725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.740281693 meters 0.02596941601007507 Centerline is valid? [True, True] Translation: X:355.61, Y:51.47, Z:-0.06 [[ 9.07220815e-01 -4.20644893e-01 -2.87512409e-03 3.55606129e+02] [ 4.20642973e-01 9.07225369e-01 -1.27236095e-03 5.14730423e+01] [ 3.14359765e-03 -5.50884010e-05 9.99995057e-01 -6.31727111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.800281693 meters 0.024755297850936653 Centerline is valid? [True, True] Translation: X:355.66, Y:51.49, Z:-0.07 [[ 9.07823366e-01 -4.19334704e-01 -3.89137533e-03 3.55660467e+02] [ 4.19331170e-01 9.07831703e-01 -1.72283360e-03 5.14948365e+01] [ 4.25515781e-03 -6.77463699e-05 9.99990944e-01 -6.53143929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.860281693 meters 0.01971261697875345 Centerline is valid? [True, True] Translation: X:355.71, Y:51.52, Z:-0.06 [[ 9.09986495e-01 -4.14632088e-01 -2.19358825e-03 3.55711772e+02] [ 4.14630951e-01 9.09989138e-01 -9.71265949e-04 5.15227495e+01] [ 2.39885951e-03 -2.56906835e-05 9.99997122e-01 -6.18679739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92028169299994 meters 0.014965896429040514 Centerline is valid? [True, True] Translation: X:355.76, Y:51.55, Z:-0.06 [[ 9.12630750e-01 -4.08784436e-01 -6.32076474e-04 3.55762025e+02] [ 4.08784340e-01 9.12630969e-01 -2.79914118e-04 5.15544250e+01] [ 6.91277100e-04 -2.92473324e-06 9.99999761e-01 -5.80669453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98028169299994 meters 0.01378592535968436 Centerline is valid? [True, True] Translation: X:355.81, Y:51.59, Z:-0.06 [[ 9.14528395e-01 -4.04521159e-01 -6.69076942e-04 3.55812159e+02] [ 4.04521050e-01 9.14528639e-01 -2.96345816e-04 5.15850767e+01] [ 7.31768178e-04 3.60956468e-07 9.99999732e-01 -5.89483053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04028169299994 meters 0.014136883887083429 Centerline is valid? [True, True] Translation: X:355.86, Y:51.61, Z:-0.06 [[ 9.14883686e-01 -4.03714414e-01 -1.58517219e-03 3.55863064e+02] [ 4.03713803e-01 9.14885060e-01 -7.02319145e-04 5.16111519e+01] [ 1.73378671e-03 2.58443615e-06 9.99998497e-01 -6.16610899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10028169299994 meters 0.013980364104991466 Centerline is valid? [True, True] Translation: X:355.92, Y:51.63, Z:-0.06 [[ 9.14301332e-01 -4.05031704e-01 -1.54723215e-03 3.55917486e+02] [ 4.05031123e-01 9.14302641e-01 -6.85847659e-04 5.16326314e+01] [ 1.69242848e-03 3.94253651e-07 9.99998568e-01 -6.07254531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16028169299994 meters 0.014248615382391406 Centerline is valid? [True, True] Translation: X:355.97, Y:51.65, Z:-0.06 [[ 9.13228481e-01 -4.07443637e-01 -1.85061528e-03 3.55972080e+02] [ 4.07442810e-01 9.13230356e-01 -8.20722381e-04 5.16520381e+01] [ 2.02443617e-03 -4.51283937e-06 9.99997951e-01 -6.02092184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22028169299995 meters 0.014377916612346879 Centerline is valid? [True, True] Translation: X:356.02, Y:51.68, Z:-0.06 [[ 9.12815080e-01 -4.08366869e-01 -2.26482136e-03 3.56024670e+02] [ 4.08365633e-01 9.12817890e-01 -1.00492495e-03 5.16762983e+01] [ 2.47774751e-03 -7.56455763e-06 9.99996930e-01 -6.17377841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28028169299995 meters 0.01442013062736976 Centerline is valid? [True, True] Translation: X:356.08, Y:51.70, Z:-0.06 [[ 9.12727518e-01 -4.08565666e-01 -1.60458578e-03 3.56075620e+02] [ 4.08565046e-01 9.12728928e-01 -7.12110721e-04 5.17023736e+01] [ 1.75549585e-03 -5.61461006e-06 9.99998459e-01 -6.00086853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34028169299995 meters 0.015969843780882398 Centerline is valid? [True, True] Translation: X:356.13, Y:51.72, Z:-0.06 [[ 9.11390485e-01 -4.11525158e-01 -3.79840617e-03 3.56130749e+02] [ 4.11521705e-01 9.11398400e-01 -1.68593787e-03 5.17218270e+01] [ 4.15566716e-03 -2.65788490e-05 9.99991365e-01 -6.45823689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40028169299995 meters 0.019799834598122637 Centerline is valid? [True, True] Translation: X:356.19, Y:51.74, Z:-0.07 [[ 9.09272336e-01 -4.16181621e-01 -4.08379660e-03 3.56187498e+02] [ 4.16177675e-01 9.09281505e-01 -1.81304807e-03 5.17362389e+01] [ 4.46787800e-03 -5.10305136e-05 9.99990018e-01 -6.52246486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46028169299996 meters 0.025829819775839986 Centerline is valid? [True, True] Translation: X:356.25, Y:51.74, Z:-0.06 [[ 9.06374971e-01 -4.22474017e-01 -3.41663132e-04 3.56249169e+02] [ 4.22473990e-01 9.06375035e-01 -1.51790136e-04 5.17444788e+01] [ 3.73802322e-04 -6.76500611e-06 9.99999930e-01 -5.72384933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52028169299996 meters 0.031130797539200797 Centerline is valid? [True, True] Translation: X:356.31, Y:51.75, Z:-0.06 [[ 9.03580586e-01 -4.28412403e-01 -2.22224171e-03 3.56311122e+02] [ 4.28411270e-01 9.03583316e-01 -9.87109293e-04 5.17509759e+01] [ 2.43087039e-03 -6.01005979e-05 9.99997044e-01 -6.16629549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58028169299996 meters 0.03242789507374721 Centerline is valid? [True, True] Translation: X:356.37, Y:51.77, Z:-0.07 [[ 9.02519080e-01 -4.30617426e-01 -5.28601749e-03 3.56369231e+02] [ 4.30611052e-01 9.02534546e-01 -2.34821623e-03 5.17662574e+01] [ 5.78199623e-03 -1.56907602e-04 9.99983272e-01 -6.83942168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64028169299996 meters 0.0350273743618705 Centerline is valid? [True, True] Translation: X:356.43, Y:51.77, Z:-0.07 [[ 9.03646929e-01 -4.28246398e-01 -5.22026212e-03 3.56429812e+02] [ 4.28240140e-01 9.03661996e-01 -2.31930976e-03 5.17735149e+01] [ 5.71058854e-03 -1.39688644e-04 9.99983685e-01 -6.75658382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70028169299997 meters 0.02298930862688057 Centerline is valid? [True, True] Translation: X:356.48, Y:51.81, Z:-0.07 [[ 9.07288757e-01 -4.20484334e-01 -4.47609384e-03 3.56479776e+02] [ 4.20479634e-01 9.07299795e-01 -1.98954992e-03 5.18067372e+01] [ 4.89773360e-03 -7.70100224e-05 9.99988003e-01 -6.57971468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76028169299997 meters 0.015163645184028277 Centerline is valid? [True, True] Translation: X:356.53, Y:51.84, Z:-0.07 [[ 9.12027418e-01 -4.10102619e-01 -4.67234160e-03 3.56527830e+02] [ 4.10097360e-01 9.12039386e-01 -2.07705874e-03 5.18409340e+01] [ 5.11316679e-03 -2.17804318e-05 9.99986927e-01 -6.77219218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82028169299997 meters 0.014234669898592471 Centerline is valid? [True, True] Translation: X:356.58, Y:51.88, Z:-0.06 [[ 9.14950106e-01 -4.03542588e-01 -4.43651748e-03 3.56575255e+02] [ 4.03537764e-01 9.14960862e-01 -1.97326874e-03 5.18759746e+01] [ 4.85553783e-03 1.51400927e-05 9.99988212e-01 -6.45962672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.880281693 meters 0.01747620436017129 Centerline is valid? [True, True] Translation: X:356.62, Y:51.91, Z:-0.06 [[ 9.17456154e-01 -3.97816553e-01 -4.02442819e-03 3.56623249e+02] [ 3.97812527e-01 9.17464979e-01 -1.79021781e-03 5.19115943e+01] [ 4.40445020e-03 4.14784005e-05 9.99990300e-01 -6.34738354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.940281693 meters 0.017679894460411173 Centerline is valid? [True, True] Translation: X:356.67, Y:51.94, Z:-0.06 [[ 9.17742313e-01 -3.97162972e-01 -3.25888190e-03 3.56673846e+02] [ 3.97160325e-01 9.17748099e-01 -1.45047117e-03 5.19397702e+01] [ 3.56690611e-03 3.68601713e-05 9.99993638e-01 -6.11097830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.000281693 meters 0.017836432152566407 Centerline is valid? [True, True] Translation: X:356.72, Y:51.97, Z:-0.06 [[ 9.17451553e-01 -3.97845563e-01 -1.24748374e-03 3.56724364e+02] [ 3.97845175e-01 9.17452401e-01 -5.55369343e-04 5.19677667e+01] [ 1.36545818e-03 1.32190783e-05 9.99999068e-01 -5.68089084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.060281693 meters 0.015581733023580482 Centerline is valid? [True, True] Translation: X:356.78, Y:51.99, Z:-0.06 [[ 9.16636417e-01 -3.99721073e-01 -8.61927040e-04 3.56779417e+02] [ 3.99720889e-01 9.16636822e-01 -3.83935458e-04 5.19890024e+01] [ 9.43541156e-04 7.39898057e-06 9.99999555e-01 -5.57636403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.120281693 meters 0.015737569560851723 Centerline is valid? [True, True] Translation: X:356.83, Y:52.02, Z:-0.06 [[ 9.16517049e-01 -3.99989672e-01 -2.18219236e-03 3.56830282e+02] [ 3.99988491e-01 9.16519646e-01 -9.72119631e-04 5.20154282e+01] [ 2.38885998e-03 1.81123851e-05 9.99997147e-01 -5.76997941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.180281693 meters 0.0169549967677518 Centerline is valid? [True, True] Translation: X:356.88, Y:52.04, Z:-0.06 [[ 9.16809102e-01 -3.99298209e-01 -4.69157275e-03 3.56880635e+02] [ 3.99292739e-01 9.16821105e-01 -2.09053832e-03 5.20432417e+01] [ 5.13608111e-03 4.33136272e-05 9.99986809e-01 -6.19884290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.240281693 meters 0.01575451672421578 Centerline is valid? [True, True] Translation: X:356.94, Y:52.07, Z:-0.06 [[ 9.16387260e-01 -4.00271256e-01 -4.16063545e-03 3.56935544e+02] [ 4.00266960e-01 9.16396705e-01 -1.85475075e-03 5.20657532e+01] [ 4.55519602e-03 3.43050507e-05 9.99989624e-01 -6.07560418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.300281693 meters 0.015241991486326562 Centerline is valid? [True, True] Translation: X:356.99, Y:52.09, Z:-0.06 [[ 9.15762291e-01 -4.01700254e-01 -4.04129410e-03 3.56989661e+02] [ 4.01696213e-01 9.15771208e-01 -1.80195413e-03 5.20871673e+01] [ 4.42474622e-03 2.67891096e-05 9.99990210e-01 -6.11651019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.360281693 meters 0.014287171171913977 Centerline is valid? [True, True] Translation: X:357.04, Y:52.11, Z:-0.06 [[ 9.15247726e-01 -4.02878399e-01 -3.25522545e-03 3.57043780e+02] [ 4.02875782e-01 9.15253514e-01 -1.45212072e-03 5.21099059e+01] [ 3.56438460e-03 1.75986909e-05 9.99993647e-01 -5.80869048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42028169299994 meters 0.01570301865482685 Centerline is valid? [True, True] Translation: X:357.10, Y:52.14, Z:-0.06 [[ 9.16153837e-01 -4.00797784e-01 -4.82519827e-03 3.57095620e+02] [ 4.00792001e-01 9.16166543e-01 -2.15341314e-03 5.21383120e+01] [ 5.28376844e-03 3.89568444e-05 9.99986040e-01 -6.08831240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48028169299994 meters 0.015465045324836462 Centerline is valid? [True, True] Translation: X:357.15, Y:52.16, Z:-0.06 [[ 9.15753911e-01 -4.01713022e-01 -4.62844653e-03 3.57148512e+02] [ 4.01707711e-01 9.15765607e-01 -2.06589557e-03 5.21605876e+01] [ 5.06846930e-03 3.25692902e-05 9.99987155e-01 -6.16624369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54028169299994 meters 0.013593619225387411 Centerline is valid? [True, True] Translation: X:357.21, Y:52.18, Z:-0.06 [[ 9.13946481e-01 -4.05805797e-01 -4.84609184e-03 3.57205754e+02] [ 4.05800027e-01 9.13959329e-01 -2.16401728e-03 5.21770184e+01] [ 5.30730160e-03 1.12517760e-05 9.99985916e-01 -6.08655452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60028169299994 meters 0.013560007267756746 Centerline is valid? [True, True] Translation: X:357.26, Y:52.20, Z:-0.06 [[ 9.13145608e-01 -4.07597156e-01 -5.44585414e-03 3.57260172e+02] [ 4.07589897e-01 9.13161847e-01 -2.43264173e-03 5.21955635e+01] [ 5.96448408e-03 1.68098831e-06 9.99982212e-01 -6.16780294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66028169299994 meters 0.013722255538700198 Centerline is valid? [True, True] Translation: X:357.31, Y:52.22, Z:-0.06 [[ 9.13988351e-01 -4.05710654e-01 -4.91532735e-03 3.57312122e+02] [ 4.05704707e-01 9.14001567e-01 -2.19674531e-03 5.22209733e+01] [ 5.38385988e-03 1.36281801e-05 9.99985507e-01 -6.09994318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72028169299995 meters 0.015823839989839154 Centerline is valid? [True, True] Translation: X:357.36, Y:52.25, Z:-0.06 [[ 9.15686333e-01 -4.01872480e-01 -4.12904712e-03 3.57364263e+02] [ 4.01868241e-01 9.15695642e-01 -1.84611554e-03 5.22491535e+01] [ 4.52285349e-03 3.11298690e-05 9.99989771e-01 -5.96393672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78028169299995 meters 0.017173429080078063 Centerline is valid? [True, True] Translation: X:357.42, Y:52.27, Z:-0.06 [[ 9.16827314e-01 -3.99273707e-01 -2.86059509e-03 3.57418101e+02] [ 3.99271658e-01 9.16831776e-01 -1.27956878e-03 5.22732016e+01] [ 3.13358265e-03 3.09890629e-05 9.99995090e-01 -5.57821232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84028169299995 meters 0.0190745313042294 Centerline is valid? [True, True] Translation: X:357.47, Y:52.30, Z:-0.05 [[ 9.17720422e-01 -3.97220719e-01 -2.21985876e-03 3.57470663e+02] [ 3.97219479e-01 9.17723106e-01 -9.93090454e-04 5.22985641e+01] [ 2.43169178e-03 2.96082490e-05 9.99997043e-01 -5.37085455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90028169299995 meters 0.02557878048354038 Centerline is valid? [True, True] Translation: X:357.52, Y:52.33, Z:-0.06 [[ 9.19783260e-01 -3.92406367e-01 -3.99973082e-03 3.57519681e+02] [ 3.92402293e-01 9.19791953e-01 -1.78958519e-03 5.23318630e+01] [ 4.38116485e-03 7.65269561e-05 9.99990400e-01 -5.69208465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96028169299996 meters 0.029024880463317144 Centerline is valid? [True, True] Translation: X:357.57, Y:52.36, Z:-0.06 [[ 9.21271012e-01 -3.88891269e-01 -4.82736490e-03 3.57571873e+02] [ 3.88885283e-01 9.21283652e-01 -2.16060253e-03 5.23613489e+01] [ 5.28761183e-03 1.13209315e-04 9.99986014e-01 -5.85683950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02028169299996 meters 0.030767610401906377 Centerline is valid? [True, True] Translation: X:357.62, Y:52.39, Z:-0.05 [[ 9.22661560e-01 -3.85598499e-01 -3.07307183e-03 3.57624620e+02] [ 3.85596055e-01 9.22666674e-01 -1.37551448e-03 5.23891525e+01] [ 3.36581728e-03 8.41699596e-05 9.99994332e-01 -5.46147072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08028169299996 meters 0.03747407823663255 Centerline is valid? [True, True] Translation: X:357.67, Y:52.42, Z:-0.05 [[ 9.23927221e-01 -3.82556813e-01 -2.96229924e-03 3.57673547e+02] [ 3.82554526e-01 9.23931965e-01 -1.32613711e-03 5.24226184e+01] [ 3.24428574e-03 9.20131932e-05 9.99994733e-01 -5.48280125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14028169299996 meters 0.03943757426240377 Centerline is valid? [True, True] Translation: X:357.73, Y:52.45, Z:-0.06 [[ 9.24529288e-01 -3.81088453e-01 -4.14559723e-03 3.57726343e+02] [ 3.81083956e-01 9.24538572e-01 -1.85654209e-03 5.24504747e+01] [ 4.54027130e-03 1.36606947e-04 9.99989684e-01 -5.80440456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20028169299997 meters 0.0371114381990551 Centerline is valid? [True, True] Translation: X:357.78, Y:52.47, Z:-0.05 [[ 9.25143299e-01 -3.79608880e-01 -2.64078767e-03 3.57781380e+02] [ 3.79607047e-01 9.25147064e-01 -1.18319171e-03 5.24716565e+01] [ 2.89226704e-03 9.21602689e-05 9.99995813e-01 -5.35359762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26028169299997 meters 0.048813554870641096 Centerline is valid? [True, True] Translation: X:357.83, Y:52.51, Z:-0.06 [[ 9.26405384e-01 -3.76515124e-01 -3.07025286e-03 3.57827764e+02] [ 3.76512629e-01 9.26410464e-01 -1.37571538e-03 5.25109026e+01] [ 3.36229202e-03 1.18481157e-04 9.99994340e-01 -5.61069025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32028169299997 meters 0.04559081112513025 Centerline is valid? [True, True] Translation: X:357.88, Y:52.54, Z:-0.05 [[ 9.28010962e-01 -3.72547895e-01 -1.92888486e-03 3.57881889e+02] [ 3.72546901e-01 9.28012963e-01 -8.64393596e-04 5.25364994e+01] [ 2.11205816e-03 8.35666564e-05 9.99997766e-01 -5.31781674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.380281693 meters 0.04607736042165613 Centerline is valid? [True, True] Translation: X:357.93, Y:52.57, Z:-0.05 [[ 9.28581601e-01 -3.71122187e-01 -2.12909007e-03 3.57933256e+02] [ 3.71120973e-01 9.28584037e-01 -9.54198118e-04 5.25669316e+01] [ 2.33116315e-03 9.59008358e-05 9.99997278e-01 -5.36064157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.440281693 meters 0.0488430971306293 Centerline is valid? [True, True] Translation: X:357.98, Y:52.60, Z:-0.05 [[ 9.28272515e-01 -3.71893825e-01 -2.26294186e-03 3.57979619e+02] [ 3.71892455e-01 9.28275268e-01 -1.01435241e-03 5.26043909e+01] [ 2.47786436e-03 1.00024454e-04 9.99996925e-01 -5.45036465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.500281693 meters 0.04225495573843624 Centerline is valid? [True, True] Translation: X:358.03, Y:52.63, Z:-0.05 [[ 9.26408639e-01 -3.76514649e-01 -1.93695295e-03 3.58033315e+02] [ 3.76513656e-01 9.26410661e-01 -8.68362100e-04 5.26305173e+01] [ 2.12136492e-03 7.51689147e-05 9.99997747e-01 -5.34780109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.560281693 meters 0.03896771135026671 Centerline is valid? [True, True] Translation: X:358.09, Y:52.66, Z:-0.06 [[ 9.24328198e-01 -3.81587447e-01 -2.89878964e-03 3.58085152e+02] [ 3.81585246e-01 9.24332738e-01 -1.29966353e-03 5.26584417e+01] [ 3.17538146e-03 9.51802897e-05 9.99994954e-01 -5.53145939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.620281693 meters 0.03712416136558818 Centerline is valid? [True, True] Translation: X:358.14, Y:52.68, Z:-0.05 [[ 9.23448361e-01 -3.83714708e-01 -2.47948949e-03 3.58136612e+02] [ 3.83713105e-01 9.23451686e-01 -1.11184645e-03 5.26844929e+01] [ 2.71632058e-03 7.53201750e-05 9.99996308e-01 -5.49549905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.680281693 meters 0.03235479567309212 Centerline is valid? [True, True] Translation: X:358.19, Y:52.71, Z:-0.05 [[ 9.22919149e-01 -3.84983886e-01 -2.76611613e-03 3.58189645e+02] [ 3.84981894e-01 9.22923291e-01 -1.24096304e-03 5.27105711e+01] [ 3.03066378e-03 8.04039278e-05 9.99995404e-01 -5.48163344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.740281693 meters 0.031453976368958206 Centerline is valid? [True, True] Translation: X:358.24, Y:52.74, Z:-0.05 [[ 9.22384984e-01 -3.86263429e-01 -2.55038700e-03 3.58241348e+02] [ 3.86261739e-01 9.22388507e-01 -1.14468785e-03 5.27392272e+01] [ 2.79459871e-03 7.07259607e-05 9.99996093e-01 -5.46872253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.800281693 meters 0.029739942245225935 Centerline is valid? [True, True] Translation: X:358.29, Y:52.76, Z:-0.05 [[ 9.21731326e-01 -3.87827571e-01 -1.06627689e-03 3.58294317e+02] [ 3.87827277e-01 9.21731943e-01 -4.78823729e-04 5.27640088e+01] [ 1.16852251e-03 2.78155686e-05 9.99999317e-01 -5.26503410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.860281693 meters 0.025387357262129654 Centerline is valid? [True, True] Translation: X:358.35, Y:52.79, Z:-0.05 [[ 9.19958375e-01 -3.92015666e-01 5.54180931e-04 3.58349459e+02] [ 3.92015587e-01 9.19958541e-01 2.48843937e-04 5.27863937e+01] [-6.07374202e-04 -1.16785005e-05 9.99999815e-01 -4.93776784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92028169299994 meters 0.021696983733970217 Centerline is valid? [True, True] Translation: X:358.40, Y:52.81, Z:-0.05 [[ 9.18215042e-01 -3.96082227e-01 7.66631079e-05 3.58404221e+02] [ 3.96082226e-01 9.18215045e-01 3.43834806e-05 5.28090923e+01] [-8.40119046e-05 -1.20653463e-06 9.99999996e-01 -5.08816539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98028169299994 meters 0.016197197766949584 Centerline is valid? [True, True] Translation: X:358.46, Y:52.82, Z:-0.05 [[ 9.15468773e-01 -4.02388425e-01 6.94258215e-04 3.58461316e+02] [ 4.02388304e-01 9.15469036e-01 3.11913854e-04 5.28246085e+01] [-7.61082423e-04 -6.18600739e-06 9.99999710e-01 -5.09161524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04028169299994 meters 0.012879484086495401 Centerline is valid? [True, True] Translation: X:358.52, Y:52.84, Z:-0.05 [[ 9.12639873e-01 -4.08764527e-01 1.50769601e-04 3.58519317e+02] [ 4.08764522e-01 9.12639886e-01 6.77093401e-05 5.28387681e+01] [-1.65275528e-04 -1.64979802e-07 9.99999986e-01 -5.31313507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10028169299994 meters 0.013075724259387552 Centerline is valid? [True, True] Translation: X:358.57, Y:52.86, Z:-0.06 [[ 9.11476064e-01 -4.11348147e-01 -2.02167198e-03 3.58573870e+02] [ 4.11347142e-01 9.11478306e-01 -9.09250303e-04 5.28577278e+01] [ 2.21672858e-03 -2.84910346e-06 9.99997543e-01 -5.76030430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16028169299994 meters 0.013779379378841208 Centerline is valid? [True, True] Translation: X:358.63, Y:52.88, Z:-0.06 [[ 9.10455433e-01 -4.13603894e-01 -1.65057290e-03 3.58630096e+02] [ 4.13603227e-01 9.10456929e-01 -7.42731167e-04 5.28751864e+01] [ 1.80997204e-03 -6.45865188e-06 9.99998362e-01 -5.75920084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22028169299995 meters 0.01418926003739818 Centerline is valid? [True, True] Translation: X:358.69, Y:52.89, Z:-0.06 [[ 9.09818764e-01 -4.15004819e-01 -9.04158257e-04 3.58685285e+02] [ 4.15004619e-01 9.09819213e-01 -4.07099980e-04 5.28931848e+01] [ 9.91569007e-04 -4.84265257e-06 9.99999508e-01 -5.65700880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28028169299995 meters 0.01482134662741382 Centerline is valid? [True, True] Translation: X:358.74, Y:52.91, Z:-0.06 [[ 9.09591278e-01 -4.15498480e-01 -2.17262275e-03 3.58740150e+02] [ 4.15497328e-01 9.09593873e-01 -9.78322581e-04 5.29121453e+01] [ 2.38269589e-03 -1.28452633e-05 9.99997161e-01 -5.92735210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34028169299995 meters 0.014742057628146003 Centerline is valid? [True, True] Translation: X:358.79, Y:52.93, Z:-0.06 [[ 9.09540957e-01 -4.15611120e-01 -1.62592846e-03 3.58793359e+02] [ 4.15610475e-01 9.09542411e-01 -7.32544725e-04 5.29346282e+01] [ 1.78330463e-03 -9.47346833e-06 9.99998410e-01 -5.85546818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40028169299995 meters 0.014543802078931078 Centerline is valid? [True, True] Translation: X:358.85, Y:52.95, Z:-0.06 [[ 9.09646390e-01 -4.15381453e-01 -1.30159128e-03 3.58846978e+02] [ 4.15381039e-01 9.09647321e-01 -5.86515500e-04 5.29533234e+01] [ 1.42761669e-03 -7.13463261e-06 9.99998981e-01 -5.85095991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46028169299996 meters 0.013902891918548672 Centerline is valid? [True, True] Translation: X:358.90, Y:52.98, Z:-0.06 [[ 9.10095137e-01 -4.14399360e-01 1.08579373e-04 3.58901637e+02] [ 4.14399357e-01 9.10095144e-01 4.88865119e-05 5.29762985e+01] [-1.19076099e-04 5.03845434e-07 9.99999993e-01 -5.55818402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52028169299996 meters 0.013158722278671884 Centerline is valid? [True, True] Translation: X:358.96, Y:53.00, Z:-0.06 [[ 9.10664656e-01 -4.13146323e-01 -1.62563867e-05 3.58955414e+02] [ 4.13146323e-01 9.10664656e-01 -7.39931539e-06 5.29993155e+01] [ 1.78611168e-05 2.20286090e-08 1.00000000e+00 -5.64209751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58028169299996 meters 0.013344077201832286 Centerline is valid? [True, True] Translation: X:359.01, Y:53.02, Z:-0.06 [[ 9.10561706e-01 -4.13371316e-01 -1.23898532e-03 3.59008138e+02] [ 4.13370938e-01 9.10562549e-01 -5.59016372e-04 5.30207723e+01] [ 1.35925496e-03 -3.14162114e-06 9.99999076e-01 -5.97525848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64028169299996 meters 0.014508921019031359 Centerline is valid? [True, True] Translation: X:359.07, Y:53.04, Z:-0.06 [[ 9.08998576e-01 -4.16798904e-01 5.12091503e-04 3.59065493e+02] [ 4.16798840e-01 9.08998720e-01 2.31069492e-04 5.30358211e+01] [-5.61800031e-04 3.39730501e-06 9.99999842e-01 -5.66528941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70028169299997 meters 0.014454160672165752 Centerline is valid? [True, True] Translation: X:359.12, Y:53.05, Z:-0.05 [[ 9.08647202e-01 -4.17553012e-01 3.12157779e-03 3.59121664e+02] [ 4.17550633e-01 9.08652564e-01 1.40951756e-03 5.30541403e+01] [-3.42497797e-03 2.26625937e-05 9.99994134e-01 -5.27930498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76028169299997 meters 0.013749961241129871 Centerline is valid? [True, True] Translation: X:359.17, Y:53.08, Z:-0.06 [[ 9.09896664e-01 -4.14834829e-01 3.54823176e-04 3.59174406e+02] [ 4.14834798e-01 9.09896733e-01 1.60227370e-04 5.30786053e+01] [-3.89320342e-04 1.40265077e-06 9.99999924e-01 -5.80434991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82028169299997 meters 0.013326193573780185 Centerline is valid? [True, True] Translation: X:359.22, Y:53.11, Z:-0.06 [[ 9.12358382e-01 -4.09392279e-01 3.80237740e-04 3.59223477e+02] [ 4.09392243e-01 9.12358461e-01 1.71743979e-04 5.31101738e+01] [-4.17223778e-04 -1.02567747e-06 9.99999913e-01 -5.79852556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.880281693 meters 0.016626087406705917 Centerline is valid? [True, True] Translation: X:359.27, Y:53.14, Z:-0.06 [[ 9.14832360e-01 -4.03832431e-01 1.05898686e-03 3.59270670e+02] [ 4.03832148e-01 9.14832972e-01 4.78585458e-04 5.31449549e+01] [-1.16206443e-03 -1.01725254e-05 9.99999325e-01 -5.58727557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.940281693 meters 0.02138322093566831 Centerline is valid? [True, True] Translation: X:359.32, Y:53.18, Z:-0.05 [[ 9.17306052e-01 -3.98176511e-01 2.25225297e-03 3.59318134e+02] [ 3.98175211e-01 9.17308816e-01 1.01797833e-03 5.31843170e+01] [-2.47134656e-03 -3.70063782e-05 9.99996946e-01 -5.39075570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.000281693 meters 0.02542341760887722 Centerline is valid? [True, True] Translation: X:359.37, Y:53.22, Z:-0.05 [[ 9.18874499e-01 -3.94535795e-01 3.34092214e-03 3.59367174e+02] [ 3.94532911e-01 9.18880570e-01 1.51020495e-03 5.32208293e+01] [-3.66573835e-03 -6.95850770e-05 9.99993279e-01 -5.25108769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.060281693 meters 0.028053582435393826 Centerline is valid? [True, True] Translation: X:359.42, Y:53.26, Z:-0.05 [[ 9.20014624e-01 -3.91867792e-01 3.56724692e-03 3.59415263e+02] [ 3.91864482e-01 9.20021536e-01 1.61300387e-03 5.32599681e+01] [-3.91402825e-03 -8.61097791e-05 9.99992336e-01 -5.31514502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.120281693 meters 0.028888553656245052 Centerline is valid? [True, True] Translation: X:359.46, Y:53.29, Z:-0.06 [[ 9.19635037e-01 -3.92763345e-01 2.89028050e-03 3.59463346e+02] [ 3.92761175e-01 9.19639577e-01 1.30711772e-03 5.32943574e+01] [-3.17140426e-03 -6.68812915e-05 9.99994969e-01 -5.54284064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.180281693 meters 0.026396610898996576 Centerline is valid? [True, True] Translation: X:359.52, Y:53.32, Z:-0.06 [[ 9.19234553e-01 -3.93702740e-01 2.44751222e-03 3.59515280e+02] [ 3.93701186e-01 9.19237809e-01 1.10731930e-03 5.33212328e+01] [-2.68580042e-03 -5.42976949e-05 9.99996392e-01 -5.67485182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.240281693 meters 0.025786841719726904 Centerline is valid? [True, True] Translation: X:359.57, Y:53.35, Z:-0.05 [[ 9.18484459e-01 -3.95425920e-01 4.96390932e-03 3.59565037e+02] [ 3.95419553e-01 9.18497867e-01 2.24625581e-03 5.33515130e+01] [-5.44756789e-03 -1.00324252e-04 9.99985157e-01 -5.20658559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.300281693 meters 0.024692188013290428 Centerline is valid? [True, True] Translation: X:359.62, Y:53.38, Z:-0.06 [[ 9.17887303e-01 -3.96825432e-01 3.53198612e-03 3.59616487e+02] [ 3.96822218e-01 9.17894096e-01 1.59862429e-03 5.33786272e+01] [-3.87636399e-03 -6.57863713e-05 9.99992485e-01 -5.61815818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.360281693 meters 0.020848387113474948 Centerline is valid? [True, True] Translation: X:359.67, Y:53.40, Z:-0.06 [[ 9.16313460e-01 -4.00443448e-01 3.83258525e-03 3.59671326e+02] [ 4.00439694e-01 9.16321473e-01 1.73490580e-03 5.34003772e+01] [-4.20661182e-03 -5.49982716e-05 9.99991151e-01 -5.66590917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42028169299994 meters 0.01366824865171853 Centerline is valid? [True, True] Translation: X:359.73, Y:53.41, Z:-0.06 [[ 9.12174268e-01 -4.09785834e-01 3.69790475e-03 3.59731758e+02] [ 4.09782415e-01 9.12181764e-01 1.67419547e-03 5.34108299e+01] [-4.05922286e-03 -1.18216885e-05 9.99991761e-01 -5.76494971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48028169299994 meters 0.01497670146321007 Centerline is valid? [True, True] Translation: X:359.79, Y:53.42, Z:-0.06 [[ 9.08514473e-01 -4.17834433e-01 3.97996463e-03 3.59792093e+02] [ 4.17830545e-01 9.08523190e-01 1.80262244e-03 5.34211738e+01] [-4.36908788e-03 2.52422186e-05 9.99990455e-01 -5.75167212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54028169299994 meters 0.027016987523505703 Centerline is valid? [True, True] Translation: X:359.86, Y:53.42, Z:-0.05 [[ 9.02889885e-01 -4.29823707e-01 6.43704940e-03 3.59856373e+02] [ 4.29813837e-01 9.02912821e-01 2.91589731e-03 5.34211666e+01] [-7.06541622e-03 1.33998712e-04 9.99975031e-01 -5.22322103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60028169299994 meters 0.03369337049146293 Centerline is valid? [True, True] Translation: X:359.92, Y:53.43, Z:-0.05 [[ 8.98642496e-01 -4.38624791e-01 7.06805101e-03 3.59918205e+02] [ 4.38613159e-01 8.98670264e-01 3.20218508e-03 5.34278285e+01] [-7.75640503e-03 2.22520586e-04 9.99969894e-01 -5.33237081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66028169299994 meters 0.039651957875414125 Centerline is valid? [True, True] Translation: X:359.98, Y:53.44, Z:-0.06 [[ 8.97224857e-01 -4.41542935e-01 5.23375118e-03 3.59978998e+02] [ 4.41536605e-01 8.97240103e-01 2.37137698e-03 5.34363703e+01] [-5.74299621e-03 1.83234355e-04 9.99983492e-01 -5.62682027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72028169299995 meters 0.034822545406986954 Centerline is valid? [True, True] Translation: X:360.03, Y:53.46, Z:-0.06 [[ 8.97189046e-01 -4.41619420e-01 4.90947773e-03 3.60033795e+02] [ 4.41613845e-01 8.97202462e-01 2.22554058e-03 5.34551921e+01] [-5.38763744e-03 1.71362709e-04 9.99985472e-01 -5.77471855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78028169299995 meters 0.03411191591540233 Centerline is valid? [True, True] Translation: X:360.09, Y:53.47, Z:-0.05 [[ 8.99754702e-01 -4.36359775e-01 5.62340545e-03 3.60091125e+02] [ 4.36352356e-01 8.99772261e-01 2.54953203e-03 5.34698322e+01] [-6.17229746e-03 1.59832777e-04 9.99980938e-01 -5.48570291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84028169299995 meters 0.0254280957877696 Centerline is valid? [True, True] Translation: X:360.14, Y:53.50, Z:-0.06 [[ 9.02534939e-01 -4.30593243e-01 4.48805739e-03 3.60144228e+02] [ 4.30588443e-01 9.02546093e-01 2.03556692e-03 5.34964124e+01] [-4.92718002e-03 9.53353751e-05 9.99987857e-01 -5.99224205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90028169299995 meters 0.018013335360946063 Centerline is valid? [True, True] Translation: X:360.20, Y:53.52, Z:-0.06 [[ 9.06608966e-01 -4.21946264e-01 4.64039337e-03 3.60195749e+02] [ 4.21941016e-01 9.06620840e-01 2.10493577e-03 5.35248595e+01] [-5.09524712e-03 4.96186538e-05 9.99987018e-01 -5.80224800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96028169299996 meters 0.013762083108558133 Centerline is valid? [True, True] Translation: X:360.24, Y:53.57, Z:-0.06 [[ 9.12075462e-01 -4.09988487e-01 5.27178301e-03 3.60240589e+02] [ 4.09981508e-01 9.12090697e-01 2.39233322e-03 5.35689422e+01] [-5.78917332e-03 -2.06548803e-05 9.99983242e-01 -5.77742888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02028169299996 meters 0.01900898998074228 Centerline is valid? [True, True] Translation: X:360.29, Y:53.61, Z:-0.06 [[ 9.15253060e-01 -4.02826081e-01 6.55627449e-03 3.60289027e+02] [ 4.02815100e-01 9.15276538e-01 2.97557281e-03 5.36057836e+01] [-7.19944255e-03 -8.24357532e-05 9.99974080e-01 -5.59090679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08028169299996 meters 0.02465177072977978 Centerline is valid? [True, True] Translation: X:360.34, Y:53.64, Z:-0.06 [[ 9.18016759e-01 -3.96470422e-01 7.51230495e-03 3.60337820e+02] [ 3.96455787e-01 9.18047483e-01 3.40989221e-03 5.36412417e+01] [-8.24857405e-03 -1.52041421e-04 9.99965968e-01 -5.55104133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14028169299996 meters 0.025736825469007307 Centerline is valid? [True, True] Translation: X:360.39, Y:53.67, Z:-0.06 [[ 9.18222789e-01 -3.96008766e-01 6.63077592e-03 3.60387962e+02] [ 3.95997349e-01 9.18246720e-01 3.01021642e-03 5.36718238e+01] [-7.28076033e-03 -1.38279634e-04 9.99973485e-01 -5.69684125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20028169299997 meters 0.024741819225569072 Centerline is valid? [True, True] Translation: X:360.44, Y:53.70, Z:-0.06 [[ 9.17743136e-01 -3.97116872e-01 6.76215123e-03 3.60441536e+02] [ 3.97105020e-01 9.17768038e-01 3.07105054e-03 5.36971859e+01] [-7.42565225e-03 -1.33151352e-04 9.99972421e-01 -5.81100047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26028169299997 meters 0.021045748202757075 Centerline is valid? [True, True] Translation: X:360.50, Y:53.72, Z:-0.06 [[ 9.15848079e-01 -4.01449023e-01 7.80883427e-03 3.60497138e+02] [ 4.01433369e-01 9.15881362e-01 3.54698851e-03 5.37152422e+01] [-8.57590084e-03 -1.13775973e-04 9.99963220e-01 -5.55793815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32028169299997 meters 0.015301054566372561 Centerline is valid? [True, True] Translation: X:360.56, Y:53.73, Z:-0.06 [[ 9.12949603e-01 -4.07989066e-01 8.24281265e-03 3.60557255e+02] [ 4.07971876e-01 9.12986812e-01 3.74560845e-03 5.37266686e+01] [-9.05374653e-03 -5.67160122e-05 9.99959012e-01 -5.68400757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.380281693 meters 0.01382787067932489 Centerline is valid? [True, True] Translation: X:360.62, Y:53.74, Z:-0.06 [[ 9.11267788e-01 -4.11740711e-01 7.78498265e-03 3.60616290e+02] [ 4.11725501e-01 9.11301040e-01 3.53911694e-03 5.37396296e+01] [-8.55166131e-03 -1.98073744e-05 9.99963434e-01 -5.79861365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.440281693 meters 0.013451549258073897 Centerline is valid? [True, True] Translation: X:360.67, Y:53.75, Z:-0.06 [[ 9.10316553e-01 -4.13849660e-01 7.22720480e-03 3.60673596e+02] [ 4.13836607e-01 9.10345242e-01 3.28697984e-03 5.37547115e+01] [-7.93956699e-03 -1.31025111e-06 9.99968481e-01 -5.94853847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.500281693 meters 0.013644410582597992 Centerline is valid? [True, True] Translation: X:360.73, Y:53.76, Z:-0.06 [[ 9.09187850e-01 -4.16336784e-01 6.41367829e-03 3.60731894e+02] [ 4.16326561e-01 9.09210472e-01 2.91763752e-03 5.37640660e+01] [-7.04610328e-03 1.75040449e-05 9.99975176e-01 -6.22123856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.560281693 meters 0.013350886418308672 Centerline is valid? [True, True] Translation: X:360.79, Y:53.78, Z:-0.06 [[ 9.09628606e-01 -4.15380686e-01 5.88938965e-03 3.60788955e+02] [ 4.15372038e-01 9.09647671e-01 2.68042327e-03 5.37784867e+01] [-6.47066564e-03 8.09809896e-06 9.99979065e-01 -6.42078598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.620281693 meters 0.013322476368209239 Centerline is valid? [True, True] Translation: X:360.84, Y:53.80, Z:-0.06 [[ 9.10262804e-01 -4.13989166e-01 5.88206861e-03 3.60843535e+02] [ 4.13980506e-01 9.10281808e-01 2.67770532e-03 5.37951795e+01] [-6.46288104e-03 -2.35381870e-06 9.99979115e-01 -6.41710105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.680281693 meters 0.01479594476852004 Centerline is valid? [True, True] Translation: X:360.90, Y:53.82, Z:-0.06 [[ 9.12155299e-01 -4.09799850e-01 6.06578409e-03 3.60896237e+02] [ 4.09790540e-01 9.12175467e-01 2.76248232e-03 5.38206530e+01] [-6.66512427e-03 -3.41119505e-05 9.99977787e-01 -6.49041568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.740281693 meters 0.019141416312170773 Centerline is valid? [True, True] Translation: X:360.94, Y:53.85, Z:-0.06 [[ 9.14356927e-01 -4.04861642e-01 6.20166509e-03 3.60944913e+02] [ 4.04851793e-01 9.14377956e-01 2.82490889e-03 5.38521197e+01] [-6.81436310e-03 -7.22197808e-05 9.99976779e-01 -6.46118800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.800281693 meters 0.02129780551657195 Centerline is valid? [True, True] Translation: X:361.00, Y:53.88, Z:-0.07 [[ 9.15256116e-01 -4.02831607e-01 5.73923304e-03 3.60996256e+02] [ 4.02823125e-01 9.15274106e-01 2.61530354e-03 5.38811371e+01] [-6.30649832e-03 -8.17767697e-05 9.99980111e-01 -6.60764306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.860281693 meters 0.02316101225534903 Centerline is valid? [True, True] Translation: X:361.05, Y:53.91, Z:-0.07 [[ 9.16021589e-01 -4.01096877e-01 5.07390064e-03 3.61047376e+02] [ 4.01090216e-01 9.16035637e-01 2.31306336e-03 5.39102660e+01] [-5.57563630e-03 -8.37240710e-05 9.99984453e-01 -6.76906706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92028169299994 meters 0.02397272578950664 Centerline is valid? [True, True] Translation: X:361.10, Y:53.94, Z:-0.07 [[ 9.16067274e-01 -4.00975115e-01 6.30131451e-03 3.61096921e+02] [ 4.00964834e-01 9.16088940e-01 2.87327917e-03 5.39408185e+01] [-6.92467798e-03 -1.05511493e-04 9.99976019e-01 -6.59592474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98028169299994 meters 0.021427534384374572 Centerline is valid? [True, True] Translation: X:361.15, Y:53.97, Z:-0.06 [[ 9.14670556e-01 -4.04098682e-01 9.05695111e-03 3.61148754e+02] [ 4.04077590e-01 9.14715388e-01 4.13041237e-03 5.39658594e+01] [-9.95362674e-03 -1.18255603e-04 9.99950454e-01 -5.91880935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04028169299994 meters 0.021162738964213702 Centerline is valid? [True, True] Translation: X:361.20, Y:53.99, Z:-0.06 [[ 9.14480469e-01 -4.04525083e-01 9.21571500e-03 3.61200703e+02] [ 4.04503247e-01 9.14526896e-01 4.20468406e-03 5.39912807e+01] [-1.01289194e-02 -1.17314808e-04 9.99948694e-01 -5.83691451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10028169299994 meters 0.019160948118459555 Centerline is valid? [True, True] Translation: X:361.25, Y:54.02, Z:-0.06 [[ 9.14286452e-01 -4.04972412e-01 8.81080394e-03 3.61253365e+02] [ 4.04952457e-01 9.14328898e-01 4.02167230e-03 5.40175668e+01] [-9.68463898e-03 -1.09003796e-04 9.99953097e-01 -6.21571012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16028169299994 meters 0.018667734658270638 Centerline is valid? [True, True] Translation: X:361.30, Y:54.05, Z:-0.06 [[ 9.14025508e-01 -4.05563017e-01 8.71830845e-03 3.61304119e+02] [ 4.05543487e-01 9.14067081e-01 3.98142191e-03 5.40458371e+01] [-9.58383623e-03 -1.03467973e-04 9.99954069e-01 -6.29907518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22028169299995 meters 0.01824385496040385 Centerline is valid? [True, True] Translation: X:361.36, Y:54.07, Z:-0.07 [[ 9.13930610e-01 -4.05836576e-01 5.24526831e-03 3.61356079e+02] [ 4.05829505e-01 9.13945660e-01 2.39639830e-03 5.40739927e+01] [-5.76643629e-03 -6.14571190e-05 9.99983372e-01 -7.13268652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28028169299995 meters 0.018272420929104572 Centerline is valid? [True, True] Translation: X:361.41, Y:54.10, Z:-0.07 [[ 9.13694166e-01 -4.06370490e-01 5.09860706e-03 3.61406578e+02] [ 4.06363812e-01 9.13708390e-01 2.33053328e-03 5.41022194e+01] [-5.60570000e-03 -5.75052664e-05 9.99984286e-01 -7.20105315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34028169299995 meters 0.018036889854488196 Centerline is valid? [True, True] Translation: X:361.46, Y:54.13, Z:-0.07 [[ 9.13664521e-01 -4.06440560e-01 4.81814030e-03 3.61457215e+02] [ 4.06434591e-01 9.13677223e-01 2.20343569e-03 5.41312045e+01] [-5.29779068e-03 -5.49421322e-05 9.99985965e-01 -7.34898970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40028169299995 meters 0.016005958796349338 Centerline is valid? [True, True] Translation: X:361.51, Y:54.16, Z:-0.08 [[ 9.12141214e-01 -4.09864826e-01 3.03802386e-03 3.61508987e+02] [ 4.09862471e-01 9.12146273e-01 1.38958924e-03 5.41569831e+01] [-3.34066589e-03 -2.23296533e-05 9.99994420e-01 -7.74054934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46028169299996 meters 0.01391684729111825 Centerline is valid? [True, True] Translation: X:361.56, Y:54.18, Z:-0.08 [[ 9.09912891e-01 -4.14784347e-01 3.53208226e-03 3.61563477e+02] [ 4.14781198e-01 9.09919747e-01 1.61623668e-03 5.41784800e+01] [-3.88430107e-03 -5.59328167e-06 9.99992456e-01 -7.69679636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52028169299996 meters 0.013836223091795781 Centerline is valid? [True, True] Translation: X:361.62, Y:54.20, Z:-0.08 [[ 9.08518011e-01 -4.17830059e-01 3.61462919e-03 3.61616283e+02] [ 4.17826782e-01 9.08525201e-01 1.65482301e-03 5.42021058e+01] [-3.97541651e-03 6.85237855e-06 9.99992098e-01 -7.64292307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58028169299996 meters 0.01534368958494 Centerline is valid? [True, True] Translation: X:361.67, Y:54.22, Z:-0.07 [[ 9.06871476e-01 -4.21367621e-01 5.78399861e-03 3.61669905e+02] [ 4.21359298e-01 9.06889920e-01 2.64848591e-03 5.42240085e+01] [-6.36143625e-03 3.53052711e-05 9.99979765e-01 -7.27572750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64028169299996 meters 0.018641307003482602 Centerline is valid? [True, True] Translation: X:361.72, Y:54.25, Z:-0.07 [[ 9.04954023e-01 -4.25456580e-01 6.70184244e-03 3.61723469e+02] [ 4.25445516e-01 9.04978836e-01 3.06923216e-03 5.42452093e+01] [-7.37085059e-03 7.37548224e-05 9.99972832e-01 -7.05332234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70028169299997 meters 0.018789809514550837 Centerline is valid? [True, True] Translation: X:361.78, Y:54.27, Z:-0.07 [[ 9.04767842e-01 -4.25871104e-01 5.38092258e-03 3.61775017e+02] [ 4.25863972e-01 9.04783841e-01 2.46541124e-03 5.42715444e+01] [-5.91851920e-03 6.09162515e-05 9.99982484e-01 -7.41441157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76028169299997 meters 0.018561631400601068 Centerline is valid? [True, True] Translation: X:361.82, Y:54.30, Z:-0.08 [[ 9.04540878e-01 -4.26356411e-01 5.10017416e-03 3.61824694e+02] [ 4.26350005e-01 9.04555254e-01 2.33792515e-03 5.43027198e+01] [-5.61017871e-03 5.97104145e-05 9.99984261e-01 -7.58211592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82028169299997 meters 0.018063096968922755 Centerline is valid? [True, True] Translation: X:361.88, Y:54.33, Z:-0.08 [[ 9.05035361e-01 -4.25309876e-01 4.74387509e-03 3.61875330e+02] [ 4.25304318e-01 9.05047793e-01 2.17497258e-03 5.43310236e+01] [-5.21847100e-03 4.91634674e-05 9.99986382e-01 -7.63818937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.880281693 meters 0.017997350104268603 Centerline is valid? [True, True] Translation: X:361.93, Y:54.36, Z:-0.08 [[ 9.05368107e-01 -4.24605845e-01 4.29739362e-03 3.61925835e+02] [ 4.24601274e-01 9.05378305e-01 1.97069428e-03 5.43588537e+01] [-4.72753526e-03 4.04750580e-05 9.99988824e-01 -7.74040859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.940281693 meters 0.018268886481873733 Centerline is valid? [True, True] Translation: X:361.98, Y:54.39, Z:-0.07 [[ 9.04897952e-01 -4.25574827e-01 6.76475885e-03 3.61978461e+02] [ 4.25563517e-01 9.04923235e-01 3.10346553e-03 5.43859582e+01] [-7.44234427e-03 7.05149635e-05 9.99972303e-01 -7.22885419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.000281693 meters 0.01731624437447039 Centerline is valid? [True, True] Translation: X:362.03, Y:54.41, Z:-0.08 [[ 9.05005626e-01 -4.25354833e-01 6.17114350e-03 3.62031164e+02] [ 4.25345408e-01 9.05026664e-01 2.83235964e-03 5.44123195e+01] [-6.78980728e-03 6.15661355e-05 9.99976947e-01 -7.50528640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.060281693 meters 0.016736809816742023 Centerline is valid? [True, True] Translation: X:362.08, Y:54.44, Z:-0.08 [[ 9.05276506e-01 -4.24785464e-01 5.63541618e-03 3.62084581e+02] [ 4.24777585e-01 9.05294045e-01 2.58759904e-03 5.44374208e+01] [-6.20088317e-03 5.13058555e-05 9.99980773e-01 -7.70375872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.120281693 meters 0.01739803445390355 Centerline is valid? [True, True] Translation: X:362.14, Y:54.46, Z:-0.08 [[ 9.05166284e-01 -4.25045970e-01 3.14993861e-03 3.62138864e+02] [ 4.25043509e-01 9.05171764e-01 1.44668394e-03 5.44575879e+01] [-3.46614267e-03 2.93714268e-05 9.99993992e-01 -8.21399876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.180281693 meters 0.021213036736902342 Centerline is valid? [True, True] Translation: X:362.20, Y:54.47, Z:-0.09 [[ 9.03705229e-01 -4.28150607e-01 1.97892692e-03 3.62196175e+02] [ 4.28149643e-01 9.03707395e-01 9.09002817e-04 5.44711679e+01] [-2.17756100e-03 2.58062554e-05 9.99997629e-01 -8.51685534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.240281693 meters 0.02126842603194305 Centerline is valid? [True, True] Translation: X:362.25, Y:54.49, Z:-0.08 [[ 9.02429748e-01 -4.30809315e-01 4.88723520e-03 3.62251305e+02] [ 4.30803468e-01 9.02442978e-01 2.24588617e-03 5.44920225e+01] [-5.37799977e-03 7.86833826e-05 9.99985535e-01 -7.99442977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.300281693 meters 0.02168896799985025 Centerline is valid? [True, True] Translation: X:362.31, Y:54.51, Z:-0.08 [[ 9.02685274e-01 -4.30284756e-01 3.78478671e-03 3.62306302e+02] [ 4.30281243e-01 9.02693207e-01 1.73968502e-03 5.45111888e+01] [-4.16506120e-03 5.81346797e-05 9.99991324e-01 -8.12126552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.360281693 meters 0.020078966240707104 Centerline is valid? [True, True] Translation: X:362.36, Y:54.54, Z:-0.08 [[ 9.02942359e-01 -4.29740473e-01 4.26877910e-03 3.62360556e+02] [ 4.29735994e-01 9.02952447e-01 1.96298872e-03 5.45350705e+01] [-4.69808023e-03 6.19823654e-05 9.99988962e-01 -8.18444988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42028169299994 meters 0.02028816065842804 Centerline is valid? [True, True] Translation: X:362.42, Y:54.56, Z:-0.09 [[ 9.02844314e-01 -4.29960749e-01 2.42883076e-03 3.62415054e+02] [ 4.29959298e-01 9.02847580e-01 1.11741528e-03 5.45554303e+01] [-2.67330868e-03 3.54463362e-05 9.99996426e-01 -8.61120154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48028169299994 meters 0.01830007480101558 Centerline is valid? [True, True] Translation: X:362.47, Y:54.58, Z:-0.09 [[ 9.04132860e-01 -4.27248080e-01 1.68800994e-03 3.62469334e+02] [ 4.27247374e-01 9.04134436e-01 7.76739051e-04 5.45766564e+01] [-1.85804818e-03 1.89225133e-05 9.99998274e-01 -8.74146620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54028169299994 meters 0.014637961163680427 Centerline is valid? [True, True] Translation: X:362.52, Y:54.61, Z:-0.09 [[ 9.06492718e-01 -4.22211192e-01 2.94294957e-03 3.62521322e+02] [ 4.22209019e-01 9.06497495e-01 1.35476642e-03 5.46050984e+01] [-3.23977396e-03 1.44539518e-05 9.99994752e-01 -8.58542975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60028169299994 meters 0.014670915696318775 Centerline is valid? [True, True] Translation: X:362.57, Y:54.64, Z:-0.09 [[ 9.10104275e-01 -4.14377528e-01 1.21320357e-03 3.62568381e+02] [ 4.14377152e-01 9.10105084e-01 5.58655780e-04 5.46387830e+01] [-1.33563714e-03 -5.71117298e-06 9.99999108e-01 -8.98057148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66028169299994 meters 0.016553330396042853 Centerline is valid? [True, True] Translation: X:362.62, Y:54.67, Z:-0.09 [[ 9.11656940e-01 -4.10950810e-01 1.02732984e-03 3.62619194e+02] [ 4.10950538e-01 9.11657519e-01 4.73252177e-04 5.46687225e+01] [-1.13105634e-03 -9.26188106e-06 9.99999360e-01 -9.08758874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72028169299995 meters 0.018274242240608397 Centerline is valid? [True, True] Translation: X:362.67, Y:54.70, Z:-0.09 [[ 9.12518500e-01 -4.09020797e-01 3.46044675e-03 3.62669689e+02] [ 4.09017691e-01 9.12525060e-01 1.59454195e-03 5.46967425e+01] [-3.80994520e-03 -3.96650845e-05 9.99992741e-01 -8.70619514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78028169299995 meters 0.01865528811307772 Centerline is valid? [True, True] Translation: X:362.72, Y:54.72, Z:-0.09 [[ 9.12720199e-01 -4.08565302e-01 4.02893714e-03 3.62723235e+02] [ 4.08561084e-01 9.12729090e-01 1.85727003e-03 5.47202236e+01] [-4.43614422e-03 -4.91009502e-05 9.99990159e-01 -8.60595498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84028169299995 meters 0.018789124131676806 Centerline is valid? [True, True] Translation: X:362.78, Y:54.75, Z:-0.08 [[ 9.12659053e-01 -4.08681805e-01 5.71265465e-03 3.62776344e+02] [ 4.08673319e-01 9.12676929e-01 2.63460131e-03 5.47453524e+01] [-6.29052172e-03 -6.98831992e-05 9.99980212e-01 -8.29803772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90028169299995 meters 0.020270079372626097 Centerline is valid? [True, True] Translation: X:362.83, Y:54.77, Z:-0.08 [[ 9.13448955e-01 -4.06906517e-01 6.17196401e-03 3.62828203e+02] [ 4.06896562e-01 9.13469802e-01 2.84768246e-03 5.47736829e+01] [-6.79664329e-03 -8.98616255e-05 9.99976899e-01 -8.17944681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96028169299996 meters 0.025376500754724293 Centerline is valid? [True, True] Translation: X:362.88, Y:54.81, Z:-0.09 [[ 9.15832780e-01 -4.01545592e-01 3.38472185e-03 3.62877948e+02] [ 4.01542561e-01 9.15839032e-01 1.56184412e-03 5.48075003e+01] [-3.72701200e-03 -7.12781630e-05 9.99993052e-01 -8.79073887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02028169299996 meters 0.0284792727041018 Centerline is valid? [True, True] Translation: X:362.93, Y:54.84, Z:-0.09 [[ 9.16559350e-01 -3.99890655e-01 2.53414855e-03 3.62926769e+02] [ 3.99888949e-01 9.16562851e-01 1.16955589e-03 5.48383550e+01] [-2.79040089e-03 -5.85893848e-05 9.99996105e-01 -8.89551072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08028169299996 meters 0.025885331509254532 Centerline is valid? [True, True] Translation: X:362.98, Y:54.86, Z:-0.09 [[ 9.15389874e-01 -4.02562607e-01 2.17393506e-03 3.62980260e+02] [ 4.02561359e-01 9.15392454e-01 1.00343665e-03 5.48630118e+01] [-2.39394982e-03 -4.33934954e-05 9.99997134e-01 -9.04079561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14028169299996 meters 0.023074227538224853 Centerline is valid? [True, True] Translation: X:363.03, Y:54.89, Z:-0.09 [[ 9.14519504e-01 -4.04537562e-01 1.85407156e-03 3.63034699e+02] [ 4.04536657e-01 9.14521383e-01 8.56096330e-04 5.48863778e+01] [-2.04191121e-03 -3.28768797e-05 9.99997915e-01 -9.14691435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20028169299997 meters 0.021570753356712467 Centerline is valid? [True, True] Translation: X:363.09, Y:54.91, Z:-0.10 [[ 9.13593189e-01 -4.06628900e-01 6.50199970e-04 3.63086470e+02] [ 4.06628789e-01 9.13593420e-01 3.00309663e-04 5.49138691e+01] [-7.16133003e-04 -9.97083649e-06 9.99999744e-01 -9.50706718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26028169299997 meters 0.01971890813615561 Centerline is valid? [True, True] Translation: X:363.14, Y:54.94, Z:-0.09 [[ 9.12521411e-01 -4.09027937e-01 9.05825609e-04 3.63138714e+02] [ 4.09027723e-01 9.12521861e-01 4.18580215e-04 5.49404421e+01] [-9.97796672e-04 -1.14556223e-05 9.99999502e-01 -9.46049272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32028169299997 meters 0.017354632480742142 Centerline is valid? [True, True] Translation: X:363.19, Y:54.96, Z:-0.09 [[ 9.10995812e-01 -4.12413875e-01 1.19437597e-03 3.63192937e+02] [ 4.12413506e-01 9.10996595e-01 5.52062285e-04 5.49609583e+01] [-1.31575059e-03 -1.03496470e-05 9.99999134e-01 -9.44826689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.380281693 meters 0.016674651938461432 Centerline is valid? [True, True] Translation: X:363.25, Y:54.98, Z:-0.09 [[ 9.10452375e-01 -4.13610413e-01 1.70248643e-03 3.63247204e+02] [ 4.13609664e-01 9.10453967e-01 7.87220802e-04 5.49844404e+01] [-1.87563824e-03 -1.25622103e-05 9.99998241e-01 -9.46002910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.440281693 meters 0.01842169740665178 Centerline is valid? [True, True] Translation: X:363.30, Y:55.02, Z:-0.10 [[ 9.11445918e-01 -4.11417729e-01 1.33852236e-03 3.63297730e+02] [ 4.11417263e-01 9.11446900e-01 6.19171850e-04 5.50153044e+01] [-1.47473033e-03 -1.36504488e-05 9.99998912e-01 -9.52742309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.500281693 meters 0.023280696789287497 Centerline is valid? [True, True] Translation: X:363.35, Y:55.05, Z:-0.10 [[ 9.13471154e-01 -4.06898518e-01 -2.01147188e-03 3.63345898e+02] [ 4.06897455e-01 9.13473368e-01 -9.30707011e-04 5.50501613e+01] [ 2.21612930e-03 3.17112188e-05 9.99997544e-01 -1.02683387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.560281693 meters 0.02572900770740864 Centerline is valid? [True, True] Translation: X:363.40, Y:55.08, Z:-0.10 [[ 9.14335180e-01 -4.04957839e-01 5.72992068e-04 3.63395076e+02] [ 4.04957752e-01 9.14335359e-01 2.65166325e-04 5.50831542e+01] [-6.31288090e-04 -1.04133201e-05 9.99999801e-01 -9.80189090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.620281693 meters 0.024927298932049 Centerline is valid? [True, True] Translation: X:363.45, Y:55.11, Z:-0.10 [[ 9.13841613e-01 -4.06070798e-01 1.15958680e-04 3.63445882e+02] [ 4.06070794e-01 9.13841620e-01 5.36615929e-05 5.51110868e+01] [-1.27758273e-04 -1.95076348e-06 9.99999992e-01 -9.96781027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.680281693 meters 0.02173874254386857 Centerline is valid? [True, True] Translation: X:363.50, Y:55.13, Z:-0.10 [[ 9.12437716e-01 -4.09215577e-01 1.63896579e-04 3.63499772e+02] [ 4.09215570e-01 9.12437730e-01 7.58478353e-05 5.51345184e+01] [-1.80583538e-04 -2.13739373e-06 9.99999984e-01 -9.94228634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.740281693 meters 0.018899139896360374 Centerline is valid? [True, True] Translation: X:363.55, Y:55.16, Z:-0.10 [[ 9.11779794e-01 -4.10679335e-01 -3.02833327e-04 3.63554552e+02] [ 4.10679311e-01 9.11779844e-01 -1.40375252e-04 5.51559375e+01] [ 3.33766539e-04 3.62393603e-06 9.99999944e-01 -1.00018113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.800281693 meters 0.018684587531782672 Centerline is valid? [True, True] Translation: X:363.60, Y:55.19, Z:-0.11 [[ 9.10595521e-01 -4.13291081e-01 -2.50586057e-03 3.63603447e+02] [ 4.13289450e-01 9.10598969e-01 -1.16133932e-03 5.51874485e+01] [ 2.76180523e-03 2.18646469e-05 9.99996186e-01 -1.07068221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.860281693 meters 0.016896770310913918 Centerline is valid? [True, True] Translation: X:363.66, Y:55.21, Z:-0.11 [[ 9.10042606e-01 -4.14509599e-01 -2.06117028e-03 3.63656000e+02] [ 4.14508497e-01 9.10044940e-01 -9.55693488e-04 5.52142914e+01] [ 2.27190171e-03 1.53491977e-05 9.99997419e-01 -1.05098543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92028169299994 meters 0.015167794362202548 Centerline is valid? [True, True] Translation: X:363.71, Y:55.24, Z:-0.11 [[ 9.08078503e-01 -4.18796414e-01 -1.73066477e-03 3.63708257e+02] [ 4.18795645e-01 9.08080153e-01 -8.02540784e-04 5.52396193e+01] [ 1.90768353e-03 3.97516438e-06 9.99998180e-01 -1.05011864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98028169299994 meters 0.017522463820095844 Centerline is valid? [True, True] Translation: X:363.77, Y:55.26, Z:-0.10 [[ 9.03838930e-01 -4.27872713e-01 -3.61831664e-04 3.63765591e+02] [ 4.27872680e-01 9.03839002e-01 -1.67914547e-04 5.52560282e+01] [ 3.98883623e-04 -3.05017963e-06 9.99999920e-01 -1.02477765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04028169299994 meters 0.023043524038375774 Centerline is valid? [True, True] Translation: X:363.82, Y:55.27, Z:-0.10 [[ 9.00861926e-01 -4.34105484e-01 4.67634948e-04 3.63823879e+02] [ 4.34105430e-01 9.00862047e-01 2.16957917e-04 5.52728600e+01] [-5.15457198e-04 7.55374317e-06 9.99999867e-01 -9.99452360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10028169299994 meters 0.03515471826186783 Centerline is valid? [True, True] Translation: X:363.89, Y:55.28, Z:-0.10 [[ 8.95862759e-01 -4.44329087e-01 -1.25628057e-03 3.63886833e+02] [ 4.44328706e-01 8.95863640e-01 -5.83233546e-04 5.52791636e+01] [ 1.38460372e-03 -3.57043071e-05 9.99999041e-01 -1.04938588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16028169299994 meters 0.03979828778418341 Centerline is valid? [True, True] Translation: X:363.95, Y:55.30, Z:-0.11 [[ 8.94221150e-01 -4.47623316e-01 -1.37917507e-03 3.63945488e+02] [ 4.47622860e-01 8.94222212e-01 -6.40500640e-04 5.52950654e+01] [ 1.51999200e-03 -4.46010710e-05 9.99998844e-01 -1.05131429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22028169299995 meters 0.042227920457872284 Centerline is valid? [True, True] Translation: X:364.00, Y:55.31, Z:-0.11 [[ 8.91540340e-01 -4.52937459e-01 -1.86552131e-03 3.64004437e+02] [ 4.52936636e-01 8.91542289e-01 -8.66688758e-04 5.53098670e+01] [ 2.05574694e-03 -7.22749545e-05 9.99997884e-01 -1.05337019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28028169299995 meters 0.04526493416471559 Centerline is valid? [True, True] Translation: X:364.06, Y:55.32, Z:-0.11 [[ 8.92709480e-01 -4.50619353e-01 -3.46156582e-03 3.64062125e+02] [ 4.50616500e-01 8.92716183e-01 -1.60827566e-03 5.53243497e+01] [ 3.81491596e-03 -1.24115743e-04 9.99992715e-01 -1.08849078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34028169299995 meters 0.035603117630503105 Centerline is valid? [True, True] Translation: X:364.11, Y:55.36, Z:-0.11 [[ 8.96625278e-01 -4.42755674e-01 -5.52490728e-03 3.64111959e+02] [ 4.42748254e-01 8.96642288e-01 -2.56736829e-03 5.53585378e+01] [ 6.09058239e-03 -1.44175742e-04 9.99981442e-01 -1.13644114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40028169299995 meters 0.025064841479936806 Centerline is valid? [True, True] Translation: X:364.16, Y:55.40, Z:-0.11 [[ 9.00565252e-01 -4.34707295e-01 -3.43424640e-03 3.64159768e+02] [ 4.34704369e-01 9.00571799e-01 -1.59610618e-03 5.53954783e+01] [ 3.78662446e-03 -5.54841455e-05 9.99992829e-01 -1.08563523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46028169299996 meters 0.020516456860349384 Centerline is valid? [True, True] Translation: X:364.21, Y:55.43, Z:-0.11 [[ 9.02004288e-01 -4.31716380e-01 -3.03822250e-03 3.64209579e+02] [ 4.31714070e-01 9.02009405e-01 -1.41266778e-03 5.54271117e+01] [ 3.35037708e-03 -3.74110073e-05 9.99994387e-01 -1.08580282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52028169299996 meters 0.01837881405574179 Centerline is valid? [True, True] Translation: X:364.26, Y:55.46, Z:-0.12 [[ 9.03602422e-01 -4.28331375e-01 -5.90726890e-03 3.64259757e+02] [ 4.28322568e-01 9.03621730e-01 -2.74718446e-03 5.54557235e+01] [ 6.51464184e-03 -4.78540552e-05 9.99978778e-01 -1.16245772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58028169299996 meters 0.0185709073314061 Centerline is valid? [True, True] Translation: X:364.31, Y:55.48, Z:-0.12 [[ 9.03561893e-01 -4.28409742e-01 -6.40297656e-03 3.64312087e+02] [ 4.28399387e-01 9.03584578e-01 -2.97911626e-03 5.54803018e+01] [ 7.06191331e-03 -5.12153033e-05 9.99975063e-01 -1.17284231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64028169299996 meters 0.020249209480857813 Centerline is valid? [True, True] Translation: X:364.37, Y:55.50, Z:-0.12 [[ 9.03041361e-01 -4.29501782e-01 -6.67232561e-03 3.64366001e+02] [ 4.29490562e-01 9.03066008e-01 -3.10505875e-03 5.55006013e+01] [ 7.35917872e-03 -6.17043979e-05 9.99972919e-01 -1.19286553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70028169299997 meters 0.020858281236048628 Centerline is valid? [True, True] Translation: X:364.42, Y:55.52, Z:-0.12 [[ 9.02644007e-01 -4.30345361e-01 -6.05528652e-03 3.64420995e+02] [ 4.30336131e-01 9.02664315e-01 -2.81918133e-03 5.55207264e+01] [ 6.67911267e-03 -6.10914401e-05 9.99977693e-01 -1.17057333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76028169299997 meters 0.018848754113336755 Centerline is valid? [True, True] Translation: X:364.47, Y:55.54, Z:-0.11 [[ 9.02794481e-01 -4.30046862e-01 -4.67142948e-03 3.64474436e+02] [ 4.30041360e-01 9.02806565e-01 -2.17579355e-03 5.55448744e+01] [ 5.15309039e-03 -4.46134801e-05 9.99986722e-01 -1.12280910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82028169299997 meters 0.017959967582218888 Centerline is valid? [True, True] Translation: X:364.53, Y:55.57, Z:-0.11 [[ 9.03641703e-01 -4.28264155e-01 -4.63523431e-03 3.64527695e+02] [ 4.28258714e-01 9.03653591e-01 -2.15920980e-03 5.55682086e+01] [ 5.11335829e-03 -3.39274640e-05 9.99986926e-01 -1.13769238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.880281693 meters 0.016409311588748518 Centerline is valid? [True, True] Translation: X:364.58, Y:55.59, Z:-0.11 [[ 9.04298763e-01 -4.26871466e-01 -4.94955792e-03 3.64580324e+02] [ 4.26865234e-01 9.04312308e-01 -2.30668097e-03 5.55944655e+01] [ 5.46060243e-03 -2.68654484e-05 9.99985090e-01 -1.14448478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.940281693 meters 0.016586181663608673 Centerline is valid? [True, True] Translation: X:364.64, Y:55.62, Z:-0.12 [[ 9.04077231e-01 -4.27320725e-01 -6.43110576e-03 3.64635055e+02] [ 4.27310206e-01 9.04100103e-01 -2.99848112e-03 5.56159717e+01] [ 7.09567651e-03 -3.72186226e-05 9.99974825e-01 -1.15553902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.000281693 meters 0.016649669167699496 Centerline is valid? [True, True] Translation: X:364.69, Y:55.64, Z:-0.12 [[ 9.04794921e-01 -4.25809619e-01 -5.68510336e-03 3.64687590e+02] [ 4.25801366e-01 9.04812781e-01 -2.65104774e-03 5.56396094e+01] [ 6.27279581e-03 -2.20702531e-05 9.99980326e-01 -1.16818048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.060281693 meters 0.01565967891550878 Centerline is valid? [True, True] Translation: X:364.74, Y:55.67, Z:-0.12 [[ 9.05738640e-01 -4.23788825e-01 -6.36770668e-03 3.64739507e+02] [ 4.23778411e-01 9.05761024e-01 -2.97089001e-03 5.56662589e+01] [ 7.02665051e-03 -7.64673999e-06 9.99975313e-01 -1.16916343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.120281693 meters 0.016524978801756175 Centerline is valid? [True, True] Translation: X:364.79, Y:55.69, Z:-0.12 [[ 9.05067375e-01 -4.25185946e-01 -8.36415965e-03 3.64793514e+02] [ 4.25168030e-01 9.05106022e-01 -3.90318897e-03 5.56876460e+01] [ 9.23003236e-03 -2.35242906e-05 9.99957402e-01 -1.21173661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.180281693 meters 0.016115143656344113 Centerline is valid? [True, True] Translation: X:364.85, Y:55.71, Z:-0.12 [[ 9.05015320e-01 -4.25331763e-01 -6.33743108e-03 3.64847475e+02] [ 4.25321478e-01 9.05037508e-01 -2.95784573e-03 5.57077955e+01] [ 6.99367857e-03 -1.85498520e-05 9.99975544e-01 -1.18405694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.240281693 meters 0.01676343557012364 Centerline is valid? [True, True] Translation: X:364.90, Y:55.73, Z:-0.12 [[ 9.04946235e-01 -4.25475136e-01 -6.57415602e-03 3.64900160e+02] [ 4.25464068e-01 9.04970114e-01 -3.06896760e-03 5.57300607e+01] [ 7.25518414e-03 -1.98164912e-05 9.99973681e-01 -1.22412001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.300281693 meters 0.01668988256218738 Centerline is valid? [True, True] Translation: X:364.95, Y:55.75, Z:-0.12 [[ 9.04225072e-01 -4.26987590e-01 -7.65611563e-03 3.64954120e+02] [ 4.26972620e-01 9.04257483e-01 -3.57564768e-03 5.57526588e+01] [ 8.44985704e-03 -3.57614691e-05 9.99964299e-01 -1.20308372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.360281693 meters 0.017078785729223094 Centerline is valid? [True, True] Translation: X:365.01, Y:55.77, Z:-0.12 [[ 9.03698391e-01 -4.28112706e-01 -6.98055729e-03 3.65008744e+02] [ 4.28100282e-01 9.03725351e-01 -3.26178231e-03 5.57736003e+01] [ 7.70491703e-03 -4.07111120e-05 9.99970316e-01 -1.18993687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42028169299994 meters 0.017526827330339414 Centerline is valid? [True, True] Translation: X:365.06, Y:55.79, Z:-0.12 [[ 9.03343220e-01 -4.28845569e-01 -7.90592818e-03 3.65064791e+02] [ 4.28829647e-01 9.03377814e-01 -3.69576518e-03 5.57915918e+01] [ 8.72695264e-03 -5.17519761e-05 9.99961918e-01 -1.22126513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48028169299994 meters 0.01777712044110087 Centerline is valid? [True, True] Translation: X:365.12, Y:55.81, Z:-0.12 [[ 9.03179158e-01 -4.29180471e-01 -8.45765764e-03 3.65120350e+02] [ 4.29162248e-01 9.03218755e-01 -3.95538220e-03 5.58112634e+01] [ 9.33668780e-03 -5.72885991e-05 9.99956411e-01 -1.22447453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54028169299994 meters 0.016256257141614196 Centerline is valid? [True, True] Translation: X:365.17, Y:55.84, Z:-0.12 [[ 9.06158340e-01 -4.22851782e-01 -8.56924745e-03 3.65171492e+02] [ 4.22832775e-01 9.06198858e-01 -4.00931194e-03 5.58410098e+01] [ 9.46078695e-03 9.71277589e-06 9.99955246e-01 -1.22228690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60028169299994 meters 0.01763805768777199 Centerline is valid? [True, True] Translation: X:365.22, Y:55.87, Z:-0.12 [[ 9.08138247e-01 -4.18588845e-01 -8.26460532e-03 3.65222184e+02] [ 4.18570983e-01 9.08175851e-01 -3.86733156e-03 5.58699630e+01] [ 9.12453682e-03 5.27477369e-05 9.99958369e-01 -1.22262698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66028169299994 meters 0.02210753593251721 Centerline is valid? [True, True] Translation: X:365.27, Y:55.90, Z:-0.12 [[ 9.11131497e-01 -4.12054749e-01 -7.09076101e-03 3.65272911e+02] [ 4.12041400e-01 9.11159082e-01 -3.31839869e-03 5.59003584e+01] [ 7.82817323e-03 1.01810474e-04 9.99969354e-01 -1.20250896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72028169299995 meters 0.0287041913054856 Centerline is valid? [True, True] Translation: X:365.32, Y:55.94, Z:-0.12 [[ 9.14143448e-01 -4.05305539e-01 -8.31727532e-03 3.65321535e+02] [ 4.05286879e-01 9.14181265e-01 -3.89366784e-03 5.59378526e+01] [ 9.18162241e-03 1.88488383e-04 9.99957830e-01 -1.21365900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78028169299995 meters 0.03444188986840501 Centerline is valid? [True, True] Translation: X:365.37, Y:55.98, Z:-0.12 [[ 9.16463947e-01 -4.00013159e-01 -9.12718551e-03 3.65368751e+02] [ 3.99990413e-01 9.16509357e-01 -4.27407908e-03 5.59762639e+01] [ 1.00748388e-02 2.66252678e-04 9.99949212e-01 -1.22397819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84028169299995 meters 0.037801076072514914 Centerline is valid? [True, True] Translation: X:365.41, Y:56.01, Z:-0.12 [[ 9.17381435e-01 -3.97932587e-01 -7.80762165e-03 3.65414846e+02] [ 3.97915862e-01 9.17414625e-01 -3.65679840e-03 5.60127743e+01] [ 8.61798554e-03 2.47902461e-04 9.99962834e-01 -1.20445166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90028169299995 meters 0.03603382612951883 Centerline is valid? [True, True] Translation: X:365.47, Y:56.04, Z:-0.12 [[ 9.17022210e-01 -3.98724870e-01 -9.42037936e-03 3.65465948e+02] [ 3.98700541e-01 9.17070549e-01 -4.41433148e-03 5.60413027e+01] [ 1.03992562e-02 2.92129666e-04 9.99945884e-01 -1.22990366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96028169299996 meters 0.03385532359149157 Centerline is valid? [True, True] Translation: X:365.51, Y:56.08, Z:-0.12 [[ 9.16132300e-01 -4.00800746e-01 -7.76982831e-03 3.65514166e+02] [ 4.00784266e-01 9.16165221e-01 -3.64125539e-03 5.60768822e+01] [ 8.57786435e-03 2.21846736e-04 9.99963185e-01 -1.20014563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02028169299996 meters 0.03449408019766068 Centerline is valid? [True, True] Translation: X:365.56, Y:56.11, Z:-0.12 [[ 9.15776542e-01 -4.01642606e-01 -6.04508649e-03 3.65560956e+02] [ 4.01632645e-01 9.15796478e-01 -2.83361205e-03 5.61135332e+01] [ 6.67416825e-03 1.67051367e-04 9.99977714e-01 -1.17077120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08028169299996 meters 0.030200643382838278 Centerline is valid? [True, True] Translation: X:365.61, Y:56.14, Z:-0.12 [[ 9.14054976e-01 -4.05537125e-01 -6.56822558e-03 3.65612060e+02] [ 4.05525463e-01 9.14078562e-01 -3.07910073e-03 5.61442726e+01] [ 7.25256385e-03 1.50884619e-04 9.99973688e-01 -1.18111083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14028169299996 meters 0.023144492450009855 Centerline is valid? [True, True] Translation: X:365.67, Y:56.17, Z:-0.12 [[ 9.11262610e-01 -4.11764805e-01 -7.08524344e-03 3.65668099e+02] [ 4.11751413e-01 9.11290148e-01 -3.32274359e-03 5.61651928e+01] [ 7.82490140e-03 1.10532998e-04 9.99969379e-01 -1.19146075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20028169299997 meters 0.01635946680588381 Centerline is valid? [True, True] Translation: X:365.73, Y:56.18, Z:-0.12 [[ 9.06229764e-01 -4.22706541e-01 -8.17278526e-03 3.65727773e+02] [ 4.22689161e-01 9.06266616e-01 -3.83310597e-03 5.61765493e+01] [ 9.02700141e-03 1.91269718e-05 9.99959256e-01 -1.20505739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26028169299997 meters 0.01745541585686778 Centerline is valid? [True, True] Translation: X:365.78, Y:56.19, Z:-0.13 [[ 9.03890418e-01 -4.27618347e-01 -1.11651707e-02 3.65784750e+02] [ 4.27586275e-01 9.03959373e-01 -5.23734896e-03 5.61922901e+01] [ 1.23324472e-02 -4.00841846e-05 9.99923952e-01 -1.27086815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32028169299997 meters 0.016905064102319477 Centerline is valid? [True, True] Translation: X:365.83, Y:56.22, Z:-0.12 [[ 9.06138054e-01 -4.22866119e-01 -9.90316792e-03 3.65834697e+02] [ 4.22840582e-01 9.06192168e-01 -4.64735083e-03 5.62244957e+01] [ 1.09393804e-02 2.36801545e-05 9.99940163e-01 -1.23444855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.380281693 meters 0.02367518394010855 Centerline is valid? [True, True] Translation: X:365.88, Y:56.27, Z:-0.13 [[ 9.10803387e-01 -4.12695906e-01 -1.09215082e-02 3.65881080e+02] [ 4.12664107e-01 9.10868851e-01 -5.12563972e-03 5.62653888e+01] [ 1.20633922e-02 1.61535574e-04 9.99927222e-01 -1.25061212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.440281693 meters 0.03281066688041208 Centerline is valid? [True, True] Translation: X:365.93, Y:56.31, Z:-0.13 [[ 9.14212884e-01 -4.05018378e-01 -1.32255798e-02 3.65928334e+02] [ 4.04970906e-01 9.14308488e-01 -6.20926121e-03 5.63052591e+01] [ 1.46071248e-02 3.20611561e-04 9.99893259e-01 -1.30154029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.500281693 meters 0.03769670081281785 Centerline is valid? [True, True] Translation: X:365.98, Y:56.34, Z:-0.13 [[ 9.15899546e-01 -4.01180341e-01 -1.35039058e-02 3.65978883e+02] [ 4.01130403e-01 9.15999007e-01 -6.34189204e-03 5.63382744e+01] [ 1.49138067e-02 3.91708873e-04 9.99888706e-01 -1.30657698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.560281693 meters 0.04161316074834889 Centerline is valid? [True, True] Translation: X:366.02, Y:56.38, Z:-0.12 [[ 9.19761489e-01 -3.92304996e-01 -1.16444863e-02 3.66024934e+02] [ 3.92267145e-01 9.19835081e-01 -5.46906206e-03 5.63796963e+01] [ 1.28565474e-02 4.62483261e-04 9.99917244e-01 -1.23711723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.620281693 meters 0.046989091935112914 Centerline is valid? [True, True] Translation: X:366.07, Y:56.42, Z:-0.12 [[ 9.20717919e-01 -3.90118953e-01 -9.25833287e-03 3.66071518e+02] [ 3.90094911e-01 9.20764383e-01 -4.34877198e-03 5.64183846e+01] [ 1.02212815e-02 3.92363753e-04 9.99947684e-01 -1.20675018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.680281693 meters 0.043238037349521787 Centerline is valid? [True, True] Translation: X:366.12, Y:56.45, Z:-0.12 [[ 9.20127068e-01 -3.91527884e-01 -8.49081924e-03 3.66122569e+02] [ 3.91507718e-01 9.20166179e-01 -3.98876228e-03 5.64484940e+01] [ 9.37467635e-03 3.45946878e-04 9.99955997e-01 -1.18835004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.740281693 meters 0.03547310870473347 Centerline is valid? [True, True] Translation: X:366.18, Y:56.47, Z:-0.12 [[ 9.16474627e-01 -3.99962633e-01 -1.02053788e-02 3.66176721e+02] [ 3.99934016e-01 9.16531393e-01 -4.79468760e-03 5.64708768e+01] [ 1.12712459e-02 3.12731391e-04 9.99936429e-01 -1.23405321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.800281693 meters 0.024783395049905836 Centerline is valid? [True, True] Translation: X:366.24, Y:56.49, Z:-0.13 [[ 9.11621363e-01 -4.10855491e-01 -1.20106539e-02 3.66235831e+02] [ 4.10816778e-01 9.11700456e-01 -5.64396062e-03 5.64864969e+01] [ 1.32689708e-02 2.10976944e-04 9.99911941e-01 -1.26030982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.860281693 meters 0.020173026624946657 Centerline is valid? [True, True] Translation: X:366.29, Y:56.50, Z:-0.13 [[ 9.08680979e-01 -4.17326457e-01 -1.17263065e-02 3.66291339e+02] [ 4.17290083e-01 9.08756631e-01 -5.51104498e-03 5.65049456e+01] [ 1.29562636e-02 1.14510354e-04 9.99916058e-01 -1.26582129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92028169299994 meters 0.01670267273632204 Centerline is valid? [True, True] Translation: X:366.35, Y:56.52, Z:-0.12 [[ 9.05259498e-01 -4.24736156e-01 -1.02195676e-02 3.66349464e+02] [ 4.24708993e-01 9.05317181e-01 -4.80350554e-03 5.65191841e+01] [ 1.12921726e-02 8.07677338e-06 9.99936241e-01 -1.22083827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98028169299994 meters 0.017416526477990354 Centerline is valid? [True, True] Translation: X:366.41, Y:56.54, Z:-0.12 [[ 9.03170588e-01 -4.29152549e-01 -1.05346409e-02 3.66406571e+02] [ 4.29123960e-01 9.03232023e-01 -4.95375221e-03 5.65365734e+01] [ 1.16411404e-02 -4.65835166e-05 9.99932239e-01 -1.21832849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04028169299994 meters 0.01729016695305158 Centerline is valid? [True, True] Translation: X:366.46, Y:56.56, Z:-0.12 [[ 9.02918191e-01 -4.29690030e-01 -1.02576117e-02 3.66459622e+02] [ 4.29662932e-01 9.02976454e-01 -4.82587467e-03 5.65591206e+01] [ 1.13360121e-02 -4.99455074e-05 9.99935744e-01 -1.21002957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10028169299994 meters 0.01703180465943678 Centerline is valid? [True, True] Translation: X:366.51, Y:56.58, Z:-0.12 [[ 9.03249083e-01 -4.29013111e-01 -9.42575623e-03 3.66512761e+02] [ 4.28990173e-01 9.03298262e-01 -4.43639529e-03 5.65830975e+01] [ 1.04175410e-02 -3.63868209e-05 9.99945735e-01 -1.20439029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16028169299994 meters 0.016606353075731474 Centerline is valid? [True, True] Translation: X:366.56, Y:56.61, Z:-0.12 [[ 9.03672867e-01 -4.28132679e-01 -8.81805308e-03 3.66564453e+02] [ 4.28112546e-01 9.03715889e-01 -4.15206317e-03 5.66117289e+01] [ 9.74664861e-03 -2.30123179e-05 9.99952500e-01 -1.18845003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22028169299995 meters 0.01632349310750111 Centerline is valid? [True, True] Translation: X:366.62, Y:56.64, Z:-0.12 [[ 9.04944643e-01 -4.25416931e-01 -9.77893788e-03 3.66615293e+02] [ 4.25391990e-01 9.04997478e-01 -4.60647952e-03 5.66421399e+01] [ 1.08095885e-02 8.72712350e-06 9.99941575e-01 -1.19845393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28028169299995 meters 0.017594227234464313 Centerline is valid? [True, True] Translation: X:366.66, Y:56.68, Z:-0.12 [[ 9.06288115e-01 -4.22507309e-01 -1.13766115e-02 3.66664280e+02] [ 4.22473313e-01 9.06359516e-01 -5.35985905e-03 5.66750947e+01] [ 1.25758797e-02 5.12617904e-05 9.99920919e-01 -1.22074217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34028169299995 meters 0.017990611830976812 Centerline is valid? [True, True] Translation: X:366.72, Y:56.70, Z:-0.13 [[ 9.06035945e-01 -4.23026763e-01 -1.21336265e-02 3.66715596e+02] [ 4.22988127e-01 9.06117187e-01 -5.71738423e-03 5.67022823e+01] [ 1.34130941e-02 4.77756646e-05 9.99910039e-01 -1.25740729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40028169299995 meters 0.01674736593441693 Centerline is valid? [True, True] Translation: X:366.77, Y:56.72, Z:-0.12 [[ 9.04496522e-01 -4.26335008e-01 -1.11580295e-02 3.66771360e+02] [ 4.26302559e-01 9.04565343e-01 -5.25999374e-03 5.67222529e+01] [ 1.23356863e-02 9.49516212e-07 9.99923913e-01 -1.21485170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46028169299996 meters 0.016880879448690735 Centerline is valid? [True, True] Translation: X:366.83, Y:56.74, Z:-0.12 [[ 9.03191439e-01 -4.29101566e-01 -1.08198981e-02 3.66825515e+02] [ 4.29071222e-01 9.03256245e-01 -5.10316214e-03 5.67432922e+01] [ 1.19629154e-02 -3.33745357e-05 9.99928441e-01 -1.19639549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52028169299996 meters 0.016551353687894746 Centerline is valid? [True, True] Translation: X:366.88, Y:56.77, Z:-0.12 [[ 9.03979081e-01 -4.27450420e-01 -1.03903770e-02 3.66876192e+02] [ 4.27422319e-01 9.04038792e-01 -4.90128966e-03 5.67719370e+01] [ 1.14883622e-02 -1.04157092e-05 9.99934007e-01 -1.18104851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58028169299996 meters 0.017860637957459187 Centerline is valid? [True, True] Translation: X:366.93, Y:56.81, Z:-0.12 [[ 9.06304175e-01 -4.22453182e-01 -1.20851800e-02 3.66925782e+02] [ 4.22414687e-01 9.06384744e-01 -5.70327886e-03 5.68055645e+01] [ 1.33631911e-02 6.39478942e-05 9.99910707e-01 -1.20650020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64028169299996 meters 0.018124164933662146 Centerline is valid? [True, True] Translation: X:366.98, Y:56.84, Z:-0.11 [[ 9.07305966e-01 -4.20378490e-01 -8.82102637e-03 3.66976069e+02] [ 4.20357865e-01 9.07348842e-01 -4.16467046e-03 5.68356932e+01] [ 9.75448594e-03 7.06425412e-05 9.99952421e-01 -1.14843457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70028169299997 meters 0.017511724421242124 Centerline is valid? [True, True] Translation: X:367.03, Y:56.86, Z:-0.11 [[ 9.07085379e-01 -4.20888103e-01 -7.02287575e-03 3.67029376e+02] [ 4.20875035e-01 9.07112563e-01 -3.31705023e-03 5.68616179e+01] [ 7.76664580e-03 5.30946849e-05 9.99969838e-01 -1.10950970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76028169299997 meters 0.016410666408471837 Centerline is valid? [True, True] Translation: X:367.08, Y:56.88, Z:-0.11 [[ 9.06005818e-01 -4.23210342e-01 -6.81645725e-03 3.67082752e+02] [ 4.23198093e-01 9.06031459e-01 -3.22001010e-03 5.68840978e+01] [ 7.53866629e-03 3.26361681e-05 9.99971583e-01 -1.11105123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82028169299997 meters 0.01591353941553743 Centerline is valid? [True, True] Translation: X:367.14, Y:56.90, Z:-0.11 [[ 9.04340630e-01 -4.26725378e-01 -8.57191472e-03 3.67138547e+02] [ 4.26706149e-01 9.04381254e-01 -4.05101228e-03 5.69032973e+01] [ 9.48094873e-03 5.80628009e-06 9.99955055e-01 -1.13498088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.880281693 meters 0.01708616541880262 Centerline is valid? [True, True] Translation: X:367.20, Y:56.92, Z:-0.12 [[ 9.02246056e-01 -4.31114654e-01 -9.60261845e-03 3.67195626e+02] [ 4.31090764e-01 9.02297153e-01 -4.53874215e-03 5.69184534e+01] [ 1.06211335e-02 -4.45379239e-05 9.99943593e-01 -1.16079160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.940281693 meters 0.017573024832750122 Centerline is valid? [True, True] Translation: X:367.25, Y:56.94, Z:-0.11 [[ 9.01420464e-01 -4.32862979e-01 -8.41354172e-03 3.67251099e+02] [ 4.32844698e-01 9.01459726e-01 -3.97863505e-03 5.69364606e+01] [ 9.30667284e-03 -5.53338688e-05 9.99956690e-01 -1.12719532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.000281693 meters 0.01835226697474487 Centerline is valid? [True, True] Translation: X:367.30, Y:56.96, Z:-0.12 [[ 9.01759926e-01 -4.32060250e-01 -1.23683359e-02 3.67303718e+02] [ 4.32020634e-01 9.01844740e-01 -5.85114733e-03 5.69628074e+01] [ 1.36823669e-02 -6.70461314e-05 9.99906390e-01 -1.19442333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.060281693 meters 0.016725959023788515 Centerline is valid? [True, True] Translation: X:367.35, Y:57.00, Z:-0.12 [[ 9.04374685e-01 -4.26579119e-01 -1.16911871e-02 3.67353052e+02] [ 4.26543246e-01 9.04450250e-01 -5.53210944e-03 5.69973253e+01] [ 1.29339794e-02 1.63028608e-05 9.99916352e-01 -1.15160761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.120281693 meters 0.017846759358746404 Centerline is valid? [True, True] Translation: X:367.40, Y:57.03, Z:-0.12 [[ 9.05655995e-01 -4.23881653e-01 -1.05622962e-02 3.67400718e+02] [ 4.23852181e-01 9.05717584e-01 -4.99871329e-03 5.70316159e+01] [ 1.16853202e-02 5.02623743e-05 9.99931723e-01 -1.15617125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.180281693 meters 0.0188678672342295 Centerline is valid? [True, True] Translation: X:367.45, Y:57.06, Z:-0.12 [[ 9.06427737e-01 -4.22203355e-01 -1.15362512e-02 3.67451118e+02] [ 4.22168031e-01 9.06501142e-01 -5.46193284e-03 5.70617358e+01] [ 1.27636713e-02 8.06109563e-05 9.99918538e-01 -1.16757261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.240281693 meters 0.019172492979537836 Centerline is valid? [True, True] Translation: X:367.50, Y:57.09, Z:-0.11 [[ 9.06866162e-01 -4.21287537e-01 -1.05155107e-02 3.67500375e+02] [ 4.21258099e-01 9.06927122e-01 -4.98101654e-03 5.70941705e+01] [ 1.16352420e-02 8.73713199e-05 9.99932304e-01 -1.13153245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.300281693 meters 0.022343321266401237 Centerline is valid? [True, True] Translation: X:367.55, Y:57.13, Z:-0.12 [[ 9.08227443e-01 -4.18299290e-01 -1.21907731e-02 3.67548352e+02] [ 4.18259447e-01 9.08309244e-01 -5.77516868e-03 5.71290626e+01] [ 1.34887409e-02 1.46260660e-04 9.99909012e-01 -1.17161138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.360281693 meters 0.022526674140812424 Centerline is valid? [True, True] Translation: X:367.60, Y:57.16, Z:-0.11 [[ 9.10077545e-01 -4.14343567e-01 -8.84709330e-03 3.67597672e+02] [ 4.14322377e-01 9.10120534e-01 -4.19311342e-03 5.71625492e+01] [ 9.78931084e-03 1.50509641e-04 9.99952072e-01 -1.06006045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42028169299994 meters 0.024919667677869177 Centerline is valid? [True, True] Translation: X:367.65, Y:57.19, Z:-0.11 [[ 9.10500383e-01 -4.13432497e-01 -7.91339994e-03 3.67647041e+02] [ 4.13415504e-01 9.10534760e-01 -3.75114981e-03 5.71931627e+01] [ 8.75627295e-03 1.43901108e-04 9.99961653e-01 -1.05721515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48028169299994 meters 0.02447487818353762 Centerline is valid? [True, True] Translation: X:367.70, Y:57.22, Z:-0.11 [[ 9.10041382e-01 -4.14423054e-01 -8.84389960e-03 3.67697898e+02] [ 4.14401856e-01 9.10084342e-01 -4.19430618e-03 5.72220718e+01] [ 9.78691173e-03 1.52063784e-04 9.99952095e-01 -1.08503780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54028169299994 meters 0.02064747560911611 Centerline is valid? [True, True] Translation: X:367.75, Y:57.24, Z:-0.11 [[ 9.08055495e-01 -4.18722369e-01 -1.03341911e-02 3.67752915e+02] [ 4.18693681e-01 9.08114289e-01 -4.90302713e-03 5.72446783e+01] [ 1.14376338e-02 1.25360213e-04 9.99934580e-01 -1.09766725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60028169299994 meters 0.019471889498552854 Centerline is valid? [True, True] Translation: X:367.80, Y:57.27, Z:-0.11 [[ 9.06964234e-01 -4.21098972e-01 -9.56733109e-03 3.67804951e+02] [ 4.21074509e-01 9.07014690e-01 -4.53985202e-03 5.72701803e+01] [ 1.05894369e-02 8.89241635e-05 9.99943926e-01 -1.10320229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66028169299994 meters 0.017532029693930855 Centerline is valid? [True, True] Translation: X:367.86, Y:57.30, Z:-0.10 [[ 9.06446375e-01 -4.22255216e-01 -7.44994997e-03 3.67857766e+02] [ 4.22240409e-01 9.06476988e-01 -3.53667317e-03 5.72955754e+01] [ 8.24658690e-03 6.01346538e-05 9.99965995e-01 -1.01947414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72028169299995 meters 0.017504250742075664 Centerline is valid? [True, True] Translation: X:367.91, Y:57.32, Z:-0.10 [[ 9.06051999e-01 -4.23082769e-01 -8.41105164e-03 3.67909043e+02] [ 4.23063913e-01 9.06091037e-01 -3.99486680e-03 5.73235843e+01] [ 9.31133781e-03 6.11446298e-05 9.99956647e-01 -1.04882946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78028169299995 meters 0.016217117532281174 Centerline is valid? [True, True] Translation: X:367.96, Y:57.34, Z:-0.11 [[ 9.04235822e-01 -4.26924625e-01 -9.64069785e-03 3.67964752e+02] [ 4.26900046e-01 9.04287213e-01 -4.58111468e-03 5.73416428e+01] [ 1.06737505e-02 2.67936430e-05 9.99943034e-01 -1.07758502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84028169299995 meters 0.018249857527549783 Centerline is valid? [True, True] Translation: X:368.02, Y:57.35, Z:-0.11 [[ 9.00623608e-01 -4.34424446e-01 -1.23498145e-02 3.68022718e+02] [ 4.34384803e-01 9.00708274e-01 -5.86925924e-03 5.73542533e+01] [ 1.36733298e-02 -7.85783212e-05 9.99906513e-01 -1.12549552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90028169299995 meters 0.020700477543101673 Centerline is valid? [True, True] Translation: X:368.08, Y:57.37, Z:-0.11 [[ 8.98362798e-01 -4.39067989e-01 -1.27900274e-02 3.68078096e+02] [ 4.39025901e-01 8.98453826e-01 -6.08110567e-03 5.73746235e+01] [ 1.41612679e-02 -1.52114220e-04 9.99899713e-01 -1.10993821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96028169299996 meters 0.021890639575205532 Centerline is valid? [True, True] Translation: X:368.13, Y:57.40, Z:-0.11 [[ 8.97568755e-01 -4.40717248e-01 -1.17744414e-02 3.68131653e+02] [ 4.40681710e-01 8.97645966e-01 -5.59904729e-03 5.73977096e+01] [ 1.30368766e-02 -1.63251082e-04 9.99915003e-01 -1.10017629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02028169299996 meters 0.023222978912229967 Centerline is valid? [True, True] Translation: X:368.19, Y:57.42, Z:-0.10 [[ 8.96366502e-01 -4.43207129e-01 -9.72292041e-03 3.68187905e+02] [ 4.43183022e-01 8.96419218e-01 -4.62550498e-03 5.74174359e+01] [ 1.07658695e-02 -1.62885526e-04 9.99942033e-01 -1.04571258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08028169299996 meters 0.024878987491758264 Centerline is valid? [True, True] Translation: X:368.24, Y:57.44, Z:-0.10 [[ 8.96157323e-01 -4.43635911e-01 -9.44621204e-03 3.68240531e+02] [ 4.43613164e-01 8.96207092e-01 -4.49532812e-03 5.74389748e+01] [ 1.04600512e-02 -1.61942804e-04 9.99945279e-01 -1.04446603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14028169299996 meters 0.021485243028975712 Centerline is valid? [True, True] Translation: X:368.29, Y:57.47, Z:-0.10 [[ 8.97297756e-01 -4.41340256e-01 -8.68999651e-03 3.68291558e+02] [ 4.41320881e-01 8.97339826e-01 -4.13718646e-03 5.74681888e+01] [ 9.62378689e-03 -1.22788791e-04 9.99953683e-01 -1.01507000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20028169299997 meters 0.01938882351057085 Centerline is valid? [True, True] Translation: X:368.34, Y:57.50, Z:-0.10 [[ 8.98481742e-01 -4.38926576e-01 -8.60343831e-03 3.68341999e+02] [ 4.38907459e-01 8.98522928e-01 -4.09766538e-03 5.74990395e+01] [ 9.52896081e-03 -9.44357131e-05 9.99954594e-01 -1.01200799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26028169299997 meters 0.017348071902241264 Centerline is valid? [True, True] Translation: X:368.39, Y:57.53, Z:-0.10 [[ 8.99574834e-01 -4.36692297e-01 -8.05951290e-03 3.68392096e+02] [ 4.36675416e-01 8.99610935e-01 -3.84024108e-03 5.75296490e+01] [ 8.92742963e-03 -6.48069132e-05 9.99960148e-01 -1.00378951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32028169299997 meters 0.019463935375113543 Centerline is valid? [True, True] Translation: X:368.45, Y:57.55, Z:-0.10 [[ 8.97993560e-01 -4.39942026e-01 -7.65373812e-03 3.68445293e+02] [ 4.39926913e-01 8.98026172e-01 -3.64768699e-03 5.75522331e+01] [ 8.47802795e-03 -9.14859568e-05 9.99964057e-01 -9.88686041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.380281693 meters 0.023178817537013324 Centerline is valid? [True, True] Translation: X:368.50, Y:57.57, Z:-0.10 [[ 8.95835484e-01 -4.44288065e-01 -9.32208731e-03 3.68502183e+02] [ 4.44265876e-01 8.95883971e-01 -4.44321795e-03 5.75719554e+01] [ 1.03255773e-02 -1.61092979e-04 9.99946677e-01 -1.00742622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.440281693 meters 0.020539372277985884 Centerline is valid? [True, True] Translation: X:368.55, Y:57.60, Z:-0.10 [[ 8.96819119e-01 -4.42330379e-01 -7.70091484e-03 3.68554086e+02] [ 4.42315151e-01 8.96852175e-01 -3.67204601e-03 5.76009477e+01] [ 8.53083972e-03 -1.13070242e-04 9.99963605e-01 -9.75478896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.500281693 meters 0.018856428319082272 Centerline is valid? [True, True] Translation: X:368.61, Y:57.63, Z:-0.10 [[ 8.98280948e-01 -4.39340546e-01 -8.43930269e-03 3.68606421e+02] [ 4.39322118e-01 8.98320586e-01 -4.02501766e-03 5.76260649e+01] [ 9.34955279e-03 -9.19756504e-05 9.99956288e-01 -9.97627914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.560281693 meters 0.016434405410458625 Centerline is valid? [True, True] Translation: X:368.66, Y:57.65, Z:-0.10 [[ 9.00642716e-01 -4.34469979e-01 -8.86207764e-03 3.68656653e+02] [ 4.34449415e-01 9.00686314e-01 -4.22727467e-03 5.76546986e+01] [ 9.81857597e-03 -4.28603116e-05 9.99951796e-01 -1.00920013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.620281693 meters 0.01593006116789203 Centerline is valid? [True, True] Translation: X:368.71, Y:57.69, Z:-0.10 [[ 9.03387398e-01 -4.28727953e-01 -9.14068018e-03 3.68706034e+02] [ 4.28705759e-01 9.03433640e-01 -4.36230636e-03 5.76853421e+01] [ 1.01282406e-02 2.21903541e-05 9.99948708e-01 -1.00889405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.680281693 meters 0.018076867012620124 Centerline is valid? [True, True] Translation: X:368.75, Y:57.72, Z:-0.10 [[ 9.05694146e-01 -4.23851720e-01 -8.23614880e-03 3.68754666e+02] [ 4.23833485e-01 9.05731591e-01 -3.93227335e-03 5.77194193e+01] [ 9.12644098e-03 7.06813058e-05 9.99958351e-01 -9.89307303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.740281693 meters 0.01790893824635192 Centerline is valid? [True, True] Translation: X:368.81, Y:57.74, Z:-0.10 [[ 9.05725952e-01 -4.23808594e-01 -6.83924327e-03 3.68807992e+02] [ 4.23796009e-01 9.05751772e-01 -3.26670612e-03 5.77448900e+01] [ 7.57911484e-03 6.02965085e-05 9.99971276e-01 -9.66174830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.800281693 meters 0.016271656004428564 Centerline is valid? [True, True] Translation: X:368.86, Y:57.77, Z:-0.09 [[ 9.04774892e-01 -4.25859936e-01 -5.07041464e-03 3.68862428e+02] [ 4.25853045e-01 9.04789099e-01 -2.42288976e-03 5.77677205e+01] [ 5.61946757e-03 3.29183015e-05 9.99984210e-01 -9.19566081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.860281693 meters 0.015107319166777098 Centerline is valid? [True, True] Translation: X:368.92, Y:57.79, Z:-0.09 [[ 9.03631038e-01 -4.28286136e-01 -4.68332679e-03 3.68915836e+02] [ 4.28280287e-01 9.03643174e-01 -2.23822064e-03 5.77906091e+01] [ 5.19065515e-03 1.67490958e-05 9.99986528e-01 -9.02976760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92028169299994 meters 0.014887226157477187 Centerline is valid? [True, True] Translation: X:368.97, Y:57.81, Z:-0.09 [[ 9.01561199e-01 -4.32627583e-01 -4.55845261e-03 3.68971077e+02] [ 4.32622096e-01 9.01572723e-01 -2.17886315e-03 5.78090299e+01] [ 5.05241283e-03 -7.70884818e-06 9.99987236e-01 -9.09315710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98028169299994 meters 0.015571783595857258 Centerline is valid? [True, True] Translation: X:369.03, Y:57.83, Z:-0.09 [[ 9.00218668e-01 -4.35400064e-01 -5.75622564e-03 3.69026574e+02] [ 4.35391364e-01 9.00237071e-01 -2.75260521e-03 5.78289264e+01] [ 6.38045220e-03 -2.82643329e-05 9.99979644e-01 -9.24938047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04028169299994 meters 0.0151112070342623 Centerline is valid? [True, True] Translation: X:369.08, Y:57.85, Z:-0.09 [[ 9.00393682e-01 -4.35048424e-01 -4.90785350e-03 3.69080319e+02] [ 4.35042088e-01 9.00407057e-01 -2.34795873e-03 5.78533325e+01] [ 5.44054167e-03 -2.10356275e-05 9.99985200e-01 -8.93696629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10028169299994 meters 0.015169037768904074 Centerline is valid? [True, True] Translation: X:369.13, Y:57.88, Z:-0.09 [[ 9.02429288e-01 -4.30786896e-01 -6.63548512e-03 3.69131051e+02] [ 4.30775194e-01 9.02453683e-01 -3.17516078e-03 5.78823332e+01] [ 7.35603564e-03 6.95568760e-06 9.99972944e-01 -9.38549289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16028169299994 meters 0.017992187034291434 Centerline is valid? [True, True] Translation: X:369.18, Y:57.91, Z:-0.10 [[ 9.04776816e-01 -4.25791153e-01 -8.98930863e-03 3.69180058e+02] [ 4.25769424e-01 9.04821468e-01 -4.30208899e-03 5.79138418e+01] [ 9.96551087e-03 6.50576232e-05 9.99950341e-01 -9.97964817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22028169299995 meters 0.02538244934370201 Centerline is valid? [True, True] Translation: X:369.23, Y:57.95, Z:-0.09 [[ 9.08726061e-01 -4.17365839e-01 -4.76462671e-03 3.69225220e+02] [ 4.17359617e-01 9.08738548e-01 -2.28051499e-03 5.79546806e+01] [ 5.28160901e-03 8.38006212e-05 9.99986049e-01 -8.93633619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28028169299995 meters 0.031142253231672447 Centerline is valid? [True, True] Translation: X:369.27, Y:57.99, Z:-0.09 [[ 9.11567915e-01 -4.11100916e-01 -6.32245899e-03 3.69274793e+02] [ 4.11089806e-01 9.11589826e-01 -3.02647108e-03 5.79883541e+01] [ 7.00767433e-03 1.59735491e-04 9.99975433e-01 -9.22036624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34028169299995 meters 0.03142180325177352 Centerline is valid? [True, True] Translation: X:369.33, Y:58.01, Z:-0.09 [[ 9.11741476e-01 -4.10711397e-01 -6.60529270e-03 3.69327685e+02] [ 4.10699251e-01 9.11765386e-01 -3.16324489e-03 5.80148638e+01] [ 7.32165798e-03 1.71272802e-04 9.99973182e-01 -9.24350015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40028169299995 meters 0.03244306197040242 Centerline is valid? [True, True] Translation: X:369.38, Y:58.04, Z:-0.09 [[ 9.11915912e-01 -4.10361990e-01 -3.52230380e-03 3.69377365e+02] [ 4.10358533e-01 9.11922710e-01 -1.68705640e-03 5.80445219e+01] [ 3.90437265e-03 9.30461516e-05 9.99992374e-01 -8.66349300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46028169299996 meters 0.0353999228069941 Centerline is valid? [True, True] Translation: X:369.43, Y:58.08, Z:-0.09 [[ 9.13277157e-01 -4.07323128e-01 -3.56419769e-03 3.69428032e+02] [ 4.07319564e-01 9.13284106e-01 -1.70726606e-03 5.80762536e+01] [ 3.95053405e-03 1.07439647e-04 9.99992191e-01 -8.65120490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52028169299996 meters 0.03850325097888184 Centerline is valid? [True, True] Translation: X:369.48, Y:58.11, Z:-0.09 [[ 9.14210258e-01 -4.05218397e-01 -4.20176714e-03 3.69477290e+02] [ 4.05213421e-01 9.14219903e-01 -2.01284092e-03 5.81102266e+01] [ 4.65697932e-03 1.37547379e-04 9.99989147e-01 -8.75288228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58028169299996 meters 0.03803652276309905 Centerline is valid? [True, True] Translation: X:369.53, Y:58.14, Z:-0.09 [[ 9.13586948e-01 -4.06617568e-01 -4.58718870e-03 3.69528953e+02] [ 4.06611653e-01 9.13598453e-01 -2.19780517e-03 5.81369555e+01] [ 5.08451469e-03 1.42681735e-04 9.99987064e-01 -8.89422323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64028169299996 meters 0.030812631561462012 Centerline is valid? [True, True] Translation: X:369.59, Y:58.16, Z:-0.09 [[ 9.12119019e-01 -4.09909691e-01 -3.59736813e-03 3.69585310e+02] [ 4.09906078e-01 9.12126107e-01 -1.72386300e-03 5.81578555e+01] [ 3.98788154e-03 9.77851684e-05 9.99992044e-01 -8.53712322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70028169299997 meters 0.0318860593606042 Centerline is valid? [True, True] Translation: X:369.63, Y:58.19, Z:-0.08 [[ 9.11200356e-01 -4.11955498e-01 -2.56497744e-03 3.69634778e+02] [ 4.11953668e-01 9.11203964e-01 -1.22933440e-03 5.81878146e+01] [ 2.84364867e-03 6.35180816e-05 9.99995955e-01 -8.33220105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76028169299997 meters 0.024762024003131784 Centerline is valid? [True, True] Translation: X:369.69, Y:58.21, Z:-0.08 [[ 9.09040824e-01 -4.16702984e-01 -1.84502278e-03 3.69692481e+02] [ 4.16702047e-01 9.09042695e-01 -8.84371488e-04 5.82066870e+01] [ 2.04572472e-03 3.51050177e-05 9.99997907e-01 -8.18789828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82028169299997 meters 0.02049380039514539 Centerline is valid? [True, True] Translation: X:369.75, Y:58.23, Z:-0.09 [[ 9.06839504e-01 -4.21455977e-01 -4.11991853e-03 3.69748955e+02] [ 4.21451350e-01 9.06848861e-01 -1.97558486e-03 5.82261915e+01] [ 4.56876548e-03 5.51931677e-05 9.99989562e-01 -8.71032316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.880281693 meters 0.016078026427807215 Centerline is valid? [True, True] Translation: X:369.81, Y:58.24, Z:-0.09 [[ 9.03482841e-01 -4.28594627e-01 -5.04003486e-03 3.69805616e+02] [ 4.28587812e-01 9.03496898e-01 -2.41710785e-03 5.82415146e+01] [ 5.58961530e-03 2.37179555e-05 9.99984378e-01 -9.06052580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.940281693 meters 0.015334521712092677 Centerline is valid? [True, True] Translation: X:369.86, Y:58.26, Z:-0.09 [[ 9.02201011e-01 -4.31277088e-01 -5.78002494e-03 3.69862261e+02] [ 4.31268171e-01 9.02219526e-01 -2.77325340e-03 5.82581647e+01] [ 6.41089201e-03 9.29124007e-06 9.99979450e-01 -9.16509398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.000281693 meters 0.014785929694864195 Centerline is valid? [True, True] Translation: X:369.92, Y:58.28, Z:-0.08 [[ 9.02338175e-01 -4.31010072e-01 -4.01699051e-03 3.69918115e+02] [ 4.31005759e-01 9.02347116e-01 -1.92818185e-03 5.82784572e+01] [ 4.45578560e-03 8.52604549e-06 9.99990073e-01 -8.47143280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.060281693 meters 0.015734785879067455 Centerline is valid? [True, True] Translation: X:369.97, Y:58.30, Z:-0.09 [[ 9.03519705e-01 -4.28526960e-01 -4.09708175e-03 3.69971255e+02] [ 4.28522446e-01 9.03528994e-01 -1.96703387e-03 5.83006007e+01] [ 4.54475920e-03 2.15623731e-05 9.99989672e-01 -8.66389212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.120281693 meters 0.018124964863684985 Centerline is valid? [True, True] Translation: X:370.02, Y:58.33, Z:-0.09 [[ 9.05091192e-01 -4.25195474e-01 -4.32930608e-03 3.70021958e+02] [ 4.25190394e-01 9.05101545e-01 -2.07881809e-03 5.83292643e+01] [ 4.80236566e-03 4.07405862e-05 9.99988468e-01 -8.71656702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.180281693 meters 0.02177819296485925 Centerline is valid? [True, True] Translation: X:370.07, Y:58.36, Z:-0.09 [[ 9.07569495e-01 -4.19858622e-01 -6.02900895e-03 3.70074007e+02] [ 4.19848651e-01 9.07589515e-01 -2.89522569e-03 5.83571373e+01] [ 6.68745078e-03 9.63472405e-05 9.99977634e-01 -8.88452501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.240281693 meters 0.022251503896345847 Centerline is valid? [True, True] Translation: X:370.13, Y:58.38, Z:-0.09 [[ 9.07484856e-01 -4.20060182e-01 -4.54745976e-03 3.70126084e+02] [ 4.20054510e-01 9.07496247e-01 -2.18411280e-03 5.83825962e+01] [ 5.04426149e-03 7.18683082e-05 9.99987275e-01 -8.67004321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.300281693 meters 0.021421499107600012 Centerline is valid? [True, True] Translation: X:370.18, Y:58.41, Z:-0.08 [[ 9.07024432e-01 -4.21065813e-01 -3.20328387e-03 3.70178916e+02] [ 4.21063003e-01 9.07030087e-01 -1.53920816e-03 5.84087377e+01] [ 3.55358278e-03 4.73150821e-05 9.99993685e-01 -8.39399591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.360281693 meters 0.01933408073921383 Centerline is valid? [True, True] Translation: X:370.23, Y:58.43, Z:-0.08 [[ 9.06085697e-01 -4.23086771e-01 -2.50894625e-03 3.70233298e+02] [ 4.23085053e-01 9.06089170e-01 -1.20606066e-03 5.84324580e+01] [ 2.78359734e-03 3.12966599e-05 9.99996125e-01 -8.20294208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42028169299994 meters 0.017791942253841585 Centerline is valid? [True, True] Translation: X:370.28, Y:58.46, Z:-0.08 [[ 9.04926290e-01 -4.25565838e-01 -1.45829094e-03 3.70284412e+02] [ 4.25565261e-01 9.04927465e-01 -7.01100097e-04 5.84594881e+01] [ 1.61801178e-03 1.38459454e-05 9.99998691e-01 -7.94065411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48028169299994 meters 0.016395808940665807 Centerline is valid? [True, True] Translation: X:370.34, Y:58.48, Z:-0.08 [[ 9.04115505e-01 -4.27281421e-01 -2.39598048e-03 3.70337784e+02] [ 4.27279868e-01 9.04118680e-01 -1.15243313e-03 5.84848744e+01] [ 2.65866397e-03 1.81784364e-05 9.99996466e-01 -8.11810971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54028169299994 meters 0.015433356596660163 Centerline is valid? [True, True] Translation: X:370.39, Y:58.51, Z:-0.08 [[ 9.03138536e-01 -4.29345139e-01 -1.88026721e-03 3.70390728e+02] [ 4.29344186e-01 9.03140494e-01 -9.04784418e-04 5.85102385e+01] [ 2.08661025e-03 9.86388088e-06 9.99997823e-01 -8.03608637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60028169299994 meters 0.015946058734484465 Centerline is valid? [True, True] Translation: X:370.44, Y:58.54, Z:-0.08 [[ 9.03340302e-01 -4.28907023e-01 -3.88118950e-03 3.70442334e+02] [ 4.28902956e-01 9.03348640e-01 -1.86780030e-03 5.85371183e+01] [ 4.30717992e-03 2.26056409e-05 9.99990724e-01 -8.28655409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66028169299994 meters 0.017275183338886238 Centerline is valid? [True, True] Translation: X:370.49, Y:58.56, Z:-0.09 [[ 9.04179271e-01 -4.27116746e-01 -5.57950926e-03 3.70493846e+02] [ 4.27108301e-01 9.04196485e-01 -2.68626935e-03 5.85649662e+01] [ 6.19232329e-03 4.58143397e-05 9.99980826e-01 -8.58297941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72028169299995 meters 0.01829486455152919 Centerline is valid? [True, True] Translation: X:370.55, Y:58.59, Z:-0.08 [[ 9.05107324e-01 -4.25163957e-01 -4.04257037e-03 3.70545668e+02] [ 4.25159500e-01 9.05116351e-01 -1.94715515e-03 5.85919993e+01] [ 4.48685673e-03 4.36471899e-05 9.99989933e-01 -8.24346891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78028169299995 meters 0.022999972931907135 Centerline is valid? [True, True] Translation: X:370.60, Y:58.63, Z:-0.08 [[ 9.07874898e-01 -4.19233321e-01 -2.56749952e-03 3.70595119e+02] [ 4.19231499e-01 9.07878528e-01 -1.23675657e-03 5.86258984e+01] [ 2.84946724e-03 4.64435706e-05 9.99995939e-01 -7.79304842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84028169299995 meters 0.026767003115034844 Centerline is valid? [True, True] Translation: X:370.64, Y:58.66, Z:-0.08 [[ 9.09534614e-01 -4.15616399e-01 -3.12957397e-03 3.70644606e+02] [ 4.15613671e-01 9.09539996e-01 -1.50759176e-03 5.86605810e+01] [ 3.47305255e-03 7.05131622e-05 9.99993966e-01 -8.06387103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90028169299995 meters 0.02786896711550622 Centerline is valid? [True, True] Translation: X:370.70, Y:58.69, Z:-0.08 [[ 9.09415370e-01 -4.15883983e-01 -2.04860523e-03 3.70695231e+02] [ 4.15882815e-01 9.09417676e-01 -9.87031104e-04 5.86887659e+01] [ 2.27352824e-03 4.56415459e-05 9.99997414e-01 -7.76468745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96028169299996 meters 0.023172537327545106 Centerline is valid? [True, True] Translation: X:370.75, Y:58.71, Z:-0.08 [[ 9.07511784e-01 -4.20012758e-01 -3.41234979e-03 3.70751762e+02] [ 4.20009542e-01 9.07518198e-01 -1.64476604e-03 5.87080222e+01] [ 3.78759226e-03 5.94250889e-05 9.99992825e-01 -8.02570742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02028169299996 meters 0.018383304725407588 Centerline is valid? [True, True] Translation: X:370.81, Y:58.73, Z:-0.08 [[ 9.04798873e-01 -4.25827599e-01 -3.13942511e-03 3.70807552e+02] [ 4.25824911e-01 9.04804319e-01 -1.51336699e-03 5.87268164e+01] [ 3.48499883e-03 3.24473259e-05 9.99993927e-01 -8.03487991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08028169299996 meters 0.017290886078741567 Centerline is valid? [True, True] Translation: X:370.86, Y:58.75, Z:-0.08 [[ 9.04111504e-01 -4.27289484e-01 -2.46692010e-03 3.70861181e+02] [ 4.27287828e-01 9.04114869e-01 -1.18972265e-03 5.87505590e+01] [ 2.73873512e-03 2.15570033e-05 9.99996249e-01 -7.79093970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14028169299996 meters 0.01840485707410858 Centerline is valid? [True, True] Translation: X:370.91, Y:58.78, Z:-0.08 [[ 9.04458824e-01 -4.26547472e-01 -3.38969431e-03 3.70910991e+02] [ 4.26544340e-01 9.04465175e-01 -1.63492395e-03 5.87814366e+01] [ 3.76323313e-03 3.28664682e-05 9.99992918e-01 -7.98688352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20028169299997 meters 0.017455319330401554 Centerline is valid? [True, True] Translation: X:370.96, Y:58.81, Z:-0.08 [[ 9.04115843e-01 -4.27260123e-01 -4.83009430e-03 3.70962465e+02] [ 4.27253767e-01 9.04128744e-01 -2.33083786e-03 5.88075663e+01] [ 5.36290117e-03 4.36714519e-05 9.99985619e-01 -8.18425933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26028169299997 meters 0.017240656516603555 Centerline is valid? [True, True] Translation: X:371.01, Y:58.83, Z:-0.08 [[ 9.03930650e-01 -4.27653245e-01 -4.69925748e-03 3.71014354e+02] [ 4.27647228e-01 9.03942864e-01 -2.26880836e-03 5.88333083e+01] [ 5.21812352e-03 4.12209846e-05 9.99986385e-01 -8.18415782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32028169299997 meters 0.016326762145350917 Centerline is valid? [True, True] Translation: X:371.07, Y:58.86, Z:-0.08 [[ 9.03234158e-01 -4.29130373e-01 -3.89602437e-03 3.71066911e+02] [ 4.29126248e-01 9.03242560e-01 -1.88180667e-03 5.88590331e+01] [ 4.32659542e-03 2.78257466e-05 9.99990640e-01 -8.05150877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.380281693 meters 0.014641645467153028 Centerline is valid? [True, True] Translation: X:371.12, Y:58.88, Z:-0.08 [[ 9.01532390e-01 -4.32708614e-01 -1.61391564e-03 3.71121686e+02] [ 4.32707911e-01 9.01533835e-01 -7.79871746e-04 5.88819034e+01] [ 1.79245677e-03 4.72557608e-06 9.99998394e-01 -7.51357675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.440281693 meters 0.015175077433651969 Centerline is valid? [True, True] Translation: X:371.17, Y:58.91, Z:-0.08 [[ 9.02089154e-01 -4.31540225e-01 -2.86223213e-03 3.71172949e+02] [ 4.31538007e-01 9.02093695e-01 -1.38363025e-03 5.89111051e+01] [ 3.17909366e-03 1.29958887e-05 9.99994947e-01 -7.70874802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.500281693 meters 0.016922032536776703 Centerline is valid? [True, True] Translation: X:371.22, Y:58.94, Z:-0.08 [[ 9.03359329e-01 -4.28864984e-01 -4.09245659e-03 3.71221998e+02] [ 4.28860421e-01 9.03368598e-01 -1.97856361e-03 5.89419864e+01] [ 4.54553342e-03 3.22612372e-05 9.99989668e-01 -8.03010258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.560281693 meters 0.015246844306384573 Centerline is valid? [True, True] Translation: X:371.28, Y:58.96, Z:-0.08 [[ 9.02116332e-01 -4.31486223e-01 -2.40044690e-03 3.71278388e+02] [ 4.31484661e-01 9.02119526e-01 -1.16106794e-03 5.89613397e+01] [ 2.66647484e-03 1.16623343e-05 9.99996445e-01 -7.61051551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.620281693 meters 0.014552609977366323 Centerline is valid? [True, True] Translation: X:371.34, Y:58.98, Z:-0.08 [[ 9.00246530e-01 -4.35368066e-01 -3.29129788e-03 3.71335515e+02] [ 4.35365153e-01 9.00252546e-01 -1.59273959e-03 5.89764850e+01] [ 3.65642725e-03 9.41882165e-07 9.99993315e-01 -7.82854673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.680281693 meters 0.015314947825745932 Centerline is valid? [True, True] Translation: X:371.39, Y:58.99, Z:-0.08 [[ 8.98710747e-01 -4.38516225e-01 -4.74483279e-03 3.71391724e+02] [ 4.38510211e-01 8.98723272e-01 -2.29659316e-03 5.89926929e+01] [ 5.27138501e-03 -1.66846707e-05 9.99986106e-01 -8.05337726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.740281693 meters 0.0161065225773126 Centerline is valid? [True, True] Translation: X:371.45, Y:59.01, Z:-0.08 [[ 8.97442589e-01 -4.41116530e-01 -3.60634353e-03 3.71450113e+02] [ 4.41113074e-01 8.97449835e-01 -1.74632061e-03 5.90068249e+01] [ 4.00684329e-03 -2.35827882e-05 9.99991972e-01 -7.80937407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.800281693 meters 0.018605055745516345 Centerline is valid? [True, True] Translation: X:371.51, Y:59.02, Z:-0.08 [[ 8.95753940e-01 -4.44541861e-01 -2.72261227e-03 3.71508388e+02] [ 4.44539906e-01 8.95758077e-01 -1.31866612e-03 5.90199828e+01] [ 3.02500422e-03 -2.91094290e-05 9.99995424e-01 -7.61812907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.860281693 meters 0.019818366992521447 Centerline is valid? [True, True] Translation: X:371.56, Y:59.04, Z:-0.08 [[ 8.95233399e-01 -4.45576719e-01 -4.30695764e-03 3.71563913e+02] [ 4.45571836e-01 8.95243757e-01 -2.08644735e-03 5.90375689e+01] [ 4.78544931e-03 -5.12016727e-05 9.99988548e-01 -7.84337273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92028169299994 meters 0.01786228318082999 Centerline is valid? [True, True] Translation: X:371.62, Y:59.06, Z:-0.08 [[ 8.95584701e-01 -4.44879942e-01 -3.14341181e-03 3.71617151e+02] [ 4.44877335e-01 8.95590217e-01 -1.52348122e-03 5.90619434e+01] [ 3.49297510e-03 -3.40261973e-05 9.99993899e-01 -7.54032245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98028169299994 meters 0.01683017091763498 Centerline is valid? [True, True] Translation: X:371.67, Y:59.08, Z:-0.08 [[ 8.96470253e-01 -4.43093011e-01 -3.10946028e-03 3.71673409e+02] [ 4.43090449e-01 8.96475645e-01 -1.50721384e-03 5.90788340e+01] [ 3.45539133e-03 -2.65997750e-05 9.99994030e-01 -7.53138225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04028169299994 meters 0.015974525971708002 Centerline is valid? [True, True] Translation: X:371.73, Y:59.10, Z:-0.08 [[ 8.97750430e-01 -4.40483037e-01 -4.34273422e-03 3.71728007e+02] [ 4.40478005e-01 8.97760934e-01 -2.10547880e-03 5.90986526e+01] [ 4.82616483e-03 -2.26844060e-05 9.99988354e-01 -7.87967577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10028169299994 meters 0.014954088934925046 Centerline is valid? [True, True] Translation: X:371.78, Y:59.12, Z:-0.08 [[ 8.99588196e-01 -4.36717122e-01 -4.38557494e-03 3.71780771e+02] [ 4.36711941e-01 8.99598886e-01 -2.12716242e-03 5.91237139e+01] [ 4.87422658e-03 -1.66274050e-06 9.99988121e-01 -7.71784602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16028169299994 meters 0.015383108241246167 Centerline is valid? [True, True] Translation: X:371.83, Y:59.15, Z:-0.08 [[ 9.01181666e-01 -4.33423653e-01 -3.94231900e-03 3.71832793e+02] [ 4.33419434e-01 9.01190289e-01 -1.91241418e-03 5.91497229e+01] [ 4.38166514e-03 1.47549286e-05 9.99990400e-01 -7.62868593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22028169299995 meters 0.015172717646059309 Centerline is valid? [True, True] Translation: X:371.89, Y:59.17, Z:-0.08 [[ 9.00879930e-01 -4.34050934e-01 -3.89076978e-03 3.71889996e+02] [ 4.34046827e-01 9.00888332e-01 -1.88836365e-03 5.91652703e+01] [ 4.32479510e-03 1.24126348e-05 9.99990648e-01 -7.65079983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28028169299995 meters 0.015201836202787016 Centerline is valid? [True, True] Translation: X:371.94, Y:59.18, Z:-0.08 [[ 9.00486114e-01 -4.34862442e-01 -4.40635627e-03 3.71944382e+02] [ 4.34857181e-01 9.00496894e-01 -2.13899180e-03 5.91838742e+01] [ 4.89807733e-03 9.99674323e-06 9.99988004e-01 -7.71481032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34028169299995 meters 0.015170846780676902 Centerline is valid? [True, True] Translation: X:372.00, Y:59.21, Z:-0.07 [[ 9.00760333e-01 -4.34301604e-01 -3.59712471e-03 3.71997023e+02] [ 4.34298090e-01 9.00767515e-01 -1.74706791e-03 5.92088548e+01] [ 3.99892748e-03 1.14650835e-05 9.99992004e-01 -7.38132360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40028169299995 meters 0.014600643680020686 Centerline is valid? [True, True] Translation: X:372.05, Y:59.23, Z:-0.07 [[ 9.00722950e-01 -4.34394001e-01 -1.39549035e-04 3.72050139e+02] [ 4.34393995e-01 9.00722961e-01 -6.78070363e-05 5.92316607e+01] [ 1.55149990e-04 4.56090826e-07 9.99999988e-01 -6.61632613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46028169299996 meters 0.014431062863722845 Centerline is valid? [True, True] Translation: X:372.10, Y:59.25, Z:-0.07 [[ 8.99253701e-01 -4.37426999e-01 -6.34593560e-04 3.72103359e+02] [ 4.37426890e-01 8.99253924e-01 -3.08341467e-04 5.92514519e+01] [ 7.05537632e-04 -3.11082028e-07 9.99999751e-01 -6.73605703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52028169299996 meters 0.019844220676908487 Centerline is valid? [True, True] Translation: X:372.17, Y:59.25, Z:-0.07 [[ 8.94054652e-01 -4.47951005e-01 -2.48533687e-03 3.72168488e+02] [ 4.47949378e-01 8.94058105e-01 -1.20790466e-03 5.92538779e+01] [ 2.76311768e-03 -3.33723296e-05 9.99996182e-01 -7.18509106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58028169299996 meters 0.021816898633769406 Centerline is valid? [True, True] Translation: X:372.22, Y:59.27, Z:-0.07 [[ 8.92985280e-01 -4.50070724e-01 -3.69240623e-03 3.72223866e+02] [ 4.50067147e-01 8.92992912e-01 -1.79530498e-03 5.92746383e+01] [ 4.10530681e-03 -5.86498137e-05 9.99991571e-01 -7.35856357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64028169299996 meters 0.020825712294755855 Centerline is valid? [True, True] Translation: X:372.28, Y:59.30, Z:-0.07 [[ 8.93543198e-01 -4.48960344e-01 -3.89407163e-03 3.72278822e+02] [ 4.48956351e-01 8.93551681e-01 -1.89414826e-03 5.92960942e+01] [ 4.32995171e-03 -5.57649014e-05 9.99990624e-01 -7.34401771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70028169299997 meters 0.019562527303341452 Centerline is valid? [True, True] Translation: X:372.33, Y:59.32, Z:-0.07 [[ 8.94325002e-01 -4.47406440e-01 -3.20446907e-03 3.72332590e+02] [ 4.47403726e-01 8.94330742e-01 -1.55891539e-03 5.93173141e+01] [ 3.56332398e-03 -3.95143952e-05 9.99993651e-01 -7.32562052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76028169299997 meters 0.020658299456867733 Centerline is valid? [True, True] Translation: X:372.39, Y:59.33, Z:-0.07 [[ 8.93592687e-01 -4.48859789e-01 -4.12311942e-03 3.72389908e+02] [ 4.48855307e-01 8.93602197e-01 -2.00669941e-03 5.93330979e+01] [ 4.58515525e-03 -5.75121152e-05 9.99989486e-01 -7.47911297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82028169299997 meters 0.018777150953933845 Centerline is valid? [True, True] Translation: X:372.44, Y:59.36, Z:-0.07 [[ 8.94594245e-01 -4.46863308e-01 -3.78423784e-03 3.72444584e+02] [ 4.46859511e-01 8.94602248e-01 -1.84254524e-03 5.93558855e+01] [ 4.20875354e-03 -4.26922982e-05 9.99991142e-01 -7.41485433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.880281693 meters 0.01778326885899784 Centerline is valid? [True, True] Translation: X:372.50, Y:59.38, Z:-0.07 [[ 8.95397194e-01 -4.45253731e-01 -3.60272553e-03 3.72499351e+02] [ 4.45250273e-01 8.95404442e-01 -1.75489663e-03 5.93766591e+01] [ 4.00727071e-03 -3.27850094e-05 9.99991970e-01 -7.45558917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.940281693 meters 0.015421746279381567 Centerline is valid? [True, True] Translation: X:372.55, Y:59.40, Z:-0.07 [[ 8.97032237e-01 -4.41945538e-01 -4.16020681e-03 3.72553207e+02] [ 4.41940888e-01 8.97041884e-01 -2.02729627e-03 5.93997065e+01] [ 4.62783429e-03 -2.00153900e-05 9.99989291e-01 -7.47850946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.000281693 meters 0.015263634867064068 Centerline is valid? [True, True] Translation: X:372.60, Y:59.43, Z:-0.07 [[ 9.00548383e-01 -4.34747312e-01 -2.71739202e-03 3.72604597e+02] [ 4.34745294e-01 9.00552483e-01 -1.32438198e-03 5.94268827e+01] [ 3.02292563e-03 1.12966568e-05 9.99995431e-01 -7.32840553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.060281693 meters 0.0212110416931216 Centerline is valid? [True, True] Translation: X:372.65, Y:59.46, Z:-0.08 [[ 9.04185596e-01 -4.27125428e-01 -3.50379254e-03 3.72653877e+02] [ 4.27122015e-01 9.04192384e-01 -1.70825667e-03 5.94614478e+01] [ 3.89774239e-03 4.80341498e-05 9.99992403e-01 -7.52101793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.120281693 meters 0.022455046159892876 Centerline is valid? [True, True] Translation: X:372.71, Y:59.49, Z:-0.07 [[ 9.05712785e-01 -4.23874637e-01 -3.82660489e-03 3.72706543e+02] [ 4.23870534e-01 9.05720866e-01 -1.86645660e-03 5.94883695e+01] [ 4.25697951e-03 6.84885433e-05 9.99990937e-01 -7.47393585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.180281693 meters 0.034809214549954295 Centerline is valid? [True, True] Translation: X:372.75, Y:59.53, Z:-0.08 [[ 9.10005448e-01 -4.14577257e-01 -3.97267244e-03 3.72750585e+02] [ 4.14572744e-01 9.10014112e-01 -1.93789524e-03 5.95306115e+01] [ 4.41859527e-03 1.16533511e-04 9.99990231e-01 -7.56008067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.240281693 meters 0.038156476280183795 Centerline is valid? [True, True] Translation: X:372.80, Y:59.57, Z:-0.07 [[ 9.11904315e-01 -4.10394877e-01 -2.56234668e-03 3.72798998e+02] [ 4.10392983e-01 9.11907910e-01 -1.25003243e-03 5.95672325e+01] [ 2.84963111e-03 8.83408731e-05 9.99995936e-01 -7.30282709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.300281693 meters 0.042243205919152996 Centerline is valid? [True, True] Translation: X:372.84, Y:59.61, Z:-0.07 [[ 9.12847089e-01 -4.08292761e-01 -2.68569377e-03 3.72843795e+02] [ 4.08290670e-01 9.12851035e-01 -1.31036374e-03 5.96081892e+01] [ 2.98665037e-03 9.96180140e-05 9.99995535e-01 -7.24185700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.360281693 meters 0.039438676276695304 Centerline is valid? [True, True] Translation: X:372.89, Y:59.64, Z:-0.07 [[ 9.11620834e-01 -4.11022889e-01 -2.76394821e-03 3.72893686e+02] [ 4.11020687e-01 9.11625019e-01 -1.34872111e-03 5.96423287e+01] [ 3.07403959e-03 9.34823709e-05 9.99995271e-01 -7.33835751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42028169299994 meters 0.035170384849201625 Centerline is valid? [True, True] Translation: X:372.95, Y:59.67, Z:-0.07 [[ 9.09851086e-01 -4.14924716e-01 -2.91236506e-03 3.72946329e+02] [ 4.14922290e-01 9.09855743e-01 -1.42134499e-03 5.96704405e+01] [ 3.23958324e-03 8.48071022e-05 9.99994749e-01 -7.46538573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48028169299994 meters 0.025661473967452057 Centerline is valid? [True, True] Translation: X:373.00, Y:59.69, Z:-0.08 [[ 9.06558488e-01 -4.22063638e-01 -3.74071532e-03 3.73001018e+02] [ 4.22059693e-01 9.06566203e-01 -1.82630017e-03 5.96939764e+01] [ 4.16202098e-03 7.68427616e-05 9.99991336e-01 -7.56541031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54028169299994 meters 0.020512297248573206 Centerline is valid? [True, True] Translation: X:373.05, Y:59.72, Z:-0.07 [[ 9.03695246e-01 -4.28165158e-01 -3.08218638e-03 3.73053039e+02] [ 4.28162515e-01 9.03700501e-01 -1.50492538e-03 5.97211240e+01] [ 3.42972998e-03 4.03172401e-05 9.99994118e-01 -7.25956907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60028169299994 meters 0.017503384970013858 Centerline is valid? [True, True] Translation: X:373.11, Y:59.75, Z:-0.07 [[ 9.02314948e-01 -4.31074440e-01 -1.60064032e-03 3.73106016e+02] [ 4.31073731e-01 9.02316368e-01 -7.81905978e-04 5.97469154e+01] [ 1.78134364e-03 1.55314576e-05 9.99998413e-01 -7.02287681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66028169299994 meters 0.013953602278381225 Centerline is valid? [True, True] Translation: X:373.16, Y:59.76, Z:-0.07 [[ 8.98978848e-01 -4.37986093e-01 -2.28313111e-03 3.73162951e+02] [ 4.37984673e-01 8.98981747e-01 -1.11539349e-03 5.97625773e+01] [ 2.54102003e-03 2.73872537e-06 9.99996772e-01 -7.35953586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72028169299995 meters 0.019614234304809384 Centerline is valid? [True, True] Translation: X:373.23, Y:59.77, Z:-0.08 [[ 8.93438530e-01 -4.49168462e-01 -3.90980511e-03 3.73226668e+02] [ 4.49164403e-01 8.93447083e-01 -1.91022750e-03 5.97665547e+01] [ 4.35121792e-03 -4.94744241e-05 9.99990532e-01 -7.72903816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78028169299995 meters 0.02754805574153702 Centerline is valid? [True, True] Translation: X:373.29, Y:59.77, Z:-0.07 [[ 8.89716395e-01 -4.56505647e-01 -2.70756805e-03 3.73288250e+02] [ 4.56503733e-01 8.89720513e-01 -1.32307830e-03 5.97726461e+01] [ 3.01297155e-03 -5.88504646e-05 9.99995459e-01 -7.38736438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84028169299995 meters 0.02982374592552099 Centerline is valid? [True, True] Translation: X:373.35, Y:59.79, Z:-0.07 [[ 8.88439008e-01 -4.58988262e-01 -2.43010507e-03 3.73347463e+02] [ 4.58986728e-01 8.88442329e-01 -1.18801372e-03 5.97861276e+01] [ 2.70429256e-03 -5.99082440e-05 9.99996342e-01 -7.40659642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90028169299995 meters 0.028418202551570067 Centerline is valid? [True, True] Translation: X:373.40, Y:59.80, Z:-0.07 [[ 8.88140360e-01 -4.59566318e-01 -2.34525497e-03 3.73403716e+02] [ 4.59564892e-01 8.88143454e-01 -1.14666920e-03 5.98039668e+01] [ 2.60989340e-03 -5.93936475e-05 9.99996592e-01 -7.40625207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96028169299996 meters 0.030247341060053584 Centerline is valid? [True, True] Translation: X:373.46, Y:59.82, Z:-0.08 [[ 8.89028801e-01 -4.57838193e-01 -3.46134137e-03 3.73459477e+02] [ 4.57835071e-01 8.89035535e-01 -1.69259985e-03 5.98211063e+01] [ 3.85219233e-03 -7.99534527e-05 9.99992577e-01 -7.76428956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02028169299996 meters 0.02740494033562702 Centerline is valid? [True, True] Translation: X:373.51, Y:59.84, Z:-0.08 [[ 8.90031697e-01 -4.55868882e-01 -5.20971215e-03 3.73513269e+02] [ 4.55861770e-01 8.90046938e-01 -2.54858475e-03 5.98444525e+01] [ 5.79870883e-03 -1.06587389e-04 9.99983182e-01 -8.19642395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08028169299996 meters 0.024629017989967982 Centerline is valid? [True, True] Translation: X:373.57, Y:59.87, Z:-0.08 [[ 8.90315116e-01 -4.55327215e-01 -4.01509971e-03 3.73566380e+02] [ 4.55322982e-01 8.90324166e-01 -1.96501205e-03 5.98700912e+01] [ 4.46946377e-03 -7.86872419e-05 9.99990009e-01 -7.83332946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14028169299996 meters 0.023990339406234244 Centerline is valid? [True, True] Translation: X:373.62, Y:59.89, Z:-0.08 [[ 8.90598858e-01 -4.54778344e-01 -3.21423731e-03 3.73619722e+02] [ 4.54775625e-01 8.90604656e-01 -1.57372527e-03 5.98940103e+01] [ 3.57831088e-03 -6.01988512e-05 9.99993596e-01 -7.59485279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20028169299997 meters 0.025795456497610097 Centerline is valid? [True, True] Translation: X:373.67, Y:59.92, Z:-0.08 [[ 8.89889334e-01 -4.56166833e-01 -2.96556469e-03 3.73673997e+02] [ 4.56164525e-01 8.89894273e-01 -1.45226453e-03 5.99156369e+01] [ 3.30151394e-03 -6.04306967e-05 9.99994548e-01 -7.62369586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26028169299997 meters 0.02602902097394607 Centerline is valid? [True, True] Translation: X:373.73, Y:59.94, Z:-0.08 [[ 8.89810241e-01 -4.56322258e-01 -2.78060541e-03 3.73726340e+02] [ 4.56320228e-01 8.89814584e-01 -1.36235648e-03 5.99411219e+01] [ 3.09589683e-03 -5.66077488e-05 9.99995206e-01 -7.57079068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32028169299997 meters 0.024449975211986958 Centerline is valid? [True, True] Translation: X:373.78, Y:59.97, Z:-0.08 [[ 8.90591769e-01 -4.54789666e-01 -3.55832412e-03 3.73776171e+02] [ 4.54786326e-01 8.90598875e-01 -1.74407084e-03 5.99723746e+01] [ 3.96222485e-03 -6.50220195e-05 9.99992148e-01 -7.63891519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.380281693 meters 0.022041426784558116 Centerline is valid? [True, True] Translation: X:373.83, Y:60.00, Z:-0.08 [[ 8.91834060e-01 -4.52355624e-01 -2.52978817e-03 3.73825063e+02] [ 4.52353925e-01 8.91837647e-01 -1.24010064e-03 6.00046030e+01] [ 2.81712683e-03 -3.83956180e-05 9.99996031e-01 -7.55364643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.440281693 meters 0.021350768201006776 Centerline is valid? [True, True] Translation: X:373.88, Y:60.03, Z:-0.08 [[ 8.92223618e-01 -4.51579517e-01 -3.59932479e-03 3.73875477e+02] [ 4.51576070e-01 8.92230877e-01 -1.76510753e-03 6.00348609e+01] [ 4.00851511e-03 -5.04983205e-05 9.99991965e-01 -7.86126124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.500281693 meters 0.02366763111632303 Centerline is valid? [True, True] Translation: X:373.93, Y:60.06, Z:-0.08 [[ 8.91243063e-01 -4.53516672e-01 -2.90361825e-03 3.73928038e+02] [ 4.53514439e-01 8.91247791e-01 -1.42410365e-03 6.00580997e+01] [ 3.23369810e-03 -4.76103029e-05 9.99994770e-01 -7.84892297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.560281693 meters 0.02618123152411732 Centerline is valid? [True, True] Translation: X:373.98, Y:60.08, Z:-0.08 [[ 8.90189292e-01 -4.55584779e-01 -2.35255694e-03 3.73983269e+02] [ 4.55583318e-01 8.90192399e-01 -1.15431647e-03 6.00790615e+01] [ 2.62011732e-03 -4.42255359e-05 9.99996567e-01 -7.72051246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.620281693 meters 0.03076622651481449 Centerline is valid? [True, True] Translation: X:374.04, Y:60.09, Z:-0.08 [[ 8.88384041e-01 -4.59099005e-01 -1.37802734e-03 3.74041103e+02] [ 4.59098508e-01 8.88385109e-01 -6.76254598e-04 6.00943031e+01] [ 1.53468678e-03 -3.18765046e-05 9.99998822e-01 -7.58402441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.680281693 meters 0.03282549923309696 Centerline is valid? [True, True] Translation: X:374.10, Y:60.11, Z:-0.08 [[ 8.87853571e-01 -4.60114174e-01 -3.31394432e-03 3.74097012e+02] [ 4.60111307e-01 8.87859753e-01 -1.62646593e-03 6.01122135e+01] [ 3.69067781e-03 -8.07196626e-05 9.99993186e-01 -7.86214264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.740281693 meters 0.02693762747476939 Centerline is valid? [True, True] Translation: X:374.15, Y:60.14, Z:-0.08 [[ 8.88395944e-01 -4.59064754e-01 -3.49252770e-03 3.74148209e+02] [ 4.59061558e-01 8.88402806e-01 -1.71486998e-03 6.01408441e+01] [ 3.89000778e-03 -7.98016705e-05 9.99992431e-01 -7.92784361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.800281693 meters 0.029293697696443625 Centerline is valid? [True, True] Translation: X:374.21, Y:60.16, Z:-0.08 [[ 8.87206329e-01 -4.61353833e-01 -4.19183424e-03 3.74206619e+02] [ 4.61349250e-01 8.87216225e-01 -2.05908704e-03 6.01558018e+01] [ 4.66903104e-03 -1.07064532e-04 9.99989094e-01 -8.14596216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.860281693 meters 0.04135070138447216 Centerline is valid? [True, True] Translation: X:374.27, Y:60.15, Z:-0.08 [[ 8.85202276e-01 -4.65202393e-01 -1.91425221e-03 3.74271359e+02] [ 4.65201446e-01 8.85204344e-01 -9.40428648e-04 6.01548573e+01] [ 2.13199403e-03 -5.80433192e-05 9.99997726e-01 -7.78274765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92028169299994 meters 0.034368676762620134 Centerline is valid? [True, True] Translation: X:374.32, Y:60.18, Z:-0.08 [[ 8.85582924e-01 -4.64470281e-01 -3.20053647e-03 3.74323687e+02] [ 4.64467627e-01 8.85588702e-01 -1.57301399e-03 6.01816569e+01] [ 3.56497719e-03 -9.35112559e-05 9.99993641e-01 -7.93400177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98028169299994 meters 0.027371456685334347 Centerline is valid? [True, True] Translation: X:374.37, Y:60.21, Z:-0.08 [[ 8.87876010e-01 -4.60075479e-01 -2.59701230e-03 3.74373595e+02] [ 4.60073711e-01 8.87879806e-01 -1.27690596e-03 6.02137557e+01] [ 2.89330790e-03 -6.10829165e-05 9.99995813e-01 -7.72803168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04028169299994 meters 0.022003410284053126 Centerline is valid? [True, True] Translation: X:374.42, Y:60.25, Z:-0.07 [[ 8.90578992e-01 -4.54827610e-01 -9.50738558e-04 3.74423763e+02] [ 4.54827370e-01 8.90579499e-01 -4.67677644e-04 6.02457251e+01] [ 1.05942097e-03 -1.59180332e-05 9.99999439e-01 -7.45351265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10028169299994 meters 0.01859723324041199 Centerline is valid? [True, True] Translation: X:374.48, Y:60.27, Z:-0.08 [[ 8.92465023e-01 -4.51113779e-01 -1.59405507e-03 3.74475907e+02] [ 4.51113098e-01 8.92466446e-01 -7.84388697e-04 6.02723050e+01] [ 1.77648921e-03 -1.90596438e-05 9.99998422e-01 -7.65667142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16028169299994 meters 0.0189104970523243 Centerline is valid? [True, True] Translation: X:374.53, Y:60.30, Z:-0.08 [[ 8.92455822e-01 -4.51130378e-01 -1.99694499e-03 3.74527509e+02] [ 4.51129308e-01 8.92458056e-01 -9.82799161e-04 6.02954623e+01] [ 2.22556020e-03 -2.37755797e-05 9.99997523e-01 -7.85572724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22028169299995 meters 0.02075335493683169 Centerline is valid? [True, True] Translation: X:374.58, Y:60.32, Z:-0.08 [[ 8.91488182e-01 -4.53032750e-01 -3.18570489e-03 3.74582030e+02] [ 4.53030038e-01 8.91493873e-01 -1.56817549e-03 6.03167019e+01] [ 3.55047124e-03 -4.52100879e-05 9.99993696e-01 -8.19011010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28028169299995 meters 0.023752203604094507 Centerline is valid? [True, True] Translation: X:374.64, Y:60.33, Z:-0.08 [[ 8.90586954e-01 -4.54804891e-01 -2.71822637e-03 3.74637991e+02] [ 4.54802925e-01 8.90591101e-01 -1.33824394e-03 6.03339650e+01] [ 3.02946810e-03 -4.44347073e-05 9.99995410e-01 -8.16757127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34028169299995 meters 0.024074208303405863 Centerline is valid? [True, True] Translation: X:374.69, Y:60.35, Z:-0.08 [[ 8.90303836e-01 -4.55354469e-01 -3.37436233e-03 3.74694108e+02] [ 4.55351440e-01 8.90310229e-01 -1.66196444e-03 6.03526888e+01] [ 3.76101223e-03 -5.68674249e-05 9.99992926e-01 -8.31533131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40028169299995 meters 0.020087083584845407 Centerline is valid? [True, True] Translation: X:374.75, Y:60.38, Z:-0.09 [[ 8.91787822e-01 -4.52427002e-01 -4.92829901e-03 3.74745727e+02] [ 4.52420490e-01 8.91801437e-01 -2.42830114e-03 6.03812872e+01] [ 5.49369315e-03 -6.41340687e-05 9.99984908e-01 -8.63942370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46028169299996 meters 0.01683096182020301 Centerline is valid? [True, True] Translation: X:374.80, Y:60.41, Z:-0.08 [[ 8.93999693e-01 -4.48053759e-01 -3.51825329e-03 3.74796043e+02] [ 4.48050405e-01 8.94006616e-01 -1.73376605e-03 6.04104859e+01] [ 3.92216211e-03 -2.63684971e-05 9.99992308e-01 -8.38362883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52028169299996 meters 0.014367995528750007 Centerline is valid? [True, True] Translation: X:374.84, Y:60.45, Z:-0.07 [[ 8.98261158e-01 -4.39461285e-01 8.19097839e-04 3.74841255e+02] [ 4.39461100e-01 8.98261531e-01 4.03736271e-04 6.04507380e+01] [-9.13190539e-04 -2.69897334e-06 9.99999583e-01 -7.42019950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58028169299996 meters 0.01464305321906375 Centerline is valid? [True, True] Translation: X:374.89, Y:60.48, Z:-0.07 [[ 8.98639585e-01 -4.38687222e-01 6.45346524e-04 3.74892601e+02] [ 4.38687107e-01 8.98639817e-01 3.18219396e-04 6.04779336e+01] [-7.19532865e-04 -2.85934656e-06 9.99999741e-01 -7.37353482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64028169299996 meters 0.014021283273041567 Centerline is valid? [True, True] Translation: X:374.94, Y:60.51, Z:-0.07 [[ 8.97702645e-01 -4.40599862e-01 1.31252612e-03 3.74942800e+02] [ 4.40599386e-01 8.97703605e-01 6.47426554e-04 6.05059303e+01] [-1.46351548e-03 -2.89832691e-06 9.99998929e-01 -7.23140079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70028169299997 meters 0.013878233308995512 Centerline is valid? [True, True] Translation: X:374.99, Y:60.53, Z:-0.08 [[ 8.97112791e-01 -4.41801475e-01 3.10778394e-04 3.74992789e+02] [ 4.41801448e-01 8.97112845e-01 1.53302324e-04 6.05342828e+01] [-3.46532482e-04 -2.27131293e-07 9.99999940e-01 -7.50749940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76028169299997 meters 0.013981119836152425 Centerline is valid? [True, True] Translation: X:375.04, Y:60.57, Z:-0.08 [[ 8.96991740e-01 -4.42047217e-01 2.74438471e-04 3.75042283e+02] [ 4.42047196e-01 8.96991782e-01 1.35395875e-04 6.05653300e+01] [-3.06020422e-04 -1.34224715e-07 9.99999953e-01 -7.62335843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82028169299997 meters 0.01408333906535194 Centerline is valid? [True, True] Translation: X:375.09, Y:60.59, Z:-0.08 [[ 8.96836685e-01 -4.42357570e-01 -1.93386142e-03 3.75093530e+02] [ 4.42356539e-01 8.96838770e-01 -9.55083014e-04 6.05927103e+01] [ 2.15685010e-03 1.09724062e-06 9.99997674e-01 -8.09486635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.880281693 meters 0.014164627896230922 Centerline is valid? [True, True] Translation: X:375.15, Y:60.62, Z:-0.08 [[ 8.96205367e-01 -4.43633662e-01 -2.26155222e-03 3.75145557e+02] [ 4.43632256e-01 8.96208220e-01 -1.11709006e-03 6.06170083e+01] [ 2.52240045e-03 -2.15540502e-06 9.99996819e-01 -8.18452999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.940281693 meters 0.014088142198664616 Centerline is valid? [True, True] Translation: X:375.20, Y:60.64, Z:-0.08 [[ 8.96477650e-01 -4.43084115e-01 -2.07116663e-03 3.75196562e+02] [ 4.43082933e-01 8.96480043e-01 -1.02355037e-03 6.06440445e+01] [ 2.31027845e-03 -1.08554344e-07 9.99997331e-01 -8.08088237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.000281693 meters 0.01684777751372763 Centerline is valid? [True, True] Translation: X:375.24, Y:60.68, Z:-0.09 [[ 8.99355667e-01 -4.37191318e-01 -4.80996282e-03 3.75241783e+02] [ 4.37184853e-01 8.99368528e-01 -2.37786073e-03 6.06846497e+01] [ 5.36550925e-03 3.56996317e-05 9.99985605e-01 -8.72311526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.060281693 meters 0.021947996643936103 Centerline is valid? [True, True] Translation: X:375.29, Y:60.72, Z:-0.09 [[ 9.02188092e-01 -4.31316577e-01 -4.75990092e-03 3.75288370e+02] [ 4.31310159e-01 9.02200646e-01 -2.35392385e-03 6.07245086e+01] [ 5.30967206e-03 7.06884441e-05 9.99985901e-01 -8.73264662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.120281693 meters 0.022423596959170903 Centerline is valid? [True, True] Translation: X:375.34, Y:60.75, Z:-0.08 [[ 9.02117565e-01 -4.31485239e-01 -2.09472828e-03 3.75338454e+02] [ 4.31483996e-01 9.02119996e-01 -1.03605353e-03 6.07543869e+01] [ 2.33673807e-03 3.08003546e-05 9.99997269e-01 -8.18052852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.180281693 meters 0.020882775289981507 Centerline is valid? [True, True] Translation: X:375.39, Y:60.78, Z:-0.08 [[ 9.01216236e-01 -4.33358348e-01 -3.13665049e-03 3.75390807e+02] [ 4.33355570e-01 9.01221694e-01 -1.55199695e-03 6.07813031e+01] [ 3.49938830e-03 3.93998890e-05 9.99993876e-01 -8.46271509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.240281693 meters 0.01946101936218772 Centerline is valid? [True, True] Translation: X:375.44, Y:60.81, Z:-0.09 [[ 9.00846211e-01 -4.34125105e-01 -3.39081240e-03 3.75442073e+02] [ 4.34121862e-01 9.00852592e-01 -1.67852653e-03 6.08086723e+01] [ 3.78331265e-03 4.00684703e-05 9.99992842e-01 -8.55056887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.300281693 meters 0.014181882519832989 Centerline is valid? [True, True] Translation: X:375.50, Y:60.82, Z:-0.08 [[ 8.97068213e-01 -4.41888649e-01 -1.74446560e-03 3.75501217e+02] [ 4.41887805e-01 8.97069909e-01 -8.63632101e-04 6.08214275e+01] [ 1.94653682e-03 3.87883070e-06 9.99998105e-01 -8.10332925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.360281693 meters 0.014498973856332092 Centerline is valid? [True, True] Translation: X:375.56, Y:60.84, Z:-0.08 [[ 8.94439183e-01 -4.47189366e-01 -4.67870602e-04 3.75558106e+02] [ 4.47189306e-01 8.94439306e-01 -2.31806690e-04 6.08372076e+01] [ 5.22143343e-04 -1.88974370e-06 9.99999864e-01 -7.87248644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42028169299994 meters 0.01825778153668994 Centerline is valid? [True, True] Translation: X:375.62, Y:60.85, Z:-0.08 [[ 8.91643566e-01 -4.52737627e-01 6.26886476e-04 3.75617633e+02] [ 4.52737521e-01 8.91643786e-01 3.10516698e-04 6.08475537e+01] [-6.99542023e-04 6.94481353e-06 9.99999755e-01 -7.58359199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48028169299994 meters 0.018360600322218125 Centerline is valid? [True, True] Translation: X:375.67, Y:60.87, Z:-0.08 [[ 8.91853085e-01 -4.52319151e-01 -2.33661318e-03 3.75672074e+02] [ 4.52317670e-01 8.91856146e-01 -1.15774371e-03 6.08661866e+01] [ 2.60759248e-03 -2.43541271e-05 9.99996600e-01 -8.28001531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54028169299994 meters 0.01548795465108371 Centerline is valid? [True, True] Translation: X:375.72, Y:60.89, Z:-0.08 [[ 8.93620568e-01 -4.48809323e-01 -3.53147844e-03 3.75723861e+02] [ 4.48805910e-01 8.93627546e-01 -1.75051659e-03 6.08946235e+01] [ 3.94147457e-03 -2.06507643e-05 9.99992232e-01 -8.31402312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60028169299994 meters 0.014257033424444347 Centerline is valid? [True, True] Translation: X:375.77, Y:60.92, Z:-0.08 [[ 8.95182032e-01 -4.45691228e-01 -2.90834771e-03 3.75774990e+02] [ 4.45688896e-01 8.95186757e-01 -1.44181746e-03 6.09209143e+01] [ 3.24611975e-03 -5.52919459e-06 9.99994731e-01 -8.21985815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66028169299994 meters 0.013976386880114766 Centerline is valid? [True, True] Translation: X:375.83, Y:60.95, Z:-0.08 [[ 8.96269771e-01 -4.43508295e-01 -9.43089978e-04 3.75825105e+02] [ 4.43508048e-01 8.96270268e-01 -4.67810963e-04 6.09504948e+01] [ 1.05274155e-03 1.01683014e-06 9.99999446e-01 -7.85014061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72028169299995 meters 0.016797683599286073 Centerline is valid? [True, True] Translation: X:375.87, Y:60.99, Z:-0.08 [[ 8.99385703e-01 -4.37155898e-01 -2.80012497e-04 3.75872738e+02] [ 4.37155876e-01 8.99385746e-01 -1.38997761e-04 6.09864782e+01] [ 3.12602940e-04 2.60349073e-06 9.99999951e-01 -7.73589589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78028169299995 meters 0.02133121842456373 Centerline is valid? [True, True] Translation: X:375.92, Y:61.02, Z:-0.08 [[ 9.02026798e-01 -4.31679561e-01 -6.41897378e-04 3.75921917e+02] [ 4.31679444e-01 9.02027026e-01 -3.18661076e-04 6.10220901e+01] [ 7.16568257e-04 1.03469271e-05 9.99999743e-01 -7.83455048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84028169299995 meters 0.02494327731176151 Centerline is valid? [True, True] Translation: X:375.97, Y:61.06, Z:-0.08 [[ 9.03298760e-01 -4.29008508e-01 -1.74649869e-03 3.75969927e+02] [ 4.29007633e-01 9.03300448e-01 -8.67099267e-04 6.10557081e+01] [ 1.94960601e-03 3.39884252e-05 9.99998099e-01 -7.94754713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90028169299995 meters 0.025842431670982036 Centerline is valid? [True, True] Translation: X:376.02, Y:61.09, Z:-0.08 [[ 9.03489484e-01 -4.28607574e-01 -1.51691477e-03 3.76018857e+02] [ 4.28606912e-01 9.03490756e-01 -7.53446814e-04 6.10897839e+01] [ 1.69345148e-03 3.05711176e-05 9.99998566e-01 -7.91614242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96028169299996 meters 0.025824988120117052 Centerline is valid? [True, True] Translation: X:376.07, Y:61.12, Z:-0.08 [[ 9.03664279e-01 -4.28238217e-01 -1.70319224e-03 3.76071256e+02] [ 4.28237382e-01 9.03665883e-01 -8.46306212e-04 6.11176043e+01] [ 1.90153739e-03 3.54061048e-05 9.99998191e-01 -7.94539401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02028169299996 meters 0.031046665600275608 Centerline is valid? [True, True] Translation: X:376.12, Y:61.16, Z:-0.08 [[ 9.05240186e-01 -4.24891293e-01 -2.75575026e-03 3.76117576e+02] [ 4.24889092e-01 9.05244378e-01 -1.36939018e-03 6.11554169e+01] [ 3.07646940e-03 6.87387912e-05 9.99995265e-01 -8.11944177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08028169299996 meters 0.03655608745098795 Centerline is valid? [True, True] Translation: X:376.16, Y:61.20, Z:-0.08 [[ 9.07350906e-01 -4.20362161e-01 -3.16015711e-03 3.76162399e+02] [ 4.20359239e-01 9.07356404e-01 -1.57056124e-03 6.11983631e+01] [ 3.52759331e-03 9.66489270e-05 9.99993773e-01 -8.16910622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14028169299996 meters 0.03588051991057472 Centerline is valid? [True, True] Translation: X:376.21, Y:61.24, Z:-0.08 [[ 9.08242636e-01 -4.18438647e-01 -2.10066928e-03 3.76209834e+02] [ 4.18437350e-01 9.08245063e-01 -1.04441819e-03 6.12369708e+01] [ 2.34494744e-03 6.95866408e-05 9.99997248e-01 -8.11302659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20028169299997 meters 0.030923699074133722 Centerline is valid? [True, True] Translation: X:376.26, Y:61.27, Z:-0.08 [[ 9.05793910e-01 -4.23718520e-01 9.17472066e-05 3.76260250e+02] [ 4.23718518e-01 9.05793915e-01 4.56017792e-05 6.12666733e+01] [-1.02426380e-04 -2.43082347e-06 9.99999995e-01 -7.79887764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26028169299997 meters 0.02501659701601399 Centerline is valid? [True, True] Translation: X:376.31, Y:61.29, Z:-0.08 [[ 9.02889319e-01 -4.29868049e-01 -2.08299353e-03 3.76313875e+02] [ 4.29866803e-01 9.02891720e-01 -1.03580540e-03 6.12901506e+01] [ 2.32597726e-03 3.98078599e-05 9.99997294e-01 -8.11596009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32028169299997 meters 0.017386654241500363 Centerline is valid? [True, True] Translation: X:376.37, Y:61.31, Z:-0.09 [[ 8.98887667e-01 -4.38155586e-01 -4.54359150e-03 3.76369656e+02] [ 4.38149761e-01 8.98899150e-01 -2.25960195e-03 6.13107370e+01] [ 5.07428775e-03 4.03547998e-05 9.99987125e-01 -8.60940007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.380281693 meters 0.014344115467922176 Centerline is valid? [True, True] Translation: X:376.42, Y:61.33, Z:-0.08 [[ 8.96510041e-01 -4.43022061e-01 -1.09528990e-03 3.76424833e+02] [ 4.43021726e-01 8.96510710e-01 -5.44984229e-04 6.13325251e+01] [ 1.22337916e-03 3.34661309e-06 9.99999252e-01 -7.91547106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.440281693 meters 0.015138739005321549 Centerline is valid? [True, True] Translation: X:376.48, Y:61.35, Z:-0.08 [[ 8.93075676e-01 -4.49905717e-01 -8.26580265e-04 3.76482819e+02] [ 4.49905529e-01 8.93076058e-01 -4.11315810e-04 6.13468269e+01] [ 9.23252379e-04 -4.54688646e-06 9.99999574e-01 -7.80839178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.500281693 meters 0.021186020342166708 Centerline is valid? [True, True] Translation: X:376.54, Y:61.36, Z:-0.08 [[ 8.89413854e-01 -4.57100430e-01 -1.48110910e-03 3.76544104e+02] [ 4.57099836e-01 8.89415087e-01 -7.37279090e-04 6.13576917e+01] [ 1.65433137e-03 -2.12684887e-05 9.99998631e-01 -7.95168876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.560281693 meters 0.022054687146505117 Centerline is valid? [True, True] Translation: X:376.60, Y:61.38, Z:-0.08 [[ 8.89078340e-01 -4.57753345e-01 -1.25693112e-03 3.76597604e+02] [ 4.57752917e-01 8.89079229e-01 -6.25750128e-04 6.13792709e+01] [ 1.40395056e-03 -1.90230002e-05 9.99999014e-01 -7.82188939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.620281693 meters 0.014809857359285665 Centerline is valid? [True, True] Translation: X:376.64, Y:61.42, Z:-0.08 [[ 8.93435691e-01 -4.49190805e-01 -5.35080445e-04 3.76643364e+02] [ 4.49190726e-01 8.93435852e-01 -2.66432999e-04 6.14165646e+01] [ 5.97739306e-04 -2.31242282e-06 9.99999821e-01 -7.64326829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.680281693 meters 0.015371340962679593 Centerline is valid? [True, True] Translation: X:376.69, Y:61.46, Z:-0.09 [[ 8.96910386e-01 -4.42189104e-01 -4.53383389e-03 3.76688771e+02] [ 4.42183338e-01 8.96921845e-01 -2.25828026e-03 6.14563426e+01] [ 5.06508158e-03 2.06892141e-05 9.99987172e-01 -8.53926394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.740281693 meters 0.02213185167687075 Centerline is valid? [True, True] Translation: X:376.73, Y:61.50, Z:-0.08 [[ 9.00651471e-01 -4.34525652e-01 -3.79288399e-03 3.76734251e+02] [ 4.34521548e-01 9.00659456e-01 -1.88933398e-03 6.14982424e+01] [ 4.23706091e-03 5.35416068e-05 9.99991022e-01 -8.42351180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.800281693 meters 0.023070746315170237 Centerline is valid? [True, True] Translation: X:376.79, Y:61.53, Z:-0.08 [[ 9.01823741e-01 -4.32103945e-01 3.46794627e-04 3.76785606e+02] [ 4.32103911e-01 9.01823808e-01 1.72753805e-04 6.15275398e+01] [-3.87395252e-04 -5.94216786e-06 9.99999925e-01 -7.55530069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.860281693 meters 0.0226277931926793 Centerline is valid? [True, True] Translation: X:376.84, Y:61.55, Z:-0.08 [[ 9.01376024e-01 -4.33031179e-01 -2.29387540e-03 3.76837868e+02] [ 4.33029671e-01 9.01378942e-01 -1.14327670e-03 6.15517905e+01] [ 2.56272544e-03 3.72060963e-05 9.99996716e-01 -8.06982337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92028169299994 meters 0.023345794493229145 Centerline is valid? [True, True] Translation: X:376.89, Y:61.58, Z:-0.08 [[ 9.01461799e-01 -4.32841861e-01 -3.81439236e-03 3.76889321e+02] [ 4.32837687e-01 9.01469866e-01 -1.90188090e-03 6.15796254e+01] [ 4.26177344e-03 6.34602130e-05 9.99990917e-01 -8.39340380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98028169299994 meters 0.02177789260588712 Centerline is valid? [True, True] Translation: X:376.94, Y:61.60, Z:-0.08 [[ 9.01281906e-01 -4.33223103e-01 -2.94427991e-03 3.76944137e+02] [ 4.33220617e-01 9.01286714e-01 -1.46865860e-03 6.16020443e+01] [ 3.28989720e-03 4.81526611e-05 9.99994587e-01 -8.14883160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04028169299994 meters 0.02146220051215992 Centerline is valid? [True, True] Translation: X:377.00, Y:61.62, Z:-0.08 [[ 9.01009522e-01 -4.33788568e-01 -3.05278400e-03 3.76997333e+02] [ 4.33785895e-01 9.01014692e-01 -1.52350518e-03 6.16246322e+01] [ 3.41148237e-03 4.84380312e-05 9.99994180e-01 -8.17904910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10028169299994 meters 0.024213378789881293 Centerline is valid? [True, True] Translation: X:377.05, Y:61.65, Z:-0.08 [[ 9.02047196e-01 -4.31627010e-01 -2.99652644e-03 3.77047245e+02] [ 4.31624423e-01 9.02052172e-01 -1.49564622e-03 6.16528493e+01] [ 3.34858449e-03 5.57694860e-05 9.99994392e-01 -8.08034475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16028169299994 meters 0.026367179883868823 Centerline is valid? [True, True] Translation: X:377.10, Y:61.68, Z:-0.08 [[ 9.02792006e-01 -4.30073670e-01 -1.79764323e-03 3.77096853e+02] [ 4.30072735e-01 9.02793795e-01 -8.97384835e-04 6.16830137e+01] [ 2.00884275e-03 3.70345135e-05 9.99997982e-01 -7.92094214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22028169299995 meters 0.02147039481917017 Centerline is valid? [True, True] Translation: X:377.16, Y:61.70, Z:-0.08 [[ 9.01107667e-01 -4.33595099e-01 -5.12767983e-04 3.77155313e+02] [ 4.33595024e-01 9.01107813e-01 -2.56124728e-04 6.16987936e+01] [ 5.73113662e-04 8.46231044e-06 9.99999836e-01 -7.65912662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28028169299995 meters 0.019499407107152655 Centerline is valid? [True, True] Translation: X:377.21, Y:61.72, Z:-0.08 [[ 8.99883351e-01 -4.36117643e-01 -3.37000248e-03 3.77211169e+02] [ 4.36114395e-01 8.99889660e-01 -1.68366188e-03 6.17179618e+01] [ 3.76690504e-03 4.53927021e-05 9.99992904e-01 -8.34814442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34028169299995 meters 0.019926757210890322 Centerline is valid? [True, True] Translation: X:377.26, Y:61.74, Z:-0.08 [[ 8.99936845e-01 -4.36001998e-01 -3.99149660e-03 3.77264389e+02] [ 4.35997438e-01 8.99945695e-01 -1.99496143e-03 6.17423588e+01] [ 4.46193735e-03 5.50570016e-05 9.99990044e-01 -8.42728865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40028169299995 meters 0.0219397758463542 Centerline is valid? [True, True] Translation: X:377.32, Y:61.77, Z:-0.09 [[ 9.00697819e-01 -4.34421076e-01 -4.66562968e-03 3.77315987e+02] [ 4.34414818e-01 9.00709900e-01 -2.33282120e-03 6.17700919e+01] [ 5.21580554e-03 7.43482932e-05 9.99986395e-01 -8.56822786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46028169299996 meters 0.02630285662944886 Centerline is valid? [True, True] Translation: X:377.37, Y:61.80, Z:-0.08 [[ 9.02576771e-01 -4.30518329e-01 -3.02327691e-03 3.77367052e+02] [ 4.30515678e-01 9.02581833e-01 -1.51218873e-03 6.18005342e+01] [ 3.37977978e-03 6.32983159e-05 9.99994287e-01 -8.23715752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52028169299996 meters 0.02931764802523237 Centerline is valid? [True, True] Translation: X:377.42, Y:61.84, Z:-0.08 [[ 9.03838201e-01 -4.27865211e-01 -2.80489450e-03 3.77416077e+02] [ 4.27862915e-01 9.03842551e-01 -1.40343785e-03 6.18358052e+01] [ 3.13566524e-03 6.83704071e-05 9.99995081e-01 -8.22325575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58028169299996 meters 0.031850905170244206 Centerline is valid? [True, True] Translation: X:377.46, Y:61.87, Z:-0.09 [[ 9.04381831e-01 -4.26705990e-01 -3.93735278e-03 3.77463664e+02] [ 4.26701453e-01 9.04390396e-01 -1.97029103e-03 6.18692766e+01] [ 4.40163903e-03 1.01821257e-04 9.99990308e-01 -8.53293688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64028169299996 meters 0.0284380378900917 Centerline is valid? [True, True] Translation: X:377.52, Y:61.89, Z:-0.09 [[ 9.02855489e-01 -4.29916129e-01 -4.90787886e-03 3.77517736e+02] [ 4.29909122e-01 9.02868822e-01 -2.45686832e-03 6.18939206e+01] [ 5.48741812e-03 1.08255156e-04 9.99984938e-01 -8.59689806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70028169299997 meters 0.02275056723324915 Centerline is valid? [True, True] Translation: X:377.57, Y:61.91, Z:-0.08 [[ 9.00901589e-01 -4.34014992e-01 -2.70418742e-03 3.77574091e+02] [ 4.34012882e-01 9.00905647e-01 -1.35422123e-03 6.19145771e+01] [ 3.02397004e-03 4.63678833e-05 9.99995427e-01 -8.03281148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76028169299997 meters 0.02203139238220888 Centerline is valid? [True, True] Translation: X:377.63, Y:61.94, Z:-0.08 [[ 9.00342417e-01 -4.35177367e-01 -2.04746709e-03 3.77625426e+02] [ 4.35176159e-01 9.00344744e-01 -1.02576981e-03 6.19425420e+01] [ 2.28981804e-03 3.25352068e-05 9.99997378e-01 -7.97737685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82028169299997 meters 0.02222450028808314 Centerline is valid? [True, True] Translation: X:377.68, Y:61.97, Z:-0.09 [[ 9.00218527e-01 -4.35416765e-01 -4.34099906e-03 3.77678384e+02] [ 4.35411335e-01 9.00228991e-01 -2.17560863e-03 6.19671298e+01] [ 4.85518968e-03 6.84030035e-05 9.99988211e-01 -8.52793257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.880281693 meters 0.023007696277025442 Centerline is valid? [True, True] Translation: X:377.73, Y:61.99, Z:-0.09 [[ 9.00338106e-01 -4.35155775e-01 -5.54494394e-03 3.77730089e+02] [ 4.35146908e-01 9.00355176e-01 -2.77941202e-03 6.19918588e+01] [ 6.20189617e-03 8.95453435e-05 9.99980764e-01 -8.71558875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.940281693 meters 0.02472743408387152 Centerline is valid? [True, True] Translation: X:377.78, Y:62.02, Z:-0.08 [[ 9.02012129e-01 -4.31707745e-01 -1.59427938e-03 3.77780614e+02] [ 4.31707006e-01 9.02013538e-01 -7.99521593e-04 6.20231849e+01] [ 1.78322124e-03 3.29165984e-05 9.99998410e-01 -7.80819543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.000281693 meters 0.040487007662647914 Centerline is valid? [True, True] Translation: X:377.82, Y:62.07, Z:-0.07 [[ 9.06342343e-01 -4.22538252e-01 2.23241859e-03 3.77821118e+02] [ 4.22536775e-01 9.06345089e-01 1.11956819e-03 6.20720292e+01] [-2.49640201e-03 -7.14331005e-05 9.99996881e-01 -6.93801271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.060281693 meters 0.04447441241910666 Centerline is valid? [True, True] Translation: X:377.87, Y:62.11, Z:-0.07 [[ 9.09862206e-01 -4.14909031e-01 1.12331776e-03 3.77869848e+02] [ 4.14908651e-01 9.09862898e-01 5.63487683e-04 6.21080464e+01] [-1.25586128e-03 -4.66218910e-05 9.99999210e-01 -7.20839274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.120281693 meters 0.057674786876308407 Centerline is valid? [True, True] Translation: X:377.91, Y:62.16, Z:-0.08 [[ 9.12124569e-01 -4.09901882e-01 -3.03609195e-03 3.77911792e+02] [ 4.09899077e-01 9.12129610e-01 -1.52331226e-03 6.21557678e+01] [ 3.39371793e-03 1.44959253e-04 9.99994231e-01 -8.26818378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.180281693 meters 0.057831369608757115 Centerline is valid? [True, True] Translation: X:377.96, Y:62.19, Z:-0.09 [[ 9.11112485e-01 -4.12126328e-01 -5.09204029e-03 3.77961247e+02] [ 4.12118470e-01 9.11126686e-01 -2.55523703e-03 6.21862323e+01] [ 5.69257425e-03 2.29584506e-04 9.99983771e-01 -8.83110419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.240281693 meters 0.039833363347992506 Centerline is valid? [True, True] Translation: X:378.02, Y:62.19, Z:-0.08 [[ 9.08541246e-01 -4.17791523e-01 -1.74568272e-03 3.78023558e+02] [ 4.17790610e-01 9.08542921e-01 -8.76097741e-04 6.21941329e+01] [ 1.95205389e-03 6.66410867e-05 9.99998093e-01 -7.89324892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.300281693 meters 0.038624163685248195 Centerline is valid? [True, True] Translation: X:378.07, Y:62.22, Z:-0.08 [[ 9.05888117e-01 -4.23504647e-01 -3.24537503e-03 3.78074618e+02] [ 4.23501527e-01 9.05893925e-01 -1.62888212e-03 6.22231582e+01] [ 3.62980468e-03 1.01163678e-04 9.99993407e-01 -8.37520784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.360281693 meters 0.03091825390483916 Centerline is valid? [True, True] Translation: X:378.13, Y:62.24, Z:-0.09 [[ 9.04440403e-01 -4.26571274e-01 -4.95029356e-03 3.78132984e+02] [ 4.26564058e-01 9.04453940e-01 -2.48487827e-03 6.22385633e+01] [ 5.53729021e-03 1.35806996e-04 9.99984660e-01 -8.61029768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42028169299994 meters 0.024594794252417604 Centerline is valid? [True, True] Translation: X:378.19, Y:62.25, Z:-0.08 [[ 9.00465823e-01 -4.34914737e-01 -3.23621828e-03 3.78191021e+02] [ 4.34911706e-01 9.00471637e-01 -1.62464649e-03 6.22523782e+01] [ 3.62070547e-03 5.54694243e-05 9.99993444e-01 -8.36996380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48028169299994 meters 0.02155368443489329 Centerline is valid? [True, True] Translation: X:378.25, Y:62.27, Z:-0.08 [[ 8.99944590e-01 -4.35993812e-01 -3.02161334e-03 3.78246229e+02] [ 4.35991174e-01 8.99949662e-01 -1.51757410e-03 6.22725445e+01] [ 3.38095282e-03 4.83358547e-05 9.99994283e-01 -8.23515157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54028169299994 meters 0.023921620526972213 Centerline is valid? [True, True] Translation: X:378.30, Y:62.30, Z:-0.08 [[ 9.00846477e-01 -4.34116406e-01 -4.30941204e-03 3.78297574e+02] [ 4.34111017e-01 9.00856781e-01 -2.16460109e-03 6.22998766e+01] [ 4.82185190e-03 7.92100189e-05 9.99988372e-01 -8.47881974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60028169299994 meters 0.02564521830308466 Centerline is valid? [True, True] Translation: X:378.35, Y:62.33, Z:-0.08 [[ 9.01482325e-01 -4.32805696e-01 -2.97438845e-03 3.78350632e+02] [ 4.32803120e-01 9.01487230e-01 -1.49466396e-03 6.23262183e+01] [ 3.32827228e-03 6.00885380e-05 9.99994459e-01 -8.34533376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66028169299994 meters 0.022866519577962235 Centerline is valid? [True, True] Translation: X:378.40, Y:62.35, Z:-0.09 [[ 8.99983517e-01 -4.35903010e-01 -4.27024932e-03 3.78404665e+02] [ 4.35897730e-01 8.99993645e-01 -2.14664802e-03 6.23486456e+01] [ 4.77892759e-03 7.05558496e-05 9.99988578e-01 -8.56713740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72028169299995 meters 0.017544228821635324 Centerline is valid? [True, True] Translation: X:378.46, Y:62.37, Z:-0.08 [[ 8.98257093e-01 -4.39459653e-01 -3.06719010e-03 3.78461355e+02] [ 4.39456949e-01 8.98262329e-01 -1.54203636e-03 6.23665960e+01] [ 3.43280408e-03 3.72470979e-05 9.99994107e-01 -8.05394312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78028169299995 meters 0.015206008509322464 Centerline is valid? [True, True] Translation: X:378.52, Y:62.39, Z:-0.08 [[ 8.96581685e-01 -4.42872748e-01 -2.23855740e-03 3.78516171e+02] [ 4.42871318e-01 8.96584479e-01 -1.12593985e-03 6.23897578e+01] [ 2.50570390e-03 1.81041776e-05 9.99996861e-01 -7.97031957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84028169299995 meters 0.013988765287919676 Centerline is valid? [True, True] Translation: X:378.57, Y:62.41, Z:-0.08 [[ 8.94952070e-01 -4.46154826e-01 -2.58146424e-03 3.78569730e+02] [ 4.46152936e-01 8.94955793e-01 -1.29856389e-03 6.24120185e+01] [ 2.88965693e-03 1.04245935e-05 9.99995825e-01 -8.07506926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90028169299995 meters 0.014027877828716593 Centerline is valid? [True, True] Translation: X:378.63, Y:62.43, Z:-0.08 [[ 8.91620551e-01 -4.52776185e-01 -2.55338365e-03 3.78627261e+02] [ 4.52774361e-01 8.91624207e-01 -1.28506915e-03 6.24262499e+01] [ 2.85850739e-03 -1.03125853e-05 9.99995914e-01 -7.99808511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96028169299996 meters 0.01646829390014105 Centerline is valid? [True, True] Translation: X:378.68, Y:62.44, Z:-0.08 [[ 8.89256871e-01 -4.57395736e-01 -3.37013911e-03 3.78683604e+02] [ 4.57392590e-01 8.89263256e-01 -1.69680667e-03 6.24443503e+01] [ 3.77305302e-03 -3.25796652e-05 9.99992881e-01 -8.10891631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02028169299996 meters 0.019608650265695672 Centerline is valid? [True, True] Translation: X:378.74, Y:62.46, Z:-0.08 [[ 8.88058303e-01 -4.59730407e-01 -6.34491185e-04 3.78739269e+02] [ 4.59730296e-01 8.88058530e-01 -3.19513062e-04 6.24617969e+01] [ 7.10355179e-04 -7.94859251e-06 9.99999748e-01 -7.70684665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08028169299996 meters 0.021431733334754854 Centerline is valid? [True, True] Translation: X:378.80, Y:62.48, Z:-0.08 [[ 8.86280956e-01 -4.63138627e-01 -2.94602835e-03 3.78795675e+02] [ 4.63136252e-01 8.86285851e-01 -1.48411657e-03 6.24799997e+01] [ 3.29837496e-03 -4.90682746e-05 9.99994559e-01 -8.05079828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14028169299996 meters 0.024057469896011565 Centerline is valid? [True, True] Translation: X:378.85, Y:62.50, Z:-0.09 [[ 8.85267118e-01 -4.65052092e-01 -5.35547386e-03 3.78851931e+02] [ 4.65044276e-01 8.85283311e-01 -2.69822094e-03 6.24971352e+01] [ 5.99592493e-03 -1.01886186e-04 9.99982019e-01 -8.67688182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20028169299997 meters 0.023419147912451047 Centerline is valid? [True, True] Translation: X:378.91, Y:62.52, Z:-0.09 [[ 8.85817481e-01 -4.63995756e-01 -5.94377606e-03 3.78907042e+02] [ 4.63986100e-01 8.85837416e-01 -2.99527595e-03 6.25171402e+01] [ 6.65501456e-03 -1.04561676e-04 9.99977850e-01 -8.71085709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26028169299997 meters 0.018900574995674664 Centerline is valid? [True, True] Translation: X:378.96, Y:62.55, Z:-0.09 [[ 8.88090068e-01 -4.59634969e-01 -5.63251594e-03 3.78959040e+02] [ 4.59626203e-01 8.88107927e-01 -2.83950259e-03 6.25455287e+01] [ 6.30741674e-03 -6.71178674e-05 9.99980106e-01 -8.61214392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32028169299997 meters 0.014424180507937125 Centerline is valid? [True, True] Translation: X:379.01, Y:62.58, Z:-0.08 [[ 8.90939724e-01 -4.54099098e-01 -4.51850803e-03 3.79008509e+02] [ 4.54093381e-01 8.90951182e-01 -2.27874846e-03 6.25777490e+01] [ 5.06054769e-03 -2.15970602e-05 9.99987195e-01 -8.30194775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.380281693 meters 0.014045194335803764 Centerline is valid? [True, True] Translation: X:379.06, Y:62.61, Z:-0.08 [[ 8.94639174e-01 -4.46782375e-01 -2.50133740e-03 3.79056813e+02] [ 4.46780594e-01 8.94642671e-01 -1.26163071e-03 6.26096530e+01] [ 2.80147754e-03 1.11552492e-05 9.99996076e-01 -7.99094343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.440281693 meters 0.014746989558592117 Centerline is valid? [True, True] Translation: X:379.11, Y:62.63, Z:-0.08 [[ 8.95254749e-01 -4.45549490e-01 -2.14136252e-03 3.79109742e+02] [ 4.45548180e-01 8.95257310e-01 -1.08053289e-03 6.26349231e+01] [ 2.39850133e-03 1.32720281e-05 9.99997124e-01 -8.00403303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.500281693 meters 0.01657356613380692 Centerline is valid? [True, True] Translation: X:379.16, Y:62.66, Z:-0.08 [[ 8.96347858e-01 -4.43348392e-01 -1.64917208e-03 3.79160876e+02] [ 4.43347611e-01 8.96349375e-01 -8.32290666e-04 6.26609266e+01] [ 1.84722909e-03 1.48654537e-05 9.99998294e-01 -7.74976316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.560281693 meters 0.021994664510470847 Centerline is valid? [True, True] Translation: X:379.21, Y:62.69, Z:-0.08 [[ 8.98767304e-01 -4.38419202e-01 -2.43675479e-03 3.79209366e+02] [ 4.38417478e-01 8.98770606e-01 -1.22992188e-03 6.26930846e+01] [ 2.72930495e-03 3.70976810e-05 9.99996275e-01 -7.80493870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.620281693 meters 0.03785826856668932 Centerline is valid? [True, True] Translation: X:379.25, Y:62.75, Z:-0.07 [[ 9.04552141e-01 -4.26363006e-01 -1.07501592e-04 3.79247836e+02] [ 4.26363003e-01 9.04552147e-01 -5.42841145e-05 6.27452839e+01] [ 1.20385534e-04 3.26811032e-06 9.99999993e-01 -7.43410614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.680281693 meters 0.047736667989068685 Centerline is valid? [True, True] Translation: X:379.29, Y:62.79, Z:-0.08 [[ 9.09937725e-01 -4.14733746e-01 -3.04241862e-03 3.79291212e+02] [ 4.14730922e-01 9.09942801e-01 -1.53635471e-03 6.27914742e+01] [ 3.40560506e-03 1.36202034e-04 9.99994192e-01 -7.97219377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.740281693 meters 0.05197922032598439 Centerline is valid? [True, True] Translation: X:379.34, Y:62.83, Z:-0.08 [[ 9.10616390e-01 -4.13231793e-01 -4.15638411e-03 3.79339482e+02] [ 4.13226507e-01 9.10625855e-01 -2.09899998e-03 6.28260785e+01] [ 4.65228436e-03 1.93855700e-04 9.99989159e-01 -8.17567845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.800281693 meters 0.052025383733145074 Centerline is valid? [True, True] Translation: X:379.39, Y:62.86, Z:-0.08 [[ 9.10502751e-01 -4.13485484e-01 -3.80719005e-03 3.79385011e+02] [ 4.13481048e-01 9.10510694e-01 -1.92356625e-03 6.28641022e+01] [ 4.26185397e-03 1.77211438e-04 9.99990903e-01 -8.14731089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86028169299993 meters 0.044941397770838075 Centerline is valid? [True, True] Translation: X:379.44, Y:62.89, Z:-0.08 [[ 9.08747120e-01 -4.17333807e-01 -3.34144867e-03 3.79436871e+02] [ 4.17330414e-01 9.08753252e-01 -1.68883822e-03 6.28933061e+01] [ 3.74136163e-03 1.40238717e-04 9.99992991e-01 -8.11128951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92028169299994 meters 0.03923151744456112 Centerline is valid? [True, True] Translation: X:379.49, Y:62.92, Z:-0.08 [[ 9.06442712e-01 -4.22299295e-01 -4.99150178e-03 3.79488063e+02] [ 4.22291793e-01 9.06456437e-01 -2.52367860e-03 6.29228649e+01] [ 5.59032662e-03 1.79699843e-04 9.99984358e-01 -8.32452741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98028169299994 meters 0.032991531769576005 Centerline is valid? [True, True] Translation: X:379.54, Y:62.95, Z:-0.09 [[ 9.03218244e-01 -4.29130382e-01 -6.62722686e-03 3.79540938e+02] [ 4.29117337e-01 9.03242538e-01 -3.35097610e-03 6.29483047e+01] [ 7.42399886e-03 1.82804810e-04 9.99972425e-01 -8.70444375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04028169299994 meters 0.026387070192155394 Centerline is valid? [True, True] Translation: X:379.60, Y:62.97, Z:-0.08 [[ 9.00455650e-01 -4.34918604e-01 -5.04277649e-03 3.79596304e+02] [ 4.34911137e-01 9.00469765e-01 -2.55076267e-03 6.29713068e+01] [ 5.65024190e-03 1.03689003e-04 9.99984032e-01 -8.26165028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10028169299994 meters 0.021774345153864453 Centerline is valid? [True, True] Translation: X:379.65, Y:62.99, Z:-0.08 [[ 8.98669474e-01 -4.38603723e-01 -4.46655831e-03 3.79651479e+02] [ 4.38597909e-01 8.98680571e-01 -2.25952470e-03 6.29927329e+01] [ 5.00504512e-03 7.15427368e-05 9.99987472e-01 -8.18142931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16028169299994 meters 0.014922319635908458 Centerline is valid? [True, True] Translation: X:379.71, Y:63.01, Z:-0.08 [[ 8.94702771e-01 -4.46641631e-01 -4.26664289e-03 3.79711048e+02] [ 4.46636416e-01 8.94712944e-01 -2.15862960e-03 6.30054607e+01] [ 4.78155447e-03 2.56938022e-05 9.99988568e-01 -8.01542916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22028169299995 meters 0.013375697268377758 Centerline is valid? [True, True] Translation: X:379.77, Y:63.02, Z:-0.07 [[ 8.90780349e-01 -4.54433412e-01 -8.01977474e-04 3.79771854e+02] [ 4.54433231e-01 8.90780710e-01 -4.05868134e-04 6.30166505e+01] [ 8.98826105e-04 -2.90585663e-06 9.99999596e-01 -7.32695078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28028169299995 meters 0.01620471198931289 Centerline is valid? [True, True] Translation: X:379.83, Y:63.03, Z:-0.08 [[ 8.88734823e-01 -4.58410760e-01 -3.16058094e-03 3.79828343e+02] [ 4.58407970e-01 8.88740443e-01 -1.59963934e-03 6.30339512e+01] [ 3.54222799e-03 -2.71803023e-05 9.99993726e-01 -7.94377018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34028169299995 meters 0.018207012669125437 Centerline is valid? [True, True] Translation: X:379.89, Y:63.05, Z:-0.08 [[ 8.87261899e-01 -4.61261729e-01 -1.98468638e-03 3.79885800e+02] [ 4.61260635e-01 8.87264119e-01 -1.00494762e-03 6.30507990e+01] [ 2.22448489e-03 -2.38059690e-05 9.99997526e-01 -7.58377516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40028169299995 meters 0.01798328947886751 Centerline is valid? [True, True] Translation: X:379.94, Y:63.07, Z:-0.08 [[ 8.87329857e-01 -4.61128349e-01 -2.52392047e-03 3.79939596e+02] [ 4.61126577e-01 8.87333447e-01 -1.27857408e-03 6.30725123e+01] [ 2.82914581e-03 -2.93298480e-05 9.99995998e-01 -7.64941673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46028169299996 meters 0.016552275809946126 Centerline is valid? [True, True] Translation: X:379.99, Y:63.10, Z:-0.08 [[ 8.88282765e-01 -4.59280956e-01 -3.83832324e-03 3.79991469e+02] [ 4.59276838e-01 8.88291057e-01 -1.94517174e-03 6.31004083e+01] [ 4.30292855e-03 -3.49904291e-05 9.99990742e-01 -7.92148972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52028169299996 meters 0.01439689803679626 Centerline is valid? [True, True] Translation: X:380.04, Y:63.13, Z:-0.08 [[ 8.89748034e-01 -4.56444803e-01 -2.56473167e-03 3.80042287e+02] [ 4.56442951e-01 8.89751730e-01 -1.30029471e-03 6.31300063e+01] [ 2.87548721e-03 -1.37190325e-05 9.99995866e-01 -7.69016991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58028169299996 meters 0.013653331171672915 Centerline is valid? [True, True] Translation: X:380.09, Y:63.16, Z:-0.08 [[ 8.91268135e-01 -4.53457385e-01 -4.18468810e-03 3.80090544e+02] [ 4.53452418e-01 8.91277959e-01 -2.12221099e-03 6.31610316e+01] [ 4.69205252e-03 -6.09790814e-06 9.99988992e-01 -8.15149452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64028169299996 meters 0.014445421650333776 Centerline is valid? [True, True] Translation: X:380.14, Y:63.19, Z:-0.09 [[ 8.91720845e-01 -4.52520664e-01 -7.68004046e-03 3.80141791e+02] [ 4.52503890e-01 8.91753917e-01 -3.89633681e-03 6.31906806e+01] [ 8.61187908e-03 -8.03424187e-07 9.99962917e-01 -8.84246242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70028169299997 meters 0.013985811283634344 Centerline is valid? [True, True] Translation: X:380.19, Y:63.22, Z:-0.08 [[ 8.90361518e-01 -4.55237135e-01 -3.93934135e-03 3.80194425e+02] [ 4.55232744e-01 8.90370232e-01 -1.99937570e-03 6.32163316e+01] [ 4.41766234e-03 -1.31499946e-05 9.99990242e-01 -7.94649349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76028169299997 meters 0.016621609466871808 Centerline is valid? [True, True] Translation: X:380.25, Y:63.23, Z:-0.07 [[ 8.88047478e-01 -4.59749950e-01 -1.28871451e-03 3.80250391e+02] [ 4.59749485e-01 8.88048413e-01 -6.54167741e-04 6.32343412e+01] [ 1.44519446e-03 -1.15538193e-05 9.99998956e-01 -7.39452707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82028169299997 meters 0.02066137045796339 Centerline is valid? [True, True] Translation: X:380.31, Y:63.25, Z:-0.08 [[ 8.86260492e-01 -4.63180816e-01 -2.42305881e-03 3.80307052e+02] [ 4.63179184e-01 8.86263804e-01 -1.23022163e-03 6.32504638e+01] [ 2.71728438e-03 -3.20135772e-05 9.99996308e-01 -7.76059031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.880281693 meters 0.02043098554113813 Centerline is valid? [True, True] Translation: X:380.36, Y:63.27, Z:-0.08 [[ 8.86355071e-01 -4.62976922e-01 -5.20166607e-03 3.80361222e+02] [ 4.62969389e-01 8.86370332e-01 -2.64195549e-03 6.32729115e+01] [ 5.83376690e-03 -6.65015151e-05 9.99982981e-01 -8.29472462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.940281693 meters 0.016713106851170383 Centerline is valid? [True, True] Translation: X:380.41, Y:63.30, Z:-0.08 [[ 8.88209278e-01 -4.59423619e-01 -3.77045116e-03 3.80413023e+02] [ 4.59419628e-01 8.88217281e-01 -1.91526879e-03 6.32980923e+01] [ 4.22889960e-03 -3.10597595e-05 9.99991058e-01 -7.99523608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.000281693 meters 0.013608034601759628 Centerline is valid? [True, True] Translation: X:380.47, Y:63.33, Z:-0.08 [[ 8.90063820e-01 -4.55832093e-01 -1.87071700e-03 3.80465263e+02] [ 4.55831102e-01 8.90065786e-01 -9.50698172e-04 6.33257951e+01] [ 2.09841993e-03 -6.54894375e-06 9.99997798e-01 -7.52318922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.060281693 meters 0.013743552975986038 Centerline is valid? [True, True] Translation: X:380.52, Y:63.35, Z:-0.08 [[ 8.91972245e-01 -4.52060019e-01 -5.22052206e-03 3.80517782e+02] [ 4.52052228e-01 8.91987522e-01 -2.65403697e-03 6.33524167e+01] [ 5.85642454e-03 7.37867676e-06 9.99982851e-01 -8.21059301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.120281693 meters 0.014638782370608536 Centerline is valid? [True, True] Translation: X:380.57, Y:63.38, Z:-0.08 [[ 8.93345702e-01 -4.49348987e-01 -4.35251646e-03 3.80569899e+02] [ 4.49343537e-01 8.93356305e-01 -2.21304250e-03 6.33785593e+01] [ 4.88277642e-03 2.12368660e-05 9.99988079e-01 -8.12354623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.180281693 meters 0.015360484835019348 Centerline is valid? [True, True] Translation: X:380.62, Y:63.40, Z:-0.08 [[ 8.94077883e-01 -4.47889351e-01 -4.45728219e-03 3.80622973e+02] [ 4.47883614e-01 8.94088993e-01 -2.26725991e-03 6.34035182e+01] [ 5.00068852e-03 3.07632868e-05 9.99987496e-01 -8.17465130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.240281693 meters 0.016176706572263687 Centerline is valid? [True, True] Translation: X:380.68, Y:63.43, Z:-0.08 [[ 8.94412924e-01 -4.47199571e-01 -6.16977788e-03 3.80676826e+02] [ 4.47188552e-01 8.94434202e-01 -3.13959073e-03 6.34271218e+01] [ 6.92248398e-03 4.90364821e-05 9.99976038e-01 -8.49308440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.300281693 meters 0.01698232996767563 Centerline is valid? [True, True] Translation: X:380.73, Y:63.45, Z:-0.08 [[ 8.94979776e-01 -4.46078501e-01 -5.01705171e-03 3.80729550e+02] [ 4.46071191e-01 8.94993837e-01 -2.55420793e-03 6.34522792e+01] [ 5.62960761e-03 4.80022106e-05 9.99984152e-01 -8.37645396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36028169299993 meters 0.01776918816570622 Centerline is valid? [True, True] Translation: X:380.78, Y:63.48, Z:-0.08 [[ 8.95467811e-01 -4.45108345e-01 -3.99517008e-03 3.80781249e+02] [ 4.45103699e-01 8.95476722e-01 -2.03421566e-03 6.34793224e+01] [ 4.48302817e-03 4.33096585e-05 9.99989950e-01 -8.13798303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42028169299994 meters 0.018936770754600592 Centerline is valid? [True, True] Translation: X:380.83, Y:63.51, Z:-0.08 [[ 8.95912843e-01 -4.44200497e-01 -5.10845052e-03 3.80832342e+02] [ 4.44192880e-01 8.95927405e-01 -2.60212482e-03 6.35079457e+01] [ 5.73266595e-03 6.21397029e-05 9.99983566e-01 -8.35945317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48028169299994 meters 0.02195485650117257 Centerline is valid? [True, True] Translation: X:380.88, Y:63.54, Z:-0.08 [[ 8.97453602e-01 -4.41100718e-01 -2.68125323e-03 3.80881087e+02] [ 4.41098605e-01 8.97457606e-01 -1.36594729e-03 6.35404943e+01] [ 3.00883143e-03 4.31772561e-05 9.99995473e-01 -7.76958762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54028169299994 meters 0.03275840251338079 Centerline is valid? [True, True] Translation: X:380.92, Y:63.59, Z:-0.08 [[ 9.01778423e-01 -4.32185854e-01 -3.32606134e-03 3.80922804e+02] [ 4.32182541e-01 9.01784552e-01 -1.69470809e-03 6.35882178e+01] [ 3.73181961e-03 9.07855473e-05 9.99993033e-01 -7.80656967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60028169299994 meters 0.03927704810331452 Centerline is valid? [True, True] Translation: X:380.97, Y:63.63, Z:-0.07 [[ 9.06174951e-01 -4.22901249e-01 -1.22115773e-03 3.80968337e+02] [ 4.22900794e-01 9.06175773e-01 -6.22267761e-04 6.36290391e+01] [ 1.36974136e-03 4.74548864e-05 9.99999061e-01 -7.38580191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66028169299994 meters 0.04705153029158172 Centerline is valid? [True, True] Translation: X:381.01, Y:63.67, Z:-0.07 [[ 9.06685471e-01 -4.21807108e-01 -4.70267699e-04 3.81014476e+02] [ 4.21807040e-01 9.06685592e-01 -2.39687693e-04 6.36666946e+01] [ 5.27486920e-04 1.89591225e-05 9.99999861e-01 -7.23494571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72028169299995 meters 0.04375553604525381 Centerline is valid? [True, True] Translation: X:381.07, Y:63.69, Z:-0.07 [[ 9.05136848e-01 -4.25118953e-01 -1.07830698e-03 3.81067799e+02] [ 4.25118599e-01 9.05137489e-01 -5.49634302e-04 6.36923091e+01] [ 1.20967603e-03 3.90859058e-05 9.99999268e-01 -7.44671199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78028169299995 meters 0.03205772728193184 Centerline is valid? [True, True] Translation: X:381.13, Y:63.70, Z:-0.08 [[ 9.01725653e-01 -4.32299932e-01 -2.75962296e-03 3.81127964e+02] [ 4.32297648e-01 9.01729873e-01 -1.40709334e-03 6.37039023e+01] [ 3.09672082e-03 7.58336426e-05 9.99995202e-01 -7.75079272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84028169299995 meters 0.025530076250185357 Centerline is valid? [True, True] Translation: X:381.18, Y:63.72, Z:-0.08 [[ 9.00030902e-01 -4.35822143e-01 -1.85318543e-03 3.81184843e+02] [ 4.35821121e-01 9.00032809e-01 -9.44990677e-04 6.37218066e+01] [ 2.07977555e-03 4.28634591e-05 9.99997836e-01 -7.56105790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90028169299995 meters 0.02657867956279122 Centerline is valid? [True, True] Translation: X:381.24, Y:63.75, Z:-0.08 [[ 8.99649167e-01 -4.36605667e-01 -2.62072860e-03 3.81235489e+02] [ 4.36603625e-01 8.99652982e-01 -1.33658129e-03 6.37492936e+01] [ 2.94130526e-03 5.82346380e-05 9.99995673e-01 -7.78540462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96028169299996 meters 0.0323928015699606 Centerline is valid? [True, True] Translation: X:381.28, Y:63.79, Z:-0.08 [[ 9.00141167e-01 -4.35572168e-01 -4.77139541e-03 3.81280265e+02] [ 4.35565382e-01 9.00153805e-01 -2.43402863e-03 6.37877149e+01] [ 5.35518486e-03 1.12714706e-04 9.99985655e-01 -8.26888261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02028169299996 meters 0.027058385324556795 Centerline is valid? [True, True] Translation: X:381.33, Y:63.81, Z:-0.08 [[ 8.99031126e-01 -4.37867285e-01 -3.90844227e-03 3.81332587e+02] [ 4.37862752e-01 8.99039618e-01 -1.99401391e-03 6.38141687e+01] [ 4.38695790e-03 8.13192753e-05 9.99990374e-01 -7.97250543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08028169299996 meters 0.016915248790769867 Centerline is valid? [True, True] Translation: X:381.39, Y:63.83, Z:-0.07 [[ 8.94852353e-01 -4.46361264e-01 -9.42785657e-04 3.81391596e+02] [ 4.46361005e-01 8.94852849e-01 -4.81226888e-04 6.38285735e+01] [ 1.05845547e-03 9.80426028e-06 9.99999440e-01 -7.37264906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14028169299996 meters 0.014965598321424191 Centerline is valid? [True, True] Translation: X:381.45, Y:63.84, Z:-0.08 [[ 8.87824332e-01 -4.60177656e-01 -2.11641920e-03 3.81453831e+02] [ 4.60176388e-01 8.87826855e-01 -1.08066669e-03 6.38353412e+01] [ 2.37631247e-03 -1.44839607e-05 9.99997176e-01 -7.65725941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20028169299997 meters 0.02111345308297029 Centerline is valid? [True, True] Translation: X:381.51, Y:63.85, Z:-0.08 [[ 8.83878215e-01 -4.67702582e-01 -3.68737569e-03 3.81514836e+02] [ 4.67698793e-01 8.83885904e-01 -1.88342227e-03 6.38476567e+01] [ 4.14010085e-03 -5.98652440e-05 9.99991428e-01 -7.95262501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26028169299997 meters 0.027076092555392475 Centerline is valid? [True, True] Translation: X:381.58, Y:63.86, Z:-0.08 [[ 8.81252920e-01 -4.72623963e-01 -4.45877348e-03 3.81575387e+02] [ 4.72618485e-01 8.81264194e-01 -2.27769501e-03 6.38564270e+01] [ 5.00585065e-03 -1.00073391e-04 9.99987466e-01 -8.21875507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32028169299997 meters 0.02740059629286244 Centerline is valid? [True, True] Translation: X:381.63, Y:63.87, Z:-0.08 [[ 8.81583346e-01 -4.72021876e-01 -2.48046605e-03 3.81631446e+02] [ 4.72020178e-01 8.81586834e-01 -1.26729892e-03 6.38737105e+01] [ 2.78493903e-03 -5.36004014e-05 9.99996121e-01 -7.73516482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.380281693 meters 0.024732781377064094 Centerline is valid? [True, True] Translation: X:381.69, Y:63.89, Z:-0.08 [[ 8.82037174e-01 -4.71163135e-01 -3.96536172e-03 3.81686721e+02] [ 4.71158783e-01 8.82046084e-01 -2.02680311e-03 6.38940480e+01] [ 4.45258668e-03 -8.05993124e-05 9.99990084e-01 -8.00887269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.440281693 meters 0.018687154242603612 Centerline is valid? [True, True] Translation: X:381.74, Y:63.92, Z:-0.07 [[ 8.85004863e-01 -4.65579610e-01 -1.42142329e-03 3.81739673e+02] [ 4.65579043e-01 8.85006004e-01 -7.26840644e-04 6.39211492e+01] [ 1.59637033e-03 -1.85273900e-05 9.99998726e-01 -7.35649381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.500281693 meters 0.012908188549538551 Centerline is valid? [True, True] Translation: X:381.78, Y:63.96, Z:-0.07 [[ 8.90344124e-01 -4.55286600e-01 -1.20544225e-03 3.81784653e+02] [ 4.55286183e-01 8.90344940e-01 -6.16608902e-04 6.39617263e+01] [ 1.35399318e-03 1.72910038e-07 9.99999083e-01 -7.27988915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.560281693 meters 0.01736389119833772 Centerline is valid? [True, True] Translation: X:381.83, Y:64.00, Z:-0.08 [[ 8.94667928e-01 -4.46721762e-01 -2.99448876e-03 3.81829219e+02] [ 4.46719135e-01 8.94672938e-01 -1.53229890e-03 6.40032082e+01] [ 3.36359932e-03 3.32032516e-05 9.99994343e-01 -7.76163048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.620281693 meters 0.0217988056322884 Centerline is valid? [True, True] Translation: X:381.88, Y:64.04, Z:-0.08 [[ 8.97039288e-01 -4.41937224e-01 -3.46493228e-03 3.81877476e+02] [ 4.41933671e-01 8.97045978e-01 -1.77322460e-03 6.40389566e+01] [ 3.89185752e-03 5.93818933e-05 9.99992425e-01 -7.87314192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.680281693 meters 0.022192319316350236 Centerline is valid? [True, True] Translation: X:381.93, Y:64.07, Z:-0.08 [[ 8.96899707e-01 -4.42213445e-01 -4.26428848e-03 3.81926491e+02] [ 4.42208063e-01 8.96909842e-01 -2.18275059e-03 6.40681780e+01] [ 4.78992396e-03 7.20056119e-05 9.99988526e-01 -7.99986562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.740281693 meters 0.02371639947225275 Centerline is valid? [True, True] Translation: X:381.97, Y:64.10, Z:-0.07 [[ 8.97647281e-01 -4.40713941e-01 -7.62750418e-04 3.81974569e+02] [ 4.40713768e-01 8.97647605e-01 -3.90641086e-04 6.41027484e+01] [ 8.56842058e-04 1.45032981e-05 9.99999633e-01 -7.34704150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.800281693 meters 0.02554991302048605 Centerline is valid? [True, True] Translation: X:382.02, Y:64.13, Z:-0.08 [[ 8.98430115e-01 -4.39108084e-01 -2.72367023e-03 3.82023981e+02] [ 4.39105872e-01 8.98434242e-01 -1.39491797e-03 6.41343299e+01] [ 3.05955835e-03 5.72567214e-05 9.99995318e-01 -7.72721329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86028169299993 meters 0.029722337929120567 Centerline is valid? [True, True] Translation: X:382.07, Y:64.17, Z:-0.08 [[ 8.99995342e-01 -4.35873380e-01 -4.77302158e-03 3.82072467e+02] [ 4.35866537e-01 9.00007990e-01 -2.44532914e-03 6.41709132e+01] [ 5.36161144e-03 1.20384445e-04 9.99985619e-01 -8.11409194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92028169299994 meters 0.03288205463748076 Centerline is valid? [True, True] Translation: X:382.12, Y:64.21, Z:-0.08 [[ 9.01701955e-01 -4.32346721e-01 -3.14593051e-03 3.82118182e+02] [ 4.32343726e-01 9.01707438e-01 -1.61184960e-03 6.42110651e+01] [ 3.53358683e-03 9.32846180e-05 9.99993753e-01 -7.84091161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98028169299994 meters 0.03676209512154467 Centerline is valid? [True, True] Translation: X:382.16, Y:64.25, Z:-0.08 [[ 9.02216253e-01 -4.31250447e-01 -5.37439339e-03 3.82163521e+02] [ 4.31241686e-01 9.02232245e-01 -2.75401376e-03 6.42495304e+01] [ 6.03662068e-03 1.67053508e-04 9.99981765e-01 -8.20512031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04028169299994 meters 0.031558016602275515 Centerline is valid? [True, True] Translation: X:382.21, Y:64.28, Z:-0.08 [[ 9.00521780e-01 -4.34789159e-01 -4.34876252e-03 3.82214645e+02] [ 4.34783462e-01 9.00532273e-01 -2.22877425e-03 6.42800128e+01] [ 4.88524788e-03 1.16289733e-04 9.99988060e-01 -7.97807506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10028169299994 meters 0.023987237773368603 Centerline is valid? [True, True] Translation: X:382.27, Y:64.30, Z:-0.08 [[ 8.97736634e-01 -4.40521604e-01 -3.10674678e-03 3.82269293e+02] [ 4.40518728e-01 8.97742008e-01 -1.59285621e-03 6.43039696e+01] [ 3.49074466e-03 6.13852302e-05 9.99993905e-01 -7.70513527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16028169299994 meters 0.019121796437337205 Centerline is valid? [True, True] Translation: X:382.32, Y:64.33, Z:-0.08 [[ 8.94473607e-01 -4.47094910e-01 -4.80709812e-03 3.82321512e+02] [ 4.47088119e-01 8.94486522e-01 -2.46489470e-03 6.43288275e+01] [ 5.40192635e-03 5.55868038e-05 9.99985408e-01 -8.20010518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22028169299995 meters 0.013229920744942681 Centerline is valid? [True, True] Translation: X:382.38, Y:64.34, Z:-0.07 [[ 8.90152331e-01 -4.55662988e-01 -2.63744008e-04 3.82379438e+02] [ 4.55662968e-01 8.90152370e-01 -1.35324705e-04 6.43445539e+01] [ 2.96434813e-04 2.81223906e-07 9.99999956e-01 -7.15251089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28028169299995 meters 0.01354005073212139 Centerline is valid? [True, True] Translation: X:382.43, Y:64.37, Z:-0.07 [[ 8.88477114e-01 -4.58920430e-01 6.76060406e-04 3.82432377e+02] [ 4.58920299e-01 8.88477371e-01 3.46845544e-04 6.43692034e+01] [-7.59838878e-04 2.09351573e-06 9.99999711e-01 -6.97969770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34028169299995 meters 0.014220253516329493 Centerline is valid? [True, True] Translation: X:382.48, Y:64.41, Z:-0.08 [[ 8.89923888e-01 -4.56073715e-01 -5.67802897e-03 3.82478796e+02] [ 4.56064405e-01 8.89942002e-01 -2.91409102e-03 6.44062635e+01] [ 6.38215679e-03 3.77231065e-06 9.99979634e-01 -8.37365753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40028169299995 meters 0.01440625437317476 Centerline is valid? [True, True] Translation: X:382.53, Y:64.44, Z:-0.08 [[ 8.90976258e-01 -4.54030073e-01 -4.24266129e-03 3.82527480e+02] [ 4.54024848e-01 8.90986359e-01 -2.17841128e-03 6.44392940e+01] [ 4.76921757e-03 1.46390880e-05 9.99988627e-01 -8.01864466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46028169299996 meters 0.015288523007777746 Centerline is valid? [True, True] Translation: X:382.58, Y:64.47, Z:-0.08 [[ 8.92018607e-01 -4.51989277e-01 -2.91507682e-03 3.82575835e+02] [ 4.51986797e-01 8.92023370e-01 -1.49744169e-03 6.44724788e+01] [ 3.27714424e-03 1.81696195e-05 9.99994630e-01 -7.76845048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52028169299996 meters 0.015562872542065096 Centerline is valid? [True, True] Translation: X:382.63, Y:64.50, Z:-0.08 [[ 8.92224161e-01 -4.51588314e-01 -2.01025534e-03 3.82626187e+02] [ 4.51587132e-01 8.92226426e-01 -1.03312282e-03 6.45019050e+01] [ 2.26014913e-03 1.39717006e-05 9.99997446e-01 -7.50495937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58028169299996 meters 0.014852221388987735 Centerline is valid? [True, True] Translation: X:382.68, Y:64.53, Z:-0.08 [[ 8.91681435e-01 -4.52659056e-01 -1.99957220e-03 3.82679123e+02] [ 4.52657888e-01 8.91683677e-01 -1.02809566e-03 6.45265169e+01] [ 2.24836270e-03 1.16116797e-05 9.99997472e-01 -7.55668404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64028169299996 meters 0.01383248757732277 Centerline is valid? [True, True] Translation: X:382.73, Y:64.55, Z:-0.08 [[ 8.90526973e-01 -4.54923123e-01 -2.58122905e-03 3.82733734e+02] [ 4.54921186e-01 8.90530714e-01 -1.32764877e-03 6.45487899e+01] [ 2.90264187e-03 8.05126389e-06 9.99995787e-01 -7.76023723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70028169299997 meters 0.014980232777699031 Centerline is valid? [True, True] Translation: X:382.79, Y:64.56, Z:-0.08 [[ 8.86995834e-01 -4.61763694e-01 -3.56099394e-03 3.82794316e+02] [ 4.61760061e-01 8.87002982e-01 -1.83191473e-03 6.45566241e+01] [ 4.00452396e-03 -1.94240407e-05 9.99991982e-01 -8.01669325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76028169299997 meters 0.015942547620084797 Centerline is valid? [True, True] Translation: X:382.85, Y:64.58, Z:-0.08 [[ 8.85872387e-01 -4.63910304e-01 -4.16465240e-03 3.82848892e+02] [ 4.63905354e-01 8.85882175e-01 -2.14336093e-03 6.45788785e+01] [ 4.68371855e-03 -3.32602818e-05 9.99989031e-01 -8.06092841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82028169299997 meters 0.017638115697251235 Centerline is valid? [True, True] Translation: X:382.91, Y:64.60, Z:-0.08 [[ 8.84700737e-01 -4.66131463e-01 -5.10538479e-03 3.82906093e+02] [ 4.66124055e-01 8.84715466e-01 -2.62856362e-03 6.45956901e+01] [ 5.74206909e-03 -5.42504889e-05 9.99983513e-01 -8.18569003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.880281693 meters 0.016853953868564468 Centerline is valid? [True, True] Translation: X:382.96, Y:64.62, Z:-0.08 [[ 8.84990353e-01 -4.65572965e-01 -5.82150594e-03 3.82960281e+02] [ 4.65563311e-01 8.85009498e-01 -2.99870359e-03 6.46182118e+01] [ 6.54820337e-03 -5.64558333e-05 9.99978559e-01 -8.34490331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.940281693 meters 0.016081173073064736 Centerline is valid? [True, True] Translation: X:383.01, Y:64.64, Z:-0.08 [[ 8.85923766e-01 -4.63794694e-01 -5.79328195e-03 3.83013923e+02] [ 4.63785093e-01 8.85942707e-01 -2.98455331e-03 6.46403286e+01] [ 6.51673588e-03 -4.27510996e-05 9.99978765e-01 -8.36578357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.000281693 meters 0.013350668678117628 Centerline is valid? [True, True] Translation: X:383.06, Y:64.67, Z:-0.08 [[ 8.88205149e-01 -4.59443164e-01 -1.89561291e-03 3.83064552e+02] [ 4.59442125e-01 8.88207171e-01 -9.77011079e-04 6.46693663e+01] [ 2.13257804e-03 -3.13815175e-06 9.99997726e-01 -7.52380900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.060281693 meters 0.015095943293301398 Centerline is valid? [True, True] Translation: X:383.11, Y:64.70, Z:-0.08 [[ 8.91407649e-01 -4.53190343e-01 -3.30378514e-03 3.83112375e+02] [ 4.53187143e-01 8.91413772e-01 -1.70342252e-03 6.47046879e+01] [ 3.71701421e-03 2.12109229e-05 9.99993092e-01 -7.76875365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.120281693 meters 0.020026229078701458 Centerline is valid? [True, True] Translation: X:383.16, Y:64.74, Z:-0.08 [[ 8.94098043e-01 -4.47842500e-01 -5.07779638e-03 3.83160638e+02] [ 4.47834847e-01 8.94112460e-01 -2.61897237e-03 6.47411410e+01] [ 5.71300814e-03 6.76039089e-05 9.99983678e-01 -8.30531433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.180281693 meters 0.02654001649841403 Centerline is valid? [True, True] Translation: X:383.21, Y:64.78, Z:-0.08 [[ 8.97038468e-01 -4.41945364e-01 -2.50651834e-03 3.83207332e+02] [ 4.41943475e-01 8.97041968e-01 -1.29324129e-03 6.47806362e+01] [ 2.81999414e-03 5.23477626e-05 9.99996022e-01 -7.68677740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.240281693 meters 0.03107901879667908 Centerline is valid? [True, True] Translation: X:383.25, Y:64.82, Z:-0.08 [[ 8.98827980e-01 -4.38297604e-01 -1.86367078e-03 3.83254999e+02] [ 4.38296552e-01 8.98829911e-01 -9.61616464e-04 6.48171228e+01] [ 2.09659723e-03 4.74873079e-05 9.99997801e-01 -7.53537581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.300281693 meters 0.031851334823971206 Centerline is valid? [True, True] Translation: X:383.30, Y:64.85, Z:-0.08 [[ 8.99358207e-01 -4.37189026e-01 -4.53551349e-03 3.83303009e+02] [ 4.37182775e-01 8.99369635e-01 -2.34118290e-03 6.48516062e+01] [ 5.10264258e-03 1.22713683e-04 9.99986974e-01 -8.31141185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36028169299993 meters 0.026481873276171315 Centerline is valid? [True, True] Translation: X:383.36, Y:64.88, Z:-0.08 [[ 8.97405567e-01 -4.41184751e-01 -4.38906598e-03 3.83357481e+02] [ 4.41178943e-01 8.97416295e-01 -2.26589165e-03 6.48761325e+01] [ 4.93849618e-03 9.70602890e-05 9.99987801e-01 -7.97543090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42028169299994 meters 0.021629039075155447 Centerline is valid? [True, True] Translation: X:383.41, Y:64.90, Z:-0.07 [[ 8.95121837e-01 -4.45820979e-01 -7.41980282e-04 3.83411132e+02] [ 4.45820815e-01 8.95122145e-01 -3.83244633e-04 6.49014216e+01] [ 8.35021479e-04 1.22603866e-05 9.99999651e-01 -7.21142774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48028169299994 meters 0.019382775088949637 Centerline is valid? [True, True] Translation: X:383.46, Y:64.93, Z:-0.08 [[ 8.93898978e-01 -4.48254804e-01 -3.49968594e-03 3.83463260e+02] [ 4.48251160e-01 8.93905827e-01 -1.80811004e-03 6.49296208e+01] [ 3.93888367e-03 4.75294340e-05 9.99992241e-01 -7.85133758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54028169299994 meters 0.020213165641271413 Centerline is valid? [True, True] Translation: X:383.51, Y:64.96, Z:-0.08 [[ 8.93868403e-01 -4.48309967e-01 -4.17752098e-03 3.83511334e+02] [ 4.48304774e-01 8.93878163e-01 -2.15857285e-03 6.49623418e+01] [ 4.70190450e-03 5.66774620e-05 9.99988944e-01 -7.98867000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60028169299994 meters 0.017327483104025806 Centerline is valid? [True, True] Translation: X:383.56, Y:64.99, Z:-0.08 [[ 8.92193921e-01 -4.51638529e-01 -3.55607471e-03 3.83564950e+02] [ 4.51634790e-01 8.92201007e-01 -1.83821973e-03 6.49871219e+01] [ 4.00294430e-03 3.40014182e-05 9.99991988e-01 -7.95704789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66028169299994 meters 0.013592462005677647 Centerline is valid? [True, True] Translation: X:383.62, Y:65.01, Z:-0.08 [[ 8.88598597e-01 -4.58672850e-01 -3.42791843e-03 3.83622360e+02] [ 4.58669425e-01 8.88605208e-01 -1.77260949e-03 6.50050087e+01] [ 3.85911402e-03 2.85693320e-06 9.99992554e-01 -7.88808465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72028169299995 meters 0.01667467686422315 Centerline is valid? [True, True] Translation: X:383.68, Y:65.02, Z:-0.08 [[ 8.84063205e-01 -4.67354435e-01 -3.47587592e-03 3.83682975e+02] [ 4.67350977e-01 8.84070037e-01 -1.79815680e-03 6.50165947e+01] [ 3.91329431e-03 -3.47697465e-05 9.99992342e-01 -7.65763689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78028169299995 meters 0.022864437001635814 Centerline is valid? [True, True] Translation: X:383.74, Y:65.03, Z:-0.08 [[ 8.81903115e-01 -4.71420633e-01 -3.07932795e-03 3.83740402e+02] [ 4.71417943e-01 8.81908490e-01 -1.59325865e-03 6.50305839e+01] [ 3.46678046e-03 -4.65506835e-05 9.99993990e-01 -7.70848301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84028169299995 meters 0.024337414051665195 Centerline is valid? [True, True] Translation: X:383.80, Y:65.05, Z:-0.08 [[ 8.79866010e-01 -4.75190094e-01 -5.49347041e-03 3.83796921e+02] [ 4.75181600e-01 8.79883153e-01 -2.84333754e-03 6.50513609e+01] [ 6.18473789e-03 -1.08640002e-04 9.99980868e-01 -8.12341414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90028169299995 meters 0.027369174443385637 Centerline is valid? [True, True] Translation: X:383.85, Y:65.07, Z:-0.08 [[ 8.79062825e-01 -4.76690913e-01 -3.78465978e-03 3.83853873e+02] [ 4.76686894e-01 8.79070968e-01 -1.95914669e-03 6.50681258e+01] [ 4.26089196e-03 -8.18846888e-05 9.99990919e-01 -7.75392940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96028169299996 meters 0.02546820314512321 Centerline is valid? [True, True] Translation: X:383.91, Y:65.09, Z:-0.08 [[ 8.79422784e-01 -4.76028517e-01 -3.52392815e-03 3.83907671e+02] [ 4.76025024e-01 8.79429841e-01 -1.82494197e-03 6.50925293e+01] [ 3.96777200e-03 -7.25824335e-05 9.99992126e-01 -7.76181801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02028169299996 meters 0.02284500567491436 Centerline is valid? [True, True] Translation: X:383.96, Y:65.12, Z:-0.08 [[ 8.80285807e-01 -4.74433329e-01 -3.14861833e-03 3.83959533e+02] [ 4.74430529e-01 8.80291436e-01 -1.63119768e-03 6.51213981e+01] [ 3.54559630e-03 -5.78804903e-05 9.99993713e-01 -7.63079197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08028169299996 meters 0.01701357897614978 Centerline is valid? [True, True] Translation: X:384.01, Y:65.16, Z:-0.07 [[ 8.83881117e-01 -4.67705410e-01 -2.41266671e-03 3.84007412e+02] [ 4.67703739e-01 8.83884409e-01 -1.25037713e-03 6.51558393e+01] [ 2.71732664e-03 -2.32285073e-05 9.99996308e-01 -7.40982871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14028169299996 meters 0.013876640989144 Centerline is valid? [True, True] Translation: X:384.05, Y:65.19, Z:-0.08 [[ 8.87933173e-01 -4.59951719e-01 -4.36995227e-03 3.84053085e+02] [ 4.59946138e-01 8.87943927e-01 -2.26563929e-03 6.51949843e+01] [ 4.92235726e-03 1.79360863e-06 9.99987885e-01 -7.87327536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20028169299997 meters 0.014269878903678087 Centerline is valid? [True, True] Translation: X:384.10, Y:65.22, Z:-0.08 [[ 8.89291106e-01 -4.57337163e-01 -2.01228509e-03 3.84101841e+02] [ 4.57335972e-01 8.89293382e-01 -1.04363633e-03 6.52249508e+01] [ 2.26680549e-03 7.80615102e-06 9.99997431e-01 -7.52006187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26028169299997 meters 0.015164392555640813 Centerline is valid? [True, True] Translation: X:384.15, Y:65.25, Z:-0.08 [[ 8.90142470e-01 -4.55670316e-01 -3.30860425e-03 3.84153006e+02] [ 4.55667083e-01 8.90148619e-01 -1.71663144e-03 6.52542941e+01] [ 3.72736749e-03 2.04245028e-05 9.99993053e-01 -7.70790769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32028169299997 meters 0.018871016058481987 Centerline is valid? [True, True] Translation: X:384.20, Y:65.29, Z:-0.07 [[ 8.92646277e-01 -4.50751166e-01 -2.45184473e-03 3.84198001e+02] [ 4.50749371e-01 8.92649643e-01 -1.27231010e-03 6.52918699e+01] [ 2.76213359e-03 3.05554037e-05 9.99996185e-01 -7.36434920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.380281693 meters 0.024065338611460214 Centerline is valid? [True, True] Translation: X:384.24, Y:65.33, Z:-0.07 [[ 8.95280904e-01 -4.45499879e-01 -1.40018240e-03 3.84243978e+02] [ 4.45499287e-01 8.95281999e-01 -7.26870630e-04 6.53331353e+01] [ 1.57737888e-03 2.69731321e-05 9.99998756e-01 -7.28534342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.440281693 meters 0.02758475155166339 Centerline is valid? [True, True] Translation: X:384.29, Y:65.37, Z:-0.08 [[ 8.96589126e-01 -4.42839851e-01 -4.56120806e-03 3.84290393e+02] [ 4.42833529e-01 8.96600722e-01 -2.36852702e-03 6.53729341e+01] [ 5.13846059e-03 1.03739711e-04 9.99986793e-01 -7.87636735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.500281693 meters 0.0247497687295936 Centerline is valid? [True, True] Translation: X:384.34, Y:65.40, Z:-0.07 [[ 8.95534291e-01 -4.44985227e-01 -2.54609746e-03 3.84341583e+02] [ 4.44983265e-01 8.95537908e-01 -1.32226789e-03 6.54023313e+01] [ 2.86851647e-03 5.11654770e-05 9.99995884e-01 -7.48913530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.560281693 meters 0.021294226202933805 Centerline is valid? [True, True] Translation: X:384.39, Y:65.43, Z:-0.07 [[ 8.93522634e-01 -4.49017233e-01 -9.09902906e-04 3.84394528e+02] [ 4.49016984e-01 8.93523097e-01 -4.72606445e-04 6.54272459e+01] [ 1.02522770e-03 1.37226967e-05 9.99999474e-01 -7.15981740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.620281693 meters 0.014885533399772694 Centerline is valid? [True, True] Translation: X:384.45, Y:65.44, Z:-0.07 [[ 8.89630034e-01 -4.56681871e-01 -2.65891338e-04 3.84452747e+02] [ 4.56681850e-01 8.89630074e-01 -1.38212874e-04 6.54434018e+01] [ 2.99664244e-04 1.53057555e-06 9.99999955e-01 -7.04155153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.680281693 meters 0.013860522098674078 Centerline is valid? [True, True] Translation: X:384.51, Y:65.46, Z:-0.07 [[ 8.88106516e-01 -4.59637288e-01 -6.15664981e-04 3.84507069e+02] [ 4.59637177e-01 8.88106730e-01 -3.19957768e-04 6.54639043e+01] [ 6.93840734e-04 1.17406480e-06 9.99999759e-01 -6.99544592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.740281693 meters 0.015247215566181986 Centerline is valid? [True, True] Translation: X:384.56, Y:65.49, Z:-0.08 [[ 8.89256002e-01 -4.57388825e-01 -4.38466921e-03 3.84557775e+02] [ 4.57383145e-01 8.89266812e-01 -2.27950868e-03 6.54936445e+01] [ 4.94176260e-03 2.15929842e-05 9.99987789e-01 -7.86239700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.800281693 meters 0.0181120820653737 Centerline is valid? [True, True] Translation: X:384.61, Y:65.52, Z:-0.08 [[ 8.91253145e-01 -4.53485009e-01 -4.37932104e-03 3.84606787e+02] [ 4.53479294e-01 8.91263903e-01 -2.27701168e-03 6.55249598e+01] [ 4.93572142e-03 4.34624060e-05 9.99987818e-01 -7.87196536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86028169299993 meters 0.021773300321896595 Centerline is valid? [True, True] Translation: X:384.65, Y:65.56, Z:-0.08 [[ 8.93745275e-01 -4.48566245e-01 -2.77628969e-03 3.84654837e+02] [ 4.48563924e-01 8.93749586e-01 -1.44372181e-03 6.55592535e+01] [ 3.12891263e-03 4.49761514e-05 9.99995104e-01 -7.54812897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92028169299994 meters 0.035020953784701485 Centerline is valid? [True, True] Translation: X:384.69, Y:65.61, Z:-0.08 [[ 8.97200828e-01 -4.41588155e-01 -5.52952516e-03 3.84694890e+02] [ 4.41578813e-01 8.97217857e-01 -2.87573686e-03 6.56093267e+01] [ 6.23108005e-03 1.38392336e-04 9.99980577e-01 -8.41717564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98028169299994 meters 0.032785486450174324 Centerline is valid? [True, True] Translation: X:384.75, Y:65.64, Z:-0.08 [[ 8.98953141e-01 -4.38033028e-01 -3.21201001e-03 3.84745838e+02] [ 4.38029853e-01 8.98958874e-01 -1.67061656e-03 6.56401182e+01] [ 3.61925014e-03 9.48497321e-05 9.99993446e-01 -7.53863063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04028169299994 meters 0.0356278763569215 Centerline is valid? [True, True] Translation: X:384.79, Y:65.68, Z:-0.08 [[ 8.99435828e-01 -4.37046672e-01 -2.32310096e-03 3.84791613e+02] [ 4.37045007e-01 8.99438826e-01 -1.20846570e-03 6.56777869e+01] [ 2.61764311e-03 7.16376689e-05 9.99996571e-01 -7.55889390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10028169299994 meters 0.03592226466315406 Centerline is valid? [True, True] Translation: X:384.84, Y:65.71, Z:-0.08 [[ 8.99523784e-01 -4.36863460e-01 -2.69817010e-03 3.84840560e+02] [ 4.36861211e-01 8.99527826e-01 -1.40415950e-03 6.57112490e+01] [ 3.04050506e-03 8.43490062e-05 9.99995374e-01 -7.63330222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16028169299994 meters 0.040239220024935546 Centerline is valid? [True, True] Translation: X:384.89, Y:65.75, Z:-0.08 [[ 9.00490026e-01 -4.34860946e-01 -3.69741025e-03 3.84885168e+02] [ 4.34856706e-01 9.00497608e-01 -1.92435645e-03 6.57515832e+01] [ 4.16633655e-03 1.25020152e-04 9.99991313e-01 -7.80134278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22028169299995 meters 0.039951780097186605 Centerline is valid? [True, True] Translation: X:384.93, Y:65.79, Z:-0.08 [[ 9.00800892e-01 -4.34222737e-01 -2.89267246e-03 3.84933650e+02] [ 4.34220137e-01 9.00805531e-01 -1.50615426e-03 6.57857307e+01] [ 3.25974178e-03 1.00688470e-04 9.99994682e-01 -7.69321954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28028169299995 meters 0.035088896952573355 Centerline is valid? [True, True] Translation: X:384.99, Y:65.81, Z:-0.07 [[ 8.98718101e-01 -4.38526760e-01 -2.35391493e-04 3.84985869e+02] [ 4.38526743e-01 8.98718132e-01 -1.22585918e-04 6.58129251e+01] [ 2.65307809e-04 6.94471861e-06 9.99999965e-01 -7.05172586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34028169299995 meters 0.025777633110395385 Centerline is valid? [True, True] Translation: X:385.04, Y:65.83, Z:-0.08 [[ 8.95550255e-01 -4.44952834e-01 -2.59145834e-03 3.85043611e+02] [ 4.44950790e-01 8.95554003e-01 -1.34992708e-03 6.58315878e+01] [ 2.92144477e-03 5.58561082e-05 9.99995731e-01 -7.70882762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40028169299995 meters 0.023766948916437904 Centerline is valid? [True, True] Translation: X:385.10, Y:65.86, Z:-0.08 [[ 8.93778421e-01 -4.48475186e-01 -5.49015595e-03 3.85095071e+02] [ 4.48466075e-01 8.93795278e-01 -2.86021432e-03 6.58575384e+01] [ 6.18981061e-03 9.42491472e-05 9.99980839e-01 -8.23852366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46028169299996 meters 0.022637822919274957 Centerline is valid? [True, True] Translation: X:385.15, Y:65.89, Z:-0.08 [[ 8.93502234e-01 -4.49051272e-01 -2.59083949e-03 3.85146325e+02] [ 4.49049244e-01 8.93505989e-01 -1.35034359e-03 6.58861236e+01] [ 2.92130411e-03 4.31204980e-05 9.99995732e-01 -7.79347374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52028169299996 meters 0.026394490586304706 Centerline is valid? [True, True] Translation: X:385.19, Y:65.92, Z:-0.08 [[ 8.94711209e-01 -4.46638551e-01 -2.42026182e-03 3.85193287e+02] [ 4.46636772e-01 8.94714481e-01 -1.26161924e-03 6.59199296e+01] [ 2.72893108e-03 4.78069496e-05 9.99996275e-01 -7.84763022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58028169299996 meters 0.021230999478454672 Centerline is valid? [True, True] Translation: X:385.25, Y:65.94, Z:-0.08 [[ 8.93071473e-01 -4.49883188e-01 -5.33493421e-03 3.85248755e+02] [ 4.49874593e-01 8.93087403e-01 -2.78212590e-03 6.59401871e+01] [ 6.01619420e-03 8.45859177e-05 9.99981899e-01 -8.29881270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64028169299996 meters 0.018157452476557524 Centerline is valid? [True, True] Translation: X:385.30, Y:65.96, Z:-0.08 [[ 8.90814290e-01 -4.54328824e-01 -5.93466773e-03 3.85301253e+02] [ 4.54318282e-01 8.90834056e-01 -3.09551270e-03 6.59638556e+01] [ 6.69318477e-03 6.12988973e-05 9.99977599e-01 -8.43569003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70028169299997 meters 0.015789677309451255 Centerline is valid? [True, True] Translation: X:385.36, Y:65.99, Z:-0.08 [[ 8.89374457e-01 -4.57173119e-01 -2.41137125e-03 3.85355908e+02] [ 4.57171387e-01 8.89377726e-01 -1.25829034e-03 6.59871286e+01] [ 2.71987640e-03 1.66813493e-05 9.99996301e-01 -7.81910795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76028169299997 meters 0.014627238782291413 Centerline is valid? [True, True] Translation: X:385.41, Y:66.01, Z:-0.08 [[ 8.88344981e-01 -4.59175212e-01 -1.14880759e-03 3.85407732e+02] [ 4.59174820e-01 8.88345724e-01 -5.99545937e-04 6.60131214e+01] [ 1.29583494e-03 5.10010689e-06 9.99999160e-01 -7.50952259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82028169299997 meters 0.015309664582504061 Centerline is valid? [True, True] Translation: X:385.46, Y:66.04, Z:-0.08 [[ 8.88569945e-01 -4.58724146e-01 -3.95108473e-03 3.85459096e+02] [ 4.58719508e-01 8.88578729e-01 -2.06282981e-03 6.60420676e+01] [ 4.45711969e-03 2.05289252e-05 9.99990067e-01 -7.99976425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.880281693 meters 0.016126940208097865 Centerline is valid? [True, True] Translation: X:385.51, Y:66.07, Z:-0.08 [[ 8.89242256e-01 -4.57425044e-01 -3.24636911e-03 3.85508362e+02] [ 4.57421904e-01 8.89248182e-01 -1.69511480e-03 6.60735327e+01] [ 3.66221579e-03 2.24073705e-05 9.99993294e-01 -7.88588570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.940281693 meters 0.017027044345550964 Centerline is valid? [True, True] Translation: X:385.56, Y:66.10, Z:-0.07 [[ 8.90088611e-01 -4.55787521e-01 1.78840247e-05 3.85557944e+02] [ 4.55787521e-01 8.90088611e-01 9.27978042e-06 6.61049364e+01] [-2.01479748e-05 -1.08511591e-07 1.00000000e+00 -7.27691835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.000281693 meters 0.01877028685503369 Centerline is valid? [True, True] Translation: X:385.61, Y:66.14, Z:-0.08 [[ 8.90842027e-01 -4.54310610e-01 -1.53393493e-03 3.85606096e+02] [ 4.54309904e-01 8.90843347e-01 -8.01624200e-04 6.61396998e+01] [ 1.73068211e-03 1.72386971e-05 9.99998502e-01 -7.72116568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.060281693 meters 0.014772511246771786 Centerline is valid? [True, True] Translation: X:385.66, Y:66.16, Z:-0.08 [[ 8.88408484e-01 -4.59052219e-01 -1.19382407e-03 3.85662984e+02] [ 4.59051794e-01 8.88409287e-01 -6.24158326e-04 6.61583441e+01] [ 1.34712566e-03 6.48046937e-06 9.99999093e-01 -7.62190404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.120281693 meters 0.014139894743448593 Centerline is valid? [True, True] Translation: X:385.72, Y:66.17, Z:-0.08 [[ 8.85073574e-01 -4.65444144e-01 -2.55276320e-03 3.85721092e+02] [ 4.65442230e-01 8.85077256e-01 -1.33471807e-03 6.61727934e+01] [ 2.88062936e-03 -6.84010494e-06 9.99995851e-01 -7.93241338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.180281693 meters 0.0152614243747116 Centerline is valid? [True, True] Translation: X:385.78, Y:66.19, Z:-0.08 [[ 8.83764289e-01 -4.67917924e-01 -3.67410768e-03 3.85776835e+02] [ 4.67913977e-01 8.83771926e-01 -1.92182058e-03 6.61924048e+01] [ 4.14632752e-03 -2.07299366e-05 9.99991404e-01 -8.14873828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.240281693 meters 0.014566732063499375 Centerline is valid? [True, True] Translation: X:385.82, Y:66.23, Z:-0.08 [[ 8.86258334e-01 -4.63165682e-01 -4.86999954e-03 3.85824818e+02] [ 4.63158675e-01 8.86271714e-01 -2.54765770e-03 6.62257964e+01] [ 5.49613046e-03 2.30032980e-06 9.99984896e-01 -8.37908779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.300281693 meters 0.015013980756517385 Centerline is valid? [True, True] Translation: X:385.88, Y:66.25, Z:-0.08 [[ 8.87283072e-01 -4.61203256e-01 -4.50632740e-03 3.85875445e+02] [ 4.61197226e-01 8.87294515e-01 -2.35850001e-03 6.62546265e+01] [ 5.08618747e-03 1.43514431e-05 9.99987065e-01 -8.31160635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36028169299993 meters 0.014380693897971399 Centerline is valid? [True, True] Translation: X:385.93, Y:66.28, Z:-0.08 [[ 8.86439974e-01 -4.62835590e-01 -2.71816492e-03 3.85929229e+02] [ 4.62833402e-01 8.86444142e-01 -1.42321320e-03 6.62788223e+01] [ 3.06821509e-03 3.53555650e-06 9.99995293e-01 -8.01557318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42028169299994 meters 0.015428164784778538 Centerline is valid? [True, True] Translation: X:385.99, Y:66.29, Z:-0.08 [[ 8.83697059e-01 -4.68051642e-01 -2.67728584e-03 3.85986737e+02] [ 4.68049542e-01 8.83701115e-01 -1.40196719e-03 6.62929586e+01] [ 3.02211353e-03 -1.41881251e-05 9.99995433e-01 -8.12386225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48028169299994 meters 0.01783693985926677 Centerline is valid? [True, True] Translation: X:386.04, Y:66.31, Z:-0.08 [[ 8.81778243e-01 -4.71653672e-01 -3.15352441e-03 3.86044207e+02] [ 4.71650780e-01 8.81783881e-01 -1.65202103e-03 6.63104489e+01] [ 3.55990877e-03 -3.06460492e-05 9.99993663e-01 -8.00958155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54028169299994 meters 0.020328491755705322 Centerline is valid? [True, True] Translation: X:386.10, Y:66.33, Z:-0.08 [[ 8.79927871e-01 -4.75090310e-01 -4.01740421e-03 3.86102217e+02] [ 4.75085649e-01 8.79937040e-01 -2.10539610e-03 6.63268121e+01] [ 4.53531605e-03 -5.60143800e-05 9.99989714e-01 -8.19148234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60028169299994 meters 0.026686695125984674 Centerline is valid? [True, True] Translation: X:386.16, Y:66.34, Z:-0.07 [[ 8.76513268e-01 -4.81377356e-01 -5.76155079e-04 3.86164806e+02] [ 4.81377261e-01 8.76513458e-01 -3.02090884e-04 6.63356797e+01] [ 6.50427392e-04 -1.25612858e-05 9.99999788e-01 -7.47753164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66028169299994 meters 0.03312858608682363 Centerline is valid? [True, True] Translation: X:386.23, Y:66.34, Z:-0.07 [[ 8.72549089e-01 -4.88525182e-01 1.11116208e-03 3.86228257e+02] [ 4.88524835e-01 8.72549796e-01 5.82664189e-04 6.63425698e+01] [-1.25419037e-03 3.44271650e-05 9.99999213e-01 -7.17186288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72028169299995 meters 0.03604037096917505 Centerline is valid? [True, True] Translation: X:386.29, Y:66.36, Z:-0.08 [[ 8.70741746e-01 -4.91739098e-01 -1.21271812e-03 3.86288330e+02] [ 4.91738689e-01 8.70742590e-01 -6.36053784e-04 6.63551572e+01] [ 1.36873783e-03 -4.25018355e-05 9.99999062e-01 -7.63421778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78028169299995 meters 0.03508803677688663 Centerline is valid? [True, True] Translation: X:386.34, Y:66.37, Z:-0.08 [[ 8.71888951e-01 -4.89681619e-01 -4.64425796e-03 3.86344964e+02] [ 4.89675579e-01 8.71901307e-01 -2.43671353e-03 6.63728362e+01] [ 5.24254842e-03 -1.49636103e-04 9.99986247e-01 -8.32305548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84028169299995 meters 0.031051692059113217 Centerline is valid? [True, True] Translation: X:386.40, Y:66.40, Z:-0.08 [[ 8.73637724e-01 -4.86547497e-01 -5.35353797e-03 3.86399372e+02] [ 4.86539408e-01 8.73654114e-01 -2.80953379e-03 6.63953702e+01] [ 6.04411210e-03 -1.50192489e-04 9.99981723e-01 -8.45301238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90028169299995 meters 0.027067495157664673 Centerline is valid? [True, True] Translation: X:386.45, Y:66.42, Z:-0.08 [[ 8.75799693e-01 -4.82672025e-01 -1.61670909e-03 3.86453318e+02] [ 4.82671280e-01 8.75801185e-01 -8.48628347e-04 6.64177167e+01] [ 1.82552490e-03 -3.71106024e-05 9.99998333e-01 -7.71622898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96028169299996 meters 0.023931636305564632 Centerline is valid? [True, True] Translation: X:386.51, Y:66.44, Z:-0.08 [[ 8.77476095e-01 -4.79615801e-01 -2.09440172e-03 3.86506434e+02] [ 4.79614542e-01 8.77478593e-01 -1.09974418e-03 6.64428928e+01] [ 2.36524736e-03 -3.95062980e-05 9.99997202e-01 -7.86926959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02028169299996 meters 0.020068784450640975 Centerline is valid? [True, True] Translation: X:386.56, Y:66.47, Z:-0.08 [[ 8.79823726e-01 -4.75275034e-01 -4.88400597e-03 3.86556845e+02] [ 4.75268117e-01 8.79837279e-01 -2.56494561e-03 6.64708420e+01] [ 5.51618514e-03 -6.45123220e-05 9.99984784e-01 -8.43925472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08028169299996 meters 0.018903189179494625 Centerline is valid? [True, True] Translation: X:386.61, Y:66.49, Z:-0.08 [[ 8.80577939e-01 -4.73877450e-01 -4.75982249e-03 3.86610546e+02] [ 4.73870855e-01 8.80590801e-01 -2.50073502e-03 6.64943478e+01] [ 5.37649784e-03 -5.34490615e-05 9.99985545e-01 -8.46646312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14028169299996 meters 0.019491877952825032 Centerline is valid? [True, True] Translation: X:386.67, Y:66.51, Z:-0.08 [[ 8.80033244e-01 -4.74909306e-01 -1.62496331e-03 3.86666307e+02] [ 4.74908538e-01 8.80034744e-01 -8.54157679e-04 6.65132979e+01] [ 1.83567160e-03 -2.00217975e-05 9.99998315e-01 -7.78262198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20028169299997 meters 0.01589220633419241 Centerline is valid? [True, True] Translation: X:386.72, Y:66.54, Z:-0.08 [[ 8.82134724e-01 -4.70995472e-01 -1.26260435e-03 3.86718124e+02] [ 4.70995005e-01 8.82135627e-01 -6.63946959e-04 6.65403901e+01] [ 1.42650429e-03 -8.98967574e-06 9.99998983e-01 -7.66007178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26028169299997 meters 0.013935979854276664 Centerline is valid? [True, True] Translation: X:386.77, Y:66.58, Z:-0.08 [[ 8.85654847e-01 -4.64343005e-01 -1.03236769e-03 3.86766386e+02] [ 4.64342687e-01 8.85655449e-01 -5.43083887e-04 6.65760202e+01] [ 1.16649927e-03 1.61248919e-06 9.99999320e-01 -7.59657351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32028169299997 meters 0.018357639351633103 Centerline is valid? [True, True] Translation: X:386.81, Y:66.61, Z:-0.08 [[ 8.89037355e-01 -4.57815819e-01 -4.15421475e-03 3.86812498e+02] [ 4.57810604e-01 8.89047060e-01 -2.18544081e-03 6.66132050e+01] [ 4.69382178e-03 4.10949497e-05 9.99988983e-01 -8.32517478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.380281693 meters 0.017542930889782718 Centerline is valid? [True, True] Translation: X:386.86, Y:66.64, Z:-0.08 [[ 8.88391023e-01 -4.59062068e-01 -4.83816382e-03 3.86864211e+02] [ 4.59055007e-01 8.88404196e-01 -2.54637395e-03 6.66389295e+01] [ 5.46718874e-03 4.11924299e-05 9.99985054e-01 -8.49344124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.440281693 meters 0.015112688228829822 Centerline is valid? [True, True] Translation: X:386.92, Y:66.66, Z:-0.08 [[ 8.86777935e-01 -4.62179149e-01 -3.91519427e-03 3.86918641e+02] [ 4.62174552e-01 8.86786577e-01 -2.06143044e-03 6.66617678e+01] [ 4.42469190e-03 1.85278692e-05 9.99990211e-01 -8.04128121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.500281693 meters 0.015274106598670126 Centerline is valid? [True, True] Translation: X:386.97, Y:66.69, Z:-0.08 [[ 8.87026655e-01 -4.61704751e-01 -3.52645562e-03 3.86967130e+02] [ 4.61701014e-01 8.87033665e-01 -1.85761621e-03 6.66935954e+01] [ 3.98575508e-03 1.95869558e-05 9.99992057e-01 -7.97150848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.560281693 meters 0.014705505205820498 Centerline is valid? [True, True] Translation: X:387.02, Y:66.72, Z:-0.08 [[ 8.86261465e-01 -4.63174218e-01 -3.20299483e-03 3.87017856e+02] [ 4.63171143e-01 8.86267253e-01 -1.68790917e-03 6.67238820e+01] [ 3.62050544e-03 1.23940749e-05 9.99993446e-01 -7.89126384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.620281693 meters 0.014081264728309431 Centerline is valid? [True, True] Translation: X:387.07, Y:66.75, Z:-0.08 [[ 8.84964578e-01 -4.65649603e-01 -2.85369351e-03 3.87070291e+02] [ 4.65647174e-01 8.84969179e-01 -1.50401478e-03 6.67477812e+01] [ 3.22577469e-03 2.18549060e-06 9.99994797e-01 -7.78927534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.680281693 meters 0.014404170310421799 Centerline is valid? [True, True] Translation: X:387.12, Y:66.77, Z:-0.08 [[ 8.83424361e-01 -4.68566432e-01 -2.62621341e-03 3.87123751e+02] [ 4.68564387e-01 8.83428264e-01 -1.38440556e-03 6.67686021e+01] [ 2.96875713e-03 -7.53248068e-06 9.99995593e-01 -7.63651243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.740281693 meters 0.014368599874821373 Centerline is valid? [True, True] Translation: X:387.17, Y:66.80, Z:-0.08 [[ 8.84081168e-01 -4.67324680e-01 -2.85158049e-03 3.87173592e+02] [ 4.67322260e-01 8.84085767e-01 -1.50395398e-03 6.67977224e+01] [ 3.22387654e-03 -2.98964418e-06 9.99994803e-01 -7.53552536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.800281693 meters 0.014758891653485724 Centerline is valid? [True, True] Translation: X:387.22, Y:66.83, Z:-0.08 [[ 8.85931990e-01 -4.63799346e-01 -3.83080973e-03 3.87220953e+02] [ 4.63794944e-01 8.85940273e-01 -2.02078227e-03 6.68311778e+01] [ 4.33110611e-03 1.35654699e-05 9.99990621e-01 -7.76016419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86028169299993 meters 0.016494539792437177 Centerline is valid? [True, True] Translation: X:387.27, Y:66.87, Z:-0.08 [[ 8.87720022e-01 -4.60367037e-01 -3.91838008e-03 3.87267904e+02] [ 4.60362397e-01 8.87728669e-01 -2.06725912e-03 6.68652254e+01] [ 4.43015629e-03 3.12724673e-05 9.99990186e-01 -7.85078863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92028169299994 meters 0.01921284955002671 Centerline is valid? [True, True] Translation: X:387.32, Y:66.90, Z:-0.08 [[ 8.89313859e-01 -4.57264433e-01 -5.48618588e-03 3.87316323e+02] [ 4.57255270e-01 8.89330779e-01 -2.89557557e-03 6.69003636e+01] [ 6.20307769e-03 6.64880840e-05 9.99980759e-01 -8.04260783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98028169299994 meters 0.023944555007611168 Centerline is valid? [True, True] Translation: X:387.36, Y:66.94, Z:-0.08 [[ 8.91493543e-01 -4.53027594e-01 -2.29364039e-03 3.87359340e+02] [ 4.53025978e-01 8.91496493e-01 -1.21073392e-03 6.69421154e+01] [ 2.59326824e-03 4.02827935e-05 9.99996637e-01 -7.53943803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04028169299994 meters 0.02821557134009172 Centerline is valid? [True, True] Translation: X:387.41, Y:66.98, Z:-0.08 [[ 8.93309782e-01 -4.49422017e-01 -4.18141295e-03 3.87405828e+02] [ 4.49416606e-01 8.93319563e-01 -2.20737642e-03 6.69809506e+01] [ 4.72738155e-03 9.26745327e-05 9.99988822e-01 -7.99616565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10028169299994 meters 0.025528096328927646 Centerline is valid? [True, True] Translation: X:387.46, Y:67.01, Z:-0.08 [[ 8.92226970e-01 -4.51567616e-01 -4.20978469e-03 3.87459126e+02] [ 4.51562150e-01 8.92236898e-01 -2.22325555e-03 6.70059147e+01] [ 4.76007544e-03 8.26691354e-05 9.99988667e-01 -7.95337173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16028169299994 meters 0.019398678969826933 Centerline is valid? [True, True] Translation: X:387.51, Y:67.03, Z:-0.07 [[ 8.89643516e-01 -4.56653751e-01 -1.32865178e-03 3.87513434e+02] [ 4.56653212e-01 8.89644508e-01 -7.01761426e-04 6.70292369e+01] [ 1.50248974e-03 1.75844001e-05 9.99998871e-01 -7.23225008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22028169299995 meters 0.018815946705659087 Centerline is valid? [True, True] Translation: X:387.57, Y:67.06, Z:-0.08 [[ 8.89118030e-01 -4.57668728e-01 -2.90926566e-03 3.87565340e+02] [ 4.57666147e-01 8.89122789e-01 -1.53733047e-03 6.70559640e+01] [ 3.29028248e-03 3.53958326e-05 9.99994586e-01 -7.62823520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28028169299995 meters 0.018704975504958934 Centerline is valid? [True, True] Translation: X:387.62, Y:67.08, Z:-0.08 [[ 8.88946171e-01 -4.57993108e-01 -4.12537455e-03 3.87617281e+02] [ 4.57987918e-01 8.88955742e-01 -2.18091912e-03 6.70824678e+01] [ 4.66612132e-03 4.93479941e-05 9.99989112e-01 -7.85739008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34028169299995 meters 0.01855169943639015 Centerline is valid? [True, True] Translation: X:387.67, Y:67.11, Z:-0.08 [[ 8.88449437e-01 -4.58957326e-01 -3.97122930e-03 3.87669794e+02] [ 4.58952525e-01 8.88458311e-01 -2.09967706e-03 6.71073114e+01] [ 4.49193385e-03 4.28511848e-05 9.99989910e-01 -7.76849218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40028169299995 meters 0.01813280174147685 Centerline is valid? [True, True] Translation: X:387.72, Y:67.14, Z:-0.07 [[ 8.88427017e-01 -4.59017219e-01 -7.92133501e-04 3.87721772e+02] [ 4.59017028e-01 8.88427370e-01 -4.19038001e-04 6.71355804e+01] [ 8.96098742e-04 8.68191598e-06 9.99999598e-01 -7.12688805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46028169299996 meters 0.016658157231983516 Centerline is valid? [True, True] Translation: X:387.78, Y:67.16, Z:-0.07 [[ 8.87442439e-01 -4.60917623e-01 -9.28257343e-04 3.87776251e+02] [ 4.60917362e-01 8.87442925e-01 -4.91228937e-04 6.71592785e+01] [ 1.05019149e-03 8.08748073e-06 9.99999449e-01 -7.23342629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52028169299996 meters 0.016017096259708305 Centerline is valid? [True, True] Translation: X:387.83, Y:67.18, Z:-0.08 [[ 8.86984304e-01 -4.61793588e-01 -2.35081282e-03 3.87829829e+02] [ 4.61791912e-01 8.86987419e-01 -1.24452123e-03 6.71825865e+01] [ 2.65985333e-03 1.82844525e-05 9.99996462e-01 -7.52968060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58028169299996 meters 0.01988362433390891 Centerline is valid? [True, True] Translation: X:387.88, Y:67.22, Z:-0.08 [[ 8.89051739e-01 -4.57785251e-01 -4.43498243e-03 3.87878018e+02] [ 4.57779231e-01 8.89062799e-01 -2.34827839e-03 6.72157003e+01] [ 5.01798511e-03 5.74981366e-05 9.99987408e-01 -8.05035090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64028169299996 meters 0.0294012187244509 Centerline is valid? [True, True] Translation: X:387.92, Y:67.26, Z:-0.08 [[ 8.93268605e-01 -4.49509919e-01 -3.46869663e-03 3.87922568e+02] [ 4.49506171e-01 8.93275336e-01 -1.83733143e-03 6.72570298e+01] [ 3.92439985e-03 8.20299375e-05 9.99992296e-01 -7.67628935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70028169299997 meters 0.04278191629216024 Centerline is valid? [True, True] Translation: X:387.96, Y:67.31, Z:-0.08 [[ 8.98111644e-01 -4.39755358e-01 -3.27110578e-03 3.87962485e+02] [ 4.39751960e-01 8.98117593e-01 -1.73292697e-03 6.73058851e+01] [ 3.69990157e-03 1.17886710e-04 9.99993148e-01 -7.78466913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76028169299997 meters 0.049540319350390494 Centerline is valid? [True, True] Translation: X:388.01, Y:67.35, Z:-0.08 [[ 9.01227538e-01 -4.33317545e-01 -4.98305571e-03 3.88006627e+02] [ 4.33309554e-01 9.01241287e-01 -2.64074570e-03 6.73501049e+01] [ 5.63521699e-03 2.20707092e-04 9.99984098e-01 -8.03691146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82028169299997 meters 0.05236131492160281 Centerline is valid? [True, True] Translation: X:388.05, Y:67.39, Z:-0.08 [[ 9.01951592e-01 -4.31805307e-01 -5.24420639e-03 3.88054593e+02] [ 4.31796427e-01 9.01966805e-01 -2.77990732e-03 6.73865054e+01] [ 5.93047882e-03 2.42912256e-04 9.99982385e-01 -8.03956051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.880281693 meters 0.04834767406276007 Centerline is valid? [True, True] Translation: X:388.11, Y:67.42, Z:-0.08 [[ 9.00902277e-01 -4.33988849e-01 -5.36338038e-03 3.88106402e+02] [ 4.33979593e-01 9.00918211e-01 -2.84406497e-03 6.74153057e+01] [ 6.06625954e-03 2.34626972e-04 9.99981573e-01 -8.15174217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.940281693 meters 0.04886827998473116 Centerline is valid? [True, True] Translation: X:388.15, Y:67.45, Z:-0.07 [[ 9.00399761e-01 -4.35054901e-01 -2.73912340e-03 3.88152468e+02] [ 4.35052491e-01 9.00403920e-01 -1.45267731e-03 6.74512056e+01] [ 3.09831183e-03 1.16327842e-04 9.99995193e-01 -7.44454599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.000281693 meters 0.046003141110709564 Centerline is valid? [True, True] Translation: X:388.20, Y:67.48, Z:-0.08 [[ 9.01073432e-01 -4.33646395e-01 -4.18017680e-03 3.88203494e+02] [ 4.33640767e-01 9.01083109e-01 -2.21718265e-03 6.74815956e+01] [ 4.72815998e-03 1.85149310e-04 9.99988805e-01 -7.68000562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.060281693 meters 0.04779892172374077 Centerline is valid? [True, True] Translation: X:388.25, Y:67.52, Z:-0.08 [[ 9.01371285e-01 -4.33019499e-01 -4.89089409e-03 3.88250219e+02] [ 4.33011778e-01 9.01384527e-01 -2.59520370e-03 6.75186179e+01] [ 5.53235006e-03 2.21427343e-04 9.99984672e-01 -7.76754580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.120281693 meters 0.04619040232073164 Centerline is valid? [True, True] Translation: X:388.30, Y:67.55, Z:-0.08 [[ 9.00667737e-01 -4.34483210e-01 -4.68703812e-03 3.88300820e+02] [ 4.34476139e-01 9.00679909e-01 -2.48726895e-03 6.75488106e+01] [ 5.30219767e-03 2.03796671e-04 9.99985922e-01 -7.71054863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.180281693 meters 0.04189069302359414 Centerline is valid? [True, True] Translation: X:388.35, Y:67.58, Z:-0.07 [[ 8.98194719e-01 -4.39593474e-01 -1.95554097e-03 3.88351928e+02] [ 4.39592255e-01 8.98196845e-01 -1.03808635e-03 6.75781810e+01] [ 2.21279672e-03 7.27630168e-05 9.99997549e-01 -7.18221270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.240281693 meters 0.03937614132302981 Centerline is valid? [True, True] Translation: X:388.40, Y:67.61, Z:-0.07 [[ 8.97839556e-01 -4.40322654e-01 -3.03783650e-04 3.88403139e+02] [ 4.40322624e-01 8.97839607e-01 -1.61372066e-04 6.76082449e+01] [ 3.43804769e-04 1.11234106e-05 9.99999941e-01 -6.77585123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.300281693 meters 0.0393377713163015 Centerline is valid? [True, True] Translation: X:388.45, Y:67.64, Z:-0.07 [[ 8.98147069e-01 -4.39692928e-01 -1.40399960e-03 3.88452104e+02] [ 4.39692298e-01 8.98148165e-01 -7.45902521e-04 6.76417793e+01] [ 1.58896773e-03 5.26023516e-05 9.99998736e-01 -7.02312040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36028169299993 meters 0.03798353650617804 Centerline is valid? [True, True] Translation: X:388.50, Y:67.67, Z:-0.07 [[ 8.95983614e-01 -4.44076205e-01 -3.11238510e-03 3.88503103e+02] [ 4.44073138e-01 8.95989014e-01 -1.65353490e-03 6.76705864e+01] [ 3.52295837e-03 9.94135603e-05 9.99993789e-01 -7.46278520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42028169299994 meters 0.03339053095402902 Centerline is valid? [True, True] Translation: X:388.56, Y:67.70, Z:-0.08 [[ 8.94061870e-01 -4.47903944e-01 -5.95233470e-03 3.88556188e+02] [ 4.47892807e-01 8.94081669e-01 -3.16263148e-03 6.76959310e+01] [ 6.73842846e-03 1.61580318e-04 9.99977283e-01 -8.00715253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48028169299994 meters 0.027673501099925155 Centerline is valid? [True, True] Translation: X:388.61, Y:67.72, Z:-0.08 [[ 8.91917752e-01 -4.52176807e-01 -4.34274213e-03 3.88609409e+02] [ 4.52170925e-01 8.91928319e-01 -2.30826965e-03 6.77223777e+01] [ 4.91716069e-03 9.51249500e-05 9.99987906e-01 -7.60654352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54028169299994 meters 0.02318629968898632 Centerline is valid? [True, True] Translation: X:388.66, Y:67.75, Z:-0.08 [[ 8.89708755e-01 -4.56497776e-01 -5.30209863e-03 3.88662946e+02] [ 4.56489084e-01 8.89724549e-01 -2.81844907e-03 6.77466476e+01] [ 6.00402304e-03 8.72486700e-05 9.99981972e-01 -7.79228639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60028169299994 meters 0.02179304311875409 Centerline is valid? [True, True] Translation: X:388.71, Y:67.78, Z:-0.07 [[ 8.89361773e-01 -4.57180445e-01 -4.65591065e-03 3.88714318e+02] [ 4.57173746e-01 8.89373957e-01 -2.47591336e-03 6.77763045e+01] [ 5.27278485e-03 7.34225777e-05 9.99986096e-01 -7.48479710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66028169299994 meters 0.022466719364889545 Centerline is valid? [True, True] Translation: X:388.76, Y:67.81, Z:-0.07 [[ 8.89550426e-01 -4.56831557e-01 -2.22888178e-03 3.88761991e+02] [ 4.56830020e-01 8.89553218e-01 -1.18543209e-03 6.78098442e+01] [ 2.52425175e-03 3.62815107e-05 9.99996813e-01 -6.91626270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72028169299995 meters 0.025522034838791705 Centerline is valid? [True, True] Translation: X:388.81, Y:67.85, Z:-0.07 [[ 8.91186456e-01 -4.53625116e-01 -3.30966681e-03 3.88808107e+02] [ 4.53621704e-01 8.91192599e-01 -1.76087136e-03 6.78505960e+01] [ 3.74832604e-03 6.79280080e-05 9.99992973e-01 -7.31431085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78028169299995 meters 0.02861485343159553 Centerline is valid? [True, True] Translation: X:388.85, Y:67.89, Z:-0.07 [[ 8.91952429e-01 -4.52119385e-01 -2.98764900e-03 3.88852065e+02] [ 4.52116595e-01 8.91957430e-01 -1.58979121e-03 6.78902085e+01] [ 3.38363114e-03 6.72524392e-05 9.99994273e-01 -7.16423756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84028169299995 meters 0.02682943743503472 Centerline is valid? [True, True] Translation: X:388.90, Y:67.92, Z:-0.08 [[ 8.91113424e-01 -4.53758435e-01 -4.48856473e-03 3.88900773e+02] [ 4.53752154e-01 8.91124724e-01 -2.38940793e-03 6.79241378e+01] [ 5.08408501e-03 9.25375674e-05 9.99987072e-01 -7.56866279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90028169299995 meters 0.0227925444357899 Centerline is valid? [True, True] Translation: X:388.95, Y:67.95, Z:-0.08 [[ 8.89065291e-01 -4.57757465e-01 -4.58378984e-03 3.88950677e+02] [ 4.57750965e-01 8.89077105e-01 -2.44039223e-03 6.79528845e+01] [ 5.19245036e-03 7.14338034e-05 9.99986517e-01 -7.57902413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96028169299996 meters 0.01488399109796141 Centerline is valid? [True, True] Translation: X:389.01, Y:67.97, Z:-0.07 [[ 8.84416872e-01 -4.66694322e-01 -1.79074996e-03 3.89008744e+02] [ 4.66693348e-01 8.84418685e-01 -9.53498442e-04 6.79675644e+01] [ 2.02876504e-03 7.55901353e-06 9.99997942e-01 -7.03195574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02028169299996 meters 0.015811449144056355 Centerline is valid? [True, True] Translation: X:389.07, Y:67.98, Z:-0.07 [[ 8.79922698e-01 -4.75115826e-01 -9.99216092e-04 3.89068635e+02] [ 4.75115528e-01 8.79923265e-01 -5.32122867e-04 6.79791971e+01] [ 1.13205348e-03 -6.51609269e-06 9.99999359e-01 -6.92380466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08028169299996 meters 0.02450408001439953 Centerline is valid? [True, True] Translation: X:389.13, Y:67.99, Z:-0.07 [[ 8.74091909e-01 -4.85752348e-01 -2.82672814e-03 3.89132378e+02] [ 4.85750019e-01 8.74096478e-01 -1.50551496e-03 6.79863365e+01] [ 3.20214054e-03 -5.71248068e-05 9.99994872e-01 -7.24936824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14028169299996 meters 0.025641442644363768 Centerline is valid? [True, True] Translation: X:389.19, Y:68.01, Z:-0.07 [[ 8.73163677e-01 -4.87412438e-01 -3.78267685e-03 3.89185949e+02] [ 4.87408278e-01 8.73171866e-01 -2.01548766e-03 6.80115460e+01] [ 4.28530076e-03 -8.38573937e-05 9.99990815e-01 -7.39285105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20028169299997 meters 0.024388585521447723 Centerline is valid? [True, True] Translation: X:389.24, Y:68.04, Z:-0.07 [[ 8.73870622e-01 -4.86149647e-01 -2.94223377e-03 3.89238179e+02] [ 4.86147121e-01 8.73875573e-01 -1.56831344e-03 6.80381689e+01] [ 3.33358124e-03 -5.98554341e-05 9.99994442e-01 -7.05228250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26028169299997 meters 0.019336217643837812 Centerline is valid? [True, True] Translation: X:389.29, Y:68.07, Z:-0.07 [[ 8.76900009e-01 -4.80671785e-01 -1.00477528e-03 3.89286128e+02] [ 4.80671487e-01 8.76900585e-01 -5.35634703e-04 6.80722430e+01] [ 1.13855252e-03 -1.32687503e-05 9.99999352e-01 -6.80049455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32028169299997 meters 0.016387782843116625 Centerline is valid? [True, True] Translation: X:389.33, Y:68.11, Z:-0.07 [[ 8.78637305e-01 -4.77486025e-01 -1.89254853e-03 3.89334360e+02] [ 4.77484959e-01 8.78639343e-01 -1.00932113e-03 6.81071438e+01] [ 2.14480433e-03 -1.68362622e-05 9.99997700e-01 -6.99082942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.380281693 meters 0.014744259204599748 Centerline is valid? [True, True] Translation: X:389.38, Y:68.14, Z:-0.07 [[ 8.79998652e-01 -4.74975805e-01 -5.98537956e-04 3.89381522e+02] [ 4.74975697e-01 8.79998855e-01 -3.19377236e-04 6.81435632e+01] [ 6.78409176e-04 -3.23944543e-06 9.99999770e-01 -6.55087573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.440281693 meters 0.01371904020672813 Centerline is valid? [True, True] Translation: X:389.43, Y:68.18, Z:-0.06 [[ 8.81151842e-01 -4.72831789e-01 1.23701584e-03 3.89428032e+02] [ 4.72831329e-01 8.81152710e-01 6.60003412e-04 6.81790197e+01] [-1.40207045e-03 3.33661998e-06 9.99999017e-01 -6.37735631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.500281693 meters 0.014101156343114863 Centerline is valid? [True, True] Translation: X:389.47, Y:68.22, Z:-0.07 [[ 8.82051299e-01 -4.71147913e-01 -2.26928049e-03 3.89473381e+02] [ 4.71146355e-01 8.82054218e-01 -1.21142533e-03 6.82164036e+01] [ 2.57238894e-03 -6.23941179e-07 9.99996691e-01 -7.23508939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.560281693 meters 0.014468702167970105 Centerline is valid? [True, True] Translation: X:389.52, Y:68.25, Z:-0.07 [[ 8.80961600e-01 -4.73178420e-01 -2.97361531e-03 3.89524648e+02] [ 4.73175755e-01 8.80966618e-01 -1.58802678e-03 6.82457771e+01] [ 3.37107583e-03 -8.05205587e-06 9.99994318e-01 -7.38715426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.620281693 meters 0.01950511273669223 Centerline is valid? [True, True] Translation: X:389.58, Y:68.26, Z:-0.07 [[ 8.76016250e-01 -4.82276594e-01 -2.19472620e-03 3.89584583e+02] [ 4.82275171e-01 8.76018999e-01 -1.17213686e-03 6.82589720e+01] [ 2.48791602e-03 -3.16510186e-05 9.99996905e-01 -7.34045104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.680281693 meters 0.027702788113315262 Centerline is valid? [True, True] Translation: X:389.64, Y:68.27, Z:-0.07 [[ 8.71890364e-01 -4.89699919e-01 -1.08710348e-03 3.89644231e+02] [ 4.89699575e-01 8.71891042e-01 -5.80700028e-04 6.82702380e+01] [ 1.23220454e-03 -2.60473516e-05 9.99999240e-01 -7.15651498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.740281693 meters 0.034542373384745605 Centerline is valid? [True, True] Translation: X:389.71, Y:68.28, Z:-0.07 [[ 8.68667552e-01 -4.95394763e-01 -8.44831263e-04 3.89706365e+02] [ 4.95394558e-01 8.68667962e-01 -4.51486412e-04 6.82796230e+01] [ 9.57541856e-04 -2.63332141e-05 9.99999541e-01 -7.13030116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.800281693 meters 0.0379717723162401 Centerline is valid? [True, True] Translation: X:389.77, Y:68.30, Z:-0.07 [[ 8.67195251e-01 -4.97965147e-01 -1.76334899e-03 3.89766031e+02] [ 4.97964259e-01 8.67197041e-01 -9.42589352e-04 6.82950492e+01] [ 1.99854767e-03 -6.06757632e-05 9.99998001e-01 -7.23844013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86028169299993 meters 0.03515261870881825 Centerline is valid? [True, True] Translation: X:389.82, Y:68.31, Z:-0.07 [[ 8.66331881e-01 -4.99467908e-01 -9.38703394e-04 3.89822647e+02] [ 4.99467657e-01 8.66332389e-01 -5.02021776e-04 6.83134448e+01] [ 1.06397292e-03 -3.39345153e-05 9.99999433e-01 -6.97739055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92028169299994 meters 0.038343428410490044 Centerline is valid? [True, True] Translation: X:389.88, Y:68.33, Z:-0.07 [[ 8.66808081e-01 -4.98641778e-01 3.58277957e-04 3.89881272e+02] [ 4.98641742e-01 8.66808155e-01 1.91587065e-04 6.83268506e+01] [-4.06091569e-04 1.25831286e-05 9.99999917e-01 -6.60034371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98028169299994 meters 0.03267713467335516 Centerline is valid? [True, True] Translation: X:389.93, Y:68.35, Z:-0.07 [[ 8.69942138e-01 -4.93153781e-01 1.56907150e-04 3.89932457e+02] [ 4.93153774e-01 8.69942152e-01 8.39057712e-05 6.83538427e+01] [-1.77878592e-04 4.38618708e-06 9.99999984e-01 -6.67287695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04028169299994 meters 0.02537808099152366 Centerline is valid? [True, True] Translation: X:389.98, Y:68.38, Z:-0.06 [[ 8.73484744e-01 -4.86848573e-01 1.69360233e-03 3.89982516e+02] [ 4.86847731e-01 8.73486386e-01 9.05953699e-04 6.83825287e+01] [-1.92040085e-03 3.31897193e-05 9.99998155e-01 -6.27908538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10028169299994 meters 0.02202427508078525 Centerline is valid? [True, True] Translation: X:390.03, Y:68.41, Z:-0.06 [[ 8.74909382e-01 -4.84285092e-01 1.23452612e-03 3.90034065e+02] [ 4.84284641e-01 8.74910252e-01 6.60573352e-04 6.84115350e+01] [-1.40000539e-03 1.99202182e-05 9.99999020e-01 -6.30282288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16028169299994 meters 0.017107534638695108 Centerline is valid? [True, True] Translation: X:390.08, Y:68.44, Z:-0.07 [[ 8.77025121e-01 -4.80443429e-01 -1.02457068e-03 3.90083520e+02] [ 4.80443116e-01 8.77025719e-01 -5.48444958e-04 6.84433260e+01] [ 1.16207162e-03 -1.12479262e-05 9.99999325e-01 -6.82554703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22028169299995 meters 0.013798714740097365 Centerline is valid? [True, True] Translation: X:390.13, Y:68.48, Z:-0.07 [[ 8.80212804e-01 -4.74579139e-01 -2.45030354e-04 3.90130829e+02] [ 4.74579121e-01 8.80212838e-01 -1.31271459e-04 6.84785277e+01] [ 2.77977559e-04 -7.39471484e-07 9.99999961e-01 -6.66550559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28028169299995 meters 0.013296242857482625 Centerline is valid? [True, True] Translation: X:390.18, Y:68.51, Z:-0.07 [[ 8.82099174e-01 -4.71063674e-01 2.49718897e-04 3.90178197e+02] [ 4.71063655e-01 8.82099209e-01 1.33703436e-04 6.85137052e+01] [-2.83259673e-04 -3.06194184e-07 9.99999960e-01 -6.59844989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34028169299995 meters 0.013294143637362062 Centerline is valid? [True, True] Translation: X:390.23, Y:68.54, Z:-0.07 [[ 8.81631524e-01 -4.71938187e-01 4.52002112e-04 3.90228574e+02] [ 4.71938125e-01 8.81631639e-01 2.42178960e-04 6.85430685e+01] [-5.12792863e-04 -1.95576485e-07 9.99999869e-01 -6.63958056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40028169299995 meters 0.013569853614278265 Centerline is valid? [True, True] Translation: X:390.28, Y:68.57, Z:-0.07 [[ 8.80318465e-01 -4.74382715e-01 -6.62759998e-04 3.90280888e+02] [ 4.74382582e-01 8.80318715e-01 -3.55281591e-04 6.85685849e+01] [ 7.51979476e-04 -1.64085431e-06 9.99999717e-01 -6.86656644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46028169299996 meters 0.015137275377017659 Centerline is valid? [True, True] Translation: X:390.33, Y:68.59, Z:-0.06 [[ 8.78368003e-01 -4.77977631e-01 2.65239952e-03 3.90334322e+02] [ 4.77975516e-01 8.78372008e-01 1.42202020e-03 6.85924097e+01] [-3.00948734e-03 1.87249837e-05 9.99995471e-01 -6.09810627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52028169299996 meters 0.01591341549163138 Centerline is valid? [True, True] Translation: X:390.39, Y:68.62, Z:-0.07 [[ 8.77539622e-01 -4.79502871e-01 1.09898437e-03 3.90387207e+02] [ 4.79502509e-01 8.77540310e-01 5.89374651e-04 6.86183439e+01] [-1.24700992e-03 9.76615199e-06 9.99999222e-01 -6.57632907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58028169299996 meters 0.015623038077708096 Centerline is valid? [True, True] Translation: X:390.44, Y:68.65, Z:-0.07 [[ 8.77672842e-01 -4.79259505e-01 -8.42554812e-04 3.90438546e+02] [ 4.79259292e-01 8.77673246e-01 -4.52180814e-04 6.86459750e+01] [ 9.56199770e-04 -6.93540190e-06 9.99999543e-01 -6.89901056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64028169299996 meters 0.014931769910143972 Centerline is valid? [True, True] Translation: X:390.49, Y:68.67, Z:-0.06 [[ 8.78147099e-01 -4.78389030e-01 1.26783542e-03 3.90489557e+02] [ 4.78388547e-01 8.78148015e-01 6.80380777e-04 6.86727442e+01] [-1.43883386e-03 9.04353780e-06 9.99998965e-01 -6.41597220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70028169299997 meters 0.015186404833102456 Centerline is valid? [True, True] Translation: X:390.54, Y:68.70, Z:-0.07 [[ 8.77859586e-01 -4.78918012e-01 -2.91495137e-04 3.90539812e+02] [ 4.78917986e-01 8.77859635e-01 -1.56578866e-04 6.87010241e+01] [ 3.30880254e-04 -2.14800551e-06 9.99999945e-01 -6.82512717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76028169299997 meters 0.014972601216640357 Centerline is valid? [True, True] Translation: X:390.59, Y:68.73, Z:-0.07 [[ 8.78196655e-01 -4.78298754e-01 -9.67767273e-04 3.90588219e+02] [ 4.78298471e-01 8.78197189e-01 -5.19808301e-04 6.87317026e+01] [ 1.09851416e-03 -6.38769631e-06 9.99999397e-01 -6.95456400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82028169299997 meters 0.014555662810242093 Centerline is valid? [True, True] Translation: X:390.64, Y:68.76, Z:-0.06 [[ 8.78577990e-01 -4.77595830e-01 1.71404479e-03 3.90636658e+02] [ 4.77594943e-01 8.78579662e-01 9.20662791e-04 6.87628251e+01] [-1.94562960e-03 9.74505872e-06 9.99998107e-01 -6.46903644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.880281693 meters 0.01584879968413098 Centerline is valid? [True, True] Translation: X:390.69, Y:68.79, Z:-0.07 [[ 8.77100090e-01 -4.80307573e-01 -2.60869702e-04 3.90688517e+02] [ 4.80307552e-01 8.77100129e-01 -1.40166712e-04 6.87894813e+01] [ 2.96131983e-04 -2.35745190e-06 9.99999956e-01 -6.94017731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.940281693 meters 0.02001310331898082 Centerline is valid? [True, True] Translation: X:390.74, Y:68.81, Z:-0.07 [[ 8.75048096e-01 -4.84033226e-01 -1.63258591e-03 3.90741287e+02] [ 4.84032432e-01 8.75049619e-01 -8.77197965e-04 6.88137857e+01] [ 1.85318664e-03 -2.26341173e-05 9.99998283e-01 -7.22767690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.000281693 meters 0.021113367339897153 Centerline is valid? [True, True] Translation: X:390.79, Y:68.84, Z:-0.07 [[ 8.73786182e-01 -4.86309017e-01 1.11760264e-03 3.90792779e+02] [ 4.86308646e-01 8.73786896e-01 6.00650271e-04 6.88420350e+01] [-1.26864818e-03 1.86599200e-05 9.99999195e-01 -6.59758607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.060281693 meters 0.027921596998171448 Centerline is valid? [True, True] Translation: X:390.85, Y:68.86, Z:-0.07 [[ 8.71032486e-01 -4.91223302e-01 -1.44061907e-03 3.90849659e+02] [ 4.91222692e-01 8.71033677e-01 -7.74414832e-04 6.88599941e+01] [ 1.63523833e-03 -3.31243001e-05 9.99998662e-01 -7.17209376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.120281693 meters 0.02834015364217722 Centerline is valid? [True, True] Translation: X:390.90, Y:68.89, Z:-0.07 [[ 8.69733843e-01 -4.93518495e-01 -1.59299195e-03 3.90902633e+02] [ 4.93517753e-01 8.69735301e-01 -8.56712847e-04 6.88860791e+01] [ 1.80828497e-03 -4.10576502e-05 9.99998364e-01 -7.17497520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.180281693 meters 0.03520442477451373 Centerline is valid? [True, True] Translation: X:390.96, Y:68.90, Z:-0.07 [[ 8.67486239e-01 -4.97461030e-01 3.84449396e-04 3.90959044e+02] [ 4.97460988e-01 8.67486324e-01 2.06747157e-04 6.89031716e+01] [-4.36353247e-04 1.18982626e-05 9.99999905e-01 -6.73252460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.240281693 meters 0.03732919525321896 Centerline is valid? [True, True] Translation: X:391.01, Y:68.93, Z:-0.07 [[ 8.65474721e-01 -5.00952443e-01 -3.95283756e-04 3.91014287e+02] [ 5.00952398e-01 8.65474812e-01 -2.12734331e-04 6.89251826e+01] [ 4.48677918e-04 -1.39021597e-05 9.99999899e-01 -6.86546933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.300281693 meters 0.04009248438774329 Centerline is valid? [True, True] Translation: X:391.07, Y:68.94, Z:-0.07 [[ 8.65140212e-01 -5.01529446e-01 -7.92944382e-04 3.91070173e+02] [ 5.01529266e-01 8.65140575e-01 -4.26707330e-04 6.89442878e+01] [ 9.00014650e-04 -2.85231439e-05 9.99999595e-01 -6.95985666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36028169299993 meters 0.037247868344473155 Centerline is valid? [True, True] Translation: X:391.12, Y:68.97, Z:-0.07 [[ 8.66956085e-01 -4.98380337e-01 -2.04623428e-03 3.91122313e+02] [ 4.98379124e-01 8.66958497e-01 -1.10125478e-03 6.89692421e+01] [ 2.32284393e-03 -6.50609151e-05 9.99997300e-01 -7.27400528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42028169299994 meters 0.028497190941833964 Centerline is valid? [True, True] Translation: X:391.17, Y:69.01, Z:-0.07 [[ 8.69629111e-01 -4.93705370e-01 -4.65061586e-04 3.91169844e+02] [ 4.93705307e-01 8.69629236e-01 -2.50439355e-04 6.90056514e+01] [ 5.28074406e-04 -1.18140190e-05 9.99999861e-01 -6.90931372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48028169299994 meters 0.02395990285078045 Centerline is valid? [True, True] Translation: X:391.22, Y:69.04, Z:-0.07 [[ 8.71870399e-01 -4.89735499e-01 -1.07132747e-03 3.91221046e+02] [ 4.89735159e-01 8.71871057e-01 -5.77045823e-04 6.90356333e+01] [ 1.21665924e-03 -2.15575591e-05 9.99999260e-01 -7.08601497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54028169299994 meters 0.024111406475636477 Centerline is valid? [True, True] Translation: X:391.27, Y:69.06, Z:-0.07 [[ 8.71925039e-01 -4.89636274e-01 -1.74488340e-03 3.91273210e+02] [ 4.89635373e-01 8.71926785e-01 -9.40233595e-04 6.90604415e+01] [ 1.98178304e-03 -3.45434175e-05 9.99998036e-01 -7.31435356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60028169299994 meters 0.022728341578394463 Centerline is valid? [True, True] Translation: X:391.33, Y:69.08, Z:-0.07 [[ 8.72790797e-01 -4.88094044e-01 -6.55903411e-04 3.91326045e+02] [ 4.88093916e-01 8.72791043e-01 -3.53478610e-04 6.90836070e+01] [ 7.44997426e-04 -1.16295866e-05 9.99999722e-01 -6.97277190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66028169299994 meters 0.018028225121406137 Centerline is valid? [True, True] Translation: X:391.37, Y:69.12, Z:-0.07 [[ 8.75336780e-01 -4.83512856e-01 -9.15995882e-04 3.91374060e+02] [ 4.83512604e-01 8.75337259e-01 -4.93704419e-04 6.91169563e+01] [ 1.04051776e-03 -1.07379179e-05 9.99999459e-01 -6.93989392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72028169299995 meters 0.013389137647888025 Centerline is valid? [True, True] Translation: X:391.42, Y:69.16, Z:-0.07 [[ 8.78761723e-01 -4.77254151e-01 -2.51210223e-03 3.91418629e+02] [ 4.77252229e-01 8.78765313e-01 -1.35448611e-03 6.91578742e+01] [ 2.85398242e-03 -8.63583967e-06 9.99995927e-01 -7.22992817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78028169299995 meters 0.01273524178656292 Centerline is valid? [True, True] Translation: X:391.46, Y:69.20, Z:-0.07 [[ 8.80669952e-01 -4.73729786e-01 -7.25052118e-04 3.91464547e+02] [ 4.73729625e-01 8.80670250e-01 -3.90992994e-04 6.91950514e+01] [ 8.23756857e-04 8.57113182e-07 9.99999661e-01 -6.92686495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84028169299995 meters 0.013040911067393328 Centerline is valid? [True, True] Translation: X:391.51, Y:69.23, Z:-0.07 [[ 8.81532539e-01 -4.72121890e-01 -1.14185282e-03 3.91511348e+02] [ 4.72121488e-01 8.81533279e-01 -6.16085914e-04 6.92296985e+01] [ 1.29744890e-03 4.00652962e-06 9.99999158e-01 -6.83951601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90028169299995 meters 0.01280324977437676 Centerline is valid? [True, True] Translation: X:391.56, Y:69.26, Z:-0.07 [[ 8.80960699e-01 -4.73186935e-01 -1.54025412e-03 3.91560723e+02] [ 4.73186204e-01 8.80962045e-01 -8.31400127e-04 6.92592675e+01] [ 1.75031310e-03 3.60383461e-06 9.99998468e-01 -6.84029521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96028169299996 meters 0.012507744460529331 Centerline is valid? [True, True] Translation: X:391.61, Y:69.29, Z:-0.07 [[ 8.79923921e-01 -4.75113869e-01 8.39797713e-04 3.91611752e+02] [ 4.75113653e-01 8.79924321e-01 4.53306795e-04 6.92867353e+01] [-9.54330778e-04 1.23866542e-07 9.99999545e-01 -6.55731797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02028169299996 meters 0.026224226566548457 Centerline is valid? [True, True] Translation: X:391.66, Y:69.31, Z:-0.07 [[ 8.78824725e-01 -4.77141566e-01 -1.74061804e-03 3.91663545e+02] [ 4.77140640e-01 8.78826448e-01 -9.40099116e-04 6.93120869e+01] [ 1.97826153e-03 -4.33725552e-06 9.99998043e-01 -6.50332560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08028169299996 meters 0.01302028691606479 Centerline is valid? [True, True] Translation: X:391.71, Y:69.34, Z:-0.07 [[ 8.78798074e-01 -4.77190349e-01 -1.82101708e-03 3.91712886e+02] [ 4.77189335e-01 8.78799961e-01 -9.83794717e-04 6.93401080e+01] [ 2.06976708e-03 -4.41302707e-06 9.99997858e-01 -7.08885383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14028169299996 meters 0.012790980626231628 Centerline is valid? [True, True] Translation: X:391.76, Y:69.37, Z:-0.07 [[ 8.78523017e-01 -4.77699767e-01 4.90089948e-04 3.91762871e+02] [ 4.77699694e-01 8.78523154e-01 2.64801023e-04 6.93698910e+01] [-5.57050754e-04 1.48202418e-06 9.99999845e-01 -6.54593747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20028169299997 meters 0.01330915004195212 Centerline is valid? [True, True] Translation: X:391.81, Y:69.40, Z:-0.07 [[ 8.77976427e-01 -4.78701565e-01 -1.48470351e-03 3.91812871e+02] [ 4.78700892e-01 8.77977683e-01 -8.02868315e-04 6.93997569e+01] [ 1.68787086e-03 -5.82943851e-06 9.99998576e-01 -7.04811330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26028169299997 meters 0.014244827034448864 Centerline is valid? [True, True] Translation: X:391.86, Y:69.43, Z:-0.07 [[ 8.76920902e-01 -4.80627319e-01 -2.66669003e-03 3.91863553e+02] [ 4.80625155e-01 8.76924957e-01 -1.44254061e-03 6.94296136e+01] [ 3.03181147e-03 -1.66842945e-05 9.99995404e-01 -7.16770887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32028169299997 meters 0.014943825409508182 Centerline is valid? [True, True] Translation: X:391.91, Y:69.46, Z:-0.07 [[ 8.76173829e-01 -4.81991152e-01 -1.98759229e-03 3.91914557e+02] [ 4.81989952e-01 8.76176084e-01 -1.07562157e-03 6.94590485e+01] [ 2.25992091e-03 -1.55680457e-05 9.99997446e-01 -7.08516194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.380281693 meters 0.014707639893122173 Centerline is valid? [True, True] Translation: X:391.96, Y:69.49, Z:-0.07 [[ 8.76485436e-01 -4.81424615e-01 -1.90295027e-03 3.91962751e+02] [ 4.81423513e-01 8.76487502e-01 -1.02991934e-03 6.94908247e+01] [ 2.16374065e-03 -1.34156998e-05 9.99997659e-01 -6.99173495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.440281693 meters 0.014125030935151139 Centerline is valid? [True, True] Translation: X:392.01, Y:69.52, Z:-0.07 [[ 8.76914795e-01 -4.80641235e-01 -2.10843010e-03 3.92011748e+02] [ 4.80639880e-01 8.76917330e-01 -1.14128179e-03 6.95222027e+01] [ 2.39746598e-03 -1.25887073e-05 9.99997126e-01 -6.98598137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.500281693 meters 0.014289360363856484 Centerline is valid? [True, True] Translation: X:392.06, Y:69.55, Z:-0.07 [[ 8.76515353e-01 -4.81368976e-01 -2.17851070e-03 3.92061116e+02] [ 4.81367530e-01 8.76518060e-01 -1.17979807e-03 6.95531031e+01] [ 2.47742216e-03 -1.45531903e-05 9.99996931e-01 -6.98664694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.560281693 meters 0.014824584928251162 Centerline is valid? [True, True] Translation: X:392.11, Y:69.58, Z:-0.07 [[ 8.76253487e-01 -4.81848364e-01 -1.40760315e-03 3.92109666e+02] [ 4.81847761e-01 8.76254617e-01 -7.62436273e-04 6.95824371e+01] [ 1.60079743e-03 -1.01629853e-05 9.99998719e-01 -6.70460259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.620281693 meters 0.018048940111162936 Centerline is valid? [True, True] Translation: X:392.16, Y:69.61, Z:-0.07 [[ 8.74261539e-01 -4.85454459e-01 -8.53866819e-04 3.92161614e+02] [ 4.85454239e-01 8.74261956e-01 -4.62714019e-04 6.96096366e+01] [ 9.71129860e-04 -9.98019598e-06 9.99999528e-01 -6.72166535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.680281693 meters 0.020165230992704303 Centerline is valid? [True, True] Translation: X:392.21, Y:69.64, Z:-0.07 [[ 8.73081772e-01 -4.87571048e-01 -1.64080401e-03 3.92212468e+02] [ 4.87570238e-01 8.73083313e-01 -8.89433019e-04 6.96387872e+01] [ 1.86622039e-03 -2.34594455e-05 9.99998258e-01 -6.87666696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.740281693 meters 0.021660411575970817 Centerline is valid? [True, True] Translation: X:392.26, Y:69.67, Z:-0.07 [[ 8.71980777e-01 -4.89538391e-01 -1.29941730e-03 3.92262696e+02] [ 4.89537884e-01 8.71981745e-01 -7.04657868e-04 6.96695206e+01] [ 1.47802524e-03 -2.16658801e-05 9.99998907e-01 -6.80988493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.800281693 meters 0.026616805011870432 Centerline is valid? [True, True] Translation: X:392.32, Y:69.69, Z:-0.07 [[ 8.68532189e-01 -4.95631166e-01 -1.25859585e-03 3.92318212e+02] [ 4.95630696e-01 8.68533101e-01 -6.82747561e-04 6.96923405e+01] [ 1.43152312e-03 -3.08105009e-05 9.99998975e-01 -6.83830983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86028169299993 meters 0.03329122902673164 Centerline is valid? [True, True] Translation: X:392.38, Y:69.71, Z:-0.07 [[ 8.65445488e-01 -5.00985339e-01 -4.21860508e-03 3.92375250e+02] [ 5.00980127e-01 8.65455760e-01 -2.28917040e-03 6.97110663e+01] [ 4.79785688e-03 -1.32285114e-04 9.99988481e-01 -7.41192916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92028169299994 meters 0.038344769914454145 Centerline is valid? [True, True] Translation: X:392.43, Y:69.73, Z:-0.08 [[ 8.61923184e-01 -5.07005122e-01 -5.85067848e-03 3.92433006e+02] [ 5.06995227e-01 8.61943011e-01 -3.17594399e-03 6.97287787e+01] [ 6.65317129e-03 -2.28846302e-04 9.99977841e-01 -7.72622175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98028169299994 meters 0.043780253896167645 Centerline is valid? [True, True] Translation: X:392.49, Y:69.75, Z:-0.08 [[ 8.61716351e-01 -5.07363953e-01 -5.17195480e-03 3.92488314e+02] [ 5.07356224e-01 8.61731848e-01 -2.80787535e-03 6.97472779e+01] [ 5.88145291e-03 -2.04431361e-04 9.99982683e-01 -7.68492426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04028169299994 meters 0.03784711279825047 Centerline is valid? [True, True] Translation: X:392.54, Y:69.77, Z:-0.07 [[ 8.62570559e-01 -5.05929422e-01 -2.72956330e-03 3.92540743e+02] [ 5.05927261e-01 8.62574872e-01 -1.48237978e-03 6.97739920e+01] [ 3.10443226e-03 -1.02303326e-04 9.99995176e-01 -7.01640804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10028169299994 meters 0.03822557831483127 Centerline is valid? [True, True] Translation: X:392.60, Y:69.79, Z:-0.08 [[ 8.62518229e-01 -5.05993614e-01 -5.72421558e-03 3.92597026e+02] [ 5.05984102e-01 8.62537197e-01 -3.10990263e-03 6.97939595e+01] [ 6.51093973e-03 -2.14014371e-04 9.99978781e-01 -7.67596501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16028169299994 meters 0.04012128134809027 Centerline is valid? [True, True] Translation: X:392.65, Y:69.81, Z:-0.08 [[ 8.63098951e-01 -5.05001152e-01 -5.83417045e-03 3.92651291e+02] [ 5.04991246e-01 8.63118643e-01 -3.17003525e-03 6.98147340e+01] [ 6.63645274e-03 -2.10150908e-04 9.99977956e-01 -7.78982565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22028169299995 meters 0.030442193815369844 Centerline is valid? [True, True] Translation: X:392.70, Y:69.85, Z:-0.07 [[ 8.66122403e-01 -4.99819742e-01 -3.49404322e-03 3.92699947e+02] [ 4.99816143e-01 8.66129445e-01 -1.89927840e-03 6.98498147e+01] [ 3.97559056e-03 -1.01371639e-04 9.99992092e-01 -7.14565243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28028169299995 meters 0.0269949954713591 Centerline is valid? [True, True] Translation: X:392.75, Y:69.88, Z:-0.07 [[ 8.69247210e-01 -4.94365797e-01 -3.42727604e-03 3.92750899e+02] [ 4.94362292e-01 8.69253963e-01 -1.86315030e-03 6.98772870e+01] [ 3.90025107e-03 -7.47778377e-05 9.99992391e-01 -7.22092391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34028169299995 meters 0.023287858356966756 Centerline is valid? [True, True] Translation: X:392.80, Y:69.91, Z:-0.07 [[ 8.70103706e-01 -4.92857395e-01 -3.33585074e-03 3.92803066e+02] [ 4.92854061e-01 8.70110099e-01 -1.81414917e-03 6.99055768e+01] [ 3.79667425e-03 -6.55896621e-05 9.99992790e-01 -7.17737052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40028169299995 meters 0.020892758008155977 Centerline is valid? [True, True] Translation: X:392.85, Y:69.93, Z:-0.07 [[ 8.71911148e-01 -4.89650991e-01 -3.58583936e-03 3.92854502e+02] [ 4.89647109e-01 8.71918519e-01 -1.95032841e-03 6.99314353e+01] [ 4.08153999e-03 -5.52827956e-05 9.99991669e-01 -7.34685800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46028169299996 meters 0.018642385327599504 Centerline is valid? [True, True] Translation: X:392.91, Y:69.96, Z:-0.08 [[ 8.73273158e-01 -4.87198691e-01 -5.60602190e-03 3.92905306e+02] [ 4.87189147e-01 8.73291149e-01 -3.05026827e-03 6.99605561e+01] [ 6.38177601e-03 -6.74756192e-05 9.99979634e-01 -7.84180309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52028169299996 meters 0.015429426435803133 Centerline is valid? [True, True] Translation: X:392.96, Y:69.99, Z:-0.08 [[ 8.75382653e-01 -4.83376690e-01 -7.22396721e-03 3.92956443e+02] [ 4.83360705e-01 8.75412459e-01 -3.93135357e-03 6.99906882e+01] [ 8.22427558e-03 -5.03431698e-05 9.99966179e-01 -8.06927618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58028169299996 meters 0.012881403646245805 Centerline is valid? [True, True] Translation: X:393.00, Y:70.02, Z:-0.08 [[ 8.78068254e-01 -4.78514121e-01 -4.51407153e-03 3.93004123e+02] [ 4.78507810e-01 8.78079857e-01 -2.45756879e-03 7.00249140e+01] [ 5.13969666e-03 -2.10534994e-06 9.99986792e-01 -7.50519364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64028169299996 meters 0.014380229451763298 Centerline is valid? [True, True] Translation: X:393.05, Y:70.06, Z:-0.07 [[ 8.81096778e-01 -4.72924102e-01 -3.35591019e-03 3.93051004e+02] [ 4.72920570e-01 8.81103168e-01 -1.82778324e-03 7.00623718e+01] [ 3.82130584e-03 2.33749624e-05 9.99992699e-01 -7.29547701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70028169299997 meters 0.027604291945286824 Centerline is valid? [True, True] Translation: X:393.10, Y:70.10, Z:-0.07 [[ 8.82363733e-01 -4.70547504e-01 -4.39198897e-03 3.93099000e+02] [ 4.70541421e-01 8.82374662e-01 -2.39302677e-03 7.00965664e+01] [ 5.00141256e-03 4.49073062e-05 9.99987492e-01 -6.91079634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76028169299997 meters 0.016703855262227292 Centerline is valid? [True, True] Translation: X:393.15, Y:70.13, Z:-0.07 [[ 8.82605867e-01 -4.70103445e-01 -3.10401810e-03 3.93147875e+02] [ 4.70100402e-01 8.82611325e-01 -1.69158430e-03 7.01268509e+01] [ 3.53486113e-03 3.38020675e-05 9.99993752e-01 -7.17268234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82028169299997 meters 0.016951136525193262 Centerline is valid? [True, True] Translation: X:393.20, Y:70.16, Z:-0.07 [[ 8.82441188e-01 -4.70408508e-01 -3.65841971e-03 3.93196723e+02] [ 4.70404283e-01 8.82448771e-01 -1.99409791e-03 7.01566091e+01] [ 4.16640860e-03 3.87378282e-05 9.99991320e-01 -7.30584263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.880281693 meters 0.015596074710151705 Centerline is valid? [True, True] Translation: X:393.25, Y:70.19, Z:-0.07 [[ 8.81744551e-01 -4.71710829e-01 -3.92954798e-03 3.93247646e+02] [ 4.71705963e-01 8.81753306e-01 -2.14276294e-03 7.01859519e+01] [ 4.47565641e-03 3.57783352e-05 9.99989984e-01 -7.40645216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.940281693 meters 0.013667303545916944 Centerline is valid? [True, True] Translation: X:393.30, Y:70.21, Z:-0.07 [[ 8.80398221e-01 -4.74232101e-01 -1.69898943e-03 3.93300268e+02] [ 4.74231196e-01 8.80399860e-01 -9.26855063e-04 7.02129381e+01] [ 1.93533448e-03 1.02877609e-05 9.99998127e-01 -6.92687727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.000281693 meters 0.013281037292054487 Centerline is valid? [True, True] Translation: X:393.35, Y:70.24, Z:-0.07 [[ 8.79906303e-01 -4.75144199e-01 -1.69945122e-03 3.93350742e+02] [ 4.75143294e-01 8.79907944e-01 -9.27536051e-04 7.02407411e+01] [ 1.93607400e-03 8.66196548e-06 9.99998126e-01 -6.93230945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.060281693 meters 0.013341978400151782 Centerline is valid? [True, True] Translation: X:393.40, Y:70.27, Z:-0.07 [[ 8.79991973e-01 -4.74988023e-01 -7.11028002e-04 3.93399253e+02] [ 4.74987864e-01 8.79992260e-01 -3.88286374e-04 7.02724613e+01] [ 8.10130516e-04 3.95922118e-06 9.99999672e-01 -6.73017258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.120281693 meters 0.013881591623378273 Centerline is valid? [True, True] Translation: X:393.45, Y:70.30, Z:-0.07 [[ 8.80244943e-01 -4.74515976e-01 -1.85171502e-03 3.93449741e+02] [ 4.74514898e-01 8.80246890e-01 -1.01147299e-03 7.03031657e+01] [ 2.10992648e-03 1.16776175e-05 9.99997774e-01 -7.13421162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.180281693 meters 0.015237501932842557 Centerline is valid? [True, True] Translation: X:393.50, Y:70.34, Z:-0.08 [[ 8.80789767e-01 -4.73481963e-01 -4.92110854e-03 3.93498306e+02] [ 4.73474332e-01 8.80803514e-01 -2.68830740e-03 7.03356778e+01] [ 5.60739476e-03 3.78150719e-05 9.99984278e-01 -7.74599425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.240281693 meters 0.016440924962302875 Centerline is valid? [True, True] Translation: X:393.55, Y:70.37, Z:-0.08 [[ 8.81512633e-01 -4.72134045e-01 -4.99212131e-03 3.93546996e+02] [ 4.72126165e-01 8.81526767e-01 -2.72818382e-03 7.03694038e+01] [ 5.68875702e-03 4.80174151e-05 9.99983818e-01 -7.72823452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.300281693 meters 0.01861424172903195 Centerline is valid? [True, True] Translation: X:393.59, Y:70.41, Z:-0.07 [[ 8.82768809e-01 -4.69794282e-01 -3.54444304e-03 3.93594030e+02] [ 4.69790287e-01 8.82775923e-01 -1.93778963e-03 7.04064284e+01] [ 4.03931147e-03 4.54753233e-05 9.99991841e-01 -7.41330247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36028169299993 meters 0.024228053399643183 Centerline is valid? [True, True] Translation: X:393.64, Y:70.45, Z:-0.07 [[ 8.85225098e-01 -4.65149531e-01 -3.52703150e-03 3.93635399e+02] [ 4.65145538e-01 8.85232122e-01 -1.92851780e-03 7.04525085e+01] [ 4.01929072e-03 6.65893929e-05 9.99991920e-01 -7.43447973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42028169299994 meters 0.027180530863177794 Centerline is valid? [True, True] Translation: X:393.68, Y:70.49, Z:-0.08 [[ 8.86275284e-01 -4.63144161e-01 -3.68878604e-03 3.93679551e+02] [ 4.63139774e-01 8.86282957e-01 -2.01722682e-03 7.04935139e+01] [ 4.20357502e-03 7.93947333e-05 9.99991162e-01 -7.52553947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48028169299994 meters 0.023562881391406935 Centerline is valid? [True, True] Translation: X:393.73, Y:70.53, Z:-0.08 [[ 8.85532047e-01 -4.64561667e-01 -3.93091175e-03 3.93725298e+02] [ 4.64556696e-01 8.85540768e-01 -2.15053051e-03 7.05317500e+01] [ 4.48003665e-03 7.82323075e-05 9.99989962e-01 -7.62806219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54028169299994 meters 0.02000297661030782 Centerline is valid? [True, True] Translation: X:393.78, Y:70.56, Z:-0.08 [[ 8.82829796e-01 -4.69685339e-01 -2.68967187e-03 3.93775138e+02] [ 4.69683035e-01 8.82833892e-01 -1.47157818e-03 7.05626382e+01] [ 3.06571218e-03 3.58598132e-05 9.99995300e-01 -7.51770721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60028169299994 meters 0.012055555030569817 Centerline is valid? [True, True] Translation: X:393.83, Y:70.58, Z:-0.07 [[ 8.77515786e-01 -4.79546532e-01 -1.08141370e-03 3.93832090e+02] [ 4.79546167e-01 8.77516452e-01 -5.91924078e-04 7.05817829e+01] [ 1.23281346e-03 8.34925494e-07 9.99999240e-01 -7.18670997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66028169299994 meters 0.013006906146602078 Centerline is valid? [True, True] Translation: X:393.89, Y:70.61, Z:-0.07 [[ 8.74879088e-01 -4.84341134e-01 -4.97065066e-04 3.93885090e+02] [ 4.84341057e-01 8.74879229e-01 -2.72219191e-04 7.06067946e+01] [ 5.66718854e-04 -2.59014179e-06 9.99999839e-01 -7.05726615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72028169299995 meters 0.015747982361887035 Centerline is valid? [True, True] Translation: X:393.94, Y:70.63, Z:-0.08 [[ 8.72931921e-01 -4.87826776e-01 -3.85986808e-03 3.93937226e+02] [ 4.87822197e-01 8.72940454e-01 -2.11383556e-03 7.06324515e+01] [ 4.40062058e-03 -3.76947896e-05 9.99990317e-01 -7.82475755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78028169299995 meters 0.0185159881249603 Centerline is valid? [True, True] Translation: X:393.99, Y:70.65, Z:-0.08 [[ 8.71600143e-01 -4.90189218e-01 -5.26504527e-03 3.93990935e+02] [ 4.90180740e-01 8.71616043e-01 -2.88374104e-03 7.06545657e+01] [ 6.00267669e-03 -6.73546848e-05 9.99981982e-01 -8.19404262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84028169299995 meters 0.024768144760799287 Centerline is valid? [True, True] Translation: X:394.05, Y:70.67, Z:-0.08 [[ 8.68063589e-01 -4.96440749e-01 -3.49113935e-03 3.94049815e+02] [ 4.96437069e-01 8.68070606e-01 -1.91280556e-03 7.06716555e+01] [ 3.98015007e-03 -7.26941302e-05 9.99992077e-01 -7.75475713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90028169299995 meters 0.02678495159469698 Centerline is valid? [True, True] Translation: X:394.10, Y:70.70, Z:-0.08 [[ 8.67043792e-01 -4.98223576e-01 -2.88646067e-03 3.94104320e+02] [ 4.98221068e-01 8.67048594e-01 -1.58211269e-03 7.06954167e+01] [ 3.29094751e-03 -6.63345363e-05 9.99994583e-01 -7.63329428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96028169299996 meters 0.028795082420744432 Centerline is valid? [True, True] Translation: X:394.16, Y:70.72, Z:-0.08 [[ 8.66140515e-01 -4.99791611e-01 -2.99213364e-03 3.94160209e+02] [ 4.99788924e-01 8.66145680e-01 -1.64064338e-03 7.07163523e+01] [ 3.41160343e-03 -7.44075547e-05 9.99994178e-01 -7.63938530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02028169299996 meters 0.03255033025081228 Centerline is valid? [True, True] Translation: X:394.22, Y:70.73, Z:-0.08 [[ 8.64762252e-01 -5.02167392e-01 -3.76276489e-03 3.94218169e+02] [ 5.02163164e-01 8.64770431e-01 -2.06341807e-03 7.07309180e+01] [ 4.29010909e-03 -1.05155865e-04 9.99990792e-01 -7.92663826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08028169299996 meters 0.03450036172866844 Centerline is valid? [True, True] Translation: X:394.28, Y:70.75, Z:-0.08 [[ 8.63855632e-01 -5.03732727e-01 -2.60509169e-03 3.94275036e+02] [ 5.03730706e-01 8.63859557e-01 -1.42914398e-03 7.07502999e+01] [ 2.97033995e-03 -7.76905989e-05 9.99995586e-01 -7.55179428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14028169299996 meters 0.029915407350833093 Centerline is valid? [True, True] Translation: X:394.33, Y:70.78, Z:-0.08 [[ 8.64671513e-01 -5.02308975e-01 -5.37288928e-03 3.94328180e+02] [ 5.02300342e-01 8.64688193e-01 -2.94862690e-03 7.07756822e+01] [ 6.12699568e-03 -1.49210439e-04 9.99981219e-01 -7.89906132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20028169299997 meters 0.026455438311882865 Centerline is valid? [True, True] Translation: X:394.38, Y:70.80, Z:-0.08 [[ 8.66421482e-01 -4.99294982e-01 -4.28220847e-03 3.94380946e+02] [ 4.99289459e-01 8.66432058e-01 -2.35045823e-03 7.08016814e+01] [ 4.88381470e-03 -1.01574052e-04 9.99988069e-01 -7.70203140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26028169299997 meters 0.020150198034757306 Centerline is valid? [True, True] Translation: X:394.43, Y:70.83, Z:-0.07 [[ 8.69619661e-01 -4.93722129e-01 -3.24893509e-04 3.94432689e+02] [ 4.93722096e-01 8.69619721e-01 -1.78452026e-04 7.08299610e+01] [ 3.70639517e-04 -5.22171436e-06 9.99999931e-01 -6.85279772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32028169299997 meters 0.017348195134390454 Centerline is valid? [True, True] Translation: X:394.49, Y:70.86, Z:-0.07 [[ 8.71068245e-01 -4.91161146e-01 -9.16986644e-04 3.94485767e+02] [ 4.91160888e-01 8.71068728e-01 -5.03759559e-04 7.08562718e+01] [ 1.04618551e-03 -1.15790198e-05 9.99999453e-01 -6.99509742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.380281693 meters 0.016778938772738627 Centerline is valid? [True, True] Translation: X:394.54, Y:70.88, Z:-0.07 [[ 8.71529747e-01 -4.90337525e-01 -2.23867713e-03 3.94542392e+02] [ 4.90335982e-01 8.71532622e-01 -1.23023173e-03 7.08761915e+01] [ 2.55430893e-03 -2.55203976e-05 9.99996737e-01 -7.37222602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.440281693 meters 0.016332552743894082 Centerline is valid? [True, True] Translation: X:394.60, Y:70.90, Z:-0.07 [[ 8.71627527e-01 -4.90165490e-01 -1.80185480e-03 3.94596787e+02] [ 4.90164490e-01 8.71629389e-01 -9.90646512e-04 7.08973897e+01] [ 2.05613033e-03 -1.97304683e-05 9.99997886e-01 -7.21418590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.500281693 meters 0.015355381608178256 Centerline is valid? [True, True] Translation: X:394.65, Y:70.92, Z:-0.07 [[ 8.72231819e-01 -4.89092021e-01 -8.05681813e-04 3.94650467e+02] [ 4.89091820e-01 8.72232191e-01 -4.43143262e-04 7.09228040e+01] [ 9.19479446e-04 -7.52873044e-06 9.99999577e-01 -6.87207676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.560281693 meters 0.014364156821855215 Centerline is valid? [True, True] Translation: X:394.70, Y:70.95, Z:-0.07 [[ 8.73070821e-01 -4.87592939e-01 -6.83823164e-04 3.94702846e+02] [ 4.87592794e-01 8.73071088e-01 -3.76178175e-04 7.09471267e+01] [ 7.80448056e-04 -4.99705982e-06 9.99999695e-01 -7.02408893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.620281693 meters 0.014586884918549195 Centerline is valid? [True, True] Translation: X:394.75, Y:70.97, Z:-0.07 [[ 8.73071336e-01 -4.87589257e-01 -1.77731756e-03 3.94754966e+02] [ 4.87588276e-01 8.73073145e-01 -9.77967734e-04 7.09700789e+01] [ 2.02857479e-03 -1.27636084e-05 9.99997942e-01 -7.30352682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.680281693 meters 0.013387255017899455 Centerline is valid? [True, True] Translation: X:394.80, Y:71.00, Z:-0.07 [[ 8.74158070e-01 -4.85629405e-01 -3.42784090e-03 3.94803968e+02] [ 4.85625739e-01 8.74164790e-01 -1.88693914e-03 7.10007615e+01] [ 3.91285095e-03 -1.51646886e-05 9.99992345e-01 -7.37910489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.740281693 meters 0.012034506055114379 Centerline is valid? [True, True] Translation: X:394.85, Y:71.03, Z:-0.07 [[ 8.76099090e-01 -4.82130088e-01 -9.81402974e-04 3.94852862e+02] [ 4.82129785e-01 8.76099640e-01 -5.40495804e-04 7.10342950e+01] [ 1.12039608e-03 3.64277122e-07 9.99999372e-01 -6.90951086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.800281693 meters 0.012748855647772762 Centerline is valid? [True, True] Translation: X:394.90, Y:71.07, Z:-0.07 [[ 8.77628782e-01 -4.79339044e-01 -1.34240962e-03 3.94902895e+02] [ 4.79338473e-01 8.77629809e-01 -7.39580985e-04 7.10661067e+01] [ 1.53264874e-03 5.60898334e-06 9.99998825e-01 -7.10135526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86028169299993 meters 0.014086557768036493 Centerline is valid? [True, True] Translation: X:394.95, Y:71.10, Z:-0.07 [[ 8.78556603e-01 -4.77626873e-01 -3.29637514e-03 3.94952918e+02] [ 4.77623419e-01 8.78562786e-01 -1.81670183e-03 7.10970697e+01] [ 3.76377814e-03 2.16494212e-05 9.99992917e-01 -7.44444485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92028169299994 meters 0.01874364898596111 Centerline is valid? [True, True] Translation: X:395.00, Y:71.14, Z:-0.07 [[ 8.81814536e-01 -4.71590420e-01 -2.36634301e-03 3.94998739e+02] [ 4.71588616e-01 8.81817711e-01 -1.30464935e-03 7.11359142e+01] [ 2.70194331e-03 3.45183418e-05 9.99996349e-01 -7.19307374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98028169299994 meters 0.02243848000919321 Centerline is valid? [True, True] Translation: X:395.05, Y:71.17, Z:-0.07 [[ 8.83619754e-01 -4.68203895e-01 -1.11449916e-03 3.95045070e+02] [ 4.68203493e-01 8.83620457e-01 -6.14542446e-04 7.11721832e+01] [ 1.27252542e-03 2.12094467e-05 9.99999190e-01 -7.04846728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04028169299994 meters 0.025715942428440938 Centerline is valid? [True, True] Translation: X:395.09, Y:71.21, Z:-0.07 [[ 8.85386240e-01 -4.64853371e-01 -1.59653819e-03 3.95092874e+02] [ 4.64852539e-01 8.85387679e-01 -8.80622331e-04 7.12087230e+01] [ 1.82291550e-03 3.75360633e-05 9.99998338e-01 -7.04213067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10028169299994 meters 0.026677702629309567 Centerline is valid? [True, True] Translation: X:395.14, Y:71.24, Z:-0.07 [[ 8.84690577e-01 -4.66175568e-01 -1.70971087e-03 3.95141934e+02] [ 4.66174615e-01 8.84692228e-01 -9.43429110e-04 7.12403558e+01] [ 1.95237152e-03 3.76190388e-05 9.99998093e-01 -7.17405547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16028169299994 meters 0.02299279825873181 Centerline is valid? [True, True] Translation: X:395.20, Y:71.26, Z:-0.07 [[ 8.82812675e-01 -4.69722350e-01 -1.64174147e-03 3.95195094e+02] [ 4.69721477e-01 8.82814201e-01 -9.06001457e-04 7.12636764e+01] [ 1.87492181e-03 2.86683436e-05 9.99998242e-01 -7.31909486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22028169299995 meters 0.017885492597261778 Centerline is valid? [True, True] Translation: X:395.25, Y:71.29, Z:-0.07 [[ 8.80277183e-01 -4.74452203e-01 -2.68118615e-03 3.95249210e+02] [ 4.74449896e-01 8.80281266e-01 -1.47980202e-03 7.12856842e+01] [ 3.06229326e-03 3.05474695e-05 9.99995311e-01 -7.44322255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28028169299995 meters 0.016695762977630098 Centerline is valid? [True, True] Translation: X:395.30, Y:71.31, Z:-0.07 [[ 8.79980462e-01 -4.75009865e-01 -1.24701415e-04 3.95301236e+02] [ 4.75009860e-01 8.79980471e-01 -6.89138112e-05 7.13126067e+01] [ 1.42469550e-04 1.40840595e-06 9.99999990e-01 -6.73205378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34028169299995 meters 0.01640481143958841 Centerline is valid? [True, True] Translation: X:395.35, Y:71.34, Z:-0.07 [[ 8.79895473e-01 -4.75166301e-01 9.70595582e-04 3.95351256e+02] [ 4.75165999e-01 8.79896009e-01 5.36049826e-04 7.13424429e+01] [-1.10873599e-03 -1.04737960e-05 9.99999385e-01 -6.55196108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40028169299995 meters 0.015611999030016522 Centerline is valid? [True, True] Translation: X:395.40, Y:71.37, Z:-0.07 [[ 8.79285769e-01 -4.76294344e-01 -4.84545437e-04 3.95402512e+02] [ 4.76294269e-01 8.79285902e-01 -2.67813211e-04 7.13711814e+01] [ 5.53611889e-04 4.69813114e-06 9.99999847e-01 -6.89106801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46028169299996 meters 0.013263594677406643 Centerline is valid? [True, True] Translation: X:395.45, Y:71.40, Z:-0.07 [[ 8.77297463e-01 -4.79943415e-01 -1.86555012e-03 3.95454289e+02] [ 4.79942308e-01 8.77299446e-01 -1.03102447e-03 7.13968826e+01] [ 2.13147949e-03 9.15872202e-06 9.99997728e-01 -7.20835139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52028169299996 meters 0.012237823384773474 Centerline is valid? [True, True] Translation: X:395.51, Y:71.42, Z:-0.07 [[ 8.75618395e-01 -4.82998503e-01 -2.20754832e-03 3.95507673e+02] [ 4.82996961e-01 8.75621177e-01 -1.22053752e-03 7.14215558e+01] [ 2.52249385e-03 2.48597850e-06 9.99996819e-01 -7.28467121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58028169299996 meters 0.012704468128531697 Centerline is valid? [True, True] Translation: X:395.56, Y:71.45, Z:-0.07 [[ 8.73758132e-01 -4.86353531e-01 -2.63978504e-03 3.95560511e+02] [ 4.86351340e-01 8.73762120e-01 -1.46014789e-03 7.14457357e+01] [ 3.01669226e-03 -8.04690066e-06 9.99995450e-01 -7.29508619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64028169299996 meters 0.01241276375318772 Centerline is valid? [True, True] Translation: X:395.61, Y:71.48, Z:-0.07 [[ 8.74085801e-01 -4.85767050e-01 -2.09427970e-03 3.95609506e+02] [ 4.85765668e-01 8.74088309e-01 -1.15893138e-03 7.14766813e+01] [ 2.39355608e-03 -4.32371737e-06 9.99997135e-01 -7.29065703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70028169299997 meters 0.012082210319852571 Centerline is valid? [True, True] Translation: X:395.66, Y:71.51, Z:-0.07 [[ 8.74952234e-01 -4.84208481e-01 -8.57918418e-04 3.95657856e+02] [ 4.84208248e-01 8.74952654e-01 -4.75020166e-04 7.15092056e+01] [ 9.80646790e-04 2.08781128e-07 9.99999519e-01 -7.01917440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76028169299997 meters 0.0124364715580849 Centerline is valid? [True, True] Translation: X:395.71, Y:71.53, Z:-0.07 [[ 8.74546424e-01 -4.84933048e-01 -2.91418127e-03 3.95710092e+02] [ 4.84930363e-01 8.74551279e-01 -1.61354151e-03 7.15349305e+01] [ 3.33106056e-03 -2.05802974e-06 9.99994452e-01 -7.44710463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82028169299997 meters 0.012782378990511267 Centerline is valid? [True, True] Translation: X:395.76, Y:71.56, Z:-0.08 [[ 8.74093127e-01 -4.85740694e-01 -4.14524922e-03 3.95761174e+02] [ 4.85735270e-01 8.74102956e-01 -2.29554271e-03 7.15610529e+01] [ 4.73841310e-03 -6.97563932e-06 9.99988774e-01 -7.70499750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.880281693 meters 0.012850038762682791 Centerline is valid? [True, True] Translation: X:395.81, Y:71.59, Z:-0.08 [[ 8.73762548e-01 -4.86338757e-01 -3.69104078e-03 3.95811673e+02] [ 4.86334460e-01 8.73770344e-01 -2.04440514e-03 7.15884507e+01] [ 4.21939543e-03 -8.75567837e-06 9.99991098e-01 -7.59512155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.940281693 meters 0.012335242423379005 Centerline is valid? [True, True] Translation: X:395.86, Y:71.62, Z:-0.07 [[ 8.73967305e-01 -4.85984046e-01 -8.10062281e-04 3.95862330e+02] [ 4.85983839e-01 8.73967681e-01 -4.48904844e-04 7.16175870e+01] [ 9.26128845e-04 -1.34901980e-06 9.99999571e-01 -7.04242497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.000281693 meters 0.012357634978735502 Centerline is valid? [True, True] Translation: X:395.91, Y:71.65, Z:-0.07 [[ 8.74183772e-01 -4.85592390e-01 -1.66240094e-03 3.95911782e+02] [ 4.85591515e-01 8.74185353e-01 -9.21594910e-04 7.16475284e+01] [ 1.90076603e-03 -1.60447909e-06 9.99998194e-01 -7.25347420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.060281693 meters 0.012540575143803594 Centerline is valid? [True, True] Translation: X:395.96, Y:71.67, Z:-0.07 [[ 8.74042766e-01 -4.85841445e-01 -2.70799363e-03 3.95962726e+02] [ 4.85839124e-01 8.74046961e-01 -1.50186715e-03 7.16746786e+01] [ 3.09658291e-03 -2.95313539e-06 9.99995206e-01 -7.47738728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.120281693 meters 0.013105395497916153 Centerline is valid? [True, True] Translation: X:396.02, Y:71.70, Z:-0.07 [[ 8.72706122e-01 -4.88244109e-01 -1.30952804e-03 3.96015083e+02] [ 4.88243569e-01 8.72707104e-01 -7.26406331e-04 7.16971844e+01] [ 1.49749803e-03 -5.42939024e-06 9.99998879e-01 -7.23802999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.180281693 meters 0.013044329619737343 Centerline is valid? [True, True] Translation: X:396.07, Y:71.72, Z:-0.07 [[ 8.72500844e-01 -4.88611883e-01 -8.39297019e-04 3.96066480e+02] [ 4.88611661e-01 8.72501248e-01 -4.65827734e-04 7.17244278e+01] [ 9.59896663e-04 -3.65521932e-06 9.99999539e-01 -7.21490935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.240281693 meters 0.012817191130691795 Centerline is valid? [True, True] Translation: X:396.11, Y:71.76, Z:-0.08 [[ 8.73712050e-01 -4.86430755e-01 -3.51773701e-03 3.96114107e+02] [ 4.86426836e-01 8.73719132e-01 -1.95251496e-03 7.17563275e+01] [ 4.02327745e-03 -5.18583361e-06 9.99991907e-01 -7.75560781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.300281693 meters 0.013586741195586357 Centerline is valid? [True, True] Translation: X:396.16, Y:71.80, Z:-0.08 [[ 8.76340582e-01 -4.81677184e-01 -3.77819851e-03 3.96158534e+02] [ 4.81672615e-01 8.76348727e-01 -2.09793689e-03 7.17982206e+01] [ 4.32154779e-03 1.86524741e-05 9.99990662e-01 -7.65187081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36028169299993 meters 0.013967139193547815 Centerline is valid? [True, True] Translation: X:396.21, Y:71.83, Z:-0.08 [[ 8.76607994e-01 -4.81197161e-01 -2.77812903e-03 3.96206663e+02] [ 4.81194687e-01 8.76612396e-01 -1.54290791e-03 7.18296634e+01] [ 3.17778526e-03 1.57044784e-05 9.99994951e-01 -7.53242036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42028169299994 meters 0.012580697288710141 Centerline is valid? [True, True] Translation: X:396.26, Y:71.86, Z:-0.07 [[ 8.74782037e-01 -4.84510934e-01 -2.35421122e-03 3.96259605e+02] [ 4.84509168e-01 8.74785205e-01 -1.30801671e-03 7.18556646e+01] [ 2.69317754e-03 3.59260210e-06 9.99996373e-01 -7.33722937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48028169299994 meters 0.01283237321433147 Centerline is valid? [True, True] Translation: X:396.31, Y:71.88, Z:-0.07 [[ 8.72512978e-01 -4.88589608e-01 -1.13922442e-03 3.96311376e+02] [ 4.88589197e-01 8.72513722e-01 -6.33294839e-04 7.18819507e+01] [ 1.30341021e-03 -4.05477735e-06 9.99999151e-01 -7.09938361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54028169299994 meters 0.015637511354238236 Centerline is valid? [True, True] Translation: X:396.36, Y:71.91, Z:-0.07 [[ 8.69862557e-01 -4.93285217e-01 -2.97109831e-03 3.96364492e+02] [ 4.93282451e-01 8.69867630e-01 -1.65215448e-03 7.19079899e+01] [ 3.39944563e-03 -2.84433350e-05 9.99994221e-01 -7.47757632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60028169299994 meters 0.018157106738305194 Centerline is valid? [True, True] Translation: X:396.42, Y:71.93, Z:-0.07 [[ 8.68675659e-01 -4.95371849e-01 -3.05465147e-03 3.96416741e+02] [ 4.95368937e-01 8.68681029e-01 -1.69880811e-03 7.19324495e+01] [ 3.49505950e-03 -3.74661987e-05 9.99993892e-01 -7.45071464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66028169299994 meters 0.023478475159480042 Centerline is valid? [True, True] Translation: X:396.47, Y:71.96, Z:-0.07 [[ 8.66113925e-01 -4.99844788e-01 -1.36277241e-03 3.96470703e+02] [ 4.99844214e-01 8.66114996e-01 -7.58039814e-04 7.19553408e+01] [ 1.55921987e-03 -2.46250675e-05 9.99998784e-01 -7.09152971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72028169299995 meters 0.025364664207376333 Centerline is valid? [True, True] Translation: X:396.52, Y:71.98, Z:-0.07 [[ 8.63817026e-01 -5.03803089e-01 -1.61061069e-03 3.96523615e+02] [ 5.03802293e-01 8.63818526e-01 -8.96223444e-04 7.19825647e+01] [ 1.84279549e-03 -3.72562892e-05 9.99998301e-01 -7.16364960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78028169299995 meters 0.033107406729961764 Centerline is valid? [True, True] Translation: X:396.58, Y:72.00, Z:-0.07 [[ 8.59434059e-01 -5.11244459e-01 -1.48388876e-03 3.96581608e+02] [ 5.11243794e-01 8.59435338e-01 -8.25810395e-04 7.19997496e+01] [ 1.69749743e-03 -4.88993419e-05 9.99998558e-01 -7.13559598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84028169299995 meters 0.04110452952543008 Centerline is valid? [True, True] Translation: X:396.64, Y:72.01, Z:-0.07 [[ 8.56117521e-01 -5.16779184e-01 -1.43714836e-03 3.96640703e+02] [ 5.16778568e-01 8.56118725e-01 -7.99889750e-04 7.20133847e+01] [ 1.64373599e-03 -5.78878395e-05 9.99998647e-01 -7.10208727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90028169299995 meters 0.046522581277616125 Centerline is valid? [True, True] Translation: X:396.70, Y:72.03, Z:-0.07 [[ 8.53451991e-01 -5.21170527e-01 -9.89945619e-04 3.96699508e+02] [ 5.21170238e-01 8.53452564e-01 -5.51239361e-04 7.20299341e+01] [ 1.13216134e-03 -4.54738629e-05 9.99999358e-01 -6.95994438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96028169299996 meters 0.04922368577815941 Centerline is valid? [True, True] Translation: X:396.76, Y:72.05, Z:-0.07 [[ 8.51961711e-01 -5.23600918e-01 -1.82259470e-03 3.96756892e+02] [ 5.23599942e-01 8.51963656e-01 -1.01496660e-03 7.20486217e+01] [ 2.08422189e-03 -8.95978027e-05 9.99997824e-01 -7.11819350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02028169299996 meters 0.04973045251510232 Centerline is valid? [True, True] Translation: X:396.81, Y:72.07, Z:-0.07 [[ 8.51838207e-01 -5.23802644e-01 -1.56832285e-03 3.96811608e+02] [ 5.23801920e-01 8.51839647e-01 -8.73797742e-04 7.20686143e+01] [ 1.79365715e-03 -7.71562166e-05 9.99998388e-01 -7.16601506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08028169299996 meters 0.04795970426051666 Centerline is valid? [True, True] Translation: X:396.87, Y:72.09, Z:-0.07 [[ 8.52120243e-01 -5.23343725e-01 -1.56095641e-03 3.96868001e+02] [ 5.23343007e-01 8.52121670e-01 -8.70020271e-04 7.20885698e+01] [ 1.78544443e-03 -7.55537367e-05 9.99998403e-01 -7.07702921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14028169299996 meters 0.04829674585424002 Centerline is valid? [True, True] Translation: X:396.92, Y:72.11, Z:-0.07 [[ 8.53133999e-01 -5.21690098e-01 -1.34949644e-03 3.96922494e+02] [ 5.21689559e-01 8.53135064e-01 -7.52302223e-04 7.21093242e+01] [ 1.54377136e-03 -6.22036012e-05 9.99998806e-01 -7.10930599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20028169299997 meters 0.04523307719624409 Centerline is valid? [True, True] Translation: X:396.98, Y:72.13, Z:-0.07 [[ 8.55600554e-01 -5.17635972e-01 -8.32067661e-04 3.96975962e+02] [ 5.17635765e-01 8.55600958e-01 -4.63917323e-04 7.21320789e+01] [ 9.52058182e-04 -3.37800616e-05 9.99999546e-01 -6.93126941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26028169299997 meters 0.03212271861183513 Centerline is valid? [True, True] Translation: X:397.02, Y:72.17, Z:-0.07 [[ 8.60694585e-01 -5.09110169e-01 -3.41563325e-03 3.97023421e+02] [ 5.09106616e-01 8.60701357e-01 -1.90467543e-03 7.21674815e+01] [ 3.90952980e-03 -9.95776614e-05 9.99992353e-01 -7.49456691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32028169299997 meters 0.025120489819882002 Centerline is valid? [True, True] Translation: X:397.07, Y:72.20, Z:-0.07 [[ 8.63540851e-01 -5.04267976e-01 -3.31777863e-03 3.97073255e+02] [ 5.04264584e-01 8.63547221e-01 -1.85083205e-03 7.21988564e+01] [ 3.79837385e-03 -7.47691852e-05 9.99992783e-01 -7.47950802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.380281693 meters 0.02157585835022648 Centerline is valid? [True, True] Translation: X:397.13, Y:72.22, Z:-0.07 [[ 8.66132682e-01 -4.99813178e-01 -9.81873917e-04 3.97126851e+02] [ 4.99812878e-01 8.66133239e-01 -5.47879935e-04 7.22218090e+01] [ 1.12427125e-03 -1.62165104e-05 9.99999368e-01 -6.98272241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.440281693 meters 0.018757654625285215 Centerline is valid? [True, True] Translation: X:397.18, Y:72.25, Z:-0.07 [[ 8.67501107e-01 -4.97435241e-01 1.01427669e-04 3.97178703e+02] [ 4.97435238e-01 8.67501113e-01 5.65501721e-05 7.22493496e+01] [-1.16118664e-04 1.39635988e-06 9.99999993e-01 -6.79306055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.500281693 meters 0.016340647291651165 Centerline is valid? [True, True] Translation: X:397.23, Y:72.27, Z:-0.07 [[ 8.68544801e-01 -4.95610128e-01 -7.27956019e-04 3.97233872e+02] [ 4.95609961e-01 8.68545106e-01 -4.06528667e-04 7.22721595e+01] [ 8.33742362e-04 -7.69389469e-06 9.99999652e-01 -6.99385782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.560281693 meters 0.015935647858899185 Centerline is valid? [True, True] Translation: X:397.29, Y:72.29, Z:-0.07 [[ 8.68708520e-01 -4.95323574e-01 -2.51732637e-04 3.97288865e+02] [ 4.95323554e-01 8.68708557e-01 -1.40698010e-04 7.22933615e+01] [ 2.88373337e-04 -2.46354405e-06 9.99999958e-01 -6.99889018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.620281693 meters 0.016703422694433045 Centerline is valid? [True, True] Translation: X:397.34, Y:72.31, Z:-0.07 [[ 8.68434787e-01 -4.95802774e-01 -7.93587616e-04 3.97343969e+02] [ 4.95802576e-01 8.68435150e-01 -4.43397446e-04 7.23139752e+01] [ 9.09017064e-04 -8.40101680e-06 9.99999587e-01 -7.10997141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.680281693 meters 0.014503331831912674 Centerline is valid? [True, True] Translation: X:397.40, Y:72.34, Z:-0.07 [[ 8.69665765e-01 -4.93639913e-01 -1.04542266e-03 3.97397480e+02] [ 4.93639567e-01 8.69666393e-01 -5.84366841e-04 7.23390661e+01] [ 1.19763576e-03 -7.85815563e-06 9.99999283e-01 -6.99514436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.740281693 meters 0.012400846164476098 Centerline is valid? [True, True] Translation: X:397.45, Y:72.37, Z:-0.07 [[ 8.72294746e-01 -4.88979913e-01 -7.20958032e-04 3.97446007e+02] [ 4.88979747e-01 8.72295044e-01 -4.03179204e-04 7.23719472e+01] [ 8.26034650e-04 -8.42774826e-07 9.99999659e-01 -6.90751737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.800281693 meters 0.013334011799435561 Centerline is valid? [True, True] Translation: X:397.49, Y:72.41, Z:-0.07 [[ 8.74837046e-01 -4.84415711e-01 -1.24985746e-03 3.97492659e+02] [ 4.84415207e-01 8.74837939e-01 -6.98959483e-04 7.24077891e+01] [ 1.43200968e-03 6.02568779e-06 9.99998975e-01 -7.08342924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86028169299993 meters 0.014816519005535093 Centerline is valid? [True, True] Translation: X:397.54, Y:72.44, Z:-0.07 [[ 8.76569180e-01 -4.81268030e-01 -2.74889560e-03 3.97542607e+02] [ 4.81265573e-01 8.76573490e-01 -1.53792265e-03 7.24391628e+01] [ 3.14976202e-03 2.51467789e-05 9.99995039e-01 -7.23789047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92028169299994 meters 0.017650836224115958 Centerline is valid? [True, True] Translation: X:397.59, Y:72.47, Z:-0.07 [[ 8.77659613e-01 -4.79281601e-01 -1.65838535e-03 3.97589466e+02] [ 4.79280703e-01 8.77661180e-01 -9.27933864e-04 7.24736566e+01] [ 1.90024207e-03 1.95779805e-05 9.99998194e-01 -7.13561993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98028169299994 meters 0.019582778907895726 Centerline is valid? [True, True] Translation: X:397.64, Y:72.51, Z:-0.07 [[ 8.79205179e-01 -4.76441574e-01 -1.29604331e-03 3.97639280e+02] [ 4.76441022e-01 8.79206134e-01 -7.25519156e-04 7.25054504e+01] [ 1.48515672e-03 2.03920007e-05 9.99998897e-01 -7.02193877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04028169299994 meters 0.022618513936680896 Centerline is valid? [True, True] Translation: X:397.69, Y:72.54, Z:-0.07 [[ 8.79813967e-01 -4.75318140e-01 2.19433527e-04 3.97685610e+02] [ 4.75318125e-01 8.79813995e-01 1.22820384e-04 7.25403219e+01] [-2.51439444e-04 -3.75835737e-06 9.99999968e-01 -6.73577012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10028169299994 meters 0.02089866176013469 Centerline is valid? [True, True] Translation: X:397.74, Y:72.57, Z:-0.07 [[ 8.79828292e-01 -4.75291436e-01 -4.76895152e-04 3.97737182e+02] [ 4.75291361e-01 8.79828421e-01 -2.67170555e-04 7.25675105e+01] [ 5.46569785e-04 8.40006705e-06 9.99999851e-01 -6.97720294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16028169299994 meters 0.023315246243397793 Centerline is valid? [True, True] Translation: X:397.78, Y:72.60, Z:-0.07 [[ 8.81347114e-01 -4.72467678e-01 -1.24790667e-03 3.97784091e+02] [ 4.72467162e-01 8.81347997e-01 -6.99101719e-04 7.26033200e+01] [ 1.43014301e-03 2.65563619e-05 9.99998977e-01 -6.99115170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22028169299995 meters 0.02723797846110302 Centerline is valid? [True, True] Translation: X:397.83, Y:72.64, Z:-0.07 [[ 8.83042211e-01 -4.69292843e-01 -8.25279457e-04 3.97829105e+02] [ 4.69292616e-01 8.83042596e-01 -4.62366798e-04 7.26425508e+01] [ 9.45742344e-04 2.09918439e-05 9.99999553e-01 -6.98120247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28028169299995 meters 0.029832695282429364 Centerline is valid? [True, True] Translation: X:397.88, Y:72.68, Z:-0.07 [[ 8.83342214e-01 -4.68727913e-01 -8.22974750e-04 3.97875080e+02] [ 4.68727686e-01 8.83342597e-01 -4.61190189e-04 7.26781325e+01] [ 9.43141367e-04 2.16377125e-05 9.99999555e-01 -6.96987618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34028169299995 meters 0.02857494735764408 Centerline is valid? [True, True] Translation: X:397.92, Y:72.71, Z:-0.07 [[ 8.82469306e-01 -4.70367321e-01 -1.58334080e-03 3.97924991e+02] [ 4.70366485e-01 8.82470726e-01 -8.87617171e-04 7.27084790e+01] [ 1.81475801e-03 3.85444639e-05 9.99998353e-01 -7.07773634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40028169299995 meters 0.028007973544022194 Centerline is valid? [True, True] Translation: X:397.97, Y:72.74, Z:-0.07 [[ 8.82794694e-01 -4.69754493e-01 -2.06053899e-03 3.97974500e+02] [ 4.69753074e-01 8.82797097e-01 -1.15555721e-03 7.27409749e+01] [ 2.36186604e-03 5.21752503e-05 9.99997209e-01 -7.22037864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46028169299996 meters 0.02998525049128156 Centerline is valid? [True, True] Translation: X:398.02, Y:72.77, Z:-0.08 [[ 8.83444270e-01 -4.68518579e-01 -4.06964024e-03 3.98023215e+02] [ 4.68513030e-01 8.83453637e-01 -2.28307378e-03 7.27742489e+01] [ 4.66500095e-03 1.10288969e-04 9.99989113e-01 -7.55290250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52028169299996 meters 0.033671297531270857 Centerline is valid? [True, True] Translation: X:398.07, Y:72.81, Z:-0.07 [[ 8.84554036e-01 -4.66432549e-01 -2.19857109e-03 3.98067181e+02] [ 4.66430923e-01 8.84556766e-01 -1.23355573e-03 7.28137280e+01] [ 2.52013148e-03 6.56651537e-05 9.99996822e-01 -7.13588354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58028169299996 meters 0.03822671655732233 Centerline is valid? [True, True] Translation: X:398.11, Y:72.85, Z:-0.07 [[ 8.86201636e-01 -4.63294105e-01 -2.28746031e-03 3.98113115e+02] [ 4.63292332e-01 8.86204585e-01 -1.28386207e-03 7.28536899e+01] [ 2.62196354e-03 7.79978441e-05 9.99996560e-01 -7.26298526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64028169299996 meters 0.03630104407290675 Centerline is valid? [True, True] Translation: X:398.16, Y:72.89, Z:-0.07 [[ 8.86885852e-01 -4.61977658e-01 -3.18254619e-03 3.98161637e+02] [ 4.61974218e-01 8.86891555e-01 -1.78643573e-03 7.28861948e+01] [ 3.64786674e-03 1.14110291e-04 9.99993340e-01 -7.33151303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70028169299997 meters 0.03978632845295995 Centerline is valid? [True, True] Translation: X:398.20, Y:72.93, Z:-0.07 [[ 8.87828342e-01 -4.60167467e-01 -2.59577607e-03 3.98204230e+02] [ 4.60165170e-01 8.87832131e-01 -1.45727376e-03 7.29298501e+01] [ 2.97520338e-03 9.93232113e-05 9.99995569e-01 -7.16814385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76028169299997 meters 0.038626892363033107 Centerline is valid? [True, True] Translation: X:398.25, Y:72.97, Z:-0.07 [[ 8.87181330e-01 -4.61417326e-01 -1.82746169e-03 3.98250030e+02] [ 4.61416189e-01 8.87183209e-01 -1.02637735e-03 7.29680564e+01] [ 2.09488162e-03 6.73624133e-05 9.99997803e-01 -7.10831828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82028169299997 meters 0.03515010474395246 Centerline is valid? [True, True] Translation: X:398.30, Y:73.00, Z:-0.07 [[ 8.85523759e-01 -4.64592854e-01 -1.07367640e-03 3.98301768e+02] [ 4.64592464e-01 8.85524409e-01 -6.03103187e-04 7.29977091e+01] [ 1.23096409e-03 3.52402385e-05 9.99999242e-01 -6.95227656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.880281693 meters 0.030408639876378398 Centerline is valid? [True, True] Translation: X:398.35, Y:73.03, Z:-0.07 [[ 8.83028776e-01 -4.69312438e-01 -2.45287275e-03 3.98351443e+02] [ 4.69310420e-01 8.83032180e-01 -1.37792672e-03 7.30282650e+01] [ 2.81264372e-03 6.55902006e-05 9.99996042e-01 -7.19193596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.940281693 meters 0.030071571393935227 Centerline is valid? [True, True] Translation: X:398.40, Y:73.06, Z:-0.07 [[ 8.82750509e-01 -4.69834478e-01 -2.66505893e-03 3.98399486e+02] [ 4.69832096e-01 8.82754529e-01 -1.49772952e-03 7.30630679e+01] [ 3.05627781e-03 6.99912760e-05 9.99995327e-01 -7.20405781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.000281693 meters 0.02881527549644822 Centerline is valid? [True, True] Translation: X:398.45, Y:73.09, Z:-0.07 [[ 8.82326880e-01 -4.70632183e-01 -2.15059818e-03 3.98449303e+02] [ 4.70630634e-01 8.82329499e-01 -1.20907861e-03 7.30938707e+01] [ 2.46656752e-03 5.46651785e-05 9.99996957e-01 -7.15782554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.060281693 meters 0.024768531413084494 Centerline is valid? [True, True] Translation: X:398.50, Y:73.12, Z:-0.07 [[ 8.80822767e-01 -4.73437970e-01 -2.78247929e-03 3.98502409e+02] [ 4.73435387e-01 8.80827160e-01 -1.56487021e-03 7.31202360e+01] [ 3.19175231e-03 6.10491508e-05 9.99994904e-01 -7.27148661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.120281693 meters 0.023889285470891822 Centerline is valid? [True, True] Translation: X:398.55, Y:73.15, Z:-0.07 [[ 8.79659723e-01 -4.75591648e-01 -3.36994793e-03 3.98552449e+02] [ 4.75587875e-01 8.79666176e-01 -1.89547427e-03 7.31497106e+01] [ 3.86590094e-03 6.46659996e-05 9.99992525e-01 -7.31284028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.180281693 meters 0.01835405768183259 Centerline is valid? [True, True] Translation: X:398.61, Y:73.17, Z:-0.07 [[ 8.77378627e-01 -4.79796643e-01 -1.38814843e-03 3.98606625e+02] [ 4.79796007e-01 8.77379725e-01 -7.80878905e-04 7.31737212e+01] [ 1.59259637e-03 1.90983857e-05 9.99998732e-01 -7.00634818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.240281693 meters 0.016142954070006005 Centerline is valid? [True, True] Translation: X:398.66, Y:73.20, Z:-0.07 [[ 8.75838344e-01 -4.82601601e-01 -1.69991639e-03 3.98658891e+02] [ 4.82600653e-01 8.75839993e-01 -9.56669960e-04 7.32012310e+01] [ 1.95054521e-03 1.75074731e-05 9.99998098e-01 -7.04921864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.300281693 meters 0.013896492291994786 Centerline is valid? [True, True] Translation: X:398.71, Y:73.23, Z:-0.07 [[ 8.74139362e-01 -4.85673733e-01 -1.18372966e-03 3.98710834e+02] [ 4.85673276e-01 8.74140163e-01 -6.66449991e-04 7.32286462e+01] [ 1.35842289e-03 7.66430787e-06 9.99999077e-01 -6.94922246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36028169299993 meters 0.01269998843818213 Centerline is valid? [True, True] Translation: X:398.76, Y:73.25, Z:-0.07 [[ 8.72530850e-01 -4.88554094e-01 -2.19408526e-03 3.98763499e+02] [ 4.88552531e-01 8.72533608e-01 -1.23570730e-03 7.32541424e+01] [ 2.51812299e-03 6.26683183e-06 9.99996830e-01 -7.20283500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42028169299994 meters 0.01253326595776972 Centerline is valid? [True, True] Translation: X:398.81, Y:73.28, Z:-0.07 [[ 8.71708243e-01 -4.90019536e-01 -2.36490711e-03 3.98813776e+02] [ 4.90017724e-01 8.71711451e-01 -1.33250460e-03 7.32827809e+01] [ 2.71446989e-03 2.70884139e-06 9.99996316e-01 -7.24422593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48028169299994 meters 0.01234916913292211 Centerline is valid? [True, True] Translation: X:398.86, Y:73.31, Z:-0.07 [[ 8.71393104e-01 -4.90583318e-01 -1.43721779e-03 3.98862007e+02] [ 4.90582649e-01 8.71394290e-01 -8.10044441e-04 7.33129438e+01] [ 1.64977766e-03 7.93031326e-07 9.99998639e-01 -7.09698320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54028169299994 meters 0.013104344490178024 Centerline is valid? [True, True] Translation: X:398.91, Y:73.35, Z:-0.07 [[ 8.72566483e-01 -4.88484761e-01 -3.22046878e-03 3.98909346e+02] [ 4.88481386e-01 8.72572426e-01 -1.81575616e-03 7.33480976e+01] [ 3.69706147e-03 1.12289081e-05 9.99993166e-01 -7.47695768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60028169299994 meters 0.013092530459347128 Centerline is valid? [True, True] Translation: X:398.96, Y:73.38, Z:-0.07 [[ 8.72764826e-01 -4.88132057e-01 -2.94186059e-03 3.98958965e+02] [ 4.88129236e-01 8.72769784e-01 -1.65943664e-03 7.33783958e+01] [ 3.37759125e-03 1.22897629e-05 9.99994296e-01 -7.31188461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66028169299994 meters 0.012882497423400129 Centerline is valid? [True, True] Translation: X:399.01, Y:73.41, Z:-0.07 [[ 8.72486330e-01 -4.88637960e-01 -7.40702943e-04 3.99007485e+02] [ 4.88637781e-01 8.72486644e-01 -4.17917511e-04 7.34099523e+01] [ 8.50463785e-04 2.69187268e-06 9.99999638e-01 -6.87456833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72028169299995 meters 0.01270493609109253 Centerline is valid? [True, True] Translation: X:399.06, Y:73.44, Z:-0.07 [[ 8.72165165e-01 -4.89211520e-01 -1.17824132e-04 3.99057504e+02] [ 4.89211516e-01 8.72165173e-01 -6.65719368e-05 7.34389218e+01] [ 1.35329863e-04 4.20802126e-07 9.99999991e-01 -6.71902978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78028169299995 meters 0.012683211722455467 Centerline is valid? [True, True] Translation: X:399.11, Y:73.47, Z:-0.07 [[ 8.72141890e-01 -4.89252670e-01 5.90307090e-04 3.99106409e+02] [ 4.89252557e-01 8.72142090e-01 3.33241453e-04 7.34697625e+01] [-6.77870930e-04 -1.82457777e-06 9.99999770e-01 -6.62282352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84028169299995 meters 0.01386891054942514 Centerline is valid? [True, True] Translation: X:399.16, Y:73.50, Z:-0.08 [[ 8.72635957e-01 -4.88352305e-01 -4.30271609e-03 3.99155977e+02] [ 4.88346257e-01 8.72646564e-01 -2.43044107e-03 7.35020399e+01] [ 4.94166191e-03 1.96749738e-05 9.99987790e-01 -7.67725644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90028169299995 meters 0.014774690284013098 Centerline is valid? [True, True] Translation: X:399.21, Y:73.53, Z:-0.08 [[ 8.73592343e-01 -4.86637773e-01 -4.48299006e-03 3.99205044e+02] [ 4.86631180e-01 8.73603845e-01 -2.53324432e-03 7.35343267e+01] [ 5.14912973e-03 3.14600929e-05 9.99986743e-01 -7.67414265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96028169299996 meters 0.016402620927715324 Centerline is valid? [True, True] Translation: X:399.25, Y:73.57, Z:-0.07 [[ 8.74502117e-01 -4.85021685e-01 1.12749789e-04 3.99250904e+02] [ 4.85021681e-01 8.74502124e-01 6.36906861e-05 7.35699945e+01] [-1.29491294e-04 -1.01154747e-06 9.99999992e-01 -6.66070461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02028169299996 meters 0.015366006589654438 Centerline is valid? [True, True] Translation: X:399.30, Y:73.60, Z:-0.07 [[ 8.73802517e-01 -4.86280944e-01 6.71200733e-05 3.99301226e+02] [ 4.86280943e-01 8.73802520e-01 3.78881141e-05 7.36001331e+01] [-7.70739570e-05 -4.67516928e-07 9.99999997e-01 -6.79108387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08028169299996 meters 0.014648925100116176 Centerline is valid? [True, True] Translation: X:399.35, Y:73.63, Z:-0.07 [[ 8.73222869e-01 -4.87320265e-01 -8.83691637e-04 3.99352997e+02] [ 4.87320009e-01 8.73223316e-01 -4.99880684e-04 7.36270443e+01] [ 1.01526213e-03 5.86662884e-06 9.99999485e-01 -7.09510432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14028169299996 meters 0.013507996641502365 Centerline is valid? [True, True] Translation: X:399.41, Y:73.65, Z:-0.07 [[ 8.72337137e-01 -4.88902734e-01 -1.42670695e-03 3.99405220e+02] [ 4.88902068e-01 8.72338304e-01 -8.07346892e-04 7.36522185e+01] [ 1.63928522e-03 6.75870055e-06 9.99998656e-01 -7.12636166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20028169299997 meters 0.013643789608659414 Centerline is valid? [True, True] Translation: X:399.45, Y:73.68, Z:-0.07 [[ 8.72007489e-01 -4.89486365e-01 -2.45710513e-03 3.99454688e+02] [ 4.89484390e-01 8.72010951e-01 -1.39058982e-03 7.36802454e+01] [ 2.82329734e-03 9.89013667e-06 9.99996014e-01 -7.43402575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26028169299997 meters 0.014534340237063785 Centerline is valid? [True, True] Translation: X:399.50, Y:73.71, Z:-0.08 [[ 8.72501249e-01 -4.88605238e-01 -2.54790281e-03 3.99504740e+02] [ 4.88603109e-01 8.72504969e-01 -1.44249714e-03 7.37105552e+01] [ 2.92786952e-03 1.36673252e-05 9.99995714e-01 -7.54169709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32028169299997 meters 0.014755194830486765 Centerline is valid? [True, True] Translation: X:399.56, Y:73.74, Z:-0.07 [[ 8.73225657e-01 -4.87315713e-01 -5.89423189e-04 3.99555164e+02] [ 4.87315599e-01 8.73225856e-01 -3.33901131e-04 7.37400170e+01] [ 6.77414836e-04 4.33592056e-06 9.99999771e-01 -7.03450243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.380281693 meters 0.016051506954083177 Centerline is valid? [True, True] Translation: X:399.60, Y:73.77, Z:-0.07 [[ 8.74301771e-01 -4.85382749e-01 4.56230303e-06 3.99602888e+02] [ 4.85382749e-01 8.74301771e-01 2.51982728e-06 7.37744988e+01] [-5.21191027e-06 1.13737368e-08 1.00000000e+00 -6.88038392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.440281693 meters 0.01994646196391229 Centerline is valid? [True, True] Translation: X:399.65, Y:73.81, Z:-0.07 [[ 8.76376833e-01 -4.81623686e-01 -1.50741371e-03 3.99648210e+02] [ 4.81622929e-01 8.76378129e-01 -8.54465551e-04 7.38138542e+01] [ 1.73259526e-03 2.28288070e-05 9.99998499e-01 -7.14840255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.500281693 meters 0.01967863957926568 Centerline is valid? [True, True] Translation: X:399.69, Y:73.85, Z:-0.07 [[ 8.76104618e-01 -4.82120987e-01 -2.27954163e-04 3.99694549e+02] [ 4.82120970e-01 8.76104648e-01 -1.29264933e-04 7.38486164e+01] [ 2.62033039e-04 3.34812250e-06 9.99999966e-01 -6.99166150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.560281693 meters 0.01656551408122724 Centerline is valid? [True, True] Translation: X:399.75, Y:73.88, Z:-0.07 [[ 8.74256433e-01 -4.85461668e-01 1.63064967e-03 3.99746101e+02] [ 4.85460787e-01 8.74257953e-01 9.24720534e-04 7.38764775e+01] [-1.87452482e-03 -1.68264002e-05 9.99998243e-01 -6.66318706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.620281693 meters 0.013012905517867874 Centerline is valid? [True, True] Translation: X:399.80, Y:73.90, Z:-0.07 [[ 8.70934259e-01 -4.91396291e-01 -1.78938086e-03 3.99800418e+02] [ 4.91395242e-01 8.70936097e-01 -1.01526770e-03 7.38994604e+01] [ 2.05733516e-03 4.93818035e-06 9.99997884e-01 -7.39437980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.680281693 meters 0.013678538220500545 Centerline is valid? [True, True] Translation: X:399.86, Y:73.92, Z:-0.07 [[ 8.67236392e-01 -4.97896304e-01 -5.56915447e-04 3.99855762e+02] [ 4.97896204e-01 8.67236571e-01 -3.16156442e-04 7.39201309e+01] [ 6.40390567e-04 -3.10371458e-06 9.99999795e-01 -7.20556095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.740281693 meters 0.01656655965634202 Centerline is valid? [True, True] Translation: X:399.91, Y:73.94, Z:-0.07 [[ 8.64832050e-01 -5.02060069e-01 1.10110323e-03 3.99910223e+02] [ 5.02059680e-01 8.64832751e-01 6.25030235e-04 7.39403370e+01] [-1.26607286e-03 1.22733573e-05 9.99999198e-01 -6.87150006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.800281693 meters 0.019369921086954223 Centerline is valid? [True, True] Translation: X:399.96, Y:73.96, Z:-0.07 [[ 8.63421800e-01 -5.04482404e-01 5.47334360e-04 3.99964807e+02] [ 5.04482308e-01 8.63421973e-01 3.10721861e-04 7.39606609e+01] [-6.29334224e-04 7.83647316e-06 9.99999802e-01 -6.87882261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86028169299993 meters 0.01942014318355217 Centerline is valid? [True, True] Translation: X:400.02, Y:73.99, Z:-0.07 [[ 8.62870541e-01 -5.05422240e-01 1.67000701e-03 4.00017711e+02] [ 5.05421351e-01 8.62872156e-01 9.48433117e-04 7.39867810e+01] [-1.92036174e-03 2.56822019e-05 9.99998156e-01 -6.66755261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92028169299994 meters 0.020741668282672057 Centerline is valid? [True, True] Translation: X:400.07, Y:74.01, Z:-0.07 [[ 8.62091309e-01 -5.06752972e-01 -1.96725935e-06 4.00073488e+02] [ 5.06752972e-01 8.62091309e-01 -1.18343515e-06 7.40081528e+01] [ 2.29566651e-06 2.33146438e-08 1.00000000e+00 -6.96354860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98028169299994 meters 0.019873828789518114 Centerline is valid? [True, True] Translation: X:400.13, Y:74.04, Z:-0.07 [[ 8.62715015e-01 -5.05686386e-01 -2.02029876e-03 4.00125869e+02] [ 5.05685083e-01 8.62717380e-01 -1.14839621e-03 7.40355341e+01] [ 2.32367518e-03 -3.08962895e-05 9.99997300e-01 -7.24420467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04028169299994 meters 0.017820875013498848 Centerline is valid? [True, True] Translation: X:400.18, Y:74.06, Z:-0.07 [[ 8.63400709e-01 -5.04518707e-01 -3.00551456e-04 4.00177231e+02] [ 5.04518678e-01 8.63400761e-01 -1.70967638e-04 7.40649331e+01] [ 3.45752728e-04 -4.02024334e-06 9.99999940e-01 -6.92365497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10028169299994 meters 0.016581601420974746 Centerline is valid? [True, True] Translation: X:400.23, Y:74.09, Z:-0.07 [[ 8.64515375e-01 -5.02605972e-01 6.35231593e-04 4.00227929e+02] [ 5.02605842e-01 8.64515608e-01 3.61233063e-04 7.40935278e+01] [-7.30725522e-04 6.97957319e-06 9.99999733e-01 -6.76514734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16028169299994 meters 0.017177880041929203 Centerline is valid? [True, True] Translation: X:400.28, Y:74.12, Z:-0.07 [[ 8.64162107e-01 -5.03213504e-01 1.49751467e-04 4.00280773e+02] [ 5.03213497e-01 8.64162120e-01 8.51266454e-05 7.41172783e+01] [-1.72246423e-04 1.79373813e-06 9.99999985e-01 -7.01687978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22028169299995 meters 0.01846565361216243 Centerline is valid? [True, True] Translation: X:400.33, Y:74.14, Z:-0.07 [[ 8.63662108e-01 -5.04071050e-01 3.73746750e-04 4.00334265e+02] [ 5.04071005e-01 8.63662189e-01 2.12648131e-04 7.41397447e+01] [-4.29980702e-04 4.73876697e-06 9.99999908e-01 -6.94285164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28028169299995 meters 0.02029373431190264 Centerline is valid? [True, True] Translation: X:400.39, Y:74.16, Z:-0.07 [[ 8.62583680e-01 -5.05913276e-01 -1.07369918e-03 4.00390482e+02] [ 5.05912907e-01 8.62584348e-01 -6.11249753e-04 7.41600735e+01] [ 1.23539547e-03 -1.59442134e-05 9.99999237e-01 -7.26176758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34028169299995 meters 0.019883069450713955 Centerline is valid? [True, True] Translation: X:400.44, Y:74.18, Z:-0.07 [[ 8.62395569e-01 -5.06228151e-01 -2.63459178e-03 4.00444295e+02] [ 5.06225929e-01 8.62399593e-01 -1.50033904e-03 7.41842573e+01] [ 3.03158473e-03 -3.98129308e-05 9.99995404e-01 -7.48778710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40028169299995 meters 0.017469330197510284 Centerline is valid? [True, True] Translation: X:400.50, Y:74.21, Z:-0.08 [[ 8.64335670e-01 -5.02905238e-01 -3.18924883e-03 4.00495364e+02] [ 5.02901959e-01 8.64341553e-01 -1.81639245e-03 7.42111816e+01] [ 3.67007356e-03 -3.39066995e-05 9.99993265e-01 -7.75440370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46028169299996 meters 0.013281481177096686 Centerline is valid? [True, True] Translation: X:400.54, Y:74.25, Z:-0.07 [[ 8.67575642e-01 -4.97302862e-01 -1.53908323e-03 4.00543536e+02] [ 4.97302089e-01 8.67577007e-01 -8.76914695e-04 7.42462526e+01] [ 1.77136541e-03 -4.59947753e-06 9.99998431e-01 -7.35626286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52028169299996 meters 0.012933412568638667 Centerline is valid? [True, True] Translation: X:400.59, Y:74.28, Z:-0.07 [[ 8.68560127e-01 -4.95579928e-01 -1.95953527e-03 4.00592416e+02] [ 4.95578669e-01 8.68562338e-01 -1.11697721e-03 7.42773316e+01] [ 2.25553002e-03 -9.42012934e-07 9.99997456e-01 -7.33888457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58028169299996 meters 0.013673589850597676 Centerline is valid? [True, True] Translation: X:400.64, Y:74.31, Z:-0.08 [[ 8.70466069e-01 -4.92219045e-01 -3.03871991e-03 4.00640070e+02] [ 4.92215996e-01 8.70471373e-01 -1.73241353e-03 7.43108965e+01] [ 3.49784562e-03 1.23006494e-05 9.99993882e-01 -7.67719933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64028169299996 meters 0.013519008926291721 Centerline is valid? [True, True] Translation: X:400.69, Y:74.34, Z:-0.08 [[ 8.70042600e-01 -4.92964873e-01 -3.39220437e-03 4.00688841e+02] [ 4.92961076e-01 8.70049213e-01 -1.93482949e-03 7.43429885e+01] [ 3.90518772e-03 1.11593626e-05 9.99992375e-01 -7.61914088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70028169299997 meters 0.013303538563302584 Centerline is valid? [True, True] Translation: X:400.74, Y:74.38, Z:-0.08 [[ 8.69710072e-01 -4.93555623e-01 -2.69030310e-03 4.00737254e+02] [ 4.93553236e-01 8.69714233e-01 -1.53516802e-03 7.43759924e+01] [ 3.09748570e-03 7.34329255e-06 9.99995203e-01 -7.56623890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76028169299997 meters 0.012852099460853078 Centerline is valid? [True, True] Translation: X:400.78, Y:74.41, Z:-0.07 [[ 8.69133533e-01 -4.94577491e-01 -8.79209816e-05 4.00784059e+02] [ 4.94577489e-01 8.69133537e-01 -5.02127873e-05 7.44099003e+01] [ 1.01249188e-04 1.57878964e-07 9.99999995e-01 -7.00565460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82028169299997 meters 0.012896251136990187 Centerline is valid? [True, True] Translation: X:400.83, Y:74.44, Z:-0.07 [[ 8.68148283e-01 -4.96303410e-01 -1.21823056e-03 4.00833194e+02] [ 4.96302922e-01 8.68149138e-01 -6.95647207e-04 7.44399503e+01] [ 1.40285789e-03 -6.86460091e-07 9.99999016e-01 -7.25275040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.880281693 meters 0.01381488126208098 Centerline is valid? [True, True] Translation: X:400.88, Y:74.47, Z:-0.08 [[ 8.66618457e-01 -4.98958538e-01 -3.58161652e-03 4.00883209e+02] [ 4.98954346e-01 8.66625858e-01 -2.04529346e-03 7.44686850e+01] [ 4.12443812e-03 -1.45740661e-05 9.99991494e-01 -7.74280926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.940281693 meters 0.012938471584834181 Centerline is valid? [True, True] Translation: X:400.93, Y:74.50, Z:-0.07 [[ 8.67372043e-01 -4.97659914e-01 -5.91202507e-04 4.00929734e+02] [ 4.97659800e-01 8.67372244e-01 -3.37671831e-04 7.45031896e+01] [ 6.80838380e-04 -1.33061502e-06 9.99999768e-01 -7.04095396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.000281693 meters 0.012907653135521016 Centerline is valid? [True, True] Translation: X:400.98, Y:74.53, Z:-0.07 [[ 8.67501584e-01 -4.97433404e-01 -1.00503100e-03 4.00978441e+02] [ 4.97433072e-01 8.67502166e-01 -5.74324698e-04 7.45349741e+01] [ 1.15755486e-03 -1.70807228e-06 9.99999330e-01 -7.28027095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.060281693 meters 0.013945432374457788 Centerline is valid? [True, True] Translation: X:401.03, Y:74.56, Z:-0.08 [[ 8.66121330e-01 -4.99823558e-01 -3.20197591e-03 4.01031066e+02] [ 4.99820209e-01 8.66127249e-01 -1.82980058e-03 7.45604130e+01] [ 3.68789602e-03 -1.55829570e-05 9.99993200e-01 -7.63467105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.120281693 meters 0.01593858173401418 Centerline is valid? [True, True] Translation: X:401.08, Y:74.59, Z:-0.07 [[ 8.64249836e-01 -5.03057298e-01 -2.36123488e-03 4.01082611e+02] [ 5.03055488e-01 8.64253062e-01 -1.34964031e-03 7.45864158e+01] [ 2.71965088e-03 -2.14057439e-05 9.99996302e-01 -7.40661928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.180281693 meters 0.017083013974966383 Centerline is valid? [True, True] Translation: X:401.13, Y:74.62, Z:-0.07 [[ 8.63892259e-01 -5.03671476e-01 -2.28209430e-03 4.01133174e+02] [ 5.03669787e-01 8.63895273e-01 -1.30466896e-03 7.46154588e+01] [ 2.62861502e-03 -2.23285373e-05 9.99996545e-01 -7.44347658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.240281693 meters 0.018399356554840613 Centerline is valid? [True, True] Translation: X:401.18, Y:74.64, Z:-0.07 [[ 8.63057517e-01 -5.05101406e-01 -2.07162484e-03 4.01184117e+02] [ 5.05100017e-01 8.63060003e-01 -1.18478970e-03 7.46441333e+01] [ 2.38637548e-03 -2.38360900e-05 9.99997152e-01 -7.44814425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.300281693 meters 0.023117518117868892 Centerline is valid? [True, True] Translation: X:401.24, Y:74.67, Z:-0.08 [[ 8.60168774e-01 -5.10003044e-01 -2.56435394e-03 4.01239374e+02] [ 5.10000936e-01 8.60172595e-01 -1.46707055e-03 7.46672813e+01] [ 2.95399743e-03 -4.58946315e-05 9.99995636e-01 -7.63722633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36028169299993 meters 0.027495609925492694 Centerline is valid? [True, True] Translation: X:401.29, Y:74.69, Z:-0.08 [[ 8.57971332e-01 -5.13689582e-01 -2.86476958e-03 4.01293577e+02] [ 5.13686970e-01 8.57976112e-01 -1.63948538e-03 7.46924010e+01] [ 3.30009043e-03 -6.49633533e-05 9.99994553e-01 -7.71802428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42028169299994 meters 0.031039494510113758 Centerline is valid? [True, True] Translation: X:401.35, Y:74.72, Z:-0.08 [[ 8.55464159e-01 -5.17856031e-01 -2.49074405e-03 4.01348383e+02] [ 5.17854072e-01 8.55467782e-01 -1.42592379e-03 7.47161008e+01] [ 2.86917453e-03 -7.00152504e-05 9.99995881e-01 -7.65647586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48028169299994 meters 0.04189344508527894 Centerline is valid? [True, True] Translation: X:401.41, Y:74.72, Z:-0.07 [[ 8.51254030e-01 -5.24752791e-01 -1.04190014e-03 4.01410290e+02] [ 5.24752453e-01 8.51254666e-01 -5.96570660e-04 7.47247291e+01] [ 1.19997448e-03 -3.89064776e-05 9.99999279e-01 -7.43544739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54028169299994 meters 0.04671942915945888 Centerline is valid? [True, True] Translation: X:401.47, Y:74.74, Z:-0.08 [[ 8.48622473e-01 -5.28992837e-01 -2.54477211e-03 4.01468430e+02] [ 5.28990841e-01 8.48626282e-01 -1.45730251e-03 7.47409106e+01] [ 2.93046308e-03 -1.09461480e-04 9.99995700e-01 -7.67765598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60028169299994 meters 0.04995545423813795 Centerline is valid? [True, True] Translation: X:401.53, Y:74.75, Z:-0.08 [[ 8.47369938e-01 -5.30974616e-01 -5.49040895e-03 4.01529592e+02] [ 5.30965359e-01 8.47387689e-01 -3.14524668e-03 7.47532056e+01] [ 6.32255109e-03 -2.50029478e-04 9.99979981e-01 -8.24229682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66028169299994 meters 0.04511302676910018 Centerline is valid? [True, True] Translation: X:401.58, Y:74.77, Z:-0.08 [[ 8.49968145e-01 -5.26822539e-01 -3.48782115e-03 4.01584979e+02] [ 5.26818765e-01 8.49975290e-01 -1.99880774e-03 7.47745200e+01] [ 4.01757876e-03 -1.38526719e-04 9.99991920e-01 -7.64484190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72028169299995 meters 0.03442722400211052 Centerline is valid? [True, True] Translation: X:401.63, Y:74.81, Z:-0.07 [[ 8.53363797e-01 -5.21313098e-01 -1.69802226e-03 4.01633632e+02] [ 5.21312192e-01 8.53365485e-01 -9.73509432e-04 7.48074208e+01] [ 1.95653680e-03 -5.44419977e-05 9.99998085e-01 -7.16498373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78028169299995 meters 0.022170251641966825 Centerline is valid? [True, True] Translation: X:401.68, Y:74.85, Z:-0.07 [[ 8.59636097e-01 -5.10900572e-01 -2.52717567e-03 4.01679224e+02] [ 5.10898518e-01 8.59639810e-01 -1.44936117e-03 7.48466516e+01] [ 2.91294026e-03 -4.52071264e-05 9.99995756e-01 -7.39887607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84028169299995 meters 0.013466201750112202 Centerline is valid? [True, True] Translation: X:401.72, Y:74.89, Z:-0.07 [[ 8.65981953e-01 -5.00073930e-01 -1.14919501e-03 4.01720594e+02] [ 5.00073496e-01 8.65982716e-01 -6.59228304e-04 7.48902299e+01] [ 1.32484590e-03 -3.80214913e-06 9.99999122e-01 -6.98181704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90028169299995 meters 0.01513354415603841 Centerline is valid? [True, True] Translation: X:401.76, Y:74.94, Z:-0.07 [[ 8.70173274e-01 -4.92745850e-01 3.02436789e-05 4.01760589e+02] [ 4.92745850e-01 8.70173274e-01 1.73211669e-05 7.49358131e+01] [-3.48521742e-05 -1.69969236e-07 9.99999999e-01 -6.68367630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96028169299996 meters 0.024648780744569453 Centerline is valid? [True, True] Translation: X:401.80, Y:74.99, Z:-0.07 [[ 8.74783410e-01 -4.84509054e-01 -2.22755370e-03 4.01800193e+02] [ 4.84507368e-01 8.74786246e-01 -1.27845352e-03 7.49855729e+01] [ 2.56805564e-03 3.91037491e-05 9.99996702e-01 -7.35479394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02028169299996 meters 0.0349772523491364 Centerline is valid? [True, True] Translation: X:401.84, Y:75.04, Z:-0.08 [[ 8.78529410e-01 -4.77674752e-01 -3.59276554e-03 4.01838525e+02] [ 4.77670308e-01 8.78536751e-01 -2.06264444e-03 7.50367450e+01] [ 4.14164974e-03 9.59363828e-05 9.99991419e-01 -7.53392268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08028169299996 meters 0.04133762385911114 Centerline is valid? [True, True] Translation: X:401.88, Y:75.08, Z:-0.08 [[ 8.80621887e-01 -4.73800448e-01 -4.26939757e-03 4.01881240e+02] [ 4.73794123e-01 8.80632226e-01 -2.45191456e-03 7.50810726e+01] [ 4.92148730e-03 1.36394145e-04 9.99987880e-01 -7.64983541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14028169299996 meters 0.036606763353978354 Centerline is valid? [True, True] Translation: X:401.93, Y:75.12, Z:-0.07 [[ 8.81963383e-01 -4.71313848e-01 -1.96164699e-03 4.01927993e+02] [ 4.71312506e-01 8.81965562e-01 -1.12665394e-03 7.51183569e+01] [ 2.26111269e-03 6.91187634e-05 9.99997441e-01 -7.07598254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20028169299997 meters 0.03612931170493199 Centerline is valid? [True, True] Translation: X:401.97, Y:75.15, Z:-0.07 [[ 8.81227669e-01 -4.72683477e-01 -2.85067410e-03 4.01974876e+02] [ 4.72680650e-01 8.81232275e-01 -1.63748196e-03 7.51530576e+01] [ 3.28611668e-03 9.55359233e-05 9.99994596e-01 -7.23917100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26028169299997 meters 0.03612914647782815 Centerline is valid? [True, True] Translation: X:402.02, Y:75.19, Z:-0.08 [[ 8.78080871e-01 -4.78500552e-01 -3.34745293e-03 4.02019378e+02] [ 4.78496695e-01 8.78087248e-01 -1.92302710e-03 7.51919019e+01] [ 3.85952526e-03 8.68281415e-05 9.99992548e-01 -7.51598251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32028169299997 meters 0.02043061234213557 Centerline is valid? [True, True] Translation: X:402.08, Y:75.21, Z:-0.07 [[ 8.73577042e-01 -4.86681241e-01 -2.12651743e-03 4.02079472e+02] [ 4.86679708e-01 8.73579629e-01 -1.22180714e-03 7.52068215e+01] [ 2.45231292e-03 3.24097871e-05 9.99996993e-01 -7.08389637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.380281693 meters 0.015959107579413163 Centerline is valid? [True, True] Translation: X:402.13, Y:75.23, Z:-0.07 [[ 8.70660052e-01 -4.91878112e-01 -2.64529386e-03 4.02132765e+02] [ 4.91875764e-01 8.70664070e-01 -1.52002553e-03 7.52309560e+01] [ 3.05082961e-03 2.22695704e-05 9.99995346e-01 -7.24575916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.440281693 meters 0.01353707948351432 Centerline is valid? [True, True] Translation: X:402.19, Y:75.26, Z:-0.07 [[ 8.68315593e-01 -4.96000486e-01 -3.39845680e-03 4.02186945e+02] [ 4.95996639e-01 8.68322243e-01 -1.95359368e-03 7.52551131e+01] [ 3.91993905e-03 1.07126987e-05 9.99992317e-01 -7.30638520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.500281693 meters 0.013781658038317395 Centerline is valid? [True, True] Translation: X:402.24, Y:75.28, Z:-0.07 [[ 8.65461640e-01 -5.00950883e-01 -4.93577064e-03 4.02239403e+02] [ 5.00942842e-01 8.65475714e-01 -2.83838263e-03 7.52817620e+01] [ 5.69367991e-03 -1.60276832e-05 9.99983791e-01 -7.49775157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.560281693 meters 0.01529961781660718 Centerline is valid? [True, True] Translation: X:402.29, Y:75.31, Z:-0.07 [[ 8.63583333e-01 -5.04201745e-01 -2.10442748e-03 4.02292247e+02] [ 5.04200292e-01 8.63585896e-01 -1.21033966e-03 7.53068508e+01] [ 2.42760926e-03 -1.58237918e-05 9.99997053e-01 -7.07150366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.620281693 meters 0.015605054587555393 Centerline is valid? [True, True] Translation: X:402.34, Y:75.34, Z:-0.07 [[ 8.63055477e-01 -5.05102853e-01 -2.52025109e-03 4.02341789e+02] [ 5.05100773e-01 8.63059157e-01 -1.44968620e-03 7.53377525e+01] [ 2.90736641e-03 -2.18211581e-05 9.99995773e-01 -7.07510489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.680281693 meters 0.014006243619316372 Centerline is valid? [True, True] Translation: X:402.39, Y:75.38, Z:-0.07 [[ 8.64923011e-01 -5.01889963e-01 -3.82741685e-03 4.02387112e+02] [ 5.01885131e-01 8.64931480e-01 -2.20243658e-03 7.53758889e+01] [ 4.41583414e-03 -1.59855337e-05 9.99990250e-01 -7.32903697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.740281693 meters 0.013306393245981337 Centerline is valid? [True, True] Translation: X:402.43, Y:75.41, Z:-0.07 [[ 8.67108254e-01 -4.98103188e-01 -4.06073504e-03 4.02431860e+02] [ 4.98097703e-01 8.67117762e-01 -2.33769868e-03 7.54134203e+01] [ 4.68555065e-03 4.39502724e-06 9.99989023e-01 -7.36198574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.800281693 meters 0.015671442197580203 Centerline is valid? [True, True] Translation: X:402.47, Y:75.46, Z:-0.07 [[ 8.69972408e-01 -4.93088362e-01 -3.44638264e-03 4.02474081e+02] [ 4.93084370e-01 8.69979234e-01 -1.98438918e-03 7.54568786e+01] [ 3.97676053e-03 2.70064194e-05 9.99992092e-01 -7.28398152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86028169299993 meters 0.016094554394978273 Centerline is valid? [True, True] Translation: X:402.52, Y:75.49, Z:-0.07 [[ 8.70118720e-01 -4.92827355e-01 -3.82258391e-03 4.02522730e+02] [ 4.92822437e-01 8.70127116e-01 -2.20183046e-03 7.54894796e+01] [ 4.41125619e-03 3.19987822e-05 9.99990270e-01 -7.40120279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92028169299994 meters 0.01502227778663807 Centerline is valid? [True, True] Translation: X:402.57, Y:75.52, Z:-0.08 [[ 8.69119837e-01 -4.94581918e-01 -4.40850782e-03 4.02572818e+02] [ 4.94575395e-01 8.69131018e-01 -2.54023604e-03 7.55205236e+01] [ 5.08792570e-03 2.74300356e-05 9.99987056e-01 -7.54750149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98028169299994 meters 0.014286079075955815 Centerline is valid? [True, True] Translation: X:402.62, Y:75.55, Z:-0.08 [[ 8.68059961e-01 -4.96428414e-01 -5.54373609e-03 4.02623316e+02] [ 4.96418129e-01 8.68077663e-01 -3.19567160e-03 7.55497506e+01] [ 6.39881565e-03 2.20234700e-05 9.99979527e-01 -7.94892787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04028169299994 meters 0.01375031622051752 Centerline is valid? [True, True] Translation: X:402.68, Y:75.57, Z:-0.08 [[ 8.65119784e-01 -5.01545111e-01 -4.50115176e-03 4.02676428e+02] [ 5.01538398e-01 8.65131494e-01 -2.59496967e-03 7.55728203e+01] [ 5.19558249e-03 -1.25408441e-05 9.99986503e-01 -7.73686454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10028169299994 meters 0.01730333650963412 Centerline is valid? [True, True] Translation: X:402.73, Y:75.59, Z:-0.08 [[ 8.61976073e-01 -5.06935286e-01 -3.72355012e-03 4.02731347e+02] [ 5.06930739e-01 8.61984115e-01 -2.14746417e-03 7.55946703e+01] [ 4.29826642e-03 -3.65192853e-05 9.99990762e-01 -7.59373270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16028169299994 meters 0.0293698179551842 Centerline is valid? [True, True] Translation: X:402.79, Y:75.61, Z:-0.07 [[ 8.56137556e-01 -5.16742785e-01 -2.31928489e-03 4.02791632e+02] [ 5.16741056e-01 8.56140696e-01 -1.33783647e-03 7.56059983e+01] [ 2.67695153e-03 -5.30976745e-05 9.99996416e-01 -7.41343277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22028169299995 meters 0.0388872767224715 Centerline is valid? [True, True] Translation: X:402.85, Y:75.62, Z:-0.08 [[ 8.50568943e-01 -5.25848335e-01 -4.00035182e-03 4.02852701e+02] [ 5.25843289e-01 8.50578338e-01 -2.30789243e-03 7.56171481e+01] [ 4.61621399e-03 -1.40536529e-04 9.99989335e-01 -7.68342932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28028169299995 meters 0.05054397684480581 Centerline is valid? [True, True] Translation: X:402.92, Y:75.62, Z:-0.08 [[ 8.47834093e-01 -5.30248016e-01 -3.79368975e-03 4.02916298e+02] [ 5.30243520e-01 8.47842566e-01 -2.18910260e-03 7.56234483e+01] [ 4.37721896e-03 -1.55583590e-04 9.99990408e-01 -7.68666332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34028169299995 meters 0.05153511980012028 Centerline is valid? [True, True] Translation: X:402.97, Y:75.65, Z:-0.07 [[ 8.47569194e-01 -5.30678846e-01 -2.53453341e-03 4.02971552e+02] [ 5.30676840e-01 8.47572977e-01 -1.46304281e-03 7.56453413e+01] [ 2.92460790e-03 -1.04988164e-04 9.99995718e-01 -7.40445841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40028169299995 meters 0.042178030899772186 Centerline is valid? [True, True] Translation: X:403.02, Y:75.68, Z:-0.08 [[ 8.50091855e-01 -5.26613236e-01 -4.72624729e-03 4.03022522e+02] [ 5.26606194e-01 8.50104977e-01 -2.72861140e-03 7.56754279e+01] [ 5.45472922e-03 -1.69300766e-04 9.99985109e-01 -7.84840359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46028169299996 meters 0.033051194031255005 Centerline is valid? [True, True] Translation: X:403.07, Y:75.71, Z:-0.08 [[ 8.52278547e-01 -5.23059761e-01 -5.45572694e-03 4.03070119e+02] [ 5.23050301e-01 8.52295992e-01 -3.15033537e-03 7.57103931e+01] [ 6.29770787e-03 -1.68656366e-04 9.99980155e-01 -7.77772508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52028169299996 meters 0.025743931292997645 Centerline is valid? [True, True] Translation: X:403.12, Y:75.74, Z:-0.08 [[ 8.56087804e-01 -5.16792995e-01 -6.21868297e-03 4.03120216e+02] [ 5.16780529e-01 8.56110379e-01 -3.59222612e-03 7.57422888e+01] [ 7.18031633e-03 -1.38433306e-04 9.99974212e-01 -7.97010500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58028169299996 meters 0.01845841162673087 Centerline is valid? [True, True] Translation: X:403.17, Y:75.78, Z:-0.07 [[ 8.60079150e-01 -5.10143425e-01 -4.18818751e-03 4.03167213e+02] [ 5.10137689e-01 8.60089346e-01 -2.41971105e-03 7.57795099e+01] [ 4.83661514e-03 -5.54092697e-05 9.99988302e-01 -7.47148319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64028169299996 meters 0.01565164616054371 Centerline is valid? [True, True] Translation: X:403.21, Y:75.81, Z:-0.07 [[ 8.61955719e-01 -5.06968178e-01 -3.95032188e-03 4.03214785e+02] [ 5.06963038e-01 8.61964770e-01 -2.28319662e-03 7.58145720e+01] [ 4.56254632e-03 -3.46527936e-05 9.99989591e-01 -7.48901911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70028169299997 meters 0.013949877920981497 Centerline is valid? [True, True] Translation: X:403.26, Y:75.85, Z:-0.07 [[ 8.63663495e-01 -5.04057514e-01 -3.37486889e-03 4.03260684e+02] [ 5.04053739e-01 8.63670089e-01 -1.95082831e-03 7.58498322e+01] [ 3.89810298e-03 -1.62560844e-05 9.99992402e-01 -7.47812634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76028169299997 meters 0.013596844634860487 Centerline is valid? [True, True] Translation: X:403.31, Y:75.88, Z:-0.08 [[ 8.64316839e-01 -5.02932090e-01 -3.96429355e-03 4.03307872e+02] [ 5.02926864e-01 8.64325930e-01 -2.29259341e-03 7.58833746e+01] [ 4.57946051e-03 -1.22226329e-05 9.99989514e-01 -7.51437484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82028169299997 meters 0.013752810819252163 Centerline is valid? [True, True] Translation: X:403.35, Y:75.93, Z:-0.08 [[ 8.66242040e-01 -4.99587468e-01 -6.09010350e-03 4.03351670e+02] [ 4.99575044e-01 8.66263448e-01 -3.52328339e-03 7.59257552e+01] [ 7.03582228e-03 9.55246967e-06 9.99975248e-01 -7.92249195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.880281693 meters 0.013916008435869499 Centerline is valid? [True, True] Translation: X:403.40, Y:75.96, Z:-0.08 [[ 8.67283464e-01 -4.97796085e-01 -4.29537814e-03 4.03396118e+02] [ 4.97789880e-01 8.67294101e-01 -2.48548722e-03 7.59642676e+01] [ 4.96262193e-03 1.74261983e-05 9.99987686e-01 -7.62730338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.940281693 meters 0.013463431845621146 Centerline is valid? [True, True] Translation: X:403.45, Y:75.99, Z:-0.08 [[ 8.66360395e-01 -4.99401405e-01 -4.23126865e-03 4.03445937e+02] [ 4.99395398e-01 8.66370727e-01 -2.44949787e-03 7.59941766e+01] [ 4.88912997e-03 9.07185244e-06 9.99988048e-01 -7.61227103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.000281693 meters 0.013888411060767318 Centerline is valid? [True, True] Translation: X:403.50, Y:76.02, Z:-0.08 [[ 8.63879552e-01 -5.03674178e-01 -4.94396534e-03 4.03498560e+02] [ 5.03666040e-01 8.63893699e-01 -2.86313734e-03 7.60199658e+01] [ 5.71314885e-03 -1.67016464e-05 9.99983680e-01 -7.71563800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.060281693 meters 0.01623770929183737 Centerline is valid? [True, True] Translation: X:403.55, Y:76.04, Z:-0.07 [[ 8.61406059e-01 -5.07905964e-01 -3.33668234e-03 4.03552900e+02] [ 5.07902288e-01 8.61412521e-01 -1.93256702e-03 7.60420871e+01] [ 3.85582226e-03 -2.99836585e-05 9.99992566e-01 -7.41974115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.120281693 meters 0.01706899266567599 Centerline is valid? [True, True] Translation: X:403.61, Y:76.07, Z:-0.07 [[ 8.60333737e-01 -5.09726030e-01 -2.28817203e-03 4.03606255e+02] [ 5.09724306e-01 8.60336779e-01 -1.32583363e-03 7.60670602e+01] [ 2.64441047e-03 -2.56774988e-05 9.99996503e-01 -7.15790387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.180281693 meters 0.018550523363101847 Centerline is valid? [True, True] Translation: X:403.66, Y:76.09, Z:-0.08 [[ 8.59472531e-01 -5.11165584e-01 -4.08822785e-03 4.03661167e+02] [ 5.11160094e-01 8.59482253e-01 -2.36967453e-03 7.60902499e+01] [ 4.72505535e-03 -5.30687643e-05 9.99988835e-01 -7.50839375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.240281693 meters 0.018965504527171127 Centerline is valid? [True, True] Translation: X:403.72, Y:76.11, Z:-0.08 [[ 8.59385446e-01 -5.11298115e-01 -5.55819388e-03 4.03715762e+02] [ 5.11287962e-01 8.59403417e-01 -3.22289275e-03 7.61134947e+01] [ 6.42458979e-03 -7.21305018e-05 9.99979360e-01 -7.90298677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.300281693 meters 0.019059927607663264 Centerline is valid? [True, True] Translation: X:403.77, Y:76.14, Z:-0.07 [[ 8.59205282e-01 -5.11617612e-01 -3.70181228e-03 4.03769467e+02] [ 5.11613108e-01 8.59213255e-01 -2.14729366e-03 7.61390147e+01] [ 4.27923943e-03 -4.89296348e-05 9.99990843e-01 -7.44847506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36028169299993 meters 0.017580397005019142 Centerline is valid? [True, True] Translation: X:403.82, Y:76.17, Z:-0.07 [[ 8.59740137e-01 -5.10716421e-01 -3.95403576e-03 4.03820250e+02] [ 5.10711269e-01 8.59749228e-01 -2.29447267e-03 7.61681458e+01] [ 4.57130406e-03 -4.67203738e-05 9.99989550e-01 -7.38510899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42028169299994 meters 0.01709606966615677 Centerline is valid? [True, True] Translation: X:403.87, Y:76.20, Z:-0.08 [[ 8.60466902e-01 -5.09487012e-01 -4.43794016e-03 4.03870354e+02] [ 5.09480504e-01 8.60478345e-01 -2.57557326e-03 7.61963863e+01] [ 5.13097253e-03 -4.48484421e-05 9.99986835e-01 -7.55598839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48028169299994 meters 0.016008293883089313 Centerline is valid? [True, True] Translation: X:403.92, Y:76.23, Z:-0.07 [[ 8.60559377e-01 -5.09345487e-01 -2.17582357e-03 4.03921143e+02] [ 5.09343921e-01 8.60562127e-01 -1.26328438e-03 7.62262078e+01] [ 2.51587956e-03 -2.11112954e-05 9.99996835e-01 -7.03024529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54028169299994 meters 0.017377951413138953 Centerline is valid? [True, True] Translation: X:403.98, Y:76.25, Z:-0.07 [[ 8.59509903e-01 -5.11116745e-01 -1.54903850e-03 4.03976073e+02] [ 5.11115954e-01 8.59511298e-01 -8.99731145e-04 7.62481086e+01] [ 1.79128375e-03 -1.84104611e-05 9.99998395e-01 -6.90990343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60028169299994 meters 0.01947986753484611 Centerline is valid? [True, True] Translation: X:404.03, Y:76.27, Z:-0.07 [[ 8.58276653e-01 -5.13178355e-01 -3.02704995e-03 4.04033211e+02] [ 5.13175345e-01 8.58281990e-01 -1.75833926e-03 7.62658361e+01] [ 3.50040411e-03 -4.42658668e-05 9.99993873e-01 -7.24164144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66028169299994 meters 0.017264639949886328 Centerline is valid? [True, True] Translation: X:404.09, Y:76.29, Z:-0.07 [[ 8.59579741e-01 -5.10992656e-01 -3.02899444e-03 4.04087221e+02] [ 5.10989626e-01 8.59585077e-01 -1.76017666e-03 7.62906312e+01] [ 3.50311576e-03 -3.47725395e-05 9.99993863e-01 -7.16368635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72028169299995 meters 0.01526393395641473 Centerline is valid? [True, True] Translation: X:404.14, Y:76.32, Z:-0.07 [[ 8.61172322e-01 -5.08296042e-01 -4.16719167e-03 4.04138033e+02] [ 5.08290271e-01 8.61182404e-01 -2.42249102e-03 7.63201035e+01] [ 4.82005474e-03 -3.19607638e-05 9.99988383e-01 -7.41825275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78028169299995 meters 0.013915863413816364 Centerline is valid? [True, True] Translation: X:404.19, Y:76.35, Z:-0.07 [[ 8.62608952e-01 -5.05851484e-01 -4.48011675e-03 4.04190976e+02] [ 5.05844775e-01 8.62620586e-01 -2.60539267e-03 7.63460462e+01] [ 5.18258268e-03 -1.88086071e-05 9.99986570e-01 -7.49633926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84028169299995 meters 0.01489780000832364 Centerline is valid? [True, True] Translation: X:404.25, Y:76.37, Z:-0.07 [[ 8.61353377e-01 -5.07991265e-01 -3.90313804e-03 4.04247946e+02] [ 5.07986191e-01 8.61362220e-01 -2.27072312e-03 7.63650922e+01] [ 4.51552316e-03 -2.68452029e-05 9.99989805e-01 -7.30374124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90028169299995 meters 0.015507636573678334 Centerline is valid? [True, True] Translation: X:404.30, Y:76.39, Z:-0.07 [[ 8.60509873e-01 -5.09410967e-01 -4.81916738e-03 4.04302822e+02] [ 5.09403248e-01 8.60523367e-01 -2.80472542e-03 7.63872947e+01] [ 5.57576402e-03 -4.14056005e-05 9.99984454e-01 -7.47083817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96028169299996 meters 0.014457379174398278 Centerline is valid? [True, True] Translation: X:404.35, Y:76.42, Z:-0.08 [[ 8.62017211e-01 -5.06853296e-01 -5.10523366e-03 4.04353386e+02] [ 5.06844581e-01 8.62032329e-01 -2.97236226e-03 7.64164428e+01] [ 5.90742807e-03 -2.53325858e-05 9.99982551e-01 -7.59849831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02028169299996 meters 0.015819958907268353 Centerline is valid? [True, True] Translation: X:404.40, Y:76.46, Z:-0.07 [[ 8.67623947e-01 -4.97200600e-01 -4.49998661e-03 4.04395815e+02] [ 4.97193694e-01 8.67635616e-01 -2.62094192e-03 7.64595899e+01] [ 5.20748255e-03 3.66270051e-05 9.99986440e-01 -7.23948522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08028169299996 meters 0.021569244779248934 Centerline is valid? [True, True] Translation: X:404.44, Y:76.50, Z:-0.07 [[ 8.71155318e-01 -4.90991643e-01 -3.95209249e-03 4.04440911e+02] [ 4.90986248e-01 8.71164280e-01 -2.30263758e-03 7.64998175e+01] [ 4.57349762e-03 6.55319079e-05 9.99989539e-01 -7.13568028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14028169299996 meters 0.0241396539743848 Centerline is valid? [True, True] Translation: X:404.49, Y:76.53, Z:-0.07 [[ 8.72400899e-01 -4.88783537e-01 -2.70637220e-03 4.04489772e+02] [ 4.88780996e-01 8.72405096e-01 -1.57702272e-03 7.65306926e+01] [ 3.13187564e-03 5.29727430e-05 9.99995094e-01 -7.05171669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20028169299997 meters 0.022459076455919654 Centerline is valid? [True, True] Translation: X:404.54, Y:76.56, Z:-0.07 [[ 8.71902332e-01 -4.89675044e-01 -2.16208563e-03 4.04542112e+02] [ 4.89673424e-01 8.71905012e-01 -1.26038565e-03 7.65568120e+01] [ 2.50231269e-03 4.02173134e-05 9.99996868e-01 -6.91427965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26028169299997 meters 0.026826966326553226 Centerline is valid? [True, True] Translation: X:404.59, Y:76.59, Z:-0.07 [[ 8.73373914e-01 -4.87043157e-01 -2.63993077e-03 4.04588289e+02] [ 4.87040729e-01 8.73377902e-01 -1.53908935e-03 7.65930407e+01] [ 3.05526013e-03 5.84466850e-05 9.99995331e-01 -6.94526634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32028169299997 meters 0.027925241059984028 Centerline is valid? [True, True] Translation: X:404.64, Y:76.63, Z:-0.07 [[ 8.74395338e-01 -4.85207913e-01 -2.46451071e-03 4.04637210e+02] [ 4.85205788e-01 8.74398809e-01 -1.43740174e-03 7.66256193e+01] [ 2.85240392e-03 6.10625204e-05 9.99995930e-01 -6.84079890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.380281693 meters 0.03205947450111424 Centerline is valid? [True, True] Translation: X:404.68, Y:76.66, Z:-0.07 [[ 8.75759702e-01 -4.82743652e-01 -1.87342800e-03 4.04681714e+02] [ 4.82742418e-01 8.75761705e-01 -1.09274862e-03 7.66648605e+01] [ 2.16819395e-03 5.26020400e-05 9.99997648e-01 -6.79528922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.440281693 meters 0.03177857839067802 Centerline is valid? [True, True] Translation: X:404.73, Y:76.70, Z:-0.07 [[ 8.75565731e-01 -4.83086379e-01 -3.49312139e-03 4.04729762e+02] [ 4.83082088e-01 8.75572693e-01 -2.03838610e-03 7.66979122e+01] [ 4.04319826e-03 9.72766436e-05 9.99991822e-01 -7.12414299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.500281693 meters 0.029676707352315448 Centerline is valid? [True, True] Translation: X:404.78, Y:76.73, Z:-0.07 [[ 8.74361284e-01 -4.85267020e-01 -2.87488530e-03 4.04777215e+02] [ 4.85264123e-01 8.74366007e-01 -1.67814820e-03 7.67319334e+01] [ 3.32805196e-03 7.22291234e-05 9.99994459e-01 -7.03103251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.560281693 meters 0.028225733983875675 Centerline is valid? [True, True] Translation: X:404.83, Y:76.76, Z:-0.07 [[ 8.73570645e-01 -4.86693988e-01 -1.81400746e-03 4.04827298e+02] [ 4.86692837e-01 8.73572527e-01 -1.05929397e-03 7.67628191e+01] [ 2.10021908e-03 4.25036814e-05 9.99997794e-01 -6.76715115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.620281693 meters 0.025696392987433835 Centerline is valid? [True, True] Translation: X:404.88, Y:76.80, Z:-0.07 [[ 8.73117606e-01 -4.87506637e-01 -1.71018309e-03 4.04876600e+02] [ 4.87505614e-01 8.73119280e-01 -9.99047280e-04 7.67950204e+01] [ 1.98023601e-03 3.85619114e-05 9.99998039e-01 -6.64065670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.680281693 meters 0.027542194542386503 Centerline is valid? [True, True] Translation: X:404.92, Y:76.83, Z:-0.07 [[ 8.73096394e-01 -4.87540421e-01 -2.65031413e-03 4.04921736e+02] [ 4.87537966e-01 8.73100415e-01 -1.54837605e-03 7.68316317e+01] [ 3.06888628e-03 5.97527912e-05 9.99995289e-01 -6.97049584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.740281693 meters 0.02485696061331613 Centerline is valid? [True, True] Translation: X:404.97, Y:76.86, Z:-0.07 [[ 8.71365224e-01 -4.90627412e-01 -2.71842658e-03 4.04970876e+02] [ 4.90624843e-01 8.71369463e-01 -1.58846213e-03 7.68620499e+01] [ 3.14809697e-03 5.04030436e-05 9.99995043e-01 -6.87092293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.800281693 meters 0.02160910525100586 Centerline is valid? [True, True] Translation: X:405.02, Y:76.89, Z:-0.07 [[ 8.70907267e-01 -4.91442110e-01 -2.27700899e-03 4.05022868e+02] [ 4.91440309e-01 8.70910243e-01 -1.33107316e-03 7.68897982e+01] [ 2.63721585e-03 4.02272889e-05 9.99996522e-01 -6.69950865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86028169299993 meters 0.02772664891282836 Centerline is valid? [True, True] Translation: X:405.06, Y:76.93, Z:-0.07 [[ 8.72302132e-01 -4.88965092e-01 -1.45923142e-03 4.05064257e+02] [ 4.88964349e-01 8.72303352e-01 -8.53146202e-04 7.69326102e+01] [ 1.69005117e-03 3.06891110e-05 9.99998571e-01 -6.53768553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92028169299994 meters 0.02697786917251511 Centerline is valid? [True, True] Translation: X:405.11, Y:76.97, Z:-0.06 [[ 8.73140406e-01 -4.87468164e-01 -7.88236118e-04 4.05111979e+02] [ 4.87467946e-01 8.73140761e-01 -4.61067282e-04 7.69682287e+01] [ 9.12996706e-04 1.83366324e-05 9.99999583e-01 -6.48433453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98028169299994 meters 0.028785461041895714 Centerline is valid? [True, True] Translation: X:405.16, Y:77.00, Z:-0.07 [[ 8.73613983e-01 -4.86616331e-01 -1.77611577e-03 4.05157550e+02] [ 4.86615224e-01 8.73615788e-01 -1.03892599e-03 7.70048647e+01] [ 2.05720114e-03 4.33352973e-05 9.99997883e-01 -6.74243320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04028169299994 meters 0.02777213525027679 Centerline is valid? [True, True] Translation: X:405.20, Y:77.04, Z:-0.07 [[ 8.73006113e-01 -4.87705514e-01 -1.91238777e-03 4.05204904e+02] [ 4.87704233e-01 8.73008207e-01 -1.11886389e-03 7.70413814e+01] [ 2.21520631e-03 4.40954100e-05 9.99997545e-01 -6.83486001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10028169299994 meters 0.026391852794344802 Centerline is valid? [True, True] Translation: X:405.25, Y:77.08, Z:-0.07 [[ 8.72381725e-01 -4.88819069e-01 -2.45824110e-03 4.05253164e+02] [ 4.88816954e-01 8.72385187e-01 -1.43876814e-03 7.70754811e+01] [ 2.84783043e-03 5.35250995e-05 9.99995943e-01 -6.99306039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16028169299994 meters 0.02525123617861288 Centerline is valid? [True, True] Translation: X:405.30, Y:77.11, Z:-0.07 [[ 8.71819820e-01 -4.89819296e-01 -2.69437525e-03 4.05301689e+02] [ 4.89816758e-01 8.71823981e-01 -1.57754829e-03 7.71094761e+01] [ 3.12173455e-03 5.55877190e-05 9.99995126e-01 -7.05177557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22028169299995 meters 0.024719235077158647 Centerline is valid? [True, True] Translation: X:405.35, Y:77.14, Z:-0.07 [[ 8.71414963e-01 -4.90538274e-01 -2.85733189e-03 4.05351167e+02] [ 4.90535422e-01 8.71419646e-01 -1.67356843e-03 7.71410166e+01] [ 3.31088451e-03 5.67500692e-05 9.99994517e-01 -7.09136871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28028169299995 meters 0.02313354407697849 Centerline is valid? [True, True] Translation: X:405.40, Y:77.17, Z:-0.07 [[ 8.70338215e-01 -4.92449654e-01 -2.17486512e-03 4.05401490e+02] [ 4.92448006e-01 8.70340932e-01 -1.27431854e-03 7.71704400e+01] [ 2.52041185e-03 3.80801329e-05 9.99996823e-01 -7.04808658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34028169299995 meters 0.0204801335077348 Centerline is valid? [True, True] Translation: X:405.45, Y:77.20, Z:-0.07 [[ 8.68566439e-01 -4.95562332e-01 -3.21198749e-03 4.05451128e+02] [ 4.95558759e-01 8.68572377e-01 -1.88216813e-03 7.71995139e+01] [ 3.72257524e-03 4.30595346e-05 9.99993070e-01 -7.34449581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40028169299995 meters 0.020545122314559627 Centerline is valid? [True, True] Translation: X:405.50, Y:77.24, Z:-0.07 [[ 8.68783717e-01 -4.95185161e-01 -2.55151343e-03 4.05496774e+02] [ 4.95182903e-01 8.68787463e-01 -1.49580204e-03 7.72364486e+01] [ 2.95742185e-03 3.60626310e-05 9.99995626e-01 -7.00701701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46028169299996 meters 0.02274530393870388 Centerline is valid? [True, True] Translation: X:405.54, Y:77.28, Z:-0.07 [[ 8.70871766e-01 -4.91509922e-01 -6.02663642e-04 4.05541243e+02] [ 4.91509795e-01 8.70871975e-01 -3.53357672e-04 7.72760169e+01] [ 6.98521678e-04 1.15141372e-05 9.99999756e-01 -6.51216087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52028169299996 meters 0.03268420436532566 Centerline is valid? [True, True] Translation: X:405.58, Y:77.33, Z:-0.07 [[ 8.73805501e-01 -4.86273667e-01 -1.36642468e-03 4.05576942e+02] [ 4.86273008e-01 8.73806569e-01 -8.01195170e-04 7.73312073e+01] [ 1.58359097e-03 3.56333091e-05 9.99998745e-01 -6.80556333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58028169299996 meters 0.02955641444314202 Centerline is valid? [True, True] Translation: X:405.62, Y:77.37, Z:-0.07 [[ 8.74302781e-01 -4.85379911e-01 -9.94231780e-04 4.05621122e+02] [ 4.85379562e-01 8.74303346e-01 -5.83244709e-04 7.73716388e+01] [ 1.15235544e-03 2.73526862e-05 9.99999336e-01 -6.81635270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64028169299996 meters 0.02617540255991675 Centerline is valid? [True, True] Translation: X:405.67, Y:77.40, Z:-0.07 [[ 8.72290644e-01 -4.88985659e-01 -1.43457027e-03 4.05670329e+02] [ 4.88984935e-01 8.72291823e-01 -8.41581856e-04 7.74021548e+01] [ 1.66288537e-03 3.26207305e-05 9.99998617e-01 -6.99006945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70028169299997 meters 0.016811936056032 Centerline is valid? [True, True] Translation: X:405.73, Y:77.43, Z:-0.07 [[ 8.67093393e-01 -4.98140174e-01 -2.32699195e-03 4.05725543e+02] [ 4.98138303e-01 8.67096515e-01 -1.36561022e-03 7.74251313e+01] [ 2.69799192e-03 2.49477820e-05 9.99996360e-01 -7.18120838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76028169299997 meters 0.013133690527760459 Centerline is valid? [True, True] Translation: X:405.78, Y:77.45, Z:-0.07 [[ 8.63379042e-01 -5.04555422e-01 -6.75316503e-04 4.05781303e+02] [ 5.04555266e-01 8.63379306e-01 -3.96510417e-04 7.74462801e+01] [ 7.83115775e-04 1.60428657e-06 9.99999693e-01 -6.91238624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82028169299997 meters 0.013764893961616198 Centerline is valid? [True, True] Translation: X:405.84, Y:77.47, Z:-0.07 [[ 8.60127050e-01 -5.10077570e-01 -1.52672886e-03 4.05836582e+02] [ 5.10076782e-01 8.60128405e-01 -8.96676729e-04 7.74689286e+01] [ 1.77055755e-03 -7.49303543e-06 9.99998433e-01 -7.02585046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.880281693 meters 0.014783661149145987 Centerline is valid? [True, True] Translation: X:405.89, Y:77.49, Z:-0.07 [[ 8.59352011e-01 -5.11375199e-01 -3.08655237e-03 4.05889307e+02] [ 5.11371985e-01 8.59357554e-01 -1.81305453e-03 7.74932360e+01] [ 3.57960322e-03 -2.03243560e-05 9.99993593e-01 -7.37485892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.940281693 meters 0.013942243982299185 Centerline is valid? [True, True] Translation: X:405.94, Y:77.52, Z:-0.07 [[ 8.59933076e-01 -5.10400406e-01 -2.55550451e-03 4.05940603e+02] [ 5.10398197e-01 8.59936873e-01 -1.50171987e-03 7.75219761e+01] [ 2.96405098e-03 -1.29463089e-05 9.99995607e-01 -7.28977144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.000281693 meters 0.01283920129296377 Centerline is valid? [True, True] Translation: X:405.99, Y:77.55, Z:-0.07 [[ 8.61423880e-01 -5.07885918e-01 -8.90106937e-04 4.05990520e+02] [ 5.07885649e-01 8.61424340e-01 -5.23133962e-04 7.75520173e+01] [ 1.03245215e-03 -1.43245137e-06 9.99999467e-01 -6.95240480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.060281693 meters 0.012999035605406817 Centerline is valid? [True, True] Translation: X:406.04, Y:77.58, Z:-0.07 [[ 8.60912243e-01 -5.08752951e-01 -7.38356413e-04 4.06041476e+02] [ 5.08752766e-01 8.60912559e-01 -4.34194482e-04 7.75806627e+01] [ 8.56558033e-04 -1.83752230e-06 9.99999633e-01 -6.94021922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.120281693 meters 0.014707730404349823 Centerline is valid? [True, True] Translation: X:406.10, Y:77.60, Z:-0.07 [[ 8.58451220e-01 -5.12894330e-01 9.53235876e-04 4.06097290e+02] [ 5.12894024e-01 8.58451750e-01 5.60602579e-04 7.76013065e+01] [-1.10583689e-03 7.65901623e-06 9.99999389e-01 -6.72467620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.180281693 meters 0.017879721108866785 Centerline is valid? [True, True] Translation: X:406.15, Y:77.62, Z:-0.07 [[ 8.55950621e-01 -5.17057015e-01 7.60156867e-04 4.06153213e+02] [ 5.17056821e-01 8.55950959e-01 4.47207850e-04 7.76222484e+01] [-8.81888955e-04 1.02564560e-05 9.99999611e-01 -6.64203072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.240281693 meters 0.01950137755809595 Centerline is valid? [True, True] Translation: X:406.21, Y:77.65, Z:-0.07 [[ 8.55228200e-01 -5.18251561e-01 -2.13092291e-04 4.06205416e+02] [ 5.18251546e-01 8.55228227e-01 -1.25423045e-04 7.76467560e+01] [ 2.47243231e-04 -3.17008433e-06 9.99999969e-01 -6.84833246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.300281693 meters 0.0188237245188042 Centerline is valid? [True, True] Translation: X:406.26, Y:77.67, Z:-0.07 [[ 8.55414410e-01 -5.17942073e-01 -1.48204571e-03 4.06256667e+02] [ 5.17941338e-01 8.55415694e-01 -8.72593940e-04 7.76737634e+01] [ 1.71971827e-03 -2.11833087e-05 9.99998521e-01 -7.18418474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36028169299993 meters 0.01904137772546573 Centerline is valid? [True, True] Translation: X:406.31, Y:77.69, Z:-0.07 [[ 8.55243437e-01 -5.18225121e-01 -1.17793513e-03 4.06311891e+02] [ 5.18224657e-01 8.55244248e-01 -6.93850156e-04 7.76938398e+01] [ 1.36699283e-03 -1.70242368e-05 9.99999066e-01 -7.18838538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42028169299994 meters 0.020339090258338036 Centerline is valid? [True, True] Translation: X:406.37, Y:77.72, Z:-0.07 [[ 8.54904334e-01 -5.18782577e-01 -1.79372658e-03 4.06366000e+02] [ 5.18781502e-01 8.54906215e-01 -1.05662412e-03 7.77168430e+01] [ 2.08162619e-03 -2.72396281e-05 9.99997833e-01 -7.36692552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48028169299994 meters 0.018115378551690098 Centerline is valid? [True, True] Translation: X:406.42, Y:77.74, Z:-0.08 [[ 8.56114994e-01 -5.16779080e-01 -2.54944381e-03 4.06419208e+02] [ 5.16776898e-01 8.56118789e-01 -1.50232424e-03 7.77434481e+01] [ 2.95899649e-03 -3.13313512e-05 9.99995622e-01 -7.52446316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54028169299994 meters 0.016973106181012613 Centerline is valid? [True, True] Translation: X:406.47, Y:77.77, Z:-0.07 [[ 8.56830382e-01 -5.15594019e-01 -2.12217909e-03 4.06471095e+02] [ 5.15592502e-01 8.56833010e-01 -1.25101361e-03 7.77706578e+01] [ 2.46336824e-03 -2.22731562e-05 9.99996966e-01 -7.39454837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60028169299994 meters 0.015550329940656058 Centerline is valid? [True, True] Translation: X:406.52, Y:77.80, Z:-0.08 [[ 8.57928880e-01 -5.13762068e-01 -2.56402039e-03 4.06523093e+02] [ 5.13759845e-01 8.57932711e-01 -1.51161621e-03 7.77968817e+01] [ 2.97636803e-03 -2.04315129e-05 9.99995570e-01 -7.53965252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66028169299994 meters 0.014398314915740633 Centerline is valid? [True, True] Translation: X:406.57, Y:77.82, Z:-0.08 [[ 8.58850881e-01 -5.12217045e-01 -2.97714176e-03 4.06574601e+02] [ 5.12214036e-01 8.58856041e-01 -1.75582883e-03 7.78249833e+01] [ 3.45630164e-03 -1.69386637e-05 9.99994027e-01 -7.62884606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72028169299995 meters 0.013067021853692764 Centerline is valid? [True, True] Translation: X:406.62, Y:77.86, Z:-0.08 [[ 8.61763291e-01 -5.07300350e-01 -3.22266682e-03 4.06622136e+02] [ 5.07296789e-01 8.61769316e-01 -1.90082658e-03 7.78586580e+01] [ 3.74148538e-03 3.21403804e-06 9.99993001e-01 -7.63548947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78028169299995 meters 0.019777319106671732 Centerline is valid? [True, True] Translation: X:406.66, Y:77.90, Z:-0.07 [[ 8.66913199e-01 -4.98452103e-01 -2.64701545e-03 4.06663659e+02] [ 4.98449658e-01 8.66917240e-01 -1.56159856e-03 7.79014376e+01] [ 3.07312542e-03 3.43664610e-05 9.99995277e-01 -7.38880877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84028169299995 meters 0.025457583598482564 Centerline is valid? [True, True] Translation: X:406.71, Y:77.94, Z:-0.07 [[ 8.70738554e-01 -4.91745946e-01 -5.43235539e-04 4.06709820e+02] [ 4.91745841e-01 8.70738724e-01 -3.20633716e-04 7.79403436e+01] [ 6.30686550e-04 1.20543216e-05 9.99999801e-01 -6.86706824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90028169299995 meters 0.033917321387880436 Centerline is valid? [True, True] Translation: X:406.75, Y:77.98, Z:-0.07 [[ 8.74529072e-01 -4.84972085e-01 9.88967393e-04 4.06752688e+02] [ 4.84971735e-01 8.74529631e-01 5.83657561e-04 7.79823512e+01] [-1.14793891e-03 -3.08042723e-05 9.99999341e-01 -6.59918804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96028169299996 meters 0.03901189160516328 Centerline is valid? [True, True] Translation: X:406.80, Y:78.02, Z:-0.07 [[ 8.76410813e-01 -4.81564188e-01 -1.40445843e-04 4.06796632e+02] [ 4.81564180e-01 8.76410825e-01 -8.29272581e-05 7.80230029e+01] [ 1.63023055e-04 5.04465835e-06 9.99999987e-01 -6.86475703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02028169299996 meters 0.041858193139289554 Centerline is valid? [True, True] Translation: X:406.84, Y:78.06, Z:-0.07 [[ 8.78718336e-01 -4.77340622e-01 -1.29898302e-04 4.06841273e+02] [ 4.77340616e-01 8.78718346e-01 -7.67045662e-05 7.80637590e+01] [ 1.50758226e-04 5.39597348e-06 9.99999989e-01 -6.80519990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08028169299996 meters 0.045303571876957195 Centerline is valid? [True, True] Translation: X:406.89, Y:78.11, Z:-0.06 [[ 8.80066401e-01 -4.74844620e-01 2.39082617e-03 4.06885011e+02] [ 4.74842534e-01 8.80069642e-01 1.41175521e-03 7.81074528e+01] [-2.77445790e-03 -1.07172369e-04 9.99996145e-01 -6.31057824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14028169299996 meters 0.04562614884774 Centerline is valid? [True, True] Translation: X:406.93, Y:78.14, Z:-0.06 [[ 8.80347753e-01 -4.74324344e-01 2.06168884e-03 4.06933862e+02] [ 4.74322790e-01 8.80350162e-01 1.21783895e-03 7.81406460e+01] [-2.39265877e-03 -9.42157756e-05 9.99997133e-01 -6.45115385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20028169299997 meters 0.04562449923039766 Centerline is valid? [True, True] Translation: X:406.98, Y:78.18, Z:-0.07 [[ 8.79787655e-01 -4.75366890e-01 -4.65194163e-05 4.06980497e+02] [ 4.75366889e-01 8.79787656e-01 -2.75075807e-05 7.81750807e+01] [ 5.40034013e-05 2.08703972e-06 9.99999999e-01 -6.92939702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26028169299997 meters 0.042433139755220214 Centerline is valid? [True, True] Translation: X:407.03, Y:78.21, Z:-0.07 [[ 8.78206559e-01 -4.78280768e-01 -8.64210131e-04 4.07029742e+02] [ 4.78280496e-01 8.78206984e-01 -5.10650777e-04 7.82075597e+01] [ 1.00318982e-03 3.51220116e-05 9.99999496e-01 -7.01071546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32028169299997 meters 0.03625857356947945 Centerline is valid? [True, True] Translation: X:407.08, Y:78.24, Z:-0.07 [[ 8.76859253e-01 -4.80747178e-01 -2.41156688e-05 4.07081411e+02] [ 4.80747178e-01 8.76859254e-01 -1.43135873e-05 7.82377325e+01] [ 2.80272640e-05 9.57461766e-07 1.00000000e+00 -6.83218457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.380281693 meters 0.035460797632361964 Centerline is valid? [True, True] Translation: X:407.13, Y:78.27, Z:-0.07 [[ 8.75592252e-01 -4.83049956e-01 9.73736792e-04 4.07128438e+02] [ 4.83049614e-01 8.75592793e-01 5.75600309e-04 7.82712768e+01] [-1.13064062e-03 -3.36279890e-05 9.99999360e-01 -6.75900256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.440281693 meters 0.03048953931687928 Centerline is valid? [True, True] Translation: X:407.18, Y:78.30, Z:-0.07 [[ 8.72512878e-01 -4.88590651e-01 6.72838206e-04 4.07179143e+02] [ 4.88590489e-01 8.72513138e-01 3.97769443e-04 7.83009572e+01] [-7.81406605e-04 -1.83166136e-05 9.99999695e-01 -6.80039604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.500281693 meters 0.023027829386507728 Centerline is valid? [True, True] Translation: X:407.23, Y:78.33, Z:-0.07 [[ 8.69976876e-01 -4.93092519e-01 -4.24659867e-05 4.07231321e+02] [ 4.93092519e-01 8.69976877e-01 -2.51247360e-05 7.83292065e+01] [ 4.93332459e-05 9.18279046e-07 9.99999999e-01 -6.92958116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.560281693 meters 0.021491774959480885 Centerline is valid? [True, True] Translation: X:407.28, Y:78.36, Z:-0.07 [[ 8.68265916e-01 -4.96099072e-01 -1.00316217e-04 4.07278939e+02] [ 4.96099068e-01 8.68265922e-01 -5.93458307e-05 7.83616529e+01] [ 1.16542564e-04 1.76118040e-06 9.99999993e-01 -7.01384869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.620281693 meters 0.017797236396342325 Centerline is valid? [True, True] Translation: X:407.33, Y:78.40, Z:-0.07 [[ 8.66270840e-01 -4.99574650e-01 -1.46755059e-05 4.07326237e+02] [ 4.99574650e-01 8.66270841e-01 -8.74714960e-06 7.83973606e+01] [ 1.70828171e-05 2.45889894e-07 1.00000000e+00 -7.10748045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.680281693 meters 0.01324489322760667 Centerline is valid? [True, True] Translation: X:407.38, Y:78.42, Z:-0.07 [[ 8.62712129e-01 -5.05695064e-01 5.32792202e-04 4.07378742e+02] [ 5.05694966e-01 8.62712294e-01 3.15196157e-04 7.84243573e+01] [-6.19039523e-04 -2.49321315e-06 9.99999808e-01 -7.09231589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.740281693 meters 0.012744322112242717 Centerline is valid? [True, True] Translation: X:407.43, Y:78.45, Z:-0.07 [[ 8.59732486e-01 -5.10744593e-01 1.10015920e-04 4.07429191e+02] [ 5.10744589e-01 8.59732493e-01 6.50735287e-05 7.84517132e+01] [-1.27820214e-04 2.44209193e-07 9.99999992e-01 -7.19298204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.800281693 meters 0.015411575729568527 Centerline is valid? [True, True] Translation: X:407.48, Y:78.48, Z:-0.07 [[ 8.56718918e-01 -5.15783212e-01 6.11139698e-04 4.07482264e+02] [ 5.15783086e-01 8.56719136e-01 3.61641787e-04 7.84765060e+01] [-7.10103837e-04 5.39015839e-06 9.99999748e-01 -6.97595384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86028169299993 meters 0.016076700829463338 Centerline is valid? [True, True] Translation: X:407.53, Y:78.51, Z:-0.07 [[ 8.55659396e-01 -5.17534432e-01 2.26060701e-03 4.07533246e+02] [ 5.17532702e-01 8.55662381e-01 1.33823566e-03 7.85053665e+01] [-2.62689941e-03 2.48641409e-05 9.99996549e-01 -6.71137658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92028169299994 meters 0.01844200667479419 Centerline is valid? [True, True] Translation: X:407.59, Y:78.53, Z:-0.07 [[ 8.54196486e-01 -5.19940768e-01 3.15618804e-03 4.07585939e+02] [ 5.19937411e-01 8.54202315e-01 1.86889021e-03 7.85287533e+01] [-3.66773534e-03 4.46207947e-05 9.99993273e-01 -6.79281087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98028169299994 meters 0.022024538387046447 Centerline is valid? [True, True] Translation: X:407.64, Y:78.55, Z:-0.07 [[ 8.51940442e-01 -5.23637485e-01 1.12583869e-03 4.07642027e+02] [ 5.23637061e-01 8.51941186e-01 6.66844845e-04 7.85493124e+01] [-1.30833331e-03 2.14187726e-05 9.99999144e-01 -7.23815147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04028169299994 meters 0.02808928412196055 Centerline is valid? [True, True] Translation: X:407.70, Y:78.56, Z:-0.07 [[ 8.48792993e-01 -5.28725273e-01 2.00908179e-04 4.07703271e+02] [ 5.28725260e-01 8.48793017e-01 1.18993614e-04 7.85627447e+01] [-2.33444390e-04 5.22428347e-06 9.99999973e-01 -7.40220788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10028169299994 meters 0.03138331931049926 Centerline is valid? [True, True] Translation: X:407.76, Y:78.58, Z:-0.07 [[ 8.47325497e-01 -5.31073622e-01 5.56763347e-04 4.07759778e+02] [ 5.31073520e-01 8.47325680e-01 3.29961473e-04 7.85838506e+01] [-6.46993715e-04 1.60975014e-05 9.99999791e-01 -7.27813933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16028169299994 meters 0.031570212802084496 Centerline is valid? [True, True] Translation: X:407.82, Y:78.60, Z:-0.07 [[ 8.47463426e-01 -5.30853779e-01 7.84854709e-05 4.07816213e+02] [ 5.30853777e-01 8.47463430e-01 4.65053537e-05 7.86015527e+01] [-9.12011091e-05 2.25272231e-06 9.99999996e-01 -7.48208550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22028169299995 meters 0.030268674151082576 Centerline is valid? [True, True] Translation: X:407.87, Y:78.63, Z:-0.07 [[ 8.48281336e-01 -5.29545791e-01 1.73288862e-04 4.07869818e+02] [ 5.29545781e-01 8.48281354e-01 1.02703325e-04 7.86260292e+01] [-2.01383824e-04 4.64307163e-06 9.99999980e-01 -7.42105181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28028169299995 meters 0.021854267748553702 Centerline is valid? [True, True] Translation: X:407.92, Y:78.66, Z:-0.07 [[ 8.52557140e-01 -5.22633998e-01 1.64102414e-04 4.07920509e+02] [ 5.22633989e-01 8.52557156e-01 9.72909335e-05 7.86560081e+01] [-1.90754237e-04 2.81941894e-06 9.99999982e-01 -7.36537324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34028169299995 meters 0.012620709185366919 Centerline is valid? [True, True] Translation: X:407.97, Y:78.70, Z:-0.07 [[ 8.59239233e-01 -5.11573903e-01 2.87784306e-04 4.07965466e+02] [ 5.11573875e-01 8.59239281e-01 1.70721319e-04 7.86966656e+01] [-3.34612151e-04 5.32477326e-07 9.99999944e-01 -7.23285780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40028169299995 meters 0.014556350049041588 Centerline is valid? [True, True] Translation: X:408.01, Y:78.73, Z:-0.07 [[ 8.63310392e-01 -5.04672918e-01 6.43029373e-04 4.08012650e+02] [ 5.04672773e-01 8.63310631e-01 3.81624430e-04 7.87315418e+01] [-7.47729608e-04 -4.94091909e-06 9.99999720e-01 -7.10287939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46028169299996 meters 0.027413342839206132 Centerline is valid? [True, True] Translation: X:408.05, Y:78.77, Z:-0.07 [[ 8.69092865e-01 -4.94647508e-01 1.19787838e-03 4.08054932e+02] [ 4.94646998e-01 8.69093690e-01 7.11015471e-04 7.87742100e+01] [-1.39277057e-03 -2.54115289e-05 9.99999030e-01 -7.14204561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52028169299996 meters 0.03202613666475863 Centerline is valid? [True, True] Translation: X:408.11, Y:78.80, Z:-0.07 [[ 8.71520793e-01 -4.90356705e-01 1.34502419e-03 4.08106386e+02] [ 4.90356056e-01 8.71521830e-01 7.98566984e-04 7.88046727e+01] [-1.56380062e-03 -3.64269741e-05 9.99998777e-01 -7.09181900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58028169299996 meters 0.037355061799728966 Centerline is valid? [True, True] Translation: X:408.15, Y:78.84, Z:-0.07 [[ 8.73522157e-01 -4.86784077e-01 5.50221161e-04 4.08153869e+02] [ 4.86783968e-01 8.73522330e-01 3.26744789e-04 7.88416002e+01] [-6.39684632e-04 -1.75799729e-05 9.99999795e-01 -7.30765115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64028169299996 meters 0.03973270409679205 Centerline is valid? [True, True] Translation: X:408.20, Y:78.88, Z:-0.07 [[ 8.74844752e-01 -4.84402636e-01 8.64178639e-04 4.08202374e+02] [ 4.84402365e-01 8.74845178e-01 5.13296305e-04 7.88761370e+01] [-1.00466460e-03 -3.04444026e-05 9.99999495e-01 -7.30680534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70028169299997 meters 0.035760457606992 Centerline is valid? [True, True] Translation: X:408.25, Y:78.90, Z:-0.07 [[ 8.72750273e-01 -4.88166604e-01 5.72020999e-04 4.08252659e+02] [ 4.88166486e-01 8.72750461e-01 3.39792726e-04 7.89046988e+01] [-6.65107052e-04 -1.73127130e-05 9.99999779e-01 -7.37617459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76028169299997 meters 0.03028465408669421 Centerline is valid? [True, True] Translation: X:408.31, Y:78.93, Z:-0.08 [[ 8.70319141e-01 -4.92487336e-01 -9.03589417e-04 4.08305806e+02] [ 4.92487043e-01 8.70319610e-01 -5.37021378e-04 7.89306420e+01] [ 1.05088782e-03 2.23739045e-05 9.99999448e-01 -7.77929736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82028169299997 meters 0.022762620353186838 Centerline is valid? [True, True] Translation: X:408.36, Y:78.96, Z:-0.07 [[ 8.66915615e-01 -4.98453918e-01 1.00381100e-03 4.08358607e+02] [ 4.98453561e-01 8.66916196e-01 5.96562439e-04 7.89551646e+01] [-1.16757890e-03 -1.68161255e-05 9.99999318e-01 -7.35568139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.880281693 meters 0.021175462584940068 Centerline is valid? [True, True] Translation: X:408.41, Y:78.99, Z:-0.07 [[ 8.66066653e-01 -4.99924290e-01 2.06337556e-03 4.08408935e+02] [ 4.99922786e-01 8.66069110e-01 1.22665938e-03 7.89854786e+01] [-2.40026265e-03 -3.08403217e-05 9.99997119e-01 -7.09085747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.940281693 meters 0.019053012859300705 Centerline is valid? [True, True] Translation: X:408.46, Y:79.01, Z:-0.07 [[ 8.65619605e-01 -5.00701724e-01 6.95198374e-04 4.08459718e+02] [ 5.00701553e-01 8.65619884e-01 4.13397243e-04 7.90148910e+01] [-8.08766248e-04 -9.75785215e-06 9.99999673e-01 -7.46940405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.000281693 meters 0.019888433561841543 Centerline is valid? [True, True] Translation: X:408.51, Y:79.05, Z:-0.08 [[ 8.65083479e-01 -5.01627367e-01 -7.47250117e-04 4.08507933e+02] [ 5.01627170e-01 8.65083802e-01 -4.44499966e-04 7.90465290e+01] [ 8.69407320e-04 9.68861510e-06 9.99999622e-01 -7.85771021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.060281693 meters 0.01864505729019875 Centerline is valid? [True, True] Translation: X:408.56, Y:79.08, Z:-0.08 [[ 8.64455405e-01 -5.02709371e-01 -3.77083162e-04 4.08558231e+02] [ 5.02709321e-01 8.64455487e-01 -2.24431126e-04 7.90761633e+01] [ 4.38795239e-04 4.44747927e-06 9.99999904e-01 -7.85812164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.120281693 meters 0.015699090769873743 Centerline is valid? [True, True] Translation: X:408.61, Y:79.10, Z:-0.08 [[ 8.63193560e-01 -5.04873069e-01 -2.49955955e-04 4.08610964e+02] [ 5.04873047e-01 8.63193596e-01 -1.48844935e-04 7.91032035e+01] [ 2.90908179e-04 2.28596449e-06 9.99999958e-01 -7.81497529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.180281693 meters 0.012955693117261531 Centerline is valid? [True, True] Translation: X:408.66, Y:79.13, Z:-0.08 [[ 8.60487989e-01 -5.09470685e-01 -2.05439580e-04 4.08663902e+02] [ 5.09470671e-01 8.60488013e-01 -1.22390407e-04 7.91289970e+01] [ 2.39132621e-04 6.50034896e-07 9.99999971e-01 -7.90569755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.240281693 meters 0.01257980817103247 Centerline is valid? [True, True] Translation: X:408.72, Y:79.16, Z:-0.08 [[ 8.58865242e-01 -5.12201589e-01 1.69208475e-04 4.08715628e+02] [ 5.12201579e-01 8.58865258e-01 1.00723268e-04 7.91555280e+01] [-1.96917898e-04 1.61134302e-07 9.99999981e-01 -7.82201417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.300281693 meters 0.013785981533198488 Centerline is valid? [True, True] Translation: X:408.77, Y:79.18, Z:-0.08 [[ 8.57144196e-01 -5.15076485e-01 -2.03488174e-04 4.08769355e+02] [ 5.15076471e-01 8.57144220e-01 -1.21270461e-04 7.91790420e+01] [ 2.36882275e-04 -8.65698898e-07 9.99999972e-01 -7.81738742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36028169299993 meters 0.016371332828105104 Centerline is valid? [True, True] Translation: X:408.83, Y:79.20, Z:-0.08 [[ 8.54605100e-01 -5.19277951e-01 -7.29723510e-04 4.08825295e+02] [ 5.19277768e-01 8.54605412e-01 -4.34985410e-04 7.91998727e+01] [ 8.49503993e-04 -7.18844575e-06 9.99999639e-01 -8.02000114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42028169299994 meters 0.019814601387755326 Centerline is valid? [True, True] Translation: X:408.88, Y:79.22, Z:-0.08 [[ 8.53067184e-01 -5.21801076e-01 1.30728345e-04 4.08879952e+02] [ 5.21801070e-01 8.53067194e-01 7.79027365e-05 7.92208640e+01] [-1.52169794e-04 1.75792255e-06 9.99999988e-01 -7.92330316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48028169299994 meters 0.022229836850937188 Centerline is valid? [True, True] Translation: X:408.94, Y:79.24, Z:-0.08 [[ 8.51269448e-01 -5.24728741e-01 -2.75715808e-04 4.08937364e+02] [ 5.24728715e-01 8.51269492e-01 -1.64470779e-04 7.92397314e+01] [ 3.21011001e-04 -4.66705248e-06 9.99999948e-01 -7.85281893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54028169299994 meters 0.019675197405042366 Centerline is valid? [True, True] Translation: X:408.99, Y:79.27, Z:-0.08 [[ 8.51351464e-01 -5.24595242e-01 -7.18540151e-04 4.08988530e+02] [ 5.24595067e-01 8.51351768e-01 -4.28730215e-04 7.92668816e+01] [ 8.36640259e-04 -1.19425220e-05 9.99999650e-01 -7.98739475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60028169299994 meters 0.021499743438805778 Centerline is valid? [True, True] Translation: X:409.04, Y:79.29, Z:-0.08 [[ 8.51696282e-01 -5.24035271e-01 -6.92049758e-04 4.09042589e+02] [ 5.24035108e-01 8.51696563e-01 -4.12929808e-04 7.92882394e+01] [ 8.05806184e-04 -1.09675870e-05 9.99999675e-01 -7.92572363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66028169299994 meters 0.020750616313929528 Centerline is valid? [True, True] Translation: X:409.10, Y:79.31, Z:-0.08 [[ 8.52351663e-01 -5.22968964e-01 3.25683867e-04 4.09095019e+02] [ 5.22968928e-01 8.52351725e-01 1.94318600e-04 7.93123809e+01] [-3.79219803e-04 4.69476119e-06 9.99999928e-01 -7.66696854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72028169299995 meters 0.017848991757642364 Centerline is valid? [True, True] Translation: X:409.15, Y:79.34, Z:-0.08 [[ 8.53991438e-01 -5.20286719e-01 -5.94649652e-04 4.09147391e+02] [ 5.20286598e-01 8.53991645e-01 -3.54928681e-04 7.93404977e+01] [ 6.92490513e-04 -6.28218908e-06 9.99999760e-01 -7.83009114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78028169299995 meters 0.014175196054278603 Centerline is valid? [True, True] Translation: X:409.19, Y:79.38, Z:-0.08 [[ 8.55850991e-01 -5.17219335e-01 -1.80004213e-03 4.09194126e+02] [ 5.17218219e-01 8.55852884e-01 -1.07476569e-03 7.93761817e+01] [ 2.09646084e-03 -1.11753037e-05 9.99997802e-01 -7.98746471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84028169299995 meters 0.01305923858576719 Centerline is valid? [True, True] Translation: X:409.24, Y:79.41, Z:-0.07 [[ 8.59945833e-01 -5.10383863e-01 1.21473673e-03 4.09242233e+02] [ 5.10383348e-01 8.59946691e-01 7.25454062e-04 7.94108871e+01] [-1.41486888e-03 -3.86979722e-06 9.99998999e-01 -7.38001189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90028169299995 meters 0.015039969634094756 Centerline is valid? [True, True] Translation: X:409.29, Y:79.44, Z:-0.08 [[ 8.62028769e-01 -5.06859266e-01 2.92159384e-04 4.09290763e+02] [ 5.06859236e-01 8.62028819e-01 1.74495790e-04 7.94444559e+01] [-3.40294616e-04 -2.33670872e-06 9.99999942e-01 -7.52148979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96028169299996 meters 0.01947572755716656 Centerline is valid? [True, True] Translation: X:409.34, Y:79.48, Z:-0.08 [[ 8.64799149e-01 -5.02116633e-01 -1.14840389e-03 4.09339059e+02] [ 5.02116164e-01 8.64799911e-01 -6.86483008e-04 7.94780987e+01] [ 1.33783412e-03 1.70377638e-05 9.99999105e-01 -7.88210934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02028169299996 meters 0.024641354240204916 Centerline is valid? [True, True] Translation: X:409.39, Y:79.52, Z:-0.07 [[ 8.67873150e-01 -4.96782195e-01 1.90965311e-03 4.09385413e+02] [ 4.96780885e-01 8.67875250e-01 1.14150403e-03 7.95157171e+01] [-2.22441955e-03 -4.20015384e-05 9.99997525e-01 -7.15096010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08028169299996 meters 0.029932918515741123 Centerline is valid? [True, True] Translation: X:409.43, Y:79.55, Z:-0.07 [[ 8.70231731e-01 -4.92639375e-01 1.78305917e-03 4.09431244e+02] [ 4.92638225e-01 8.70233557e-01 1.06591648e-03 7.95537775e+01] [-2.07679036e-03 -4.91912434e-05 9.99997842e-01 -7.24029482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14028169299996 meters 0.03914206240195965 Centerline is valid? [True, True] Translation: X:409.47, Y:79.60, Z:-0.07 [[ 8.73351785e-01 -4.87089868e-01 3.45995753e-04 4.09471916e+02] [ 4.87089824e-01 8.73351854e-01 2.06842832e-04 7.96001439e+01] [-4.02927080e-04 -1.21155467e-05 9.99999919e-01 -7.44628762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20028169299997 meters 0.037507221773371596 Centerline is valid? [True, True] Translation: X:409.52, Y:79.63, Z:-0.07 [[ 8.73135326e-01 -4.87476600e-01 1.12584889e-03 4.09520774e+02] [ 4.87476136e-01 8.73136051e-01 6.73295002e-04 7.96331632e+01] [-1.31123481e-03 -3.90531833e-05 9.99999140e-01 -7.44479632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26028169299997 meters 0.0323128747446806 Centerline is valid? [True, True] Translation: X:409.57, Y:79.66, Z:-0.08 [[ 8.70587544e-01 -4.92012913e-01 7.88142167e-04 4.09574394e+02] [ 4.92012688e-01 8.70587901e-01 4.71479695e-04 7.96592384e+01] [-9.18121133e-04 -2.26884035e-05 9.99999578e-01 -7.54648830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32028169299997 meters 0.023865560423293335 Centerline is valid? [True, True] Translation: X:409.63, Y:79.68, Z:-0.08 [[ 8.66388318e-01 -4.99369967e-01 9.58532491e-04 4.09631753e+02] [ 4.99369638e-01 8.66388848e-01 5.73525665e-04 7.96774624e+01] [-1.11686335e-03 -1.82339130e-05 9.99999376e-01 -7.53601584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.380281693 meters 0.01974772990240912 Centerline is valid? [True, True] Translation: X:409.69, Y:79.70, Z:-0.08 [[ 8.64210738e-01 -5.03129103e-01 9.51396555e-04 4.09686839e+02] [ 5.03128781e-01 8.64211262e-01 5.69405259e-04 7.97007838e+01] [-1.10869197e-03 -1.34111498e-05 9.99999385e-01 -7.58997562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.440281693 meters 0.01672020915667878 Centerline is valid? [True, True] Translation: X:409.74, Y:79.72, Z:-0.08 [[ 8.62328959e-01 -5.06348142e-01 5.70764665e-04 4.09740802e+02] [ 5.06348027e-01 8.62329148e-01 3.41665149e-04 7.97226694e+01] [-6.65188521e-04 -5.62218959e-06 9.99999779e-01 -7.71273254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.500281693 meters 0.014052951089017836 Centerline is valid? [True, True] Translation: X:409.80, Y:79.74, Z:-0.08 [[ 8.60516693e-01 -5.09422239e-01 -6.01696485e-05 4.09797325e+02] [ 5.09422238e-01 8.60516695e-01 -3.61007154e-05 7.97432594e+01] [ 7.01674943e-05 4.13511232e-07 9.99999998e-01 -7.88902655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.560281693 meters 0.013172956194156154 Centerline is valid? [True, True] Translation: X:409.85, Y:79.77, Z:-0.08 [[ 8.59194284e-01 -5.11649332e-01 3.79234557e-04 4.09850411e+02] [ 5.11649282e-01 8.59194367e-01 2.27125932e-04 7.97674996e+01] [-4.42045026e-04 -1.11021404e-06 9.99999902e-01 -7.81962397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.620281693 meters 0.01272860627823731 Centerline is valid? [True, True] Translation: X:409.90, Y:79.79, Z:-0.08 [[ 8.58378330e-01 -5.13016121e-01 1.04989011e-03 4.09901692e+02] [ 5.13015735e-01 8.58378972e-01 6.29026842e-04 7.97938847e+01] [-1.22390451e-03 -1.33286160e-06 9.99999251e-01 -7.59186839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.680281693 meters 0.01332555890553779 Centerline is valid? [True, True] Translation: X:409.95, Y:79.83, Z:-0.08 [[ 8.59531967e-01 -5.11081009e-01 9.99449892e-04 4.09950580e+02] [ 5.11080658e-01 8.59532548e-01 5.99030065e-04 7.98265931e+01] [-1.16521260e-03 -4.08598130e-06 9.99999321e-01 -7.63003805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.740281693 meters 0.014041681768200056 Centerline is valid? [True, True] Translation: X:410.00, Y:79.86, Z:-0.08 [[ 8.60405874e-01 -5.09607001e-01 1.56075270e-03 4.09999433e+02] [ 5.09606142e-01 8.60407290e-01 9.35846218e-04 7.98587903e+01] [-1.81979679e-03 -9.83842053e-06 9.99998344e-01 -7.62416823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.800281693 meters 0.014192951615215185 Centerline is valid? [True, True] Translation: X:410.05, Y:79.89, Z:-0.08 [[ 8.60403216e-01 -5.09611120e-01 1.67707419e-03 4.10047675e+02] [ 5.09610127e-01 8.60404850e-01 1.00603094e-03 7.98908548e+01] [-1.95564732e-03 -1.09382677e-05 9.99998088e-01 -7.59340158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86028169299993 meters 0.01449781806052295 Centerline is valid? [True, True] Translation: X:410.09, Y:79.92, Z:-0.08 [[ 8.60547744e-01 -5.09366454e-01 1.84281775e-03 4.10094914e+02] [ 5.09365254e-01 8.60549717e-01 1.10585772e-03 7.99219077e+01] [-2.14912312e-03 -1.29760401e-05 9.99997691e-01 -7.51932144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92028169299994 meters 0.013509857328360408 Centerline is valid? [True, True] Translation: X:410.15, Y:79.95, Z:-0.08 [[ 8.59064150e-01 -5.11865716e-01 1.50833202e-03 4.10146773e+02] [ 5.11864916e-01 8.59065474e-01 9.05281949e-04 7.99478644e+01] [-1.75913875e-03 -5.63302808e-06 9.99998453e-01 -7.73604131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98028169299994 meters 0.013116319168957702 Centerline is valid? [True, True] Translation: X:410.20, Y:79.97, Z:-0.08 [[ 8.58183733e-01 -5.13342648e-01 7.59528994e-05 4.10198569e+02] [ 5.13342646e-01 8.58183737e-01 4.55306717e-05 7.99733268e+01] [-8.85543785e-05 -8.38194750e-08 9.99999996e-01 -8.05137403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04028169299994 meters 0.01314163303948146 Centerline is valid? [True, True] Translation: X:410.25, Y:80.00, Z:-0.08 [[ 8.57816916e-01 -5.13952352e-01 -1.76595422e-03 4.10249873e+02] [ 5.13951258e-01 8.57818734e-01 -1.06061256e-03 7.99990270e+01] [ 2.05997293e-03 2.19700478e-06 9.99997878e-01 -8.40039139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10028169299994 meters 0.013855658585643924 Centerline is valid? [True, True] Translation: X:410.30, Y:80.03, Z:-0.08 [[ 8.59269405e-01 -5.11523042e-01 -5.16080449e-04 4.10298324e+02] [ 5.11522948e-01 8.59269560e-01 -3.10120364e-04 8.00332520e+01] [ 6.02085933e-04 2.48994758e-06 9.99999819e-01 -8.06147313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16028169299994 meters 0.01680825725983598 Centerline is valid? [True, True] Translation: X:410.35, Y:80.07, Z:-0.08 [[ 8.61567613e-01 -5.07642807e-01 1.72190424e-04 4.10345292e+02] [ 5.07642796e-01 8.61567630e-01 1.03423315e-04 8.00692862e+01] [-2.00855798e-04 -1.69495043e-06 9.99999980e-01 -7.89507135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22028169299995 meters 0.017890889035330093 Centerline is valid? [True, True] Translation: X:410.39, Y:80.10, Z:-0.08 [[ 8.62032250e-01 -5.06853361e-01 -2.65103586e-04 4.10394494e+02] [ 5.06853336e-01 8.62032291e-01 -1.59371800e-04 8.00993848e+01] [ 3.09305984e-04 3.01499444e-06 9.99999952e-01 -8.13135922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28028169299995 meters 0.01765892954384459 Centerline is valid? [True, True] Translation: X:410.44, Y:80.13, Z:-0.08 [[ 8.61771612e-01 -5.07295551e-01 9.55348099e-04 4.10444572e+02] [ 5.07295226e-01 8.61772141e-01 5.74403777e-04 8.01281639e+01] [-1.11468486e-03 -1.03613386e-05 9.99999379e-01 -7.81005127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34028169299995 meters 0.019763800077137832 Centerline is valid? [True, True] Translation: X:410.49, Y:80.16, Z:-0.08 [[ 8.62800923e-01 -5.05543660e-01 4.17714188e-04 4.10490472e+02] [ 5.05543598e-01 8.62801024e-01 2.51191758e-04 8.01635921e+01] [-4.87392630e-04 -5.55574732e-06 9.99999881e-01 -7.79184775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40028169299995 meters 0.022514235491300383 Centerline is valid? [True, True] Translation: X:410.54, Y:80.20, Z:-0.08 [[ 8.64017042e-01 -5.03462261e-01 5.49912211e-04 4.10537657e+02] [ 5.03462153e-01 8.64017217e-01 3.30771331e-04 8.01997584e+01] [-6.41664501e-04 -8.93208165e-06 9.99999794e-01 -7.78741749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46028169299996 meters 0.028324526522759387 Centerline is valid? [True, True] Translation: X:410.58, Y:80.24, Z:-0.08 [[ 8.66318612e-01 -4.99489063e-01 1.65506909e-03 4.10580568e+02] [ 4.99488071e-01 8.66320192e-01 9.95786680e-04 8.02411026e+01] [-1.93120433e-03 -3.59812658e-05 9.99998135e-01 -7.62725448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52028169299996 meters 0.02564516584967522 Centerline is valid? [True, True] Translation: X:410.63, Y:80.27, Z:-0.08 [[ 8.66671204e-01 -4.98876043e-01 1.92833539e-03 4.10629869e+02] [ 4.98874695e-01 8.66673348e-01 1.16058881e-03 8.02739197e+01] [-2.25022684e-03 -4.38511757e-05 9.99997467e-01 -7.55244616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58028169299996 meters 0.022359303452306384 Centerline is valid? [True, True] Translation: X:410.68, Y:80.30, Z:-0.08 [[ 8.65389673e-01 -5.01098055e-01 1.20560793e-03 4.10681282e+02] [ 5.01097530e-01 8.65390512e-01 7.25862509e-04 8.03029400e+01] [-1.40704995e-03 -2.40267637e-05 9.99999010e-01 -7.69646474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64028169299996 meters 0.019981798623953377 Centerline is valid? [True, True] Translation: X:410.73, Y:80.33, Z:-0.08 [[ 8.63488103e-01 -5.04367970e-01 1.11650106e-03 4.10732604e+02] [ 5.04367522e-01 8.63488825e-01 6.72340143e-04 8.03305320e+01] [-1.30319302e-03 -1.74308438e-05 9.99999151e-01 -7.84556416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70028169299997 meters 0.01904153023138528 Centerline is valid? [True, True] Translation: X:410.78, Y:80.36, Z:-0.08 [[ 8.62870755e-01 -5.05423691e-01 9.75811968e-04 4.10783101e+02] [ 5.05423350e-01 8.62871307e-01 5.87793046e-04 8.03608995e+01] [-1.13908468e-03 -1.39912752e-05 9.99999351e-01 -7.80224373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76028169299997 meters 0.0197026903826096 Centerline is valid? [True, True] Translation: X:410.83, Y:80.39, Z:-0.08 [[ 8.63045214e-01 -5.05125980e-01 -8.38953850e-04 4.10832444e+02] [ 5.05125727e-01 8.63045621e-01 -5.05669116e-04 8.03936849e+01] [ 9.79482054e-04 1.26381371e-05 9.99999520e-01 -8.16363256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82028169299997 meters 0.020386677752633028 Centerline is valid? [True, True] Translation: X:410.88, Y:80.43, Z:-0.08 [[ 8.63360366e-01 -5.04584232e-01 -1.90554958e-03 4.10881385e+02] [ 5.04582925e-01 8.63362469e-01 -1.14889659e-03 8.04261728e+01] [ 2.22489509e-03 3.04039997e-05 9.99997524e-01 -8.39756909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.880281693 meters 0.021124183868484255 Centerline is valid? [True, True] Translation: X:410.93, Y:80.46, Z:-0.08 [[ 8.64356312e-01 -5.02879448e-01 6.52560730e-04 4.10929881e+02] [ 5.02879295e-01 8.64356558e-01 3.93503641e-04 8.04593040e+01] [-7.61930040e-04 -1.19680762e-05 9.99999710e-01 -7.77803135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.940281693 meters 0.01966871663414161 Centerline is valid? [True, True] Translation: X:410.98, Y:80.49, Z:-0.07 [[ 8.63115764e-01 -5.04998160e-01 2.83477722e-03 4.10978584e+02] [ 5.04995267e-01 8.63120418e-01 1.70992528e-03 8.04912611e+01] [-3.31026322e-03 -4.43143838e-05 9.99994520e-01 -7.25986912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.000281693 meters 0.017202183439250274 Centerline is valid? [True, True] Translation: X:411.03, Y:80.52, Z:-0.08 [[ 8.61629415e-01 -5.07534264e-01 1.92944755e-03 4.11030899e+02] [ 5.07532929e-01 8.61631575e-01 1.16422728e-03 8.05190316e+01] [-2.25335816e-03 -2.38743010e-05 9.99997461e-01 -7.60707733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.060281693 meters 0.016424782368786812 Centerline is valid? [True, True] Translation: X:411.08, Y:80.55, Z:-0.08 [[ 8.60054423e-01 -5.10201814e-01 -7.06518160e-04 4.11081759e+02] [ 5.10201636e-01 8.60054713e-01 -4.26565641e-04 8.05475813e+01] [ 8.25278836e-04 6.40294496e-06 9.99999659e-01 -8.12432639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.120281693 meters 0.01279077630539474 Centerline is valid? [True, True] Translation: X:411.14, Y:80.56, Z:-0.08 [[ 8.56394875e-01 -5.16321429e-01 1.56582173e-05 4.11140012e+02] [ 5.16321429e-01 8.56394875e-01 9.39164830e-06 8.05649219e+01] [-1.82587263e-05 4.17136595e-08 1.00000000e+00 -7.91450429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.180281693 meters 0.013165177106292784 Centerline is valid? [True, True] Translation: X:411.20, Y:80.59, Z:-0.08 [[ 8.54445723e-01 -5.19540669e-01 1.53914778e-05 4.11195103e+02] [ 5.19540668e-01 8.54445723e-01 9.22234407e-06 8.05867688e+01] [-1.79425651e-05 1.16506223e-07 1.00000000e+00 -7.95049572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.240281693 meters 0.013327168696702616 Centerline is valid? [True, True] Translation: X:411.25, Y:80.61, Z:-0.08 [[ 8.54202786e-01 -5.19939961e-01 -1.91691184e-04 4.11247423e+02] [ 5.19939948e-01 8.54202808e-01 -1.15861935e-04 8.06099421e+01] [ 2.23984398e-04 -6.98316715e-07 9.99999975e-01 -8.04379095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.300281693 meters 0.013065615222893236 Centerline is valid? [True, True] Translation: X:411.30, Y:80.64, Z:-0.08 [[ 8.54858114e-01 -5.18861322e-01 -7.29846998e-04 4.11298080e+02] [ 5.18861135e-01 8.54858426e-01 -4.41265524e-04 8.06379290e+01] [ 8.52871469e-04 -1.46982773e-06 9.99999636e-01 -8.15382775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36028169299993 meters 0.014191734228627061 Centerline is valid? [True, True] Translation: X:411.34, Y:80.67, Z:-0.08 [[ 8.58187381e-01 -5.13333189e-01 -1.85922332e-03 4.11344500e+02] [ 5.13331958e-01 8.58189395e-01 -1.12440466e-03 8.06739432e+01] [ 2.17275996e-03 1.05511405e-05 9.99997640e-01 -8.32097572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42028169299994 meters 0.021248262408388143 Centerline is valid? [True, True] Translation: X:411.39, Y:80.72, Z:-0.08 [[ 8.62297587e-01 -5.06397094e-01 -2.20308977e-03 4.11385800e+02] [ 5.06395342e-01 8.62300401e-01 -1.33248333e-03 8.07185363e+01] [ 2.57449088e-03 3.33627619e-05 9.99996685e-01 -8.46564598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48028169299994 meters 0.023274422825909462 Centerline is valid? [True, True] Translation: X:411.43, Y:80.75, Z:-0.08 [[ 8.63267148e-01 -5.04744186e-01 -1.77148903e-03 4.11433447e+02] [ 5.04743048e-01 8.63268965e-01 -1.07186654e-03 8.07541667e+01] [ 2.07028990e-03 3.11604005e-05 9.99997856e-01 -8.45052807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54028169299994 meters 0.020654512205610247 Centerline is valid? [True, True] Translation: X:411.48, Y:80.79, Z:-0.08 [[ 8.62124435e-01 -5.06696272e-01 -5.88862361e-04 4.11481985e+02] [ 5.06696147e-01 8.62124636e-01 -3.56474132e-04 8.07878584e+01] [ 6.88296862e-04 8.95077036e-06 9.99999763e-01 -8.14697155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60028169299994 meters 0.01697429448020381 Centerline is valid? [True, True] Translation: X:411.53, Y:80.82, Z:-0.08 [[ 8.59870487e-01 -5.10510782e-01 -1.21981581e-03 4.11533579e+02] [ 5.10510248e-01 8.59871352e-01 -7.38627197e-04 8.08168242e+01] [ 1.42596182e-03 1.23952546e-05 9.99998983e-01 -8.21974396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66028169299994 meters 0.013441786542020683 Centerline is valid? [True, True] Translation: X:411.59, Y:80.84, Z:-0.08 [[ 8.55369590e-01 -5.18016642e-01 -1.27436219e-03 4.11588358e+02] [ 5.18016066e-01 8.55370539e-01 -7.71943635e-04 8.08406124e+01] [ 1.48993152e-03 1.57022192e-07 9.99998890e-01 -8.13065210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72028169299995 meters 0.014328787168564918 Centerline is valid? [True, True] Translation: X:411.64, Y:80.87, Z:-0.08 [[ 8.52801962e-01 -5.22234010e-01 6.72966791e-04 4.11641086e+02] [ 5.22233851e-01 8.52802227e-01 4.07699077e-04 8.08674223e+01] [-7.86821902e-04 3.75946655e-06 9.99999690e-01 -7.71222354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78028169299995 meters 0.015630211389369236 Centerline is valid? [True, True] Translation: X:411.69, Y:80.90, Z:-0.08 [[ 8.51046169e-01 -5.25089336e-01 1.26778669e-03 4.11692713e+02] [ 5.25088774e-01 8.51047113e-01 7.68408499e-04 8.08960697e+01] [-1.48242931e-03 1.17494465e-05 9.99998901e-01 -7.58694707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84028169299995 meters 0.016330700970467734 Centerline is valid? [True, True] Translation: X:411.74, Y:80.92, Z:-0.08 [[ 8.50631633e-01 -5.25761787e-01 6.06663768e-04 4.11743219e+02] [ 5.25761659e-01 8.50631849e-01 3.67759134e-04 8.09249079e+01] [-7.09401223e-04 6.13299665e-06 9.99999748e-01 -7.72256607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90028169299995 meters 0.01857865299553704 Centerline is valid? [True, True] Translation: X:411.80, Y:80.95, Z:-0.08 [[ 8.49250940e-01 -5.27985027e-01 -2.15685464e-03 4.11795462e+02] [ 5.27983408e-01 8.49253678e-01 -1.30776706e-03 8.09507610e+01] [ 2.52219816e-03 -2.81610584e-05 9.99996819e-01 -8.27436302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96028169299996 meters 0.023261174012209423 Centerline is valid? [True, True] Translation: X:411.85, Y:80.97, Z:-0.08 [[ 8.46939928e-01 -5.31683342e-01 -2.36269790e-03 4.11851212e+02] [ 5.31681414e-01 8.46943222e-01 -1.43274595e-03 8.09712346e+01] [ 2.76283813e-03 -4.27528125e-05 9.99996182e-01 -8.25774596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02028169299996 meters 0.02273475297143428 Centerline is valid? [True, True] Translation: X:411.90, Y:81.00, Z:-0.08 [[ 8.46343854e-01 -5.32636372e-01 -7.59784300e-04 4.11902515e+02] [ 5.32636172e-01 8.46344194e-01 -4.60963943e-04 8.10007594e+01] [ 8.88565193e-04 -1.45546014e-05 9.99999605e-01 -7.86004259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08028169299996 meters 0.02206305879581835 Centerline is valid? [True, True] Translation: X:411.95, Y:81.03, Z:-0.08 [[ 8.46869040e-01 -5.31795841e-01 -2.45217230e-03 4.11953961e+02] [ 5.31793760e-01 8.46872589e-01 -1.48813909e-03 8.10291805e+01] [ 2.86806368e-03 -4.37910041e-05 9.99995886e-01 -8.24822131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14028169299996 meters 0.022543802211476647 Centerline is valid? [True, True] Translation: X:412.01, Y:81.05, Z:-0.08 [[ 8.46543180e-01 -5.32317788e-01 -1.55467475e-03 4.12005935e+02] [ 5.32316952e-01 8.46544607e-01 -9.43905884e-04 8.10546250e+01] [ 1.81855942e-03 -2.85226379e-05 9.99998346e-01 -8.05234972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20028169299997 meters 0.02281741214747693 Centerline is valid? [True, True] Translation: X:412.06, Y:81.08, Z:-0.08 [[ 8.46219982e-01 -5.32829432e-01 -2.13036734e-03 4.12059724e+02] [ 5.32827862e-01 8.46222663e-01 -1.29387129e-03 8.10789801e+01] [ 2.49217783e-03 -4.02193303e-05 9.99996894e-01 -8.04939189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26028169299997 meters 0.019990586843482056 Centerline is valid? [True, True] Translation: X:412.11, Y:81.11, Z:-0.08 [[ 8.47427647e-01 -5.30905849e-01 -2.31563432e-03 4.12110803e+02] [ 5.30903986e-01 8.47430810e-01 -1.40691927e-03 8.11080187e+01] [ 2.70928154e-03 -3.71172017e-05 9.99996329e-01 -8.01419682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32028169299997 meters 0.018154374051075766 Centerline is valid? [True, True] Translation: X:412.16, Y:81.14, Z:-0.08 [[ 8.49040331e-01 -5.28324775e-01 -1.85689422e-03 4.12160538e+02] [ 5.28323571e-01 8.49042361e-01 -1.12840262e-03 8.11374056e+01] [ 2.17274491e-03 -2.29816503e-05 9.99997639e-01 -7.96783822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.380281693 meters 0.013746856493393413 Centerline is valid? [True, True] Translation: X:412.21, Y:81.17, Z:-0.08 [[ 8.52936506e-01 -5.22010367e-01 -2.11968243e-03 4.12207030e+02] [ 5.22008777e-01 8.52939140e-01 -1.28824326e-03 8.11727170e+01] [ 2.48043645e-03 -7.70313041e-06 9.99996924e-01 -8.01931788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.440281693 meters 0.013560558503493657 Centerline is valid? [True, True] Translation: X:412.25, Y:81.21, Z:-0.08 [[ 8.55330179e-01 -5.18075513e-01 -2.83702340e-03 4.12252852e+02] [ 5.18072642e-01 8.55334884e-01 -1.72451822e-03 8.12069955e+01] [ 3.32003574e-03 5.24826587e-06 9.99994489e-01 -8.20063221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.500281693 meters 0.016138981765809485 Centerline is valid? [True, True] Translation: X:412.30, Y:81.25, Z:-0.08 [[ 8.58148104e-01 -5.13386073e-01 -4.07082400e-03 4.12298250e+02] [ 5.13380107e-01 8.58157758e-01 -2.47542973e-03 8.12460538e+01] [ 4.76426035e-03 3.44052650e-05 9.99988650e-01 -8.44484286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.560281693 meters 0.016259879654308605 Centerline is valid? [True, True] Translation: X:412.35, Y:81.28, Z:-0.08 [[ 8.58173153e-01 -5.13352641e-01 -2.81172620e-03 4.12347345e+02] [ 5.13349793e-01 8.58177759e-01 -1.71012286e-03 8.12764756e+01] [ 3.29085697e-03 2.41824654e-05 9.99994585e-01 -8.18235690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.620281693 meters 0.015206208606355392 Centerline is valid? [True, True] Translation: X:412.40, Y:81.31, Z:-0.08 [[ 8.57123766e-01 -5.15097618e-01 -3.64609445e-03 4.12398474e+02] [ 5.15092841e-01 8.57131521e-01 -2.21840588e-03 8.13057890e+01] [ 4.26787807e-03 2.33712510e-05 9.99990892e-01 -8.29838697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.680281693 meters 0.01383426790591874 Centerline is valid? [True, True] Translation: X:412.45, Y:81.34, Z:-0.08 [[ 8.56146325e-01 -5.16729483e-01 -2.02783063e-03 4.12448242e+02] [ 5.16728009e-01 8.56148726e-01 -1.23430302e-03 8.13375037e+01] [ 2.37392537e-03 8.90710684e-06 9.99997182e-01 -7.89999834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.740281693 meters 0.014029179405533233 Centerline is valid? [True, True] Translation: X:412.49, Y:81.37, Z:-0.08 [[ 8.56027610e-01 -5.16929130e-01 -1.00228534e-03 4.12493856e+02] [ 5.16928770e-01 8.56028197e-01 -6.10186836e-04 8.13717840e+01] [ 1.17340787e-03 4.22664934e-06 9.99999312e-01 -7.77616029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.800281693 meters 0.01400499017068108 Centerline is valid? [True, True] Translation: X:412.54, Y:81.40, Z:-0.09 [[ 8.55004624e-01 -5.18605495e-01 -3.92847291e-03 4.12542844e+02] [ 5.18599977e-01 8.55013649e-01 -2.39237238e-03 8.14045052e+01] [ 4.59959542e-03 8.18349225e-06 9.99989422e-01 -8.67960508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86028169299993 meters 0.014257981356408187 Centerline is valid? [True, True] Translation: X:412.60, Y:81.43, Z:-0.08 [[ 8.52280497e-01 -5.23069993e-01 -3.96710673e-03 4.12595061e+02] [ 5.23064409e-01 8.52289729e-01 -2.41693530e-03 8.14309158e+01] [ 4.64535065e-03 -1.51455217e-05 9.99989210e-01 -8.39892660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92028169299994 meters 0.015682383411588223 Centerline is valid? [True, True] Translation: X:412.64, Y:81.46, Z:-0.08 [[ 8.50590095e-01 -5.25821592e-01 -2.85369610e-03 4.12644898e+02] [ 5.25818717e-01 8.50594882e-01 -1.73879158e-03 8.14597476e+01] [ 3.34163345e-03 -2.15279280e-05 9.99994416e-01 -8.28969378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98028169299994 meters 0.016554560254988845 Centerline is valid? [True, True] Translation: X:412.70, Y:81.49, Z:-0.08 [[ 8.49293527e-01 -5.27915488e-01 -2.39623834e-03 4.12695534e+02] [ 5.27913468e-01 8.49296908e-01 -1.46064522e-03 8.14900764e+01] [ 2.80621504e-03 -2.44899586e-05 9.99996062e-01 -8.07305373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04028169299994 meters 0.018104868001771104 Centerline is valid? [True, True] Translation: X:412.75, Y:81.52, Z:-0.08 [[ 8.48179785e-01 -5.29699995e-01 -2.99453182e-03 4.12746433e+02] [ 5.29696849e-01 8.48185070e-01 -1.82599647e-03 8.15188087e+01] [ 3.50714750e-03 -3.74207725e-05 9.99993849e-01 -8.27168644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10028169299994 meters 0.0239380434369086 Centerline is valid? [True, True] Translation: X:412.80, Y:81.54, Z:-0.08 [[ 8.44990994e-01 -5.34770330e-01 -3.30361466e-03 4.12803548e+02] [ 5.34766538e-01 8.44997450e-01 -2.01480072e-03 8.15365433e+01] [ 3.86900161e-03 -6.41741085e-05 9.99992513e-01 -8.35590589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16028169299994 meters 0.026626779101115144 Centerline is valid? [True, True] Translation: X:412.86, Y:81.56, Z:-0.08 [[ 8.42816424e-01 -5.38192578e-01 -3.03725755e-03 4.12858685e+02] [ 5.38189393e-01 8.42821893e-01 -1.85303217e-03 8.15599441e+01] [ 3.55715532e-03 -7.28538525e-05 9.99993671e-01 -8.19658498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22028169299995 meters 0.024677471463484524 Centerline is valid? [True, True] Translation: X:412.91, Y:81.59, Z:-0.08 [[ 8.44227017e-01 -5.35985578e-01 -4.52858115e-04 4.12910644e+02] [ 5.35985506e-01 8.44227138e-01 -2.76423748e-04 8.15870107e+01] [ 5.30474253e-04 -9.36098970e-06 9.99999859e-01 -7.57176554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28028169299995 meters 0.01815766575674502 Centerline is valid? [True, True] Translation: X:412.96, Y:81.62, Z:-0.08 [[ 8.47270929e-01 -5.31160219e-01 -8.91938074e-04 4.12957159e+02] [ 5.31159940e-01 8.47271398e-01 -5.44506612e-04 8.16237080e+01] [ 1.04493387e-03 -1.24171507e-05 9.99999454e-01 -7.70650855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34028169299995 meters 0.014973942238427565 Centerline is valid? [True, True] Translation: X:413.01, Y:81.66, Z:-0.08 [[ 8.50613679e-01 -5.25777547e-01 -3.78678421e-03 4.13005719e+02] [ 5.25772462e-01 8.50622108e-01 -2.31248656e-03 8.16561042e+01] [ 4.43697588e-03 -2.39541544e-05 9.99990156e-01 -8.23826156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40028169299995 meters 0.013089946348184259 Centerline is valid? [True, True] Translation: X:413.05, Y:81.69, Z:-0.08 [[ 8.52413443e-01 -5.22867865e-01 -7.19421145e-04 4.13054873e+02] [ 5.22867680e-01 8.52413747e-01 -4.39548457e-04 8.16885236e+01] [ 8.43070237e-04 -1.48505120e-06 9.99999645e-01 -7.54609991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46028169299996 meters 0.012934652611942552 Centerline is valid? [True, True] Translation: X:413.10, Y:81.72, Z:-0.07 [[ 8.53138517e-01 -5.21684410e-01 2.16844602e-04 4.13103904e+02] [ 5.21684393e-01 8.53138545e-01 1.32446239e-04 8.17200280e+01] [-2.54093627e-04 1.29456618e-07 9.99999968e-01 -7.40841858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52028169299996 meters 0.013535957601340987 Centerline is valid? [True, True] Translation: X:413.15, Y:81.75, Z:-0.08 [[ 8.54132186e-01 -5.20046412e-01 -3.15245309e-03 4.13152794e+02] [ 5.20042840e-01 8.54138004e-01 -1.92737839e-03 8.17529723e+01] [ 3.69495621e-03 6.82526183e-06 9.99993174e-01 -8.20140828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58028169299996 meters 0.013703470571372053 Centerline is valid? [True, True] Translation: X:413.20, Y:81.78, Z:-0.08 [[ 8.54139515e-01 -5.20027782e-01 -4.09808588e-03 4.13202340e+02] [ 5.20021745e-01 8.54149346e-01 -2.50579497e-03 8.17823045e+01] [ 4.80346038e-03 9.20473362e-06 9.99988463e-01 -8.39753189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64028169299996 meters 0.013611870231945856 Centerline is valid? [True, True] Translation: X:413.26, Y:81.81, Z:-0.08 [[ 8.52120648e-01 -5.23324330e-01 -4.69539258e-03 4.13255249e+02] [ 5.23316447e-01 8.52133584e-01 -2.87235467e-03 8.18064275e+01] [ 5.50427480e-03 -9.58343915e-06 9.99984851e-01 -8.33674749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70028169299997 meters 0.01393351098921635 Centerline is valid? [True, True] Translation: X:413.31, Y:81.83, Z:-0.08 [[ 8.50970797e-01 -5.25206121e-01 -2.68930164e-03 4.13305928e+02] [ 5.25203544e-01 8.50975047e-01 -1.64544462e-03 8.18329885e+01] [ 3.15272617e-03 -1.22054308e-05 9.99995030e-01 -8.04635273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76028169299997 meters 0.01366835068288719 Centerline is valid? [True, True] Translation: X:413.36, Y:81.86, Z:-0.08 [[ 8.50855348e-01 -5.25399357e-01 -8.31643584e-04 4.13355027e+02] [ 5.25399110e-01 8.50855755e-01 -5.09133054e-04 8.18645416e+01] [ 9.75106909e-04 -3.74621749e-06 9.99999525e-01 -7.72589904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82028169299997 meters 0.014011537441026485 Centerline is valid? [True, True] Translation: X:413.40, Y:81.90, Z:-0.08 [[ 8.50662529e-01 -5.25711768e-01 -6.31600124e-04 4.13403448e+02] [ 5.25711626e-01 8.50662763e-01 -3.86714183e-04 8.18951079e+01] [ 7.40578903e-04 -3.07626384e-06 9.99999726e-01 -7.64365371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.880281693 meters 0.015159212954208074 Centerline is valid? [True, True] Translation: X:413.46, Y:81.92, Z:-0.08 [[ 8.49192382e-01 -5.28081193e-01 -1.59709289e-03 4.13455080e+02] [ 5.28080288e-01 8.49193884e-01 -9.78204239e-04 8.19239992e+01] [ 1.87281277e-03 -1.27096825e-05 9.99998246e-01 -7.79378507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.940281693 meters 0.016189599129074233 Centerline is valid? [True, True] Translation: X:413.51, Y:81.96, Z:-0.08 [[ 8.48351247e-01 -5.29427806e-01 -2.52201598e-03 4.13505390e+02] [ 5.29425552e-01 8.48354995e-01 -1.54524192e-03 8.19553084e+01] [ 2.95765890e-03 -2.43117944e-05 9.99995626e-01 -8.01140462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.000281693 meters 0.018665626490473985 Centerline is valid? [True, True] Translation: X:413.56, Y:81.98, Z:-0.08 [[ 8.46365241e-01 -5.32602926e-01 4.25706894e-05 4.13558619e+02] [ 5.32602925e-01 8.46365242e-01 2.60617096e-05 8.19802204e+01] [-4.99108945e-05 6.15548595e-07 9.99999999e-01 -7.50495368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.060281693 meters 0.02127685284850675 Centerline is valid? [True, True] Translation: X:413.61, Y:82.00, Z:-0.08 [[ 8.44700521e-01 -5.35239221e-01 -7.81919489e-05 4.13612901e+02] [ 5.35239219e-01 8.44700525e-01 -4.79425861e-05 8.20031122e+01] [ 9.17095328e-05 -1.35427017e-06 9.99999996e-01 -7.59756357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.120281693 meters 0.025482040316798536 Centerline is valid? [True, True] Translation: X:413.67, Y:82.02, Z:-0.08 [[ 8.42618492e-01 -5.38509588e-01 -1.22478014e-03 4.13671321e+02] [ 5.38509066e-01 8.42619382e-01 -7.50767388e-04 8.20185161e+01] [ 1.43631892e-03 -2.69447222e-05 9.99998968e-01 -7.79926771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.180281693 meters 0.025508899027359772 Centerline is valid? [True, True] Translation: X:413.73, Y:82.04, Z:-0.08 [[ 8.42283121e-01 -5.39033661e-01 -1.36209980e-03 4.13725030e+02] [ 5.39033015e-01 8.42284222e-01 -8.35273061e-04 8.20427331e+01] [ 1.59751547e-03 -3.06803603e-05 9.99998724e-01 -7.80503163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.240281693 meters 0.020119587726395244 Centerline is valid? [True, True] Translation: X:413.77, Y:82.07, Z:-0.08 [[ 8.45544628e-01 -5.33896916e-01 -2.89240992e-03 4.13774664e+02] [ 5.33893969e-01 8.45549574e-01 -1.77432346e-03 8.20718224e+01] [ 3.39298179e-03 -4.39705427e-05 9.99994243e-01 -8.08472838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.300281693 meters 0.01547862780798296 Centerline is valid? [True, True] Translation: X:413.82, Y:82.10, Z:-0.08 [[ 8.48502495e-01 -5.29189723e-01 -1.32368359e-03 4.13824146e+02] [ 5.29189100e-01 8.48503528e-01 -8.12327725e-04 8.21030737e+01] [ 1.55302568e-03 -1.12168233e-05 9.99998794e-01 -7.76547987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36028169299993 meters 0.01322355166777082 Centerline is valid? [True, True] Translation: X:413.87, Y:82.13, Z:-0.07 [[ 8.50739739e-01 -5.25586902e-01 5.51934170e-04 4.13874562e+02] [ 5.25586792e-01 8.50739919e-01 3.38708000e-04 8.21307376e+01] [-6.47572919e-04 1.93695464e-06 9.99999790e-01 -7.42842472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42028169299994 meters 0.01287539518429105 Centerline is valid? [True, True] Translation: X:413.93, Y:82.16, Z:-0.08 [[ 8.51230794e-01 -5.24791046e-01 -7.01767356e-04 4.13926371e+02] [ 5.24790869e-01 8.51231084e-01 -4.30945492e-04 8.21577570e+01] [ 8.23522522e-04 -1.44702760e-06 9.99999661e-01 -7.68501459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48028169299994 meters 0.012950552810839532 Centerline is valid? [True, True] Translation: X:413.98, Y:82.19, Z:-0.07 [[ 8.53366365e-01 -5.21308260e-01 1.88295253e-03 4.13975475e+02] [ 5.21306978e-01 8.53368442e-01 1.15626833e-03 8.21860619e+01] [-2.20962450e-03 -5.12420929e-06 9.99997559e-01 -7.07834357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54028169299994 meters 0.014633618651980491 Centerline is valid? [True, True] Translation: X:414.02, Y:82.22, Z:-0.07 [[ 8.55370153e-01 -5.18012675e-01 2.18410288e-03 4.14024295e+02] [ 5.18010938e-01 8.55372941e-01 1.34166281e-03 8.22194587e+01] [-2.56322085e-03 -1.62291379e-05 9.99996715e-01 -7.13339239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60028169299994 meters 0.020308658545098186 Centerline is valid? [True, True] Translation: X:414.07, Y:82.26, Z:-0.08 [[ 8.58747843e-01 -5.12396213e-01 -1.50436580e-03 4.14069932e+02] [ 5.12395379e-01 8.58749161e-01 -9.24344535e-04 8.22564299e+01] [ 1.76550351e-03 2.29487911e-05 9.99998441e-01 -7.89899170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66028169299994 meters 0.026008634343436587 Centerline is valid? [True, True] Translation: X:414.11, Y:82.30, Z:-0.08 [[ 8.61144651e-01 -5.08356944e-01 -1.76306251e-03 4.14113471e+02] [ 5.08355791e-01 8.61146455e-01 -1.08349200e-03 8.22957058e+01] [ 2.06905571e-03 3.67803004e-05 9.99997859e-01 -7.99310434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72028169299995 meters 0.02978734165088642 Centerline is valid? [True, True] Translation: X:414.16, Y:82.33, Z:-0.07 [[ 8.63487836e-01 -5.04368736e-01 9.67463141e-04 4.14159928e+02] [ 5.04368386e-01 8.63488377e-01 5.94672035e-04 8.23336063e+01] [-1.13532716e-03 -2.55342457e-05 9.99999355e-01 -7.46537633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78028169299995 meters 0.02717267232119615 Centerline is valid? [True, True] Translation: X:414.21, Y:82.36, Z:-0.07 [[ 8.63430700e-01 -5.04461967e-01 2.35582767e-03 4.14209671e+02] [ 5.04459891e-01 8.63433911e-01 1.44875110e-03 8.23635051e+01] [-2.76494133e-03 -6.24756114e-05 9.99996176e-01 -7.20202733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84028169299995 meters 0.02576392794265717 Centerline is valid? [True, True] Translation: X:414.26, Y:82.39, Z:-0.08 [[ 8.61554461e-01 -5.07664153e-01 1.00971343e-03 4.14258763e+02] [ 5.07663773e-01 8.61555052e-01 6.21053826e-04 8.23941478e+01] [-1.18521047e-03 -2.24767664e-05 9.99999297e-01 -7.59907486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90028169299995 meters 0.02304820337268434 Centerline is valid? [True, True] Translation: X:414.31, Y:82.42, Z:-0.08 [[ 8.59784346e-01 -5.10657288e-01 -1.11986301e-04 4.14309071e+02] [ 5.10657284e-01 8.59784353e-01 -6.89157686e-05 8.24223660e+01] [ 1.31476409e-04 2.06607863e-06 9.99999991e-01 -7.97987804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96028169299996 meters 0.017161395383096065 Centerline is valid? [True, True] Translation: X:414.36, Y:82.45, Z:-0.08 [[ 8.56520670e-01 -5.16108225e-01 -2.15472431e-03 4.14363719e+02] [ 5.16106522e-01 8.56523380e-01 -1.32606806e-03 8.24464413e+01] [ 2.52996638e-03 2.37374353e-05 9.99996799e-01 -8.33156134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02028169299996 meters 0.013744311930989468 Centerline is valid? [True, True] Translation: X:414.42, Y:82.47, Z:-0.08 [[ 8.53577568e-01 -5.20964532e-01 -1.13694804e-03 4.14418939e+02] [ 5.20964061e-01 8.53578325e-01 -7.00000881e-04 8.24692208e+01] [ 1.33514984e-03 5.19598091e-06 9.99999109e-01 -8.04405611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08028169299996 meters 0.013722387951768741 Centerline is valid? [True, True] Translation: X:414.48, Y:82.49, Z:-0.08 [[ 8.49060213e-01 -5.28292531e-01 1.93808671e-03 4.14476938e+02] [ 5.28291182e-01 8.49062425e-01 1.19357870e-03 8.24856386e+01] [-2.27611532e-03 1.04539365e-05 9.99997410e-01 -7.61536788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14028169299996 meters 0.01606020457681921 Centerline is valid? [True, True] Translation: X:414.53, Y:82.51, Z:-0.08 [[ 8.46934429e-01 -5.31697298e-01 2.37218793e-04 4.14531776e+02] [ 5.31697278e-01 8.46934462e-01 1.46097143e-04 8.25074938e+01] [-2.78588227e-04 2.39388603e-06 9.99999961e-01 -7.89545171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20028169299997 meters 0.01854036814405319 Centerline is valid? [True, True] Translation: X:414.59, Y:82.53, Z:-0.08 [[ 8.45596521e-01 -5.33817625e-01 -2.29479745e-03 4.14586639e+02] [ 5.33815754e-01 8.45599635e-01 -1.41375703e-03 8.25292255e+01] [ 2.69516831e-03 -2.95310094e-05 9.99996368e-01 -8.35543905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26028169299997 meters 0.018669636172595955 Centerline is valid? [True, True] Translation: X:414.64, Y:82.55, Z:-0.08 [[ 8.45060889e-01 -5.34669366e-01 -8.73104656e-04 4.14641460e+02] [ 5.34669095e-01 8.45061340e-01 -5.38044657e-04 8.25514576e+01] [ 1.02550299e-03 -1.21415800e-05 9.99999474e-01 -8.14563715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32028169299997 meters 0.018539939240062104 Centerline is valid? [True, True] Translation: X:414.69, Y:82.58, Z:-0.08 [[ 8.45127572e-01 -5.34564145e-01 7.50060336e-04 4.14692566e+02] [ 5.34563945e-01 8.45127905e-01 4.62303195e-04 8.25789185e+01] [-8.81027632e-04 1.02500359e-05 9.99999612e-01 -7.81321367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.380281693 meters 0.01900602669668271 Centerline is valid? [True, True] Translation: X:414.74, Y:82.60, Z:-0.08 [[ 8.44929830e-01 -5.34877105e-01 2.55250488e-04 4.14744843e+02] [ 5.34877082e-01 8.44929869e-01 1.57345146e-04 8.26031662e+01] [-2.99829077e-04 3.58202848e-06 9.99999955e-01 -7.94159034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.440281693 meters 0.018809917945019478 Centerline is valid? [True, True] Translation: X:414.79, Y:82.63, Z:-0.08 [[ 8.45109069e-01 -5.34592276e-01 -1.32669308e-03 4.14794950e+02] [ 5.34591650e-01 8.45110110e-01 -8.18457490e-04 8.26315105e+01] [ 1.55874279e-03 -1.75531974e-05 9.99998785e-01 -8.38091322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.500281693 meters 0.018859305641921432 Centerline is valid? [True, True] Translation: X:414.85, Y:82.66, Z:-0.08 [[ 8.45182308e-01 -5.34477002e-01 -1.09553642e-03 4.14847170e+02] [ 5.34476574e-01 8.45183018e-01 -6.75978415e-04 8.26557643e+01] [ 1.28722370e-03 -1.42135565e-05 9.99999171e-01 -8.40943142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.560281693 meters 0.021216232144264775 Centerline is valid? [True, True] Translation: X:414.90, Y:82.68, Z:-0.08 [[ 8.43988220e-01 -5.36360229e-01 -1.26053901e-03 4.14900870e+02] [ 5.36359665e-01 8.43989161e-01 -7.77890070e-04 8.26780220e+01] [ 1.48111056e-03 -1.95722276e-05 9.99998903e-01 -8.42364287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.620281693 meters 0.022436286852417515 Centerline is valid? [True, True] Translation: X:414.96, Y:82.70, Z:-0.08 [[ 8.43378594e-01 -5.37318970e-01 9.33989557e-04 4.14955071e+02] [ 5.37318661e-01 8.43379111e-01 5.76423000e-04 8.27006165e+01] [-1.09743029e-03 1.57071988e-05 9.99999398e-01 -7.81507272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.680281693 meters 0.021631138796121066 Centerline is valid? [True, True] Translation: X:415.00, Y:82.73, Z:-0.08 [[ 8.43694335e-01 -5.36821201e-01 1.69309694e-03 4.15003950e+02] [ 5.36820184e-01 8.43696034e-01 1.04531409e-03 8.27315708e+01] [-1.98960594e-03 2.69630386e-05 9.99998020e-01 -7.68436874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.740281693 meters 0.015805786263502625 Centerline is valid? [True, True] Translation: X:415.05, Y:82.77, Z:-0.08 [[ 8.46772367e-01 -5.31953571e-01 1.39918290e-03 4.15050678e+02] [ 5.31952869e-01 8.46773523e-01 8.64142295e-04 8.27687309e+01] [-1.64447462e-03 1.25675440e-05 9.99998648e-01 -7.90137096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.800281693 meters 0.013503958938919543 Centerline is valid? [True, True] Translation: X:415.10, Y:82.80, Z:-0.08 [[ 8.49020058e-01 -5.28360579e-01 -1.99876057e-04 4.15097791e+02] [ 5.28360565e-01 8.49020081e-01 -1.23565312e-04 8.28047633e+01] [ 2.34985827e-04 -6.97197876e-07 9.99999972e-01 -8.13261678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86028169299993 meters 0.013283183681275165 Centerline is valid? [True, True] Translation: X:415.14, Y:82.84, Z:-0.08 [[ 8.51836140e-01 -5.23806031e-01 1.55960304e-03 4.15142272e+02] [ 5.23805144e-01 8.51837568e-01 9.63974430e-04 8.28426343e+01] [-1.83346408e-03 -4.22016039e-06 9.99998319e-01 -7.79475012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92028169299994 meters 0.013865410963715265 Centerline is valid? [True, True] Translation: X:415.19, Y:82.88, Z:-0.07 [[ 8.52399487e-01 -5.22880187e-01 3.37983031e-03 4.15190032e+02] [ 5.22876012e-01 8.52406188e-01 2.08955627e-03 8.28758423e+01] [-3.97357584e-03 -1.39044969e-05 9.99992105e-01 -7.40342124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98028169299994 meters 0.01478618088774107 Centerline is valid? [True, True] Translation: X:415.23, Y:82.91, Z:-0.08 [[ 8.53251411e-01 -5.21495058e-01 2.22127977e-03 4.15234474e+02] [ 5.21493249e-01 8.53254302e-01 1.37358006e-03 8.29118285e+01] [-2.61163173e-03 -1.36267239e-05 9.99996590e-01 -7.74583156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04028169299994 meters 0.016067770734044095 Centerline is valid? [True, True] Translation: X:415.28, Y:82.95, Z:-0.08 [[ 8.54813076e-01 -5.18934770e-01 1.14438356e-03 4.15280286e+02] [ 5.18934288e-01 8.54813842e-01 7.07747664e-04 8.29486011e+01] [-1.34550978e-03 -1.11320879e-05 9.99999095e-01 -7.89704495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10028169299994 meters 0.018276372694068732 Centerline is valid? [True, True] Translation: X:415.33, Y:82.99, Z:-0.08 [[ 8.56518558e-01 -5.16115170e-01 1.04492882e-03 4.15325261e+02] [ 5.16114765e-01 8.56519195e-01 6.46438028e-04 8.29882947e+01] [-1.22863806e-03 -1.43829758e-05 9.99999245e-01 -7.87533304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16028169299994 meters 0.01899812759949475 Centerline is valid? [True, True] Translation: X:415.37, Y:83.02, Z:-0.08 [[ 8.56812805e-01 -5.15625903e-01 1.32116001e-03 4.15372199e+02] [ 5.15625255e-01 8.56813823e-01 8.17651816e-04 8.30244135e+01] [-1.55359061e-03 -1.93510807e-05 9.99998793e-01 -7.92701355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22028169299995 meters 0.01989598552020897 Centerline is valid? [True, True] Translation: X:415.42, Y:83.06, Z:-0.08 [[ 8.57203179e-01 -5.14974474e-01 2.00022822e-03 4.15417288e+02] [ 5.14972987e-01 8.57205512e-01 1.23823222e-03 8.30619688e+01] [-2.35226464e-03 -3.13530929e-05 9.99997233e-01 -7.73920722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28028169299995 meters 0.02000998579027162 Centerline is valid? [True, True] Translation: X:415.47, Y:83.09, Z:-0.08 [[ 8.57203138e-01 -5.14974902e-01 1.90509299e-03 4.15465211e+02] [ 5.14973552e-01 8.57205255e-01 1.17979433e-03 8.30941103e+01] [-2.24062019e-03 -3.02508969e-05 9.99997489e-01 -7.74964812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34028169299995 meters 0.019021932885466743 Centerline is valid? [True, True] Translation: X:415.51, Y:83.13, Z:-0.08 [[ 8.56253717e-01 -5.16551564e-01 2.01364730e-03 4.15513616e+02] [ 5.16550059e-01 8.56256084e-01 1.24724010e-03 8.31264097e+01] [-2.36846158e-03 -2.78043339e-05 9.99997195e-01 -7.73797439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40028169299995 meters 0.017495474157886055 Centerline is valid? [True, True] Translation: X:415.56, Y:83.16, Z:-0.08 [[ 8.55146633e-01 -5.18384187e-01 1.43925772e-03 4.15563607e+02] [ 5.18383420e-01 8.55147844e-01 8.91742569e-04 8.31572610e+01] [-1.69304338e-03 -1.64833171e-05 9.99998567e-01 -7.86850258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46028169299996 meters 0.0165754093210266 Centerline is valid? [True, True] Translation: X:415.61, Y:83.19, Z:-0.07 [[ 8.54223908e-01 -5.19889605e-01 4.03892885e-03 4.15612424e+02] [ 5.19883581e-01 8.54233456e-01 2.50299468e-03 8.31878327e+01] [-4.75146906e-03 -3.83451054e-05 9.99988711e-01 -7.33464034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52028169299996 meters 0.015704032529631373 Centerline is valid? [True, True] Translation: X:415.66, Y:83.22, Z:-0.08 [[ 8.53775322e-01 -5.20639359e-01 1.53528417e-03 4.15662474e+02] [ 5.20638489e-01 8.53776703e-01 9.51719576e-04 8.32196321e+01] [-1.80629253e-03 -1.32266562e-05 9.99998369e-01 -7.90211166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58028169299996 meters 0.015398965493418945 Centerline is valid? [True, True] Translation: X:415.71, Y:83.25, Z:-0.08 [[ 8.53073503e-01 -5.21790553e-01 -4.65754431e-04 4.15712228e+02] [ 5.21790473e-01 8.53073630e-01 -2.88832698e-04 8.32493422e+01] [ 5.48032997e-04 3.36929672e-06 9.99999850e-01 -8.39880744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64028169299996 meters 0.01386188615725405 Centerline is valid? [True, True] Translation: X:415.77, Y:83.28, Z:-0.08 [[ 8.51355487e-01 -5.24585490e-01 1.97449605e-03 4.15765096e+02] [ 5.24584060e-01 8.51357777e-01 1.22470028e-03 8.32763995e+01] [-2.32346257e-03 -6.86615085e-06 9.99997301e-01 -7.81176108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70028169299997 meters 0.013881643924299237 Centerline is valid? [True, True] Translation: X:415.81, Y:83.31, Z:-0.08 [[ 8.51539254e-01 -5.24286882e-01 2.04050830e-03 4.15813788e+02] [ 5.24285354e-01 8.51541699e-01 1.26591518e-03 8.33067454e+01] [-2.40128062e-03 -8.16785688e-06 9.99997117e-01 -7.78669509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76028169299997 meters 0.014151279002988957 Centerline is valid? [True, True] Translation: X:415.86, Y:83.34, Z:-0.08 [[ 8.51696776e-01 -5.24031515e-01 1.89012177e-03 4.15862959e+02] [ 5.24030202e-01 8.51698874e-01 1.17306319e-03 8.33366776e+01] [-2.22453666e-03 -8.61324521e-06 9.99997526e-01 -7.96638747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82028169299997 meters 0.014373110732273093 Centerline is valid? [True, True] Translation: X:415.91, Y:83.37, Z:-0.08 [[ 8.51807531e-01 -5.23853981e-01 9.67878360e-04 4.15912768e+02] [ 5.23853637e-01 8.51808081e-01 6.00908163e-04 8.33669597e+01] [-1.13923474e-03 -4.83149976e-06 9.99999351e-01 -8.18035009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.880281693 meters 0.015306791826633623 Centerline is valid? [True, True] Translation: X:415.96, Y:83.40, Z:-0.09 [[ 8.52454117e-01 -5.22801898e-01 -3.91383410e-04 4.15960860e+02] [ 5.22801841e-01 8.52454207e-01 -2.43077033e-04 8.33993651e+01] [ 4.60717569e-04 2.59604994e-06 9.99999894e-01 -8.54686399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.940281693 meters 0.016467224554514465 Centerline is valid? [True, True] Translation: X:416.01, Y:83.43, Z:-0.08 [[ 8.53223154e-01 -5.21545935e-01 2.95138339e-04 4.16008913e+02] [ 5.21545903e-01 8.53223205e-01 1.83284468e-04 8.34329232e+01] [-3.47410148e-04 -2.45436006e-06 9.99999940e-01 -8.39136369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.000281693 meters 0.015536948659736222 Centerline is valid? [True, True] Translation: X:416.06, Y:83.46, Z:-0.08 [[ 8.52644685e-01 -5.22487954e-01 1.83838619e-03 4.16059645e+02] [ 5.22486705e-01 8.52646667e-01 1.14244727e-03 8.34616093e+01] [-2.16440879e-03 -1.35692465e-05 9.99997658e-01 -8.14854411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.060281693 meters 0.013987638293160857 Centerline is valid? [True, True] Translation: X:416.11, Y:83.49, Z:-0.08 [[ 8.50754210e-01 -5.25558813e-01 2.28216276e-03 4.16111959e+02] [ 5.25556899e-01 8.50757271e-01 1.41847706e-03 8.34874553e+01] [-2.68705968e-03 -7.36894903e-06 9.99996390e-01 -8.03196356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.120281693 meters 0.014436421768748998 Centerline is valid? [True, True] Translation: X:416.16, Y:83.52, Z:-0.08 [[ 8.51167330e-01 -5.24891628e-01 1.71914173e-03 4.16158924e+02] [ 5.24890540e-01 8.51169066e-01 1.06890311e-03 8.35216246e+01] [-2.02433855e-03 -7.45417595e-06 9.99997951e-01 -8.05343873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.180281693 meters 0.01900617821784165 Centerline is valid? [True, True] Translation: X:416.20, Y:83.56, Z:-0.08 [[ 8.54731882e-01 -5.19068643e-01 1.07410923e-03 4.16201205e+02] [ 5.19068213e-01 8.54732557e-01 6.67951140e-04 8.35643032e+01] [-1.26478862e-03 -1.33831761e-05 9.99999200e-01 -8.09746230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.240281693 meters 0.024000634013380543 Centerline is valid? [True, True] Translation: X:416.24, Y:83.61, Z:-0.08 [[ 8.57201211e-01 -5.14976776e-01 2.23712254e-03 4.16243034e+02] [ 5.14974898e-01 8.57204129e-01 1.39140715e-03 8.36057173e+01] [-2.63421305e-03 -4.06539432e-05 9.99996530e-01 -7.87054262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.300281693 meters 0.02900138286404097 Centerline is valid? [True, True] Translation: X:416.28, Y:83.65, Z:-0.08 [[ 8.59384071e-01 -5.11326824e-01 1.97434439e-03 4.16284563e+02] [ 5.11325351e-01 8.59386338e-01 1.22817687e-03 8.36497031e+01] [-2.32472437e-03 -4.59433025e-05 9.99997297e-01 -7.77774854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36028169299993 meters 0.029554494699079028 Centerline is valid? [True, True] Translation: X:416.33, Y:83.69, Z:-0.08 [[ 8.59656000e-01 -5.10873192e-01 3.78945868e-04 4.16329745e+02] [ 5.10873138e-01 8.59656083e-01 2.35754631e-04 8.36877294e+01] [-4.46203842e-04 -9.07461841e-06 9.99999900e-01 -8.18765051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42028169299994 meters 0.02623899492367523 Centerline is valid? [True, True] Translation: X:416.38, Y:83.72, Z:-0.08 [[ 8.59299568e-01 -5.11469224e-01 1.86670117e-03 4.16377537e+02] [ 5.11467906e-01 8.59301595e-01 1.16200313e-03 8.37229672e+01] [-2.19838813e-03 -4.37510483e-05 9.99997583e-01 -7.86464457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48028169299994 meters 0.028759913376637605 Centerline is valid? [True, True] Translation: X:416.42, Y:83.77, Z:-0.08 [[ 8.58391325e-01 -5.12994702e-01 8.77068285e-04 4.16418993e+02] [ 5.12994411e-01 8.58391773e-01 5.46044957e-04 8.37659168e+01] [-1.03298637e-03 -1.87891259e-05 9.99999466e-01 -8.07953687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54028169299994 meters 0.02720673700430625 Centerline is valid? [True, True] Translation: X:416.47, Y:83.80, Z:-0.08 [[ 8.57610116e-01 -5.14300316e-01 2.73065254e-04 4.16466976e+02] [ 5.14300288e-01 8.57610159e-01 1.70008139e-04 8.38007909e+01] [-3.21618776e-04 -5.36316085e-06 9.99999948e-01 -8.20235535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60028169299994 meters 0.02233072084620967 Centerline is valid? [True, True] Translation: X:416.52, Y:83.83, Z:-0.08 [[ 8.56710917e-01 -5.15796620e-01 -5.01897250e-04 4.16517594e+02] [ 5.15796525e-01 8.56711064e-01 -3.12767813e-04 8.38303942e+01] [ 5.91305508e-04 9.07474265e-06 9.99999825e-01 -8.33921321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66028169299994 meters 0.022325533716304365 Centerline is valid? [True, True] Translation: X:416.56, Y:83.87, Z:-0.08 [[ 8.55119452e-01 -5.18429867e-01 1.09367563e-03 4.16564254e+02] [ 5.18429419e-01 8.55120151e-01 6.81581961e-04 8.38659614e+01] [-1.28857651e-03 -1.58403726e-05 9.99999170e-01 -7.96582654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72028169299995 meters 0.015681400012267577 Centerline is valid? [True, True] Translation: X:416.62, Y:83.89, Z:-0.08 [[ 8.51315406e-01 -5.24650821e-01 1.89620842e-03 4.16619249e+02] [ 5.24649490e-01 8.51317517e-01 1.18216234e-03 8.38884219e+01] [-2.23449789e-03 -1.15482313e-05 9.99997503e-01 -7.79455127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78028169299995 meters 0.013792539638783559 Centerline is valid? [True, True] Translation: X:416.67, Y:83.91, Z:-0.08 [[ 8.48701234e-01 -5.28872040e-01 7.61990313e-04 4.16673463e+02] [ 5.28871826e-01 8.48701576e-01 4.75170647e-04 8.39123843e+01] [-8.98006849e-04 -2.82706036e-07 9.99999597e-01 -8.05671465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84028169299995 meters 0.01601490471239339 Centerline is valid? [True, True] Translation: X:416.73, Y:83.93, Z:-0.08 [[ 8.45675610e-01 -5.33696673e-01 7.89946923e-04 4.16728844e+02] [ 5.33696445e-01 8.45675979e-01 4.92725508e-04 8.39337937e+01] [-9.31005102e-04 4.90591966e-06 9.99999567e-01 -8.03739885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90028169299995 meters 0.017397473892992624 Centerline is valid? [True, True] Translation: X:416.78, Y:83.96, Z:-0.08 [[ 8.43563568e-01 -5.37029150e-01 4.45551374e-04 4.16782650e+02] [ 5.37029078e-01 8.43563686e-01 2.77964983e-04 8.39584255e+01] [-5.25126258e-04 4.79291091e-06 9.99999862e-01 -8.03444713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96028169299996 meters 0.01776531523607755 Centerline is valid? [True, True] Translation: X:416.83, Y:83.99, Z:-0.08 [[ 8.43862268e-01 -5.36559845e-01 6.89769312e-05 4.16831890e+02] [ 5.36559843e-01 8.43862271e-01 4.30148131e-05 8.39871917e+01] [-8.12870512e-05 7.11673641e-07 9.99999997e-01 -8.20032293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02028169299996 meters 0.0158545095491433 Centerline is valid? [True, True] Translation: X:416.88, Y:84.02, Z:-0.08 [[ 8.45315932e-01 -5.34266629e-01 -3.80630536e-04 4.16881009e+02] [ 5.34266576e-01 8.45316017e-01 -2.37710677e-04 8.40200511e+01] [ 4.48753971e-04 -2.41755118e-06 9.99999899e-01 -8.30048934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08028169299996 meters 0.014717777451207248 Centerline is valid? [True, True] Translation: X:416.93, Y:84.05, Z:-0.09 [[ 8.46585855e-01 -5.32249248e-01 -1.76867797e-03 4.16928244e+02] [ 5.32248102e-01 8.46587702e-01 -1.10474067e-03 8.40547967e+01] [ 2.08533841e-03 -6.11766761e-06 9.99997826e-01 -8.52976186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14028169299996 meters 0.014240557344794052 Centerline is valid? [True, True] Translation: X:416.98, Y:84.08, Z:-0.09 [[ 8.47847749e-01 -5.30237164e-01 -1.65673282e-03 4.16976558e+02] [ 5.30236154e-01 8.47849367e-01 -1.03500355e-03 8.40848412e+01] [ 1.95345722e-03 -9.34206649e-07 9.99998092e-01 -8.61763416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20028169299997 meters 0.014369714551282345 Centerline is valid? [True, True] Translation: X:417.03, Y:84.11, Z:-0.09 [[ 8.47154613e-01 -5.31343987e-01 -1.62150384e-03 4.17027876e+02] [ 5.31343020e-01 8.47156165e-01 -1.01344189e-03 8.41116051e+01] [ 1.91215323e-03 -3.03277139e-06 9.99998172e-01 -8.57209792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26028169299997 meters 0.014248610604733793 Centerline is valid? [True, True] Translation: X:417.08, Y:84.14, Z:-0.08 [[ 8.47013609e-01 -5.31570734e-01 -7.08441256e-04 4.17080420e+02] [ 5.31570549e-01 8.47013905e-01 -4.43005638e-04 8.41378809e+01] [ 8.35548427e-04 -1.35470324e-06 9.99999651e-01 -8.30047994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32028169299997 meters 0.014334037479313895 Centerline is valid? [True, True] Translation: X:417.13, Y:84.17, Z:-0.08 [[ 8.48610886e-01 -5.29016971e-01 -7.80487406e-04 4.17128049e+02] [ 5.29016745e-01 8.48611245e-01 -4.88258510e-04 8.41705891e+01] [ 9.20627427e-04 1.45057967e-06 9.99999576e-01 -8.33464509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.380281693 meters 0.016088142451386615 Centerline is valid? [True, True] Translation: X:417.18, Y:84.20, Z:-0.08 [[ 8.51141837e-01 -5.24935523e-01 -5.19072655e-04 4.17177565e+02] [ 5.24935423e-01 8.51141995e-01 -3.24858652e-04 8.42031587e+01] [ 6.12334382e-04 4.02116598e-06 9.99999813e-01 -8.42456718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.440281693 meters 0.017237177715663386 Centerline is valid? [True, True] Translation: X:417.23, Y:84.23, Z:-0.08 [[ 8.52203451e-01 -5.23210548e-01 -1.73819447e-05 4.17227177e+02] [ 5.23210548e-01 8.52203451e-01 -1.09014158e-05 8.42335119e+01] [ 2.05166891e-05 1.95807341e-07 1.00000000e+00 -8.21716642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.500281693 meters 0.02138484855406341 Centerline is valid? [True, True] Translation: X:417.27, Y:84.27, Z:-0.08 [[ 8.53989998e-01 -5.20289374e-01 -2.25651164e-04 4.17273616e+02] [ 5.20289355e-01 8.53990028e-01 -1.41252685e-04 8.42681765e+01] [ 2.66196115e-04 3.22448165e-06 9.99999965e-01 -8.20892152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.560281693 meters 0.023066648486406303 Centerline is valid? [True, True] Translation: X:417.32, Y:84.30, Z:-0.08 [[ 8.56000646e-01 -5.16974715e-01 1.94526505e-04 4.17322131e+02] [ 5.16974701e-01 8.56000668e-01 1.21726710e-04 8.43016314e+01] [-2.29444449e-04 -3.63286070e-06 9.99999974e-01 -8.21238402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.620281693 meters 0.03192204080673961 Centerline is valid? [True, True] Translation: X:417.36, Y:84.35, Z:-0.08 [[ 8.60714404e-01 -5.09087350e-01 8.86315531e-04 4.17362231e+02] [ 5.09087048e-01 8.60714860e-01 5.55056402e-04 8.43481362e+01] [-1.04543714e-03 -2.65332825e-05 9.99999453e-01 -7.95679880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.680281693 meters 0.03536939349393867 Centerline is valid? [True, True] Translation: X:417.41, Y:84.39, Z:-0.09 [[ 8.62800545e-01 -5.05540840e-01 -1.91808550e-03 4.17408005e+02] [ 5.05539417e-01 8.62802674e-01 -1.20151956e-03 8.43870021e+01] [ 2.26234651e-03 6.70039116e-05 9.99997439e-01 -8.65871862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.740281693 meters 0.03537866445719626 Centerline is valid? [True, True] Translation: X:417.45, Y:84.42, Z:-0.09 [[ 8.61938269e-01 -5.07009693e-01 -1.89526916e-03 4.17454720e+02] [ 5.07008307e-01 8.61940350e-01 -1.18738232e-03 8.44208053e+01] [ 2.23562331e-03 6.25330575e-05 9.99997499e-01 -8.72377411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.800281693 meters 0.03084550823112141 Centerline is valid? [True, True] Translation: X:417.51, Y:84.45, Z:-0.09 [[ 8.59714418e-01 -5.10769946e-01 -2.27658540e-03 4.17507329e+02] [ 5.10767957e-01 8.59717429e-01 -1.42679306e-03 8.44489163e+01] [ 2.68598316e-03 6.38276890e-05 9.99996391e-01 -8.71910670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86028169299993 meters 0.028488272481485426 Centerline is valid? [True, True] Translation: X:417.56, Y:84.48, Z:-0.09 [[ 8.58325881e-01 -5.13098214e-01 -2.62752232e-03 4.17557570e+02] [ 5.13095574e-01 8.58329900e-01 -1.64725651e-03 8.44792442e+01] [ 3.10048534e-03 6.57128185e-05 9.99995191e-01 -8.82969952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92028169299994 meters 0.025816808034027448 Centerline is valid? [True, True] Translation: X:417.61, Y:84.51, Z:-0.08 [[ 8.57234269e-01 -5.14926572e-01 -1.79888026e-04 4.17607559e+02] [ 5.14926560e-01 8.57234288e-01 -1.12880930e-04 8.45099431e+01] [ 2.12331574e-04 4.13627897e-06 9.99999977e-01 -8.30049414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98028169299994 meters 0.024323860324580844 Centerline is valid? [True, True] Translation: X:417.66, Y:84.54, Z:-0.08 [[ 8.56224747e-01 -5.16603109e-01 6.40410580e-04 4.17658385e+02] [ 5.16602953e-01 8.56224987e-01 4.01701438e-04 8.45403045e+01] [-7.55855752e-04 -1.31087159e-05 9.99999714e-01 -8.06809532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04028169299994 meters 0.023514763531455873 Centerline is valid? [True, True] Translation: X:417.71, Y:84.57, Z:-0.08 [[ 8.55613746e-01 -5.17614738e-01 3.18098172e-04 4.17707979e+02] [ 5.17614700e-01 8.55613805e-01 1.99568160e-04 8.45723047e+01] [-3.75468608e-04 -6.10097071e-06 9.99999929e-01 -8.19508101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10028169299994 meters 0.023792900305041234 Centerline is valid? [True, True] Translation: X:417.76, Y:84.61, Z:-0.09 [[ 8.55720319e-01 -5.17436887e-01 -1.34308587e-03 4.17755994e+02] [ 5.17436200e-01 8.55721373e-01 -8.43283318e-04 8.46057814e+01] [ 1.58565318e-03 2.66534222e-05 9.99998742e-01 -8.51014445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16028169299994 meters 0.025648750169873374 Centerline is valid? [True, True] Translation: X:417.80, Y:84.64, Z:-0.09 [[ 8.56335491e-01 -5.16416177e-01 -1.96438869e-03 4.17800622e+02] [ 5.16414706e-01 8.56337743e-01 -1.23346505e-03 8.46429259e+01] [ 2.31916148e-03 4.18206937e-05 9.99997310e-01 -8.53058082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22028169299995 meters 0.02765984019866313 Centerline is valid? [True, True] Translation: X:417.85, Y:84.68, Z:-0.08 [[ 8.57151472e-01 -5.15063110e-01 -1.16010264e-03 4.17845351e+02] [ 5.15062596e-01 8.57152257e-01 -7.28602658e-04 8.46803265e+01] [ 1.36966094e-03 2.69973657e-05 9.99999062e-01 -8.40024958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28028169299995 meters 0.02765424700808514 Centerline is valid? [True, True] Translation: X:417.89, Y:84.72, Z:-0.09 [[ 8.56829524e-01 -5.15596925e-01 -1.72543120e-03 4.17891247e+02] [ 5.15595787e-01 8.56831261e-01 -1.08376355e-03 8.47152565e+01] [ 2.03718854e-03 3.89755494e-05 9.99997924e-01 -8.51138261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34028169299995 meters 0.029229543638215363 Centerline is valid? [True, True] Translation: X:417.93, Y:84.76, Z:-0.08 [[ 8.57406603e-01 -5.14638644e-01 -9.91084990e-04 4.17934703e+02] [ 5.14638268e-01 8.57407176e-01 -6.22648537e-04 8.47557326e+01] [ 1.17020238e-03 2.38127044e-05 9.99999315e-01 -8.37750324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40028169299995 meters 0.028072500881741798 Centerline is valid? [True, True] Translation: X:417.98, Y:84.79, Z:-0.09 [[ 8.58121473e-01 -5.13444009e-01 -1.66929627e-03 4.17981926e+02] [ 5.13442939e-01 8.58123096e-01 -1.04913498e-03 8.47917770e+01] [ 1.97113376e-03 4.31968714e-05 9.99998056e-01 -8.50730680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46028169299996 meters 0.03195939228716625 Centerline is valid? [True, True] Translation: X:418.02, Y:84.83, Z:-0.09 [[ 8.58168391e-01 -5.13362822e-01 -2.37163928e-03 4.18024547e+02] [ 5.13360662e-01 8.58171666e-01 -1.49067297e-03 8.48326007e+01] [ 2.80052972e-03 6.17421170e-05 9.99996077e-01 -8.70119207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52028169299996 meters 0.029285550149078073 Centerline is valid? [True, True] Translation: X:418.07, Y:84.87, Z:-0.08 [[ 8.57112601e-01 -5.15127649e-01 -1.22204776e-03 4.18073363e+02] [ 5.15127077e-01 8.57113472e-01 -7.68424212e-04 8.48653124e+01] [ 1.44327015e-03 2.91161869e-05 9.99998958e-01 -8.45049691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58028169299996 meters 0.024763979890281458 Centerline is valid? [True, True] Translation: X:418.12, Y:84.89, Z:-0.08 [[ 8.54531476e-01 -5.19398351e-01 -1.14387992e-03 4.18123172e+02] [ 5.19397854e-01 8.54532242e-01 -7.19323081e-04 8.48945469e+01] [ 1.35109749e-03 2.05554411e-05 9.99999087e-01 -8.42451192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64028169299996 meters 0.02238579403371216 Centerline is valid? [True, True] Translation: X:418.17, Y:84.93, Z:-0.09 [[ 8.53239214e-01 -5.21515883e-01 -2.00697810e-03 4.18173579e+02] [ 5.21514356e-01 8.53241573e-01 -1.26252702e-03 8.49251035e+01] [ 2.37086505e-03 3.05696698e-05 9.99997189e-01 -8.60924994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70028169299997 meters 0.01800403145535995 Centerline is valid? [True, True] Translation: X:418.23, Y:84.95, Z:-0.08 [[ 8.51828070e-01 -5.23821464e-01 1.12556721e-04 4.18226271e+02] [ 5.23821459e-01 8.51828078e-01 7.07596584e-05 8.49517859e+01] [-1.32944403e-04 -1.31543728e-06 9.99999991e-01 -8.04740288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76028169299997 meters 0.018221791753107446 Centerline is valid? [True, True] Translation: X:418.28, Y:84.98, Z:-0.08 [[ 8.51308968e-01 -5.24664135e-01 -7.65569783e-04 4.18275153e+02] [ 5.24663914e-01 8.51309312e-01 -4.81843164e-04 8.49827655e+01] [ 9.04542512e-04 8.53056828e-06 9.99999591e-01 -8.32544319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82028169299997 meters 0.018282233114667524 Centerline is valid? [True, True] Translation: X:418.33, Y:85.01, Z:-0.08 [[ 8.52113249e-01 -5.23355894e-01 -1.27228447e-03 4.18325444e+02] [ 5.23355281e-01 8.52114199e-01 -8.01103421e-04 8.50138570e+01] [ 1.50339386e-03 1.67740437e-05 9.99998870e-01 -8.30068881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.880281693 meters 0.02260059548550399 Centerline is valid? [True, True] Translation: X:418.37, Y:85.05, Z:-0.08 [[ 8.54393716e-01 -5.19625867e-01 -5.81063608e-04 4.18368616e+02] [ 5.19625738e-01 8.54393913e-01 -3.65949692e-04 8.50532802e+01] [ 6.86614135e-04 1.07295112e-05 9.99999764e-01 -8.10713997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.940281693 meters 0.03170547271358515 Centerline is valid? [True, True] Translation: X:418.41, Y:85.10, Z:-0.09 [[ 8.58914668e-01 -5.12111772e-01 -2.66959161e-03 4.18406302e+02] [ 5.12109017e-01 8.58918813e-01 -1.68132640e-03 8.51034439e+01] [ 3.15398950e-03 7.69939667e-05 9.99995023e-01 -8.62494926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.000281693 meters 0.03712313869184477 Centerline is valid? [True, True] Translation: X:418.45, Y:85.15, Z:-0.09 [[ 8.59917089e-01 -5.10422130e-01 -3.44213105e-03 4.18447214e+02] [ 5.10417537e-01 8.59923972e-01 -2.16814043e-03 8.51475780e+01] [ 4.06663786e-03 1.07496959e-04 9.99991725e-01 -9.02410505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.060281693 meters 0.03114894865057593 Centerline is valid? [True, True] Translation: X:418.50, Y:85.18, Z:-0.09 [[ 8.58559382e-01 -5.12705904e-01 -2.90561569e-03 4.18497963e+02] [ 5.12702642e-01 8.58564295e-01 -1.83086244e-03 8.51780163e+01] [ 3.43335187e-03 8.21872842e-05 9.99994103e-01 -8.77755468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.120281693 meters 0.03111893069251551 Centerline is valid? [True, True] Translation: X:418.54, Y:85.22, Z:-0.09 [[ 8.56532516e-01 -5.16087713e-01 -2.34988773e-03 4.18540158e+02] [ 5.16085591e-01 8.56535738e-01 -1.48085008e-03 8.52191817e+01] [ 2.77701135e-03 5.56530501e-05 9.99996143e-01 -8.69310396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.180281693 meters 0.02484838596889774 Centerline is valid? [True, True] Translation: X:418.59, Y:85.25, Z:-0.09 [[ 8.55041746e-01 -5.18556115e-01 -1.77997910e-03 4.18592354e+02] [ 5.18554902e-01 8.55043598e-01 -1.12212891e-03 8.52474579e+01] [ 2.10384654e-03 3.64501801e-05 9.99997786e-01 -8.61593631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.240281693 meters 0.019551801720879496 Centerline is valid? [True, True] Translation: X:418.64, Y:85.28, Z:-0.08 [[ 8.52191701e-01 -5.23228663e-01 -1.03479741e-03 4.18643493e+02] [ 5.23228256e-01 8.52192329e-01 -6.52546471e-04 8.52765212e+01] [ 1.22327743e-03 1.46594418e-05 9.99999252e-01 -8.38596379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.300281693 meters 0.015799667666051273 Centerline is valid? [True, True] Translation: X:418.70, Y:85.30, Z:-0.08 [[ 8.49251621e-01 -5.27987360e-01 -1.01537963e-03 4.18695469e+02] [ 5.27986972e-01 8.49252228e-01 -6.40553878e-04 8.53043945e+01] [ 1.20051777e-03 7.88420045e-06 9.99999279e-01 -8.40584870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36028169299993 meters 0.014297662481682991 Centerline is valid? [True, True] Translation: X:418.75, Y:85.33, Z:-0.08 [[ 8.47204294e-01 -5.31266570e-01 8.45435923e-04 4.18746175e+02] [ 5.31266303e-01 8.47204716e-01 5.33333511e-04 8.53322328e+01] [-9.99599567e-04 -2.69082350e-06 9.99999500e-01 -7.97126942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42028169299994 meters 0.015062495357677784 Centerline is valid? [True, True] Translation: X:418.81, Y:85.35, Z:-0.08 [[ 8.42652151e-01 -5.38458059e-01 5.20513792e-04 4.18805748e+02] [ 5.38457959e-01 8.42652312e-01 3.28427458e-04 8.53484523e+01] [-6.15456562e-04 3.52468970e-06 9.99999811e-01 -8.14077336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48028169299994 meters 0.019558006322126887 Centerline is valid? [True, True] Translation: X:418.86, Y:85.37, Z:-0.09 [[ 8.39203285e-01 -5.43814452e-01 -1.92017683e-03 4.18862340e+02] [ 5.43813103e-01 8.39205482e-01 -1.21198677e-03 8.53678337e+01] [ 2.27051884e-03 -2.71140423e-05 9.99997422e-01 -8.69239004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54028169299994 meters 0.02565712549884165 Centerline is valid? [True, True] Translation: X:418.92, Y:85.38, Z:-0.09 [[ 8.34831509e-01 -5.50501288e-01 -2.16401562e-03 4.18922338e+02] [ 5.50499595e-01 8.34834312e-01 -1.36642996e-03 8.53831106e+01] [ 2.55881594e-03 -5.05509327e-05 9.99996725e-01 -8.63842551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60028169299994 meters 0.026893608350073817 Centerline is valid? [True, True] Translation: X:418.98, Y:85.41, Z:-0.08 [[ 8.34421636e-01 -5.51123126e-01 -1.95761802e-03 4.18975793e+02] [ 5.51121742e-01 8.34423931e-01 -1.23622699e-03 8.54071630e+01] [ 2.31479661e-03 -4.73513040e-05 9.99997320e-01 -8.48224510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66028169299994 meters 0.022100752933060436 Centerline is valid? [True, True] Translation: X:419.03, Y:85.44, Z:-0.09 [[ 8.36843442e-01 -5.47433906e-01 -3.02866256e-03 4.19025516e+02] [ 5.47430565e-01 8.36848921e-01 -1.91326919e-03 8.54395963e+01] [ 3.58192142e-03 -5.68756865e-05 9.99993583e-01 -8.63804458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72028169299995 meters 0.02261917059089359 Centerline is valid? [True, True] Translation: X:419.08, Y:85.47, Z:-0.09 [[ 8.37773533e-01 -5.46012778e-01 -2.35681677e-03 4.19076727e+02] [ 5.46010749e-01 8.37776847e-01 -1.48901941e-03 8.54660305e+01] [ 2.78751014e-03 -3.93862360e-05 9.99996114e-01 -8.60056788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78028169299995 meters 0.022160980369828345 Centerline is valid? [True, True] Translation: X:419.13, Y:85.49, Z:-0.08 [[ 8.37675561e-01 -5.46164553e-01 -1.98375820e-03 4.19129320e+02] [ 5.46163114e-01 8.37677910e-01 -1.25387748e-03 8.54917034e+01] [ 2.34657385e-03 -3.31130371e-05 9.99997246e-01 -8.45037838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84028169299995 meters 0.02069739446361483 Centerline is valid? [True, True] Translation: X:419.18, Y:85.52, Z:-0.09 [[ 8.37892796e-01 -5.45827862e-01 -2.75793322e-03 4.19179207e+02] [ 5.45825078e-01 8.37897334e-01 -1.74391164e-03 8.55214741e+01] [ 3.26274046e-03 -4.41381177e-05 9.99994676e-01 -8.52411968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90028169299995 meters 0.01749784606815212 Centerline is valid? [True, True] Translation: X:419.23, Y:85.55, Z:-0.08 [[ 8.40008137e-01 -5.42570155e-01 -1.98901710e-03 4.19229025e+02] [ 5.42568696e-01 8.40010492e-01 -1.25817179e-03 8.55531462e+01] [ 2.35344170e-03 -2.23038750e-05 9.99997230e-01 -8.42812599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96028169299996 meters 0.015558707460542977 Centerline is valid? [True, True] Translation: X:419.28, Y:85.58, Z:-0.08 [[ 8.41536556e-01 -5.40199949e-01 -4.89290790e-04 4.19278015e+02] [ 5.40199861e-01 8.41536698e-01 -3.09553292e-04 8.55838280e+01] [ 5.78976829e-04 -3.81440516e-06 9.99999832e-01 -8.07668648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02028169299996 meters 0.01374368406470595 Centerline is valid? [True, True] Translation: X:419.33, Y:85.62, Z:-0.08 [[ 8.43770820e-01 -5.36703356e-01 -5.57509691e-04 4.19325941e+02] [ 5.36703240e-01 8.43771004e-01 -3.52882689e-04 8.56178603e+01] [ 6.59803835e-04 -1.46514134e-06 9.99999782e-01 -8.03755087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08028169299996 meters 0.014016960310107464 Centerline is valid? [True, True] Translation: X:419.38, Y:85.65, Z:-0.09 [[ 8.44041571e-01 -5.36271908e-01 -2.50338692e-03 4.19375847e+02] [ 5.36269567e-01 8.44045283e-01 -1.58455336e-03 8.56454629e+01] [ 2.96272338e-03 -5.06131754e-06 9.99995611e-01 -8.67167639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14028169299996 meters 0.014852769007750158 Centerline is valid? [True, True] Translation: X:419.43, Y:85.67, Z:-0.09 [[ 8.42695532e-01 -5.38381857e-01 -3.03575349e-03 4.19428427e+02] [ 5.38378425e-01 8.42701000e-01 -1.92221457e-03 8.56721934e+01] [ 3.59311795e-03 -1.45425485e-05 9.99993545e-01 -8.65597432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20028169299997 meters 0.016215028046243977 Centerline is valid? [True, True] Translation: X:419.48, Y:85.69, Z:-0.08 [[ 8.40148066e-01 -5.42354075e-01 -1.81233258e-03 4.19483693e+02] [ 5.42352860e-01 8.40150020e-01 -1.14802600e-03 8.56948487e+01] [ 2.14526783e-03 -1.84119400e-05 9.99997699e-01 -8.31924931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26028169299997 meters 0.01944938517842024 Centerline is valid? [True, True] Translation: X:419.54, Y:85.72, Z:-0.08 [[ 8.38966536e-01 -5.44180658e-01 -1.60108867e-03 4.19538118e+02] [ 5.44179713e-01 8.38968063e-01 -1.01434454e-03 8.57161444e+01] [ 1.89524894e-03 -2.02788456e-05 9.99998204e-01 -8.38232084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32028169299997 meters 0.019825198775041297 Centerline is valid? [True, True] Translation: X:419.59, Y:85.74, Z:-0.09 [[ 8.37852897e-01 -5.45887857e-01 -2.99490091e-03 4.19593248e+02] [ 5.45884559e-01 8.37858249e-01 -1.89807355e-03 8.57396743e+01] [ 3.54543773e-03 -4.45637409e-05 9.99993714e-01 -8.58645136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.380281693 meters 0.02013437578857799 Centerline is valid? [True, True] Translation: X:419.64, Y:85.77, Z:-0.09 [[ 8.37902031e-01 -5.45815331e-01 -2.41061471e-03 4.19642997e+02] [ 5.45813193e-01 8.37905498e-01 -1.52806791e-03 8.57667495e+01] [ 2.85391021e-03 -3.53741086e-05 9.99995927e-01 -8.55628605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.440281693 meters 0.017147154557476063 Centerline is valid? [True, True] Translation: X:419.69, Y:85.80, Z:-0.08 [[ 8.39554975e-01 -5.43270932e-01 -2.03459672e-03 4.19693476e+02] [ 5.43269400e-01 8.39557440e-01 -1.29021651e-03 8.57976696e+01] [ 2.40909794e-03 -2.21264541e-05 9.99997098e-01 -8.45462012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.500281693 meters 0.014392914256574333 Centerline is valid? [True, True] Translation: X:419.74, Y:85.83, Z:-0.08 [[ 8.42019538e-01 -5.39442154e-01 -2.29338307e-03 4.19740728e+02] [ 5.39440193e-01 8.42022661e-01 -1.45484196e-03 8.58330026e+01] [ 2.71588359e-03 -1.21376538e-05 9.99996312e-01 -8.40480909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.560281693 meters 0.014080592689051062 Centerline is valid? [True, True] Translation: X:419.78, Y:85.87, Z:-0.08 [[ 8.46282616e-01 -5.32733531e-01 -8.47702126e-04 4.19783947e+02] [ 5.32733259e-01 8.46283041e-01 -5.37856798e-04 8.58720645e+01] [ 1.00393028e-03 3.57974189e-06 9.99999496e-01 -8.01394848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.620281693 meters 0.017533875242262482 Centerline is valid? [True, True] Translation: X:419.83, Y:85.91, Z:-0.08 [[ 8.49605725e-01 -5.27418238e-01 3.37260787e-04 4.19828606e+02] [ 5.27418194e-01 8.49605792e-01 2.13985298e-04 8.59116463e+01] [-3.99398467e-04 -3.92565890e-06 9.99999920e-01 -7.77811488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.680281693 meters 0.019763579038427848 Centerline is valid? [True, True] Translation: X:419.87, Y:85.95, Z:-0.08 [[ 8.50587188e-01 -5.25834035e-01 6.36225477e-05 4.19874541e+02] [ 5.25834033e-01 8.50587190e-01 4.03614125e-05 8.59467092e+01] [-7.53399284e-05 -8.75999422e-07 9.99999997e-01 -7.82184193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.740281693 meters 0.02191439236508959 Centerline is valid? [True, True] Translation: X:419.92, Y:85.98, Z:-0.08 [[ 8.51463213e-01 -5.24409978e-01 -2.13814673e-03 4.19921205e+02] [ 5.24408221e-01 8.51465897e-01 -1.35774892e-03 8.59832482e+01] [ 2.53257610e-03 3.48115319e-05 9.99996792e-01 -8.35002790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.800281693 meters 0.022991098477916423 Centerline is valid? [True, True] Translation: X:419.97, Y:86.02, Z:-0.08 [[ 8.51899249e-01 -5.23702031e-01 -1.96290099e-03 4.19967425e+02] [ 5.23700547e-01 8.51901509e-01 -1.24690189e-03 8.60198690e+01] [ 2.32520337e-03 3.42624604e-05 9.99997296e-01 -8.22756970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86028169299993 meters 0.021239082212754796 Centerline is valid? [True, True] Translation: X:420.02, Y:86.05, Z:-0.08 [[ 8.51641577e-01 -5.24123833e-01 -9.12581179e-04 4.20015249e+02] [ 5.24123512e-01 8.51642066e-01 -5.79950719e-04 8.60541939e+01] [ 1.08115851e-03 1.56048926e-05 9.99999415e-01 -7.97884645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92028169299994 meters 0.01969108519755204 Centerline is valid? [True, True] Translation: X:420.06, Y:86.09, Z:-0.08 [[ 8.50470186e-01 -5.26022260e-01 -1.02244323e-03 4.20064862e+02] [ 5.26021858e-01 8.50470800e-01 -6.49995178e-04 8.60853999e+01] [ 1.21147004e-03 1.49740326e-05 9.99999266e-01 -8.01670081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98028169299994 meters 0.016253604692959653 Centerline is valid? [True, True] Translation: X:420.12, Y:86.11, Z:-0.08 [[ 8.47587315e-01 -5.30655857e-01 -3.24264609e-04 4.20116014e+02] [ 5.30655817e-01 8.47587377e-01 -2.06191361e-04 8.61132560e+01] [ 3.84259243e-04 2.69228039e-06 9.99999926e-01 -7.99432314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04028169299994 meters 0.013918475639684638 Centerline is valid? [True, True] Translation: X:420.17, Y:86.14, Z:-0.08 [[ 8.45619645e-01 -5.33785535e-01 -6.46822839e-04 4.20168929e+02] [ 5.33785376e-01 8.45619893e-01 -4.11351932e-04 8.61405835e+01] [ 7.66539971e-04 2.58270244e-06 9.99999706e-01 -8.04458867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10028169299994 meters 0.013914102565893531 Centerline is valid? [True, True] Translation: X:420.22, Y:86.17, Z:-0.08 [[ 8.44894250e-01 -5.34926678e-01 -2.67500183e-03 4.20217351e+02] [ 5.34923972e-01 8.44898484e-01 -1.70137898e-03 8.61706376e+01] [ 3.17021800e-03 6.56271615e-06 9.99994975e-01 -8.44164227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16028169299994 meters 0.013740528719983255 Centerline is valid? [True, True] Translation: X:420.27, Y:86.20, Z:-0.08 [[ 8.44703470e-01 -5.35228491e-01 -2.55153847e-03 4.20266445e+02] [ 5.35226029e-01 8.44707323e-01 -1.62355918e-03 8.62019409e+01] [ 3.02427836e-03 5.77627373e-06 9.99995427e-01 -8.25725302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22028169299995 meters 0.01336152589758979 Centerline is valid? [True, True] Translation: X:420.32, Y:86.23, Z:-0.08 [[ 8.42961359e-01 -5.37973975e-01 -3.86093372e-04 4.20318714e+02] [ 5.37973919e-01 8.42961448e-01 -2.45743782e-04 8.62259950e+01] [ 4.57665587e-04 -5.55651459e-07 9.99999895e-01 -7.87337978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28028169299995 meters 0.014978815636930244 Centerline is valid? [True, True] Translation: X:420.37, Y:86.25, Z:-0.08 [[ 8.40473090e-01 -5.41853015e-01 5.42468934e-04 4.20373812e+02] [ 5.41852905e-01 8.40473265e-01 3.45281146e-04 8.62483519e+01] [-6.43022266e-04 3.73885595e-06 9.99999793e-01 -7.72269038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34028169299995 meters 0.01736469239318225 Centerline is valid? [True, True] Translation: X:420.43, Y:86.27, Z:-0.08 [[ 8.38550843e-01 -5.44822049e-01 -1.19053735e-03 4.20428577e+02] [ 5.44821522e-01 8.38551689e-01 -7.58247972e-04 8.62713151e+01] [ 1.41143732e-03 -1.28008969e-05 9.99999004e-01 -7.91459950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40028169299995 meters 0.015359610663515082 Centerline is valid? [True, True] Translation: X:420.48, Y:86.31, Z:-0.08 [[ 8.40198107e-01 -5.42276258e-01 -1.89771567e-03 4.20475663e+02] [ 5.42274911e-01 8.40200250e-01 -1.20903127e-03 8.63074609e+01] [ 2.25009013e-03 -1.32578078e-05 9.99997468e-01 -8.07034666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46028169299996 meters 0.014483520377135102 Centerline is valid? [True, True] Translation: X:420.52, Y:86.34, Z:-0.08 [[ 8.41170471e-01 -5.40764689e-01 -2.40624135e-03 4.20524945e+02] [ 5.40762515e-01 8.41173912e-01 -1.53353637e-03 8.63402804e+01] [ 2.85334976e-03 -1.12396112e-05 9.99995929e-01 -8.28171183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52028169299996 meters 0.015369461697199216 Centerline is valid? [True, True] Translation: X:420.58, Y:86.37, Z:-0.08 [[ 8.40341955e-01 -5.42043421e-01 -3.78532777e-03 4.20575284e+02] [ 5.42038050e-01 8.40350480e-01 -2.41324849e-03 8.63699619e+01] [ 4.48908748e-03 -2.38377332e-05 9.99989924e-01 -8.45941155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58028169299996 meters 0.016276714968962547 Centerline is valid? [True, True] Translation: X:420.63, Y:86.40, Z:-0.08 [[ 8.39278834e-01 -5.43687658e-01 -3.84306828e-03 4.20625093e+02] [ 5.43682134e-01 8.39287632e-01 -2.45094750e-03 8.64015378e+01] [ 4.55798959e-03 -3.23792066e-05 9.99989612e-01 -8.45651102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64028169299996 meters 0.019319007267777355 Centerline is valid? [True, True] Translation: X:420.68, Y:86.42, Z:-0.08 [[ 8.36804326e-01 -5.47497684e-01 -2.19243033e-03 4.20678840e+02] [ 5.47495899e-01 8.36807197e-01 -1.39840452e-03 8.64248934e+01] [ 2.60026471e-03 -3.01556609e-05 9.99996619e-01 -8.13966037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70028169299997 meters 0.023292746436646743 Centerline is valid? [True, True] Translation: X:420.73, Y:86.45, Z:-0.08 [[ 8.34711809e-01 -5.50680164e-01 -2.74819818e-03 4.20731920e+02] [ 5.50677376e-01 8.34716332e-01 -1.75322835e-03 8.64486242e+01] [ 3.25943398e-03 -4.99301524e-05 9.99994687e-01 -8.29131483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76028169299997 meters 0.022631536580968056 Centerline is valid? [True, True] Translation: X:420.78, Y:86.48, Z:-0.08 [[ 8.33885527e-01 -5.51933463e-01 -2.09273677e-03 4.20782336e+02] [ 5.51931849e-01 8.33888152e-01 -1.33560907e-03 8.64794286e+01] [ 2.48227574e-03 -4.13029949e-05 9.99996918e-01 -8.04411886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82028169299997 meters 0.026043878613550314 Centerline is valid? [True, True] Translation: X:420.84, Y:86.50, Z:-0.08 [[ 8.32169693e-01 -5.54519519e-01 -1.30567325e-03 4.20835261e+02] [ 5.54518894e-01 8.32170717e-01 -8.33397299e-04 8.65035764e+01] [ 1.54867811e-03 -3.04925105e-05 9.99998800e-01 -7.94199630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.880281693 meters 0.028948144195974138 Centerline is valid? [True, True] Translation: X:420.89, Y:86.53, Z:-0.08 [[ 8.30519730e-01 -5.56978873e-01 -3.39320754e-03 4.20889029e+02] [ 5.56974666e-01 8.30526656e-01 -2.16661517e-03 8.65287956e+01] [ 4.02490819e-03 -9.05139918e-05 9.99991896e-01 -8.47266110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.940281693 meters 0.03329437121803442 Centerline is valid? [True, True] Translation: X:420.94, Y:86.55, Z:-0.08 [[ 8.29159038e-01 -5.59005638e-01 -2.82587806e-03 4.20944492e+02] [ 5.59002732e-01 8.29163850e-01 -1.80459994e-03 8.65496339e+01] [ 3.35189747e-03 -8.33732012e-05 9.99994379e-01 -8.24917398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.000281693 meters 0.030330560203394467 Centerline is valid? [True, True] Translation: X:420.99, Y:86.58, Z:-0.08 [[ 8.29829231e-01 -5.58014902e-01 -1.67819991e-03 4.20993313e+02] [ 5.58013874e-01 8.29830927e-01 -1.07209541e-03 8.65835512e+01] [ 1.99086740e-03 -4.68027207e-05 9.99998017e-01 -8.01533290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.060281693 meters 0.026507158003080372 Centerline is valid? [True, True] Translation: X:421.04, Y:86.62, Z:-0.08 [[ 8.32075315e-01 -5.54662380e-01 -5.61025000e-04 4.21041728e+02] [ 5.54662264e-01 8.32075504e-01 -3.58591187e-04 8.66163857e+01] [ 6.65712200e-04 -1.28045217e-05 9.99999778e-01 -7.84225024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.120281693 meters 0.02356495106052518 Centerline is valid? [True, True] Translation: X:421.09, Y:86.65, Z:-0.08 [[ 8.33593728e-01 -5.52374496e-01 -1.97802183e-03 4.21090657e+02] [ 5.52373050e-01 8.33596074e-01 -1.26455726e-03 8.66496662e+01] [ 2.34738041e-03 -3.84789531e-05 9.99997244e-01 -8.14716370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.180281693 meters 0.023383425398294817 Centerline is valid? [True, True] Translation: X:421.14, Y:86.68, Z:-0.08 [[ 8.34194083e-01 -5.51468317e-01 -1.71086878e-03 4.21140727e+02] [ 5.51467233e-01 8.34195837e-01 -1.09386865e-03 8.66792179e+01] [ 2.03043352e-03 -3.09893217e-05 9.99997938e-01 -8.14282515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.240281693 meters 0.021102656358947286 Centerline is valid? [True, True] Translation: X:421.19, Y:86.71, Z:-0.08 [[ 8.34023441e-01 -5.51724646e-01 -2.19435540e-03 4.21189699e+02] [ 5.51722862e-01 8.34026327e-01 -1.40364844e-03 8.67111660e+01] [ 2.60457761e-03 -4.00003383e-05 9.99996607e-01 -8.17946111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.300281693 meters 0.021388821234825637 Centerline is valid? [True, True] Translation: X:421.24, Y:86.74, Z:-0.08 [[ 8.33898738e-01 -5.51912720e-01 -2.28974338e-03 4.21240241e+02] [ 5.51910777e-01 8.33901881e-01 -1.46528551e-03 8.67406762e+01] [ 2.71813103e-03 -4.18343116e-05 9.99996305e-01 -8.24667620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36028169299993 meters 0.023279809959600387 Centerline is valid? [True, True] Translation: X:421.29, Y:86.77, Z:-0.08 [[ 8.33987884e-01 -5.51779977e-01 -1.75106933e-03 4.21291230e+02] [ 5.51778840e-01 8.33989722e-01 -1.12077774e-03 8.67662008e+01] [ 2.07879654e-03 -3.14879475e-05 9.99997839e-01 -8.22697237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42028169299994 meters 0.021247950867460084 Centerline is valid? [True, True] Translation: X:421.34, Y:86.80, Z:-0.09 [[ 8.35014521e-01 -5.50210234e-01 -4.41014411e-03 4.21340559e+02] [ 5.50202992e-01 8.35026164e-01 -2.82368716e-03 8.67974610e+01] [ 5.23620729e-03 -6.86547057e-05 9.99986289e-01 -8.77710174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48028169299994 meters 0.016828401671765143 Centerline is valid? [True, True] Translation: X:421.39, Y:86.83, Z:-0.08 [[ 8.37424813e-01 -5.46542105e-01 -3.37787022e-03 4.21387896e+02] [ 5.46537823e-01 8.37431625e-01 -2.16356076e-03 8.68330928e+01] [ 4.01121240e-03 -3.43143719e-05 9.99991954e-01 -8.46496841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54028169299994 meters 0.014013735987467652 Centerline is valid? [True, True] Translation: X:421.43, Y:86.87, Z:-0.08 [[ 8.40219119e-01 -5.42245222e-01 -1.39697449e-03 4.21432505e+02] [ 5.42244484e-01 8.40220280e-01 -8.94888771e-04 8.68703208e+01] [ 1.65901545e-03 -5.59905464e-06 9.99998624e-01 -8.14675353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60028169299994 meters 0.014237016869290978 Centerline is valid? [True, True] Translation: X:421.47, Y:86.91, Z:-0.08 [[ 8.44377360e-01 -5.35748495e-01 6.51193388e-04 4.21474460e+02] [ 5.35748333e-01 8.44377611e-01 4.17234495e-04 8.69130198e+01] [-7.73385870e-04 -3.42758920e-06 9.99999701e-01 -7.67707498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66028169299994 meters 0.01705048194745931 Centerline is valid? [True, True] Translation: X:421.52, Y:86.95, Z:-0.08 [[ 8.46756948e-01 -5.31979788e-01 -4.18405754e-04 4.21517509e+02] [ 5.31979721e-01 8.46757052e-01 -2.68191589e-04 8.69533748e+01] [ 4.96960527e-04 4.50971543e-06 9.99999877e-01 -7.95872953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72028169299995 meters 0.01915920759363542 Centerline is valid? [True, True] Translation: X:421.56, Y:86.99, Z:-0.08 [[ 8.47790340e-01 -5.30330080e-01 -1.24321710e-03 4.21559590e+02] [ 5.30329482e-01 8.47791251e-01 -7.97029906e-04 8.69939709e+01] [ 1.47667752e-03 1.63995740e-05 9.99998910e-01 -8.22115206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78028169299995 meters 0.016275964155431755 Centerline is valid? [True, True] Translation: X:421.61, Y:87.03, Z:-0.08 [[ 8.45609483e-01 -5.33797722e-01 -2.14344051e-03 4.21608598e+02] [ 5.33795953e-01 8.45612199e-01 -1.37463872e-03 8.70270799e+01] [ 2.54629846e-03 1.82476723e-05 9.99996758e-01 -8.42659826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84028169299995 meters 0.014004097230362203 Centerline is valid? [True, True] Translation: X:421.66, Y:87.06, Z:-0.09 [[ 8.42765569e-01 -5.38274932e-01 -2.50866618e-03 4.21660376e+02] [ 5.38272526e-01 8.42769303e-01 -1.60942334e-03 8.70553281e+01] [ 2.98053909e-03 6.02049065e-06 9.99995558e-01 -8.57422964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90028169299995 meters 0.015662777577057908 Centerline is valid? [True, True] Translation: X:421.72, Y:87.08, Z:-0.08 [[ 8.38078292e-01 -5.45549145e-01 -9.51815779e-04 4.21716613e+02] [ 5.45548803e-01 8.38078833e-01 -6.10886985e-04 8.70765521e+01] [ 1.13096553e-03 -7.29083855e-06 9.99999360e-01 -8.21531590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96028169299996 meters 0.018105438889349946 Centerline is valid? [True, True] Translation: X:421.77, Y:87.10, Z:-0.09 [[ 8.36354821e-01 -5.48181714e-01 -2.72436054e-03 4.21769379e+02] [ 5.48178925e-01 8.36359257e-01 -1.74901375e-03 8.71039555e+01] [ 3.23732151e-03 -3.06409492e-05 9.99994759e-01 -8.65412041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02028169299996 meters 0.018432047784093027 Centerline is valid? [True, True] Translation: X:421.82, Y:87.13, Z:-0.08 [[ 8.35577198e-01 -5.49369541e-01 -1.96308100e-03 4.21820289e+02] [ 5.49368095e-01 8.35579504e-01 -1.26075739e-03 8.71329794e+01] [ 2.33293195e-03 -2.49939366e-05 9.99997278e-01 -8.48719984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08028169299996 meters 0.01828556193741883 Centerline is valid? [True, True] Translation: X:421.87, Y:87.16, Z:-0.08 [[ 8.35649770e-01 -5.49260795e-01 -1.42844378e-03 4.21870529e+02] [ 5.49260028e-01 8.35650991e-01 -9.17797084e-04 8.71616397e+01] [ 1.69779042e-03 -1.76301491e-05 9.99998559e-01 -8.41931791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14028169299996 meters 0.015552636889104372 Centerline is valid? [True, True] Translation: X:421.92, Y:87.19, Z:-0.09 [[ 8.37948905e-01 -5.45744551e-01 -2.12536579e-03 4.21918708e+02] [ 5.45742841e-01 8.37951601e-01 -1.36601569e-03 8.71946155e+01] [ 2.52644928e-03 -1.52518091e-05 9.99996808e-01 -8.52559246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20028169299997 meters 0.013383773903217655 Centerline is valid? [True, True] Translation: X:421.96, Y:87.24, Z:-0.08 [[ 8.40831316e-01 -5.41296349e-01 -9.79859587e-04 4.21962860e+02] [ 5.41295983e-01 8.40831887e-01 -6.30041220e-04 8.72350539e+01] [ 1.16493620e-03 -6.35669831e-07 9.99999321e-01 -8.23871776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26028169299997 meters 0.016855502520308048 Centerline is valid? [True, True] Translation: X:422.00, Y:87.28, Z:-0.08 [[ 8.45443435e-01 -5.34063348e-01 -1.31836693e-03 4.22001042e+02] [ 5.34062676e-01 8.45444463e-01 -8.47740342e-04 8.72832789e+01] [ 1.56735306e-03 1.26259381e-05 9.99998772e-01 -8.40205818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32028169299997 meters 0.019872030674718436 Centerline is valid? [True, True] Translation: X:422.04, Y:87.33, Z:-0.08 [[ 8.47994543e-01 -5.30004948e-01 1.01213266e-04 4.22043947e+02] [ 5.30004944e-01 8.47994549e-01 6.50363306e-05 8.73259989e+01] [-1.20297875e-04 -1.50692192e-06 9.99999993e-01 -8.06082996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.380281693 meters 0.01912673872042054 Centerline is valid? [True, True] Translation: X:422.09, Y:87.36, Z:-0.08 [[ 8.47705221e-01 -5.30466529e-01 -1.05846549e-03 4.22090480e+02] [ 5.30466092e-01 8.47705882e-01 -6.81217238e-04 8.73609798e+01] [ 1.25863036e-03 1.59913597e-05 9.99999208e-01 -8.41865217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.440281693 meters 0.020482648685959608 Centerline is valid? [True, True] Translation: X:422.13, Y:87.40, Z:-0.09 [[ 8.47511743e-01 -5.30767421e-01 -3.12894583e-03 4.22133772e+02] [ 5.30763602e-01 8.47517517e-01 -2.01391589e-03 8.74000634e+01] [ 3.72075735e-03 4.60867999e-05 9.99993077e-01 -8.83266076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.500281693 meters 0.02111772784154084 Centerline is valid? [True, True] Translation: X:422.18, Y:87.44, Z:-0.08 [[ 8.47701784e-01 -5.30470569e-01 -1.63144812e-03 4.22178689e+02] [ 5.30469529e-01 8.47703353e-01 -1.05031649e-03 8.74362338e+01] [ 1.94014603e-03 2.49216473e-05 9.99998118e-01 -8.46673922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.560281693 meters 0.0221372036205289 Centerline is valid? [True, True] Translation: X:422.22, Y:87.48, Z:-0.08 [[ 8.49216287e-01 -5.28045160e-01 8.39647152e-05 4.22224017e+02] [ 5.28045157e-01 8.49216291e-01 5.40048430e-05 8.74752309e+01] [-9.98212000e-05 -1.52463104e-06 9.99999995e-01 -8.19936661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.620281693 meters 0.022793146201583094 Centerline is valid? [True, True] Translation: X:422.27, Y:87.51, Z:-0.08 [[ 8.49270275e-01 -5.27958319e-01 1.12924456e-04 4.22268926e+02] [ 5.27958314e-01 8.49270283e-01 7.27033920e-05 8.75115668e+01] [-1.34287745e-04 -2.12542443e-06 9.99999991e-01 -8.20495019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.680281693 meters 0.02193394722205264 Centerline is valid? [True, True] Translation: X:422.32, Y:87.55, Z:-0.08 [[ 8.48682448e-01 -5.28902645e-01 3.07938910e-04 4.22317064e+02] [ 5.28902608e-01 8.48682503e-01 1.98354658e-04 8.75461708e+01] [-3.66252668e-04 -5.47042348e-06 9.99999933e-01 -8.11691037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.740281693 meters 0.02407843637280571 Centerline is valid? [True, True] Translation: X:422.36, Y:87.59, Z:-0.08 [[ 8.49940245e-01 -5.26877614e-01 -1.24864016e-03 4.22362059e+02] [ 5.26877000e-01 8.49941162e-01 -8.04928794e-04 8.75852090e+01] [ 1.48536963e-03 2.62615968e-05 9.99998896e-01 -8.43793332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.800281693 meters 0.025958279486949083 Centerline is valid? [True, True] Translation: X:422.41, Y:87.62, Z:-0.08 [[ 8.50752143e-01 -5.25566583e-01 -7.47235645e-04 4.22406347e+02] [ 5.25566363e-01 8.50752471e-01 -4.81746610e-04 8.76235956e+01] [ 8.88902491e-04 1.71250407e-05 9.99999605e-01 -8.31623120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86028169299993 meters 0.026841328061453423 Centerline is valid? [True, True] Translation: X:422.45, Y:87.67, Z:-0.08 [[ 8.51069642e-01 -5.25052348e-01 7.04722576e-04 4.22449126e+02] [ 5.25052152e-01 8.51069933e-01 4.54411151e-04 8.76653105e+01] [-8.38357837e-04 -1.67194305e-05 9.99999648e-01 -8.09222191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92028169299994 meters 0.027593035942851517 Centerline is valid? [True, True] Translation: X:422.49, Y:87.70, Z:-0.08 [[ 8.50795555e-01 -5.25496822e-01 1.16978211e-04 4.22494858e+02] [ 5.25496817e-01 8.50795563e-01 7.54000932e-05 8.77019829e+01] [-1.39147052e-04 -2.67838683e-06 9.99999990e-01 -8.22360025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98028169299994 meters 0.026403879487467974 Centerline is valid? [True, True] Translation: X:422.54, Y:87.74, Z:-0.08 [[ 8.50210093e-01 -5.26443159e-01 -6.30261372e-04 4.22539612e+02] [ 5.26443002e-01 8.50210327e-01 -4.06810215e-04 8.77405491e+01] [ 7.50017182e-04 1.40774623e-05 9.99999719e-01 -8.43957370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04028169299994 meters 0.026339624885696883 Centerline is valid? [True, True] Translation: X:422.58, Y:87.78, Z:-0.09 [[ 8.49874639e-01 -5.26980756e-01 -2.09307531e-03 4.22583408e+02] [ 5.26979026e-01 8.49877215e-01 -1.35097483e-03 8.77800905e+01] [ 2.49079475e-03 4.51524596e-05 9.99996897e-01 -8.85791047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10028169299994 meters 0.025575650286302105 Centerline is valid? [True, True] Translation: X:422.63, Y:87.82, Z:-0.09 [[ 8.49227386e-01 -5.28023823e-01 -1.92070576e-03 4.22630014e+02] [ 5.28022368e-01 8.49229557e-01 -1.24018882e-03 8.78161888e+01] [ 2.28596934e-03 3.90267050e-05 9.99997386e-01 -8.78671616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16028169299994 meters 0.019544304834368986 Centerline is valid? [True, True] Translation: X:422.68, Y:87.84, Z:-0.08 [[ 8.46718749e-01 -5.32039619e-01 1.09726444e-03 4.22681525e+02] [ 5.32039148e-01 8.46719460e-01 7.08610679e-04 8.78448662e+01] [-1.30608411e-03 -1.62063121e-05 9.99999147e-01 -8.13917734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22028169299995 meters 0.01751598494601006 Centerline is valid? [True, True] Translation: X:422.73, Y:87.87, Z:-0.08 [[ 8.45430794e-01 -5.34081805e-01 1.84362596e-03 4.22732095e+02] [ 5.34080477e-01 8.45432804e-01 1.19106763e-03 8.78744660e+01] [-2.19478941e-03 -2.23206181e-05 9.99997591e-01 -8.01544218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28028169299995 meters 0.014093559223676097 Centerline is valid? [True, True] Translation: X:422.79, Y:87.90, Z:-0.08 [[ 8.42371345e-01 -5.38893420e-01 2.09736103e-03 4.22785332e+02] [ 5.38891715e-01 8.42373956e-01 1.35549968e-03 8.79008468e+01] [-2.49723217e-03 -1.15836045e-05 9.99996882e-01 -8.00723169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34028169299995 meters 0.014668450001054167 Centerline is valid? [True, True] Translation: X:422.84, Y:87.92, Z:-0.09 [[ 8.37063302e-01 -5.47105383e-01 -8.53841701e-04 4.22843224e+02] [ 5.47105104e-01 8.37063737e-01 -5.51989516e-04 8.79163867e+01] [ 1.01671636e-03 -5.09098568e-06 9.99999483e-01 -8.64888488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40028169299995 meters 0.023613692256981265 Centerline is valid? [True, True] Translation: X:422.90, Y:87.93, Z:-0.09 [[ 8.31702975e-01 -5.55220503e-01 -5.95650358e-04 4.22904266e+02] [ 5.55220370e-01 8.31703188e-01 -3.85166220e-04 8.79277805e+01] [ 7.09256484e-04 -1.03733214e-05 9.99999748e-01 -8.61088821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46028169299996 meters 0.023165051110963744 Centerline is valid? [True, True] Translation: X:422.96, Y:87.95, Z:-0.08 [[ 8.29416468e-01 -5.58629611e-01 1.13154533e-03 4.22957183e+02] [ 5.58629132e-01 8.29417239e-01 7.31818022e-04 8.79542434e+01] [-1.34733842e-03 2.51322643e-05 9.99999092e-01 -8.28280028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52028169299996 meters 0.025782863608462405 Centerline is valid? [True, True] Translation: X:423.01, Y:87.97, Z:-0.09 [[ 8.28716255e-01 -5.59668941e-01 -2.10294104e-04 4.23013771e+02] [ 5.59668925e-01 8.28716282e-01 -1.36061348e-04 8.79737009e+01] [ 2.50423459e-04 -4.93882475e-06 9.99999969e-01 -8.53246731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58028169299996 meters 0.023627007345429177 Centerline is valid? [True, True] Translation: X:423.07, Y:88.00, Z:-0.08 [[ 8.29970982e-01 -5.57806273e-01 5.74913705e-04 4.23065496e+02] [ 5.57806149e-01 8.29971181e-01 3.71965687e-04 8.80028192e+01] [-6.84646600e-04 1.19696737e-05 9.99999766e-01 -8.32657615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64028169299996 meters 0.02316967993003823 Centerline is valid? [True, True] Translation: X:423.12, Y:88.03, Z:-0.08 [[ 8.32189369e-01 -5.54490591e-01 1.01942884e-03 4.23117744e+02] [ 5.54490199e-01 8.32189993e-01 6.59734926e-04 8.80281575e+01] [-1.21417528e-03 1.62389062e-05 9.99999263e-01 -8.27818103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70028169299997 meters 0.020944232895406447 Centerline is valid? [True, True] Translation: X:423.17, Y:88.06, Z:-0.09 [[ 8.33196692e-01 -5.52976736e-01 3.96809640e-05 4.23167781e+02] [ 5.52976735e-01 8.33196693e-01 2.56291446e-05 8.80598425e+01] [-4.72343687e-05 5.88531440e-07 9.99999999e-01 -8.52197473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76028169299997 meters 0.0160545142897791 Centerline is valid? [True, True] Translation: X:423.21, Y:88.10, Z:-0.09 [[ 8.34931126e-01 -5.50353485e-01 -1.02753655e-03 4.23214477e+02] [ 5.50353083e-01 8.34931759e-01 -6.65523856e-04 8.80959990e+01] [ 1.22419627e-03 -9.84132582e-06 9.99999251e-01 -8.80197204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82028169299997 meters 0.014762986634398324 Centerline is valid? [True, True] Translation: X:423.26, Y:88.13, Z:-0.09 [[ 8.36065593e-01 -5.48627601e-01 -1.44196258e-03 4.23263239e+02] [ 5.48626806e-01 8.36066837e-01 -9.34247873e-04 8.81283931e+01] [ 1.71813127e-03 -1.00068250e-05 9.99998524e-01 -8.87215237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.880281693 meters 0.013084084488915435 Centerline is valid? [True, True] Translation: X:423.31, Y:88.17, Z:-0.08 [[ 8.38111199e-01 -5.45499416e-01 -6.73582511e-05 4.23307862e+02] [ 5.45499414e-01 8.38111202e-01 -4.36674603e-05 8.81655216e+01] [ 8.02742790e-05 -1.45698993e-07 9.99999997e-01 -8.47141634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.940281693 meters 0.013134510608688876 Centerline is valid? [True, True] Translation: X:423.35, Y:88.20, Z:-0.09 [[ 8.39913110e-01 -5.42720653e-01 -5.09941894e-04 4.23351325e+02] [ 5.42720552e-01 8.39913265e-01 -3.30521028e-04 8.82039619e+01] [ 6.07687549e-04 8.52998773e-07 9.99999815e-01 -8.53732082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.000281693 meters 0.013638757776141486 Centerline is valid? [True, True] Translation: X:423.40, Y:88.24, Z:-0.09 [[ 8.40807607e-01 -5.41333681e-01 -6.43272674e-04 4.23395404e+02] [ 5.41333520e-01 8.40807853e-01 -4.17128238e-04 8.82422346e+01] [ 7.66674280e-04 2.49953444e-06 9.99999706e-01 -8.61296896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.060281693 meters 0.013917071053429805 Centerline is valid? [True, True] Translation: X:423.44, Y:88.28, Z:-0.08 [[ 8.41227704e-01 -5.40680656e-01 6.14672431e-04 4.23438572e+02] [ 5.40680509e-01 8.41227929e-01 3.98557597e-04 8.82802509e+01] [-7.32571999e-04 -2.93628946e-06 9.99999732e-01 -8.33292165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.120281693 meters 0.013460272355930048 Centerline is valid? [True, True] Translation: X:423.49, Y:88.31, Z:-0.08 [[ 8.40573206e-01 -5.41697063e-01 9.88822981e-04 4.23485490e+02] [ 5.41696683e-01 8.40573787e-01 6.41403413e-04 8.83135946e+01] [-1.17862502e-03 -3.50439345e-06 9.99999305e-01 -8.26825826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.180281693 meters 0.012999729161019893 Centerline is valid? [True, True] Translation: X:423.53, Y:88.35, Z:-0.08 [[ 8.39801698e-01 -5.42892078e-01 1.13984165e-03 4.23532529e+02] [ 5.42891574e-01 8.39802472e-01 7.39679671e-04 8.83479911e+01] [-1.35880807e-03 -2.37381759e-06 9.99999077e-01 -8.26529436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.240281693 meters 0.01361795626336926 Centerline is valid? [True, True] Translation: X:423.58, Y:88.39, Z:-0.08 [[ 8.40398160e-01 -5.41969478e-01 1.33430043e-04 4.23575919e+02] [ 5.41969471e-01 8.40398171e-01 8.65777673e-05 8.83862581e+01] [-1.59056871e-04 -4.44786645e-07 9.99999987e-01 -8.48370826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.300281693 meters 0.01415987004974158 Centerline is valid? [True, True] Translation: X:423.62, Y:88.42, Z:-0.09 [[ 8.40885812e-01 -5.41212570e-01 -6.97341747e-05 4.23620509e+02] [ 5.41212568e-01 8.40885815e-01 -4.53538448e-05 8.84242434e+01] [ 8.31845492e-05 3.96392849e-07 9.99999997e-01 -8.60874925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36028169299993 meters 0.013260794724499186 Centerline is valid? [True, True] Translation: X:423.67, Y:88.46, Z:-0.08 [[ 8.39428347e-01 -5.43469554e-01 9.45976083e-04 4.23668530e+02] [ 5.43469206e-01 8.39428880e-01 6.14443273e-04 8.84565794e+01] [-1.12801085e-03 -1.67222919e-06 9.99999364e-01 -8.46790941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42028169299994 meters 0.01325584174191101 Centerline is valid? [True, True] Translation: X:423.72, Y:88.49, Z:-0.09 [[ 8.37329570e-01 -5.46698430e-01 1.37480611e-04 4.23718170e+02] [ 5.46698422e-01 8.37329581e-01 8.92678798e-05 8.84858703e+01] [-1.63919192e-04 4.13797536e-07 9.99999987e-01 -8.64524817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48028169299994 meters 0.014108774835902818 Centerline is valid? [True, True] Translation: X:423.77, Y:88.52, Z:-0.08 [[ 8.35667856e-01 -5.49233512e-01 1.33565525e-03 4.23768699e+02] [ 5.49232826e-01 8.35668923e-01 8.68255174e-04 8.85167432e+01] [-1.59304042e-03 8.01276916e-06 9.99998731e-01 -8.40491353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54028169299994 meters 0.015580607240479173 Centerline is valid? [True, True] Translation: X:423.82, Y:88.55, Z:-0.08 [[ 8.34053966e-01 -5.51681707e-01 1.12967382e-03 4.23819395e+02] [ 5.51681218e-01 8.34054731e-01 7.34610050e-04 8.85459556e+01] [-1.34748072e-03 1.05154017e-05 9.99999092e-01 -8.48443590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60028169299994 meters 0.01700336780326441 Centerline is valid? [True, True] Translation: X:423.87, Y:88.57, Z:-0.09 [[ 8.33411947e-01 -5.52651836e-01 -6.89535274e-04 4.23869841e+02] [ 5.52651654e-01 8.33412232e-01 -4.48517508e-04 8.85744439e+01] [ 8.22541156e-04 -7.27295934e-06 9.99999662e-01 -8.82463586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66028169299994 meters 0.01624597042884696 Centerline is valid? [True, True] Translation: X:423.92, Y:88.61, Z:-0.08 [[ 8.33172610e-01 -5.53012493e-01 7.64402792e-04 4.23918998e+02] [ 5.53012270e-01 8.33172961e-01 4.97319180e-04 8.86052750e+01] [-9.11903457e-04 8.37140380e-06 9.99999584e-01 -8.46982108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72028169299995 meters 0.01592213713201789 Centerline is valid? [True, True] Translation: X:423.97, Y:88.64, Z:-0.08 [[ 8.34078573e-01 -5.51640956e-01 2.27810110e-03 4.23966964e+02] [ 5.51638964e-01 8.34081684e-01 1.48253252e-03 8.86381057e+01] [-2.71794806e-03 2.01407223e-05 9.99996306e-01 -8.13772370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78028169299995 meters 0.01322616948792311 Centerline is valid? [True, True] Translation: X:424.01, Y:88.68, Z:-0.09 [[ 8.37193246e-01 -5.46907018e-01 -4.27146488e-04 4.24009339e+02] [ 5.46906947e-01 8.37193355e-01 -2.78155767e-04 8.86808054e+01] [ 5.09729543e-04 -7.39252865e-07 9.99999870e-01 -8.62414004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84028169299995 meters 0.013092232181141139 Centerline is valid? [True, True] Translation: X:424.05, Y:88.72, Z:-0.08 [[ 8.38331599e-01 -5.45147346e-01 3.80797477e-03 4.24053763e+02] [ 5.45141707e-01 8.38340248e-01 2.47940889e-03 8.87187505e+01] [-4.54402169e-03 -2.68095479e-06 9.99989676e-01 -7.80339627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90028169299995 meters 0.013230935406487771 Centerline is valid? [True, True] Translation: X:424.10, Y:88.75, Z:-0.08 [[ 8.37339637e-01 -5.46660270e-01 4.98818195e-03 4.24102826e+02] [ 5.46650615e-01 8.37354494e-01 3.24898396e-03 8.87505922e+01] [-5.95296702e-03 6.28968321e-06 9.99982281e-01 -7.62274588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96028169299996 meters 0.014291107307188024 Centerline is valid? [True, True] Translation: X:424.15, Y:88.78, Z:-0.08 [[ 8.34949740e-01 -5.50323530e-01 1.71590614e-03 4.24153377e+02] [ 5.50322395e-01 8.34951503e-01 1.11803640e-03 8.87791155e+01] [-2.04798015e-03 1.07973687e-05 9.99997903e-01 -8.24674043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02028169299996 meters 0.015483521277915887 Centerline is valid? [True, True] Translation: X:424.20, Y:88.81, Z:-0.09 [[ 8.33944354e-01 -5.51848336e-01 4.77455658e-04 4.24203936e+02] [ 5.51848248e-01 8.33944491e-01 3.11141440e-04 8.88075799e+01] [-5.69874402e-04 4.00842132e-06 9.99999838e-01 -8.51934351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08028169299996 meters 0.014808465134400166 Centerline is valid? [True, True] Translation: X:424.25, Y:88.84, Z:-0.08 [[ 8.34021337e-01 -5.51731481e-01 8.84947917e-04 4.24250988e+02] [ 5.51731179e-01 8.34021806e-01 5.76918219e-04 8.88424275e+01] [-1.05636980e-03 7.09125370e-06 9.99999442e-01 -8.45566801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14028169299996 meters 0.014484060113698852 Centerline is valid? [True, True] Translation: X:424.30, Y:88.88, Z:-0.08 [[ 8.34487296e-01 -5.51025915e-01 1.18077169e-03 4.24297831e+02] [ 5.51025377e-01 8.34488131e-01 7.69977949e-04 8.88758514e+01] [-1.40961776e-03 8.09834842e-06 9.99999006e-01 -8.36996597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20028169299997 meters 0.016018687157078364 Centerline is valid? [True, True] Translation: X:424.35, Y:88.91, Z:-0.08 [[ 8.32854502e-01 -5.53487896e-01 2.12804287e-03 4.24348352e+02] [ 5.53486155e-01 8.32857220e-01 1.38818161e-03 8.89068097e+01] [-2.54069758e-03 2.16889648e-05 9.99996772e-01 -8.13390379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26028169299997 meters 0.01839380957109401 Centerline is valid? [True, True] Translation: X:424.40, Y:88.94, Z:-0.08 [[ 8.31832339e-01 -5.55017117e-01 3.31056465e-03 4.24398477e+02] [ 5.55012915e-01 8.31838926e-01 2.16005592e-03 8.89363772e+01] [-3.95272455e-03 4.06017664e-05 9.99992187e-01 -7.80801855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32028169299997 meters 0.01933923331369187 Centerline is valid? [True, True] Translation: X:424.45, Y:88.97, Z:-0.08 [[ 8.30343856e-01 -5.57250067e-01 1.20167409e-03 4.24447596e+02] [ 5.57249515e-01 8.30344725e-01 7.84284715e-04 8.89688558e+01] [-1.43484645e-03 1.84063116e-05 9.99998970e-01 -8.27832044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.380281693 meters 0.020114467184496682 Centerline is valid? [True, True] Translation: X:424.50, Y:89.00, Z:-0.09 [[ 8.29629768e-01 -5.58313662e-01 -5.51182082e-04 4.24496362e+02] [ 5.58313546e-01 8.29629951e-01 -3.59962687e-04 8.90025020e+01] [ 6.58249249e-04 -9.09666164e-06 9.99999783e-01 -8.68449886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.440281693 meters 0.01766328127832682 Centerline is valid? [True, True] Translation: X:424.54, Y:89.04, Z:-0.08 [[ 8.30751950e-01 -5.56642372e-01 6.83575113e-04 4.24541957e+02] [ 5.56642193e-01 8.30752231e-01 4.46437195e-04 8.90408934e+01] [-8.16387409e-04 9.62817974e-06 9.99999667e-01 -8.41995071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.500281693 meters 0.016005902179043487 Centerline is valid? [True, True] Translation: X:424.59, Y:89.08, Z:-0.08 [[ 8.32369991e-01 -5.54216691e-01 2.01426717e-03 4.24585094e+02] [ 5.54215130e-01 8.32372428e-01 1.31585901e-03 8.90809508e+01] [-2.40589148e-03 2.10557900e-05 9.99997106e-01 -8.25127754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.560281693 meters 0.015432299019561042 Centerline is valid? [True, True] Translation: X:424.63, Y:89.12, Z:-0.08 [[ 8.32985480e-01 -5.53285177e-01 3.27148571e-03 4.24629639e+02] [ 5.53281049e-01 8.32991904e-01 2.13752998e-03 8.91164112e+01] [-3.90778476e-03 2.95196067e-05 9.99992364e-01 -8.01739108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.620281693 meters 0.017801996159801464 Centerline is valid? [True, True] Translation: X:424.68, Y:89.15, Z:-0.09 [[ 8.31207712e-01 -5.55961979e-01 1.28880021e-04 4.24680042e+02] [ 5.55961973e-01 8.31207722e-01 8.41723601e-05 8.91472843e+01] [-1.53922700e-04 1.68767572e-06 9.99999988e-01 -8.70993360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.680281693 meters 0.01999879940774349 Centerline is valid? [True, True] Translation: X:424.73, Y:89.18, Z:-0.09 [[ 8.28911490e-01 -5.59378892e-01 -9.97902994e-04 4.24730659e+02] [ 5.59378512e-01 8.28912091e-01 -6.52562248e-04 8.91768436e+01] [ 1.19220341e-03 -1.72891462e-05 9.99999289e-01 -8.98451119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.740281693 meters 0.020341678999546257 Centerline is valid? [True, True] Translation: X:424.78, Y:89.21, Z:-0.09 [[ 8.28809374e-01 -5.59530104e-01 -1.04167264e-03 4.24778206e+02] [ 5.59529689e-01 8.28810028e-01 -6.81270444e-04 8.92086477e+01] [ 1.24454005e-03 -1.82034379e-05 9.99999225e-01 -9.00322504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.800281693 meters 0.01888280048971653 Centerline is valid? [True, True] Translation: X:424.83, Y:89.24, Z:-0.09 [[ 8.29860983e-01 -5.57970139e-01 -2.69639514e-04 4.24826518e+02] [ 5.57970111e-01 8.29861027e-01 -1.76471321e-04 8.92428127e+01] [ 3.22229052e-04 -4.00412548e-06 9.99999948e-01 -8.88594734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86028169299993 meters 0.016921456280087437 Centerline is valid? [True, True] Translation: X:424.87, Y:89.28, Z:-0.09 [[ 8.31463656e-01 -5.55579146e-01 3.48781041e-05 4.24871855e+02] [ 5.55579146e-01 8.31463657e-01 2.27866985e-05 8.92798318e+01] [-4.16596904e-05 4.31235645e-07 9.99999999e-01 -8.77265770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92028169299994 meters 0.01714082368186137 Centerline is valid? [True, True] Translation: X:424.92, Y:89.31, Z:-0.09 [[ 8.31188831e-01 -5.55989881e-01 6.15314753e-04 4.24919297e+02] [ 5.55989735e-01 8.31189059e-01 4.02712418e-04 8.93128100e+01] [-7.35346920e-04 7.37862212e-06 9.99999730e-01 -8.71690150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98028169299994 meters 0.01861361275712182 Centerline is valid? [True, True] Translation: X:424.97, Y:89.34, Z:-0.08 [[ 8.30257869e-01 -5.57377303e-01 1.55307805e-03 4.24968963e+02] [ 5.57376376e-01 8.30259322e-01 1.01680970e-03 8.93421242e+01] [-1.85620418e-03 2.14347637e-05 9.99998277e-01 -8.41132493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04028169299994 meters 0.017235792962055733 Centerline is valid? [True, True] Translation: X:425.02, Y:89.38, Z:-0.08 [[ 8.31160779e-01 -5.56028310e-01 2.06822397e-03 4.25015794e+02] [ 5.56026661e-01 8.31163352e-01 1.35452860e-03 8.93778151e+01] [-2.47218821e-03 2.41566174e-05 9.99996944e-01 -8.28493937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10028169299994 meters 0.013797825428996413 Centerline is valid? [True, True] Translation: X:425.06, Y:89.42, Z:-0.08 [[ 8.34187036e-01 -5.51475499e-01 2.60059453e-03 4.25056891e+02] [ 5.51472868e-01 8.34191090e-01 1.70345725e-03 8.94206059e+01] [-3.10880772e-03 1.31553725e-05 9.99995168e-01 -8.16811186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16028169299994 meters 0.012905230244867475 Centerline is valid? [True, True] Translation: X:425.10, Y:89.46, Z:-0.08 [[ 8.35831117e-01 -5.48982472e-01 2.14213682e-03 4.25101732e+02] [ 5.48980678e-01 8.35833862e-01 1.40358845e-03 8.94587989e+01] [-2.56101595e-03 2.82882336e-06 9.99996721e-01 -8.28702051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22028169299995 meters 0.012958264787369365 Centerline is valid? [True, True] Translation: X:425.14, Y:89.50, Z:-0.09 [[ 8.37215059e-01 -5.46870811e-01 1.80574903e-03 4.25144517e+02] [ 5.46869530e-01 8.37217007e-01 1.18364586e-03 8.94991795e+01] [-2.15910517e-03 -3.45701694e-06 9.99997669e-01 -8.52410879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28028169299995 meters 0.012835709945375116 Centerline is valid? [True, True] Translation: X:425.19, Y:89.53, Z:-0.08 [[ 8.35883907e-01 -5.48903197e-01 1.83714882e-03 4.25190433e+02] [ 5.48901875e-01 8.35885926e-01 1.20449040e-03 8.95321876e+01] [-2.19679547e-03 1.60028897e-06 9.99997587e-01 -8.46032505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34028169299995 meters 0.013878910797390825 Centerline is valid? [True, True] Translation: X:425.24, Y:89.56, Z:-0.09 [[ 8.34087881e-01 -5.51631356e-01 5.04184051e-04 4.25240601e+02] [ 5.51631257e-01 8.34088033e-01 3.30613996e-04 8.95622642e+01] [-6.02910930e-04 2.36255386e-06 9.99999818e-01 -8.81611279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40028169299995 meters 0.014587058222660279 Centerline is valid? [True, True] Translation: X:425.29, Y:89.60, Z:-0.09 [[ 8.33006492e-01 -5.53263207e-01 -9.47092205e-05 4.25288768e+02] [ 5.53263203e-01 8.33006497e-01 -6.21466990e-05 8.95951532e+01] [ 1.13276878e-04 -6.30523022e-07 9.99999994e-01 -8.89767231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46028169299996 meters 0.01349638483797418 Centerline is valid? [True, True] Translation: X:425.33, Y:89.64, Z:-0.09 [[ 8.33836849e-01 -5.52010958e-01 -1.09199503e-04 4.25332261e+02] [ 5.52010953e-01 8.33836856e-01 -7.17239670e-05 8.96356852e+01] [ 1.30646986e-04 -4.73234922e-07 9.99999991e-01 -8.87603439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52028169299996 meters 0.013876115194787472 Centerline is valid? [True, True] Translation: X:425.38, Y:89.67, Z:-0.09 [[ 8.33635535e-01 -5.52314194e-01 9.08775432e-04 4.25376196e+02] [ 5.52313872e-01 8.33636030e-01 5.96396054e-04 8.96720099e+01] [-1.08698595e-03 4.75233389e-06 9.99999409e-01 -8.75098107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58028169299996 meters 0.01540405005209001 Centerline is valid? [True, True] Translation: X:425.43, Y:89.70, Z:-0.09 [[ 8.31814053e-01 -5.55052381e-01 1.49526359e-03 4.25426202e+02] [ 5.55051513e-01 8.31815397e-01 9.81617951e-04 8.97035028e+01] [-1.78863266e-03 1.34247134e-05 9.99998400e-01 -8.56378816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64028169299996 meters 0.01793503384021925 Centerline is valid? [True, True] Translation: X:425.48, Y:89.73, Z:-0.08 [[ 8.29187783e-01 -5.58966033e-01 2.14345920e-03 4.25475745e+02] [ 5.58964262e-01 8.29190553e-01 1.40748136e-03 8.97343729e+01] [-2.56407039e-03 3.10507452e-05 9.99996712e-01 -8.38830603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70028169299997 meters 0.020859561946767722 Centerline is valid? [True, True] Translation: X:425.52, Y:89.76, Z:-0.08 [[ 8.28242363e-01 -5.60362822e-01 2.84542249e-03 4.25524872e+02] [ 5.60359708e-01 8.28247249e-01 1.86868263e-03 8.97641953e+01] [-3.40385362e-03 4.67379982e-05 9.99994206e-01 -8.19938749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76028169299997 meters 0.02056042602371015 Centerline is valid? [True, True] Translation: X:425.57, Y:89.80, Z:-0.08 [[ 8.27632762e-01 -5.61260263e-01 3.30596459e-03 4.25573133e+02] [ 5.61256063e-01 8.27639362e-01 2.17186104e-03 8.97977819e+01] [-3.95512573e-03 5.79893203e-05 9.99992177e-01 -8.23691847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82028169299997 meters 0.01980198367027096 Centerline is valid? [True, True] Translation: X:425.62, Y:89.83, Z:-0.08 [[ 8.27513273e-01 -5.61437163e-01 3.17731693e-03 4.25619941e+02] [ 5.61433282e-01 8.27519371e-01 2.08819639e-03 8.98326247e+01] [-3.80168236e-03 5.58412448e-05 9.99992772e-01 -8.32549554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.880281693 meters 0.020725023054851344 Centerline is valid? [True, True] Translation: X:425.67, Y:89.87, Z:-0.09 [[ 8.27262567e-01 -5.61814234e-01 1.18800788e-03 4.25666730e+02] [ 5.61813691e-01 8.27263420e-01 7.80977938e-04 8.98650762e+01] [-1.42155998e-03 2.13652780e-05 9.99998989e-01 -8.71978340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.940281693 meters 0.021895159641413205 Centerline is valid? [True, True] Translation: X:425.71, Y:89.90, Z:-0.09 [[ 8.26170695e-01 -5.63418639e-01 1.19165659e-03 4.25714876e+02] [ 5.63418094e-01 8.26171554e-01 7.83643526e-04 8.98988730e+01] [-1.42603214e-03 2.39775675e-05 9.99998983e-01 -8.75715017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.000281693 meters 0.024215757304526853 Centerline is valid? [True, True] Translation: X:425.76, Y:89.93, Z:-0.09 [[ 8.25469740e-01 -5.64445930e-01 7.07034792e-04 4.25764318e+02] [ 5.64445739e-01 8.25470043e-01 4.65027498e-04 8.99286827e+01] [-8.46118919e-04 1.52166479e-05 9.99999642e-01 -8.89198222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.060281693 meters 0.02478760406391282 Centerline is valid? [True, True] Translation: X:425.81, Y:89.96, Z:-0.09 [[ 8.24609228e-01 -5.65702448e-01 6.01390779e-04 4.25811976e+02] [ 5.65702310e-01 8.24609447e-01 3.95602978e-04 8.99624709e+01] [-7.19706091e-04 1.39902870e-05 9.99999741e-01 -8.91357689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.120281693 meters 0.023427501859351652 Centerline is valid? [True, True] Translation: X:425.86, Y:90.00, Z:-0.09 [[ 8.25381981e-01 -5.64571364e-01 1.93906849e-03 4.25859177e+02] [ 5.64569924e-01 8.25384258e-01 1.27601547e-03 8.99985263e+01] [-2.32087840e-03 4.15395700e-05 9.99997306e-01 -8.64349308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.180281693 meters 0.023707637589135484 Centerline is valid? [True, True] Translation: X:425.91, Y:90.03, Z:-0.09 [[ 8.25492049e-01 -5.64409528e-01 2.18195179e-03 4.25906237e+02] [ 5.64407703e-01 8.25494932e-01 1.43612924e-03 9.00299130e+01] [-2.61175517e-03 4.59971324e-05 9.99996588e-01 -8.63564592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.240281693 meters 0.023079244281680015 Centerline is valid? [True, True] Translation: X:425.95, Y:90.06, Z:-0.09 [[ 8.24951112e-01 -5.65201478e-01 1.71800086e-03 4.25954802e+02] [ 5.65200348e-01 8.24952900e-01 1.13112774e-03 9.00633784e+01] [-2.05658487e-03 3.78895981e-05 9.99997885e-01 -8.86801192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.300281693 meters 0.024844904183462434 Centerline is valid? [True, True] Translation: X:426.01, Y:90.09, Z:-0.09 [[ 8.23996987e-01 -5.66585303e-01 3.17181590e-03 4.26005766e+02] [ 5.66581458e-01 8.24003088e-01 2.08868523e-03 9.00910339e+01] [-3.79700445e-03 7.60217418e-05 9.99992788e-01 -8.64290627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36028169299993 meters 0.027799955922699862 Centerline is valid? [True, True] Translation: X:426.06, Y:90.12, Z:-0.09 [[ 8.23271545e-01 -5.67636150e-01 3.62819154e-03 4.26057196e+02] [ 5.67631128e-01 8.23279535e-01 2.38951887e-03 9.01183591e+01] [-4.34339314e-03 9.22515663e-05 9.99990563e-01 -8.57068988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42028169299994 meters 0.0275597921411319 Centerline is valid? [True, True] Translation: X:426.11, Y:90.15, Z:-0.09 [[ 8.22232028e-01 -5.69148443e-01 2.13108461e-03 4.26109081e+02] [ 5.69146715e-01 8.22234788e-01 1.40397314e-03 9.01460545e+01] [-2.55132103e-03 5.85081202e-05 9.99996744e-01 -8.99257194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48028169299994 meters 0.031496766512113174 Centerline is valid? [True, True] Translation: X:426.16, Y:90.17, Z:-0.09 [[ 8.21640931e-01 -5.69997309e-01 3.04117848e-03 4.26162758e+02] [ 5.69993793e-01 8.21646554e-01 2.00387375e-03 9.01689402e+01] [-3.64097647e-03 8.69881635e-05 9.99993368e-01 -8.77232995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54028169299994 meters 0.03039120310222097 Centerline is valid? [True, True] Translation: X:426.22, Y:90.19, Z:-0.09 [[ 8.21392327e-01 -5.70350505e-01 3.86598254e-03 4.26215844e+02] [ 5.70344824e-01 8.21401417e-01 2.54818825e-03 9.01948023e+01] [-4.62888400e-03 1.11880857e-04 9.99989280e-01 -8.59923620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60028169299994 meters 0.02988516692314437 Centerline is valid? [True, True] Translation: X:426.27, Y:90.22, Z:-0.09 [[ 8.21829643e-01 -5.69722016e-01 3.58656155e-03 4.26267294e+02] [ 5.69717116e-01 8.21837463e-01 2.36481782e-03 9.02231455e+01] [-4.29485942e-03 9.98481175e-05 9.99990772e-01 -8.65024971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66028169299994 meters 0.02676314445054568 Centerline is valid? [True, True] Translation: X:426.32, Y:90.25, Z:-0.09 [[ 8.23507123e-01 -5.67293857e-01 3.70123434e-03 4.26317862e+02] [ 5.67288611e-01 8.23515435e-01 2.44126226e-03 9.02528983e+01] [-4.43293669e-03 8.92712339e-05 9.99990171e-01 -8.72645922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72028169299995 meters 0.02285071668974593 Centerline is valid? [True, True] Translation: X:426.37, Y:90.29, Z:-0.09 [[ 8.24639012e-01 -5.65642929e-01 4.31017430e-03 4.26365967e+02] [ 5.65635787e-01 8.24650270e-01 2.84393147e-03 9.02864922e+01] [-5.16303612e-03 9.27719968e-05 9.99986667e-01 -8.69525906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78028169299995 meters 0.019409970335616852 Centerline is valid? [True, True] Translation: X:426.42, Y:90.32, Z:-0.09 [[ 8.26832496e-01 -5.62439262e-01 3.17801280e-03 4.26415382e+02] [ 5.62435353e-01 8.26838602e-01 2.09760275e-03 9.03191125e+01] [-3.80747780e-03 5.30606367e-05 9.99992750e-01 -8.90886654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84028169299995 meters 0.01788998835848916 Centerline is valid? [True, True] Translation: X:426.46, Y:90.35, Z:-0.09 [[ 8.28267339e-01 -5.60315537e-01 4.44016482e-03 4.26463262e+02] [ 5.60307873e-01 8.28279238e-01 2.93111230e-03 9.03512082e+01] [-5.32004410e-03 6.01147244e-05 9.99985847e-01 -8.69901212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90028169299995 meters 0.01853982259614335 Centerline is valid? [True, True] Translation: X:426.52, Y:90.38, Z:-0.09 [[ 8.27392724e-01 -5.61608577e-01 4.13348619e-03 4.26515790e+02] [ 5.61601947e-01 8.27403047e-01 2.72960345e-03 9.03780855e+01] [-4.95302778e-03 6.29198605e-05 9.99987732e-01 -8.94434195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96028169299996 meters 0.02407334383349943 Centerline is valid? [True, True] Translation: X:426.57, Y:90.40, Z:-0.09 [[ 8.24509897e-01 -5.65837597e-01 3.35312234e-03 4.26572787e+02] [ 5.65833268e-01 8.24516712e-01 2.21459460e-03 9.03962382e+01] [-4.01780629e-03 7.13530032e-05 9.99991926e-01 -9.10060045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02028169299996 meters 0.031209302433111156 Centerline is valid? [True, True] Translation: X:426.63, Y:90.41, Z:-0.09 [[ 8.20973153e-01 -5.70953020e-01 3.96612987e-03 4.26633181e+02] [ 5.70947021e-01 8.20982726e-01 2.61991189e-03 9.04102705e+01] [-4.75197072e-03 1.13572709e-04 9.99988703e-01 -8.91490600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08028169299996 meters 0.026698052991936626 Centerline is valid? [True, True] Translation: X:426.68, Y:90.44, Z:-0.09 [[ 8.22791935e-01 -5.68315980e-01 5.51171360e-03 4.26683297e+02] [ 5.68304325e-01 8.22810385e-01 3.64213087e-03 9.04406427e+01] [-6.60497637e-03 1.35614771e-04 9.99978178e-01 -8.61431691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14028169299996 meters 0.023996187713552046 Centerline is valid? [True, True] Translation: X:426.73, Y:90.47, Z:-0.08 [[ 8.25184255e-01 -5.64830072e-01 6.15914355e-03 4.26732209e+02] [ 5.64815410e-01 8.25207232e-01 4.07137103e-03 9.04719628e+01] [-7.38220259e-03 1.19147925e-04 9.99972744e-01 -8.37167054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20028169299997 meters 0.0170210017977302 Centerline is valid? [True, True] Translation: X:426.78, Y:90.51, Z:-0.09 [[ 8.29093800e-01 -5.59071663e-01 6.50741421e-03 4.26779393e+02] [ 5.59055107e-01 8.29119334e-01 4.30303598e-03 9.05072432e+01] [-7.80112842e-03 7.03826978e-05 9.99969568e-01 -8.55655382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26028169299997 meters 0.015425748227848455 Centerline is valid? [True, True] Translation: X:426.83, Y:90.54, Z:-0.09 [[ 8.30385876e-01 -5.57155851e-01 6.05426042e-03 4.26828487e+02] [ 5.57141460e-01 8.30407945e-01 4.00478068e-03 9.05399409e+01] [-7.25879294e-03 4.75661782e-05 9.99973653e-01 -8.67203823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32028169299997 meters 0.015782300212041623 Centerline is valid? [True, True] Translation: X:426.88, Y:90.57, Z:-0.09 [[ 8.30150418e-01 -5.57515509e-01 5.17115250e-03 4.26880555e+02] [ 5.57505014e-01 8.30166523e-01 3.42122222e-03 9.05655104e+01] [-6.20030214e-03 4.28143890e-05 9.99980777e-01 -8.91992260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.380281693 meters 0.016242870465016466 Centerline is valid? [True, True] Translation: X:426.93, Y:90.59, Z:-0.09 [[ 8.29605522e-01 -5.58331199e-01 4.57713668e-03 4.26933523e+02] [ 5.58322982e-01 8.29618147e-01 3.02936657e-03 9.05904282e+01] [-5.48866552e-03 4.23413693e-05 9.99984936e-01 -9.08204216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.440281693 meters 0.015500634863201752 Centerline is valid? [True, True] Translation: X:426.98, Y:90.62, Z:-0.09 [[ 8.30306299e-01 -5.57290646e-01 4.31113658e-03 4.26984958e+02] [ 5.57283338e-01 8.30317490e-01 2.85430173e-03 9.06185939e+01] [-5.17028776e-03 3.25798766e-05 9.99986633e-01 -9.25174225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.500281693 meters 0.014241408080184582 Centerline is valid? [True, True] Translation: X:427.03, Y:90.65, Z:-0.09 [[ 8.31648533e-01 -5.55285919e-01 4.27381190e-03 4.27034694e+02] [ 5.55278705e-01 8.31659514e-01 2.83055706e-03 9.06508342e+01] [-5.12612481e-03 1.91281176e-05 9.99986861e-01 -9.25610599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.560281693 meters 0.013533560543593875 Centerline is valid? [True, True] Translation: X:427.08, Y:90.68, Z:-0.09 [[ 8.32639392e-01 -5.53806230e-01 3.20970350e-03 4.27084571e+02] [ 5.53802149e-01 8.32645578e-01 2.12607809e-03 9.06804769e+01] [-3.84998072e-03 7.28432918e-06 9.99992589e-01 -9.45571739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.620281693 meters 0.013327275039720182 Centerline is valid? [True, True] Translation: X:427.14, Y:90.71, Z:-0.10 [[ 8.33377438e-01 -5.52697631e-01 2.71573050e-03 4.27136171e+02] [ 5.52694701e-01 8.33381863e-01 1.79950504e-03 9.07072253e+01] [-3.25782271e-03 1.30296074e-06 9.99994693e-01 -9.67021149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.680281693 meters 0.013525246238748534 Centerline is valid? [True, True] Translation: X:427.19, Y:90.73, Z:-0.10 [[ 8.34463492e-01 -5.51055220e-01 2.97077599e-03 4.27187325e+02] [ 5.51051701e-01 8.34468780e-01 1.96925751e-03 9.07341158e+01] [-3.56418944e-03 -6.22233220e-06 9.99993648e-01 -9.66857089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.740281693 meters 0.01499457979782874 Centerline is valid? [True, True] Translation: X:427.24, Y:90.77, Z:-0.10 [[ 8.36287351e-01 -5.48289626e-01 1.39739521e-03 4.27235582e+02] [ 5.48288843e-01 8.36288519e-01 9.26578028e-04 9.07684117e+01] [-1.67665869e-03 -8.70928243e-06 9.99998594e-01 -1.01236598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.800281693 meters 0.019767873968240195 Centerline is valid? [True, True] Translation: X:427.28, Y:90.80, Z:-0.10 [[ 8.40479358e-01 -5.41842840e-01 8.86639126e-04 4.27283026e+02] [ 5.41842521e-01 8.40479825e-01 5.88085311e-04 9.08036769e+01] [-1.06385211e-03 -1.38547845e-05 9.99999434e-01 -1.02474372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86028169299993 meters 0.03059196839839073 Centerline is valid? [True, True] Translation: X:427.32, Y:90.85, Z:-0.10 [[ 8.44317686e-01 -5.35840772e-01 1.52054811e-03 4.27322762e+02] [ 5.35839824e-01 8.44319054e-01 1.00875223e-03 9.08489587e+01] [-1.82435832e-03 -3.69371213e-05 9.99998335e-01 -9.99085562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92028169299994 meters 0.03508738537888615 Centerline is valid? [True, True] Translation: X:427.37, Y:90.89, Z:-0.10 [[ 8.46197495e-01 -5.32866744e-01 1.68292782e-03 4.27367338e+02] [ 5.32865576e-01 8.46199167e-01 1.11678211e-03 9.08874263e+01] [-2.01918816e-03 -4.82439218e-05 9.99997960e-01 -9.99628287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98028169299994 meters 0.03819725399678655 Centerline is valid? [True, True] Translation: X:427.41, Y:90.93, Z:-0.10 [[ 8.48702444e-01 -5.28866148e-01 2.18157283e-03 4.27412136e+02] [ 5.28864171e-01 8.48705244e-01 1.44817343e-03 9.09258208e+01] [-2.61740221e-03 -7.53126230e-05 9.99996572e-01 -1.02266843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04028169299994 meters 0.03167261286378191 Centerline is valid? [True, True] Translation: X:427.47, Y:90.95, Z:-0.10 [[ 8.46789354e-01 -5.31923014e-01 2.38676026e-03 4.27465460e+02] [ 5.31920658e-01 8.46792715e-01 1.58490818e-03 9.09530182e+01] [-2.86414034e-03 -7.25162871e-05 9.99995896e-01 -1.01690063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10028169299994 meters 0.029110170933966575 Centerline is valid? [True, True] Translation: X:427.52, Y:90.98, Z:-0.10 [[ 8.44741025e-01 -5.35162914e-01 3.64084473e-03 4.27515231e+02] [ 5.35157459e-01 8.44748866e-01 2.41804071e-03 9.09822938e+01] [-4.36964517e-03 -9.41929687e-05 9.99990449e-01 -9.91028485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16028169299994 meters 0.021247654967548914 Centerline is valid? [True, True] Translation: X:427.57, Y:91.01, Z:-0.09 [[ 8.40822519e-01 -5.41266436e-01 6.93810023e-03 4.27570699e+02] [ 5.41246824e-01 8.40851135e-01 4.60921139e-03 9.10050084e+01] [-8.32872087e-03 -1.20304010e-04 9.99965308e-01 -9.40148145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22028169299995 meters 0.020682329821680084 Centerline is valid? [True, True] Translation: X:427.62, Y:91.03, Z:-0.09 [[ 8.39809763e-01 -5.42817612e-01 8.28265991e-03 4.27620629e+02] [ 5.42789730e-01 8.39850596e-01 5.50318801e-03 9.10341603e+01] [-9.94342424e-03 -1.25888278e-04 9.99950555e-01 -9.08425295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28028169299995 meters 0.0202287175649885 Centerline is valid? [True, True] Translation: X:427.67, Y:91.07, Z:-0.10 [[ 8.39962214e-01 -5.42624924e-01 4.65516415e-03 4.27670343e+02] [ 5.42616108e-01 8.39975111e-01 3.09403269e-03 9.10662654e+01] [-5.58912127e-03 -7.29034907e-05 9.99984378e-01 -9.87902681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34028169299995 meters 0.020745359557891592 Centerline is valid? [True, True] Translation: X:427.72, Y:91.10, Z:-0.10 [[ 8.40252679e-01 -5.42185825e-01 3.15696731e-03 4.27718015e+02] [ 5.42181764e-01 8.40258608e-01 2.09908179e-03 9.10989865e+01] [-3.79076135e-03 -5.21089946e-05 9.99992814e-01 -1.02556123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40028169299995 meters 0.02425015555728712 Centerline is valid? [True, True] Translation: X:427.76, Y:91.13, Z:-0.10 [[ 8.41893714e-01 -5.39630041e-01 3.79375189e-03 4.27763329e+02] [ 5.39624148e-01 8.41902258e-01 2.52308922e-03 9.11346374e+01] [-4.55550302e-03 -7.69728222e-05 9.99989621e-01 -1.01213077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46028169299996 meters 0.025953102735804093 Centerline is valid? [True, True] Translation: X:427.81, Y:91.17, Z:-0.10 [[ 8.42502825e-01 -5.38675299e-01 4.23229616e-03 4.27810839e+02] [ 5.38667951e-01 8.42513450e-01 2.81511830e-03 9.11677101e+01] [-5.08220114e-03 -9.19428221e-05 9.99987081e-01 -1.00989679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52028169299996 meters 0.022959701569497466 Centerline is valid? [True, True] Translation: X:427.86, Y:91.20, Z:-0.10 [[ 8.41901884e-01 -5.39618140e-01 3.67155451e-03 4.27863700e+02] [ 5.39612617e-01 8.41909887e-01 2.44259895e-03 9.11953061e+01] [-4.40918874e-03 -7.52115264e-05 9.99990277e-01 -1.03033064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58028169299996 meters 0.022817052555024083 Centerline is valid? [True, True] Translation: X:427.91, Y:91.23, Z:-0.11 [[ 8.41310579e-01 -5.40545613e-01 2.63615640e-03 4.27912597e+02] [ 5.40542770e-01 8.41314708e-01 1.75399884e-03 9.12259364e+01] [-3.16595353e-03 -5.07024944e-05 9.99994987e-01 -1.05525704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64028169299996 meters 0.01998473497545826 Centerline is valid? [True, True] Translation: X:427.97, Y:91.25, Z:-0.11 [[ 8.39438421e-01 -5.43447972e-01 2.72756462e-03 4.27968335e+02] [ 5.43444941e-01 8.39442851e-01 1.81537347e-03 9.12493778e+01] [-3.27619565e-03 -4.16130428e-05 9.99994632e-01 -1.06647596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70028169299997 meters 0.015434923964053191 Centerline is valid? [True, True] Translation: X:428.03, Y:91.27, Z:-0.11 [[ 8.36303484e-01 -5.48259244e-01 2.87825179e-03 4.28027772e+02] [ 5.48255895e-01 8.36308437e-01 1.91635534e-03 9.12661158e+01] [-3.45776579e-03 -2.46361381e-05 9.99994022e-01 -1.08206886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76028169299997 meters 0.015689284692448263 Centerline is valid? [True, True] Translation: X:428.08, Y:91.29, Z:-0.11 [[ 8.36217247e-01 -5.48389539e-01 3.10306172e-03 4.28078575e+02] [ 5.48385646e-01 8.36223004e-01 2.06653188e-03 9.12929625e+01] [-3.72811606e-03 -2.63950948e-05 9.99993050e-01 -1.08004609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82028169299997 meters 0.017987066955406857 Centerline is valid? [True, True] Translation: X:428.13, Y:91.32, Z:-0.11 [[ 8.37841310e-01 -5.45904326e-01 3.22586972e-03 4.28127940e+02] [ 5.45900099e-01 8.37847519e-01 2.14860399e-03 9.13240478e+01] [-3.87571915e-03 -3.91865827e-05 9.99992489e-01 -1.06926478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.880281693 meters 0.023094517963613826 Centerline is valid? [True, True] Translation: X:428.18, Y:91.36, Z:-0.11 [[ 8.40725466e-01 -5.41456748e-01 2.29783809e-03 4.28175361e+02] [ 5.41454586e-01 8.40728605e-01 1.53095327e-03 9.13591614e+01] [-2.76080319e-03 -4.29364297e-05 9.99996188e-01 -1.08342192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.940281693 meters 0.02403279652548231 Centerline is valid? [True, True] Translation: X:428.22, Y:91.39, Z:-0.11 [[ 8.40894774e-01 -5.41187217e-01 3.51791265e-03 4.28224180e+02] [ 5.41182143e-01 8.40902130e-01 2.34430283e-03 9.13896873e+01] [-4.22692696e-03 -6.74804912e-05 9.99991064e-01 -1.06892133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.000281693 meters 0.021215150393843852 Centerline is valid? [True, True] Translation: X:428.28, Y:91.41, Z:-0.11 [[ 8.39750638e-01 -5.42954877e-01 4.34372928e-03 4.28280188e+02] [ 5.42947161e-01 8.39761869e-01 2.89559785e-03 9.14114719e+01] [-5.21987719e-03 -7.31646615e-05 9.99986374e-01 -1.06839864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.060281693 meters 0.020445512351769387 Centerline is valid? [True, True] Translation: X:428.33, Y:91.44, Z:-0.11 [[ 8.39135162e-01 -5.43910680e-01 3.65401211e-03 4.28332243e+02] [ 5.43905228e-01 8.39143116e-01 2.43615373e-03 9.14369634e+01] [-4.39128914e-03 -5.68259672e-05 9.99990357e-01 -1.07224044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.120281693 meters 0.024100197302481776 Centerline is valid? [True, True] Translation: X:428.38, Y:91.47, Z:-0.11 [[ 8.41101191e-01 -5.40869557e-01 2.98467212e-03 4.28379263e+02] [ 5.40865899e-01 8.41106485e-01 1.99016534e-03 9.14715771e+01] [-3.58684692e-03 -5.96230670e-05 9.99993565e-01 -1.09646066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.180281693 meters 0.03349496060954218 Centerline is valid? [True, True] Translation: X:428.42, Y:91.51, Z:-0.11 [[ 8.45433957e-01 -5.34073118e-01 2.70718286e-03 4.28421561e+02] [ 5.34070073e-01 8.45438287e-01 1.80548908e-03 9.15126857e+01] [-3.25301923e-03 -8.05964298e-05 9.99994706e-01 -1.11079160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.240281693 meters 0.03426171925254669 Centerline is valid? [True, True] Translation: X:428.47, Y:91.54, Z:-0.11 [[ 8.47370567e-01 -5.30995988e-01 2.52637467e-03 4.28471869e+02] [ 5.30993321e-01 8.47374329e-01 1.68542213e-03 9.15445620e+01] [-3.03573743e-03 -8.66890309e-05 9.99995388e-01 -1.12052285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.300281693 meters 0.047620132608595864 Centerline is valid? [True, True] Translation: X:428.51, Y:91.59, Z:-0.12 [[ 8.51145564e-01 -5.24929728e-01 1.00796662e-04 4.28510889e+02] [ 5.24929724e-01 8.51145570e-01 6.72255410e-05 9.15913038e+01] [-1.21081317e-04 -4.30755694e-06 9.99999993e-01 -1.18119868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36028169299993 meters 0.04719222694665889 Centerline is valid? [True, True] Translation: X:428.56, Y:91.63, Z:-0.12 [[ 8.54171632e-01 -5.19991065e-01 3.39644099e-04 4.28559447e+02] [ 5.19991016e-01 8.54171699e-01 2.26646162e-04 9.16256638e+01] [-4.07968356e-04 -1.69828425e-05 9.99999917e-01 -1.17326634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42028169299994 meters 0.058779513718882494 Centerline is valid? [True, True] Translation: X:428.60, Y:91.68, Z:-0.11 [[ 8.57608115e-01 -5.14298599e-01 2.29613772e-03 4.28595843e+02] [ 5.14296332e-01 8.57611178e-01 1.53281644e-03 9.16755951e+01] [-2.75751872e-03 -1.33660612e-04 9.99996189e-01 -1.14097500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48028169299994 meters 0.05872714802875158 Centerline is valid? [True, True] Translation: X:428.64, Y:91.71, Z:-0.11 [[ 8.57117469e-01 -5.15104791e-01 4.08651999e-03 4.28643171e+02] [ 5.15097615e-01 8.57127178e-01 2.72889719e-03 9.17110385e+01] [-4.90833537e-03 -2.34028754e-04 9.99987927e-01 -1.10225540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54028169299994 meters 0.05415397738612659 Centerline is valid? [True, True] Translation: X:428.69, Y:91.74, Z:-0.11 [[ 8.54987960e-01 -5.18634753e-01 3.68529997e-03 4.28693824e+02] [ 5.18628946e-01 8.54995881e-01 2.46171998e-03 9.17422111e+01] [-4.42764982e-03 -1.93437704e-04 9.99990179e-01 -1.10993111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60028169299994 meters 0.04369362015655842 Centerline is valid? [True, True] Translation: X:428.75, Y:91.77, Z:-0.11 [[ 8.51590971e-01 -5.24197913e-01 3.06037570e-03 4.28746786e+02] [ 5.24193943e-01 8.51596459e-01 2.04461504e-03 9.17695131e+01] [-3.67798805e-03 -1.36945309e-04 9.99993227e-01 -1.13761688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66028169299994 meters 0.03634431174177877 Centerline is valid? [True, True] Translation: X:428.80, Y:91.80, Z:-0.11 [[ 8.47701555e-01 -5.30459371e-01 3.86398538e-03 4.28795821e+02] [ 5.30453103e-01 8.47710349e-01 2.58236442e-03 9.18021897e+01] [-4.64537980e-03 -1.39411301e-04 9.99989200e-01 -1.11109679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72028169299995 meters 0.031722387659493485 Centerline is valid? [True, True] Translation: X:428.84, Y:91.83, Z:-0.12 [[ 8.44836184e-01 -5.35024530e-01 7.57954061e-04 4.28844774e+02] [ 5.35024290e-01 8.44836524e-01 5.06601413e-04 9.18335835e+01] [-9.11391456e-04 -2.24713711e-05 9.99999584e-01 -1.19467286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78028169299995 meters 0.018011752228161627 Centerline is valid? [True, True] Translation: X:428.90, Y:91.85, Z:-0.12 [[ 8.37261023e-01 -5.46802755e-01 8.52552635e-04 4.28903168e+02] [ 5.46802458e-01 8.37261457e-01 5.69989570e-04 9.18523567e+01] [-1.02548133e-03 -1.10521730e-05 9.99999474e-01 -1.19662161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84028169299995 meters 0.014162115065179075 Centerline is valid? [True, True] Translation: X:428.96, Y:91.88, Z:-0.12 [[ 8.33841641e-01 -5.52000225e-01 1.96710786e-03 4.28955074e+02] [ 5.51998658e-01 8.33843961e-01 1.31544811e-03 9.18786019e+01] [-2.36638866e-03 -1.10345111e-05 9.99997200e-01 -1.17492428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90028169299995 meters 0.01594795604072151 Centerline is valid? [True, True] Translation: X:429.01, Y:91.90, Z:-0.11 [[ 8.26597198e-01 -5.62783402e-01 3.45178516e-03 4.29014138e+02] [ 5.62778666e-01 8.26604404e-01 2.30908949e-03 9.18968226e+01] [-4.15277805e-03 3.39041461e-05 9.99991377e-01 -1.14274023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96028169299996 meters 0.02642820988304419 Centerline is valid? [True, True] Translation: X:429.07, Y:91.91, Z:-0.12 [[ 8.19058003e-01 -5.73707473e-01 1.92951496e-03 4.29074581e+02] [ 5.73706022e-01 8.19060274e-01 1.29120498e-03 9.19118383e+01] [-2.32116300e-03 4.94025747e-05 9.99997305e-01 -1.18911499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02028169299996 meters 0.03404378921994053 Centerline is valid? [True, True] Translation: X:429.13, Y:91.93, Z:-0.12 [[ 8.15346438e-01 -5.78973102e-01 5.77009545e-04 4.29133551e+02] [ 5.78972973e-01 8.15346642e-01 3.86185548e-04 9.19283006e+01] [-6.94053839e-04 1.91979206e-05 9.99999759e-01 -1.21140266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08028169299996 meters 0.035957220937782586 Centerline is valid? [True, True] Translation: X:429.19, Y:91.95, Z:-0.12 [[ 8.14140703e-01 -5.80666066e-01 1.35500196e-03 4.29188574e+02] [ 5.80665359e-01 8.14141829e-01 9.07225100e-04 9.19523357e+01] [-1.62995860e-03 4.81938206e-05 9.99998670e-01 -1.18842150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14028169299996 meters 0.03235282844893205 Centerline is valid? [True, True] Translation: X:429.24, Y:91.98, Z:-0.12 [[ 8.16245511e-01 -5.77703112e-01 1.54305986e-03 4.29241122e+02] [ 5.77702189e-01 8.16246968e-01 1.03341158e-03 9.19785055e+01] [-1.85652301e-03 4.79114992e-05 9.99998276e-01 -1.19584242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20028169299997 meters 0.027757323835027884 Centerline is valid? [True, True] Translation: X:429.29, Y:92.01, Z:-0.12 [[ 8.19098935e-01 -5.73650267e-01 1.51812113e-03 4.29289721e+02] [ 5.73649367e-01 8.19100341e-01 1.01708416e-03 9.20089645e+01] [-1.82694413e-03 3.77766722e-05 9.99998330e-01 -1.19941817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26028169299997 meters 0.019961315409292597 Centerline is valid? [True, True] Translation: X:429.34, Y:92.04, Z:-0.12 [[ 8.23389144e-01 -5.67472757e-01 2.23331049e-03 4.29338860e+02] [ 5.67470783e-01 8.23392172e-01 1.49683742e-03 9.20412363e+01] [-2.68830483e-03 3.48587703e-05 9.99996386e-01 -1.18160766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32028169299997 meters 0.016064374463629436 Centerline is valid? [True, True] Translation: X:429.39, Y:92.07, Z:-0.12 [[ 8.26182525e-01 -5.63397873e-01 2.29596256e-03 4.29387718e+02] [ 5.63395771e-01 8.26185715e-01 1.53919349e-03 9.20714844e+01] [-2.76406981e-03 2.18808350e-05 9.99996180e-01 -1.18666551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.380281693 meters 0.013106880219483984 Centerline is valid? [True, True] Translation: X:429.43, Y:92.11, Z:-0.12 [[ 8.29883327e-01 -5.57932332e-01 2.27510607e-03 4.29434081e+02] [ 5.57930246e-01 8.29886446e-01 1.52571245e-03 9.21075567e+01] [-2.73932399e-03 3.18715878e-06 9.99996248e-01 -1.19397753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.440281693 meters 0.017966798172252656 Centerline is valid? [True, True] Translation: X:429.48, Y:92.15, Z:-0.12 [[ 8.36403807e-01 -5.48103933e-01 3.27866086e-03 4.29478000e+02] [ 5.48099522e-01 8.36410232e-01 2.19951056e-03 9.21472483e+01] [-3.94786588e-03 -4.26465535e-05 9.99992206e-01 -1.17258429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.500281693 meters 0.027469971613564757 Centerline is valid? [True, True] Translation: X:429.52, Y:92.19, Z:-0.12 [[ 8.42004572e-01 -5.39468399e-01 1.46564786e-03 4.29521691e+02] [ 5.39467504e-01 8.42005846e-01 9.83556306e-04 9.21877189e+01] [-1.76468161e-03 -3.74895166e-05 9.99998442e-01 -1.22694469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.560281693 meters 0.03284453746077315 Centerline is valid? [True, True] Translation: X:429.57, Y:92.23, Z:-0.12 [[ 8.44483194e-01 -5.35574086e-01 2.92133484e-03 4.29565451e+02] [ 5.35570504e-01 8.44488242e-01 1.96080773e-03 9.22257635e+01] [-3.51719073e-03 -9.12883997e-05 9.99993811e-01 -1.20274448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.620281693 meters 0.03512677088179968 Centerline is valid? [True, True] Translation: X:429.61, Y:92.26, Z:-0.12 [[ 8.45395924e-01 -5.34128138e-01 3.58666099e-03 4.29613020e+02] [ 5.34122725e-01 8.45403523e-01 2.40781859e-03 9.22596231e+01] [-4.31825950e-03 -1.19842880e-04 9.99990669e-01 -1.20326057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.680281693 meters 0.03547711062548315 Centerline is valid? [True, True] Translation: X:429.66, Y:92.29, Z:-0.12 [[ 8.45234879e-01 -5.34387885e-01 2.75467280e-03 4.29661616e+02] [ 5.34384691e-01 8.45239363e-01 1.84992982e-03 9.22921334e+01] [-3.31693796e-03 -9.15702337e-05 9.99994495e-01 -1.22244709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.740281693 meters 0.03315847188216941 Centerline is valid? [True, True] Translation: X:429.71, Y:92.32, Z:-0.12 [[ 8.44781554e-01 -5.35105064e-01 2.58797799e-03 4.29711214e+02] [ 5.35102246e-01 8.44785514e-01 1.73859407e-03 9.23239074e+01] [-3.11661680e-03 -8.38993664e-05 9.99995140e-01 -1.22182255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80028169299993 meters 0.030729391418785605 Centerline is valid? [True, True] Translation: X:429.76, Y:92.35, Z:-0.12 [[ 8.44246735e-01 -5.35951548e-01 1.84108000e-03 4.29761253e+02] [ 5.35950122e-01 8.44248740e-01 1.23725644e-03 9.23546517e+01] [-2.21743898e-03 -5.78226554e-05 9.99997540e-01 -1.23869321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86028169299993 meters 0.029196260022820997 Centerline is valid? [True, True] Translation: X:429.81, Y:92.39, Z:-0.12 [[ 8.42999119e-01 -5.37908338e-01 2.66564357e-03 4.29809268e+02] [ 5.37905359e-01 8.43003330e-01 1.79169089e-03 9.23865098e+01] [-3.21091187e-03 -7.65298741e-05 9.99994842e-01 -1.21884939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92028169299994 meters 0.02990108570899252 Centerline is valid? [True, True] Translation: X:429.86, Y:92.42, Z:-0.12 [[ 8.43027366e-01 -5.37851249e-01 4.57097159e-03 4.29855639e+02] [ 5.37842484e-01 8.43039748e-01 3.07340291e-03 9.24226014e+01] [-5.50654433e-03 -1.32500047e-04 9.99984830e-01 -1.16938725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98028169299994 meters 0.03328533321732092 Centerline is valid? [True, True] Translation: X:429.90, Y:92.46, Z:-0.12 [[ 8.44289743e-01 -5.35875613e-01 3.48656112e-03 4.29897850e+02] [ 5.35870496e-01 8.44296935e-01 2.34464656e-03 9.24631755e+01] [-4.20013179e-03 -1.11215810e-04 9.99991173e-01 -1.20130647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04028169299994 meters 0.03577444064136889 Centerline is valid? [True, True] Translation: X:429.94, Y:92.50, Z:-0.13 [[ 8.46395161e-01 -5.32555060e-01 -5.82924860e-04 4.29941768e+02] [ 5.32554916e-01 8.46395361e-01 -3.92199534e-04 9.25045872e+01] [ 7.02252744e-04 2.15162882e-05 9.99999753e-01 -1.29255192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10028169299994 meters 0.040499888497884 Centerline is valid? [True, True] Translation: X:429.98, Y:92.55, Z:-0.13 [[ 8.47087933e-01 -5.31448631e-01 -2.09435664e-03 4.29983021e+02] [ 5.31446769e-01 8.47090518e-01 -1.40908911e-03 9.25464449e+01] [ 2.52296814e-03 8.05833138e-05 9.99996814e-01 -1.32499641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16028169299994 meters 0.038404868905625764 Centerline is valid? [True, True] Translation: X:430.03, Y:92.58, Z:-0.13 [[ 8.46271529e-01 -5.32750487e-01 -1.19080753e-03 4.30031062e+02] [ 5.32749885e-01 8.46272366e-01 -8.01505214e-04 9.25801152e+01] [ 1.43474980e-03 4.38884691e-05 9.99998970e-01 -1.31589524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22028169299995 meters 0.03655476321824359 Centerline is valid? [True, True] Translation: X:430.08, Y:92.61, Z:-0.13 [[ 8.45017551e-01 -5.34738502e-01 -2.69446016e-04 4.30079442e+02] [ 5.34738472e-01 8.45017594e-01 -1.81469992e-04 9.26138823e+01] [ 3.24725616e-04 9.26217727e-06 9.99999947e-01 -1.30940448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28028169299995 meters 0.03136937357167213 Centerline is valid? [True, True] Translation: X:430.13, Y:92.64, Z:-0.13 [[ 8.44204204e-01 -5.36021542e-01 -4.09787379e-04 4.30130460e+02] [ 5.36021471e-01 8.44204304e-01 -2.76060180e-04 9.26436424e+01] [ 4.93918472e-04 1.33963309e-05 9.99999878e-01 -1.31492075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34028169299995 meters 0.03470464097156889 Centerline is valid? [True, True] Translation: X:430.17, Y:92.68, Z:-0.14 [[ 8.44209654e-01 -5.36007187e-01 -2.52104189e-03 4.30173127e+02] [ 5.36004503e-01 8.44213414e-01 -1.69827633e-03 9.26842377e+01] [ 3.03858570e-03 8.24114672e-05 9.99995380e-01 -1.36177820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40028169299995 meters 0.036187223276071996 Centerline is valid? [True, True] Translation: X:430.22, Y:92.72, Z:-0.14 [[ 8.44375254e-01 -5.35739353e-01 -3.71154579e-03 4.30217991e+02] [ 5.35733532e-01 8.44383403e-01 -2.50051988e-03 9.27214690e+01] [ 4.47359456e-03 1.22977581e-04 9.99989986e-01 -1.40061336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46028169299996 meters 0.032104405900508365 Centerline is valid? [True, True] Translation: X:430.27, Y:92.75, Z:-0.14 [[ 8.42505402e-01 -5.38682331e-01 -2.44827452e-03 4.30267006e+02] [ 5.38679809e-01 8.42508956e-01 -1.65005080e-03 9.27538176e+01] [ 2.95154642e-03 7.13406669e-05 9.99995642e-01 -1.36733280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52028169299996 meters 0.02822638079701572 Centerline is valid? [True, True] Translation: X:430.32, Y:92.78, Z:-0.14 [[ 8.40016215e-01 -5.42559520e-01 -1.38743051e-03 4.30315895e+02] [ 5.42558715e-01 8.40017360e-01 -9.35447177e-04 9.27849808e+01] [ 1.67300148e-03 3.30282845e-05 9.99998600e-01 -1.35073984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58028169299996 meters 0.01761148486454279 Centerline is valid? [True, True] Translation: X:430.38, Y:92.80, Z:-0.13 [[ 8.34446934e-01 -5.51087880e-01 -6.80820760e-04 4.30375387e+02] [ 5.51087689e-01 8.34447211e-01 -4.59228706e-04 9.28017574e+01] [ 8.21184359e-04 8.01004652e-06 9.99999663e-01 -1.34577351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64028169299996 meters 0.013940217093426972 Centerline is valid? [True, True] Translation: X:430.44, Y:92.82, Z:-0.14 [[ 8.28386434e-01 -5.60153064e-01 -2.11231988e-03 4.30436163e+02] [ 5.60151251e-01 8.28389127e-01 -1.42516696e-03 9.28162366e+01] [ 2.54813446e-03 -2.62964951e-06 9.99996754e-01 -1.38229986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70028169299997 meters 0.014952687722585366 Centerline is valid? [True, True] Translation: X:430.49, Y:92.84, Z:-0.14 [[ 8.26372420e-01 -5.63118898e-01 -2.39389077e-03 4.30489999e+02] [ 5.63116580e-01 8.26375887e-01 -1.61570603e-03 9.28420534e+01] [ 2.88808821e-03 -1.28646786e-05 9.99995829e-01 -1.39593943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76028169299997 meters 0.02034824021574829 Centerline is valid? [True, True] Translation: X:430.55, Y:92.85, Z:-0.14 [[ 8.21705574e-01 -5.69910117e-01 -1.55218502e-03 4.30552903e+02] [ 5.69909154e-01 8.21707039e-01 -1.04782660e-03 9.28521870e+01] [ 1.87260833e-03 -2.35994925e-05 9.99998246e-01 -1.37774385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82028169299997 meters 0.02336766505752139 Centerline is valid? [True, True] Translation: X:430.61, Y:92.87, Z:-0.14 [[ 8.19975722e-01 -5.72394394e-01 -2.11492473e-03 4.30610111e+02] [ 5.72392614e-01 8.19978449e-01 -1.42811308e-03 9.28715640e+01] [ 2.55163662e-03 -3.95492409e-05 9.99996744e-01 -1.40250010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.880281693 meters 0.024312440687578835 Centerline is valid? [True, True] Translation: X:430.67, Y:92.89, Z:-0.15 [[ 8.20047058e-01 -5.72261572e-01 -6.28616179e-03 4.30667719e+02] [ 5.72245834e-01 8.20071143e-01 -4.24566244e-03 9.28888428e+01] [ 7.58472934e-03 -1.15586907e-04 9.99971229e-01 -1.50233938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.940281693 meters 0.02029022050495313 Centerline is valid? [True, True] Translation: X:430.72, Y:92.92, Z:-0.15 [[ 8.22446142e-01 -5.68808701e-01 -6.24545822e-03 4.30718333e+02] [ 5.68793055e-01 8.22469851e-01 -4.21964526e-03 9.29188245e+01] [ 7.53687203e-03 -8.19422979e-05 9.99971594e-01 -1.49304864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.000281693 meters 0.015138446247036726 Centerline is valid? [True, True] Translation: X:430.76, Y:92.96, Z:-0.15 [[ 8.30506039e-01 -5.56987745e-01 -4.93667262e-03 4.30756730e+02] [ 5.56977756e-01 8.30520711e-01 -3.33586035e-03 9.29641330e+01] [ 5.95804220e-03 2.08353293e-05 9.99982250e-01 -1.45812772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.060281693 meters 0.021886272955284287 Centerline is valid? [True, True] Translation: X:430.80, Y:93.01, Z:-0.15 [[ 8.35506035e-01 -5.49447063e-01 -6.13111823e-03 4.30797180e+02] [ 5.49431446e-01 8.35528525e-01 -4.14356382e-03 9.30071444e+01] [ 7.39939314e-03 9.33434236e-05 9.99972620e-01 -1.49491772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.120281693 meters 0.030718371233415052 Centerline is valid? [True, True] Translation: X:430.84, Y:93.05, Z:-0.15 [[ 8.39742599e-01 -5.42940407e-01 -6.93415193e-03 4.30837507e+02] [ 5.42920200e-01 8.39771210e-01 -4.68736257e-03 9.30497852e+01] [ 8.36805970e-03 1.71486877e-04 9.99964972e-01 -1.52620201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.180281693 meters 0.03379516712856039 Centerline is valid? [True, True] Translation: X:430.88, Y:93.09, Z:-0.15 [[ 8.41100769e-01 -5.40847178e-01 -5.81603511e-03 4.30883093e+02] [ 5.40832903e-01 8.41120862e-01 -3.93282753e-03 9.30873725e+01] [ 7.01904713e-03 1.62401106e-04 9.99975353e-01 -1.49213781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.240281693 meters 0.03140509602319132 Centerline is valid? [True, True] Translation: X:430.93, Y:93.12, Z:-0.14 [[ 8.41742769e-01 -5.39872331e-01 -2.64145193e-03 4.30931095e+02] [ 5.39869380e-01 8.41746910e-01 -1.78681548e-03 9.31219699e+01] [ 3.18808624e-03 7.79999950e-05 9.99994915e-01 -1.41119013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30028169299993 meters 0.03370598930572349 Centerline is valid? [True, True] Translation: X:430.97, Y:93.16, Z:-0.14 [[ 8.42219957e-01 -5.39126532e-01 -2.85068850e-03 4.30974850e+02] [ 5.39123090e-01 8.42224777e-01 -1.92854055e-03 9.31601066e+01] [ 3.44064787e-03 8.73833499e-05 9.99994077e-01 -1.42653618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36028169299993 meters 0.03190036797078545 Centerline is valid? [True, True] Translation: X:431.02, Y:93.20, Z:-0.15 [[ 8.43045929e-01 -5.37825158e-01 -4.20264131e-03 4.31020608e+02] [ 5.37817654e-01 8.43056393e-01 -2.84422153e-03 9.31972561e+01] [ 5.07275751e-03 1.37554693e-04 9.99987124e-01 -1.45688910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42028169299994 meters 0.03266651364822179 Centerline is valid? [True, True] Translation: X:431.06, Y:93.24, Z:-0.15 [[ 8.42786156e-01 -5.38213350e-01 -6.15514866e-03 4.31064099e+02] [ 5.38197262e-01 8.42808609e-01 -4.16611851e-03 9.32351562e+01] [ 7.42987288e-03 1.98462850e-04 9.99972378e-01 -1.50322791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48028169299994 meters 0.03589821170302516 Centerline is valid? [True, True] Translation: X:431.11, Y:93.28, Z:-0.16 [[ 8.40530369e-01 -5.41716105e-01 -7.23599921e-03 4.31105100e+02] [ 5.41693986e-01 8.40561492e-01 -4.89933939e-03 9.32787292e+01] [ 8.73635334e-03 1.98346299e-04 9.99961818e-01 -1.55296616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54028169299994 meters 0.028045532208114468 Centerline is valid? [True, True] Translation: X:431.16, Y:93.31, Z:-0.15 [[ 8.37944358e-01 -5.45739224e-01 -4.23695632e-03 4.31157397e+02] [ 5.45731687e-01 8.37955065e-01 -2.86977791e-03 9.33063056e+01] [ 5.11652937e-03 9.24728888e-05 9.99986906e-01 -1.47582564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60028169299994 meters 0.0178976340890985 Centerline is valid? [True, True] Translation: X:431.21, Y:93.33, Z:-0.14 [[ 8.33265514e-01 -5.52870875e-01 -1.54216416e-03 4.31211600e+02] [ 5.52869888e-01 8.33266941e-01 -1.04495975e-03 9.33305218e+01] [ 1.86276222e-03 1.81127972e-05 9.99998265e-01 -1.41170974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66028169299994 meters 0.016218436400043834 Centerline is valid? [True, True] Translation: X:431.26, Y:93.36, Z:-0.15 [[ 8.31363809e-01 -5.55715613e-01 -3.79127223e-03 4.31261408e+02] [ 5.55709673e-01 8.31372453e-01 -2.56973815e-03 9.33622581e+01] [ 4.58000291e-03 2.95406412e-05 9.99989511e-01 -1.46336834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72028169299995 meters 0.015385128845032528 Centerline is valid? [True, True] Translation: X:431.31, Y:93.39, Z:-0.15 [[ 8.29010698e-01 -5.59191903e-01 -6.75850726e-03 4.31310485e+02] [ 5.59173133e-01 8.29038247e-01 -4.58167112e-03 9.33924756e+01] [ 8.16509440e-03 1.90786925e-05 9.99966665e-01 -1.52767854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78028169299995 meters 0.01568511207747686 Centerline is valid? [True, True] Translation: X:431.36, Y:93.43, Z:-0.15 [[ 8.28545798e-01 -5.59868831e-01 -7.66506686e-03 4.31358270e+02] [ 5.59844700e-01 8.28581252e-01 -5.19805183e-03 9.34266167e+01] [ 9.26135790e-03 1.55769428e-05 9.99957113e-01 -1.54447218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84028169299995 meters 0.015117268901064065 Centerline is valid? [True, True] Translation: X:431.41, Y:93.46, Z:-0.15 [[ 8.28568706e-01 -5.59856970e-01 -5.83710859e-03 4.31405224e+02] [ 5.59842966e-01 8.28589267e-01 -3.95994594e-03 9.34611726e+01] [ 7.05356886e-03 1.32230995e-05 9.99975123e-01 -1.49631238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90028169299995 meters 0.01515432655414494 Centerline is valid? [True, True] Translation: X:431.45, Y:93.50, Z:-0.15 [[ 8.29488130e-01 -5.58496484e-01 -5.57848148e-03 4.31451501e+02] [ 5.58483651e-01 8.29506888e-01 -3.78609412e-03 9.34969943e+01] [ 6.74190906e-03 2.50294302e-05 9.99977273e-01 -1.47394748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96028169299996 meters 0.018369947235549237 Centerline is valid? [True, True] Translation: X:431.50, Y:93.54, Z:-0.15 [[ 8.32248758e-01 -5.54339707e-01 -8.33631082e-03 4.31495206e+02] [ 5.54310833e-01 8.32290503e-01 -5.65859320e-03 9.35350904e+01] [ 1.00750152e-02 8.84497640e-05 9.99949242e-01 -1.53656458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02028169299996 meters 0.02344954920469794 Centerline is valid? [True, True] Translation: X:431.54, Y:93.58, Z:-0.16 [[ 8.35224052e-01 -5.49836618e-01 -8.97090511e-03 4.31535705e+02] [ 5.49802904e-01 8.35272213e-01 -6.09069628e-03 9.35774586e+01] [ 1.08420356e-02 1.54866344e-04 9.99941211e-01 -1.56312961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08028169299996 meters 0.03134478418443128 Centerline is valid? [True, True] Translation: X:431.57, Y:93.63, Z:-0.15 [[ 8.39625988e-01 -5.43108617e-01 -7.82497957e-03 4.31573937e+02] [ 5.43082656e-01 8.39662423e-01 -5.31446799e-03 9.36263625e+01] [ 9.45667466e-03 2.12554747e-04 9.99955262e-01 -1.53104678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14028169299996 meters 0.0349170315533066 Centerline is valid? [True, True] Translation: X:431.62, Y:93.67, Z:-0.15 [[ 8.42286634e-01 -5.38979853e-01 -7.34468720e-03 4.31618023e+02] [ 5.38956809e-01 8.42318621e-01 -4.98996685e-03 9.36667109e+01] [ 8.87605839e-03 2.44513203e-04 9.99960577e-01 -1.52480075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20028169299997 meters 0.04198294178301873 Centerline is valid? [True, True] Translation: X:431.66, Y:93.71, Z:-0.15 [[ 8.44597131e-01 -5.35357735e-01 -6.91245864e-03 4.31657334e+02] [ 5.35337194e-01 8.44625375e-01 -4.69725395e-03 9.37113745e+01] [ 8.35314920e-03 2.66791001e-04 9.99965076e-01 -1.52617120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26028169299997 meters 0.04044465076877763 Centerline is valid? [True, True] Translation: X:431.70, Y:93.75, Z:-0.15 [[ 8.45784131e-01 -5.33482431e-01 -6.76018715e-03 4.31703807e+02] [ 5.33462713e-01 8.45811100e-01 -4.59533116e-03 9.37482691e+01] [ 8.16936977e-03 2.80350394e-04 9.99966591e-01 -1.49756741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32028169299997 meters 0.04430442441433288 Centerline is valid? [True, True] Translation: X:431.74, Y:93.79, Z:-0.15 [[ 8.47648982e-01 -5.30496298e-01 -8.05487593e-03 4.31744389e+02] [ 5.30468151e-01 8.47687172e-01 -5.47716939e-03 9.37942160e+01] [ 9.73363308e-03 3.69861910e-04 9.99952559e-01 -1.53581155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.380281693 meters 0.044790144567535176 Centerline is valid? [True, True] Translation: X:431.79, Y:93.83, Z:-0.16 [[ 8.47162130e-01 -5.31224695e-01 -1.08003697e-02 4.31789437e+02] [ 5.31174116e-01 8.47230834e-01 -7.34662300e-03 9.38324244e+01] [ 1.30531138e-02 4.86903983e-04 9.99914686e-01 -1.59540821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.440281693 meters 0.03826527904266467 Centerline is valid? [True, True] Translation: X:431.84, Y:93.87, Z:-0.15 [[ 8.43843091e-01 -5.36519382e-01 -8.70571704e-03 4.31837277e+02] [ 5.36486778e-01 8.43887934e-01 -5.92390041e-03 9.38667404e+01] [ 1.05249370e-02 3.28340345e-04 9.99944557e-01 -1.54652350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.500281693 meters 0.031271319156931446 Centerline is valid? [True, True] Translation: X:431.89, Y:93.90, Z:-0.15 [[ 8.40092069e-01 -5.42404716e-01 -6.51453571e-03 4.31888643e+02] [ 5.42386622e-01 8.40117306e-01 -4.43446914e-03 9.38957799e+01] [ 7.87825116e-03 1.91965343e-04 9.99968948e-01 -1.51064370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.560281693 meters 0.02460737657766228 Centerline is valid? [True, True] Translation: X:431.94, Y:93.92, Z:-0.15 [[ 8.35879843e-01 -5.48846808e-01 -8.48936855e-03 4.31941717e+02] [ 5.48816392e-01 8.35922934e-01 -5.78069102e-03 9.39230339e+01] [ 1.02691717e-02 1.72858485e-04 9.99947256e-01 -1.54696280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.620281693 meters 0.022464997192526266 Centerline is valid? [True, True] Translation: X:431.99, Y:93.96, Z:-0.16 [[ 8.34446101e-01 -5.51013063e-01 -9.18200853e-03 4.31990822e+02] [ 5.50977587e-01 8.34496602e-01 -6.25461763e-03 9.39552433e+01] [ 1.11087309e-02 1.60060395e-04 9.99938283e-01 -1.55378035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.680281693 meters 0.019192431291816508 Centerline is valid? [True, True] Translation: X:432.04, Y:93.99, Z:-0.16 [[ 8.31315582e-01 -5.55708300e-01 -1.01335605e-02 4.32040476e+02] [ 5.55665406e-01 8.31377335e-01 -6.90529416e-03 9.39864577e+01] [ 1.22621418e-02 1.09609627e-04 9.99924811e-01 -1.57230116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.740281693 meters 0.018438449007997397 Centerline is valid? [True, True] Translation: X:432.09, Y:94.02, Z:-0.16 [[ 8.30140303e-01 -5.57435103e-01 -1.15404835e-02 4.32088695e+02] [ 5.57379597e-01 8.30220510e-01 -7.86692572e-03 9.40195704e+01] [ 1.39664466e-02 9.82220642e-05 9.99902460e-01 -1.58560416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80028169299993 meters 0.01898478479287826 Centerline is valid? [True, True] Translation: X:432.13, Y:94.06, Z:-0.16 [[ 8.30619590e-01 -5.56755168e-01 -9.73547207e-03 4.32130148e+02] [ 5.56715606e-01 8.30676636e-01 -6.63775806e-03 9.40611706e+01] [ 1.17826353e-02 9.35626510e-05 9.99930578e-01 -1.55369055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86028169299993 meters 0.019144806607564492 Centerline is valid? [True, True] Translation: X:432.17, Y:94.10, Z:-0.15 [[ 8.31578899e-01 -5.55348797e-01 -8.01551856e-03 4.32174556e+02] [ 5.55321892e-01 8.31617523e-01 -5.46740999e-03 9.40989240e+01] [ 9.70216525e-03 9.53898526e-05 9.99952928e-01 -1.50812786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92028169299994 meters 0.020083190924174238 Centerline is valid? [True, True] Translation: X:432.22, Y:94.14, Z:-0.15 [[ 8.31661402e-01 -5.55202898e-01 -9.43686461e-03 4.32217125e+02] [ 5.55165586e-01 8.31714932e-01 -6.43767477e-03 9.41385629e+01] [ 1.14229969e-02 1.14943148e-04 9.99934749e-01 -1.54962731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98028169299994 meters 0.02012495688456309 Centerline is valid? [True, True] Translation: X:432.26, Y:94.18, Z:-0.15 [[ 8.31903579e-01 -5.54851196e-01 -8.75135353e-03 4.32261830e+02] [ 5.54819061e-01 8.31949601e-01 -5.97254519e-03 9.41757415e+01] [ 1.05945589e-02 1.13163964e-04 9.99943870e-01 -1.52610193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04028169299994 meters 0.022068513783272098 Centerline is valid? [True, True] Translation: X:432.31, Y:94.22, Z:-0.15 [[ 8.33125540e-01 -5.52998745e-01 -9.70682252e-03 4.32305645e+02] [ 5.52959057e-01 8.33182072e-01 -6.62697733e-03 9.42164310e+01] [ 1.17522606e-02 1.53628646e-04 9.99930928e-01 -1.52535501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10028169299994 meters 0.024487606419188453 Centerline is valid? [True, True] Translation: X:432.35, Y:94.26, Z:-0.15 [[ 8.34323867e-01 -5.51174669e-01 -1.04961755e-02 4.32348952e+02] [ 5.51128087e-01 8.34389865e-01 -7.16840639e-03 9.42567427e+01] [ 1.27089464e-02 1.96035431e-04 9.99919219e-01 -1.54545482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16028169299994 meters 0.027785757505103797 Centerline is valid? [True, True] Translation: X:432.39, Y:94.30, Z:-0.15 [[ 8.36098858e-01 -5.48517959e-01 -8.16997696e-03 4.32389519e+02] [ 5.48489603e-01 8.36138753e-01 -5.58038781e-03 9.42993253e+01] [ 9.89217728e-03 1.84608452e-04 9.99951054e-01 -1.50934990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22028169299995 meters 0.028719954187515145 Centerline is valid? [True, True] Translation: X:432.43, Y:94.34, Z:-0.15 [[ 8.36666672e-01 -5.47660660e-01 -7.52872934e-03 4.32433707e+02] [ 5.47636530e-01 8.36700525e-01 -5.14422621e-03 9.43382209e+01] [ 9.11658211e-03 1.80995414e-04 9.99958427e-01 -1.49363669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28028169299995 meters 0.02731179721704384 Centerline is valid? [True, True] Translation: X:432.48, Y:94.38, Z:-0.15 [[ 8.35366855e-01 -5.49610045e-01 -9.54018881e-03 4.32477586e+02] [ 5.49571399e-01 8.35421305e-01 -6.52083708e-03 9.43779250e+01] [ 1.15539945e-02 2.04276260e-04 9.99933230e-01 -1.53745553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34028169299995 meters 0.022866005642746566 Centerline is valid? [True, True] Translation: X:432.53, Y:94.41, Z:-0.16 [[ 8.32480665e-01 -5.53959385e-01 -1.02441140e-02 4.32527719e+02] [ 5.53915138e-01 8.32543678e-01 -7.00316673e-03 9.44096243e+01] [ 1.24081423e-02 1.55631073e-04 9.99923004e-01 -1.56186141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40028169299995 meters 0.016431770246731786 Centerline is valid? [True, True] Translation: X:432.59, Y:94.43, Z:-0.15 [[ 8.25100855e-01 -5.64902547e-01 -9.67944079e-03 4.32586350e+02] [ 5.64863764e-01 8.25157629e-01 -6.61934526e-03 9.44291316e+01] [ 1.17263494e-02 -5.93793009e-06 9.99931244e-01 -1.54346525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46028169299996 meters 0.019101473774196878 Centerline is valid? [True, True] Translation: X:432.64, Y:94.45, Z:-0.15 [[ 8.20166276e-01 -5.72042816e-01 -9.71061289e-03 4.32642336e+02] [ 5.72004271e-01 8.20223753e-01 -6.64147824e-03 9.44507884e+01] [ 1.17640853e-02 -1.07395567e-04 9.99930795e-01 -1.52776377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52028169299996 meters 0.02565554833146898 Centerline is valid? [True, True] Translation: X:432.70, Y:94.47, Z:-0.16 [[ 8.16354548e-01 -5.77431980e-01 -1.17286032e-02 4.32698049e+02] [ 5.77376278e-01 8.16438766e-01 -8.02339433e-03 9.44710900e+01] [ 1.42086508e-02 -2.21882826e-04 9.99899027e-01 -1.57479994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58028169299996 meters 0.025927684365616856 Centerline is valid? [True, True] Translation: X:432.75, Y:94.50, Z:-0.16 [[ 8.15358309e-01 -5.78823147e-01 -1.24334787e-02 4.32748990e+02] [ 5.78760664e-01 8.15453063e-01 -8.50861402e-03 9.45013140e+01] [ 1.50639010e-02 -2.58439251e-04 9.99886500e-01 -1.56345787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64028169299996 meters 0.025375849578701138 Centerline is valid? [True, True] Translation: X:432.80, Y:94.53, Z:-0.16 [[ 8.15416333e-01 -5.78750431e-01 -1.20059142e-02 4.32800071e+02] [ 5.78692121e-01 8.15504677e-01 -8.21894051e-03 9.45308976e+01] [ 1.45475945e-02 -2.45869604e-04 9.99894148e-01 -1.55629810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70028169299997 meters 0.024072932814684263 Centerline is valid? [True, True] Translation: X:432.85, Y:94.56, Z:-0.16 [[ 8.16376740e-01 -5.77374425e-01 -1.29534367e-02 4.32849029e+02] [ 5.77306324e-01 8.16479466e-01 -8.87074365e-03 9.45639255e+01] [ 1.56979556e-02 -2.36232116e-04 9.99876752e-01 -1.56369299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76028169299997 meters 0.019663986210255214 Centerline is valid? [True, True] Translation: X:432.89, Y:94.61, Z:-0.15 [[ 8.20025786e-01 -5.72224007e-01 -1.08349185e-02 4.32890472e+02] [ 5.72175875e-01 8.20097356e-01 -7.42261859e-03 9.46061458e+01] [ 1.31330886e-02 -1.12740341e-04 9.99913751e-01 -1.53335489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82028169299997 meters 0.019163704692196068 Centerline is valid? [True, True] Translation: X:432.93, Y:94.65, Z:-0.15 [[ 8.23366265e-01 -5.67404190e-01 -1.09762759e-02 4.32932405e+02] [ 5.67354328e-01 8.23439424e-01 -7.52213195e-03 9.46488141e+01] [ 1.33063875e-02 -3.39679319e-05 9.99911466e-01 -1.48266735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.880281693 meters 0.018117028158151055 Centerline is valid? [True, True] Translation: X:432.97, Y:94.69, Z:-0.16 [[ 8.26979693e-01 -5.62073987e-01 -1.33199423e-02 4.32972738e+02] [ 5.61999810e-01 8.27086954e-01 -9.13149744e-03 9.46941592e+01] [ 1.61493276e-02 6.57579304e-05 9.99869589e-01 -1.56869547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.940281693 meters 0.020664558657164624 Centerline is valid? [True, True] Translation: X:433.01, Y:94.74, Z:-0.16 [[ 8.29844363e-01 -5.57819577e-01 -1.39875944e-02 4.33013461e+02] [ 5.57737151e-01 8.29962225e-01 -9.59038261e-03 9.47379848e+01] [ 1.69588781e-02 1.57123902e-04 9.99856176e-01 -1.57605795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.000281693 meters 0.022369580247227183 Centerline is valid? [True, True] Translation: X:433.06, Y:94.78, Z:-0.16 [[ 8.30789793e-01 -5.56435602e-01 -1.29514554e-02 4.33055275e+02] [ 5.56364728e-01 8.30890721e-01 -8.88247041e-03 9.47780342e+01] [ 1.57037669e-02 1.73732776e-04 9.99876673e-01 -1.56538826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.060281693 meters 0.022278432369754478 Centerline is valid? [True, True] Translation: X:433.10, Y:94.82, Z:-0.15 [[ 8.30566521e-01 -5.56812392e-01 -1.09185573e-02 4.33099115e+02] [ 5.56762021e-01 8.30638273e-01 -7.49082071e-03 9.48172898e+01] [ 1.32403534e-02 1.42586856e-04 9.99912333e-01 -1.53269421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.120281693 meters 0.019458321741668932 Centerline is valid? [True, True] Translation: X:433.15, Y:94.85, Z:-0.15 [[ 8.29231491e-01 -5.58773219e-01 -1.21500787e-02 4.33147253e+02] [ 5.58711003e-01 8.29320489e-01 -8.33912687e-03 9.48492013e+01] [ 1.47359899e-02 1.26683969e-04 9.99891411e-01 -1.53259964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.180281693 meters 0.01632173198656309 Centerline is valid? [True, True] Translation: X:433.19, Y:94.88, Z:-0.15 [[ 8.26806032e-01 -5.62425791e-01 -8.30748046e-03 4.33193941e+02] [ 5.62396871e-01 8.26847766e-01 -5.70372258e-03 9.48847309e+01] [ 1.00769423e-02 4.37712243e-05 9.99949225e-01 -1.45010666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.240281693 meters 0.01519173388917877 Centerline is valid? [True, True] Translation: X:433.24, Y:94.92, Z:-0.14 [[ 8.24532761e-01 -5.65760926e-01 -7.76537592e-03 4.33243649e+02] [ 5.65735787e-01 8.24569327e-01 -5.33339859e-03 9.49154438e+01] [ 9.42051932e-03 4.41080617e-06 9.99955626e-01 -1.43139856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30028169299993 meters 0.018590205234140723 Centerline is valid? [True, True] Translation: X:433.30, Y:94.94, Z:-0.15 [[ 8.19524593e-01 -5.72971937e-01 -9.08856643e-03 4.33297142e+02] [ 5.72937931e-01 8.19574982e-01 -6.24306050e-03 9.49389656e+01] [ 1.10258601e-02 -9.08428344e-05 9.99939209e-01 -1.47158521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36028169299993 meters 0.02449769912738077 Centerline is valid? [True, True] Translation: X:433.35, Y:94.96, Z:-0.15 [[ 8.15441147e-01 -5.78777741e-01 -8.48893936e-03 4.33351524e+02] [ 5.78748369e-01 8.15485317e-01 -5.83292042e-03 9.49623978e+01] [ 1.02985699e-02 -1.56556488e-04 9.99946956e-01 -1.47068937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42028169299994 meters 0.028652186829486 Centerline is valid? [True, True] Translation: X:433.41, Y:94.99, Z:-0.14 [[ 8.10355769e-01 -5.85867688e-01 -9.08737090e-03 4.33406710e+02] [ 5.85834446e-01 8.10406678e-01 -6.24638001e-03 9.49867192e+01] [ 1.10240183e-02 -2.61904827e-04 9.99939199e-01 -1.44226481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48028169299994 meters 0.03385719335671805 Centerline is valid? [True, True] Translation: X:433.46, Y:95.01, Z:-0.15 [[ 8.08040359e-01 -5.89043347e-01 -9.93543626e-03 4.33461280e+02] [ 5.89003842e-01 8.08101370e-01 -6.83007109e-03 9.50100253e+01] [ 1.20520476e-02 -3.33037031e-04 9.99927316e-01 -1.46807692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54028169299994 meters 0.037264880117088166 Centerline is valid? [True, True] Translation: X:433.51, Y:95.04, Z:-0.15 [[ 8.07469332e-01 -5.89820101e-01 -1.02725713e-02 4.33512603e+02] [ 5.89777912e-01 8.07534595e-01 -7.06340484e-03 9.50366247e+01] [ 1.24615949e-02 -3.55052893e-04 9.99922288e-01 -1.48417837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60028169299994 meters 0.038537266809578884 Centerline is valid? [True, True] Translation: X:433.57, Y:95.06, Z:-0.14 [[ 8.06978007e-01 -5.90518897e-01 -8.59812804e-03 4.33565527e+02] [ 5.90489369e-01 8.07023753e-01 -5.91328153e-03 9.50600206e+01] [ 1.04307981e-02 -3.05215049e-04 9.99945551e-01 -1.44314634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66028169299994 meters 0.0375452443825158 Centerline is valid? [True, True] Translation: X:433.62, Y:95.09, Z:-0.15 [[ 8.07405528e-01 -5.89921448e-01 -9.43390113e-03 4.33616812e+02] [ 5.89885834e-01 8.07460575e-01 -6.49026223e-03 9.50898883e+01] [ 1.14462481e-02 -3.24651027e-04 9.99934437e-01 -1.45045173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72028169299995 meters 0.03053039010028708 Centerline is valid? [True, True] Translation: X:433.67, Y:95.12, Z:-0.14 [[ 8.09511648e-01 -5.87044700e-01 -8.33135001e-03 4.33665614e+02] [ 5.87016750e-01 8.09554481e-01 -5.73383985e-03 9.51216673e+01] [ 1.01107020e-02 -2.49031855e-04 9.99948855e-01 -1.40365124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78028169299995 meters 0.029162287398193865 Centerline is valid? [True, True] Translation: X:433.72, Y:95.15, Z:-0.14 [[ 8.10891926e-01 -5.85152455e-01 -7.13355280e-03 4.33715885e+02] [ 5.85131876e-01 8.10923281e-01 -4.91123200e-03 9.51512274e+01] [ 8.65858351e-03 -1.91590753e-04 9.99962495e-01 -1.38212406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84028169299995 meters 0.029538962847752998 Centerline is valid? [True, True] Translation: X:433.77, Y:95.18, Z:-0.14 [[ 8.11045114e-01 -5.84908107e-01 -9.39841232e-03 4.33769404e+02] [ 5.84872343e-01 8.11099529e-01 -6.47274569e-03 9.51765901e+01] [ 1.14090092e-02 -2.47182679e-04 9.99934885e-01 -1.43675878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90028169299995 meters 0.027973788826044288 Centerline is valid? [True, True] Translation: X:433.82, Y:95.20, Z:-0.15 [[ 8.12225214e-01 -5.83223027e-01 -1.18786766e-02 4.33821364e+02] [ 5.83165668e-01 8.12312023e-01 -8.18418037e-03 9.52041937e+01] [ 1.44223943e-02 -2.79838738e-04 9.99895953e-01 -1.49147412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96028169299996 meters 0.026621004368428163 Centerline is valid? [True, True] Translation: X:433.87, Y:95.24, Z:-0.15 [[ 8.12853897e-01 -5.82349913e-01 -1.17098853e-02 4.33871358e+02] [ 5.82294042e-01 8.12938197e-01 -8.07071810e-03 9.52357826e+01] [ 1.42193950e-02 -2.58281770e-04 9.99898866e-01 -1.47739981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02028169299996 meters 0.025668335150549865 Centerline is valid? [True, True] Translation: X:433.92, Y:95.27, Z:-0.15 [[ 8.13980830e-01 -5.80787260e-01 -1.10166881e-02 4.33920331e+02] [ 5.80737647e-01 8.14055349e-01 -7.59430244e-03 9.52670603e+01] [ 1.33788680e-02 -2.16188919e-04 9.99910476e-01 -1.46495184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08028169299996 meters 0.024446739158027826 Centerline is valid? [True, True] Translation: X:433.97, Y:95.30, Z:-0.15 [[ 8.14846674e-01 -5.79567785e-01 -1.12285319e-02 4.33968255e+02] [ 5.79516089e-01 8.14924011e-01 -7.74328844e-03 9.52996110e+01] [ 1.36381608e-02 -1.97522045e-04 9.99906976e-01 -1.46073933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14028169299996 meters 0.02197969602549274 Centerline is valid? [True, True] Translation: X:434.01, Y:95.34, Z:-0.14 [[ 8.16289526e-01 -5.77551121e-01 -1.03011005e-02 4.34014632e+02] [ 5.77507421e-01 8.16354507e-01 -7.10620276e-03 9.53359433e+01] [ 1.25135452e-02 -1.48243105e-04 9.99921692e-01 -1.44346785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20028169299997 meters 0.021619609316344768 Centerline is valid? [True, True] Translation: X:434.06, Y:95.37, Z:-0.14 [[ 8.16590870e-01 -5.77139842e-01 -9.43157047e-03 4.34063141e+02] [ 5.77103160e-01 8.16645325e-01 -6.50814984e-03 9.53663683e+01] [ 1.14583605e-02 -1.28493390e-04 9.99934343e-01 -1.43229733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26028169299997 meters 0.022160285149385145 Centerline is valid? [True, True] Translation: X:434.11, Y:95.40, Z:-0.15 [[ 8.16372654e-01 -5.77418774e-01 -1.11017626e-02 4.34112996e+02] [ 5.77367941e-01 8.16448122e-01 -7.66322128e-03 9.53983382e+01] [ 1.34889011e-02 -1.53757540e-04 9.99909009e-01 -1.46930072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32028169299997 meters 0.019036075351713554 Centerline is valid? [True, True] Translation: X:434.16, Y:95.44, Z:-0.14 [[ 8.18193255e-01 -5.74887902e-01 -7.98113269e-03 4.34156591e+02] [ 5.74861490e-01 8.18232176e-01 -5.51115172e-03 9.54369511e+01] [ 9.69871402e-03 -7.88586729e-05 9.99952963e-01 -1.38884220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.380281693 meters 0.015661187767418042 Centerline is valid? [True, True] Translation: X:434.20, Y:95.48, Z:-0.13 [[ 8.20484976e-01 -5.71619533e-01 -7.45073875e-03 4.34199067e+02] [ 5.71596364e-01 8.20518805e-01 -5.14671449e-03 9.54782349e+01] [ 9.05543379e-03 -3.60132552e-05 9.99958998e-01 -1.34710731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.440281693 meters 0.016247406758103586 Centerline is valid? [True, True] Translation: X:434.24, Y:95.52, Z:-0.14 [[ 8.21823749e-01 -5.69627227e-01 -1.14257312e-02 4.34241226e+02] [ 5.69572508e-01 8.21903171e-01 -7.89530827e-03 9.55201653e+01] [ 1.38882273e-02 -1.92305375e-05 9.99903554e-01 -1.43221592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.500281693 meters 0.016690968435613098 Centerline is valid? [True, True] Translation: X:434.29, Y:95.55, Z:-0.14 [[ 8.21022587e-01 -5.70815821e-01 -9.55033517e-03 4.34287961e+02] [ 5.70777663e-01 8.21078131e-01 -6.60019826e-03 9.55537183e+01] [ 1.16090689e-02 -3.22061364e-05 9.99932612e-01 -1.42496271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.560281693 meters 0.019230299905893738 Centerline is valid? [True, True] Translation: X:434.34, Y:95.58, Z:-0.14 [[ 8.17325236e-01 -5.76110650e-01 -8.71656571e-03 4.34338388e+02] [ 5.76079141e-01 8.17371709e-01 -6.02607695e-03 9.55843247e+01] [ 1.05963613e-02 -9.61669241e-05 9.99943852e-01 -1.37588838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.620281693 meters 0.02327106495314778 Centerline is valid? [True, True] Translation: X:434.39, Y:95.61, Z:-0.14 [[ 8.14501011e-01 -5.80094294e-01 -8.87201539e-03 4.34389348e+02] [ 5.80061865e-01 8.14549316e-01 -6.13553176e-03 9.56130077e+01] [ 1.07858810e-02 -1.48920963e-04 9.99941820e-01 -1.39056457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.680281693 meters 0.026443087295202946 Centerline is valid? [True, True] Translation: X:434.44, Y:95.65, Z:-0.14 [[ 8.12151652e-01 -5.83355550e-01 -1.02954414e-02 4.34438555e+02] [ 5.83312111e-01 8.12216876e-01 -7.12229400e-03 9.56453195e+01] [ 1.25169610e-02 -2.21072843e-04 9.99921635e-01 -1.40255303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.740281693 meters 0.025756850383298474 Centerline is valid? [True, True] Translation: X:434.48, Y:95.68, Z:-0.14 [[ 8.12105933e-01 -5.83415909e-01 -1.04800094e-02 4.34483879e+02] [ 5.83370867e-01 8.12173520e-01 -7.25289562e-03 9.56820520e+01] [ 1.27430408e-02 -2.23612587e-04 9.99918779e-01 -1.38227006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80028169299993 meters 0.023551962458858964 Centerline is valid? [True, True] Translation: X:434.53, Y:95.72, Z:-0.14 [[ 8.13370770e-01 -5.81672345e-01 -9.23431104e-03 4.34529566e+02] [ 5.81637239e-01 8.13423170e-01 -6.39284767e-03 9.57200136e+01] [ 1.12299453e-02 -1.71263745e-04 9.99936928e-01 -1.36274528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86028169299993 meters 0.021959509373328388 Centerline is valid? [True, True] Translation: X:434.58, Y:95.76, Z:-0.13 [[ 8.13925004e-01 -5.80898451e-01 -9.11469081e-03 4.34575744e+02] [ 5.80864175e-01 8.13976022e-01 -6.31229210e-03 9.57562049e+01] [ 1.10859405e-02 -1.56664990e-04 9.99938537e-01 -1.34753711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92028169299994 meters 0.02161833807878192 Centerline is valid? [True, True] Translation: X:434.63, Y:95.79, Z:-0.13 [[ 8.14112441e-01 -5.80664490e-01 -7.04865048e-03 4.34625128e+02] [ 5.80643978e-01 8.14142946e-01 -4.88206047e-03 9.57871250e+01] [ 8.57344821e-03 -1.18210285e-04 9.99963240e-01 -1.30573480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98028169299994 meters 0.0240963796506806 Centerline is valid? [True, True] Translation: X:434.68, Y:95.81, Z:-0.13 [[ 8.12507999e-01 -5.82917138e-01 -6.19362707e-03 4.34678280e+02] [ 5.82901362e-01 8.12531596e-01 -4.29038331e-03 9.58128811e+01] [ 7.53345564e-03 -1.24302897e-04 9.99971615e-01 -1.29856035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04028169299994 meters 0.026466834814432672 Centerline is valid? [True, True] Translation: X:434.73, Y:95.84, Z:-0.13 [[ 8.11444130e-01 -5.84368892e-01 -8.45115494e-03 4.34733254e+02] [ 5.84339589e-01 8.11488116e-01 -5.85506229e-03 9.58359036e+01] [ 1.02795281e-02 -1.87288480e-04 9.99947147e-01 -1.34643345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10028169299994 meters 0.022946214448029256 Centerline is valid? [True, True] Translation: X:434.78, Y:95.87, Z:-0.14 [[ 8.13653957e-01 -5.81243080e-01 -1.11229666e-02 4.34779891e+02] [ 5.81191990e-01 8.13729958e-01 -7.70886724e-03 9.58719981e+01] [ 1.35318169e-02 -1.92228732e-04 9.99908422e-01 -1.37994262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16028169299994 meters 0.016288447214201217 Centerline is valid? [True, True] Translation: X:434.81, Y:95.92, Z:-0.14 [[ 8.22560491e-01 -5.68580640e-01 -1.05021327e-02 4.34814253e+02] [ 5.68534036e-01 8.22627532e-01 -7.27968010e-03 9.59231579e+01] [ 1.27784286e-02 1.71573615e-05 9.99918352e-01 -1.36351163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22028169299995 meters 0.021387804903383996 Centerline is valid? [True, True] Translation: X:434.85, Y:95.97, Z:-0.13 [[ 8.28957668e-01 -5.59224175e-01 -9.87453228e-03 4.34849647e+02] [ 5.59182285e-01 8.29016464e-01 -6.84648975e-03 9.59747983e+01] [ 1.20148724e-02 1.53786650e-04 9.99927807e-01 -1.33032912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28028169299995 meters 0.029076440535606936 Centerline is valid? [True, True] Translation: X:434.89, Y:96.02, Z:-0.14 [[ 8.31958984e-01 -5.54683829e-01 -1.30421711e-02 4.34887462e+02] [ 5.54610160e-01 8.32061154e-01 -9.04462862e-03 9.60213511e+01] [ 1.58687931e-02 2.91439453e-04 9.99874040e-01 -1.42959813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34028169299995 meters 0.019549584736278953 Centerline is valid? [True, True] Translation: X:434.94, Y:96.05, Z:-0.13 [[ 8.27547331e-01 -5.61309115e-01 -9.87380995e-03 4.34940865e+02] [ 5.61267332e-01 8.27606223e-01 -6.84986466e-03 9.60482603e+01] [ 1.20165180e-02 1.26740250e-04 9.99927791e-01 -1.32378561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40028169299995 meters 0.01513051006194528 Centerline is valid? [True, True] Translation: X:435.00, Y:96.07, Z:-0.13 [[ 8.22144838e-01 -5.69228010e-01 -7.57214023e-03 4.34997528e+02] [ 5.69203753e-01 8.22179708e-01 -5.25500600e-03 9.60690542e+01] [ 9.21695665e-03 1.02854266e-05 9.99957523e-01 -1.27126356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46028169299996 meters 0.01550785815497486 Centerline is valid? [True, True] Translation: X:435.05, Y:96.09, Z:-0.13 [[ 8.19371271e-01 -5.73217622e-01 -7.23037958e-03 4.35050302e+02] [ 5.73195642e-01 8.19403171e-01 -5.01987088e-03 9.60945994e+01] [ 8.80207440e-03 -3.12840862e-05 9.99961261e-01 -1.25487778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52028169299996 meters 0.02235731807734048 Centerline is valid? [True, True] Translation: X:435.11, Y:96.11, Z:-0.13 [[ 8.12901219e-01 -5.82339054e-01 -8.53430755e-03 4.35110060e+02] [ 5.82308907e-01 8.12946003e-01 -5.92731814e-03 9.61109382e+01] [ 1.03896400e-02 -1.51279161e-04 9.99946015e-01 -1.25464711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58028169299996 meters 0.02512563592361961 Centerline is valid? [True, True] Translation: X:435.17, Y:96.13, Z:-0.13 [[ 8.10919495e-01 -5.85088396e-01 -9.00785474e-03 4.35165157e+02] [ 5.85054956e-01 8.10969500e-01 -6.25841799e-03 9.61348428e+01] [ 1.09668232e-02 -1.95016902e-04 9.99939844e-01 -1.25360769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64028169299996 meters 0.022148468989126213 Centerline is valid? [True, True] Translation: X:435.22, Y:96.16, Z:-0.13 [[ 8.13704336e-01 -5.81191525e-01 -1.00828951e-02 4.35215574e+02] [ 5.81149316e-01 8.13766789e-01 -7.00615263e-03 9.61634108e+01] [ 1.22770417e-02 -1.58730808e-04 9.99924622e-01 -1.27506662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70028169299997 meters 0.016382785350615388 Centerline is valid? [True, True] Translation: X:435.25, Y:96.21, Z:-0.12 [[ 8.22844994e-01 -5.68188077e-01 -9.40342630e-03 4.35251861e+02] [ 5.68150495e-01 8.22898723e-01 -6.53502695e-03 9.62119777e+01] [ 1.14511919e-02 3.47528983e-05 9.99934432e-01 -1.23171560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76028169299997 meters 0.02420708699303441 Centerline is valid? [True, True] Translation: X:435.29, Y:96.26, Z:-0.13 [[ 8.29150653e-01 -5.58930867e-01 -1.02703886e-02 4.35288353e+02] [ 5.58885309e-01 8.29214239e-01 -7.13848097e-03 9.62609474e+01] [ 1.25062698e-02 1.78906849e-04 9.99921778e-01 -1.26536478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82028169299997 meters 0.038577935734400146 Centerline is valid? [True, True] Translation: X:435.32, Y:96.32, Z:-0.12 [[ 8.37160748e-01 -5.46894357e-01 -8.27307722e-03 4.35320454e+02] [ 5.46864182e-01 8.37201575e-01 -5.75235329e-03 9.63166986e+01] [ 1.00721628e-02 2.91394779e-04 9.99949232e-01 -1.21525030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.880281693 meters 0.044630244334933934 Centerline is valid? [True, True] Translation: X:435.36, Y:96.36, Z:-0.12 [[ 8.39937167e-01 -5.42609808e-01 -8.95281354e-03 4.35361888e+02] [ 5.42574203e-01 8.39984796e-01 -6.22706456e-03 9.63607401e+01] [ 1.08990936e-02 3.72777293e-04 9.99940534e-01 -1.21771193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.940281693 meters 0.045192514628691415 Centerline is valid? [True, True] Translation: X:435.40, Y:96.40, Z:-0.13 [[ 8.39424342e-01 -5.43366314e-01 -1.09463368e-02 4.35402986e+02] [ 5.43313135e-01 8.39495593e-01 -7.61487163e-03 9.64013356e+01] [ 1.33270662e-02 4.44820051e-04 9.99911092e-01 -1.27632608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.000281693 meters 0.038118935317024094 Centerline is valid? [True, True] Translation: X:435.45, Y:96.43, Z:-0.13 [[ 8.35796318e-01 -5.48937542e-01 -1.05872401e-02 4.35452734e+02] [ 5.48888207e-01 8.35863299e-01 -7.36759061e-03 9.64322149e+01] [ 1.28938325e-02 3.46593851e-04 9.99916811e-01 -1.26595241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.060281693 meters 0.03233926556833578 Centerline is valid? [True, True] Translation: X:435.50, Y:96.47, Z:-0.12 [[ 8.34003592e-01 -5.51664191e-01 -1.02288107e-02 4.35501765e+02] [ 5.51618314e-01 8.34066264e-01 -7.12057798e-03 9.64650781e+01] [ 1.24596738e-02 2.96188323e-04 9.99922331e-01 -1.23450014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.120281693 meters 0.031866090327687675 Centerline is valid? [True, True] Translation: X:435.55, Y:96.50, Z:-0.12 [[ 8.34101988e-01 -5.51487676e-01 -1.16282616e-02 4.35546985e+02] [ 5.51428329e-01 8.34182969e-01 -8.09766625e-03 9.65028283e+01] [ 1.41658610e-02 3.42126634e-04 9.99899601e-01 -1.24573982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.180281693 meters 0.032243511363843506 Centerline is valid? [True, True] Translation: X:435.59, Y:96.54, Z:-0.13 [[ 8.33686067e-01 -5.52090596e-01 -1.27873227e-02 4.35590456e+02] [ 5.52018872e-01 8.33784049e-01 -8.90646560e-03 9.65419917e+01] [ 1.55790416e-02 3.66352826e-04 9.99878572e-01 -1.27183183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.240281693 meters 0.028779602335579205 Centerline is valid? [True, True] Translation: X:435.64, Y:96.58, Z:-0.13 [[ 8.30910020e-01 -5.56195880e-01 -1.53192960e-02 4.35639231e+02] [ 5.56093562e-01 8.31051154e-01 -1.06737938e-02 9.65751832e+01] [ 1.86678387e-02 3.50000328e-04 9.99825679e-01 -1.34004422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30028169299993 meters 0.020320914322488313 Centerline is valid? [True, True] Translation: X:435.69, Y:96.60, Z:-0.12 [[ 8.26364970e-01 -5.63008654e-01 -1.19243972e-02 4.35693588e+02] [ 5.62947324e-01 8.26450986e-01 -8.31139002e-03 9.66001651e+01] [ 1.45343143e-02 1.55434059e-04 9.99894359e-01 -1.23686041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36028169299993 meters 0.017966891277791143 Centerline is valid? [True, True] Translation: X:435.75, Y:96.63, Z:-0.13 [[ 8.21601551e-01 -5.69926610e-01 -1.24318332e-02 4.35746331e+02] [ 5.69860711e-01 8.21695599e-01 -8.66670517e-03 9.66262011e+01] [ 1.51545685e-02 3.61651027e-05 9.99885162e-01 -1.27956530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42028169299994 meters 0.01839633325542174 Centerline is valid? [True, True] Translation: X:435.80, Y:96.65, Z:-0.13 [[ 8.18491981e-01 -5.74365765e-01 -1.32229047e-02 4.35799109e+02] [ 5.74291739e-01 8.18598782e-01 -9.22133637e-03 9.66525876e+01] [ 1.61206736e-02 -4.62150743e-05 9.99870052e-01 -1.30232805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48028169299994 meters 0.0208937047217734 Centerline is valid? [True, True] Translation: X:435.85, Y:96.67, Z:-0.13 [[ 8.14231152e-01 -5.80415359e-01 -1.20682273e-02 4.35854857e+02] [ 5.80354314e-01 8.14320569e-01 -8.41905521e-03 9.66748442e+01] [ 1.47139547e-02 -1.48790742e-04 9.99891733e-01 -1.26111080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54028169299994 meters 0.02496911269154054 Centerline is valid? [True, True] Translation: X:435.91, Y:96.70, Z:-0.12 [[ 8.10062288e-01 -5.86224669e-01 -1.18206076e-02 4.35911253e+02] [ 5.86166678e-01 8.10148490e-01 -8.24920407e-03 9.66968686e+01] [ 1.44123344e-02 -2.46477177e-04 9.99896107e-01 -1.22593623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60028169299994 meters 0.030678002153473254 Centerline is valid? [True, True] Translation: X:435.97, Y:96.72, Z:-0.12 [[ 8.07068365e-01 -5.90356065e-01 -1.09713982e-02 4.35968451e+02] [ 5.90306454e-01 8.07142881e-01 -7.65900775e-03 9.67166051e+01] [ 1.33770276e-02 -2.95144291e-04 9.99910480e-01 -1.22403718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66028169299994 meters 0.029483772447696083 Centerline is valid? [True, True] Translation: X:436.02, Y:96.75, Z:-0.12 [[ 8.07579524e-01 -5.89664889e-01 -1.05181099e-02 4.36020712e+02] [ 5.89619204e-01 8.07647971e-01 -7.34495120e-03 9.67452727e+01] [ 1.28259899e-02 -2.70047371e-04 9.99917707e-01 -1.19908311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72028169299995 meters 0.026202282337765535 Centerline is valid? [True, True] Translation: X:436.07, Y:96.78, Z:-0.12 [[ 8.09374228e-01 -5.87193881e-01 -1.08029748e-02 4.36068436e+02] [ 5.87145435e-01 8.09446286e-01 -7.54635128e-03 9.67805569e+01] [ 1.31755992e-02 -2.35095124e-04 9.99913170e-01 -1.19157870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78028169299995 meters 0.021638574713025775 Centerline is valid? [True, True] Translation: X:436.12, Y:96.82, Z:-0.12 [[ 8.12987534e-01 -5.82171685e-01 -1.12871022e-02 4.36115480e+02] [ 5.82118275e-01 8.13065867e-01 -7.88735101e-03 9.68156870e+01] [ 1.37689499e-02 -1.58110392e-04 9.99905191e-01 -1.20582507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84028169299995 meters 0.020337446276061 Centerline is valid? [True, True] Translation: X:436.16, Y:96.85, Z:-0.12 [[ 8.14562759e-01 -5.79943817e-01 -1.23564417e-02 4.36163879e+02] [ 5.79879504e-01 8.14656463e-01 -8.63761538e-03 9.68490707e+01] [ 1.50755867e-02 -1.29367450e-04 9.99886349e-01 -1.23513007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90028169299995 meters 0.019968613627199615 Centerline is valid? [True, True] Translation: X:436.21, Y:96.88, Z:-0.12 [[ 8.14792906e-01 -5.79627349e-01 -1.20273320e-02 4.36214183e+02] [ 5.79566339e-01 8.14881662e-01 -8.41049999e-03 9.68799684e+01] [ 1.46758081e-02 -1.17821055e-04 9.99892298e-01 -1.22433427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96028169299996 meters 0.020916637076826842 Centerline is valid? [True, True] Translation: X:436.26, Y:96.91, Z:-0.13 [[ 8.14783651e-01 -5.79618664e-01 -1.30309933e-02 4.36264005e+02] [ 5.79547018e-01 8.14887838e-01 -9.11398264e-03 9.69092539e+01] [ 1.59014324e-02 -1.26149259e-04 9.99873556e-01 -1.26001417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02028169299996 meters 0.017385837032939944 Centerline is valid? [True, True] Translation: X:436.31, Y:96.95, Z:-0.12 [[ 8.17580552e-01 -5.75699716e-01 -1.14838149e-02 4.36308556e+02] [ 5.75643645e-01 8.17661198e-01 -8.03487564e-03 9.69477335e+01] [ 1.40155455e-02 -4.14270085e-05 9.99901777e-01 -1.17277854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08028169299996 meters 0.0177026989615073 Centerline is valid? [True, True] Translation: X:436.35, Y:96.99, Z:-0.12 [[ 8.19878851e-01 -5.72424777e-01 -1.13377581e-02 4.36352049e+02] [ 5.72369787e-01 8.19957240e-01 -7.93424340e-03 9.69852390e+01] [ 1.38382343e-02 1.57281745e-05 9.99904247e-01 -1.21223857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14028169299996 meters 0.019220480692198515 Centerline is valid? [True, True] Translation: X:436.39, Y:97.03, Z:-0.12 [[ 8.22635015e-01 -5.68435420e-01 -1.23614654e-02 4.36394893e+02] [ 5.68369583e-01 8.22727881e-01 -8.65171331e-03 9.70257111e+01] [ 1.50880625e-02 9.13213749e-05 9.99886165e-01 -1.20857393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20028169299997 meters 0.02471511271551485 Centerline is valid? [True, True] Translation: X:436.43, Y:97.07, Z:-0.12 [[ 8.26738359e-01 -5.62463959e-01 -1.17465009e-02 4.36432408e+02] [ 5.62403884e-01 8.26821782e-01 -8.22267562e-03 9.70730093e+01] [ 1.43372215e-02 1.91723628e-04 9.99897198e-01 -1.19795165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26028169299997 meters 0.030024013684859078 Centerline is valid? [True, True] Translation: X:436.47, Y:97.12, Z:-0.12 [[ 8.29222460e-01 -5.58810501e-01 -1.09970586e-02 4.36470499e+02] [ 5.58757512e-01 8.29295344e-01 -7.69912872e-03 9.71185687e+01] [ 1.34221635e-02 2.39601348e-04 9.99909890e-01 -1.20713740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32028169299997 meters 0.030079766554392515 Centerline is valid? [True, True] Translation: X:436.51, Y:97.16, Z:-0.11 [[ 8.30829663e-01 -5.56441955e-01 -9.71707876e-03 4.36514991e+02] [ 5.56400392e-01 8.30886448e-01 -6.80543416e-03 9.71574896e+01] [ 1.18606181e-02 2.47570137e-04 9.99929630e-01 -1.14973667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.380281693 meters 0.029043857390616296 Centerline is valid? [True, True] Translation: X:436.56, Y:97.20, Z:-0.11 [[ 8.30612533e-01 -5.56751962e-01 -1.04915592e-02 4.36560397e+02] [ 5.56703501e-01 8.30678748e-01 -7.35044749e-03 9.71955376e+01] [ 1.28074914e-02 2.64686049e-04 9.99917946e-01 -1.14482739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.440281693 meters 0.024658621139987312 Centerline is valid? [True, True] Translation: X:436.61, Y:97.23, Z:-0.11 [[ 8.26631193e-01 -5.62663573e-01 -9.51707405e-03 4.36610194e+02] [ 5.62624078e-01 8.26685962e-01 -6.66838249e-03 9.72262170e+01] [ 1.16196874e-02 1.57757956e-04 9.99932477e-01 -1.12907233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.500281693 meters 0.0209955626765555 Centerline is valid? [True, True] Translation: X:436.67, Y:97.25, Z:-0.11 [[ 8.22944581e-01 -5.68072883e-01 -7.44417953e-03 4.36665073e+02] [ 5.68048924e-01 8.22978247e-01 -5.21769739e-03 9.72507661e+01] [ 9.09043022e-03 6.52176178e-05 9.99958679e-01 -1.05503621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.560281693 meters 0.022691061678766666 Centerline is valid? [True, True] Translation: X:436.72, Y:97.28, Z:-0.11 [[ 8.19126771e-01 -5.73540763e-01 -9.07333558e-03 4.36718269e+02] [ 5.73505475e-01 8.19177022e-01 -6.36214828e-03 9.72755201e+01] [ 1.10816194e-02 7.79834439e-06 9.99938597e-01 -1.07398171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.620281693 meters 0.027538090593630698 Centerline is valid? [True, True] Translation: X:436.77, Y:97.30, Z:-0.10 [[ 8.15991625e-01 -5.78019963e-01 -7.11264067e-03 4.36772384e+02] [ 5.77998443e-01 8.16022623e-01 -4.98790438e-03 9.72986900e+01] [ 8.68718400e-03 -4.10070335e-05 9.99962265e-01 -1.02570729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.680281693 meters 0.03273731799282432 Centerline is valid? [True, True] Translation: X:436.83, Y:97.32, Z:-0.11 [[ 8.13214872e-01 -5.81881760e-01 -9.75649080e-03 4.36826537e+02] [ 5.81841517e-01 8.13273389e-01 -6.84433036e-03 9.73243597e+01] [ 1.19172853e-02 -1.10820166e-04 9.99928980e-01 -1.07896830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.740281693 meters 0.03779750340064053 Centerline is valid? [True, True] Translation: X:436.88, Y:97.35, Z:-0.11 [[ 8.12408926e-01 -5.83019061e-01 -8.97284841e-03 4.36878409e+02] [ 5.82985065e-01 8.12458467e-01 -6.29709044e-03 9.73507804e+01] [ 1.09613904e-02 -1.15224127e-04 9.99939916e-01 -1.05735870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80028169299993 meters 0.040062536349877324 Centerline is valid? [True, True] Translation: X:436.93, Y:97.38, Z:-0.10 [[ 8.13207632e-01 -5.81913211e-01 -8.38814028e-03 4.36928097e+02] [ 5.81883422e-01 8.13250887e-01 -5.88876535e-03 9.73823200e+01] [ 1.02484129e-02 -9.21308381e-05 9.99947479e-01 -1.04419104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86028169299993 meters 0.04401971069805717 Centerline is valid? [True, True] Translation: X:436.97, Y:97.42, Z:-0.11 [[ 8.17193230e-01 -5.76290512e-01 -9.19081431e-03 4.36968874e+02] [ 5.76254382e-01 8.17244912e-01 -6.45300325e-03 9.74241500e+01] [ 1.12299508e-02 -2.28964516e-05 9.99936942e-01 -1.05646752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92028169299994 meters 0.05018198986210566 Centerline is valid? [True, True] Translation: X:437.01, Y:97.47, Z:-0.10 [[ 8.22784651e-01 -5.68298772e-01 -7.86917109e-03 4.37005516e+02] [ 5.68271900e-01 8.22822277e-01 -5.52698833e-03 9.74739855e+01] [ 9.61590996e-03 7.56923630e-05 9.99953763e-01 -1.03476273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98028169299994 meters 0.05698266415332932 Centerline is valid? [True, True] Translation: X:437.05, Y:97.52, Z:-0.10 [[ 8.25061265e-01 -5.64986112e-01 -8.03750745e-03 4.37047192e+02] [ 5.64957902e-01 8.25100405e-01 -5.64717048e-03 9.75166573e+01] [ 9.82232355e-03 1.18408274e-04 9.99951753e-01 -1.04211265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04028169299994 meters 0.0664553653779959 Centerline is valid? [True, True] Translation: X:437.09, Y:97.56, Z:-0.10 [[ 8.24440877e-01 -5.65907145e-01 -6.80755768e-03 4.37090612e+02] [ 5.65886935e-01 8.24468977e-01 -4.78355368e-03 9.75556052e+01] [ 8.31966732e-03 9.14492440e-05 9.99965387e-01 -1.03196096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10028169299994 meters 0.078409625207806 Centerline is valid? [True, True] Translation: X:437.14, Y:97.59, Z:-0.11 [[ 8.20839578e-01 -5.71135586e-01 -5.15063317e-03 4.37137227e+02] [ 5.70986910e-01 8.20780396e-01 -1.71315555e-02 9.75940605e+01] [ 1.40119797e-02 1.11213146e-02 9.99839978e-01 -1.09571724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16028169299994 meters 0.08778125976344706 Centerline is valid? [True, True] Translation: X:437.20, Y:97.61, Z:-0.12 [[ 8.16362384e-01 -5.77344613e-01 -1.50218461e-02 4.37196420e+02] [ 5.77291123e-01 8.16498024e-01 -8.12005503e-03 9.76094778e+01] [ 1.69533777e-02 -2.04307095e-03 9.99854194e-01 -1.18434680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22028169299995 meters 0.09694076268639458 Centerline is valid? [True, True] Translation: X:437.24, Y:97.65, Z:-0.12 [[ 8.16305366e-01 -5.77461165e-01 -1.35703000e-02 4.37242097e+02] [ 5.77252772e-01 8.16398670e-01 -1.65060177e-02 9.76462837e+01] [ 2.06103591e-02 5.64045754e-03 9.99771673e-01 -1.15703914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28028169299995 meters 0.11751202176946506 Centerline is valid? [True, False] Translation: X:437.14, Y:97.51, Z:-0.11 [[ 8.38206483e-01 -5.43089758e-01 -4.96327240e-02 4.37141270e+02] [ 5.44560397e-01 8.38419682e-01 2.25035649e-02 9.75145904e+01] [ 2.93915971e-02 -4.58906499e-02 9.98513987e-01 -1.05387691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34028169299995 meters 0.5981729136244335 Centerline is valid? [False, False] Translation: X:437.04, Y:97.41, Z:-0.10 [[ 8.56051809e-01 -5.12534992e-01 -6.69565754e-02 4.37038453e+02] [ 5.15500407e-01 8.56049342e-01 3.79322423e-02 9.74105992e+01] [ 3.78765308e-02 -6.69881065e-02 9.97034584e-01 -9.73381093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40028169299995 meters 0.6420951652698448 Centerline is valid? [False, False] Translation: X:436.93, Y:97.32, Z:-0.09 [[ 8.69984972e-01 -4.86873590e-01 -7.79759947e-02 4.36931601e+02] [ 4.90966791e-01 8.69978281e-01 4.57099728e-02 9.73202270e+01] [ 4.55824433e-02 -7.80506133e-02 9.95906794e-01 -9.15256025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46028169299996 meters 0.6338144959438892 Centerline is valid? [False, False] Translation: X:436.84, Y:97.25, Z:-0.09 [[ 8.79420107e-01 -4.67890965e-01 -8.77400679e-02 4.36836570e+02] [ 4.72890279e-01 8.79811893e-01 4.80189212e-02 9.72513743e+01] [ 5.47271359e-02 -8.37202300e-02 9.94985359e-01 -9.10335385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52028169299996 meters 0.7077792905635003 Centerline is valid? [False, False] Translation: X:436.73, Y:97.18, Z:-0.09 [[ 8.87659121e-01 -4.51280426e-01 -9.16911204e-02 4.36727440e+02] [ 4.56721566e-01 8.88203758e-01 4.99949536e-02 9.71791392e+01] [ 5.88786537e-02 -8.62557886e-02 9.94531670e-01 -9.00997600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58028169299996 meters 0.6999195167648593 Centerline is valid? [False, False] Translation: X:436.61, Y:97.10, Z:-0.09 [[ 8.93765059e-01 -4.38061440e-01 -9.63649031e-02 4.36605651e+02] [ 4.44105838e-01 8.94393217e-01 5.32050525e-02 9.70992640e+01] [ 6.28810338e-02 -9.03490329e-02 9.93923049e-01 -9.26101017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64028169299996 meters 0.6893671532151985 Centerline is valid? [False, False] Translation: X:436.53, Y:97.05, Z:-0.10 [[ 8.98231371e-01 -4.28528779e-01 -9.76907877e-02 4.36525928e+02] [ 4.34830855e-01 8.98804483e-01 5.54312946e-02 9.70459176e+01] [ 6.40510129e-02 -9.22690965e-02 9.93671918e-01 -9.87501101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70028169299997 meters 0.6558206878277013 Centerline is valid? [False, False] Translation: X:436.43, Y:96.98, Z:-0.10 [[ 9.01975936e-01 -4.20099942e-01 -9.97770025e-02 4.36426672e+02] [ 4.26857572e-01 9.02361688e-01 5.94642509e-02 9.69848661e+01] [ 6.50540161e-02 -9.62258924e-02 9.93231369e-01 -1.00952409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76028169299997 meters 0.6582010226315668 Centerline is valid? [False, False] Translation: X:436.31, Y:96.92, Z:-0.11 [[ 9.06696238e-01 -4.10061928e-01 -9.87478958e-02 4.36308597e+02] [ 4.17192781e-01 9.06352021e-01 6.69043876e-02 9.69178305e+01] [ 6.20654127e-02 -1.01858866e-01 9.92860844e-01 -1.14770151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82028169299997 meters 0.6527576378794933 Centerline is valid? [False, False] Translation: X:436.21, Y:96.87, Z:-0.12 [[ 9.11630998e-01 -3.99046777e-01 -9.84408129e-02 4.36205948e+02] [ 4.06412856e-01 9.10918819e-01 7.11020049e-02 9.68685381e+01] [ 6.12985632e-02 -1.04826404e-01 9.92599572e-01 -1.16470684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.880281693 meters 0.6419549703552203 Centerline is valid? [False, False] Translation: X:436.11, Y:96.82, Z:-0.12 [[ 9.15770449e-01 -3.89109975e-01 -9.97893354e-02 4.36108276e+02] [ 3.96855323e-01 9.14833923e-01 7.47311618e-02 9.68206889e+01] [ 6.22120286e-02 -1.08038519e-01 9.92198237e-01 -1.20818245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.940281693 meters 0.9819180260360492 Centerline is valid? [False, False] Translation: X:436.02, Y:96.78, Z:-0.13 [[ 9.16725832e-01 -3.87174772e-01 -9.85365163e-02 4.36021680e+02] [ 3.95483649e-01 9.14394349e-01 8.64618874e-02 9.67770118e+01] [ 5.66253721e-02 -1.18231427e-01 9.91370212e-01 -1.34027040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.000281693 meters 0.6391924752652436 Centerline is valid? [False, False] Translation: X:435.90, Y:96.71, Z:-0.15 [[ 9.18011809e-01 -3.85088726e-01 -9.46625154e-02 4.35898705e+02] [ 3.93535683e-01 9.14080830e-01 9.79076235e-02 9.67127770e+01] [ 4.88260687e-02 -1.27133432e-01 9.90683151e-01 -1.50837975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.060281693 meters 0.6610767757895732 Centerline is valid? [False, False] Translation: X:435.79, Y:96.66, Z:-0.17 [[ 9.20052421e-01 -3.80822023e-01 -9.20767643e-02 4.35785418e+02] [ 3.89423851e-01 9.14689113e-01 1.08133670e-01 9.66553408e+01] [ 4.30419309e-02 -1.35345533e-01 9.89863111e-01 -1.66335387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.120281693 meters 0.6630578808483568 Centerline is valid? [False, False] Translation: X:435.71, Y:96.62, Z:-0.17 [[ 9.22614320e-01 -3.74308122e-01 -9.31463683e-02 4.35706934e+02] [ 3.83390416e-01 9.16414733e-01 1.14873086e-01 9.66169932e+01] [ 4.23627753e-02 -1.41694979e-01 9.89003503e-01 -1.71904412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.180281693 meters 0.71053386651024 Centerline is valid? [False, False] Translation: X:435.64, Y:96.58, Z:-0.19 [[ 9.26776251e-01 -3.65394842e-01 -8.70194774e-02 4.35636769e+02] [ 3.74069581e-01 9.18841858e-01 1.25704373e-01 9.65782071e+01] [ 3.40254088e-02 -1.49051167e-01 9.88243908e-01 -1.87333369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.240281693 meters 0.714797358410869 Centerline is valid? [False, False] Translation: X:435.56, Y:96.54, Z:-0.19 [[ 9.28922048e-01 -3.59725306e-01 -8.77583738e-02 4.35560162e+02] [ 3.68740478e-01 9.20271585e-01 1.30884182e-01 9.65388310e+01] [ 3.36791852e-02 -1.53941268e-01 9.87505847e-01 -1.92529653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30028169299993 meters 0.7398447430446262 Centerline is valid? [False, False] Translation: X:435.49, Y:96.50, Z:-0.20 [[ 9.31476969e-01 -3.53185365e-01 -8.72396357e-02 4.35488896e+02] [ 3.62339321e-01 9.22136243e-01 1.35554294e-01 9.65018624e+01] [ 3.25710373e-02 -1.57876053e-01 9.86921618e-01 -1.99532374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36028169299993 meters 0.7842460390131475 Centerline is valid? [False, False] Translation: X:435.46, Y:96.48, Z:-0.21 [[ 9.31236964e-01 -3.54687617e-01 -8.36325941e-02 4.35462555e+02] [ 3.63496260e-01 9.20377352e-01 1.44138816e-01 9.64841047e+01] [ 2.58492924e-02 -1.64627528e-01 9.86017034e-01 -2.06723294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42028169299994 meters 0.7767558681639158 Centerline is valid? [False, False] Translation: X:435.40, Y:96.45, Z:-0.22 [[ 9.31728094e-01 -3.53149451e-01 -8.46653646e-02 4.35395619e+02] [ 3.62217397e-01 9.20466673e-01 1.46763963e-01 9.64457043e+01] [ 2.61020334e-02 -1.67411376e-01 9.85541534e-01 -2.18615627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48028169299994 meters 0.8311166586154535 Centerline is valid? [False, False] Translation: X:435.34, Y:96.41, Z:-0.23 [[ 9.33077204e-01 -3.51117162e-01 -7.79978895e-02 4.35340441e+02] [ 3.59278921e-01 9.20056351e-01 1.56252896e-01 9.64105734e+01] [ 1.68993804e-02 -1.73819013e-01 9.84632602e-01 -2.33545269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54028169299994 meters 0.7845861091690689 Centerline is valid? [False, False] Translation: X:435.27, Y:96.37, Z:-0.25 [[ 9.35252102e-01 -3.47324478e-01 -6.83316440e-02 4.35274429e+02] [ 3.53943253e-01 9.20429127e-01 1.65934916e-01 9.63733823e+01] [ 5.26117736e-03 -1.79376503e-01 9.83766431e-01 -2.48668756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60028169299994 meters 0.8679871465845702 Centerline is valid? [False, False] Translation: X:435.25, Y:96.36, Z:-0.24 [[ 9.38167852e-01 -3.39114193e-01 -6.95891171e-02 4.35249553e+02] [ 3.46071249e-01 9.23781268e-01 1.63898931e-01 9.63621288e+01] [ 8.70466915e-03 -1.77847501e-01 9.84019560e-01 -2.42640434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66028169299994 meters 0.8820181807988248 Centerline is valid? [False, False] Translation: X:435.24, Y:96.35, Z:-0.24 [[ 9.40391420e-01 -3.32857735e-01 -6.97832733e-02 4.35244126e+02] [ 3.39998694e-01 9.24983281e-01 1.69725711e-01 9.63539028e+01] [ 8.05384548e-03 -1.83334824e-01 9.83017537e-01 -2.41097298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72028169299995 meters 0.8764105320948723 Centerline is valid? [False, False] Translation: X:435.24, Y:96.34, Z:-0.24 [[ 9.41986794e-01 -3.28035495e-01 -7.10886304e-02 4.35243601e+02] [ 3.35546016e-01 9.25602043e-01 1.75127749e-01 9.63439135e+01] [ 8.35166394e-03 -1.88821533e-01 9.81975905e-01 -2.37071624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78028169299995 meters 0.8854718021952123 Centerline is valid? [False, False] Translation: X:435.23, Y:96.33, Z:-0.24 [[ 9.43764431e-01 -3.23636513e-01 -6.75877592e-02 4.35229061e+02] [ 3.30573686e-01 9.27079703e-01 1.76760469e-01 9.63341512e+01] [ 5.45309794e-03 -1.89162978e-01 9.81930564e-01 -2.39324714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84028169299995 meters 0.8457038143935072 Centerline is valid? [False, False] Translation: X:435.23, Y:96.33, Z:-0.24 [[ 9.48495237e-01 -3.09346849e-01 -6.82737975e-02 4.35230531e+02] [ 3.16648661e-01 9.32257157e-01 1.75014909e-01 9.63291228e+01] [ 9.50842571e-03 -1.87619614e-01 9.82195739e-01 -2.36191075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90028169299995 meters 0.8803528436635442 Centerline is valid? [False, False] Translation: X:435.24, Y:96.33, Z:-0.24 [[ 9.53067680e-01 -2.94547342e-01 -7.00275728e-02 4.35239016e+02] [ 3.02407808e-01 9.37263496e-01 1.73455054e-01 9.63263375e+01] [ 1.45435627e-02 -1.86491290e-01 9.82348962e-01 -2.40197534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96028169299996 meters 0.8476577315211861 Centerline is valid? [False, False] Translation: X:435.25, Y:96.33, Z:-0.25 [[ 9.56431039e-01 -2.83487164e-01 -6.98190198e-02 4.35254226e+02] [ 2.91432334e-01 9.41355478e-01 1.70050164e-01 9.63251431e+01] [ 1.75174782e-02 -1.82988774e-01 9.82958924e-01 -2.50326314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02028169299996 meters 0.8426734887104252 Centerline is valid? [False, False] Translation: X:435.23, Y:96.32, Z:-0.24 [[ 9.56732802e-01 -2.79915216e-01 -7.94343631e-02 4.35231705e+02] [ 2.89602465e-01 9.42488290e-01 1.66871914e-01 9.63173466e+01] [ 2.81559693e-02 -1.82656221e-01 9.82773599e-01 -2.43450173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08028169299996 meters 0.777457871282328 Centerline is valid? [False, False] Translation: X:435.23, Y:96.31, Z:-0.24 [[ 9.57841004e-01 -2.75706172e-01 -8.07881006e-02 4.35233609e+02] [ 2.85843220e-01 9.42804949e-01 1.71500676e-01 9.63118894e+01] [ 2.88836262e-02 -1.87363110e-01 9.81865979e-01 -2.42863234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14028169299996 meters 0.7749196004320557 Centerline is valid? [False, False] Translation: X:435.23, Y:96.31, Z:-0.24 [[ 9.57853879e-01 -2.75624257e-01 -8.09148609e-02 4.35234577e+02] [ 2.85795156e-01 9.42765519e-01 1.71797281e-01 9.63099468e+01] [ 2.89322427e-02 -1.87681768e-01 9.81803687e-01 -2.42791483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20028169299997 meters 0.889697006854884 Centerline is valid? [False, False] Translation: X:435.24, Y:96.30, Z:-0.24 [[ 9.57726642e-01 -2.75965856e-01 -8.12559311e-02 4.35237288e+02] [ 2.86223712e-01 9.42461628e-01 1.72748564e-01 9.63016460e+01] [ 2.89078919e-02 -1.88703276e-01 9.81608582e-01 -2.41297752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26028169299997 meters 0.8494060706982995 Centerline is valid? [False, False] Translation: X:435.24, Y:96.29, Z:-0.24 [[ 9.57822725e-01 -2.75515341e-01 -8.16512384e-02 4.35240193e+02] [ 2.85890510e-01 9.42344289e-01 1.73936359e-01 9.62937354e+01] [ 2.90214431e-02 -1.89943511e-01 9.81365996e-01 -2.40453818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4188.88 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%| | 0/15744 [00:00